version: 66.03
glider: 140
mission: 5
dive: 124
start: 5 2 108 19 29 40
data:
$ID,140
$MISSION,5
$DIVE,124
$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,240
$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,-15485.806
$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
$GPS1,192207,6115.740,-2531.991,29,1.4,29,-18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-59.1
$GPS2,192920,6115.723,-2532.090,9,1.1,14,-18.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6110.323,-2536.600
$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,258.1,20000,-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,-71.05,0.000,2,0.000,0.000,594,2230,3435
$GC,103,-1.29,-194.7,3.1,-6.8,13,133,12.77,2.75,-10.38,0.000,4,0.201,0.110,2670,3651,3880
$GC,387,-1.29,-194.7,33.7,-9.3,63,393,0.00,2.65,0.00,0.000,6,0.000,0.083,2670,2229,3881
$GC,529,-1.29,-194.7,47.9,-8.7,88,536,0.00,2.72,0.00,0.000,4,0.000,0.098,2670,3655,3881
$GC,598,-1.29,-194.7,53.2,-7.2,100,605,0.00,2.67,0.00,0.000,6,0.000,0.084,2670,2226,3881
$GC,942,-1.29,-194.7,86.8,-10.3,161,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2225,3881
$GC,1284,-1.29,-194.7,118.0,-9.1,222,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2225,3881
$GC,1627,-1.29,-194.7,148.9,-9.2,283,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2225,3881
$GC,1971,-1.29,-194.7,180.6,-9.8,344,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2225,3881
$GC,2315,-1.29,-194.7,213.5,-10.2,405,2321,0.00,2.75,0.00,0.000,4,0.000,0.103,2670,3644,3881
$GC,2366,-1.29,-194.7,218.8,-10.4,414,2372,0.00,2.67,0.00,0.000,6,0.000,0.087,2670,2224,3881
$GC,2710,-1.29,-194.7,251.4,-9.3,475,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2224,3881
$GC,3054,-1.29,-194.7,285.5,-10.2,536,3061,0.00,2.75,0.00,0.000,4,0.000,0.106,2670,3646,3881
$GC,3084,-1.29,-194.7,288.8,-10.8,541,3090,0.00,2.67,0.00,0.000,6,0.000,0.089,2669,2227,3881
$GC,3428,-1.29,-194.7,322.6,-9.5,602,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3881
$GC,3767,-1.29,-194.7,355.1,-9.2,658,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3881
$GC,4086,-1.29,-194.7,383.6,-8.8,688,4090,0.00,2.78,0.00,0.000,4,0.000,0.108,2670,3648,3881
$GC,4130,-1.29,-194.7,387.7,-9.6,691,4136,0.00,2.67,0.00,0.000,6,0.000,0.091,2670,2233,3881
$GC,4456,-1.29,-194.7,415.3,-8.6,722,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3881
$GC,4773,-1.29,-194.7,443.1,-8.5,752,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3881
$GC,5092,-1.29,-194.7,471.8,-9.1,782,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3881
$GC,5410,-1.29,-194.7,500.5,-8.3,812,5414,0.00,2.75,0.00,0.000,4,0.000,0.110,2670,3645,3881
$GC,5450,-1.29,-194.7,504.0,-9.2,815,5454,0.00,2.67,0.00,0.000,6,0.000,0.093,2670,2233,3881
$GC,5776,-1.29,-194.7,533.3,-9.2,845,5780,0.00,2.80,0.00,0.000,4,0.000,0.120,2669,825,3881
$GC,5808,-1.29,-194.7,536.6,-9.6,847,5814,0.00,2.70,0.00,0.000,6,0.000,0.097,2670,2240,3881
$GC,6135,-1.29,-194.7,567.2,-9.8,878,6139,0.00,2.75,0.00,0.000,4,0.000,0.111,2670,3650,3880
$GC,6178,-1.29,-194.7,571.9,-10.1,881,6184,0.00,2.67,0.00,0.000,6,0.000,0.094,2670,2237,3880
$GC,6504,-1.29,-194.7,602.5,-9.2,911,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3880
$GC,6812,-1.29,-194.7,631.5,-9.6,926,6816,0.00,2.78,0.00,0.000,4,0.000,0.114,2670,3646,3880
$GC,6845,-1.29,-194.7,634.7,-9.9,927,6851,0.00,2.67,0.00,0.000,6,0.000,0.095,2671,2237,3880
