version: 66.03
glider: 140
mission: 5
dive: 110
start: 4 29 108 8 52 26
data:
$ID,140
$MISSION,5
$DIVE,110
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,350
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,390
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51662
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,280
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15249.781
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,592
$PITCH_MAX,3894
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.2
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,157
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2235
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,11
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,520
$VBD_MAX,3978
$C_VBD,3085
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$PRESSURE_YINT,-1.4601949
$PRESSURE_SLOPE,9.0994887e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,53
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043273787
$SEABIRD_T_H,0.0006414231
$SEABIRD_T_I,2.3931538e-05
$SEABIRD_T_J,2.340664e-06
$SEABIRD_C_G,-10.258962
$SEABIRD_C_H,1.1819305
$SEABIRD_C_I,-0.0037964056
$SEABIRD_C_J,0.00031207138
$GPS1,084137,6056.741,-2354.781,34,1.7,34,-17.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-59.5
$GPS2,085208,6056.674,-2355.157,10,1.6,15,-17.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6058.550,-2400.317
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,297.0,20000,-14.9,-10.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,89,0.00,0.00,-59.88,0.000,2,0.000,0.000,591,2230,3392
$GC,92,-1.29,-194.7,3.0,-5.8,11,123,12.85,2.83,-11.65,0.000,4,0.202,0.111,2668,3652,3880
$GC,254,-1.29,-194.7,18.7,-8.5,39,261,0.00,2.65,0.00,0.000,6,0.000,0.080,2668,2230,3881
$GC,397,-1.29,-194.7,32.8,-9.9,64,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2231,3881
$GC,540,-1.29,-194.7,49.0,-8.0,89,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2231,3881
$GC,681,-1.29,-194.7,63.1,-10.1,114,687,0.00,2.75,0.00,0.000,4,0.000,0.102,2668,3649,3881
$GC,711,-1.29,-194.7,66.0,-10.1,119,716,0.00,2.65,0.00,0.000,6,0.000,0.079,2668,2226,3881
$GC,1054,-1.29,-194.7,98.8,-9.6,180,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2227,3881
$GC,1397,-1.29,-194.7,131.2,-9.9,241,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2227,3882
$GC,1739,-1.29,-194.7,163.2,-9.1,302,1745,0.00,2.78,0.00,0.000,4,0.000,0.105,2668,3649,3882
$GC,1781,-1.29,-194.7,167.1,-9.8,309,1787,0.00,2.65,0.00,0.000,6,0.000,0.083,2668,2230,3882
$GC,2124,-1.29,-194.7,198.8,-9.5,370,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2231,3882
$GC,2467,-1.29,-194.7,230.7,-9.6,431,2473,0.00,2.78,0.00,0.000,4,0.000,0.107,2668,3651,3882
$GC,2509,-1.29,-194.7,234.7,-9.9,438,2515,0.00,2.65,0.00,0.000,6,0.000,0.085,2668,2238,3882
$GC,2852,-1.29,-194.7,267.9,-9.4,499,2858,0.00,2.78,0.00,0.000,4,0.000,0.109,2668,821,3882
$GC,2893,-1.29,-194.7,271.8,-9.6,506,2899,0.00,2.72,0.00,0.000,6,0.000,0.094,2668,2243,3883
$GC,3236,-1.29,-194.7,303.9,-9.1,567,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3882
$GC,3579,-1.29,-194.7,334.6,-8.7,628,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3883
$GC,3913,-1.29,-194.7,364.8,-9.2,674,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3882
$GC,4232,-1.29,-194.7,394.5,-9.3,704,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3882
$GC,4551,-1.29,-194.7,424.3,-9.2,734,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3882
