version: 66.03
glider: 140
mission: 5
dive: 107
start: 4 28 108 15 9 56
data:
$ID,140
$MISSION,5
$DIVE,107
$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,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,-15203.701
$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,12
$R_STBD_OVSHOOT,9
$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
$GPS1,150155,6055.658,-2316.957,39,1.6,39,-16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-62.0
$GPS2,150938,6055.653,-2317.178,10,1.9,10,-16.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6057.528,-2322.340
$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,296.7,20000,-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,-59.95,0.000,2,0.000,0.000,591,2226,3430
$GC,92,-1.29,-194.7,3.2,-7.6,11,122,12.88,2.78,-10.23,0.000,4,0.203,0.110,2668,3650,3879
$GC,291,-1.29,-194.7,25.9,-10.2,46,297,0.00,2.62,0.00,0.000,6,0.000,0.081,2669,2234,3880
$GC,433,-1.29,-194.7,39.2,-9.1,71,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3880
$GC,575,-1.29,-194.7,52.1,-8.8,96,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3880
$GC,918,-1.29,-194.7,84.5,-9.7,157,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3880
$GC,1261,-1.29,-194.7,116.3,-9.0,218,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3881
$GC,1604,-1.29,-194.7,146.0,-8.7,279,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3881
$GC,1947,-1.29,-194.7,178.8,-9.9,340,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2233,3881
$GC,2290,-1.29,-194.7,213.6,-10.6,401,2296,0.00,2.78,0.00,0.000,4,0.000,0.107,2669,3652,3881
$GC,2325,-1.29,-194.7,217.4,-10.8,407,2331,0.00,2.65,0.00,0.000,6,0.000,0.084,2668,2237,3881
$GC,2668,-1.29,-194.7,253.1,-10.1,468,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,3011,-1.29,-194.7,287.6,-9.6,529,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,3354,-1.29,-194.7,320.4,-9.5,590,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,3696,-1.29,-194.7,352.0,-9.0,649,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,4014,-1.29,-194.7,380.1,-8.9,679,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,4333,-1.29,-194.7,407.8,-8.5,709,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3881
$GC,4653,-1.29,-194.7,434.9,-8.8,739,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3881
$GC,4969,-1.29,-194.7,463.6,-9.3,769,4971,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3881
$GC,5288,-1.29,-194.7,493.0,-9.0,799,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3881
$GC,5606,-1.29,-194.7,521.6,-8.7,829,5611,0.00,2.80,0.00,0.000,4,0.000,0.116,2669,3648,3880
$GC,5639,-1.29,-194.7,524.7,-9.3,831,5645,0.00,2.67,0.00,0.000,6,0.000,0.091,2669,2230,3880
$GC,5965,-1.29,-194.7,552.2,-8.2,862,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3880
$GC,6282,-1.29,-194.7,578.4,-8.1,892,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3880
$GC,6609,-1.29,-194.7,605.9,-8.8,920,6614,0.00,2.83,0.00,0.000,4,0.000,0.117,2669,3652,3880
$GC,6648,-1.29,-194.7,609.6,-9.7,922,6653,0.00,2.70,0.00,0.000,6,0.000,0.094,2669,2232,3880
$GC,6974,-1.29,-194.7,641.0,-10.1,938,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2232,3880
$GC,7283,-1.29,-194.7,670.0,-8.9,953,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2232,3880
