version: 66.03
glider: 140
mission: 5
dive: 12
start: 4 6 108 4 42 12
data:
$ID,140
$MISSION,5
$DIVE,12
$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,360
$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,150
$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,15
$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,-13405.615
$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,2200
$C_ROLL_CLIMB,2290
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,8
$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
$GPS1,043308,5926.513,-2002.726,40,1.1,40,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-62.3
$GPS2,044151,5926.571,-2002.569,12,1.5,12,-14.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,5937.002,-2001.156
$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,29.2,20000,-17.5,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.41,-146.0,0.0,0.0,0,100,0.00,0.00,-69.60,0.000,2,0.000,0.000,590,2192,3606
$GC,103,-1.41,-146.0,3.4,-7.3,13,121,12.45,0.00,-1.70,0.000,6,0.195,0.000,2643,2191,3682
$GC,259,-1.41,-146.0,20.4,-8.4,40,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2191,3683
$GC,400,-1.41,-146.0,33.2,-9.5,65,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2192,3683
$GC,542,-1.41,-146.0,47.0,-9.4,90,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2191,3684
$GC,683,-1.41,-146.0,60.7,-10.3,115,690,0.00,2.75,0.00,0.000,4,0.000,0.106,2643,3622,3683
$GC,713,-1.41,-146.0,63.8,-11.2,120,720,0.00,2.65,0.00,0.000,6,0.000,0.089,2643,2195,3683
$GC,855,-1.41,-146.0,78.2,-10.1,145,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2195,3682
$GC,998,-1.41,-146.0,92.2,-10.2,170,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2195,3683
$GC,1139,-1.41,-146.0,106.1,-9.5,195,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2195,3683
$GC,1281,-1.41,-146.0,119.5,-9.2,220,1287,0.00,2.75,0.00,0.000,4,0.000,0.107,2643,3623,3683
$GC,1311,-1.41,-146.0,122.5,-9.9,225,1317,0.00,2.65,0.00,0.000,6,0.000,0.091,2643,2205,3684
$GC,1455,-1.41,-146.0,136.2,-9.9,250,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2205,3683
$GC,1596,-1.41,-146.0,149.7,-9.6,275,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2205,3683
$GC,1737,-1.41,-146.0,163.2,-9.6,300,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2206,3684
$GC,2081,-1.41,-146.0,196.5,-9.9,361,2087,0.00,2.72,0.00,0.000,4,0.000,0.109,2643,3617,3683
$GC,2109,-1.41,-146.0,199.6,-10.5,366,2116,0.00,2.62,0.00,0.000,6,0.000,0.092,2643,2211,3683
$GC,2454,-1.41,-146.0,233.3,-10.2,427,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2211,3683
$GC,2796,-1.41,-146.0,267.1,-9.6,488,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2211,3683
$GC,3139,-1.41,-146.0,300.3,-10.1,549,3145,0.00,2.72,0.00,0.000,4,0.000,0.111,2643,3617,3683
$GC,3167,-1.41,-146.0,303.3,-10.3,554,3174,0.00,2.65,0.00,0.000,6,0.000,0.096,2643,2204,3683
$GC,3511,-1.41,-146.0,337.9,-10.1,615,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2205,3684
$GC,3853,-1.41,-146.0,372.6,-9.9,676,3860,0.00,2.72,0.00,0.000,4,0.000,0.112,2643,3615,3684
$GC,3888,-1.41,-146.0,376.3,-10.7,682,3894,0.00,2.62,0.00,0.000,6,0.000,0.096,2643,2216,3684
$GC,4231,-1.41,-146.0,410.6,-10.1,743,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2216,3684
$GC,4574,-1.41,-146.0,443.9,-9.4,804,4581,0.00,2.70,0.00,0.000,4,0.000,0.112,2642,3615,3684
$GC,4604,-1.41,-146.0,446.9,-10.4,809,4610,0.00,2.62,0.00,0.000,6,0.000,0.097,2643,2222,3684
$GC,4947,-1.41,-146.0,479.7,-9.2,870,4953,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2222,3684
$GC,5290,-1.41,-146.0,511.2,-9.2,931,5296,0.00,2.70,0.00,0.000,4,0.000,0.113,2643,3616,3684
$GC,5325,-1.41,-146.0,514.5,-9.3,937,5331,0.00,2.62,0.00,0.000,6,0.000,0.097,2643,2222,3684
