version: 66.03
glider: 140
mission: 5
dive: 57
start: 4 16 108 12 30 52
data:
$ID,140
$MISSION,5
$DIVE,57
$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,330
$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,-14220.543
$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,10
$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
$GPS1,122202,5919.577,-2115.726,63,1.0,63,-14.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-48.2
$GPS2,123033,5919.780,-2115.898,13,1.1,13,-14.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5929.132,-2118.639
$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,344.8,20000,-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,25,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,117,0.00,0.00,-86.62,0.000,2,0.000,0.000,594,2232,3442
$GC,120,-1.29,-194.7,3.0,-7.2,16,150,12.65,2.78,-10.00,0.000,4,0.196,0.119,2668,825,3879
$GC,403,-1.29,-194.7,32.6,-14.4,66,409,0.00,2.72,0.00,0.000,6,0.000,0.095,2668,2245,3880
$GC,545,-1.29,-194.7,52.5,-13.6,91,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3879
$GC,687,-1.29,-194.7,70.2,-10.4,116,693,0.00,2.78,0.00,0.000,4,0.000,0.107,2668,820,3880
$GC,746,-1.29,-194.7,77.9,-14.3,126,752,0.00,2.72,0.00,0.000,6,0.000,0.095,2668,2247,3880
$GC,888,-1.29,-194.7,92.8,-9.6,151,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2247,3880
$GC,1030,-1.29,-194.7,106.5,-8.6,176,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2247,3880
$GC,1172,-1.29,-194.7,119.3,-9.1,201,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2247,3880
$GC,1315,-1.29,-194.7,134.1,-9.5,226,1321,0.00,2.80,0.00,0.000,4,0.000,0.113,2668,825,3879
$GC,1344,-1.29,-194.7,137.2,-10.4,231,1350,0.00,2.70,0.00,0.000,6,0.000,0.096,2668,2241,3879
$GC,1486,-1.29,-194.7,150.9,-8.9,256,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3880
$GC,1829,-1.29,-194.7,184.2,-10.0,317,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2241,3879
$GC,2171,-1.29,-194.7,217.6,-10.5,378,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2241,3880
$GC,2515,-1.29,-194.7,251.4,-9.9,439,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2241,3880
$GC,2857,-1.29,-194.7,285.2,-9.9,500,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2241,3880
$GC,3201,-1.29,-194.7,319.9,-9.9,561,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2241,3879
$GC,3543,-1.29,-194.7,354.1,-9.8,622,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2241,3879
$GC,3886,-1.29,-194.7,387.7,-9.0,683,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2241,3879
$GC,4230,-1.29,-194.7,418.7,-8.5,744,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2241,3880
$GC,4574,-1.29,-194.7,451.1,-9.8,805,4580,0.00,2.85,0.00,0.000,4,0.000,0.123,2668,819,3879
$GC,4603,-1.29,-194.7,454.2,-10.4,810,4609,0.00,2.75,0.00,0.000,6,0.000,0.107,2668,2237,3879
$GC,4947,-1.29,-194.7,487.5,-9.6,871,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3879
$GC,5290,-1.29,-194.7,521.3,-9.7,932,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3880
$GC,5633,-1.29,-194.7,553.5,-9.2,993,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3879
$GC,5975,-1.29,-194.7,586.3,-9.7,1054,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3879
$GC,6313,-1.29,-194.7,618.6,-9.1,1098,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3879
