version: 66.03
glider: 140
mission: 5
dive: 95
start: 4 25 108 16 3 43
data:
$ID,140
$MISSION,5
$DIVE,95
$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,-14902.155
$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
$GPS1,155537,6027.854,-2220.992,29,1.1,29,-15.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-66.6
$GPS2,160326,6027.935,-2220.984,16,1.1,33,-15.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6038.570,-2221.904
$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,-60.33,0.000,2,0.000,0.000,595,2239,3445
$GC,92,-1.29,-194.7,3.1,-6.4,11,122,13.05,2.70,-10.18,0.000,4,0.209,0.107,2670,3646,3880
$GC,308,-1.29,-194.7,27.4,-9.9,49,315,0.00,2.62,0.00,0.000,6,0.000,0.081,2670,2234,3882
$GC,451,-1.29,-194.7,41.1,-9.5,74,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3882
$GC,592,-1.29,-194.7,54.8,-9.7,99,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,935,-1.29,-194.7,86.8,-9.0,160,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,1278,-1.29,-194.7,118.5,-9.6,221,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,1620,-1.29,-194.7,150.5,-9.1,282,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,1963,-1.29,-194.7,181.4,-8.8,343,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,2308,-1.29,-194.7,212.5,-8.9,404,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,2652,-1.29,-194.7,243.4,-8.9,465,2658,0.00,2.75,0.00,0.000,4,0.000,0.104,2670,3651,3882
$GC,2678,-1.29,-194.7,245.6,-9.3,469,2684,0.00,2.65,0.00,0.000,6,0.000,0.084,2670,2231,3882
$GC,3021,-1.29,-194.7,276.0,-8.8,530,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2231,3882
$GC,3364,-1.29,-194.7,307.5,-9.1,591,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2231,3882
$GC,3707,-1.29,-194.7,339.4,-9.3,652,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2231,3882
$GC,4038,-1.29,-194.7,369.9,-9.1,693,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2231,3882
$GC,4356,-1.29,-194.7,399.0,-9.1,723,4361,0.00,2.75,0.00,0.000,4,0.000,0.107,2670,3645,3882
$GC,4384,-1.29,-194.7,401.6,-9.7,725,4389,0.00,2.65,0.00,0.000,6,0.000,0.090,2670,2239,3882
$GC,4710,-1.29,-194.7,431.3,-9.4,755,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3882
$GC,5030,-1.29,-194.7,460.5,-9.0,785,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,5346,-1.29,-194.7,490.1,-9.5,815,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,5667,-1.29,-194.7,520.3,-9.4,845,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,5983,-1.29,-194.7,549.9,-9.2,875,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,6302,-1.29,-194.7,578.7,-9.0,905,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,6630,-1.29,-194.7,607.5,-8.7,932,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,6937,-1.29,-194.7,633.7,-8.8,947,6938,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3881
$GC,7247,-1.29,-194.7,662.6,-9.4,962,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3881
$GC,7556,-1.29,-194.7,691.0,-8.9,977,7557,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3881
$GC,7865,-1.29,-194.7,717.5,-8.4,992,7870,0.00,2.80,0.00,0.000,4,0.000,0.120,2670,3645,3881
$GC,7887,-1.29,-194.7,719.5,-8.6,993,7892,0.00,2.67,0.00,0.000,6,0.000,0.097,2670,2243,3881