$GC,7160,-1.29,-194.7,660.8,-7.6,943,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3880
$GC,7469,-1.29,-194.7,682.1,-6.4,958,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3880
$GC,7779,-1.29,-194.7,702.4,-6.9,973,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3880
$GC,8088,-1.29,-194.7,724.3,-7.2,988,8089,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3880
$GC,8397,-1.29,-194.7,745.7,-6.8,1003,8401,0.00,2.80,0.00,0.000,4,0.000,0.117,2670,3645,3880
$GC,8446,-1.29,-194.7,749.2,-6.8,1005,8451,0.00,2.67,0.00,0.000,6,0.000,0.098,2670,2249,3880
$GC,8762,-1.29,-194.7,769.6,-6.8,1020,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2250,3879
$GC,9071,-1.29,-194.7,796.4,-9.4,1035,9076,0.00,2.78,0.00,0.000,4,0.000,0.120,2671,3642,3880
$GC,9103,-1.29,-194.7,799.7,-10.1,1036,9110,0.00,2.67,0.00,0.000,6,0.000,0.099,2670,2248,3879
$GC,9419,-1.29,-194.7,827.9,-8.7,1052,9420,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3879
$GC,9728,-1.29,-194.7,853.8,-8.2,1067,9729,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3879
$GC,10038,-1.29,-194.7,878.9,-8.2,1082,10039,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3879
$GC,10347,-1.29,-194.7,905.5,-8.7,1097,10348,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3878
$GC,10656,-1.29,-194.7,930.6,-7.5,1112,10657,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3878
$GC,10966,-1.29,-194.7,953.1,-7.2,1127,10967,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2249,3878
$GC,11275,-1.29,-194.7,976.7,-8.0,1142,11279,0.00,2.85,0.00,0.000,4,0.000,0.129,2670,3646,3878
$GC,11324,-1.29,-194.7,980.8,-8.6,1144,11328,0.00,2.75,0.00,0.000,6,0.000,0.110,2670,2243,3878
$STATE,11451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11451,begin apogee
$GC,11457,-0.35,0.0,991.8,8.9,1150,11626,1.05,0.00,165.32,1.424,6,0.105,0.000,2880,2329,3085
$STATE,11627,end apogee,CONTROL_FINISHED_OK
$STATE,11627,begin climb
$GC,11629,1.29,194.7,998.7,0.0,1158,11797,1.62,0.00,162.48,1.389,6,0.061,0.000,3245,2329,2291
$GC,12106,1.19,194.7,948.6,13.2,1182,12107,0.12,0.00,0.00,0.000,6,0.119,0.000,3224,2330,2288
$GC,12415,1.12,194.7,910.8,11.9,1197,12416,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2329,2288
$GC,12724,1.06,194.7,874.4,11.9,1212,12730,0.17,2.90,0.00,0.000,4,0.110,0.123,3189,3738,2287
$GC,12746,0.99,194.7,871.7,11.4,1213,12751,0.00,2.78,0.00,0.000,6,0.000,0.104,3189,2334,2288
$GC,13067,0.99,194.7,838.8,10.7,1229,13068,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2334,2287
$GC,13376,0.99,194.7,806.0,10.1,1244,13378,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2334,2287
$GC,13686,1.00,200.6,773.8,9.8,1259,13694,0.00,0.00,6.15,1.052,6,0.000,0.000,3189,2334,2267
$GC,13995,1.04,235.6,746.2,8.8,1274,14036,0.00,2.92,31.10,1.239,4,0.000,0.114,3189,3739,2122
$GC,14047,1.06,251.0,741.4,9.5,1276,14067,0.00,2.80,14.52,1.156,6,0.000,0.097,3189,2328,2061
$GC,14382,1.06,251.0,707.3,10.5,1293,14383,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2328,2057
$GC,14691,1.06,251.0,673.9,10.9,1308,14692,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2327,2057
$GC,15001,1.06,251.0,638.8,11.6,1323,15002,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2327,2056
$GC,15310,1.06,251.0,603.0,11.4,1338,15311,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2327,2056
