version: 66.03
glider: 140
mission: 5
dive: 85
start: 4 23 108 4 43 57
data:
$ID,140
$MISSION,5
$DIVE,85
$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,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,-14670.743
$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,12
$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
$GPS1,043501,5949.659,-2140.552,40,1.3,40,-15.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-62.5
$GPS2,044339,5949.809,-2140.553,14,1.2,14,-15.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5959.162,-2143.254
$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,345.2,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,107,0.00,0.00,-75.95,0.000,2,0.000,0.000,593,2222,3606
$GC,110,-1.29,-194.7,3.5,-6.9,14,135,13.15,2.85,-5.75,0.000,4,0.212,0.114,2671,3647,3880
$GC,305,-1.29,-194.7,27.2,-9.8,48,312,0.00,2.65,0.00,0.000,6,0.000,0.082,2671,2230,3882
$GC,448,-1.29,-194.7,41.0,-9.5,73,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3882
$GC,590,-1.29,-194.7,53.4,-9.4,98,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3882
$GC,731,-1.29,-194.7,67.3,-9.4,123,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3882
$GC,873,-1.29,-194.7,81.5,-10.8,148,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3882
$GC,1014,-1.29,-194.7,96.3,-10.0,173,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3882
$GC,1157,-1.29,-194.7,110.5,-10.1,198,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3882
$GC,1298,-1.29,-194.7,124.3,-9.9,223,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3882
$GC,1441,-1.29,-194.7,138.1,-9.4,248,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3882
$GC,1582,-1.29,-194.7,151.5,-9.0,273,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3882
$GC,1925,-1.29,-194.7,183.3,-9.0,334,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3882
$GC,2268,-1.29,-194.7,215.1,-9.5,395,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3883
$GC,2611,-1.29,-194.7,247.4,-9.6,456,2617,0.00,2.78,0.00,0.000,4,0.000,0.110,2671,3644,3883
$GC,2641,-1.29,-194.7,250.3,-10.0,461,2647,0.00,2.67,0.00,0.000,6,0.000,0.087,2671,2220,3883
$GC,2984,-1.29,-194.7,282.4,-9.4,522,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2221,3883
$GC,3327,-1.29,-194.7,314.2,-9.4,583,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2221,3883
$GC,3669,-1.29,-194.7,346.8,-9.4,644,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2221,3883
$GC,4013,-1.29,-194.7,379.4,-9.5,705,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2221,3882
$GC,4356,-1.29,-194.7,411.2,-9.3,766,4362,0.00,2.83,0.00,0.000,4,0.000,0.115,2671,3645,3883
$GC,4385,-1.29,-194.7,414.1,-10.3,771,4391,0.00,2.70,0.00,0.000,6,0.000,0.091,2671,2218,3883
$GC,4730,-1.29,-194.7,447.0,-9.5,832,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3882
$GC,5073,-1.29,-194.7,479.5,-9.2,893,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3882
$GC,5416,-1.29,-194.7,511.3,-9.1,954,5422,0.00,2.83,0.00,0.000,4,0.000,0.116,2670,3643,3882
$GC,5457,-1.29,-194.7,515.2,-9.6,961,5463,0.00,2.67,0.00,0.000,6,0.000,0.092,2671,2230,3882
$GC,5801,-1.29,-194.7,545.4,-8.6,1022,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,6143,-1.29,-194.7,574.8,-8.7,1083,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,6489,-1.29,-194.7,605.0,-8.8,1140,6490,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,6808,-1.29,-194.7,632.9,-8.7,1170,6812,0.00,2.85,0.00,0.000,4,0.000,0.123,2671,3648,3881
$GC,6851,-1.29,-194.7,637.1,-9.3,1173,6857,0.00,2.72,0.00,0.000,6,0.000,0.097,2671,2223,3881
