version: 66.03
glider: 140
mission: 5
dive: 97
start: 4 26 108 3 51 17
data:
$ID,140
$MISSION,5
$DIVE,97
$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,-14973.79
$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,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
$GPS1,034308,6039.303,-2217.982,27,1.6,27,-16.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-64.9
$GPS2,035059,6039.415,-2217.775,16,2.3,35,-16.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6049.202,-2220.001
$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,351.0,20000,-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,-60.20,0.000,2,0.000,0.000,589,2230,3561
$GC,92,-1.29,-194.7,3.5,-6.7,11,122,13.20,2.78,-6.62,0.000,4,0.212,0.110,2669,3639,3881
$GC,158,-1.29,-194.7,14.7,-10.6,22,165,0.00,2.65,0.00,0.000,6,0.000,0.082,2669,2224,3882
$GC,300,-1.29,-194.7,29.4,-10.2,47,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2225,3882
$GC,443,-1.29,-194.7,43.0,-9.2,72,448,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2225,3882
$GC,584,-1.29,-194.7,56.1,-9.1,97,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2225,3882
$GC,927,-1.29,-194.7,88.7,-9.7,158,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2224,3882
$GC,1270,-1.29,-194.7,121.9,-9.6,219,1276,0.00,2.72,0.00,0.000,4,0.000,0.105,2669,819,3882
$GC,1333,-1.29,-194.7,128.3,-10.1,230,1339,0.00,2.65,0.00,0.000,6,0.000,0.087,2669,2231,3882
$GC,1677,-1.29,-194.7,161.3,-9.3,291,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2232,3882
$GC,2021,-1.29,-194.7,193.3,-9.4,352,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2232,3882
$GC,2365,-1.29,-194.7,224.9,-8.9,413,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2232,3882
$GC,2708,-1.29,-194.7,256.4,-9.1,474,2714,0.00,2.78,0.00,0.000,4,0.000,0.111,2669,822,3882
$GC,2748,-1.29,-194.7,260.3,-10.1,481,2754,0.00,2.67,0.00,0.000,6,0.000,0.093,2669,2227,3882
$GC,3092,-1.29,-194.7,292.7,-9.6,542,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2227,3883
$GC,3434,-1.29,-194.7,324.7,-9.3,603,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2227,3882
$GC,3772,-1.29,-194.7,358.6,-9.6,656,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2227,3882
$GC,4090,-1.29,-194.7,389.9,-9.7,686,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2227,3882
$GC,4409,-1.29,-194.7,421.5,-9.9,716,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2227,3882
$GC,4727,-1.29,-194.7,452.1,-9.2,746,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2227,3882
$GC,5046,-1.29,-194.7,481.9,-9.3,776,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2227,3882
$GC,5364,-1.29,-194.7,511.6,-9.2,806,5369,0.00,2.80,0.00,0.000,4,0.000,0.112,2669,3650,3882
$GC,5397,-1.29,-194.7,514.9,-10.2,808,5403,0.00,2.67,0.00,0.000,6,0.000,0.092,2669,2233,3882
$GC,5723,-1.29,-194.7,545.8,-9.2,839,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,6042,-1.29,-194.7,575.6,-9.2,869,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,6357,-1.29,-194.7,604.0,-8.9,897,6361,0.00,2.78,0.00,0.000,4,0.000,0.112,2669,3643,3882
$GC,6378,-1.29,-194.7,606.1,-9.3,898,6382,0.00,2.67,0.00,0.000,6,0.000,0.091,2669,2231,3882
$GC,6699,-1.29,-194.7,633.8,-8.5,914,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2231,3882