$GC,7593,-1.29,-194.7,695.9,-8.0,968,7597,0.00,2.83,0.00,0.000,4,0.000,0.122,2669,3646,3879
$GC,7648,-1.29,-194.7,700.6,-8.6,970,7654,0.00,2.70,0.00,0.000,6,0.000,0.098,2668,2236,3880
$GC,7963,-1.29,-194.7,727.0,-8.8,986,7964,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3879
$GC,8273,-1.29,-194.7,753.8,-8.5,1001,8274,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3879
$GC,8581,-1.29,-194.7,780.2,-8.7,1016,8583,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3879
$GC,8891,-1.29,-194.7,806.9,-8.7,1031,8895,0.00,2.85,0.00,0.000,4,0.000,0.127,2669,3646,3879
$GC,8953,-1.29,-194.7,812.4,-8.9,1034,8957,0.00,2.70,0.00,0.000,6,0.000,0.104,2669,2247,3878
$GC,9279,-1.29,-194.7,839.6,-8.2,1050,9280,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2247,3878
$GC,9588,-1.29,-194.7,864.7,-8.2,1065,9589,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2247,3878
$GC,9897,-1.29,-194.7,890.7,-8.6,1080,9902,0.00,2.85,0.00,0.000,4,0.000,0.132,2669,3644,3877
$GC,9936,-1.29,-194.7,894.3,-8.8,1082,9941,0.00,2.72,0.00,0.000,6,0.000,0.107,2669,2246,3877
$GC,10262,-1.29,-194.7,921.9,-8.3,1098,10267,0.00,2.85,0.00,0.000,4,0.000,0.130,2669,3647,3877
$GC,10295,-1.29,-194.7,924.9,-9.4,1099,10301,0.00,2.70,0.00,0.000,6,0.000,0.107,2669,2259,3877
$GC,10610,-1.29,-194.7,951.1,-8.2,1115,10612,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2260,3877
$GC,10920,-1.29,-194.7,976.1,-8.1,1130,10921,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2260,3876
$STATE,11103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11103,begin apogee
$GC,11109,-0.35,0.0,991.0,7.9,1139,11278,1.05,0.00,165.80,1.443,6,0.110,0.000,2877,2331,3085
$STATE,11279,end apogee,CONTROL_FINISHED_OK
$STATE,11279,begin climb
$GC,11281,1.29,194.7,997.1,0.0,1147,11450,1.65,0.00,163.82,1.405,6,0.061,0.000,3240,2330,2291
$GC,11754,1.19,194.7,948.1,12.7,1170,11755,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2331,2288
$GC,12062,1.10,194.7,909.0,12.6,1185,12067,0.17,2.88,0.00,0.000,4,0.114,0.124,3204,3738,2287
$GC,12095,1.02,194.7,904.8,12.2,1186,12101,0.12,2.80,0.00,0.000,6,0.117,0.107,3183,2326,2287
$GC,12410,1.02,194.7,873.2,10.3,1202,12415,0.00,2.92,0.00,0.000,4,0.000,0.136,3182,917,2287
$GC,12436,1.02,194.7,870.2,10.4,1203,12441,0.00,2.80,0.00,0.000,6,0.000,0.107,3182,2333,2287
$GC,12752,1.02,194.7,837.9,10.3,1218,12757,0.00,2.90,0.00,0.000,4,0.000,0.130,3182,3740,2286
$GC,12796,0.97,194.7,832.8,12.0,1220,12801,0.00,2.78,0.00,0.000,6,0.000,0.104,3182,2341,2285
$GC,13117,0.97,194.7,799.4,10.2,1236,13122,0.00,2.90,0.00,0.000,4,0.000,0.127,3182,916,2285
$GC,13178,0.97,194.7,792.9,11.0,1239,13183,0.00,2.80,0.00,0.000,6,0.000,0.106,3182,2340,2285
$GC,13504,0.97,194.7,760.0,10.2,1255,13509,0.00,2.88,0.00,0.000,4,0.000,0.128,3182,3739,2285
$GC,13531,0.97,194.7,757.0,10.9,1256,13535,0.00,2.75,0.00,0.000,6,0.000,0.100,3182,2331,2285
$GC,13846,0.97,194.7,724.7,10.1,1271,13851,0.00,2.85,0.00,0.000,4,0.000,0.124,3182,918,2285
$GC,13886,0.97,194.7,720.5,11.2,1273,13891,0.00,2.80,0.00,0.000,6,0.000,0.105,3182,2345,2285
$GC,14212,0.98,198.8,687.2,9.9,1289,14218,0.00,0.00,4.38,0.873,6,0.000,0.000,3182,2345,2274
$GC,14521,1.00,219.0,657.8,9.3,1304,14542,0.00,0.00,18.73,1.207,6,0.000,0.000,3182,2345,2192