$GC,4869,-1.29,-194.7,453.2,-9.3,764,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3882
$GC,5188,-1.29,-194.7,482.6,-9.2,794,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3882
$GC,5506,-1.29,-194.7,512.4,-9.4,824,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3882
$GC,5825,-1.29,-194.7,541.9,-9.1,854,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3882
$GC,6143,-1.29,-194.7,571.3,-9.6,884,6147,0.00,2.83,0.00,0.000,4,0.000,0.119,2668,827,3882
$GC,6175,-1.29,-194.7,574.5,-9.9,886,6181,0.00,2.72,0.00,0.000,6,0.000,0.104,2668,2238,3881
$GC,6500,-1.29,-194.7,604.5,-9.4,915,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3882
$GC,6808,-1.29,-194.7,632.8,-8.9,930,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3881
$GC,7117,-1.29,-194.7,658.9,-8.2,945,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3881
$GC,7427,-1.29,-194.7,683.5,-7.7,960,7431,0.00,2.83,0.00,0.000,4,0.000,0.126,2668,3645,3881
$GC,7454,-1.29,-194.7,685.7,-8.5,961,7458,0.00,2.70,0.00,0.000,6,0.000,0.099,2668,2237,3881
$GC,7769,-1.29,-194.7,710.6,-8.0,976,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3880
$GC,8078,-1.29,-194.7,737.1,-9.0,991,8083,0.00,2.83,0.00,0.000,4,0.000,0.123,2668,3651,3881
$GC,8128,-1.29,-194.7,741.9,-9.6,993,8132,0.00,2.70,0.00,0.000,6,0.000,0.101,2668,2247,3880
$GC,8443,-1.29,-194.7,770.6,-9.2,1008,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2247,3879
$GC,8752,-1.29,-194.7,798.7,-9.1,1023,8753,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2247,3879
$GC,9062,-1.29,-194.7,826.9,-9.3,1038,9066,0.00,2.85,0.00,0.000,4,0.000,0.129,2668,3649,3879
$GC,9094,-1.29,-194.7,830.2,-10.0,1039,9100,0.00,2.70,0.00,0.000,6,0.000,0.104,2668,2252,3880
$GC,9410,-1.29,-194.7,859.5,-9.3,1055,9411,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2253,3879
$GC,9719,-1.29,-194.7,887.0,-8.6,1070,9720,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2253,3878
$GC,10028,-1.29,-194.7,913.8,-8.9,1085,10029,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2253,3878
$GC,10337,-1.29,-194.7,941.4,-8.9,1100,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2253,3878
$GC,10647,-1.29,-194.7,969.4,-9.2,1115,10648,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2253,3877
$STATE,10871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10871,begin apogee
$GC,10877,-0.35,0.0,990.6,9.4,1126,11047,1.05,0.00,166.32,1.440,6,0.107,0.000,2878,2333,3085
$STATE,11048,end apogee,CONTROL_FINISHED_OK
$STATE,11048,begin climb
$GC,11050,1.29,194.7,998.0,0.0,1134,11224,1.65,3.00,163.32,1.403,4,0.064,0.129,3244,3739,2291
$GC,11246,1.16,194.7,984.5,13.2,1144,11251,0.17,2.85,0.00,0.000,6,0.115,0.109,3213,2326,2289
$GC,11562,1.10,194.7,947.2,11.6,1159,11567,0.00,2.95,0.00,0.000,4,0.000,0.137,3213,918,2288
$GC,11589,1.06,194.7,943.8,12.4,1160,11594,0.12,2.83,0.00,0.000,6,0.115,0.111,3191,2327,2288
$GC,11904,1.06,194.7,909.7,10.9,1175,11905,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2327,2287
$GC,12213,1.06,194.7,876.1,10.8,1190,12218,0.00,2.95,0.00,0.000,4,0.000,0.132,3192,3740,2286
$GC,12240,1.01,194.7,872.9,11.6,1191,12245,0.00,2.80,0.00,0.000,6,0.000,0.104,3191,2323,2286
$GC,12555,1.01,194.7,839.3,10.6,1206,12557,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2324,2286
$GC,12865,1.01,194.7,806.1,10.7,1221,12866,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2323,2286
$GC,13174,1.01,194.7,772.9,10.9,1236,13175,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2323,2286
$GC,13483,1.01,194.7,739.4,10.6,1251,13488,0.00,2.88,0.00,0.000,4,0.000,0.123,3191,3739,2285
