version: 66.03
glider: 140
mission: 5
dive: 39
start: 4 12 108 5 26 32
data:
$ID,140
$MISSION,5
$DIVE,39
$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,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,270
$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,-13886.355
$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
$GPS1,051756,5903.649,-1851.924,36,1.7,36,-13.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-57.8
$GPS2,052614,5903.663,-1851.861,10,1.1,15,-13.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5903.663,-1857.413
$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,283.4,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,96,0.00,0.00,-65.15,0.000,2,0.000,0.000,593,2227,3451
$GC,98,-1.29,-194.7,3.0,-7.6,12,128,12.73,2.80,-10.02,0.000,4,0.199,0.120,2670,3653,3880
$GC,325,-1.29,-194.7,32.1,-11.4,52,332,0.00,2.67,0.00,0.000,6,0.000,0.093,2670,2227,3881
$GC,468,-1.29,-194.7,42.8,-7.1,77,473,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3881
$GC,610,-1.29,-194.7,54.6,-8.8,102,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3881
$GC,752,-1.29,-194.7,68.7,-10.2,127,758,0.00,2.78,0.00,0.000,4,0.000,0.110,2670,3651,3881
$GC,782,-1.29,-194.7,71.7,-10.0,132,788,0.00,2.65,0.00,0.000,6,0.000,0.092,2670,2248,3881
$GC,924,-1.29,-194.7,85.6,-12.4,157,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2249,3881
$GC,1067,-1.29,-194.7,99.9,-9.7,182,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3881
$GC,1208,-1.29,-194.7,113.6,-9.9,207,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3882
$GC,1350,-1.29,-194.7,127.9,-9.7,232,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3881
$GC,1492,-1.29,-194.7,140.3,-8.8,257,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3882
$GC,1633,-1.29,-194.7,153.3,-9.1,282,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3881
$GC,1977,-1.29,-194.7,184.8,-9.3,343,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3881
$GC,2319,-1.29,-194.7,216.4,-8.9,404,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2249,3881
$GC,2663,-1.29,-194.7,247.3,-9.0,465,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3882
$GC,3006,-1.29,-194.7,277.8,-8.6,526,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3881
$GC,3349,-1.29,-194.7,307.4,-8.0,587,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3881
$GC,3691,-1.29,-194.7,336.4,-8.6,648,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3881
$GC,4034,-1.29,-194.7,366.6,-8.9,709,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3881
$GC,4377,-1.29,-194.7,396.0,-8.6,770,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3881
$GC,4720,-1.29,-194.7,426.7,-9.1,831,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3881
$GC,5062,-1.29,-194.7,456.8,-8.8,892,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3881
$GC,5406,-1.29,-194.7,486.7,-8.9,953,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3881
$GC,5748,-1.29,-194.7,516.5,-8.7,1014,5754,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3881
$GC,6091,-1.29,-194.7,546.8,-9.0,1075,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2247,3881
$GC,6434,-1.29,-194.7,578.6,-9.1,1136,6440,0.00,2.80,0.00,0.000,4,0.000,0.125,2670,3649,3881
$GC,6463,-1.29,-194.7,581.4,-10.1,1141,6470,0.00,2.67,0.00,0.000,6,0.000,0.103,2670,2252,3881
$GC,6799,-1.29,-194.7,613.0,-9.3,1189,6803,0.00,2.88,0.00,0.000,4,0.000,0.130,2670,823,3881
