version: 66.03
glider: 140
mission: 5
dive: 46
start: 4 13 108 21 48 33
data:
$ID,140
$MISSION,5
$DIVE,46
$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,-14034.327
$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,12
$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
$GPS1,213338,5900.291,-1932.375,28,1.7,28,-13.7
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-61.6
$GPS2,214815,5900.211,-1932.598,13,1.6,13,-13.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5900.211,-1938.159
$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,283.7,20000,-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,-194.7,0.0,0.0,0,100,0.00,0.00,-71.22,0.000,2,0.000,0.000,591,2230,3562
$GC,103,-1.29,-194.7,3.4,-7.0,13,127,12.95,0.00,-6.78,0.000,6,0.206,0.000,2667,2230,3881
$GC,264,-1.29,-194.7,23.3,-11.0,41,270,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2230,3882
$GC,406,-1.29,-194.7,41.5,-12.2,66,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2230,3882
$GC,547,-1.29,-194.7,58.0,-10.4,91,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2230,3882
$GC,688,-1.29,-194.7,72.6,-10.2,116,695,0.00,2.78,0.00,0.000,4,0.000,0.115,2668,819,3882
$GC,718,-1.29,-194.7,75.9,-11.4,121,725,0.00,2.70,0.00,0.000,6,0.000,0.098,2667,2236,3882
$GC,860,-1.29,-194.7,90.2,-10.5,146,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2236,3882
$GC,1003,-1.29,-194.7,104.5,-10.2,171,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2236,3882
$GC,1145,-1.29,-194.7,118.6,-9.6,196,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2236,3882
$GC,1287,-1.29,-194.7,132.2,-9.5,221,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2236,3882
$GC,1428,-1.29,-194.7,145.8,-9.6,246,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2236,3882
$GC,1570,-1.29,-194.7,159.9,-10.5,271,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2236,3882
$GC,1912,-1.29,-194.7,194.1,-9.6,332,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2236,3882
$GC,2255,-1.29,-194.7,226.7,-9.2,393,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3882
$GC,2598,-1.29,-194.7,258.1,-9.1,454,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2236,3882
$GC,2941,-1.29,-194.7,292.8,-10.5,515,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2236,3882
$GC,3282,-1.29,-194.7,328.2,-10.1,576,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2236,3882
$GC,3626,-1.29,-194.7,364.3,-10.2,637,3632,0.00,2.78,0.00,0.000,4,0.000,0.119,2667,3644,3882
$GC,3667,-1.29,-194.7,368.7,-11.1,644,3674,0.00,2.70,0.00,0.000,6,0.000,0.101,2667,2232,3882
$GC,4011,-1.29,-194.7,402.3,-9.8,705,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2232,3882
$GC,4354,-1.29,-194.7,436.0,-10.2,766,4359,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2233,3882
$GC,4696,-1.29,-194.7,471.1,-10.2,827,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2232,3882
$GC,5039,-1.29,-194.7,504.7,-9.3,888,5045,0.00,2.80,0.00,0.000,4,0.000,0.121,2667,3644,3882
$GC,5085,-1.29,-194.7,509.3,-10.0,896,5091,0.00,2.70,0.00,0.000,6,0.000,0.104,2667,2239,3882
$GC,5430,-1.29,-194.7,540.8,-9.1,957,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2239,3882
$GC,5773,-1.29,-194.7,572.3,-9.2,1018,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2239,3882
$GC,6113,-1.29,-194.7,602.8,-8.6,1076,6118,0.00,2.80,0.00,0.000,4,0.000,0.123,2667,3643,3882
