version: 66.03
glider: 140
mission: 5
dive: 16
start: 4 7 108 3 41 57
data:
$ID,140
$MISSION,5
$DIVE,16
$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,360
$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,150
$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,0
$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,-13489.973
$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,11
$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
$GPS1,032908,5931.907,-1922.119,41,1.0,41,-13.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-63.2
$GPS2,034137,5931.747,-1921.846,14,1.4,30,-13.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,5942.546,-1921.846
$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,13.9,20000,-17.5,-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,-1.41,-146.0,0.0,0.0,0,84,0.00,0.00,-54.92,0.000,2,0.000,0.000,591,2221,3491
$GC,87,-1.41,-146.0,3.1,-6.9,10,111,12.43,2.75,-4.53,0.000,4,0.195,0.114,2641,3654,3683
$GC,174,-1.41,-146.0,14.9,-10.9,25,180,0.00,2.65,0.00,0.000,6,0.000,0.088,2641,2225,3683
$GC,316,-1.41,-146.0,31.0,-11.6,50,322,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2225,3684
$GC,459,-1.41,-146.0,44.1,-9.0,75,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2225,3684
$GC,600,-1.41,-146.0,58.5,-10.1,100,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2226,3684
$GC,741,-1.41,-146.0,73.0,-11.0,125,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2225,3684
$GC,883,-1.41,-146.0,89.5,-12.5,150,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2226,3684
$GC,1024,-1.41,-146.0,108.2,-11.5,175,1031,0.00,2.72,0.00,0.000,4,0.000,0.104,2641,3653,3684
$GC,1042,-1.41,-146.0,110.4,-11.6,178,1049,0.00,2.62,0.00,0.000,6,0.000,0.089,2641,2240,3684
$GC,1186,-1.41,-146.0,125.4,-9.4,203,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2240,3684
$GC,1327,-1.41,-146.0,141.5,-11.0,228,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2240,3684
$GC,1469,-1.41,-146.0,153.6,-8.0,253,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2240,3684
$GC,1811,-1.41,-146.0,187.2,-9.7,314,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2241,3684
$GC,2154,-1.41,-146.0,219.5,-9.4,375,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2241,3684
$GC,2497,-1.41,-146.0,251.9,-9.2,436,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2240,3684
$GC,2840,-1.41,-146.0,283.7,-9.2,497,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2240,3684
$GC,3182,-1.41,-146.0,314.9,-8.8,558,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2240,3684
$GC,3525,-1.41,-146.0,345.5,-8.9,619,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2240,3684
$GC,3868,-1.41,-146.0,377.5,-9.7,680,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2240,3684
$GC,4211,-1.41,-146.0,411.3,-10.0,741,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2240,3684
$GC,4554,-1.41,-146.0,444.8,-9.1,802,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2240,3684
$GC,4896,-1.41,-146.0,477.1,-9.1,863,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2240,3684
$GC,5239,-1.41,-146.0,507.4,-8.5,924,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2240,3684
$GC,5583,-1.41,-146.0,537.8,-8.7,985,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2240,3684
$GC,5926,-1.41,-146.0,567.6,-8.8,1046,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2240,3684
$GC,6268,-1.41,-146.0,598.2,-8.9,1107,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2240,3684
