version: 66.03
glider: 140
mission: 5
dive: 101
start: 4 27 108 3 23 33
data:
$ID,140
$MISSION,5
$DIVE,101
$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,-15068.834
$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,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
$GPS1,031243,6052.900,-2224.245,38,1.9,56,-16.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-63.0
$GPS2,032315,6052.860,-2224.242,11,1.8,11,-16.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6102.648,-2226.452
$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,351.2,20000,-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,-194.7,0.0,0.0,0,95,0.00,0.00,-65.45,0.000,2,0.000,0.000,586,2229,3647
$GC,98,-1.29,-194.7,3.6,-6.0,12,122,13.20,0.00,-4.70,0.000,6,0.212,0.000,2668,2229,3879
$GC,259,-1.29,-194.7,25.2,-10.0,40,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3881
$GC,400,-1.29,-194.7,38.5,-9.8,65,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3880
$GC,541,-1.29,-194.7,52.6,-9.7,90,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3880
$GC,885,-1.29,-194.7,86.6,-10.0,151,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3881
$GC,1226,-1.29,-194.7,121.3,-10.3,212,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3881
$GC,1570,-1.29,-194.7,156.1,-10.3,273,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3881
$GC,1913,-1.29,-194.7,190.0,-9.8,334,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3881
$GC,2255,-1.29,-194.7,222.1,-8.8,395,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3881
$GC,2599,-1.29,-194.7,255.0,-9.7,456,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3881
$GC,2943,-1.29,-194.7,287.9,-9.4,517,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3881
$GC,3286,-1.29,-194.7,320.4,-9.6,578,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3881
$GC,3632,-1.29,-194.7,353.5,-9.4,637,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3881
$GC,3951,-1.29,-194.7,382.9,-9.0,667,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3881
$GC,4270,-1.29,-194.7,412.1,-9.4,697,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3881
$GC,4588,-1.29,-194.7,441.6,-9.2,727,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3881
$GC,4907,-1.29,-194.7,469.2,-8.7,757,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3881
$GC,5225,-1.29,-194.7,497.3,-8.9,787,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3880
$GC,5544,-1.29,-194.7,525.0,-8.7,817,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3881
$GC,5862,-1.29,-194.7,554.0,-9.2,847,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3880
$GC,6180,-1.29,-194.7,582.8,-8.7,877,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3880
$GC,6506,-1.29,-194.7,611.5,-8.9,902,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3880
$GC,6815,-1.29,-194.7,639.4,-9.2,917,6820,0.00,2.85,0.00,0.000,4,0.000,0.120,2668,3652,3880
$GC,6847,-1.29,-194.7,642.5,-9.4,918,6854,0.00,2.70,0.00,0.000,6,0.000,0.093,2668,2229,3880
$GC,7163,-1.29,-194.7,669.4,-8.7,934,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2230,3879
$GC,7473,-1.29,-194.7,695.8,-8.5,949,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2230,3880
$GC,7781,-1.29,-194.7,721.4,-8.3,964,7786,0.00,2.83,0.00,0.000,4,0.000,0.120,2668,3644,3880
