version: 66.03
glider: 140
mission: 5
dive: 96
start: 4 25 108 21 56 7
data:
$ID,140
$MISSION,5
$DIVE,96
$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,335
$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,-14935.48
$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
$GPS1,214808,6033.454,-2219.239,41,1.6,41,-15.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-65.6
$GPS2,215550,6033.561,-2219.223,15,1.6,32,-15.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6043.349,-2221.455
$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,350.9,20000,-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,-60.33,0.000,2,0.000,0.000,587,2230,3428
$GC,92,-1.29,-194.7,3.1,-7.3,11,122,13.02,2.75,-10.50,0.000,4,0.207,0.110,2669,3652,3880
$GC,210,-1.29,-194.7,17.0,-9.7,31,216,0.00,2.65,0.00,0.000,6,0.000,0.081,2669,2230,3881
$GC,352,-1.29,-194.7,30.9,-9.7,56,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3881
$GC,494,-1.29,-194.7,44.8,-9.7,81,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3881
$GC,635,-1.29,-194.7,58.7,-10.0,106,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3881
$GC,978,-1.29,-194.7,91.3,-9.6,167,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3881
$GC,1321,-1.29,-194.7,123.5,-9.1,228,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3881
$GC,1665,-1.29,-194.7,154.9,-8.7,289,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3882
$GC,2008,-1.29,-194.7,185.6,-9.4,350,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3882
$GC,2350,-1.29,-194.7,216.0,-8.8,411,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3882
$GC,2692,-1.29,-194.7,247.8,-9.3,472,2699,0.00,2.75,0.00,0.000,4,0.000,0.104,2669,3652,3882
$GC,2716,-1.29,-194.7,250.2,-9.9,476,2723,0.00,2.65,0.00,0.000,6,0.000,0.085,2669,2235,3882
$GC,3060,-1.29,-194.7,281.3,-9.0,537,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3882
$GC,3403,-1.29,-194.7,312.4,-9.2,598,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3882
$GC,3746,-1.29,-194.7,344.3,-9.3,659,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3882
$GC,4076,-1.29,-194.7,374.7,-8.9,695,4081,0.00,2.78,0.00,0.000,4,0.000,0.113,2669,825,3882
$GC,4116,-1.29,-194.7,378.8,-9.9,698,4120,0.00,2.70,0.00,0.000,6,0.000,0.095,2669,2236,3882
$GC,4442,-1.29,-194.7,408.2,-8.7,728,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3882
$GC,4759,-1.29,-194.7,436.6,-8.9,758,4764,0.00,2.80,0.00,0.000,4,0.000,0.112,2669,818,3882
$GC,4803,-1.29,-194.7,440.8,-9.3,761,4810,0.00,2.70,0.00,0.000,6,0.000,0.097,2669,2228,3882
$GC,5130,-1.29,-194.7,468.7,-8.4,792,5131,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,5447,-1.29,-194.7,496.2,-9.0,822,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,5765,-1.29,-194.7,524.0,-8.7,852,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,6084,-1.29,-194.7,552.0,-9.2,882,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3881
$GC,6402,-1.29,-194.7,580.8,-8.9,912,6404,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3881
$GC,6730,-1.29,-194.7,609.6,-8.7,938,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3881
$GC,7038,-1.29,-194.7,637.2,-8.9,953,7042,0.00,2.83,0.00,0.000,4,0.000,0.119,2669,3653,3881
$GC,7070,-1.29,-194.7,640.2,-9.2,954,7076,0.00,2.70,0.00,0.000,6,0.000,0.094,2670,2231,3881