$GC,6141,-1.29,-194.7,605.3,-9.4,1078,6146,0.00,2.70,0.00,0.000,6,0.000,0.105,2668,2243,3882
$GC,6467,-1.29,-194.7,633.7,-8.9,1108,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2244,3882
$GC,6786,-1.29,-194.7,662.7,-9.2,1138,6791,0.00,2.83,0.00,0.000,4,0.000,0.126,2667,3651,3882
$GC,6825,-1.29,-194.7,666.7,-9.9,1141,6830,0.00,2.72,0.00,0.000,6,0.000,0.107,2667,2245,3882
$GC,7151,-1.29,-194.7,697.0,-9.0,1171,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2245,3882
$GC,7470,-1.29,-194.7,726.0,-9.2,1201,7471,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2245,3882
$GC,7789,-1.29,-194.7,754.4,-8.9,1231,7793,0.00,2.85,0.00,0.000,4,0.000,0.131,2667,3651,3882
$GC,7828,-1.29,-194.7,758.1,-9.7,1234,7832,0.00,2.72,0.00,0.000,6,0.000,0.112,2667,2258,3882
$GC,8154,-1.29,-194.7,786.5,-8.5,1264,8155,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2259,3882
$GC,8472,-1.29,-194.7,813.0,-7.8,1294,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2259,3881
$GC,8791,-1.29,-194.7,838.0,-7.6,1324,8792,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2259,3881
$GC,9109,-1.29,-194.7,862.7,-7.6,1354,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2259,3881
$GC,9428,-1.29,-194.7,890.4,-8.8,1384,9433,0.00,2.85,0.00,0.000,4,0.000,0.139,2668,3642,3881
$GC,9456,-1.29,-194.7,893.2,-9.7,1386,9460,0.00,2.75,0.00,0.000,6,0.000,0.120,2667,2256,3881
$GC,9782,-1.29,-194.7,921.5,-8.4,1416,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2256,3880
$GC,10101,-1.29,-194.7,951.2,-9.7,1446,10102,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2257,3880
$GC,10419,-1.29,-194.7,979.2,-8.5,1476,10420,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2257,3880
$STATE,10542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10542,begin apogee
$GC,10548,-0.35,0.0,990.1,8.6,1488,10718,1.05,0.00,165.43,1.427,6,0.111,0.000,2878,2327,3085
$STATE,10718,end apogee,CONTROL_FINISHED_OK
$STATE,10719,begin climb
$GC,10721,1.29,194.7,996.6,0.0,1505,10894,1.62,3.05,162.55,1.387,4,0.064,0.137,3241,3740,2290
$GC,10940,1.16,194.7,978.3,14.7,1526,10945,0.15,2.90,0.00,0.000,6,0.115,0.123,3215,2330,2290
$GC,11264,1.10,194.7,938.5,11.5,1556,11265,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2331,2288
$GC,11584,1.04,194.7,902.2,11.6,1586,11590,0.15,2.95,0.00,0.000,4,0.113,0.138,3188,3739,2288
$GC,11613,0.99,194.7,898.7,12.5,1588,11618,0.00,2.85,0.00,0.000,6,0.000,0.121,3188,2334,2288
$GC,11937,0.99,194.7,865.2,10.4,1618,11938,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2335,2287
$GC,12258,0.99,194.7,831.4,10.5,1648,12259,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2335,2287
$GC,12575,0.99,194.7,797.4,10.8,1678,12579,0.00,2.90,0.00,0.000,4,0.000,0.133,3188,3740,2287
$GC,12625,0.94,194.7,791.8,11.3,1682,12630,0.12,2.83,0.00,0.000,6,0.114,0.117,3165,2332,2286
$GC,12950,0.99,239.9,763.2,8.4,1712,12991,0.00,0.00,38.95,1.274,6,0.000,0.000,3166,2332,2106
$GC,13309,1.02,263.2,729.9,9.2,1746,13332,0.00,0.00,20.85,1.216,6,0.000,0.000,3165,2333,2012
$GC,13648,1.02,263.2,696.0,10.4,1778,13653,0.00,2.88,0.00,0.000,4,0.000,0.127,3165,3739,2008
$GC,13680,1.02,263.2,692.5,11.2,1780,13687,0.00,2.78,0.00,0.000,6,0.000,0.110,3165,2342,2008
$GC,14007,1.04,279.9,660.7,9.4,1811,14028,0.00,2.97,15.60,1.164,4,0.000,0.130,3165,913,1943
$GC,14052,1.11,288.3,656.2,9.7,1815,14067,0.15,2.85,8.95,1.051,6,0.061,0.108,3204,2358,1909
