version: 66.03
glider: 140
mission: 5
dive: 103
start: 4 27 108 15 24 4
data:
$ID,140
$MISSION,5
$DIVE,103
$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,280
$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,629.19446
$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,-15120.629
$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,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
$GPS1,150831,6054.701,-2236.944,40,1.7,40,-16.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-62.7
$GPS2,152347,6054.583,-2237.026,12,2.2,31,-16.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6056.458,-2242.191
$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,296.3,20000,-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,26,-1.29,-194.7,0.0,0.0,0,83,0.00,0.00,-54.38,0.000,2,0.000,0.000,593,2226,3440
$GC,86,-1.29,-194.7,3.1,-6.3,10,115,13.02,0.00,-10.05,0.000,6,0.209,0.000,2670,2226,3879
$GC,254,-1.29,-194.7,23.3,-10.8,39,259,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3881
$GC,395,-1.29,-194.7,37.5,-9.9,64,401,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3881
$GC,537,-1.29,-194.7,51.0,-9.3,89,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3881
$GC,880,-1.29,-194.7,83.2,-9.5,150,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3881
$GC,1224,-1.29,-194.7,114.6,-9.0,211,1230,0.00,2.75,0.00,0.000,4,0.000,0.104,2670,3645,3881
$GC,1253,-1.29,-194.7,117.4,-9.8,216,1259,0.00,2.65,0.00,0.000,6,0.000,0.084,2670,2227,3881
$GC,1597,-1.29,-194.7,149.1,-9.7,277,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3881
$GC,1939,-1.29,-194.7,181.3,-9.3,338,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3881
$GC,2281,-1.29,-194.7,212.4,-9.0,399,2287,0.00,2.78,0.00,0.000,4,0.000,0.107,2670,3646,3881
$GC,2317,-1.29,-194.7,215.6,-9.8,405,2323,0.00,2.65,0.00,0.000,6,0.000,0.086,2670,2236,3881
$GC,2660,-1.29,-194.7,246.5,-9.2,466,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,3002,-1.29,-194.7,276.9,-8.7,527,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,3345,-1.29,-194.7,307.7,-9.3,588,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,3689,-1.29,-194.7,339.0,-9.4,649,3695,0.00,2.78,0.00,0.000,4,0.000,0.110,2670,3650,3881
$GC,3729,-1.29,-194.7,342.8,-9.6,656,3736,0.00,2.67,0.00,0.000,6,0.000,0.090,2670,2229,3881
$GC,4064,-1.29,-194.7,373.6,-9.3,694,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3881
$GC,4383,-1.29,-194.7,402.8,-9.0,724,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3881
$GC,4701,-1.29,-194.7,431.6,-9.3,754,4706,0.00,2.78,0.00,0.000,4,0.000,0.109,2670,3649,3881
$GC,4729,-1.29,-194.7,434.3,-10.1,756,4733,0.00,2.67,0.00,0.000,6,0.000,0.090,2670,2232,3881
$GC,5055,-1.29,-194.7,465.4,-9.7,786,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3881
$GC,5372,-1.29,-194.7,496.3,-9.4,816,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3881
$GC,5690,-1.29,-194.7,526.7,-9.6,846,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3881
$GC,6009,-1.29,-194.7,556.2,-9.3,876,6014,0.00,2.78,0.00,0.000,4,0.000,0.112,2670,3646,3880
$GC,6048,-1.29,-194.7,560.0,-9.5,879,6053,0.00,2.67,0.00,0.000,6,0.000,0.091,2670,2232,3880
$GC,6374,-1.29,-194.7,589.0,-8.7,909,6375,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3880
