version: 66.03
glider: 140
mission: 5
dive: 43
start: 4 13 108 4 37 38
data:
$ID,140
$MISSION,5
$DIVE,43
$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,-13992.295
$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,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
$GPS1,042828,5902.418,-1908.785,33,2.9,52,-13.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-61.2
$GPS2,043720,5902.430,-1908.749,12,1.3,17,-13.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5902.430,-1914.304
$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,283.6,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,101,0.00,0.00,-70.70,0.000,2,0.000,0.000,588,2229,3585
$GC,104,-1.29,-194.7,3.5,-7.1,13,129,12.85,2.83,-6.15,0.000,4,0.202,0.118,2667,3646,3881
$GC,384,-1.29,-194.7,36.3,-10.7,62,390,0.00,2.67,0.00,0.000,6,0.000,0.094,2667,2231,3881
$GC,526,-1.29,-194.7,49.3,-8.3,87,533,0.00,2.75,0.00,0.000,4,0.000,0.111,2667,3646,3881
$GC,567,-1.29,-194.7,53.5,-10.4,94,573,0.00,2.70,0.00,0.000,6,0.000,0.094,2667,2223,3881
$GC,710,-1.29,-194.7,68.3,-12.3,119,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2223,3881
$GC,852,-1.29,-194.7,82.6,-8.1,144,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2224,3882
$GC,994,-1.29,-194.7,96.0,-11.4,169,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2224,3881
$GC,1135,-1.29,-194.7,109.6,-9.5,194,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2223,3881
$GC,1278,-1.29,-194.7,121.7,-8.3,219,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2224,3881
$GC,1419,-1.29,-194.7,133.5,-8.4,244,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2223,3882
$GC,1561,-1.29,-194.7,145.9,-8.8,269,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2224,3881
$GC,1702,-1.29,-194.7,158.9,-9.0,294,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2223,3881
$GC,2046,-1.29,-194.7,192.3,-9.9,355,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2223,3882
$GC,2388,-1.29,-194.7,226.6,-9.9,416,2395,0.00,2.80,0.00,0.000,4,0.000,0.117,2667,3645,3882
$GC,2418,-1.29,-194.7,229.6,-10.6,421,2424,0.00,2.67,0.00,0.000,6,0.000,0.099,2667,2238,3882
$GC,2760,-1.29,-194.7,264.0,-10.1,482,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2239,3882
$GC,3104,-1.29,-194.7,298.3,-9.9,543,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2239,3882
$GC,3447,-1.29,-194.7,332.9,-9.7,604,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2239,3881
$GC,3791,-1.29,-194.7,366.6,-9.5,665,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2239,3882
$GC,4133,-1.29,-194.7,398.9,-9.5,726,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2239,3882
$GC,4475,-1.29,-194.7,431.1,-9.3,787,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2239,3882
$GC,4819,-1.29,-194.7,463.2,-9.6,848,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2239,3882
$GC,5163,-1.29,-194.7,496.0,-9.3,909,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2239,3882
$GC,5506,-1.29,-194.7,529.9,-9.9,970,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2239,3882
$GC,5849,-1.29,-194.7,563.4,-10.3,1031,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2239,3881
$GC,6191,-1.29,-194.7,594.5,-8.2,1092,6198,0.00,2.83,0.00,0.000,4,0.000,0.128,2667,3645,3882
$GC,6234,-1.29,-194.7,598.0,-8.8,1099,6240,0.00,2.72,0.00,0.000,6,0.000,0.107,2667,2234,3881
$GC,6565,-1.29,-194.7,626.3,-8.4,1132,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3881
$GC,6886,-1.29,-194.7,654.2,-9.0,1162,6890,0.00,2.85,0.00,0.000,4,0.000,0.130,2667,3649,3881