$GC,7386,-1.29,-194.7,668.5,-9.0,970,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2231,3881
$GC,7695,-1.29,-194.7,696.0,-8.8,985,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2231,3880
$GC,8004,-1.29,-194.7,723.2,-8.9,1000,8009,0.00,2.83,0.00,0.000,4,0.000,0.118,2670,3650,3880
$GC,8037,-1.29,-194.7,726.3,-9.4,1001,8043,0.00,2.70,0.00,0.000,6,0.000,0.097,2669,2232,3880
$GC,8352,-1.29,-194.7,753.6,-8.5,1017,8353,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2233,3880
$GC,8662,-1.29,-194.7,779.5,-8.2,1032,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2232,3879
$GC,8971,-1.29,-194.7,805.1,-8.2,1047,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2233,3879
$GC,9280,-1.29,-194.7,830.2,-8.0,1062,9285,0.00,2.85,0.00,0.000,4,0.000,0.124,2669,3648,3878
$GC,9319,-1.29,-194.7,833.5,-8.7,1064,9324,0.00,2.75,0.00,0.000,6,0.000,0.103,2669,2228,3879
$GC,9645,-1.29,-194.7,860.4,-8.2,1080,9647,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3878
$GC,9954,-1.29,-194.7,885.7,-8.0,1095,9955,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3878
$GC,10264,-1.29,-194.7,911.2,-8.2,1110,10268,0.00,2.88,0.00,0.000,4,0.000,0.128,2669,3647,3878
$GC,10296,-1.29,-194.7,914.1,-8.7,1111,10302,0.00,2.75,0.00,0.000,6,0.000,0.107,2670,2237,3878
$GC,10612,-1.29,-194.7,939.6,-8.1,1127,10613,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3877
$GC,10921,-1.29,-194.7,963.8,-7.9,1142,10926,0.00,2.85,0.00,0.000,4,0.000,0.126,2669,3648,3877
$GC,10960,-1.29,-194.7,967.1,-8.7,1144,10965,0.00,2.75,0.00,0.000,6,0.000,0.108,2669,2241,3877
$STATE,11243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11243,begin apogee
$GC,11249,-0.35,0.0,990.3,8.2,1158,11419,1.05,0.00,165.73,1.434,6,0.107,0.000,2879,2328,3085
$STATE,11419,end apogee,CONTROL_FINISHED_OK
$STATE,11419,begin climb
$GC,11422,1.29,194.7,996.3,0.0,1166,11590,1.62,0.00,163.80,1.395,6,0.063,0.000,3242,2328,2291
$GC,11899,1.19,194.7,943.0,13.8,1190,11904,0.12,2.92,0.00,0.000,4,0.118,0.127,3221,3739,2288
$GC,11963,1.09,194.7,934.1,12.9,1193,11969,0.12,2.83,0.00,0.000,6,0.120,0.107,3199,2330,2288
$GC,12290,1.09,194.7,896.3,11.2,1209,12291,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2331,2287
$GC,12599,1.09,194.7,861.9,11.1,1224,12600,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2331,2287
$GC,12908,1.09,194.7,827.1,11.4,1239,12909,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2331,2286
$GC,13218,1.09,194.7,792.6,11.0,1254,13219,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2331,2286
$GC,13527,1.09,194.7,757.9,11.2,1269,13528,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2331,2286
$GC,13836,1.09,194.7,723.8,11.0,1284,13837,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2331,2285
$GC,14145,1.09,194.7,690.4,10.6,1299,14146,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2331,2285
$GC,14454,1.09,194.7,657.7,10.8,1314,14456,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2331,2285
$GC,14764,1.09,194.7,623.8,11.0,1329,14765,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2331,2285
$GC,15075,1.09,194.7,590.0,10.9,1348,15080,0.00,2.83,0.00,0.000,4,0.000,0.113,3199,3741,2285
$GC,15115,1.03,194.7,585.6,11.6,1351,15119,0.00,2.72,0.00,0.000,6,0.000,0.094,3199,2329,2285
