version: 66.03
glider: 140
mission: 5
dive: 94
start: 4 25 108 10 7 32
data:
$ID,140
$MISSION,5
$DIVE,94
$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,390
$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,350
$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,-14868.503
$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,14
$R_STBD_OVSHOOT,13
$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
$GPS1,095926,6023.427,-2221.953,41,1.2,41,-15.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-65.5
$GPS2,100714,6023.466,-2221.929,12,1.2,17,-15.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6034.102,-2222.851
$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,5.9,20000,-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,-194.7,0.0,0.0,0,89,0.00,0.00,-60.33,0.000,2,0.000,0.000,589,2224,3433
$GC,92,-1.29,-194.7,3.2,-8.0,11,122,13.15,2.70,-10.27,0.000,4,0.210,0.110,2669,827,3879
$GC,376,-1.29,-194.7,33.8,-9.7,61,382,0.00,2.65,0.00,0.000,6,0.000,0.084,2669,2241,3881
$GC,518,-1.29,-194.7,47.5,-9.6,86,525,0.00,2.72,0.00,0.000,4,0.000,0.099,2670,826,3881
$GC,583,-1.29,-194.7,53.9,-9.9,97,589,0.00,2.65,0.00,0.000,6,0.000,0.083,2669,2240,3881
$GC,927,-1.29,-194.7,86.7,-9.7,158,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3881
$GC,1270,-1.29,-194.7,119.1,-9.0,219,1276,0.00,2.75,0.00,0.000,4,0.000,0.104,2669,825,3881
$GC,1299,-1.29,-194.7,121.9,-9.4,224,1306,0.00,2.65,0.00,0.000,6,0.000,0.086,2670,2236,3881
$GC,1644,-1.29,-194.7,153.5,-9.4,285,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,1986,-1.29,-194.7,185.7,-9.0,346,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3882
$GC,2327,-1.29,-194.7,216.6,-8.8,407,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,2671,-1.29,-194.7,248.2,-9.5,468,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,3015,-1.29,-194.7,280.5,-9.2,529,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,3357,-1.29,-194.7,311.9,-9.1,590,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,3699,-1.29,-194.7,342.8,-8.8,651,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,4030,-1.29,-194.7,372.6,-9.0,689,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,4346,-1.29,-194.7,401.5,-9.2,719,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,4665,-1.29,-194.7,431.6,-9.3,749,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3882
$GC,4985,-1.29,-194.7,461.2,-9.0,779,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,5303,-1.29,-194.7,489.8,-8.8,809,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,5620,-1.29,-194.7,517.7,-8.6,839,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,5939,-1.29,-194.7,545.8,-8.8,869,5943,0.00,2.75,0.00,0.000,4,0.000,0.111,2669,3651,3881
$GC,5966,-1.29,-194.7,548.5,-10.2,871,5971,0.00,2.67,0.00,0.000,6,0.000,0.091,2669,2232,3881
$GC,6294,-1.29,-194.7,578.6,-9.2,901,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2233,3881
$GC,6627,-1.29,-194.7,607.5,-8.1,929,6628,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2233,3881
$GC,6937,-1.29,-194.7,633.8,-8.7,944,6938,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2233,3881
$GC,7246,-1.29,-194.7,661.8,-8.7,959,7250,0.00,2.80,0.00,0.000,4,0.000,0.117,2669,3642,3881
$GC,7285,-1.29,-194.7,665.3,-9.6,961,7289,0.00,2.70,0.00,0.000,6,0.000,0.096,2669,2226,3881
