version: 66.03
glider: 140
mission: 5
dive: 54
start: 4 15 108 19 21 35
data:
$ID,140
$MISSION,5
$DIVE,54
$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,315
$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,-14175.479
$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
$GPS1,191239,5855.771,-2053.175,35,1.3,36,-14.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-54.2
$GPS2,192117,5855.927,-2053.327,13,1.2,15,-14.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5903.563,-2057.253
$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,329.4,20000,-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,26,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,102,0.00,0.00,-70.78,0.000,2,0.000,0.000,592,2228,3613
$GC,104,-1.29,-194.7,3.3,-8.3,13,129,12.88,2.80,-6.00,0.000,4,0.202,0.112,2672,3648,3880
$GC,371,-1.29,-194.7,27.9,-9.6,60,377,0.00,2.67,0.00,0.000,6,0.000,0.091,2671,2232,3881
$GC,515,-1.29,-194.7,41.4,-8.0,85,521,0.00,2.75,0.00,0.000,4,0.000,0.110,2671,822,3881
$GC,562,-1.29,-194.7,45.6,-9.0,93,568,0.00,2.67,0.00,0.000,6,0.000,0.094,2671,2225,3881
$GC,706,-1.29,-194.7,57.8,-8.4,118,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3881
$GC,847,-1.29,-194.7,70.0,-9.1,143,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2226,3881
$GC,989,-1.29,-194.7,83.2,-9.7,168,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2226,3881
$GC,1131,-1.29,-194.7,97.2,-10.1,193,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2226,3881
$GC,1273,-1.29,-194.7,111.5,-9.8,218,1279,0.00,2.75,0.00,0.000,4,0.000,0.108,2672,3646,3881
$GC,1299,-1.29,-194.7,114.1,-10.9,222,1305,0.00,2.67,0.00,0.000,6,0.000,0.094,2671,2234,3881
$GC,1441,-1.29,-194.7,128.1,-9.5,247,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2234,3881
$GC,1583,-1.29,-194.7,142.6,-10.1,272,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2234,3881
$GC,1724,-1.29,-194.7,157.0,-10.3,297,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2234,3881
$GC,2066,-1.29,-194.7,190.9,-9.3,358,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2234,3881
$GC,2410,-1.29,-194.7,223.4,-9.4,419,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3881
$GC,2752,-1.29,-194.7,254.0,-8.6,480,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2234,3881
$GC,3095,-1.29,-194.7,284.9,-9.1,541,3101,0.00,2.78,0.00,0.000,4,0.000,0.114,2672,3645,3881
$GC,3124,-1.29,-194.7,287.6,-9.2,546,3131,0.00,2.67,0.00,0.000,6,0.000,0.097,2672,2239,3881
$GC,3468,-1.29,-194.7,318.5,-8.7,607,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2239,3881
$GC,3811,-1.29,-194.7,348.4,-8.5,668,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3881
$GC,4154,-1.29,-194.7,378.1,-8.7,729,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2239,3881
$GC,4497,-1.29,-194.7,408.1,-8.8,790,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3881
$GC,4840,-1.29,-194.7,438.5,-9.1,851,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2239,3881
$GC,5182,-1.29,-194.7,468.7,-8.8,912,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3881
$GC,5526,-1.29,-194.7,498.8,-8.5,973,5532,0.00,2.78,0.00,0.000,4,0.000,0.117,2672,3645,3881
$GC,5550,-1.29,-194.7,500.9,-8.9,977,5556,0.00,2.70,0.00,0.000,6,0.000,0.099,2672,2231,3881
$GC,5893,-1.29,-194.7,529.7,-8.9,1038,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3881
