version: 66.03
glider: 140
mission: 5
dive: 44
start: 4 13 108 10 28 9
data:
$ID,140
$MISSION,5
$DIVE,44
$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,-14007.742
$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
$GPS1,101937,5901.772,-1914.894,39,1.1,44,-13.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-64.6
$GPS2,102751,5901.794,-1914.887,14,1.1,14,-13.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5901.794,-1920.444
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,96,0.00,0.00,-65.15,0.000,2,0.000,0.000,590,2227,3497
$GC,99,-1.29,-194.7,3.3,-7.0,12,128,12.85,2.83,-8.65,0.000,4,0.202,0.120,2668,3665,3881
$GC,383,-1.29,-194.7,34.6,-9.4,62,390,0.00,2.70,0.00,0.000,6,0.000,0.093,2668,2233,3882
$GC,526,-1.29,-194.7,47.6,-8.7,87,532,0.00,2.75,0.00,0.000,4,0.000,0.110,2668,3649,3882
$GC,612,-1.29,-194.7,56.4,-10.8,102,618,0.00,2.70,0.00,0.000,6,0.000,0.094,2668,2226,3882
$GC,754,-1.29,-194.7,70.2,-10.2,127,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2226,3882
$GC,896,-1.29,-194.7,83.3,-9.0,152,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2226,3882
$GC,1037,-1.29,-194.7,96.3,-9.6,177,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2226,3882
$GC,1180,-1.29,-194.7,108.8,-8.8,202,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2226,3882
$GC,1321,-1.29,-194.7,121.3,-9.0,227,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2226,3882
$GC,1463,-1.29,-194.7,134.2,-9.3,252,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2226,3882
$GC,1605,-1.29,-194.7,147.9,-9.9,277,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2226,3882
$GC,1746,-1.29,-194.7,162.4,-10.5,302,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2226,3881
$GC,2089,-1.29,-194.7,196.9,-9.6,363,2095,0.00,2.80,0.00,0.000,4,0.000,0.116,2668,3647,3882
$GC,2124,-1.29,-194.7,200.4,-10.4,369,2130,0.00,2.70,0.00,0.000,6,0.000,0.097,2668,2227,3882
$GC,2466,-1.29,-194.7,234.3,-10.1,430,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3882
$GC,2810,-1.29,-194.7,268.0,-10.1,491,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3882
$GC,3152,-1.29,-194.7,301.3,-9.6,552,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3882
$GC,3495,-1.29,-194.7,334.2,-9.6,613,3501,0.00,2.83,0.00,0.000,4,0.000,0.121,2668,3650,3882
$GC,3530,-1.29,-194.7,337.7,-10.1,619,3536,0.00,2.70,0.00,0.000,6,0.000,0.100,2668,2237,3882
$GC,3874,-1.29,-194.7,369.0,-9.1,680,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3882
$GC,4217,-1.29,-194.7,400.0,-8.9,741,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3882
$GC,4560,-1.29,-194.7,431.0,-8.9,802,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3882
$GC,4902,-1.29,-194.7,461.8,-9.2,863,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3882
$GC,5245,-1.29,-194.7,493.2,-9.5,924,5251,0.00,2.80,0.00,0.000,4,0.000,0.123,2668,3644,3882
$GC,5291,-1.29,-194.7,497.7,-9.5,932,5298,0.00,2.70,0.00,0.000,6,0.000,0.103,2668,2233,3882
$GC,5636,-1.29,-194.7,529.3,-9.0,993,5642,0.00,2.83,0.00,0.000,4,0.000,0.135,2668,823,3882
$GC,5666,-1.29,-194.7,532.1,-9.5,998,5672,0.00,2.75,0.00,0.000,6,0.000,0.109,2668,2238,3882
$GC,6010,-1.29,-194.7,561.8,-8.4,1059,6016,0.00,2.80,0.00,0.000,4,0.000,0.123,2668,3651,3882
$GC,6039,-1.29,-194.7,564.3,-9.5,1064,6045,0.00,2.70,0.00,0.000,6,0.000,0.100,2668,2231,3882
$GC,6383,-1.29,-194.7,593.1,-8.5,1125,6388,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2231,3882
