version: 66.03
glider: 140
mission: 5
dive: 108
start: 4 28 108 21 4 50
data:
$ID,140
$MISSION,5
$DIVE,108
$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,-15219.712
$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
$GPS1,205701,6057.034,-2328.929,38,1.4,38,-16.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-60.0
$GPS2,210432,6057.027,-2329.177,13,1.4,13,-16.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6058.902,-2334.336
$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,296.8,20000,-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,-64.97,0.000,2,0.000,0.000,591,2223,3402
$GC,98,-1.29,-194.7,3.1,-6.8,12,128,12.82,2.75,-11.18,0.000,4,0.202,0.109,2671,3649,3879
$GC,269,-1.29,-194.7,22.6,-8.4,42,275,0.00,2.62,0.00,0.000,6,0.000,0.081,2671,2233,3880
$GC,412,-1.29,-194.7,36.9,-10.7,67,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3880
$GC,553,-1.29,-194.7,51.0,-9.5,92,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3880
$GC,897,-1.29,-194.7,80.2,-9.0,153,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3880
$GC,1239,-1.29,-194.7,111.0,-8.4,214,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3880
$GC,1583,-1.29,-194.7,139.7,-8.5,275,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3880
$GC,1927,-1.29,-194.7,170.0,-8.8,336,1933,0.00,2.75,0.00,0.000,4,0.000,0.104,2671,3650,3880
$GC,1968,-1.29,-194.7,174.0,-9.4,343,1974,0.00,2.62,0.00,0.000,6,0.000,0.083,2670,2239,3880
$GC,2311,-1.29,-194.7,204.1,-9.1,404,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3880
$GC,2655,-1.29,-194.7,233.9,-8.6,465,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3880
$GC,2998,-1.29,-194.7,263.1,-8.4,526,3003,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3880
$GC,3341,-1.29,-194.7,293.2,-9.1,587,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3880
$GC,3683,-1.29,-194.7,323.2,-8.7,648,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3880
$GC,4030,-1.29,-194.7,353.0,-8.7,707,4034,0.00,2.78,0.00,0.000,4,0.000,0.110,2671,3655,3881
$GC,4080,-1.29,-194.7,357.7,-9.6,711,4084,0.00,2.65,0.00,0.000,6,0.000,0.088,2671,2243,3880
$GC,4408,-1.29,-194.7,387.7,-9.5,741,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3880
$GC,4733,-1.29,-194.7,418.5,-9.5,772,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3880
$GC,5051,-1.29,-194.7,449.0,-9.7,802,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3880
$GC,5370,-1.29,-194.7,478.1,-8.8,832,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3880
$GC,5688,-1.29,-194.7,506.4,-9.1,862,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3880
$GC,6007,-1.29,-194.7,535.0,-8.8,892,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3880
$GC,6328,-1.29,-194.7,563.2,-9.0,922,6333,0.00,2.78,0.00,0.000,4,0.000,0.114,2671,3650,3880
$GC,6361,-1.29,-194.7,566.7,-9.5,924,6367,0.00,2.65,0.00,0.000,6,0.000,0.092,2671,2248,3880
$GC,6688,-1.29,-194.7,594.0,-8.3,955,6689,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2248,3879
$GC,7008,-1.29,-194.7,620.5,-8.3,974,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2249,3879
$GC,7317,-1.29,-194.7,647.3,-8.9,989,7322,0.00,2.80,0.00,0.000,4,0.000,0.119,2671,3651,3879
$GC,7357,-1.29,-194.7,651.1,-10.1,991,7361,0.00,2.67,0.00,0.000,6,0.000,0.095,2671,2246,3879