$GC,6831,-1.29,-194.7,616.1,-9.6,1191,6837,0.00,2.78,0.00,0.000,6,0.000,0.113,2670,2241,3881
$GC,7158,-1.29,-194.7,644.3,-8.3,1222,7162,0.00,2.80,0.00,0.000,4,0.000,0.127,2670,3648,3881
$GC,7201,-1.29,-194.7,648.3,-8.5,1225,7207,0.00,2.70,0.00,0.000,6,0.000,0.105,2670,2241,3881
$GC,7528,-1.29,-194.7,675.1,-8.9,1256,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3881
$GC,7846,-1.29,-194.7,703.5,-8.7,1286,7847,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2242,3881
$GC,8165,-1.29,-194.7,731.2,-9.0,1316,8166,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3881
$GC,8483,-1.29,-194.7,759.2,-8.5,1346,8484,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3880
$GC,8802,-1.29,-194.7,785.9,-8.5,1376,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3880
$GC,9120,-1.29,-194.7,812.8,-8.7,1406,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2241,3880
$GC,9438,-1.29,-194.7,839.1,-8.0,1436,9443,0.00,2.88,0.00,0.000,4,0.000,0.136,2670,3650,3880
$GC,9500,-1.29,-194.7,844.4,-8.2,1441,9505,0.00,2.72,0.00,0.000,6,0.000,0.113,2670,2252,3880
$GC,9828,-1.29,-194.7,870.6,-8.2,1471,9833,0.00,2.97,0.00,0.000,4,0.000,0.145,2670,817,3879
$GC,9861,-1.29,-194.7,873.7,-9.1,1473,9867,0.00,2.85,0.00,0.000,6,0.000,0.120,2670,2256,3879
$GC,10187,-1.29,-194.7,899.9,-8.0,1504,10191,0.00,2.85,0.00,0.000,4,0.000,0.139,2671,3652,3879
$GC,10226,-1.29,-194.7,903.3,-8.4,1507,10231,0.00,2.75,0.00,0.000,6,0.000,0.114,2670,2247,3879
$GC,10551,-1.29,-194.7,928.8,-7.8,1537,10555,0.00,2.95,0.00,0.000,4,0.000,0.146,2671,825,3879
$GC,10583,-1.29,-194.7,931.6,-9.0,1539,10589,0.00,2.85,0.00,0.000,6,0.000,0.124,2670,2252,3879
$STATE,10811,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10811,begin apogee
$GC,10817,-0.35,0.0,951.0,8.7,1561,10985,1.02,0.00,163.98,1.401,6,0.110,0.000,2877,2339,3085
$STATE,10986,end apogee,CONTROL_FINISHED_OK
$STATE,10986,begin climb
$GC,10988,1.29,194.7,957.8,0.0,1578,11160,1.65,3.00,161.82,1.363,4,0.062,0.139,3247,3740,2290
$GC,11189,1.15,194.7,942.3,13.9,1598,11195,0.17,2.88,0.00,0.000,6,0.114,0.119,3215,2328,2289
$GC,11514,1.10,194.7,903.7,11.2,1628,11515,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2329,2288
$GC,11834,1.04,194.7,867.2,11.8,1658,11836,0.15,0.00,0.00,0.000,6,0.113,0.000,3187,2329,2288
$GC,12152,1.04,194.7,833.5,10.7,1688,12157,0.00,2.92,0.00,0.000,4,0.000,0.138,3187,914,2287
$GC,12179,1.04,194.7,830.3,11.1,1690,12184,0.00,2.85,0.00,0.000,6,0.000,0.120,3187,2335,2287
$GC,12503,1.04,194.7,795.4,10.7,1720,12505,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2335,2287
$GC,12822,1.04,194.7,760.5,10.9,1750,12823,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2335,2286
$GC,13141,1.04,194.7,727.2,10.0,1780,13142,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2335,2286
$GC,13459,1.04,194.7,695.2,10.0,1810,13460,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2335,2286
$GC,13781,1.04,194.7,663.7,10.0,1840,13786,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2335,2285
$GC,14107,1.05,202.5,631.4,9.7,1871,14116,0.00,0.00,7.45,1.045,6,0.000,0.000,3187,2335,2259
$GC,14436,1.06,213.7,600.3,9.6,1902,14449,0.00,0.00,11.00,1.104,6,0.000,0.000,3187,2335,2213
$GC,14787,1.06,213.7,564.5,10.5,1964,14793,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2335,2212
$GC,15131,1.06,213.7,528.7,10.0,2025,15136,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2335,2212