$GC,6235,-1.29,-194.7,558.8,-8.5,1099,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2232,3881
$GC,6580,-1.29,-194.7,588.1,-9.1,1160,6586,0.00,2.80,0.00,0.000,4,0.000,0.118,2672,3647,3881
$GC,6637,-1.29,-194.7,593.5,-9.1,1170,6644,0.00,2.70,0.00,0.000,6,0.000,0.102,2672,2243,3880
$GC,6972,-1.29,-194.7,622.2,-8.6,1208,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2243,3881
$GC,7292,-1.29,-194.7,649.7,-8.5,1238,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2244,3881
$GC,7611,-1.29,-194.7,677.4,-8.9,1268,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2244,3880
$GC,7929,-1.29,-194.7,705.6,-8.7,1298,7930,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2243,3880
$GC,8248,-1.29,-194.7,733.4,-8.8,1328,8249,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3881
$GC,8566,-1.29,-194.7,760.2,-8.2,1358,8567,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2244,3880
$GC,8885,-1.29,-194.7,788.5,-9.2,1388,8889,0.00,2.85,0.00,0.000,4,0.000,0.129,2671,3650,3880
$GC,8928,-1.29,-194.7,792.8,-9.6,1391,8934,0.00,2.75,0.00,0.000,6,0.000,0.107,2672,2233,3881
$GC,9255,-1.29,-194.7,822.2,-9.0,1422,9256,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2234,3880
$GC,9572,-1.29,-194.7,850.0,-9.1,1452,9577,0.00,2.83,0.00,0.000,4,0.000,0.127,2671,3643,3880
$GC,9623,-1.29,-194.7,854.8,-9.5,1456,9627,0.00,2.72,0.00,0.000,6,0.000,0.109,2671,2245,3880
$GC,9949,-1.29,-194.7,881.9,-8.8,1486,9954,0.00,2.92,0.00,0.000,4,0.000,0.139,2671,821,3879
$GC,9977,-1.29,-194.7,884.5,-9.4,1488,9982,0.00,2.80,0.00,0.000,6,0.000,0.114,2671,2245,3880
$GC,10301,-1.29,-194.7,912.1,-8.3,1518,10303,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3879
$GC,10622,-1.29,-194.7,938.9,-8.8,1548,10623,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2245,3879
$STATE,10808,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10808,begin apogee
$GC,10814,-0.35,0.0,955.8,8.7,1566,10982,1.00,0.00,164.38,1.402,6,0.109,0.000,2874,2334,3085
$STATE,10983,end apogee,CONTROL_FINISHED_OK
$STATE,10983,begin climb
$GC,10985,1.29,194.7,962.7,0.0,1583,11160,1.67,2.97,161.85,1.361,4,0.064,0.130,3240,3738,2290
$GC,11206,1.17,194.7,944.5,15.0,1604,11211,0.15,2.85,0.00,0.000,6,0.114,0.114,3214,2327,2289
$GC,11530,1.11,194.7,906.2,11.4,1634,11531,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2327,2289
$GC,11850,1.06,194.7,867.7,12.2,1664,11852,0.12,0.00,0.00,0.000,6,0.115,0.000,3191,2328,2287
$GC,12168,1.06,194.7,831.1,11.2,1694,12169,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2328,2287
$GC,12485,1.06,194.7,797.0,10.2,1724,12490,0.00,2.88,0.00,0.000,4,0.000,0.126,3191,3740,2286
$GC,12513,1.00,194.7,794.1,10.1,1726,12518,0.00,2.80,0.00,0.000,6,0.000,0.107,3191,2322,2287
$GC,12837,1.00,194.7,760.7,10.5,1756,12842,0.00,2.88,0.00,0.000,4,0.000,0.123,3191,3740,2286
$GC,12877,0.95,194.7,756.2,12.3,1759,12883,0.12,2.78,0.00,0.000,6,0.112,0.105,3169,2327,2286
$GC,13202,0.95,196.1,724.4,10.0,1789,13206,0.00,2.85,0.00,0.000,4,0.000,0.129,3169,918,2286
$GC,13245,0.96,205.0,719.9,9.7,1792,13263,0.00,2.75,9.48,1.154,6,0.000,0.107,3168,2332,2249
$GC,13580,0.97,213.1,687.7,9.7,1824,13591,0.00,0.00,8.60,1.113,6,0.000,0.000,3169,2332,2216
$GC,13910,1.01,239.9,656.9,9.1,1855,13939,0.00,0.00,24.10,1.166,6,0.000,0.000,3169,2332,2106
$GC,14257,1.04,264.3,624.5,9.2,1888,14281,0.00,0.00,22.02,1.135,6,0.000,0.000,3169,2333,2007