$GC,6925,-1.29,-194.7,657.9,-9.6,1165,6929,0.00,2.72,0.00,0.000,6,0.000,0.109,2667,2243,3881
$GC,7252,-1.29,-194.7,685.5,-8.4,1195,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2244,3881
$GC,7577,-1.29,-194.7,713.8,-9.0,1226,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2244,3881
$GC,7897,-1.29,-194.7,743.6,-9.8,1256,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2244,3881
$GC,8216,-1.29,-194.7,773.7,-9.1,1286,8220,0.00,2.88,0.00,0.000,4,0.000,0.137,2667,3648,3880
$GC,8255,-1.29,-194.7,777.5,-9.9,1289,8259,0.00,2.75,0.00,0.000,6,0.000,0.114,2667,2243,3880
$GC,8581,-1.29,-194.7,805.6,-8.2,1319,8582,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2244,3880
$GC,8899,-1.29,-194.7,832.2,-8.4,1349,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2244,3880
$GC,9218,-1.29,-194.7,859.5,-8.9,1379,9222,0.00,2.90,0.00,0.000,4,0.000,0.140,2667,3652,3880
$GC,9250,-1.29,-194.7,862.6,-9.7,1381,9256,0.00,2.78,0.00,0.000,6,0.000,0.117,2667,2244,3880
$GC,9576,-1.29,-194.7,890.0,-8.6,1412,9577,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2245,3879
$GC,9895,-1.29,-194.7,917.2,-8.3,1442,9899,0.00,2.88,0.00,0.000,4,0.000,0.140,2667,3643,3879
$GC,9945,-1.29,-194.7,921.8,-8.7,1446,9950,0.00,2.78,0.00,0.000,6,0.000,0.120,2667,2244,3879
$GC,10271,-1.29,-194.7,948.2,-7.9,1476,10272,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2245,3878
$GC,10590,-1.29,-194.7,972.3,-7.5,1506,10595,0.00,2.90,0.00,0.000,4,0.000,0.142,2667,3646,3878
$GC,10623,-1.29,-194.7,975.1,-8.8,1508,10629,0.00,2.78,0.00,0.000,6,0.000,0.122,2667,2252,3878
$STATE,10807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10807,begin apogee
$GC,10813,-0.35,0.0,990.4,8.2,1526,10982,1.02,0.00,164.85,1.432,6,0.108,0.000,2876,2325,3085
$STATE,10982,end apogee,CONTROL_FINISHED_OK
$STATE,10983,begin climb
$GC,10985,1.29,194.7,995.2,0.0,1543,11160,1.65,3.08,162.38,1.389,4,0.064,0.143,3237,3740,2291
$GC,11183,1.17,194.7,979.0,13.6,1562,11188,0.12,2.90,0.00,0.000,6,0.120,0.121,3217,2328,2290
$GC,11508,1.11,194.7,941.3,11.0,1592,11512,0.00,2.97,0.00,0.000,4,0.000,0.139,3217,3743,2289
$GC,11529,1.03,194.7,938.6,12.0,1593,11536,0.15,2.88,0.00,0.000,6,0.114,0.118,3188,2323,2288
$GC,11853,1.03,196.7,904.8,9.9,1624,11855,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2323,2288
$GC,12172,1.03,196.7,872.9,10.1,1654,12173,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2324,2288
$GC,12491,1.03,196.7,840.8,10.0,1684,12492,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2324,2287
$GC,12809,1.03,196.7,808.1,10.7,1714,12810,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2324,2287
$GC,13127,1.03,196.7,773.8,11.1,1744,13128,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2324,2287
$GC,13446,1.03,196.7,739.5,11.0,1774,13451,0.00,2.88,0.00,0.000,4,0.000,0.134,3188,917,2286
$GC,13473,1.03,196.7,736.4,11.1,1776,13478,0.00,2.80,0.00,0.000,6,0.000,0.114,3189,2336,2287
$GC,13798,1.03,197.2,702.5,10.0,1806,13803,0.00,2.88,0.00,0.000,4,0.000,0.133,3188,3739,2286
$GC,13837,0.99,197.2,698.5,11.2,1809,13842,0.00,2.75,0.00,0.000,6,0.000,0.110,3189,2338,2286
$GC,14162,1.04,238.0,668.5,8.6,1839,14206,0.00,3.00,37.00,1.215,4,0.000,0.128,3188,919,2113
$GC,14224,1.05,250.8,662.6,9.6,1845,14246,0.00,2.83,12.45,1.104,6,0.000,0.111,3189,2341,2061
$GC,14563,1.05,250.8,627.1,10.5,1877,14565,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2341,2057
$GC,14885,1.05,250.8,592.3,10.8,1913,14891,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2341,2057