$GC,5669,-1.41,-146.0,545.2,-9.2,998,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2222,3684
$GC,6003,-1.41,-146.0,576.0,-9.3,1034,6007,0.00,2.72,0.00,0.000,4,0.000,0.116,2643,3618,3684
$GC,6034,-1.41,-146.0,579.4,-10.1,1036,6041,0.00,2.62,0.00,0.000,6,0.000,0.099,2643,2227,3684
$GC,6361,-1.41,-146.0,610.4,-9.5,1067,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2228,3684
$GC,6678,-1.41,-146.0,640.0,-9.0,1097,6683,0.00,2.72,0.00,0.000,4,0.000,0.119,2643,3617,3684
$GC,6706,-1.41,-146.0,642.7,-10.1,1099,6711,0.00,2.62,0.00,0.000,6,0.000,0.100,2642,2231,3684
$GC,7032,-1.41,-146.0,672.3,-9.2,1129,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2231,3684
$GC,7349,-1.41,-146.0,701.3,-9.4,1159,7351,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2231,3683
$GC,7668,-1.41,-146.0,730.3,-8.9,1189,7672,0.00,2.72,0.00,0.000,4,0.000,0.121,2643,3614,3683
$GC,7700,-1.41,-146.0,733.3,-9.4,1191,7706,0.00,2.62,0.00,0.000,6,0.000,0.102,2643,2231,3683
$GC,8026,-1.41,-146.0,760.6,-8.7,1222,8028,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2231,3683
$GC,8344,-1.41,-146.0,788.4,-9.3,1252,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2231,3683
$GC,8664,-1.41,-146.0,817.6,-9.0,1282,8668,0.00,2.75,0.00,0.000,4,0.000,0.124,2643,3616,3683
$GC,8707,-1.41,-146.0,821.9,-9.4,1285,8713,0.00,2.65,0.00,0.000,6,0.000,0.105,2643,2233,3683
$GC,9033,-1.41,-146.0,850.1,-8.9,1316,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2233,3683
$GC,9351,-1.41,-146.0,878.0,-8.8,1346,9355,0.00,2.75,0.00,0.000,4,0.000,0.126,2643,3614,3683
$GC,9383,-1.41,-146.0,881.2,-10.5,1348,9389,0.00,2.65,0.00,0.000,6,0.000,0.108,2643,2236,3683
$GC,9709,-1.41,-146.0,910.2,-8.8,1379,9710,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2236,3683
$GC,10026,-1.41,-146.0,938.2,-8.8,1409,10027,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2236,3683
$GC,10346,-1.41,-146.0,966.7,-9.1,1439,10351,0.00,2.78,0.00,0.000,4,0.000,0.131,2644,3615,3682
$GC,10390,-1.41,-146.0,971.1,-9.2,1442,10396,0.00,2.67,0.00,0.000,6,0.000,0.113,2643,2240,3682
$STATE,10595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10595,begin apogee
$GC,10601,-0.35,0.0,990.3,9.1,1462,10731,1.15,0.00,125.53,1.441,6,0.107,0.000,2877,2290,3085
$STATE,10731,end apogee,CONTROL_FINISHED_OK
$STATE,10731,begin climb
$GC,10734,1.41,146.0,994.4,0.0,1475,10870,1.75,2.95,124.45,1.394,4,0.062,0.130,3268,3701,2487
$GC,10895,1.28,146.0,983.3,12.9,1491,10900,0.15,2.83,0.00,0.000,6,0.117,0.114,3242,2290,2487
$GC,11220,1.22,146.0,941.3,13.6,1521,11224,0.00,2.88,0.00,0.000,4,0.000,0.128,3242,3702,2487
$GC,11263,1.13,146.0,934.9,14.5,1524,11270,0.17,2.78,0.00,0.000,6,0.118,0.112,3209,2295,2487
$GC,11588,1.13,146.0,895.5,12.1,1555,11589,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2296,2486
$GC,11906,1.13,146.0,859.6,10.8,1585,11911,0.00,2.80,0.00,0.000,4,0.000,0.123,3210,3701,2486
$GC,11961,1.07,146.0,853.4,11.4,1589,11967,0.00,2.72,0.00,0.000,6,0.000,0.107,3209,2301,2486
$GC,12287,1.07,146.0,819.4,10.4,1620,12288,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2301,2486
$GC,12604,1.07,146.0,784.6,11.4,1650,12609,0.00,2.78,0.00,0.000,4,0.000,0.120,3209,3702,2486
$GC,12644,1.02,146.0,779.8,12.5,1653,12649,0.12,2.70,0.00,0.000,6,0.120,0.104,3187,2303,2485
$GC,12968,1.04,156.4,747.0,9.5,1683,12980,0.00,0.00,9.65,1.185,6,0.000,0.000,3187,2303,2447
$GC,13298,1.06,171.9,717.0,9.3,1714,13318,0.00,2.88,14.40,1.204,4,0.000,0.113,3187,3708,2384
$GC,13346,1.07,186.6,712.2,9.3,1718,13365,0.00,2.67,14.00,1.160,6,0.000,0.100,3186,2320,2324
$GC,13691,1.08,190.7,678.8,9.8,1751,13702,0.00,0.00,5.15,0.933,6,0.000,0.000,3186,2320,2307
$GC,14021,1.08,190.7,645.9,10.2,1782,14026,0.00,2.70,0.00,0.000,4,0.000,0.110,3186,3705,2306