$GC,14600,1.05,274.7,591.8,9.6,1927,14617,0.00,2.88,10.02,1.062,4,0.000,0.116,3169,917,1964
$GC,14635,1.12,295.3,588.3,9.3,1933,14663,0.15,2.78,19.73,1.080,6,0.058,0.102,3207,2337,1881
$GC,15001,1.12,295.3,542.8,13.3,1998,15006,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2338,1877
$GC,15343,1.12,295.3,499.3,13.1,2059,15349,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2338,1876
$GC,15686,1.12,295.3,455.1,12.5,2120,15692,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2338,1876
$GC,16030,1.12,295.3,411.4,12.5,2181,16035,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2338,1876
$GC,16372,1.12,295.3,368.6,12.8,2242,16378,0.00,2.83,0.00,0.000,4,0.000,0.115,3207,909,1876
$GC,16401,1.12,295.3,364.9,13.4,2247,16407,0.00,2.75,0.00,0.000,6,0.000,0.100,3207,2339,1876
$GC,16744,1.12,295.3,322.2,13.4,2308,16749,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2338,1875
$GC,17087,1.12,295.3,278.9,12.4,2369,17092,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2339,1875
$GC,17429,1.12,295.3,236.3,11.7,2430,17435,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2339,1875
$GC,17773,1.12,295.3,193.2,13.1,2491,17779,0.00,2.80,0.00,0.000,4,0.000,0.112,3207,908,1876
$GC,17801,1.12,295.3,189.4,14.6,2496,17808,0.00,2.70,0.00,0.000,6,0.000,0.097,3207,2329,1875
$GC,18145,1.12,295.3,146.3,11.5,2557,18151,0.00,2.75,0.00,0.000,4,0.000,0.109,3207,3739,1875
$GC,18176,1.12,295.3,142.5,13.0,2562,18182,0.00,2.70,0.00,0.000,6,0.000,0.094,3207,2325,1875
$GC,18318,1.12,295.3,124.6,12.8,2587,18325,0.00,2.75,0.00,0.000,4,0.000,0.114,3207,912,1875
$GC,18348,1.12,295.3,120.7,13.7,2592,18355,0.00,2.70,0.00,0.000,6,0.000,0.095,3207,2334,1875
$GC,18490,1.12,295.3,103.0,12.1,2617,18496,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2334,1875
$GC,18633,1.12,295.3,85.5,13.0,2642,18639,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2334,1875
$GC,18774,1.12,295.3,67.9,12.6,2667,18780,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2334,1875
$GC,18916,1.12,295.3,50.6,11.1,2692,18922,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2335,1876
$GC,19058,1.12,295.3,31.5,12.9,2717,19064,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2335,1875
$GC,19200,1.12,295.3,9.3,13.5,2742,19205,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2335,1875
$STATE,19262,end climb,SURFACE_DEPTH_REACHED
$STATE,19262,begin surface coast
$FINISH,0.1,1.027757
$STATE,19289,end surface coast,CONTROL_FINISHED_OK
$STATE,19289,begin surface
$SM_CCo,19371,0.00,0.000,0,0,1871,297.79
$SM_GC,1.17,11.45,0.00,0.00,0.046,0.000,0.000,592,2226,1871,-10.84,-0.25,297.79
$IRIDIUM_FIX,5829.55,-2032.39,100797,141458
$TT8_MAMPS,0.02301
$HUMID,1595
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,18.20
$XPDR_PINGS,118
$24V_AH,23.5,18.272
$10V_AH,10.7,11.863
$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,27.550,100.425,420.175,0.000,0.000,29.207,32.429,298.987,29.500,0.000,0.000,15.729,4146.434,9803.957,598.839,4543.879,764.950,0.000,2593.246,0.000,4547.570,0.000,0.468
$DEVICE_MAMPS,202.488,144.963,1402.076,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1907.524,2067.581,1790.346,1162.966,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,154422,2758
$CAP_FILE_SIZE,206951,0
$CFSIZE,260165632,251469824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,160408,004541,5902.796,-2102.366,39,1.1,40,-14.5