$GC,6712,-1.29,-194.7,621.1,-9.0,1163,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2231,3881
$GC,7032,-1.29,-194.7,651.3,-9.9,1193,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2231,3881
$GC,7348,-1.29,-194.7,683.1,-10.0,1223,7353,0.00,2.88,0.00,0.000,4,0.000,0.131,2668,3653,3882
$GC,7376,-1.29,-194.7,685.9,-10.7,1225,7381,0.00,2.72,0.00,0.000,6,0.000,0.107,2668,2243,3881
$GC,7704,-1.29,-194.7,715.1,-8.2,1255,7709,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3881
$GC,8030,-1.29,-194.7,742.8,-8.6,1286,8035,0.00,2.85,0.00,0.000,4,0.000,0.133,2668,3646,3881
$GC,8069,-1.29,-194.7,746.5,-9.5,1289,8073,0.00,2.72,0.00,0.000,6,0.000,0.112,2668,2248,3881
$GC,8395,-1.29,-194.7,774.7,-8.5,1319,8396,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2249,3881
$GC,8714,-1.29,-194.7,802.3,-8.3,1349,8718,0.00,2.97,0.00,0.000,4,0.000,0.147,2668,816,3880
$GC,8746,-1.29,-194.7,805.1,-8.3,1351,8752,0.00,2.83,0.00,0.000,6,0.000,0.120,2668,2246,3880
$GC,9074,-1.29,-194.7,831.7,-8.7,1382,9079,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2246,3880
$GC,9400,-1.29,-194.7,862.9,-9.4,1413,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2246,3879
$GC,9719,-1.29,-194.7,891.3,-8.6,1443,9723,0.00,2.90,0.00,0.000,4,0.000,0.143,2668,3650,3880
$GC,9751,-1.29,-194.7,894.6,-10.1,1445,9757,0.00,2.75,0.00,0.000,6,0.000,0.114,2668,2244,3879
$GC,10077,-1.29,-194.7,924.0,-9.0,1476,10079,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3879
$GC,10396,-1.29,-194.7,953.8,-9.3,1506,10397,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3878
$GC,10715,-1.29,-194.7,982.6,-9.1,1536,10719,0.00,2.90,0.00,0.000,4,0.000,0.142,2669,3645,3878
$GC,10753,-1.29,-194.7,986.4,-10.2,1539,10758,0.00,2.78,0.00,0.000,6,0.000,0.122,2668,2250,3878
$STATE,10799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10799,begin apogee
$GC,10805,-0.35,0.0,990.8,9.4,1543,10974,1.02,0.00,164.88,1.432,6,0.109,0.000,2875,2337,3085
$STATE,10975,end apogee,CONTROL_FINISHED_OK
$STATE,10975,begin climb
$GC,10977,1.29,194.7,997.5,0.0,1560,11152,1.65,3.00,162.38,1.390,4,0.067,0.136,3235,3739,2290
$GC,11203,1.18,194.7,978.4,14.6,1581,11209,0.00,2.88,0.00,0.000,6,0.000,0.121,3235,2330,2290
$GC,11529,1.09,194.7,935.5,13.1,1612,11531,0.20,0.00,0.00,0.000,6,0.110,0.000,3198,2330,2288
$GC,11847,1.09,194.7,899.5,11.1,1642,11852,0.00,2.92,0.00,0.000,4,0.000,0.133,3198,3740,2288
$GC,11868,1.03,194.7,896.8,11.6,1643,11874,0.00,2.85,0.00,0.000,6,0.000,0.117,3198,2325,2288
$GC,12194,1.03,194.7,860.1,12.0,1674,12196,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2326,2287
$GC,12513,1.03,194.7,825.3,10.2,1704,12517,0.00,2.90,0.00,0.000,4,0.000,0.131,3198,3742,2287
$GC,12552,0.97,194.7,820.9,10.4,1707,12557,0.15,2.83,0.00,0.000,6,0.111,0.117,3171,2335,2287
$GC,12876,0.97,196.4,789.6,9.9,1737,12881,0.00,2.92,0.00,0.000,4,0.000,0.140,3170,918,2287
$GC,12904,0.97,196.4,786.8,10.7,1739,12908,0.00,2.80,0.00,0.000,6,0.000,0.114,3170,2337,2286
$GC,13228,1.01,225.3,755.4,9.0,1769,13258,0.00,0.00,26.83,1.262,6,0.000,0.000,3170,2337,2166
$GC,13577,1.03,245.0,722.9,9.3,1802,13601,0.00,2.97,17.77,1.204,4,0.000,0.132,3170,3737,2085
$GC,13619,1.05,258.0,718.7,9.5,1806,13641,0.00,2.80,12.80,1.134,6,0.000,0.111,3170,2339,2032
$GC,13959,1.05,258.0,682.4,11.3,1838,13960,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2339,2030
$GC,14277,1.05,258.0,647.9,10.1,1868,14282,0.00,2.88,0.00,0.000,4,0.000,0.130,3170,915,2030