$GC,7178,-1.29,-194.7,664.6,-8.5,1204,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2224,3881
$GC,7495,-1.29,-194.7,692.6,-8.7,1234,7500,0.00,2.88,0.00,0.000,4,0.000,0.125,2671,3650,3881
$GC,7535,-1.29,-194.7,696.4,-9.1,1237,7539,0.00,2.72,0.00,0.000,6,0.000,0.098,2671,2229,3881
$GC,7861,-1.29,-194.7,724.3,-8.6,1267,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3880
$GC,8178,-1.29,-194.7,752.4,-8.9,1297,8183,0.00,2.88,0.00,0.000,4,0.000,0.128,2671,3644,3880
$GC,8240,-1.29,-194.7,758.3,-9.5,1302,8244,0.00,2.70,0.00,0.000,6,0.000,0.102,2671,2242,3879
$GC,8568,-1.29,-194.7,785.8,-8.3,1332,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3879
$GC,8894,-1.29,-194.7,811.6,-7.8,1363,8899,0.00,2.85,0.00,0.000,4,0.000,0.130,2671,3643,3879
$GC,8944,-1.29,-194.7,816.1,-8.7,1367,8949,0.00,2.70,0.00,0.000,6,0.000,0.106,2671,2251,3879
$GC,9271,-1.29,-194.7,842.5,-8.4,1397,9272,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2252,3879
$GC,9589,-1.29,-194.7,869.9,-8.6,1427,9594,0.00,2.85,0.00,0.000,4,0.000,0.133,2671,3643,3878
$GC,9623,-1.29,-194.7,873.0,-9.4,1429,9629,0.00,2.72,0.00,0.000,6,0.000,0.107,2672,2244,3878
$GC,9951,-1.29,-194.7,900.2,-8.4,1460,9956,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3878
$GC,10277,-1.29,-194.7,926.7,-8.2,1491,10282,0.00,2.85,0.00,0.000,4,0.000,0.131,2672,3642,3878
$GC,10321,-1.29,-194.7,930.6,-8.6,1494,10327,0.00,2.72,0.00,0.000,6,0.000,0.109,2671,2249,3878
$GC,10648,-1.29,-194.7,955.5,-7.7,1525,10649,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2249,3877
$GC,10966,-1.29,-194.7,980.2,-7.7,1555,10970,0.00,2.88,0.00,0.000,4,0.000,0.134,2671,3648,3877
$GC,11000,-1.29,-194.7,983.0,-8.3,1557,11006,0.00,2.75,0.00,0.000,6,0.000,0.112,2671,2250,3877
$STATE,11088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11089,begin apogee
$GC,11094,-0.35,0.0,990.1,7.8,1566,11263,1.02,0.00,164.90,1.439,6,0.114,0.000,2877,2326,3085
$STATE,11264,end apogee,CONTROL_FINISHED_OK
$STATE,11264,begin climb
$GC,11267,1.29,194.7,995.9,0.0,1583,11435,1.65,0.00,163.32,1.396,6,0.067,0.000,3241,2326,2291
$GC,11752,1.19,194.7,942.7,12.9,1630,11753,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2326,2288
$GC,12072,1.10,194.7,902.0,12.7,1660,12078,0.17,2.95,0.00,0.000,4,0.111,0.130,3204,3743,2288
$GC,12123,1.03,194.7,895.4,11.7,1664,12128,0.00,2.83,0.00,0.000,6,0.000,0.110,3205,2338,2288
$GC,12448,0.98,194.7,859.1,11.0,1694,12450,0.15,0.00,0.00,0.000,6,0.113,0.000,3177,2338,2288
$GC,12768,1.00,204.8,828.5,9.6,1724,12780,0.00,0.00,9.98,1.230,6,0.000,0.000,3177,2337,2249
$GC,13095,1.00,211.6,796.0,9.8,1755,13109,0.00,3.03,7.25,1.136,4,0.000,0.132,3177,914,2222
$GC,13138,1.00,211.7,791.6,10.0,1759,13143,0.00,2.83,0.00,0.000,6,0.000,0.109,3177,2332,2222
$GC,13463,1.02,224.4,760.6,9.6,1789,13484,0.00,2.97,12.55,1.224,4,0.000,0.127,3177,3733,2170
$GC,13501,1.04,240.0,756.7,9.5,1792,13521,0.00,2.80,15.05,1.188,6,0.000,0.101,3177,2317,2105
$GC,13840,1.04,240.0,722.2,10.5,1824,13842,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2318,2103
$GC,14159,1.04,240.0,688.9,10.3,1854,14160,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2318,2103
$GC,14479,1.05,246.0,656.6,9.8,1884,14488,0.00,0.00,6.25,1.031,6,0.000,0.000,3177,2318,2082
$GC,14807,1.05,246.0,624.0,10.2,1915,14808,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2318,2081
$GC,15128,1.05,246.0,590.8,10.0,1952,15135,0.00,2.78,0.00,0.000,4,0.000,0.117,3177,918,2082
$GC,15158,1.05,246.0,587.7,10.5,1957,15164,0.00,2.78,0.00,0.000,6,0.000,0.103,3177,2338,2081
