version: 66.03
glider: 140
mission: 5
dive: 56
start: 4 16 108 6 42 57
data:
$ID,140
$MISSION,5
$DIVE,56
$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,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,330
$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,-14206.819
$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,11
$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
$GPS1,063332,5911.074,-2110.999,42,0.9,42,-14.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-58.9
$GPS2,064239,5911.309,-2111.203,13,1.7,13,-14.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5920.661,-2113.956
$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,344.7,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,102,0.00,0.00,-70.82,0.000,2,0.000,0.000,592,2230,3615
$GC,105,-1.29,-194.7,3.5,-6.9,13,129,12.85,2.78,-5.18,0.000,4,0.202,0.117,2668,820,3880
$GC,350,-1.29,-194.7,35.5,-13.9,56,356,0.00,2.70,0.00,0.000,6,0.000,0.094,2668,2236,3881
$GC,492,-1.29,-194.7,53.1,-14.4,81,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3881
$GC,634,-1.29,-194.7,68.3,-8.6,106,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3881
$GC,776,-1.29,-194.7,81.8,-9.1,131,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3881
$GC,918,-1.29,-194.7,93.5,-8.1,156,924,0.00,2.78,0.00,0.000,4,0.000,0.110,2668,820,3881
$GC,960,-1.29,-194.7,96.7,-7.5,163,967,0.00,2.67,0.00,0.000,6,0.000,0.095,2668,2220,3881
$GC,1103,-1.29,-194.7,108.4,-9.0,188,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2220,3881
$GC,1245,-1.29,-194.7,120.8,-8.5,213,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2220,3881
$GC,1386,-1.29,-194.7,133.8,-9.5,238,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2220,3881
$GC,1529,-1.29,-194.7,146.9,-9.4,263,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2220,3881
$GC,1670,-1.29,-194.7,160.4,-9.4,288,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2220,3881
$GC,2013,-1.29,-194.7,192.2,-9.3,349,2019,0.00,2.78,0.00,0.000,4,0.000,0.109,2668,3654,3881
$GC,2048,-1.29,-194.7,195.6,-10.0,355,2054,0.00,2.78,0.00,0.000,6,0.000,0.094,2668,2189,3882
$GC,2391,-1.29,-194.7,229.5,-10.0,416,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2190,3881
$GC,2735,-1.29,-194.7,263.6,-9.8,477,2741,0.00,2.85,0.00,0.000,4,0.000,0.113,2668,3646,3882
$GC,2786,-1.29,-194.7,268.8,-10.1,486,2793,0.00,2.75,0.00,0.000,6,0.000,0.095,2668,2193,3882
$GC,3131,-1.29,-194.7,301.2,-9.2,547,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2193,3882
$GC,3473,-1.29,-194.7,332.1,-9.1,608,3479,0.00,2.85,0.00,0.000,4,0.000,0.115,2668,3646,3882
$GC,3519,-1.29,-194.7,336.4,-9.5,616,3525,0.00,2.75,0.00,0.000,6,0.000,0.097,2668,2200,3881
$GC,3864,-1.29,-194.7,367.5,-9.3,677,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2200,3881
$GC,4206,-1.29,-194.7,399.6,-9.3,738,4212,0.00,2.85,0.00,0.000,4,0.000,0.114,2668,3647,3881
$GC,4247,-1.29,-194.7,403.6,-10.3,745,4253,0.00,2.75,0.00,0.000,6,0.000,0.097,2668,2205,3881
$GC,4590,-1.29,-194.7,437.8,-10.1,806,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2205,3881
$GC,4932,-1.29,-194.7,472.8,-10.4,867,4938,0.00,2.85,0.00,0.000,4,0.000,0.116,2668,3651,3881
$GC,4961,-1.29,-194.7,475.8,-10.8,872,4968,0.00,2.75,0.00,0.000,6,0.000,0.100,2668,2211,3881
$GC,5305,-1.29,-194.7,510.3,-10.4,933,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2211,3881
$GC,5647,-1.29,-194.7,545.2,-9.9,994,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2211,3881