$GC,15439,1.03,194.7,551.3,10.7,1381,15443,0.00,2.78,0.00,0.000,4,0.000,0.113,3199,920,2285
$GC,15471,1.03,194.7,547.7,11.1,1383,15477,0.00,2.72,0.00,0.000,6,0.000,0.094,3199,2342,2285
$GC,15797,1.03,194.7,513.1,10.7,1414,15798,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2342,2285
$GC,16114,1.03,194.7,480.1,10.3,1444,16115,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2343,2286
$GC,16434,1.03,194.7,447.2,10.3,1474,16436,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2343,2286
$GC,16751,1.03,194.7,415.0,10.3,1504,16752,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2343,2286
$GC,17070,1.03,194.7,382.0,10.5,1534,17071,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2343,2286
$GC,17391,1.03,194.7,348.8,10.2,1565,17396,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2343,2287
$GC,17733,1.06,216.0,314.2,9.3,1626,17755,0.00,0.00,18.17,0.981,6,0.000,0.000,3199,2342,2204
$GC,18091,1.06,216.0,277.0,10.5,1690,18096,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2343,2203
$GC,18433,1.06,216.0,241.9,10.0,1751,18439,0.00,2.78,0.00,0.000,4,0.000,0.104,3199,918,2203
$GC,18479,1.06,216.0,237.1,11.1,1759,18485,0.00,2.70,0.00,0.000,6,0.000,0.089,3199,2341,2203
$GC,18824,1.06,216.9,201.5,10.0,1820,18829,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2342,2203
$GC,19166,1.06,216.9,164.9,10.6,1881,19172,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2342,2203
$GC,19509,1.06,216.9,127.6,11.1,1942,19515,0.00,2.75,0.00,0.000,4,0.000,0.101,3199,912,2203
$GC,19544,1.06,216.9,123.6,12.4,1948,19550,0.00,2.67,0.00,0.000,6,0.000,0.085,3199,2336,2204
$GC,19887,1.07,224.8,85.7,9.7,2009,19899,0.00,0.00,8.88,0.796,6,0.000,0.000,3199,2336,2168
$GC,20238,1.07,224.8,47.6,11.5,2071,20244,0.00,2.75,0.00,0.000,4,0.000,0.099,3199,912,2168
$GC,20280,1.07,224.8,42.9,10.9,2078,20286,0.00,2.67,0.00,0.000,6,0.000,0.084,3199,2335,2168
$GC,20424,1.08,234.5,27.6,9.7,2103,20436,0.00,0.00,9.52,0.771,6,0.000,0.000,3199,2335,2128
$GC,20573,1.08,234.5,12.5,11.2,2129,20580,0.00,2.70,0.00,0.000,4,0.000,0.099,3199,3736,2127
$GC,20614,1.08,234.5,7.4,11.2,2136,20621,0.00,2.65,0.00,0.000,6,0.000,0.081,3199,2320,2127
$STATE,20659,end climb,SURFACE_DEPTH_REACHED
$STATE,20659,begin surface coast
$FINISH,0.2,1.014209
$STATE,20677,end surface coast,CONTROL_FINISHED_OK
$STATE,20677,begin surface
$SM_CCo,20759,0.00,0.000,0,0,2126,235.24
$SM_GC,1.06,11.40,0.00,0.00,0.042,0.000,0.000,590,2233,2126,-10.85,-0.06,235.24
$IRIDIUM_FIX,6006.72,-2219.72,200797,161635
$TT8_MAMPS,0.02301
$HUMID,1612
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,18.10
$XPDR_PINGS,57
$24V_AH,23.4,25.931
$10V_AH,10.7,20.013
$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,27.350,88.500,366.100,0.000,0.000,25.512,32.880,245.551,14.250,0.000,0.000,32.697,3316.610,13214.276,543.054,3497.591,630.754,0.000,2102.115,0.000,3468.293,0.000,0.468
$DEVICE_MAMPS,207.090,144.963,1434.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1489.101,1591.696,1014.963,614.889,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119901,2147
$CAP_FILE_SIZE,174740,0
$CFSIZE,260165632,246763520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260408,034308,6039.303,-2217.982,27,1.6,27,-16.0