$GC,7008,-1.29,-194.7,660.4,-8.6,929,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2231,3881
$GC,7317,-1.29,-194.7,687.8,-9.0,944,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2231,3881
$GC,7626,-1.29,-194.7,717.7,-9.5,959,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2231,3881
$GC,7935,-1.29,-194.7,744.5,-8.4,974,7940,0.00,2.83,0.00,0.000,4,0.000,0.120,2669,3642,3881
$GC,7962,-1.29,-194.7,746.9,-8.9,975,7966,0.00,2.70,0.00,0.000,6,0.000,0.098,2669,2235,3881
$GC,8278,-1.29,-194.7,771.1,-7.7,990,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3881
$GC,8587,-1.29,-194.7,796.5,-8.5,1005,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,8896,-1.29,-194.7,822.9,-8.7,1020,8897,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3880
$GC,9206,-1.29,-194.7,848.7,-8.3,1035,9210,0.00,2.85,0.00,0.000,4,0.000,0.124,2669,3646,3880
$GC,9233,-1.29,-194.7,851.2,-9.5,1036,9237,0.00,2.72,0.00,0.000,6,0.000,0.104,2669,2237,3880
$GC,9548,-1.29,-194.7,877.7,-8.4,1051,9552,0.00,2.85,0.00,0.000,4,0.000,0.123,2669,3648,3879
$GC,9571,-1.29,-194.7,879.6,-8.3,1052,9575,0.00,2.72,0.00,0.000,6,0.000,0.104,2669,2239,3879
$GC,9891,-1.29,-194.7,907.2,-8.7,1068,9892,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3878
$GC,10200,-1.29,-194.7,934.1,-8.5,1083,10205,0.00,2.85,0.00,0.000,4,0.000,0.127,2669,3648,3878
$GC,10244,-1.29,-194.7,938.2,-9.7,1085,10249,0.00,2.72,0.00,0.000,6,0.000,0.107,2669,2251,3879
$GC,10565,-1.29,-194.7,965.8,-8.7,1101,10566,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2252,3878
$STATE,10851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10851,begin apogee
$GC,10857,-0.35,0.0,990.4,8.6,1115,11026,1.05,0.00,165.55,1.438,6,0.105,0.000,2879,2326,3085
$STATE,11027,end apogee,CONTROL_FINISHED_OK
$STATE,11027,begin climb
$GC,11029,1.29,194.7,996.9,0.0,1123,11203,1.62,2.97,162.85,1.401,4,0.062,0.123,3237,3739,2290
$GC,11254,1.17,194.7,979.7,14.2,1134,11259,0.12,2.85,0.00,0.000,6,0.122,0.109,3216,2326,2289
$GC,11581,1.11,194.7,941.0,11.9,1150,11582,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2327,2288
$GC,11890,1.05,194.7,903.8,11.9,1165,11892,0.15,0.00,0.00,0.000,6,0.114,0.000,3189,2327,2288
$GC,12199,1.05,194.7,870.9,10.4,1180,12200,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2327,2287
$GC,12508,1.05,194.7,839.1,10.1,1195,12513,0.00,2.90,0.00,0.000,4,0.000,0.122,3189,3740,2286
$GC,12552,0.99,194.7,834.3,10.5,1197,12557,0.00,2.80,0.00,0.000,6,0.000,0.104,3189,2327,2286
$GC,12872,0.99,194.7,799.9,10.9,1213,12874,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2328,2286
$GC,13182,0.99,194.7,766.7,10.6,1228,13183,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2328,2285
$GC,13491,0.99,194.7,734.3,10.3,1243,13496,0.00,2.85,0.00,0.000,4,0.000,0.124,3188,917,2285
$GC,13530,0.99,194.7,730.1,10.8,1245,13534,0.00,2.78,0.00,0.000,6,0.000,0.103,3188,2337,2285
$GC,13856,0.99,194.7,697.2,10.1,1261,13857,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2337,2284
$GC,14165,0.99,194.7,665.8,10.1,1276,14166,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2337,2284
$GC,14474,1.00,199.9,635.4,9.8,1291,14481,0.00,0.00,5.00,0.919,6,0.000,0.000,3188,2337,2270
$GC,14783,1.00,199.9,602.8,10.9,1306,14784,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2337,2269
