version: 66.03
glider: 140
mission: 5
dive: 81
start: 4 22 108 5 13 57
data:
$ID,140
$MISSION,5
$DIVE,81
$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,1
$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,-14614.037
$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
$GPS1,050432,5923.465,-2150.889,43,1.3,43,-15.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-56.3
$GPS2,051339,5923.646,-2150.979,13,1.4,13,-15.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5934.443,-2150.883
$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,16.1,20000,-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,-194.7,0.0,0.0,0,100,0.00,0.00,-71.00,0.000,2,0.000,0.000,590,2231,3640
$GC,104,-1.29,-194.7,3.4,-6.2,13,128,13.12,2.78,-4.82,0.000,4,0.209,0.116,2671,3647,3881
$GC,274,-1.29,-194.7,28.3,-11.2,43,281,0.00,2.65,0.00,0.000,6,0.000,0.084,2671,2235,3881
$GC,417,-1.29,-194.7,44.3,-11.7,68,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3882
$GC,559,-1.29,-194.7,58.0,-10.2,93,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3882
$GC,701,-1.29,-194.7,71.8,-9.3,118,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3882
$GC,843,-1.29,-194.7,85.3,-9.7,143,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3882
$GC,984,-1.29,-194.7,98.9,-9.4,168,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3882
$GC,1127,-1.29,-194.7,111.5,-8.8,193,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3882
$GC,1268,-1.29,-194.7,123.8,-8.5,218,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3882
$GC,1410,-1.29,-194.7,136.2,-8.8,243,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3882
$GC,1552,-1.29,-194.7,149.0,-9.3,268,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3882
$GC,1694,-1.29,-194.7,161.8,-9.2,293,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3882
$GC,2036,-1.29,-194.7,193.5,-9.6,354,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3882
$GC,2379,-1.29,-194.7,225.3,-9.3,415,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3883
$GC,2722,-1.29,-194.7,257.3,-9.5,476,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3883
$GC,3066,-1.29,-194.7,289.3,-9.2,537,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3883
$GC,3408,-1.29,-194.7,319.6,-8.2,598,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3883
$GC,3752,-1.29,-194.7,348.0,-8.0,659,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3883
$GC,4094,-1.29,-194.7,376.1,-8.6,720,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3883
$GC,4437,-1.29,-194.7,406.0,-8.7,781,4442,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3883
$GC,4780,-1.29,-194.7,435.3,-8.4,842,4786,0.00,2.83,0.00,0.000,4,0.000,0.120,2671,3647,3883
$GC,4832,-1.29,-194.7,439.9,-8.9,851,4838,0.00,2.67,0.00,0.000,6,0.000,0.095,2671,2242,3883
$GC,5175,-1.29,-194.7,470.2,-9.3,912,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3883
$GC,5519,-1.29,-194.7,501.2,-9.2,973,5525,0.00,2.85,0.00,0.000,4,0.000,0.123,2671,819,3882
$GC,5543,-1.29,-194.7,503.5,-9.1,977,5549,0.00,2.78,0.00,0.000,6,0.000,0.105,2671,2247,3882
$GC,5886,-1.29,-194.7,535.4,-10.0,1038,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2247,3882
$GC,6229,-1.29,-194.7,568.7,-9.4,1099,6235,0.00,2.80,0.00,0.000,4,0.000,0.121,2671,3655,3882
$GC,6253,-1.29,-194.7,571.0,-10.0,1103,6259,0.00,2.70,0.00,0.000,6,0.000,0.097,2671,2242,3882
$GC,6595,-1.29,-194.7,602.0,-8.7,1162,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3881
