version: 66.03
glider: 140
mission: 5
dive: 112
start: 4 29 108 20 35 21
data:
$ID,140
$MISSION,5
$DIVE,112
$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,-15281.967
$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,12
$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
$GPS1,202745,6057.516,-2420.670,39,99.0,58,-17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-57.0
$GPS2,203503,6057.518,-2420.863,15,2.0,15,-17.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6059.393,-2426.020
$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,297.3,20000,-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,-60.05,0.000,2,0.000,0.000,592,2223,3366
$GC,92,-1.29,-194.7,3.2,-5.9,11,123,12.52,2.83,-12.30,0.000,4,0.193,0.114,2668,3644,3880
$GC,303,-1.29,-194.7,29.5,-15.1,48,309,0.00,2.62,0.00,0.000,6,0.000,0.081,2668,2233,3881
$GC,445,-1.29,-194.7,44.2,-9.1,73,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3881
$GC,586,-1.29,-194.7,57.6,-11.5,98,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3881
$GC,929,-1.29,-194.7,94.9,-9.0,159,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2233,3881
$GC,1272,-1.29,-194.7,122.7,-9.2,220,1278,0.00,2.72,0.00,0.000,4,0.000,0.104,2668,824,3882
$GC,1313,-1.29,-194.7,126.5,-9.7,227,1319,0.00,2.67,0.00,0.000,6,0.000,0.090,2668,2233,3881
$GC,1657,-1.29,-194.7,160.0,-9.8,288,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2233,3882
$GC,2001,-1.29,-194.7,194.1,-10.1,349,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2233,3882
$GC,2342,-1.29,-194.7,228.7,-10.1,410,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2233,3882
$GC,2685,-1.29,-194.7,263.1,-10.1,471,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2233,3882
$GC,3027,-1.29,-194.7,295.6,-9.8,532,3034,0.00,2.75,0.00,0.000,4,0.000,0.111,2668,3644,3882
$GC,3057,-1.29,-194.7,298.5,-10.0,537,3063,0.00,2.65,0.00,0.000,6,0.000,0.087,2668,2230,3882
$GC,3401,-1.29,-194.7,330.6,-9.1,598,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2231,3882
$GC,3742,-1.29,-194.7,362.1,-9.2,648,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2231,3882
$GC,4062,-1.29,-194.7,391.9,-9.6,678,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3882
$GC,4379,-1.29,-194.7,423.5,-10.1,708,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3882
$GC,4700,-1.29,-194.7,454.4,-9.2,738,4704,0.00,2.78,0.00,0.000,4,0.000,0.112,2668,3644,3882
$GC,4728,-1.29,-194.7,457.2,-10.0,740,4732,0.00,2.67,0.00,0.000,6,0.000,0.091,2668,2227,3882
$GC,5055,-1.29,-194.7,485.4,-8.8,770,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2227,3882
$GC,5381,-1.29,-194.7,514.9,-9.3,801,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2227,3882
$GC,5699,-1.29,-194.7,544.6,-9.5,831,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2227,3882
$GC,6019,-1.29,-194.7,574.0,-8.9,861,6023,0.00,2.80,0.00,0.000,4,0.000,0.116,2668,3643,3881
$GC,6047,-1.29,-194.7,576.6,-9.6,863,6051,0.00,2.67,0.00,0.000,6,0.000,0.093,2668,2233,3881
$GC,6371,-1.29,-194.7,606.0,-9.2,890,6376,0.00,2.83,0.00,0.000,4,0.000,0.123,2668,821,3881
$GC,6398,-1.29,-194.7,608.7,-9.9,891,6402,0.00,2.75,0.00,0.000,6,0.000,0.104,2668,2238,3881
$GC,6714,-1.29,-194.7,637.7,-9.5,906,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3881