$GC,15627,1.06,251.0,568.3,10.6,1366,15632,0.00,2.83,0.00,0.000,4,0.000,0.110,3189,3739,2056
$GC,15655,1.06,251.0,565.1,11.6,1368,15659,0.00,2.72,0.00,0.000,6,0.000,0.092,3189,2332,2056
$GC,15979,1.06,251.0,529.6,11.0,1398,15983,0.00,2.80,0.00,0.000,4,0.000,0.114,3188,912,2056
$GC,16000,1.06,251.0,527.0,10.6,1399,16006,0.00,2.72,0.00,0.000,6,0.000,0.093,3188,2337,2056
$GC,16326,1.06,251.0,489.8,11.8,1430,16327,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2337,2056
$GC,16645,1.06,251.0,455.4,10.5,1460,16646,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2337,2056
$GC,16961,1.06,251.0,421.5,10.2,1490,16963,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2337,2057
$GC,17282,1.07,256.9,388.4,9.8,1520,17294,0.00,2.80,5.95,0.855,4,0.000,0.107,3189,916,2036
$GC,17310,1.07,256.9,385.1,10.1,1522,17317,0.00,2.70,0.00,0.000,6,0.000,0.091,3189,2331,2036
$GC,17639,1.07,256.9,350.7,10.7,1553,17644,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2331,2036
$GC,17981,1.07,259.4,313.7,9.9,1614,17987,0.00,0.00,3.88,0.656,6,0.000,0.000,3189,2331,2027
$GC,18325,1.11,285.5,278.3,9.1,1675,18352,0.00,0.00,23.02,0.929,6,0.000,0.000,3189,2331,1921
$GC,18689,1.11,285.5,238.9,10.7,1740,18695,0.00,2.75,0.00,0.000,4,0.000,0.105,3189,917,1918
$GC,18712,1.11,285.5,236.2,11.7,1744,18719,0.00,2.65,0.00,0.000,6,0.000,0.089,3188,2321,1918
$GC,19057,1.11,285.5,197.0,12.6,1805,19063,0.00,2.78,0.00,0.000,4,0.000,0.105,3189,3736,1917
$GC,19086,1.11,285.5,193.5,12.2,1810,19092,0.00,2.70,0.00,0.000,6,0.000,0.085,3188,2317,1917
$GC,19429,1.11,285.5,156.1,11.3,1871,19434,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2318,1917
$GC,19771,1.11,285.5,119.5,10.7,1932,19778,0.00,2.70,0.00,0.000,4,0.000,0.104,3188,910,1917
$GC,19795,1.11,285.5,116.8,12.9,1936,19801,0.00,2.62,0.00,0.000,6,0.000,0.084,3188,2317,1917
$GC,20140,1.11,285.5,79.5,11.2,1997,20145,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2317,1917
$GC,20482,1.11,285.5,40.4,11.6,2058,20488,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2317,1917
$GC,20623,1.11,285.5,23.2,12.4,2083,20630,0.00,2.75,0.00,0.000,4,0.000,0.100,3189,3738,1916
$GC,20647,1.11,285.5,20.3,11.0,2087,20654,0.00,2.67,0.00,0.000,6,0.000,0.083,3189,2316,1917
$GC,20789,1.11,285.5,3.3,12.6,2112,20795,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2317,1916
$STATE,20799,end climb,SURFACE_DEPTH_REACHED
$STATE,20799,begin surface coast
$FINISH,0.9,1.027828
$STATE,20817,end surface coast,CONTROL_FINISHED_OK
$STATE,20817,begin surface
$SM_CCo,20898,0.00,0.000,0,0,1914,287.00
$SM_GC,0.80,11.40,0.00,0.00,0.045,0.000,0.000,591,2233,1914,-10.86,-0.06,287.00
$IRIDIUM_FIX,6054.92,-2523.75,270797,131327
$TT8_MAMPS,0.02301
$HUMID,1607
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.10
$XPDR_PINGS,76
$24V_AH,23.4,31.065
$10V_AH,10.7,24.071
$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,27.150,115.400,412.425,0.000,0.000,30.351,31.280,233.811,19.000,0.000,0.000,14.662,3277.425,13343.201,593.272,3456.450,642.675,0.000,2167.306,0.000,3446.504,0.000,0.467
$DEVICE_MAMPS,200.954,137.293,1423.552,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1464.544,1574.427,991.825,601.544,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119881,2117
$CAP_FILE_SIZE,178564,0
$CFSIZE,260165632,244113408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,030508,011937,6111.939,-2538.951,64,0.9,64,-18.1