$GC,6913,-1.29,-194.7,628.3,-8.4,1192,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3881
$GC,7232,-1.29,-194.7,654.1,-7.9,1222,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3881
$GC,7552,-1.29,-194.7,681.1,-8.7,1252,7556,0.00,2.85,0.00,0.000,4,0.000,0.127,2670,3649,3881
$GC,7579,-1.29,-194.7,683.8,-9.5,1254,7584,0.00,2.72,0.00,0.000,6,0.000,0.105,2671,2244,3880
$GC,7907,-1.29,-194.7,712.6,-8.9,1284,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3880
$GC,8232,-1.29,-194.7,740.7,-8.5,1315,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3879
$GC,8550,-1.29,-194.7,767.2,-8.4,1345,8555,0.00,2.85,0.00,0.000,4,0.000,0.132,2671,3649,3879
$GC,8589,-1.29,-194.7,770.6,-8.9,1348,8594,0.00,2.72,0.00,0.000,6,0.000,0.107,2671,2248,3879
$GC,8916,-1.29,-194.7,798.0,-8.6,1378,8917,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2248,3879
$GC,9232,-1.29,-194.7,825.5,-8.8,1408,9237,0.00,2.85,0.00,0.000,4,0.000,0.132,2671,3645,3878
$GC,9271,-1.29,-194.7,829.1,-9.5,1411,9276,0.00,2.72,0.00,0.000,6,0.000,0.110,2671,2257,3878
$GC,9599,-1.29,-194.7,857.3,-8.6,1441,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2258,3878
$GC,9924,-1.29,-194.7,884.8,-8.3,1472,9925,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2257,3878
$GC,10244,-1.29,-194.7,910.1,-8.1,1502,10245,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2258,3878
$GC,10562,-1.29,-194.7,935.1,-8.0,1532,10567,0.00,2.85,0.00,0.000,4,0.000,0.134,2671,3646,3877
$GC,10590,-1.29,-194.7,937.5,-8.7,1534,10595,0.00,2.75,0.00,0.000,6,0.000,0.113,2671,2251,3877
$GC,10917,-1.29,-194.7,963.4,-8.0,1564,10918,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2252,3876
$GC,11235,-1.29,-194.7,988.5,-7.6,1594,11236,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2252,3876
$STATE,11252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11252,begin apogee
$GC,11258,-0.35,0.0,990.1,7.6,1596,11426,1.02,0.00,164.60,1.440,6,0.110,0.000,2877,2334,3085
$STATE,11427,end apogee,CONTROL_FINISHED_OK
$STATE,11427,begin climb
$GC,11430,1.29,194.7,996.0,0.0,1613,11598,1.65,0.00,163.35,1.402,6,0.064,0.000,3244,2334,2291
$GC,11915,1.19,194.7,940.9,13.7,1660,11917,0.12,0.00,0.00,0.000,6,0.119,0.000,3223,2334,2288
$GC,12235,1.13,194.7,901.3,12.4,1690,12240,0.00,2.92,0.00,0.000,4,0.000,0.131,3223,3744,2288
$GC,12269,1.03,194.7,896.9,12.5,1692,12276,0.20,2.85,0.00,0.000,6,0.108,0.110,3186,2323,2288
$GC,12593,1.03,194.7,862.8,10.3,1723,12598,0.00,2.95,0.00,0.000,4,0.000,0.139,3186,910,2288
$GC,12632,1.03,194.7,858.6,10.6,1726,12637,0.00,2.85,0.00,0.000,6,0.000,0.114,3185,2335,2288
$GC,12958,1.03,194.7,825.7,10.0,1756,12959,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2335,2287
$GC,13277,1.04,202.3,794.8,9.7,1786,13286,0.00,0.00,7.45,1.147,6,0.000,0.000,3186,2335,2260
$GC,13605,1.04,202.3,762.8,10.3,1817,13606,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2335,2260
$GC,13924,1.04,202.3,730.4,10.4,1847,13928,0.00,2.88,0.00,0.000,4,0.000,0.122,3185,911,2259
$GC,13956,1.04,202.3,726.6,11.2,1849,13962,0.00,2.80,0.00,0.000,6,0.000,0.110,3186,2326,2260
$GC,14282,1.05,208.3,695.0,9.8,1880,14291,0.00,0.00,6.88,1.091,6,0.000,0.000,3186,2326,2235
$GC,14611,1.05,212.4,663.2,9.9,1911,14619,0.00,0.00,5.12,0.958,6,0.000,0.000,3185,2326,2219
$GC,14939,1.05,212.4,629.4,10.6,1942,14944,0.00,2.88,0.00,0.000,4,0.000,0.126,3186,3740,2218
$GC,14978,1.01,212.4,624.9,11.2,1945,14983,0.00,2.78,0.00,0.000,6,0.000,0.100,3186,2321,2219
$GC,15307,1.01,212.4,590.0,10.4,1983,15313,0.00,2.80,0.00,0.000,4,0.000,0.120,3185,916,2219