$GC,15473,1.07,222.0,494.1,9.7,2086,15484,0.00,0.00,8.75,1.016,6,0.000,0.000,3187,2335,2178
$GC,15822,1.07,222.0,456.9,10.6,2148,15828,0.00,2.83,0.00,0.000,4,0.000,0.121,3187,916,2178
$GC,15857,1.07,222.0,453.0,10.8,2154,15863,0.00,2.75,0.00,0.000,6,0.000,0.107,3187,2332,2178
$GC,16200,1.07,222.0,416.9,10.6,2215,16206,0.00,2.78,0.00,0.000,4,0.000,0.123,3187,3739,2178
$GC,16223,1.07,222.0,414.2,11.5,2219,16229,0.00,2.72,0.00,0.000,6,0.000,0.098,3187,2318,2178
$GC,16566,1.07,222.0,377.5,10.2,2280,16572,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2318,2178
$GC,16910,1.07,222.0,341.7,10.7,2341,16915,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2318,2178
$GC,17252,1.07,222.0,305.8,10.4,2402,17259,0.00,2.83,0.00,0.000,4,0.000,0.117,3187,3743,2178
$GC,17287,1.07,222.0,301.9,11.0,2408,17294,0.00,2.72,0.00,0.000,6,0.000,0.098,3187,2324,2178
$GC,17632,1.07,222.0,266.2,10.6,2469,17637,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2323,2179
$GC,17975,1.10,243.6,232.2,9.2,2530,17996,0.00,0.00,19.00,0.917,6,0.000,0.000,3187,2323,2091
$GC,18334,1.10,243.6,197.2,10.8,2594,18339,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2324,2089
$GC,18677,1.10,243.6,161.6,10.7,2655,18682,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2324,2089
$GC,19019,1.10,243.6,125.9,10.2,2716,19025,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2323,2089
$GC,19160,1.10,243.6,111.1,10.6,2741,19166,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2324,2089
$GC,19302,1.10,243.6,96.5,10.1,2766,19308,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2324,2089
$GC,19444,1.10,243.6,81.7,10.7,2791,19449,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2324,2089
$GC,19585,1.10,243.6,66.2,10.7,2816,19592,0.00,2.72,0.00,0.000,4,0.000,0.112,3187,916,2089
$GC,19604,1.10,243.6,64.2,10.7,2819,19610,0.00,2.67,0.00,0.000,6,0.000,0.098,3187,2330,2089
$GC,19746,1.10,243.6,48.0,11.4,2844,19752,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2330,2089
$GC,19889,1.10,243.6,32.2,11.4,2869,19895,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2330,2089
$GC,20030,1.10,243.6,15.8,13.5,2894,20036,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2330,2090
$GC,20172,1.27,379.9,3.3,5.3,2919,20185,0.17,0.00,10.45,0.776,2,0.061,0.000,3235,2330,2044
$STATE,20186,end climb,SURFACE_DEPTH_REACHED
$STATE,20186,begin surface coast
$FINISH,0.2,1.017862
$STATE,20214,end surface coast,CONTROL_FINISHED_OK
$STATE,20214,begin surface
$SM_CCo,20295,0.00,0.000,0,0,2041,256.09
$SM_GC,1.18,11.82,0.00,0.00,0.054,0.000,0.000,595,2225,2041,-10.84,-0.28,256.09
$IRIDIUM_FIX,5841.97,-1844.62,060797,232321
$TT8_MAMPS,0.02301
$HUMID,1590
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,18.30
$XPDR_PINGS,122
$24V_AH,23.5,15.563
$10V_AH,10.7,8.770
$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,27.725,84.450,382.450,0.000,0.000,28.857,33.896,278.938,30.500,0.000,0.000,15.461,4389.564,10241.321,563.862,4828.945,740.514,0.000,2652.307,0.000,4824.903,0.000,0.468
$DEVICE_MAMPS,198.653,154.934,1401.309,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,2025.293,2192.149,1945.013,1254.179,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,164090,2926
$CAP_FILE_SIZE,212996,0
$CFSIZE,260165632,253165568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120408,110622,5903.795,-1856.583,40,2.4,59,-13.5