$GC,6602,-1.41,-146.0,626.3,-8.5,1140,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2240,3684
$GC,6917,-1.41,-146.0,655.8,-9.8,1170,6922,0.00,2.75,0.00,0.000,4,0.000,0.121,2641,3643,3684
$GC,6944,-1.41,-146.0,658.7,-10.8,1172,6949,0.00,2.65,0.00,0.000,6,0.000,0.103,2641,2247,3684
$GC,7270,-1.41,-146.0,691.3,-9.9,1202,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2248,3683
$GC,7588,-1.41,-146.0,721.9,-9.6,1232,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2248,3684
$GC,7908,-1.41,-146.0,753.2,-9.9,1262,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2248,3684
$GC,8224,-1.41,-146.0,784.4,-10.2,1292,8225,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2248,3683
$GC,8543,-1.41,-146.0,813.7,-8.6,1322,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2248,3683
$GC,8862,-1.41,-146.0,839.4,-7.7,1352,8866,0.00,2.78,0.00,0.000,4,0.000,0.129,2641,3643,3683
$GC,8883,-1.41,-146.0,841.2,-8.4,1353,8889,0.00,2.67,0.00,0.000,6,0.000,0.109,2641,2247,3683
$GC,9209,-1.41,-146.0,868.1,-8.7,1384,9214,0.00,2.78,0.00,0.000,4,0.000,0.127,2641,3644,3683
$GC,9238,-1.41,-146.0,870.8,-9.4,1386,9242,0.00,2.70,0.00,0.000,6,0.000,0.110,2641,2245,3683
$GC,9564,-1.41,-146.0,898.2,-8.1,1416,9569,0.00,2.95,0.00,0.000,4,0.000,0.150,2640,824,3683
$GC,9614,-1.41,-146.0,902.6,-8.3,1420,9619,0.00,2.78,0.00,0.000,6,0.000,0.119,2641,2242,3683
$GC,9941,-1.41,-146.0,928.5,-7.8,1450,9942,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2242,3682
$GC,10259,-1.41,-146.0,954.9,-8.5,1480,10263,0.00,2.85,0.00,0.000,4,0.000,0.137,2641,3652,3681
$GC,10309,-1.41,-146.0,959.5,-9.2,1484,10314,0.00,2.78,0.00,0.000,6,0.000,0.117,2641,2233,3681
$GC,10635,-1.41,-146.0,986.5,-7.9,1514,10636,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2233,3681
$STATE,10684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10684,begin apogee
$GC,10690,-0.35,0.0,990.8,8.0,1519,10819,1.15,0.00,125.38,1.440,6,0.104,0.000,2877,2329,3085
$STATE,10820,end apogee,CONTROL_FINISHED_OK
$STATE,10820,begin climb
$GC,10822,1.41,146.0,993.2,0.0,1532,10955,1.77,2.97,123.90,1.394,4,0.062,0.136,3267,3740,2488
$GC,11003,1.28,146.0,977.0,15.1,1549,11008,0.15,2.83,0.00,0.000,6,0.121,0.118,3242,2332,2487
$GC,11327,1.22,146.0,935.1,12.7,1579,11332,0.00,2.90,0.00,0.000,4,0.000,0.133,3241,3744,2486
$GC,11378,1.13,146.0,928.3,14.2,1583,11383,0.17,2.80,0.00,0.000,6,0.117,0.115,3209,2332,2487
$GC,11702,1.13,146.0,890.6,10.8,1613,11707,0.00,3.00,0.00,0.000,4,0.000,0.151,3209,914,2486
$GC,11734,1.13,146.0,886.9,11.0,1615,11740,0.00,2.83,0.00,0.000,6,0.000,0.115,3210,2346,2486
$GC,12060,1.13,146.0,852.7,10.5,1646,12061,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2346,2486
$GC,12377,1.13,146.0,818.5,10.3,1676,12378,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2346,2486
$GC,12696,1.13,146.0,783.6,10.7,1706,12697,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2346,2485
$GC,13014,1.13,146.0,750.4,10.4,1736,13016,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2346,2485
$GC,13336,1.15,157.4,719.0,9.5,1766,13352,0.00,0.00,10.35,1.194,6,0.000,0.000,3209,2346,2443
$GC,13673,1.15,164.7,685.4,9.7,1798,13682,0.00,0.00,7.90,1.111,6,0.000,0.000,3209,2347,2413
$GC,14001,1.15,164.7,649.4,11.4,1829,14005,0.00,2.85,0.00,0.000,4,0.000,0.122,3209,910,2413
$GC,14044,1.15,164.7,644.0,12.0,1832,14050,0.00,2.75,0.00,0.000,6,0.000,0.106,3209,2336,2412
$GC,14370,1.15,164.7,609.0,10.8,1863,14375,0.00,2.80,0.00,0.000,4,0.000,0.123,3209,3746,2412