$GC,14392,1.11,288.3,614.7,12.1,1847,14393,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2358,1905
$GC,14721,1.11,288.3,576.0,11.8,1895,14726,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2358,1905
$GC,15063,1.11,288.3,535.7,12.3,1956,15069,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2358,1905
$GC,15407,1.11,288.3,493.5,11.4,2017,15413,0.00,2.88,0.00,0.000,4,0.000,0.121,3204,916,1905
$GC,15431,1.11,288.3,490.4,13.1,2021,15437,0.00,2.78,0.00,0.000,6,0.000,0.104,3204,2351,1905
$GC,15774,1.11,288.3,450.0,11.4,2082,15779,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2351,1906
$GC,16116,1.11,288.3,408.7,11.7,2143,16121,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2351,1906
$GC,16460,1.11,288.3,367.5,12.2,2204,16466,0.00,2.85,0.00,0.000,4,0.000,0.120,3204,913,1906
$GC,16483,1.11,288.3,364.2,13.0,2208,16490,0.00,2.75,0.00,0.000,6,0.000,0.102,3204,2347,1906
$GC,16828,1.11,288.3,320.8,12.7,2269,16833,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2347,1906
$GC,17170,1.11,288.3,278.2,12.8,2330,17176,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2347,1906
$GC,17513,1.11,288.3,236.7,12.7,2391,17518,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2347,1906
$GC,17855,1.11,288.3,195.2,12.8,2452,17861,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2347,1906
$GC,18198,1.11,288.3,154.4,10.9,2513,18203,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2347,1907
$GC,18540,1.11,288.3,112.5,11.7,2574,18546,0.00,2.83,0.00,0.000,4,0.000,0.115,3204,909,1907
$GC,18570,1.11,288.3,108.7,14.1,2579,18576,0.00,2.72,0.00,0.000,6,0.000,0.099,3203,2339,1907
$GC,18713,1.11,288.3,90.3,11.8,2604,18720,0.00,2.75,0.00,0.000,4,0.000,0.113,3203,3744,1906
$GC,18732,1.11,288.3,87.6,13.3,2607,18738,0.00,2.70,0.00,0.000,6,0.000,0.095,3204,2329,1906
$GC,18875,1.11,288.3,69.1,13.6,2632,18881,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2330,1907
$GC,19017,1.11,288.3,51.5,11.7,2657,19023,0.00,2.78,0.00,0.000,4,0.000,0.112,3204,3740,1906
$GC,19041,1.11,288.3,48.6,12.1,2661,19047,0.00,2.67,0.00,0.000,6,0.000,0.096,3204,2341,1906
$GC,19184,1.11,288.3,30.7,13.2,2686,19190,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2341,1907
$GC,19326,1.11,288.3,14.4,10.8,2711,19332,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2341,1906
$STATE,19426,end climb,SURFACE_DEPTH_REACHED
$STATE,19426,begin surface coast
$FINISH,0.4,1.027807
$STATE,19438,end surface coast,CONTROL_FINISHED_OK
$STATE,19438,begin surface
$SM_CCo,19519,0.00,0.000,0,0,1903,289.94
$SM_GC,1.14,11.55,0.00,0.00,0.051,0.000,0.000,593,2231,1903,-10.85,-0.11,289.94
$IRIDIUM_FIX,5837.82,-1934.74,080797,212103
$TT8_MAMPS,0.02301
$HUMID,1577
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,18.20
$XPDR_PINGS,115
$24V_AH,23.4,16.873
$10V_AH,10.7,10.205
$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,27.750,95.725,412.325,0.000,0.000,77.189,94.514,420.041,28.750,0.000,0.000,13.594,4115.912,10183.976,581.923,4496.022,989.053,0.000,2558.826,0.000,4492.658,0.000,0.469
$DEVICE_MAMPS,205.556,163.371,1427.387,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1890.265,2052.011,1715.073,1116.214,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,154481,2731
$CAP_FILE_SIZE,209615,0
$CFSIZE,260165632,252370944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140408,031528,5858.169,-1944.688,41,99.0,60,-13.8