$GC,14299,1.09,258.0,645.7,10.6,1869,14305,0.12,2.78,0.00,0.000,6,0.064,0.105,3203,2346,2030
$GC,14623,1.09,258.0,609.3,11.1,1900,14624,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2346,2029
$GC,14957,1.09,258.0,572.3,11.7,1952,14962,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2346,2029
$GC,15299,1.09,258.0,532.5,11.6,2013,15305,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2346,2029
$GC,15642,1.09,258.0,492.2,12.0,2074,15647,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2346,2029
$GC,15984,1.09,258.0,449.6,11.9,2135,15989,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2346,2029
$GC,16326,1.09,258.0,408.0,11.8,2196,16332,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2346,2029
$GC,16670,1.09,258.0,367.8,10.7,2257,16675,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2346,2030
$GC,17013,1.09,258.0,326.8,11.2,2318,17019,0.00,2.83,0.00,0.000,4,0.000,0.117,3203,916,2030
$GC,17036,1.09,258.0,324.0,12.1,2322,17042,0.00,2.72,0.00,0.000,6,0.000,0.100,3203,2343,2030
$GC,17380,1.09,258.0,283.9,11.6,2383,17386,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2343,2030
$GC,17722,1.09,258.0,244.5,12.0,2444,17728,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2343,2030
$GC,18065,1.09,258.0,204.6,11.6,2505,18071,0.00,2.83,0.00,0.000,4,0.000,0.117,3203,911,2030
$GC,18094,1.09,258.0,201.0,12.4,2510,18101,0.00,2.72,0.00,0.000,6,0.000,0.098,3203,2346,2030
$GC,18438,1.09,258.0,160.3,12.2,2571,18443,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2346,2030
$GC,18781,1.09,258.0,119.3,11.1,2632,18786,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2346,2030
$GC,18923,1.09,258.0,102.8,11.4,2657,18930,0.00,2.80,0.00,0.000,4,0.000,0.114,3203,916,2031
$GC,18966,1.09,258.0,97.7,12.5,2664,18972,0.00,2.67,0.00,0.000,6,0.000,0.096,3203,2328,2030
$GC,19108,1.09,258.0,80.6,12.0,2689,19114,0.00,2.72,0.00,0.000,4,0.000,0.109,3203,3738,2030
$GC,19127,1.09,258.0,78.4,11.2,2692,19133,0.00,2.67,0.00,0.000,6,0.000,0.094,3203,2325,2030
$GC,19269,1.09,258.0,61.7,11.3,2717,19275,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2326,2030
$GC,19411,1.09,258.0,45.3,11.3,2742,19416,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2326,2030
$GC,19552,1.09,258.0,29.1,10.2,2767,19558,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2326,2031
$GC,19694,1.09,258.0,13.0,10.4,2792,19699,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2326,2031
$STATE,19793,end climb,SURFACE_DEPTH_REACHED
$STATE,19794,begin surface coast
$FINISH,0.3,1.014019
$STATE,19812,end surface coast,CONTROL_FINISHED_OK
$STATE,19812,begin surface
$SM_CCo,19893,0.00,0.000,0,0,2030,258.79
$SM_GC,1.07,11.52,0.00,0.00,0.050,0.000,0.000,592,2229,2030,-10.85,-0.17,258.79
$IRIDIUM_FIX,5837.82,-1909.71,080797,040441
$TT8_MAMPS,0.02301
$HUMID,1587
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,18.40
$XPDR_PINGS,123
$24V_AH,23.4,16.494
$10V_AH,10.7,9.805
$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,27.525,123.775,384.650,0.000,0.000,29.256,32.902,276.935,30.750,0.000,0.000,14.819,4241.901,10125.114,592.629,4663.604,732.357,0.000,2636.958,0.000,4654.416,0.000,0.469
$DEVICE_MAMPS,202.488,147.264,1431.989,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1946.293,2102.391,1818.185,1175.554,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,157542,2813
$CAP_FILE_SIZE,212656,0
$CFSIZE,260165632,252596224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130408,160101,5901.285,-1922.559,40,1.5,45,-13.7