$GC,6686,-1.29,-194.7,617.1,-9.1,930,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3880
$GC,6995,-1.29,-194.7,644.6,-8.8,945,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3880
$GC,7304,-1.29,-194.7,671.3,-8.4,960,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3880
$GC,7613,-1.29,-194.7,697.8,-8.8,975,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3880
$GC,7923,-1.29,-194.7,725.4,-8.9,990,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3880
$GC,8232,-1.29,-194.7,751.0,-8.0,1005,8237,0.00,2.83,0.00,0.000,4,0.000,0.121,2670,3641,3880
$GC,8259,-1.29,-194.7,753.3,-8.5,1006,8263,0.00,2.70,0.00,0.000,6,0.000,0.097,2670,2233,3880
$GC,8574,-1.29,-194.7,779.4,-8.5,1021,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3879
$GC,8884,-1.29,-194.7,806.2,-8.6,1036,8885,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3879
$GC,9193,-1.29,-194.7,831.9,-8.3,1051,9194,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3879
$GC,9502,-1.29,-194.7,857.6,-8.4,1066,9503,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3878
$GC,9812,-1.29,-194.7,883.3,-8.0,1081,9813,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3878
$GC,10121,-1.29,-194.7,907.3,-7.6,1096,10125,0.00,2.85,0.00,0.000,4,0.000,0.127,2670,3642,3878
$GC,10170,-1.29,-194.7,911.3,-7.8,1098,10174,0.00,2.72,0.00,0.000,6,0.000,0.106,2670,2242,3878
$GC,10486,-1.29,-194.7,936.4,-7.9,1113,10487,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3878
$GC,10794,-1.29,-194.7,961.9,-8.4,1128,10796,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3877
$GC,11104,-1.29,-194.7,988.4,-8.6,1143,11109,0.00,2.88,0.00,0.000,4,0.000,0.130,2670,3649,3877
$STATE,11124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11124,begin apogee
$GC,11132,-0.35,0.0,990.4,8.9,1144,11300,1.02,0.00,165.07,1.436,6,0.110,0.000,2877,2331,3085
$STATE,11301,end apogee,CONTROL_FINISHED_OK
$STATE,11301,begin climb
$GC,11303,1.29,194.7,997.0,0.0,1152,11471,1.62,0.00,163.38,1.396,6,0.064,0.000,3239,2331,2291
$GC,11781,1.20,194.7,946.6,13.1,1176,11785,0.00,2.92,0.00,0.000,4,0.000,0.127,3239,3736,2288
$GC,11820,1.08,194.7,941.0,13.4,1178,11825,0.22,2.80,0.00,0.000,6,0.110,0.105,3198,2331,2288
$GC,12146,1.08,194.7,906.3,10.3,1194,12147,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2330,2287
$GC,12455,1.08,194.7,874.3,10.2,1209,12456,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2330,2287
$GC,12765,1.08,194.7,842.9,10.0,1224,12766,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2330,2286
$GC,13074,1.08,194.7,811.9,10.2,1239,13075,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2330,2286
$GC,13383,1.08,194.7,779.6,10.7,1254,13388,0.00,2.85,0.00,0.000,4,0.000,0.123,3198,918,2285
$GC,13423,1.08,194.7,775.1,11.5,1256,13427,0.00,2.75,0.00,0.000,6,0.000,0.104,3197,2323,2285
$GC,13748,1.08,194.7,740.5,10.9,1272,13750,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2324,2285
$GC,14058,1.08,194.7,706.5,11.0,1287,14062,0.00,2.88,0.00,0.000,4,0.000,0.122,3198,3741,2285
$GC,14101,1.02,194.7,701.4,11.2,1289,14106,0.00,2.72,0.00,0.000,6,0.000,0.097,3198,2327,2285
$GC,14422,1.02,194.7,667.7,10.1,1305,14423,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2327,2285
$GC,14731,1.02,194.7,636.0,10.3,1320,14736,0.00,2.80,0.00,0.000,4,0.000,0.115,3198,912,2285