$GC,6632,-1.29,-194.7,647.9,-9.3,1128,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3879
$GC,6951,-1.29,-194.7,677.5,-9.3,1158,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3879
$GC,7270,-1.29,-194.7,707.6,-9.7,1188,7274,0.00,2.88,0.00,0.000,4,0.000,0.132,2668,825,3878
$GC,7297,-1.29,-194.7,710.5,-10.2,1190,7301,0.00,2.78,0.00,0.000,6,0.000,0.114,2668,2237,3878
$GC,7623,-1.29,-194.7,741.1,-9.4,1220,7624,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3878
$GC,7942,-1.29,-194.7,771.6,-9.8,1250,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3878
$GC,8260,-1.29,-194.7,802.4,-9.6,1280,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3878
$GC,8579,-1.29,-194.7,832.2,-9.3,1310,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3878
$GC,8897,-1.29,-194.7,861.4,-9.0,1340,8898,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3878
$GC,9216,-1.29,-194.7,890.3,-9.3,1370,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3877
$GC,9534,-1.29,-194.7,919.1,-9.0,1400,9535,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3877
$GC,9853,-1.29,-194.7,948.4,-9.0,1430,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3876
$GC,10170,-1.29,-194.7,975.4,-8.2,1460,10175,0.00,2.95,0.00,0.000,4,0.000,0.143,2668,820,3876
$GC,10198,-1.29,-194.7,977.9,-8.9,1462,10203,0.00,2.83,0.00,0.000,6,0.000,0.120,2668,2238,3876
$STATE,10351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10351,begin apogee
$GC,10357,-0.35,0.0,990.2,7.9,1476,10525,1.02,0.00,164.27,1.427,6,0.106,0.000,2877,2339,3085
$STATE,10526,end apogee,CONTROL_FINISHED_OK
$STATE,10526,begin climb
$GC,10528,1.29,194.7,995.5,0.0,1493,10703,1.65,3.00,162.35,1.391,4,0.061,0.134,3240,3740,2290
$GC,10742,1.17,194.7,976.1,15.1,1513,10749,0.15,2.83,0.00,0.000,6,0.114,0.114,3214,2332,2289
$GC,11067,1.11,194.7,934.0,12.8,1544,11072,0.00,2.97,0.00,0.000,4,0.000,0.141,3214,914,2288
$GC,11099,1.07,194.7,929.6,12.5,1546,11106,0.12,2.85,0.00,0.000,6,0.112,0.119,3191,2328,2288
$GC,11424,1.07,194.7,892.9,11.2,1577,11428,0.00,2.90,0.00,0.000,4,0.000,0.129,3191,3741,2287
$GC,11456,1.01,194.7,889.1,11.7,1579,11462,0.00,2.83,0.00,0.000,6,0.000,0.112,3191,2318,2287
$GC,11782,1.01,194.7,852.3,11.0,1610,11783,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2319,2287
$GC,12101,1.01,194.7,817.6,10.5,1640,12102,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2319,2287
$GC,12418,1.01,194.7,783.1,10.9,1670,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2319,2286
$GC,12736,1.01,194.7,749.7,10.1,1700,12737,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2318,2286
$GC,13055,1.01,194.7,716.7,10.6,1730,13056,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2318,2286
$GC,13373,1.01,194.7,682.2,10.9,1760,13378,0.00,2.88,0.00,0.000,4,0.000,0.122,3191,3742,2285
$GC,13402,0.96,194.7,678.9,11.4,1762,13407,0.12,2.75,0.00,0.000,6,0.113,0.103,3169,2330,2285
$GC,13726,0.96,194.7,645.9,10.1,1792,13727,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2330,2286
$GC,14046,0.96,196.1,614.1,9.9,1822,14048,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2330,2286
$GC,14374,0.96,196.1,581.8,10.1,1868,14380,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2330,2286
$GC,14716,0.99,222.7,550.4,9.1,1929,14743,0.00,0.00,23.88,1.127,6,0.000,0.000,3169,2330,2177