$GC,7683,-1.29,-194.7,680.0,-8.7,1007,7684,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3879
$GC,7992,-1.29,-194.7,707.3,-8.8,1022,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3879
$GC,8301,-1.29,-194.7,733.7,-8.6,1037,8306,0.00,2.80,0.00,0.000,4,0.000,0.123,2671,3649,3878
$GC,8345,-1.29,-194.7,737.8,-9.3,1039,8349,0.00,2.67,0.00,0.000,6,0.000,0.100,2671,2256,3878
$GC,8666,-1.29,-194.7,766.6,-8.9,1055,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2256,3878
$GC,8975,-1.29,-194.7,793.9,-8.9,1070,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2256,3878
$GC,9284,-1.29,-194.7,820.8,-8.6,1085,9285,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2257,3878
$GC,9593,-1.29,-194.7,846.2,-7.8,1100,9598,0.00,2.83,0.00,0.000,4,0.000,0.128,2671,3649,3878
$GC,9632,-1.29,-194.7,849.4,-8.3,1102,9637,0.00,2.67,0.00,0.000,6,0.000,0.104,2671,2264,3877
$GC,9959,-1.29,-194.7,874.9,-7.8,1118,9960,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2264,3877
$GC,10268,-1.29,-194.7,899.7,-7.9,1133,10269,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2265,3877
$GC,10577,-1.29,-194.7,924.4,-8.2,1148,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2264,3876
$GC,10886,-1.29,-194.7,951.0,-8.9,1163,10887,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2264,3876
$GC,11196,-1.29,-194.7,977.4,-8.2,1178,11197,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2264,3875
$STATE,11358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11358,begin apogee
$GC,11364,-0.35,0.0,991.1,8.4,1186,11533,1.05,0.00,165.70,1.437,6,0.107,0.000,2882,2334,3085
$STATE,11534,end apogee,CONTROL_FINISHED_OK
$STATE,11534,begin climb
$GC,11536,1.29,194.7,997.8,0.0,1194,11705,1.62,0.00,163.80,1.399,6,0.061,0.000,3238,2334,2291
$GC,12012,1.20,194.7,947.9,12.9,1218,12017,0.00,2.95,0.00,0.000,4,0.000,0.131,3238,3739,2288
$GC,12056,1.08,194.7,941.8,13.4,1220,12061,0.22,2.83,0.00,0.000,6,0.110,0.107,3197,2324,2288
$GC,12377,1.08,194.7,908.1,10.3,1236,12378,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2324,2288
$GC,12686,1.08,194.7,876.5,10.4,1251,12687,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2324,2287
$GC,12995,1.08,194.7,843.3,11.0,1266,12996,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2324,2286
$GC,13304,1.08,194.7,809.7,10.9,1281,13309,0.00,2.92,0.00,0.000,4,0.000,0.127,3197,3739,2286
$GC,13331,1.02,194.7,806.4,11.2,1282,13336,0.00,2.78,0.00,0.000,6,0.000,0.102,3197,2325,2286
$GC,13647,1.02,194.7,771.7,10.8,1297,13648,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2325,2286
$GC,13955,1.02,194.7,737.4,10.8,1312,13957,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2325,2285
$GC,14265,1.02,194.7,704.9,10.6,1327,14269,0.00,2.88,0.00,0.000,4,0.000,0.119,3197,3740,2285
$GC,14342,0.95,194.7,696.0,11.2,1330,14349,0.15,2.75,0.00,0.000,6,0.113,0.099,3169,2331,2285
$GC,14658,0.97,205.3,666.1,9.6,1346,14673,0.00,2.90,9.75,1.155,4,0.000,0.119,3169,913,2247
$GC,14706,0.97,205.3,661.0,10.5,1347,14710,0.00,2.83,0.00,0.000,6,0.000,0.102,3169,2350,2247
$GC,15022,0.98,214.1,629.9,9.7,1362,15033,0.00,0.00,9.18,1.126,6,0.000,0.000,3169,2350,2212
$GC,15331,0.99,227.9,600.1,9.5,1377,15352,0.00,2.92,13.52,1.135,4,0.000,0.113,3169,915,2154