$GC,7611,-1.29,-194.7,692.2,-8.1,977,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3881
$GC,7920,-1.29,-194.7,719.0,-8.9,992,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3880
$GC,8229,-1.29,-194.7,746.5,-8.9,1007,8230,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2227,3880
$GC,8539,-1.29,-194.7,773.2,-8.6,1022,8543,0.00,2.83,0.00,0.000,4,0.000,0.120,2670,3642,3880
$GC,8565,-1.29,-194.7,775.7,-9.5,1023,8570,0.00,2.72,0.00,0.000,6,0.000,0.101,2669,2226,3880
$GC,8881,-1.29,-194.7,802.3,-8.5,1038,8882,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2227,3879
$GC,9190,-1.29,-194.7,828.7,-8.6,1053,9195,0.00,2.83,0.00,0.000,4,0.000,0.121,2669,3644,3879
$GC,9231,-1.29,-194.7,832.2,-9.0,1055,9236,0.00,2.72,0.00,0.000,6,0.000,0.104,2669,2235,3879
$GC,9557,-1.29,-194.7,860.6,-8.7,1071,9558,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3878
$GC,9867,-1.29,-194.7,887.2,-8.7,1086,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3877
$GC,10176,-1.29,-194.7,914.0,-8.4,1101,10180,0.00,2.85,0.00,0.000,4,0.000,0.124,2670,3648,3878
$GC,10215,-1.29,-194.7,917.4,-9.0,1103,10219,0.00,2.75,0.00,0.000,6,0.000,0.107,2669,2236,3877
$GC,10541,-1.29,-194.7,943.3,-7.7,1119,10542,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3877
$GC,10850,-1.29,-194.7,966.6,-7.4,1134,10855,0.00,2.85,0.00,0.000,4,0.000,0.126,2670,3647,3876
$GC,10878,-1.29,-194.7,968.8,-8.1,1135,10882,0.00,2.75,0.00,0.000,6,0.000,0.108,2670,2238,3877
$STATE,11170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11170,begin apogee
$GC,11176,-0.35,0.0,990.3,7.2,1149,11345,1.05,0.00,165.57,1.431,6,0.111,0.000,2877,2324,3085
$STATE,11346,end apogee,CONTROL_FINISHED_OK
$STATE,11346,begin climb
$GC,11349,1.29,194.7,995.2,0.0,1157,11520,1.65,3.00,163.20,1.393,4,0.066,0.127,3243,3740,2290
$GC,11554,1.16,194.7,977.1,14.6,1168,11560,0.15,2.85,0.00,0.000,6,0.117,0.107,3216,2328,2290
$GC,11881,1.10,194.7,935.9,12.3,1184,11882,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2328,2288
$GC,12191,1.05,194.7,899.9,11.3,1199,12192,0.15,0.00,0.00,0.000,6,0.114,0.000,3189,2328,2288
$GC,12499,1.05,194.7,868.7,10.2,1214,12504,0.00,2.90,0.00,0.000,4,0.000,0.123,3189,3741,2287
$GC,12544,0.99,194.7,863.6,10.6,1216,12548,0.00,2.80,0.00,0.000,6,0.000,0.106,3189,2331,2287
$GC,12864,0.99,194.7,829.2,10.7,1232,12869,0.00,2.90,0.00,0.000,4,0.000,0.132,3188,920,2287
$GC,12903,0.99,194.7,824.9,11.2,1234,12907,0.00,2.78,0.00,0.000,6,0.000,0.104,3189,2335,2287
$GC,13229,0.99,194.7,790.5,10.6,1250,13233,0.00,2.85,0.00,0.000,4,0.000,0.123,3189,3739,2286
$GC,13278,0.93,194.7,784.8,11.4,1252,13283,0.12,2.75,0.00,0.000,6,0.116,0.101,3166,2333,2286
$GC,13593,0.96,213.6,754.5,9.3,1267,13613,0.00,0.00,16.90,1.259,6,0.000,0.000,3167,2334,2214
$GC,13923,0.96,215.4,721.9,9.9,1283,13924,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2334,2212
$GC,14232,0.96,219.2,690.9,9.9,1298,14240,0.00,0.00,6.32,1.046,6,0.000,0.000,3166,2334,2190
$GC,14541,0.98,233.1,661.2,9.5,1313,14561,0.00,0.00,13.65,1.170,6,0.000,0.000,3167,2334,2134
$GC,14870,0.98,237.7,628.9,9.8,1329,14878,0.00,0.00,5.68,0.964,6,0.000,0.000,3167,2334,2115
$GC,15179,1.00,246.8,598.3,9.7,1344,15190,0.00,0.00,8.98,1.083,6,0.000,0.000,3167,2334,2079