$GC,7022,-1.29,-194.7,666.0,-8.8,921,7027,0.00,2.80,0.00,0.000,4,0.000,0.125,2668,3645,3881
$GC,7055,-1.29,-194.7,669.1,-9.6,922,7061,0.00,2.70,0.00,0.000,6,0.000,0.097,2668,2236,3881
$GC,7371,-1.29,-194.7,697.1,-9.2,938,7372,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3881
$GC,7680,-1.29,-194.7,725.5,-9.2,953,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3880
$GC,7989,-1.29,-194.7,753.8,-9.3,968,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3880
$GC,8298,-1.29,-194.7,782.0,-9.4,983,8303,0.00,2.88,0.00,0.000,4,0.000,0.129,2668,3651,3880
$GC,8330,-1.29,-194.7,785.3,-10.1,984,8337,0.00,2.72,0.00,0.000,6,0.000,0.102,2668,2239,3880
$GC,8646,-1.29,-194.7,814.0,-8.8,1000,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2240,3880
$GC,8956,-1.29,-194.7,840.1,-8.5,1015,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3879
$GC,9265,-1.29,-194.7,865.8,-8.1,1030,9266,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2240,3879
$GC,9574,-1.29,-194.7,890.2,-8.1,1045,9575,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2240,3879
$GC,9884,-1.29,-194.7,915.9,-8.6,1060,9888,0.00,2.88,0.00,0.000,4,0.000,0.133,2668,3644,3878
$GC,9916,-1.29,-194.7,919.1,-10.5,1061,9922,0.00,2.72,0.00,0.000,6,0.000,0.107,2668,2247,3878
$GC,10231,-1.29,-194.7,947.7,-9.0,1077,10233,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2247,3878
$GC,10541,-1.29,-194.7,975.3,-8.8,1092,10546,0.00,2.95,0.00,0.000,4,0.000,0.137,2668,818,3877
$GC,10567,-1.29,-194.7,977.9,-10.3,1093,10572,0.00,2.85,0.00,0.000,6,0.000,0.117,2668,2253,3877
$STATE,10721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10721,begin apogee
$GC,10727,-0.35,0.0,991.7,8.8,1101,10896,1.05,0.00,165.93,1.452,6,0.110,0.000,2878,2330,3085
$STATE,10897,end apogee,CONTROL_FINISHED_OK
$STATE,10897,begin climb
$GC,10900,1.29,194.7,998.2,0.0,1109,11073,1.62,3.03,163.10,1.411,4,0.066,0.130,3240,3739,2290
$GC,11095,1.17,194.7,984.7,12.5,1119,11101,0.12,2.85,0.00,0.000,6,0.120,0.108,3217,2327,2288
$GC,11411,1.10,194.7,947.1,11.8,1134,11412,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2328,2288
$GC,11720,1.04,194.7,911.5,11.8,1149,11722,0.15,0.00,0.00,0.000,6,0.114,0.000,3189,2327,2287
$GC,12029,1.04,194.7,879.1,10.7,1164,12034,0.00,2.92,0.00,0.000,4,0.000,0.129,3189,3739,2286
$GC,12056,0.98,194.7,876.0,10.5,1165,12061,0.00,2.80,0.00,0.000,6,0.000,0.107,3189,2328,2286
$GC,12371,0.98,194.7,842.1,10.6,1180,12372,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2328,2285
$GC,12681,0.98,194.7,808.8,10.9,1195,12685,0.00,2.90,0.00,0.000,4,0.000,0.126,3189,3739,2285
$GC,12720,0.93,194.7,804.4,11.2,1197,12725,0.15,2.80,0.00,0.000,6,0.114,0.105,3162,2331,2284
$GC,13046,0.97,231.3,775.4,8.7,1213,13080,0.00,0.00,31.98,1.302,6,0.000,0.000,3162,2332,2142
$GC,13375,0.97,231.3,741.2,10.9,1229,13376,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2332,2138
$GC,13684,0.97,231.3,707.8,10.5,1244,13689,0.00,2.88,0.00,0.000,4,0.000,0.127,3162,915,2138
$GC,13716,1.01,231.3,704.3,10.5,1245,13722,0.00,2.80,0.00,0.000,6,0.000,0.105,3162,2342,2138
$GC,14032,1.04,253.1,674.1,9.2,1261,14057,0.10,2.92,19.33,1.219,4,0.073,0.125,3187,3739,2053
$GC,14085,1.04,253.1,668.3,11.0,1263,14091,0.00,2.75,0.00,0.000,6,0.000,0.097,3187,2338,2051