$GC,15103,1.00,200.4,569.1,10.0,1334,15104,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2337,2270
$GC,15419,1.00,200.4,537.1,10.1,1364,15424,0.00,2.78,0.00,0.000,4,0.000,0.112,3189,3740,2270
$GC,15459,0.95,200.4,532.8,11.2,1367,15464,0.00,2.70,0.00,0.000,6,0.000,0.091,3188,2330,2270
$GC,15783,0.95,200.4,499.5,10.3,1397,15784,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2331,2270
$GC,16102,0.95,200.4,466.4,10.3,1427,16104,0.10,0.00,0.00,0.000,6,0.118,0.000,3170,2331,2270
$GC,16424,0.98,221.4,436.9,9.3,1457,16450,0.00,0.00,19.65,1.062,6,0.000,0.000,3170,2331,2181
$GC,16768,0.99,234.9,404.3,9.5,1490,16783,0.00,0.00,12.77,1.002,6,0.000,0.000,3170,2331,2127
$GC,17101,1.01,247.2,372.2,9.6,1521,17122,0.00,2.85,11.65,0.977,4,0.000,0.104,3170,920,2076
$GC,17138,1.05,247.2,368.1,10.2,1524,17145,0.00,2.72,0.00,0.000,6,0.000,0.091,3170,2339,2076
$GC,17470,1.07,261.0,335.9,9.5,1568,17487,0.10,0.00,13.25,0.961,6,0.071,0.000,3196,2339,2020
$GC,17825,1.07,261.0,298.8,10.1,1631,17831,0.00,2.78,0.00,0.000,4,0.000,0.106,3196,918,2018
$GC,17859,1.07,261.0,295.3,10.4,1637,17865,0.00,2.70,0.00,0.000,6,0.000,0.092,3196,2330,2018
$GC,18203,1.07,261.0,260.6,10.9,1698,18208,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2329,2018
$GC,18545,1.07,261.0,221.1,11.8,1759,18551,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2330,2018
$GC,18890,1.07,261.0,182.0,13.1,1820,18895,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2330,2017
$GC,19233,1.07,261.0,143.5,11.6,1881,19239,0.00,2.72,0.00,0.000,4,0.000,0.100,3196,918,2017
$GC,19262,1.07,261.0,140.0,13.2,1886,19269,0.00,2.65,0.00,0.000,6,0.000,0.087,3196,2327,2017
$GC,19606,1.07,261.0,101.0,11.8,1947,19611,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2327,2018
$GC,19948,1.07,261.0,62.5,10.1,2008,19954,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2327,2018
$GC,20291,1.07,261.0,24.8,11.7,2069,20297,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2327,2018
$GC,20432,1.07,261.0,8.5,10.5,2094,20439,0.00,2.72,0.00,0.000,4,0.000,0.100,3196,3741,2017
$GC,20467,1.07,261.0,4.2,12.0,2100,20474,0.00,2.62,0.00,0.000,6,0.000,0.081,3196,2336,2017
$STATE,20484,end climb,SURFACE_DEPTH_REACHED
$STATE,20484,begin surface coast
$FINISH,0.1,1.027798
$STATE,20502,end surface coast,CONTROL_FINISHED_OK
$STATE,20502,begin surface
$SM_CCo,20583,0.00,0.000,0,0,2015,262.23
$SM_GC,0.91,11.45,0.00,0.00,0.048,0.000,0.000,595,2234,2015,-10.84,-0.03,262.23
$IRIDIUM_FIX,6011.05,-2217.33,200797,222201
$TT8_MAMPS,0.021476
$HUMID,1598
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,18.00
$XPDR_PINGS,46
$24V_AH,23.4,26.100
$10V_AH,10.7,20.157
$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,27.800,94.200,390.725,0.000,0.000,28.719,33.357,247.105,11.500,0.000,0.000,37.682,3263.777,13133.938,533.154,3476.305,627.598,0.000,2108.476,0.000,3435.782,0.000,0.467
$DEVICE_MAMPS,212.459,151.866,1438.125,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1460.221,1560.972,982.980,595.146,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119847,2106
$CAP_FILE_SIZE,175605,0
$CFSIZE,260165632,246669312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,260408,093532,6044.188,-2216.406,37,2.0,37,-16.0