$GC,15227,1.05,250.8,554.7,10.8,1974,15232,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2341,2057
$GC,15569,1.05,250.8,515.3,10.9,2035,15575,0.00,2.85,0.00,0.000,4,0.000,0.122,3188,915,2057
$GC,15592,1.05,250.8,512.5,12.1,2039,15598,0.00,2.75,0.00,0.000,6,0.000,0.104,3188,2340,2057
$GC,15936,1.05,250.8,472.9,11.3,2100,15942,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2340,2057
$GC,16279,1.05,250.8,434.4,10.9,2161,16285,0.00,2.83,0.00,0.000,4,0.000,0.119,3188,917,2058
$GC,16303,1.05,250.8,431.6,11.8,2165,16309,0.00,2.75,0.00,0.000,6,0.000,0.107,3188,2334,2058
$GC,16646,1.05,250.8,393.2,11.0,2226,16651,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2334,2057
$GC,16988,1.05,250.8,356.5,11.1,2287,16993,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2334,2058
$GC,17330,1.05,250.8,320.6,10.9,2348,17337,0.00,2.80,0.00,0.000,4,0.000,0.119,3188,918,2058
$GC,17376,1.05,250.8,315.5,10.6,2356,17383,0.00,2.72,0.00,0.000,6,0.000,0.104,3189,2333,2058
$GC,17721,1.05,250.8,279.9,10.2,2417,17726,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2333,2058
$GC,18063,1.07,264.2,245.0,9.5,2478,18081,0.00,0.00,12.18,0.922,6,0.000,0.000,3188,2333,2006
$GC,18418,1.07,264.2,208.8,11.3,2541,18424,0.00,2.80,0.00,0.000,4,0.000,0.117,3188,914,2005
$GC,18447,1.07,264.2,205.6,10.9,2546,18453,0.00,2.70,0.00,0.000,6,0.000,0.100,3189,2326,2005
$GC,18791,1.08,268.0,169.7,9.9,2607,18797,0.00,0.00,4.40,0.660,6,0.000,0.000,3188,2326,1992
$GC,19135,1.08,268.0,135.7,10.4,2668,19141,0.00,2.75,0.00,0.000,4,0.000,0.114,3188,918,1992
$GC,19165,1.08,269.3,132.6,10.0,2673,19171,0.00,2.67,0.00,0.000,6,0.000,0.101,3188,2317,1992
$GC,19309,1.09,280.5,117.8,9.6,2698,19326,0.00,0.00,12.05,0.832,6,0.000,0.000,3188,2317,1940
$GC,19463,1.09,280.5,101.3,10.9,2725,19468,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2318,1939
$GC,19604,1.09,280.5,84.8,12.1,2750,19610,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2317,1939
$GC,19746,1.09,280.5,68.3,10.8,2775,19752,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2317,1938
$GC,19887,1.09,280.5,52.2,10.5,2800,19893,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2317,1939
$GC,20029,1.09,280.5,36.3,10.5,2825,20035,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2317,1939
$GC,20170,1.09,280.5,20.8,10.3,2850,20177,0.00,2.72,0.00,0.000,4,0.000,0.112,3188,917,1939
$GC,20201,1.14,280.5,17.4,11.7,2855,20207,0.00,2.62,0.00,0.000,6,0.000,0.097,3188,2307,1939
$STATE,20341,end climb,SURFACE_DEPTH_REACHED
$STATE,20341,begin surface coast
$FINISH,0.3,1.014375
$STATE,20359,end surface coast,CONTROL_FINISHED_OK
$STATE,20359,begin surface
$SM_CCo,20440,0.00,0.000,0,0,1936,281.85
$SM_GC,1.19,11.48,0.00,0.00,0.049,0.000,0.000,590,2228,1936,-10.86,-0.20,281.85
$IRIDIUM_FIX,5841.97,-1901.81,070797,222223
$TT8_MAMPS,0.02301
$HUMID,1567
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,18.50
$XPDR_PINGS,119
$24V_AH,23.4,16.318
$10V_AH,10.7,9.602
$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,27.275,112.450,405.300,0.000,0.000,26.392,31.618,295.911,29.750,0.000,0.000,17.062,4342.022,10463.529,592.329,4762.104,781.410,0.000,2681.310,0.000,4759.947,0.000,0.468
$DEVICE_MAMPS,202.488,158.002,1431.989,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1995.409,2167.973,1862.908,1207.657,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,164138,2883
$CAP_FILE_SIZE,216594,0
$CFSIZE,260165632,252702720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130408,101937,5901.772,-1914.894,39,1.1,44,-13.6