$GC,7821,-1.29,-194.7,724.8,-9.1,966,7825,0.00,2.70,0.00,0.000,6,0.000,0.098,2668,2234,3880
$GC,8147,-1.29,-194.7,754.3,-9.1,982,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2235,3880
$GC,8456,-1.29,-194.7,781.7,-8.7,997,8460,0.00,2.83,0.00,0.000,4,0.000,0.121,2668,3644,3879
$GC,8500,-1.29,-194.7,785.8,-9.1,999,8504,0.00,2.70,0.00,0.000,6,0.000,0.098,2668,2236,3879
$GC,8820,-1.29,-194.7,813.7,-8.8,1015,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3879
$GC,9129,-1.29,-194.7,839.0,-8.0,1030,9130,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3879
$GC,9439,-1.29,-194.7,862.8,-7.6,1045,9443,0.00,2.85,0.00,0.000,4,0.000,0.126,2668,3646,3879
$GC,9466,-1.29,-194.7,865.1,-8.3,1046,9470,0.00,2.70,0.00,0.000,6,0.000,0.101,2668,2241,3878
$GC,9781,-1.29,-194.7,890.7,-8.3,1061,9782,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2242,3878
$GC,10091,-1.29,-194.7,916.4,-8.2,1076,10092,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2242,3878
$GC,10400,-1.29,-194.7,943.3,-8.8,1091,10404,0.00,2.85,0.00,0.000,4,0.000,0.127,2668,3652,3877
$GC,10432,-1.29,-194.7,946.4,-9.6,1092,10438,0.00,2.72,0.00,0.000,6,0.000,0.104,2669,2243,3878
$GC,10748,-1.29,-194.7,973.9,-8.7,1108,10749,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3877
$STATE,10951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10951,begin apogee
$GC,10957,-0.35,0.0,991.5,8.4,1118,11126,1.08,0.00,165.23,1.431,6,0.113,0.000,2881,2329,3085
$STATE,11127,end apogee,CONTROL_FINISHED_OK
$STATE,11127,begin climb
$GC,11129,1.29,194.7,998.0,0.0,1126,11302,1.62,3.05,162.45,1.393,4,0.064,0.133,3237,913,2290
$GC,11331,1.21,194.7,983.6,13.4,1136,11336,0.00,2.85,0.00,0.000,6,0.000,0.110,3236,2330,2289
$GC,11658,1.13,194.7,940.5,13.2,1152,11663,0.15,2.90,0.00,0.000,4,0.115,0.127,3206,3739,2288
$GC,11707,1.04,194.7,934.2,11.6,1154,11712,0.00,2.78,0.00,0.000,6,0.000,0.104,3206,2334,2288
$GC,12023,1.00,194.7,898.3,11.8,1169,12025,0.15,0.00,0.00,0.000,6,0.111,0.000,3179,2335,2287
$GC,12332,1.00,194.7,866.3,10.2,1184,12333,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2335,2287
$GC,12641,1.00,194.7,834.8,10.3,1199,12642,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2335,2287
$GC,12951,1.00,194.7,802.5,10.4,1214,12955,0.00,2.88,0.00,0.000,4,0.000,0.121,3179,3742,2286
$GC,12990,0.96,194.7,798.1,11.9,1216,12994,0.00,2.78,0.00,0.000,6,0.000,0.099,3178,2326,2286
$GC,13315,0.96,194.7,764.7,10.6,1232,13316,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2327,2285
$GC,13625,0.96,194.7,732.1,10.4,1247,13626,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2326,2285
$GC,13934,0.96,194.7,700.4,10.3,1262,13939,0.00,2.83,0.00,0.000,4,0.000,0.114,3178,3740,2285
$GC,13977,0.96,194.7,695.6,11.2,1264,13982,0.00,2.72,0.00,0.000,6,0.000,0.096,3179,2328,2285
$GC,14298,0.96,201.5,663.9,9.8,1280,14312,0.00,2.90,6.60,1.029,4,0.000,0.117,3178,916,2263
$GC,14341,0.96,201.5,659.3,10.2,1282,14346,0.00,2.78,0.00,0.000,6,0.000,0.097,3178,2343,2263
$GC,14667,0.97,203.8,626.8,9.9,1298,14673,0.00,0.00,3.90,0.772,6,0.000,0.000,3178,2343,2253
$GC,14978,0.98,215.7,595.5,9.6,1315,14991,0.00,0.00,11.68,1.117,6,0.000,0.000,3178,2343,2205
$GC,15305,0.98,215.7,562.9,10.3,1346,15306,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2343,2204