$GC,14433,1.15,164.7,601.8,12.0,1868,14438,0.00,2.67,0.00,0.000,6,0.000,0.100,3209,2339,2413
$GC,14775,1.15,164.7,564.7,10.8,1927,14781,0.00,2.80,0.00,0.000,4,0.000,0.123,3209,920,2413
$GC,14815,1.15,164.7,560.2,11.4,1934,14821,0.00,2.70,0.00,0.000,6,0.000,0.102,3209,2339,2413
$GC,15158,1.15,164.7,522.3,11.6,1995,15164,0.00,2.75,0.00,0.000,4,0.000,0.117,3210,3746,2413
$GC,15198,1.15,164.7,517.5,12.0,2002,15204,0.00,2.67,0.00,0.000,6,0.000,0.096,3209,2329,2413
$GC,15541,1.15,164.7,478.0,10.6,2063,15546,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2329,2413
$GC,15885,1.17,175.4,443.4,9.5,2124,15902,0.00,0.00,10.57,1.029,6,0.000,0.000,3209,2329,2369
$GC,16238,1.17,175.4,407.6,10.0,2187,16244,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2329,2369
$GC,16581,1.18,185.5,372.5,9.5,2248,16592,0.00,0.00,10.00,0.975,6,0.000,0.000,3209,2329,2328
$GC,16929,1.19,190.4,335.7,9.8,2310,16941,0.00,2.78,5.70,0.831,4,0.000,0.110,3209,3744,2307
$GC,16981,1.19,190.4,329.5,12.1,2319,16987,0.00,2.65,0.00,0.000,6,0.000,0.093,3209,2338,2307
$GC,17325,1.19,190.4,290.6,11.2,2380,17331,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2339,2308
$GC,17669,1.19,190.4,252.1,10.9,2441,17674,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2339,2307
$GC,18011,1.19,190.4,216.3,10.2,2502,18016,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2339,2308
$GC,18354,1.19,196.6,180.3,9.7,2563,18366,0.00,0.00,6.90,0.811,6,0.000,0.000,3209,2339,2282
$GC,18703,1.19,196.6,143.2,11.1,2625,18709,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2339,2282
$GC,18845,1.19,196.6,128.2,10.6,2650,18850,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2339,2282
$GC,18986,1.20,199.7,113.5,9.9,2675,18993,0.00,0.00,4.30,0.635,6,0.000,0.000,3209,2339,2270
$GC,19130,1.20,199.7,98.9,11.4,2700,19136,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2339,2270
$GC,19272,1.20,201.4,83.8,9.9,2725,19278,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2339,2270
$GC,19414,1.20,201.4,68.6,11.4,2750,19419,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2339,2270
$GC,19555,1.20,201.4,51.8,11.9,2775,19561,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2339,2270
$GC,19697,1.20,201.4,35.6,11.3,2800,19702,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2339,2271
$GC,19838,1.20,201.4,18.5,12.1,2825,19843,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2339,2270
$STATE,19966,end climb,SURFACE_DEPTH_REACHED
$STATE,19966,begin surface coast
$FINISH,0.3,1.014450
$STATE,19984,end surface coast,CONTROL_FINISHED_OK
$STATE,19984,begin surface
$SM_CCo,20065,0.00,0.000,0,0,2268,200.16
$SM_GC,1.37,11.45,0.00,0.00,0.045,0.000,0.000,593,2229,2268,-10.84,-0.17,200.16
$IRIDIUM_FIX,5911.23,-1923.81,020797,030326
$TT8_MAMPS,0.02301
$HUMID,1563
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,18.20
$XPDR_PINGS,33
$24V_AH,23.4,11.671
$10V_AH,10.7,4.202
$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,27.125,83.625,305.000,0.000,0.000,55.277,79.250,379.505,8.250,0.000,0.000,30.652,4291.307,10400.306,487.720,4729.242,877.496,0.000,2523.948,0.000,4696.665,0.000,0.469
$DEVICE_MAMPS,194.818,151.099,1440.426,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1974.974,2128.335,1825.137,1178.808,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,160704,2851
$CAP_FILE_SIZE,210525,0
$CFSIZE,260165632,255729664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070408,091738,5931.478,-1912.969,42,1.3,42,-13.8