$GC,15081,1.03,252.1,517.7,9.0,1994,15112,0.00,0.00,25.60,1.085,6,0.000,0.000,3169,2330,2056
$GC,15450,1.05,267.5,484.3,9.5,2060,15471,0.00,2.90,14.05,1.042,4,0.000,0.120,3169,913,1994
$GC,15506,1.11,267.5,478.6,10.4,2070,15513,0.15,2.80,0.00,0.000,6,0.059,0.104,3207,2342,1993
$GC,15849,1.11,267.5,439.9,11.7,2131,15855,0.00,2.78,0.00,0.000,4,0.000,0.114,3207,3741,1991
$GC,15896,1.07,267.5,434.5,12.2,2139,15902,0.00,2.72,0.00,0.000,6,0.000,0.097,3207,2330,1991
$GC,16239,1.07,267.5,394.1,12.3,2200,16245,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2330,1991
$GC,16583,1.07,267.5,352.2,12.3,2261,16588,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2330,1991
$GC,16925,1.07,267.5,311.6,11.3,2322,16932,0.00,2.80,0.00,0.000,4,0.000,0.117,3207,910,1992
$GC,16955,1.07,267.5,308.0,12.1,2327,16961,0.00,2.75,0.00,0.000,6,0.000,0.099,3207,2340,1991
$GC,17298,1.07,267.5,269.0,11.6,2388,17304,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2340,1991
$GC,17641,1.07,267.5,227.0,14.3,2449,17646,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2340,1992
$GC,17983,1.12,308.3,187.4,8.6,2510,18022,0.00,0.00,34.65,0.888,6,0.000,0.000,3207,2340,1828
$GC,18359,1.12,308.3,140.2,13.7,2577,18366,0.00,2.78,0.00,0.000,4,0.000,0.108,3207,918,1824
$GC,18389,1.12,308.3,136.9,10.3,2582,18396,0.00,2.70,0.00,0.000,6,0.000,0.094,3207,2336,1823
$GC,18533,1.12,308.3,121.8,11.8,2607,18539,0.00,2.72,0.00,0.000,4,0.000,0.107,3207,3738,1823
$GC,18575,1.12,308.3,115.9,15.4,2614,18582,0.00,2.70,0.00,0.000,6,0.000,0.091,3207,2323,1822
$GC,18717,1.12,308.3,93.5,14.1,2639,18724,0.00,2.72,0.00,0.000,4,0.000,0.110,3207,919,1823
$GC,18747,1.12,308.3,89.0,15.9,2644,18753,0.00,2.62,0.00,0.000,6,0.000,0.094,3207,2299,1823
$GC,18889,1.12,308.3,72.3,14.5,2669,18895,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2299,1822
$GC,19032,1.12,308.3,53.0,14.4,2694,19038,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2299,1823
$GC,19173,1.12,308.3,33.9,11.0,2719,19179,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2299,1822
$GC,19315,1.12,308.3,19.3,11.0,2744,19321,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2299,1823
$GC,19457,1.27,434.3,6.2,5.6,2769,19498,0.12,0.00,37.97,0.772,2,0.064,0.000,3241,2299,1639
$STATE,19498,end climb,SURFACE_DEPTH_REACHED
$STATE,19498,begin surface coast
$FINISH,0.1,1.003039
$STATE,19509,end surface coast,CONTROL_FINISHED_OK
$STATE,19509,begin surface
$SM_CCo,19591,0.00,0.000,0,0,1632,356.42
$SM_GC,0.73,11.82,0.00,0.00,0.048,0.000,0.000,591,2230,1632,-10.85,-0.14,356.42
$IRIDIUM_FIX,5846.12,-2008.31,110797,060650
$TT8_MAMPS,0.02301
$HUMID,1584
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,18.30
$XPDR_PINGS,111
$24V_AH,23.5,18.842
$10V_AH,10.7,12.480
$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,27.825,89.900,462.775,0.000,0.000,29.463,31.254,295.017,27.750,0.000,0.000,13.097,4144.422,10014.263,614.147,4556.841,741.511,0.000,2625.153,0.000,4550.789,0.000,0.469
$DEVICE_MAMPS,196.352,142.662,1427.387,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1919.895,2072.405,1758.152,1137.927,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,157973,2778
$CAP_FILE_SIZE,205326,0
$CFSIZE,260165632,251121664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,160408,175837,5927.224,-2119.798,39,0.9,39,-14.9