$GC,15509,1.00,246.8,566.0,10.1,1375,15514,0.00,2.83,0.00,0.000,4,0.000,0.111,3167,3742,2078
$GC,15542,1.00,246.8,562.3,10.3,1377,15548,0.00,2.72,0.00,0.000,6,0.000,0.092,3167,2325,2077
$GC,15868,1.00,250.7,529.9,9.9,1408,15877,0.00,0.00,5.00,0.858,6,0.000,0.000,3167,2325,2063
$GC,16196,1.01,254.8,497.0,9.9,1439,16205,0.00,0.00,5.35,0.875,6,0.000,0.000,3167,2325,2046
$GC,16526,1.01,256.5,464.3,9.9,1470,16532,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2325,2045
$GC,16851,1.01,256.5,431.6,10.0,1501,16852,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2325,2045
$GC,17171,1.01,258.0,400.0,9.9,1531,17179,0.00,0.00,4.53,0.758,6,0.000,0.000,3167,2324,2033
$GC,17501,1.01,258.0,367.2,10.2,1562,17506,0.00,2.78,0.00,0.000,4,0.000,0.104,3167,3740,2032
$GC,17540,1.01,258.0,362.7,10.6,1565,17544,0.00,2.67,0.00,0.000,6,0.000,0.087,3166,2333,2032
$GC,17875,1.01,258.0,328.5,10.1,1613,17881,0.00,2.75,0.00,0.000,4,0.000,0.107,3166,919,2033
$GC,17910,1.07,258.0,324.8,10.3,1619,17917,0.12,2.70,0.00,0.000,6,0.064,0.089,3200,2347,2033
$GC,18254,1.07,258.0,284.8,11.6,1680,18261,0.00,2.67,0.00,0.000,4,0.000,0.104,3200,3738,2032
$GC,18295,1.07,258.0,279.8,12.1,1687,18301,0.00,2.65,0.00,0.000,6,0.000,0.086,3200,2335,2033
$GC,18640,1.07,258.0,240.2,11.4,1748,18645,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2335,2033
$GC,18983,1.07,258.0,200.8,11.3,1809,18988,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2336,2033
$GC,19325,1.07,258.0,161.7,10.1,1870,19331,0.00,2.72,0.00,0.000,4,0.000,0.100,3200,3738,2033
$GC,19354,1.07,258.0,158.4,11.9,1875,19359,0.00,2.62,0.00,0.000,6,0.000,0.083,3200,2343,2033
$GC,19697,1.07,258.0,119.9,11.1,1936,19702,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2344,2034
$GC,20040,1.07,258.0,81.0,10.4,1997,20045,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2344,2034
$GC,20382,1.07,258.0,41.2,12.7,2058,20388,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2344,2034
$GC,20524,1.07,258.0,25.0,10.7,2083,20530,0.00,2.70,0.00,0.000,4,0.000,0.100,3200,3740,2034
$GC,20567,1.07,258.0,20.1,11.2,2090,20573,0.00,2.60,0.00,0.000,6,0.000,0.081,3200,2349,2034
$GC,20709,1.07,258.0,3.9,11.4,2115,20715,0.00,2.75,0.00,0.000,4,0.000,0.101,3200,910,2034
$STATE,20726,end climb,SURFACE_DEPTH_REACHED
$STATE,20726,begin surface coast
$FINISH,0.5,1.027607
$STATE,20738,end surface coast,CONTROL_FINISHED_OK
$STATE,20738,begin surface
$SM_CCo,20821,0.00,0.000,0,0,2033,258.06
$SM_GC,0.98,11.48,0.00,0.00,0.048,0.000,0.000,595,2237,2033,-10.84,0.06,258.06
$IRIDIUM_FIX,5958.08,-2225.17,200797,040407
$TT8_MAMPS,0.02301
$HUMID,1601
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,18.30
$XPDR_PINGS,53
$24V_AH,23.4,25.600
$10V_AH,10.7,19.722
$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,27.875,110.075,395.175,0.000,0.000,31.537,32.092,262.278,13.250,0.000,0.000,17.524,3285.425,13281.098,579.367,3468.492,656.815,0.000,2147.733,0.000,3455.258,0.000,0.470
$DEVICE_MAMPS,210.158,138.827,1431.222,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1468.051,1580.048,988.779,598.008,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119984,2120
$CAP_FILE_SIZE,176409,0
$CFSIZE,260165632,246947840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,250408,155537,6027.854,-2220.992,29,1.1,29,-15.9