$GC,15625,0.98,215.7,529.9,10.5,1376,15630,0.00,2.83,0.00,0.000,4,0.000,0.109,3178,910,2204
$GC,15657,0.98,215.7,526.1,10.7,1378,15664,0.00,2.72,0.00,0.000,6,0.000,0.094,3178,2333,2204
$GC,15986,0.98,215.7,493.6,10.0,1409,15991,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2334,2204
$GC,16310,0.98,215.7,460.3,10.5,1440,16311,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2334,2204
$GC,16629,0.98,215.7,427.8,10.3,1470,16630,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2334,2204
$GC,16947,0.98,215.7,395.1,10.3,1500,16948,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2333,2205
$GC,17266,0.98,215.7,362.3,10.4,1530,17271,0.00,2.78,0.00,0.000,4,0.000,0.106,3178,914,2205
$GC,17305,0.98,215.7,358.1,12.0,1533,17309,0.00,2.70,0.00,0.000,6,0.000,0.091,3178,2334,2205
$GC,17643,0.98,215.7,323.0,10.3,1586,17648,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2334,2205
$GC,17986,1.00,228.0,289.0,9.6,1647,18002,0.00,0.00,11.93,0.949,6,0.000,0.000,3178,2334,2155
$GC,18339,1.00,228.0,253.9,10.2,1710,18344,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2334,2155
$GC,18681,1.00,228.0,219.7,10.6,1771,18687,0.00,2.75,0.00,0.000,4,0.000,0.104,3178,918,2154
$GC,18717,1.00,228.0,216.1,10.8,1777,18723,0.00,2.67,0.00,0.000,6,0.000,0.089,3178,2330,2155
$GC,19060,1.00,228.0,182.5,10.1,1838,19066,0.00,2.72,0.00,0.000,4,0.000,0.103,3178,3737,2154
$GC,19095,1.00,228.0,178.8,10.6,1844,19101,0.00,2.65,0.00,0.000,6,0.000,0.084,3178,2324,2154
$GC,19440,1.00,228.0,144.4,10.5,1905,19446,0.00,2.70,0.00,0.000,4,0.000,0.104,3178,919,2154
$GC,19491,1.00,228.0,138.8,10.7,1914,19497,0.00,2.65,0.00,0.000,6,0.000,0.085,3178,2332,2154
$GC,19836,1.02,245.5,105.0,9.4,1975,19858,0.00,2.80,15.43,0.840,4,0.000,0.100,3178,915,2083
$GC,19881,1.02,245.5,100.4,10.5,1983,19887,0.00,2.67,0.00,0.000,6,0.000,0.087,3178,2323,2083
$GC,20225,1.07,286.9,68.1,8.6,2044,20269,0.00,2.85,34.85,0.803,4,0.000,0.101,3178,3736,1913
$GC,20303,1.07,286.9,60.4,11.5,2058,20310,0.00,2.67,0.00,0.000,6,0.000,0.082,3178,2324,1911
$GC,20647,1.07,288.2,25.0,10.0,2119,20654,0.00,2.72,0.00,0.000,4,0.000,0.100,3179,912,1909
$GC,20695,1.13,288.2,19.8,11.1,2127,20702,0.12,2.65,0.00,0.000,6,0.063,0.085,3212,2320,1909
$STATE,20829,end climb,SURFACE_DEPTH_REACHED
$STATE,20830,begin surface coast
$FINISH,0.3,1.027859
$STATE,20842,end surface coast,CONTROL_FINISHED_OK
$STATE,20842,begin surface
$SM_CCo,20924,0.00,0.000,0,0,1907,288.96
$SM_GC,0.96,11.45,0.00,0.00,0.041,0.000,0.000,584,2226,1907,-10.85,-0.25,288.96
$IRIDIUM_FIX,6028.48,-2220.89,220797,030339
$TT8_MAMPS,0.02301
$HUMID,1588
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,16.60
$XPDR_PINGS,51
$24V_AH,23.4,26.795
$10V_AH,10.7,20.738
$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,27.775,100.125,412.050,0.000,0.000,53.116,65.568,314.664,12.750,0.000,0.000,13.115,3323.607,13363.697,544.694,3543.382,761.984,0.000,2168.721,0.000,3530.007,0.000,0.468
$DEVICE_MAMPS,211.692,141.895,1431.222,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1491.681,1597.360,1007.967,610.241,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120025,2153
$CAP_FILE_SIZE,180893,0
$CFSIZE,260165632,246292480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,270408,091331,6055.064,-2227.475,39,1.5,39,-16.2