$GC,15386,0.99,227.9,594.6,10.4,1381,15391,0.00,2.78,0.00,0.000,6,0.000,0.100,3170,2332,2154
$GC,15711,1.00,232.3,563.2,9.8,1411,15722,0.00,2.88,5.40,0.915,4,0.000,0.118,3169,3740,2137
$GC,15756,1.00,232.3,558.4,11.3,1415,15761,0.00,2.75,0.00,0.000,6,0.000,0.094,3170,2326,2136
$GC,16081,1.03,252.7,527.0,9.3,1445,16105,0.00,2.85,18.58,1.098,4,0.000,0.112,3170,917,2054
$GC,16128,1.08,264.3,522.3,9.6,1449,16146,0.12,2.78,11.43,1.021,6,0.064,0.097,3202,2345,2007
$GC,16463,1.08,264.3,482.4,12.1,1481,16464,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2345,2004
$GC,16783,1.08,264.3,443.8,12.2,1511,16784,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2345,2003
$GC,17100,1.08,264.3,405.1,12.4,1541,17104,0.00,2.80,0.00,0.000,4,0.000,0.107,3202,918,2003
$GC,17132,1.08,264.3,400.9,12.5,1543,17138,0.00,2.72,0.00,0.000,6,0.000,0.096,3202,2337,2004
$GC,17459,1.08,264.3,361.0,12.2,1574,17461,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2337,2003
$GC,17788,1.08,264.3,321.4,11.4,1625,17793,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2337,2003
$GC,18130,1.08,264.3,281.3,11.7,1686,18135,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2337,2003
$GC,18472,1.08,264.3,238.3,14.2,1747,18478,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2337,2003
$GC,18816,1.08,264.3,195.8,12.6,1808,18821,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2337,2004
$GC,19158,1.08,264.3,155.5,10.9,1869,19164,0.00,2.72,0.00,0.000,4,0.000,0.102,3202,917,2003
$GC,19198,1.08,264.3,150.8,10.8,1876,19205,0.00,2.67,0.00,0.000,6,0.000,0.089,3202,2334,2003
$GC,19542,1.08,264.3,112.7,10.7,1937,19548,0.00,2.72,0.00,0.000,4,0.000,0.104,3202,3739,2003
$GC,19577,1.08,264.3,108.7,12.6,1943,19583,0.00,2.67,0.00,0.000,6,0.000,0.083,3202,2318,2004
$GC,19921,1.08,264.3,72.3,10.6,2004,19927,0.00,2.67,0.00,0.000,4,0.000,0.100,3202,919,2004
$GC,19950,1.08,264.3,69.1,12.1,2009,19956,0.00,2.65,0.00,0.000,6,0.000,0.086,3202,2330,2004
$GC,20295,1.08,264.3,33.2,11.2,2070,20301,0.00,2.72,0.00,0.000,4,0.000,0.102,3202,3740,2004
$GC,20341,1.08,264.3,27.3,12.4,2078,20347,0.00,2.65,0.00,0.000,6,0.000,0.081,3201,2321,2004
$GC,20483,1.08,264.3,10.8,14.6,2103,20489,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2322,2004
$STATE,20555,end climb,SURFACE_DEPTH_REACHED
$STATE,20555,begin surface coast
$FINISH,0.2,1.004624
$STATE,20573,end surface coast,CONTROL_FINISHED_OK
$STATE,20573,begin surface
$SM_CCo,20654,0.00,0.000,0,0,2004,265.17
$SM_GC,1.22,11.38,0.00,0.00,0.042,0.000,0.000,585,2234,2004,-10.85,-0.03,265.17
$IRIDIUM_FIX,6032.86,-2311.92,230797,151513
$TT8_MAMPS,0.02301
$HUMID,1615
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,18.10
$XPDR_PINGS,76
$24V_AH,23.4,28.070
$10V_AH,10.7,21.758
$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,27.375,105.200,397.350,0.000,0.000,30.945,37.109,244.719,19.000,0.000,0.000,15.382,3291.806,13095.524,572.856,3480.107,645.924,0.000,2148.063,0.000,3464.739,0.000,0.467
$DEVICE_MAMPS,201.721,154.167,1437.358,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1468.503,1583.344,1008.506,611.592,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119617,2119
$CAP_FILE_SIZE,177868,0
$CFSIZE,260165632,245637120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,290408,025025,6057.375,-2341.649,29,1.2,46,-16.9