$GC,15342,1.01,212.4,586.3,10.5,1989,15348,0.00,2.78,0.00,0.000,6,0.000,0.105,3185,2335,2219
$GC,15686,1.03,226.8,552.2,9.5,2050,15708,0.00,2.92,13.88,1.126,4,0.000,0.121,3186,3736,2159
$GC,15753,1.03,226.8,545.0,10.7,2062,15760,0.00,2.75,0.00,0.000,6,0.000,0.097,3186,2326,2159
$GC,16097,1.04,236.5,509.8,9.7,2123,16114,0.00,2.85,9.80,1.062,4,0.000,0.117,3185,918,2120
$GC,16150,1.04,236.5,504.5,10.4,2132,16156,0.00,2.75,0.00,0.000,6,0.000,0.103,3186,2324,2120
$GC,16494,1.04,236.5,468.2,10.8,2193,16500,0.00,2.85,0.00,0.000,4,0.000,0.117,3186,3741,2119
$GC,16540,1.04,236.5,462.9,11.7,2201,16546,0.00,2.78,0.00,0.000,6,0.000,0.095,3185,2306,2119
$GC,16883,1.04,236.5,425.6,10.6,2262,16888,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2307,2119
$GC,17225,1.04,236.5,389.8,11.2,2323,17230,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2307,2120
$GC,17567,1.05,243.5,354.0,9.8,2384,17579,0.00,0.00,7.35,0.917,6,0.000,0.000,3186,2307,2092
$GC,17916,1.08,267.6,318.9,9.2,2446,17944,0.00,2.92,21.40,0.972,4,0.000,0.110,3186,3741,1993
$GC,17968,1.09,275.1,313.6,9.7,2455,17981,0.00,2.72,7.78,0.846,6,0.000,0.091,3186,2326,1963
$GC,18318,1.09,275.1,277.3,10.2,2517,18324,0.00,2.78,0.00,0.000,4,0.000,0.109,3186,910,1961
$GC,18353,1.13,275.1,273.8,10.1,2523,18359,0.00,2.72,0.00,0.000,6,0.000,0.094,3186,2334,1961
$GC,18697,1.13,275.1,240.4,10.7,2584,18703,0.00,2.78,0.00,0.000,4,0.000,0.110,3185,3743,1960
$GC,18726,1.13,275.1,237.4,10.2,2589,18732,0.00,2.70,0.00,0.000,6,0.000,0.087,3186,2324,1960
$GC,19069,1.13,275.1,200.4,10.7,2650,19075,0.00,2.72,0.00,0.000,4,0.000,0.107,3186,917,1960
$GC,19116,1.17,275.1,195.3,10.6,2658,19123,0.12,2.67,0.00,0.000,6,0.063,0.090,3219,2333,1960
$GC,19461,1.17,275.1,152.0,12.3,2719,19466,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2333,1960
$GC,19805,1.17,275.1,108.5,13.3,2780,19811,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2333,1961
$GC,19946,1.17,275.1,89.5,10.7,2805,19952,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2333,1961
$GC,20088,1.17,275.1,73.5,10.4,2830,20094,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2333,1960
$GC,20230,1.17,275.1,56.7,11.1,2855,20236,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2333,1961
$GC,20371,1.17,275.1,37.7,14.9,2880,20377,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2333,1961
$GC,20513,1.18,282.8,20.2,9.7,2905,20525,0.00,0.00,7.78,0.746,6,0.000,0.000,3219,2333,1932
$STATE,20653,end climb,SURFACE_DEPTH_REACHED
$STATE,20653,begin surface coast
$FINISH,0.0,1.026175
$STATE,20673,end surface coast,CONTROL_FINISHED_OK
$STATE,20673,begin surface
$SM_CCo,20754,0.00,0.000,0,0,1929,283.57
$SM_GC,0.85,11.55,0.00,0.00,0.044,0.000,0.000,583,2227,1929,-10.86,-0.23,283.57
$IRIDIUM_FIX,5854.46,-2151.21,160797,232325
$TT8_MAMPS,0.021476
$HUMID,1595
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.00
$XPDR_PINGS,75
$24V_AH,23.4,23.286
$10V_AH,10.6,17.438
$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,27.800,112.200,415.375,0.000,0.000,30.844,38.634,321.996,18.750,0.000,0.000,13.721,4396.155,10666.877,621.641,4778.349,808.305,0.000,2706.534,0.000,4780.936,0.000,0.467
$DEVICE_MAMPS,209.391,155.701,1440.426,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,2032.145,2219.585,1844.687,1196.694,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,164186,2933
$CAP_FILE_SIZE,217165,0
$CFSIZE,260165632,248274944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220408,110125,5930.211,-2149.139,42,1.1,59,-15.1