$GC,13510,0.96,194.7,736.3,10.9,1252,13515,0.12,2.78,0.00,0.000,6,0.118,0.100,3170,2325,2286
$GC,13825,0.97,204.9,705.6,9.6,1267,13837,0.00,0.00,9.45,1.183,6,0.000,0.000,3169,2325,2249
$GC,14134,0.97,204.9,674.9,10.1,1282,14135,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2325,2248
$GC,14444,0.97,204.9,642.8,10.2,1297,14445,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2325,2248
$GC,14753,0.98,214.6,612.2,9.7,1312,14765,0.00,0.00,9.77,1.136,6,0.000,0.000,3170,2325,2210
$GC,15068,1.01,241.2,582.8,9.1,1335,15097,0.00,0.00,24.38,1.151,6,0.000,0.000,3169,2325,2100
$GC,15416,1.01,241.9,548.9,10.0,1368,15417,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2325,2097
$GC,15736,1.02,242.9,517.2,10.0,1398,15737,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2324,2097
$GC,16054,1.03,258.8,486.6,9.4,1428,16073,0.00,0.00,15.90,1.079,6,0.000,0.000,3169,2324,2028
$GC,16393,1.04,266.1,454.1,9.7,1460,16403,0.00,0.00,7.45,0.969,6,0.000,0.000,3170,2324,2000
$GC,16720,1.06,276.7,421.8,9.6,1491,16733,0.00,0.00,10.80,1.006,6,0.000,0.000,3169,2324,1957
$GC,17049,1.06,279.0,389.1,9.9,1522,17050,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2324,1955
$GC,17369,1.07,289.4,357.3,9.6,1552,17388,0.10,0.00,12.57,0.981,6,0.071,0.000,3195,2324,1904
$GC,17721,1.07,289.4,315.8,13.2,1609,17726,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2324,1902
$GC,18063,1.07,289.4,275.1,10.8,1670,18069,0.00,2.75,0.00,0.000,4,0.000,0.106,3195,914,1902
$GC,18092,1.07,289.4,271.5,11.7,1675,18098,0.00,2.70,0.00,0.000,6,0.000,0.090,3195,2331,1902
$GC,18435,1.07,289.4,230.9,12.4,1736,18441,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2331,1902
$GC,18779,1.07,289.4,190.2,10.8,1797,18785,0.00,2.75,0.00,0.000,4,0.000,0.102,3195,912,1902
$GC,18813,1.07,289.4,185.9,12.1,1803,18819,0.00,2.65,0.00,0.000,6,0.000,0.087,3195,2315,1902
$GC,19156,1.07,289.4,145.1,11.5,1864,19162,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2316,1902
$GC,19499,1.07,289.4,105.3,12.3,1925,19504,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2315,1902
$GC,19841,1.08,295.1,65.8,9.8,1986,19852,0.00,0.00,6.22,0.727,6,0.000,0.000,3195,2316,1882
$GC,20190,1.08,295.1,27.3,12.5,2048,20196,0.00,2.78,0.00,0.000,4,0.000,0.104,3195,3738,1881
$GC,20225,1.08,295.1,22.5,13.7,2054,20232,0.00,2.70,0.00,0.000,6,0.000,0.081,3195,2300,1880
$GC,20368,1.08,295.1,7.7,12.5,2079,20374,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2300,1881
$STATE,20417,end climb,SURFACE_DEPTH_REACHED
$STATE,20417,begin surface coast
$FINISH,0.4,1.027813
$STATE,20435,end surface coast,CONTROL_FINISHED_OK
$STATE,20436,begin surface
$SM_CCo,20517,0.00,0.000,0,0,1879,295.83
$SM_GC,0.96,11.45,0.00,0.00,0.046,0.000,0.000,590,2226,1879,-10.84,-0.23,295.83
$IRIDIUM_FIX,6032.86,-2355.50,240797,080833
$TT8_MAMPS,0.02301
$HUMID,1607
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.10
$XPDR_PINGS,71
$24V_AH,23.4,28.434
$10V_AH,10.7,22.043
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,27.525,89.075,426.200,0.000,0.000,62.530,56.821,309.348,17.750,0.000,0.000,17.316,3228.342,13169.374,574.872,3397.007,759.924,0.000,2113.526,0.000,3385.557,0.000,0.468
$DEVICE_MAMPS,202.488,157.235,1440.426,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1447.966,1556.206,982.752,594.311,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116992,2091
$CAP_FILE_SIZE,175559,0
$CFSIZE,260165632,245456896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,290408,143537,6056.895,-2408.312,39,1.2,39,-17.1