$GC,14850,1.00,219.0,624.4,10.5,1320,14851,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2345,2190
$GC,15162,1.00,219.0,589.9,10.7,1339,15163,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2345,2190
$GC,15483,1.00,219.0,557.0,10.1,1369,15487,0.00,2.83,0.00,0.000,4,0.000,0.111,3182,917,2190
$GC,15510,1.00,219.0,553.9,10.3,1371,15515,0.00,2.75,0.00,0.000,6,0.000,0.097,3182,2340,2190
$GC,15835,1.02,229.6,522.0,9.6,1401,15847,0.00,0.00,10.38,1.082,6,0.000,0.000,3182,2341,2149
$GC,16163,1.04,250.1,490.7,9.3,1432,16184,0.00,0.00,18.83,1.074,6,0.000,0.000,3182,2341,2065
$GC,16503,1.04,250.1,455.8,10.5,1464,16505,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2341,2062
$GC,16821,1.04,250.1,422.0,10.7,1494,16822,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2340,2062
$GC,17139,1.04,250.1,387.0,11.4,1524,17140,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2340,2063
$GC,17457,1.04,250.1,351.9,11.2,1554,17462,0.00,2.80,0.00,0.000,4,0.000,0.107,3182,911,2063
$GC,17485,1.04,250.1,348.7,11.2,1556,17491,0.00,2.70,0.00,0.000,6,0.000,0.092,3182,2333,2063
$GC,17830,1.04,250.1,310.7,10.2,1617,17836,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2333,2063
$GC,18173,1.04,250.1,273.5,11.3,1678,18178,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2332,2063
$GC,18515,1.04,250.1,236.8,12.0,1739,18521,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2332,2063
$GC,18858,1.05,253.4,200.9,9.9,1800,18864,0.00,0.00,4.47,0.678,6,0.000,0.000,3182,2332,2051
$GC,19202,1.05,260.4,166.2,9.8,1861,19213,0.00,0.00,7.40,0.813,6,0.000,0.000,3182,2333,2023
$GC,19551,1.07,272.0,131.5,9.6,1923,19569,0.00,2.78,11.15,0.836,4,0.000,0.098,3182,915,1975
$GC,19598,1.11,272.0,126.7,10.3,1931,19604,0.00,2.70,0.00,0.000,6,0.000,0.087,3182,2333,1975
$GC,19941,1.14,293.4,92.0,9.3,1992,19964,0.12,0.00,19.38,0.819,6,0.064,0.000,3215,2333,1887
$GC,20302,1.14,293.4,46.6,11.9,2056,20307,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2333,1884
$GC,20445,1.14,293.4,29.6,14.3,2081,20450,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2333,1884
$GC,20586,1.14,293.4,11.7,16.7,2106,20592,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2333,1884
$STATE,20658,end climb,SURFACE_DEPTH_REACHED
$STATE,20658,begin surface coast
$FINISH,0.2,1.015761
$STATE,20670,end surface coast,CONTROL_FINISHED_OK
$STATE,20670,begin surface
$SM_CCo,20752,0.00,0.000,0,0,1880,295.34
$SM_GC,0.99,11.50,0.00,0.00,0.044,0.000,0.000,592,2224,1880,-10.84,-0.31,295.34
$IRIDIUM_FIX,6028.48,-2310.17,230797,090908
$TT8_MAMPS,0.02301
$HUMID,1605
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.10
$XPDR_PINGS,49
$24V_AH,23.4,27.896
$10V_AH,10.7,21.613
$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,27.500,95.025,424.325,0.000,0.000,33.048,46.180,246.956,12.250,0.000,0.000,11.985,3291.487,13187.160,582.637,3479.323,655.393,0.000,2152.031,0.000,3471.407,0.000,0.468
$DEVICE_MAMPS,203.255,154.167,1443.494,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1470.115,1579.725,991.544,601.684,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119818,2121
$CAP_FILE_SIZE,177072,0
$CFSIZE,260165632,245731328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,280408,205701,6057.034,-2328.929,38,1.4,38,-16.8