$GC,5990,-1.29,-194.7,578.8,-9.8,1055,5996,0.00,2.85,0.00,0.000,4,0.000,0.119,2668,3646,3881
$GC,6019,-1.29,-194.7,581.7,-10.5,1060,6026,0.00,2.75,0.00,0.000,6,0.000,0.100,2668,2208,3881
$GC,6360,-1.29,-194.7,614.5,-9.8,1108,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2208,3881
$GC,6681,-1.29,-194.7,644.2,-9.2,1138,6686,0.00,2.88,0.00,0.000,4,0.000,0.120,2668,3652,3881
$GC,6713,-1.29,-194.7,647.8,-10.1,1140,6720,0.00,2.75,0.00,0.000,6,0.000,0.102,2668,2217,3881
$GC,7040,-1.29,-194.7,678.7,-9.5,1171,7041,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2218,3881
$GC,7359,-1.29,-194.7,708.6,-9.3,1201,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2218,3880
$GC,7676,-1.29,-194.7,737.7,-9.1,1231,7678,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2218,3881
$GC,7994,-1.29,-194.7,766.9,-9.1,1261,7998,0.00,2.90,0.00,0.000,4,0.000,0.128,2668,3651,3880
$GC,8037,-1.29,-194.7,771.2,-9.6,1264,8043,0.00,2.78,0.00,0.000,6,0.000,0.107,2668,2219,3880
$GC,8364,-1.29,-194.7,799.1,-8.3,1295,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2220,3880
$GC,8681,-1.29,-194.7,826.2,-8.3,1325,8685,0.00,2.88,0.00,0.000,4,0.000,0.130,2668,3649,3880
$GC,8708,-1.29,-194.7,828.7,-9.2,1327,8713,0.00,2.78,0.00,0.000,6,0.000,0.109,2668,2224,3880
$GC,9035,-1.29,-194.7,856.0,-8.5,1357,9039,0.00,2.88,0.00,0.000,4,0.000,0.129,2668,3647,3880
$GC,9067,-1.29,-194.7,859.3,-9.6,1359,9073,0.00,2.78,0.00,0.000,6,0.000,0.111,2668,2228,3880
$GC,9394,-1.29,-194.7,887.1,-8.6,1390,9395,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3879
$GC,9712,-1.29,-194.7,913.4,-8.1,1420,9716,0.00,2.88,0.00,0.000,4,0.000,0.133,2668,3645,3879
$GC,9740,-1.29,-194.7,915.9,-9.1,1422,9745,0.00,2.80,0.00,0.000,6,0.000,0.115,2668,2224,3879
$GC,10066,-1.29,-194.7,943.9,-8.7,1452,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2224,3879
$GC,10385,-1.29,-194.7,970.7,-8.5,1482,10389,0.00,2.90,0.00,0.000,4,0.000,0.133,2668,3645,3878
$GC,10440,-1.29,-194.7,975.7,-8.7,1486,10446,0.00,2.80,0.00,0.000,6,0.000,0.117,2669,2235,3878
$STATE,10624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10624,begin apogee
$GC,10630,-0.35,0.0,990.2,7.6,1504,10799,1.02,0.00,165.07,1.428,6,0.106,0.000,2878,2333,3086
$STATE,10800,end apogee,CONTROL_FINISHED_OK
$STATE,10800,begin climb
$GC,10803,1.29,194.7,994.9,0.0,1521,10970,1.62,0.00,163.00,1.390,6,0.064,0.000,3240,2333,2291
$GC,11288,1.20,194.7,940.0,13.1,1568,11293,0.00,2.95,0.00,0.000,4,0.000,0.134,3240,3742,2288
$GC,11321,1.07,194.7,935.3,14.6,1570,11327,0.22,2.85,0.00,0.000,6,0.110,0.117,3197,2329,2288
$GC,11645,1.07,194.7,899.2,10.7,1601,11646,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2330,2288
$GC,11965,1.07,194.7,865.5,10.4,1631,11966,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2330,2287
$GC,12282,1.07,194.7,831.6,10.6,1661,12283,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2330,2286
$GC,12601,1.07,194.7,797.4,10.4,1691,12602,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2330,2286
$GC,12921,1.08,197.9,765.3,9.9,1721,12922,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2330,2286
$GC,13238,1.08,197.9,733.4,10.3,1751,13242,0.00,2.88,0.00,0.000,4,0.000,0.126,3197,3740,2285
$GC,13270,1.02,197.9,729.8,10.9,1753,13276,0.00,2.75,0.00,0.000,6,0.000,0.106,3197,2338,2285
$GC,13596,1.02,197.9,697.4,10.0,1784,13597,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2339,2285
$GC,13913,1.02,197.9,663.8,10.6,1814,13914,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2339,2285