$GC,14401,1.04,253.1,632.4,11.0,1279,14402,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2338,2050
$GC,14710,1.04,253.1,600.1,10.4,1294,14711,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2338,2050
$GC,15027,1.04,253.1,565.7,11.1,1323,15029,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2338,2050
$GC,15347,1.04,253.1,532.0,10.2,1353,15348,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2338,2050
$GC,15666,1.04,253.1,497.9,10.8,1383,15667,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2338,2050
$GC,15983,1.04,253.1,463.8,10.4,1413,15988,0.00,2.80,0.00,0.000,4,0.000,0.112,3187,3739,2050
$GC,16015,1.04,253.1,460.1,10.9,1415,16022,0.00,2.67,0.00,0.000,6,0.000,0.090,3188,2334,2050
$GC,16340,1.04,253.1,426.8,10.7,1446,16341,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2335,2050
$GC,16659,1.04,253.1,390.5,12.2,1476,16660,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2335,2050
$GC,16978,1.04,253.1,353.1,11.2,1506,16979,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2335,2051
$GC,17313,1.04,253.1,316.1,10.5,1563,17318,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2335,2051
$GC,17657,1.04,253.1,278.4,10.1,1624,17662,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2335,2051
$GC,18000,1.04,253.1,238.8,12.6,1685,18005,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2335,2051
$GC,18342,1.04,253.1,197.9,11.4,1746,18347,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2335,2052
$GC,18684,1.04,253.1,159.4,10.9,1807,18689,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2336,2052
$GC,19027,1.07,272.6,123.7,9.3,1868,19049,0.00,0.00,17.45,0.872,6,0.000,0.000,3188,2335,1973
$GC,19386,1.07,272.6,84.5,10.1,1932,19392,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2335,1970
$GC,19729,1.07,272.6,47.5,11.2,1993,19735,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2335,1970
$GC,19872,1.07,272.6,29.9,14.6,2018,19878,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2335,1971
$GC,20013,1.07,272.6,10.9,11.0,2043,20020,0.00,2.75,0.00,0.000,4,0.000,0.104,3187,3740,1970
$GC,20066,1.17,355.3,6.6,7.1,2052,20107,0.12,2.62,35.00,0.775,2,0.067,0.081,3219,2343,1803
$STATE,20108,end climb,SURFACE_DEPTH_REACHED
$STATE,20108,begin surface coast
$FINISH,0.3,1.027834
$STATE,20113,end surface coast,CONTROL_FINISHED_OK
$STATE,20113,begin surface
$SM_CCo,20194,0.00,0.000,0,0,1797,316.19
$SM_GC,0.97,11.65,0.00,0.00,0.044,0.000,0.000,593,2233,1797,-10.84,-0.06,316.19
$IRIDIUM_FIX,6037.25,-2305.51,240797,141433
$TT8_MAMPS,0.02301
$HUMID,1612
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.90
$XPDR_PINGS,59
$24V_AH,23.4,28.800
$10V_AH,10.7,22.325
$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,27.500,95.150,432.775,0.000,0.000,24.121,27.750,246.125,14.750,0.000,0.000,16.613,3181.855,12861.771,568.326,3389.476,611.711,0.000,2121.391,0.000,3364.851,0.000,0.467
$DEVICE_MAMPS,193.284,151.099,1451.931,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1429.065,1527.744,959.077,579.199,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116678,2060
$CAP_FILE_SIZE,171913,0
$CFSIZE,260165632,245268480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,300408,021308,6057.944,-2431.492,38,1.3,38,-17.4