$GC,8208,-1.29,-194.7,747.0,-8.6,1009,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3880
$GC,8517,-1.29,-194.7,773.8,-8.9,1024,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3880
$GC,8826,-1.29,-194.7,801.1,-8.9,1039,8828,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3879
$GC,9135,-1.29,-194.7,827.6,-8.5,1054,9140,0.00,2.83,0.00,0.000,4,0.000,0.123,2670,3647,3879
$GC,9156,-1.29,-194.7,829.5,-8.9,1055,9161,0.00,2.70,0.00,0.000,6,0.000,0.102,2670,2246,3879
$GC,9477,-1.29,-194.7,855.5,-8.0,1071,9482,0.00,2.80,0.00,0.000,4,0.000,0.123,2670,3645,3879
$GC,9499,-1.29,-194.7,857.3,-7.9,1072,9503,0.00,2.70,0.00,0.000,6,0.000,0.102,2670,2246,3878
$GC,9819,-1.29,-194.7,882.6,-8.0,1088,9820,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3879
$GC,10129,-1.29,-194.7,907.4,-8.1,1103,10133,0.00,2.83,0.00,0.000,4,0.000,0.125,2670,3648,3878
$GC,10161,-1.29,-194.7,910.4,-9.4,1104,10167,0.00,2.70,0.00,0.000,6,0.000,0.106,2670,2259,3878
$GC,10477,-1.29,-194.7,936.6,-8.4,1120,10478,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2259,3878
$GC,10786,-1.29,-194.7,962.1,-8.1,1135,10787,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2260,3878
$GC,11095,-1.29,-194.7,986.4,-7.6,1150,11100,0.00,2.83,0.00,0.000,4,0.000,0.128,2669,3648,3877
$GC,11117,-1.29,-194.7,988.2,-7.8,1151,11122,0.00,2.75,0.00,0.000,6,0.000,0.109,2670,2244,3877
$STATE,11147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11147,begin apogee
$GC,11153,-0.35,0.0,990.7,7.9,1153,11322,1.05,0.00,165.48,1.434,6,0.110,0.000,2878,2330,3085
$STATE,11323,end apogee,CONTROL_FINISHED_OK
$STATE,11323,begin climb
$GC,11325,1.29,194.7,995.9,0.0,1161,11493,1.62,0.00,163.45,1.394,6,0.064,0.000,3239,2330,2291
$GC,11803,1.19,194.7,942.6,13.6,1185,11808,0.00,2.92,0.00,0.000,4,0.000,0.128,3239,3739,2288
$GC,11835,1.07,194.7,937.5,14.5,1186,11842,0.25,2.80,0.00,0.000,6,0.110,0.107,3193,2333,2288
$GC,12151,1.07,194.7,902.3,11.0,1202,12155,0.00,2.95,0.00,0.000,4,0.000,0.137,3193,920,2288
$GC,12190,1.07,194.7,897.8,11.2,1204,12194,0.00,2.83,0.00,0.000,6,0.000,0.107,3193,2346,2287
$GC,12515,1.07,194.7,862.5,10.6,1220,12520,0.00,2.88,0.00,0.000,4,0.000,0.127,3193,3740,2287
$GC,12565,1.01,194.7,856.8,12.0,1222,12569,0.00,2.75,0.00,0.000,6,0.000,0.104,3193,2343,2287
$GC,12880,1.01,194.7,823.1,10.8,1237,12881,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2344,2287
$GC,13189,1.01,194.7,789.5,10.7,1252,13190,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2344,2286
$GC,13498,1.01,194.7,755.4,11.4,1267,13499,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2344,2286
$GC,13808,1.01,194.7,720.8,10.8,1282,13809,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2344,2286
$GC,14117,1.01,194.7,688.6,10.1,1297,14118,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2344,2285
$GC,14426,1.01,194.7,657.0,10.3,1312,14431,0.00,2.80,0.00,0.000,4,0.000,0.114,3193,3740,2285
$GC,14470,0.95,194.7,652.0,11.5,1314,14475,0.12,2.67,0.00,0.000,6,0.115,0.096,3170,2353,2285
$GC,14791,0.96,200.6,620.9,9.8,1330,14804,0.00,2.90,5.97,0.976,4,0.000,0.116,3170,911,2266