$GC,14232,1.02,197.9,630.6,10.3,1844,14233,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2339,2285
$GC,14552,1.02,197.9,597.7,10.8,1875,14558,0.00,2.85,0.00,0.000,4,0.000,0.121,3197,910,2285
$GC,14581,1.02,197.9,594.4,10.9,1880,14588,0.00,2.78,0.00,0.000,6,0.000,0.102,3197,2350,2285
$GC,14926,1.02,197.9,557.8,11.2,1941,14931,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2349,2285
$GC,15268,1.02,197.9,521.7,10.6,2002,15273,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2349,2285
$GC,15611,1.02,197.9,484.4,11.0,2063,15616,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2349,2285
$GC,15953,1.02,197.9,446.0,10.6,2124,15959,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2349,2286
$GC,16296,1.02,197.9,408.4,10.6,2185,16302,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2349,2286
$GC,16638,1.02,197.9,372.1,10.4,2246,16644,0.00,0.00,3.58,0.621,6,0.000,0.000,3197,2349,2278
$GC,16982,1.02,197.9,336.2,10.2,2307,16988,0.00,2.83,0.00,0.000,4,0.000,0.113,3197,911,2278
$GC,17011,1.02,197.9,333.1,11.2,2312,17017,0.00,2.75,0.00,0.000,6,0.000,0.097,3197,2351,2278
$GC,17356,1.02,200.5,299.3,9.9,2373,17362,0.00,0.00,4.40,0.696,6,0.000,0.000,3197,2352,2267
$GC,17699,1.02,200.5,264.5,10.3,2434,17704,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2352,2267
$GC,18042,1.02,200.5,229.2,11.3,2495,18047,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2352,2267
$GC,18385,1.04,211.5,192.1,9.6,2556,18401,0.00,0.00,10.68,0.867,6,0.000,0.000,3197,2352,2221
$GC,18739,1.04,211.5,155.2,10.1,2619,18744,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2352,2221
$GC,19082,1.05,219.7,119.2,9.7,2680,19094,0.00,0.00,8.18,0.805,6,0.000,0.000,3197,2352,2189
$GC,19230,1.05,219.7,104.0,10.1,2706,19235,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2352,2188
$GC,19371,1.09,255.8,90.2,8.7,2731,19407,0.00,2.83,29.98,0.818,4,0.000,0.107,3197,3739,2042
$GC,19430,1.11,274.0,84.5,9.4,2741,19454,0.00,2.72,16.23,0.776,6,0.000,0.091,3197,2324,1967
$GC,19589,1.11,274.0,66.5,12.2,2769,19595,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2324,1963
$GC,19731,1.12,281.3,49.0,9.7,2794,19743,0.00,0.00,6.90,0.721,6,0.000,0.000,3197,2324,1938
$GC,19879,1.12,282.9,29.7,9.9,2820,19885,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2324,1937
$GC,20021,1.28,407.0,20.0,5.7,2845,20132,0.15,2.83,101.62,0.753,4,0.061,0.107,3240,923,1423
$GC,20140,1.28,407.0,2.3,19.0,2866,20147,0.00,2.67,0.00,0.000,6,0.000,0.092,3240,2313,1421
$STATE,20151,end climb,SURFACE_DEPTH_REACHED
$STATE,20151,begin surface coast
$FINISH,0.0,1.002715
$STATE,20165,end surface coast,CONTROL_FINISHED_OK
$STATE,20165,begin surface
$SM_CCo,20247,0.00,0.000,0,0,1414,409.90
$SM_GC,0.67,11.77,0.00,0.00,0.047,0.000,0.000,594,2233,1414,-10.85,-0.06,409.90
$IRIDIUM_FIX,5837.82,-2100.75,110797,000049
$TT8_MAMPS,0.02301
$HUMID,1576
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,18.40
$XPDR_PINGS,121
$24V_AH,23.5,18.651
$10V_AH,10.7,12.280
$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,27.650,112.525,509.625,0.000,0.000,27.545,37.945,328.780,30.250,0.000,0.000,13.082,4281.720,10311.989,670.322,4692.859,806.570,0.000,2740.984,0.000,4700.102,0.000,0.468
$DEVICE_MAMPS,202.488,147.264,1428.154,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1983.409,2158.190,1864.702,1208.503,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,160761,2870
$CAP_FILE_SIZE,214846,0
$CFSIZE,260165632,251228160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160408,122202,5919.577,-2115.726,63,1.0,63,-14.8