$GC,15501,1.05,246.0,552.3,10.9,2018,15506,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2339,2081
$GC,15843,1.05,252.0,517.4,9.8,2079,15856,0.00,2.90,6.95,0.991,4,0.000,0.111,3177,918,2057
$GC,15879,1.05,252.0,513.7,10.6,2085,15885,0.00,2.75,0.00,0.000,6,0.000,0.100,3177,2329,2056
$GC,16222,1.05,252.0,478.3,10.7,2146,16228,0.00,2.80,0.00,0.000,4,0.000,0.114,3177,3740,2056
$GC,16256,1.05,252.0,474.4,10.7,2152,16263,0.00,2.72,0.00,0.000,6,0.000,0.093,3177,2323,2056
$GC,16600,1.05,252.0,439.0,10.8,2213,16606,0.00,2.78,0.00,0.000,4,0.000,0.114,3177,915,2057
$GC,16629,1.05,252.0,435.9,11.0,2218,16635,0.00,2.72,0.00,0.000,6,0.000,0.098,3177,2330,2056
$GC,16973,1.08,273.6,401.7,9.3,2279,16995,0.00,0.00,19.58,1.029,6,0.000,0.000,3177,2330,1969
$GC,17332,1.08,273.6,364.6,11.6,2343,17337,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2330,1966
$GC,17674,1.08,273.6,328.1,10.6,2404,17680,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2330,1966
$GC,18017,1.08,273.6,290.0,10.1,2465,18023,0.00,2.78,0.00,0.000,4,0.000,0.108,3177,915,1966
$GC,18052,1.13,273.6,286.1,12.5,2471,18059,0.12,2.70,0.00,0.000,6,0.064,0.095,3209,2323,1966
$GC,18396,1.13,273.6,245.6,11.1,2532,18402,0.00,2.80,0.00,0.000,4,0.000,0.111,3209,3741,1966
$GC,18431,1.09,273.6,241.4,12.7,2538,18438,0.00,2.70,0.00,0.000,6,0.000,0.088,3209,2314,1966
$GC,18775,1.09,273.6,200.9,13.0,2599,18781,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2314,1966
$GC,19118,1.09,273.6,160.6,11.8,2660,19124,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2315,1966
$GC,19461,1.09,273.6,118.8,12.2,2721,19467,0.00,2.70,0.00,0.000,4,0.000,0.104,3210,913,1966
$GC,19491,1.09,273.6,115.0,13.2,2726,19498,0.00,2.67,0.00,0.000,6,0.000,0.090,3210,2329,1966
$GC,19633,1.09,273.6,98.3,11.6,2751,19639,0.00,2.75,0.00,0.000,4,0.000,0.107,3209,3739,1966
$GC,19668,1.09,273.6,94.0,12.2,2757,19675,0.00,2.67,0.00,0.000,6,0.000,0.084,3209,2316,1966
$GC,19811,1.09,273.6,77.3,11.6,2782,19816,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2316,1967
$GC,19953,1.09,273.6,60.2,10.8,2807,19959,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2316,1966
$GC,20095,1.09,273.6,42.9,12.5,2832,20101,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2317,1966
$GC,20237,1.09,273.6,26.0,12.6,2857,20242,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2316,1966
$GC,20378,1.09,273.6,8.9,13.5,2882,20384,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2316,1967
$STATE,20433,end climb,SURFACE_DEPTH_REACHED
$STATE,20433,begin surface coast
$FINISH,0.1,1.016473
$STATE,20451,end surface coast,CONTROL_FINISHED_OK
$STATE,20451,begin surface
$SM_CCo,20533,0.00,0.000,0,0,1966,274.74
$SM_GC,0.87,11.50,0.00,0.00,0.047,0.000,0.000,592,2231,1966,-10.85,-0.11,274.74
$IRIDIUM_FIX,5919.67,-2141.75,170797,222247
$TT8_MAMPS,0.02301
$HUMID,1593
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.00
$XPDR_PINGS,99
$24V_AH,23.4,24.022
$10V_AH,10.7,18.267
$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,27.775,122.800,405.825,0.000,0.000,30.436,32.242,295.837,24.750,0.000,0.000,14.685,4368.976,10479.354,630.247,4745.981,795.660,0.000,2709.248,0.000,4757.166,0.000,0.468
$DEVICE_MAMPS,211.692,147.264,1438.892,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,2004.940,2191.281,1824.285,1185.205,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,163788,2895
$CAP_FILE_SIZE,219404,0
$CFSIZE,260165632,247808000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,230408,102726,5956.357,-2142.492,41,1.9,41,-15.3