$GC,14843,0.96,200.6,615.3,10.4,1332,14848,0.00,2.78,0.00,0.000,6,0.000,0.095,3170,2352,2266
$GC,15164,0.98,220.1,584.8,9.3,1354,15184,0.00,0.00,17.92,1.141,6,0.000,0.000,3170,2352,2187
$GC,15505,0.99,222.7,552.5,9.9,1386,15509,0.00,2.83,0.00,0.000,4,0.000,0.110,3170,917,2185
$GC,15544,0.99,222.7,548.2,10.4,1389,15555,0.00,2.75,3.70,0.709,6,0.000,0.094,3170,2350,2177
$GC,15873,0.99,228.0,516.0,9.8,1420,15883,0.00,0.00,6.38,0.953,6,0.000,0.000,3170,2350,2155
$GC,16205,0.99,228.0,482.8,10.1,1451,16206,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2350,2155
$GC,16522,1.00,232.1,452.2,9.9,1481,16530,0.00,0.00,5.32,0.854,6,0.000,0.000,3170,2350,2138
$GC,16850,1.03,256.3,421.0,9.2,1512,16881,0.00,2.88,21.30,1.027,4,0.000,0.107,3170,918,2041
$GC,16905,1.08,259.4,415.4,9.9,1517,16916,0.12,2.78,4.45,0.705,6,0.063,0.093,3203,2354,2027
$GC,17234,1.08,259.4,376.9,11.7,1548,17235,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2354,2025
$GC,17557,1.08,259.4,338.5,10.9,1586,17563,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2354,2026
$GC,17900,1.08,259.4,298.9,10.4,1647,17905,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2354,2026
$GC,18242,1.08,259.4,261.3,11.7,1708,18247,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2354,2026
$GC,18585,1.08,259.4,223.2,11.4,1769,18591,0.00,2.80,0.00,0.000,4,0.000,0.103,3204,912,2026
$GC,18614,1.08,259.4,219.7,11.2,1774,18620,0.00,2.72,0.00,0.000,6,0.000,0.087,3204,2357,2026
$GC,18957,1.08,259.4,179.4,11.0,1835,18962,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2357,2026
$GC,19298,1.08,259.4,139.4,11.1,1896,19304,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2357,2026
$GC,19641,1.08,259.4,99.6,11.5,1957,19647,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2358,2026
$GC,19984,1.08,259.4,60.3,10.5,2018,19991,0.00,2.78,0.00,0.000,4,0.000,0.100,3204,916,2027
$GC,20014,1.08,259.4,56.9,12.3,2023,20020,0.00,2.70,0.00,0.000,6,0.000,0.084,3204,2358,2027
$GC,20357,1.08,259.4,17.5,12.3,2084,20364,0.00,2.65,0.00,0.000,4,0.000,0.099,3204,3740,2027
$GC,20387,1.08,259.4,13.8,13.0,2089,20393,0.00,2.60,0.00,0.000,6,0.000,0.081,3204,2345,2027
$STATE,20487,end climb,SURFACE_DEPTH_REACHED
$STATE,20488,begin surface coast
$FINISH,0.1,1.015057
$STATE,20508,end surface coast,CONTROL_FINISHED_OK
$STATE,20508,begin surface
$SM_CCo,20589,0.00,0.000,0,0,2025,259.77
$SM_GC,0.92,11.40,0.00,0.00,0.043,0.000,0.000,588,2232,2025,-10.86,-0.08,259.77
$IRIDIUM_FIX,5958.08,-2232.51,200797,101025
$TT8_MAMPS,0.02301
$HUMID,1603
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,18.20
$XPDR_PINGS,55
$24V_AH,23.4,25.770
$10V_AH,10.7,19.867
$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,27.625,99.900,393.975,0.000,0.000,31.017,31.435,248.759,13.750,0.000,0.000,33.022,3259.988,13103.160,570.466,3460.190,645.334,0.000,2123.887,0.000,3431.328,0.000,0.468
$DEVICE_MAMPS,208.624,137.293,1433.523,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1461.028,1571.246,987.269,597.431,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119922,2110
$CAP_FILE_SIZE,173551,0
$CFSIZE,260165632,246857728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,250408,214808,6033.454,-2219.239,41,1.6,41,-15.9