$GC,14054,1.08,190.7,642.2,10.7,1784,14060,0.00,2.62,0.00,0.000,6,0.000,0.097,3187,2328,2306
$GC,14380,1.08,192.3,609.3,9.9,1815,14382,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2329,2306
$GC,14697,1.08,192.3,576.0,10.4,1845,14702,0.00,2.67,0.00,0.000,4,0.000,0.110,3186,3705,2306
$GC,14740,1.08,192.3,571.1,10.6,1848,14747,0.00,2.60,0.00,0.000,6,0.000,0.095,3186,2329,2306
$GC,15071,1.08,192.3,535.5,11.2,1890,15077,0.00,2.88,0.00,0.000,4,0.000,0.123,3186,876,2306
$GC,15101,1.13,192.3,532.2,12.0,1895,15107,0.00,2.80,0.00,0.000,6,0.000,0.101,3187,2345,2307
$GC,15445,1.13,192.3,494.2,10.8,1956,15452,0.00,2.62,0.00,0.000,4,0.000,0.110,3186,3708,2306
$GC,15480,1.13,192.3,490.0,11.4,1962,15486,0.00,2.58,0.00,0.000,6,0.000,0.093,3186,2334,2307
$GC,15823,1.13,192.3,451.5,11.0,2023,15828,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2334,2307
$GC,16165,1.13,192.3,414.3,10.7,2084,16171,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2334,2307
$GC,16509,1.13,192.3,379.3,10.5,2145,16514,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2334,2307
$GC,16851,1.13,192.3,345.5,10.1,2206,16857,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2333,2307
$GC,17195,1.16,213.7,311.9,9.0,2267,17218,0.12,0.00,20.23,0.987,6,0.068,0.000,3219,2334,2213
$GC,17556,1.16,213.7,272.7,11.0,2331,17561,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2334,2212
$GC,17898,1.16,213.7,235.4,10.1,2392,17903,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2334,2212
$GC,18241,1.16,213.7,198.1,10.9,2453,18246,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2333,2212
$GC,18583,1.16,213.7,156.5,14.2,2514,18589,0.00,2.62,0.00,0.000,4,0.000,0.104,3218,3708,2212
$GC,18624,1.16,213.7,151.0,12.5,2521,18630,0.00,2.55,0.00,0.000,6,0.000,0.087,3219,2333,2212
$GC,18969,1.16,213.7,112.8,10.3,2582,18974,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2334,2212
$GC,19110,1.16,213.7,97.1,11.1,2607,19116,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2334,2212
$GC,19252,1.16,213.7,82.0,10.6,2632,19258,0.00,2.62,0.00,0.000,4,0.000,0.104,3219,3712,2213
$GC,19287,1.16,213.7,78.4,10.3,2638,19293,0.00,2.55,0.00,0.000,6,0.000,0.089,3218,2340,2213
$GC,19429,1.16,213.7,62.3,12.5,2663,19435,0.00,2.80,0.00,0.000,4,0.000,0.109,3219,878,2212
$GC,19458,1.16,213.7,58.9,11.7,2668,19465,0.00,2.72,0.00,0.000,6,0.000,0.091,3219,2344,2212
$GC,19602,1.16,213.7,41.8,11.7,2693,19608,0.00,2.58,0.00,0.000,4,0.000,0.103,3218,3704,2212
$GC,19643,1.16,213.7,36.1,14.3,2700,19649,0.00,2.55,0.00,0.000,6,0.000,0.089,3219,2332,2212
$GC,19785,1.16,213.7,18.5,13.1,2725,19791,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2332,2212
$STATE,19918,end climb,SURFACE_DEPTH_REACHED
$STATE,19918,begin surface coast
$FINISH,0.4,1.013859
$STATE,19931,end surface coast,CONTROL_FINISHED_OK
$STATE,19931,begin surface
$SM_CCo,20012,0.00,0.000,0,0,2211,214.39
$SM_GC,1.21,11.50,0.00,0.00,0.046,0.000,0.000,590,2193,2211,-10.85,-0.20,214.39
$IRIDIUM_FIX,5858.64,-2010.16,300697,232327
$TT8_MAMPS,0.02301
$HUMID,1577
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,18.20
$XPDR_PINGS,7
$24V_AH,23.4,11.078
$10V_AH,10.7,3.386
$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,27.425,140.675,313.400,0.000,0.000,31.507,41.451,298.813,1.750,0.000,0.000,12.204,4167.937,10500.919,552.274,4544.733,737.655,0.000,2548.406,0.000,4535.290,0.000,0.469
$DEVICE_MAMPS,194.818,154.934,1441.193,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1903.615,2061.128,1756.349,1253.431,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,154813,2751
$CAP_FILE_SIZE,211809,0
$CFSIZE,260165632,256200704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060408,101701,5930.424,-1951.834,37,1.6,42,-14.1