$GC,14758,1.02,194.7,633.1,10.4,1321,14762,0.00,2.75,0.00,0.000,6,0.000,0.097,3198,2336,2284
$GC,15073,1.02,194.7,600.3,10.8,1336,15078,0.00,2.80,0.00,0.000,4,0.000,0.114,3198,3741,2285
$GC,15095,0.98,194.7,597.8,12.4,1337,15101,0.12,2.70,0.00,0.000,6,0.117,0.092,3176,2330,2284
$GC,15419,0.98,194.7,564.9,10.2,1368,15420,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2330,2284
$GC,15738,0.98,194.7,532.3,10.3,1398,15739,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2330,2285
$GC,16058,0.98,200.7,500.0,9.8,1428,16066,0.00,0.00,5.95,0.910,6,0.000,0.000,3176,2330,2266
$GC,16388,0.99,205.7,467.2,9.8,1459,16396,0.00,0.00,5.85,0.895,6,0.000,0.000,3176,2331,2246
$GC,16713,1.01,223.4,434.4,9.4,1490,16733,0.00,0.00,16.38,1.033,6,0.000,0.000,3176,2331,2173
$GC,17053,1.03,240.1,400.7,9.4,1522,17072,0.00,0.00,15.32,1.006,6,0.000,0.000,3176,2331,2106
$GC,17392,1.05,255.5,367.8,9.5,1554,17410,0.00,0.00,14.10,0.979,6,0.000,0.000,3176,2330,2043
$GC,17738,1.08,282.5,334.2,9.1,1600,17766,0.00,0.00,23.98,0.968,6,0.000,0.000,3176,2331,1933
$GC,18103,1.08,282.5,297.8,10.6,1665,18108,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2331,1929
$GC,18445,1.08,282.5,262.8,10.4,1726,18451,0.00,2.75,0.00,0.000,4,0.000,0.106,3175,918,1928
$GC,18475,1.14,282.5,259.8,10.8,1731,18482,0.15,2.70,0.00,0.000,6,0.059,0.090,3215,2335,1928
$GC,18819,1.14,282.5,215.0,13.2,1792,18826,0.00,2.75,0.00,0.000,4,0.000,0.107,3215,3739,1928
$GC,18849,1.14,282.5,210.9,15.1,1797,18855,0.00,2.67,0.00,0.000,6,0.000,0.084,3215,2324,1928
$GC,19192,1.14,282.5,166.1,14.3,1858,19197,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2324,1928
$GC,19535,1.14,282.5,122.3,12.4,1919,19540,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2324,1928
$GC,19877,1.14,282.5,79.9,11.6,1980,19884,0.00,2.70,0.00,0.000,4,0.000,0.100,3215,917,1928
$GC,19907,1.14,282.5,76.3,14.0,1985,19913,0.00,2.67,0.00,0.000,6,0.000,0.085,3215,2338,1928
$GC,20251,1.14,282.5,33.5,11.2,2046,20257,0.00,2.72,0.00,0.000,4,0.000,0.104,3215,3742,1927
$GC,20280,1.14,282.5,29.7,13.3,2051,20287,0.00,2.62,0.00,0.000,6,0.000,0.081,3215,2339,1927
$GC,20424,1.14,282.5,12.7,13.8,2076,20430,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2339,1927
$STATE,20503,end climb,SURFACE_DEPTH_REACHED
$STATE,20503,begin surface coast
$FINISH,0.2,1.027774
$STATE,20514,end surface coast,CONTROL_FINISHED_OK
$STATE,20514,begin surface
$SM_CCo,20535,275.45,0.738,1,0,520,629.19
$SM_GC,0.70,0.00,0.00,275.45,0.000,0.000,0.738,588,2222,520,-10.91,-0.37,629.19
$IRIDIUM_FIX,6032.86,-2232.43,220797,151540
$TT8_MAMPS,0.022243
$HUMID,1550
$INTERNAL_PRESSURE,8.31087
$TCM_TEMP,18.10
$XPDR_PINGS,71
$24V_AH,23.4,27.187
$10V_AH,10.7,21.031
$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,27.725,93.575,410.025,275.450,0.000,139.681,375.797,0.000,17.750,0.000,0.000,32.623,3234.820,13382.592,856.480,3403.302,837.284,0.000,2381.739,0.000,3371.758,0.000,0.469
$DEVICE_MAMPS,208.624,130.390,1435.824,737.854,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1449.065,1553.370,965.411,583.947,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116793,2092
$CAP_FILE_SIZE,171369,0
$CFSIZE,260165632,246083584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,270408,211228,6054.111,-2246.259,31,99.0,50,-16.4