version: 66.03
glider: 140
mission: 5
dive: 126
start: 5 3 108 7 6 5
data:
$ID,140
$MISSION,5
$DIVE,126
$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,-15520.069
$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,13
$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
$GPS1,065838,6108.050,-2548.185,36,1.5,36,-18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-55.7
$GPS2,070545,6107.992,-2548.317,16,1.6,16,-18.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6102.593,-2552.845
$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,26,-1.29,-194.7,0.0,0.0,0,105,0.00,0.00,-75.82,0.000,2,0.000,0.000,591,2228,3496
$GC,108,-1.29,-194.7,3.6,-9.0,14,137,12.60,2.78,-8.43,0.000,4,0.196,0.110,2668,3642,3881
$GC,391,-1.29,-194.7,36.7,-9.2,64,397,0.00,2.62,0.00,0.000,6,0.000,0.082,2668,2227,3882
$GC,533,-1.29,-194.7,50.0,-9.5,89,540,0.00,2.72,0.00,0.000,4,0.000,0.098,2668,3651,3882
$GC,619,-1.29,-194.7,58.8,-10.3,104,625,0.00,2.67,0.00,0.000,6,0.000,0.083,2668,2214,3882
$GC,964,-1.29,-194.7,92.9,-9.6,165,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2214,3882
$GC,1306,-1.29,-194.7,126.8,-9.9,226,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2214,3882
$GC,1649,-1.29,-194.7,161.2,-9.9,287,1655,0.00,2.78,0.00,0.000,4,0.000,0.102,2668,3650,3882
$GC,1689,-1.29,-194.7,165.4,-10.3,294,1695,0.00,2.67,0.00,0.000,6,0.000,0.086,2668,2227,3882
$GC,2033,-1.29,-194.7,199.2,-9.5,355,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3882
$GC,2376,-1.29,-194.7,231.5,-9.3,416,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3882
$GC,2720,-1.29,-194.7,263.7,-9.1,477,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3882
$GC,3063,-1.29,-194.7,292.7,-8.5,538,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2227,3882
$GC,3406,-1.29,-194.7,320.8,-8.2,599,3413,0.00,2.75,0.00,0.000,4,0.000,0.106,2668,3647,3882
$GC,3442,-1.29,-194.7,324.0,-8.9,605,3448,0.00,2.67,0.00,0.000,6,0.000,0.088,2668,2226,3882
$GC,3789,-1.29,-194.7,354.4,-9.0,663,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2227,3882
$GC,4109,-1.29,-194.7,383.3,-9.2,693,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2227,3882
$GC,4426,-1.29,-194.7,413.5,-9.4,723,4430,0.00,2.78,0.00,0.000,4,0.000,0.108,2668,3650,3882
$GC,4458,-1.29,-194.7,416.9,-10.2,725,4464,0.00,2.67,0.00,0.000,6,0.000,0.091,2668,2236,3882
$GC,4785,-1.29,-194.7,447.3,-8.9,756,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3882
$GC,5103,-1.29,-194.7,473.8,-7.8,786,5108,0.00,2.80,0.00,0.000,4,0.000,0.118,2668,825,3882
$GC,5136,-1.29,-194.7,476.6,-8.6,788,5142,0.00,2.70,0.00,0.000,6,0.000,0.097,2668,2235,3882
$GC,5464,-1.29,-194.7,501.4,-7.6,819,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3882
$GC,5788,-1.29,-194.7,528.5,-8.5,850,5793,0.00,2.75,0.00,0.000,4,0.000,0.111,2668,3647,3883
$GC,5822,-1.29,-194.7,531.5,-9.0,852,5828,0.00,2.67,0.00,0.000,6,0.000,0.093,2668,2232,3882
$GC,6148,-1.29,-194.7,563.4,-10.8,883,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2232,3882
$GC,6465,-1.29,-194.7,599.0,-11.5,913,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2232,3882
$GC,6784,-1.29,-194.7,633.6,-10.2,929,6785,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2233,3882
$GC,7094,-1.29,-194.7,662.7,-9.0,944,7098,0.00,2.80,0.00,0.000,4,0.000,0.114,2668,3651,3882
$GC,7143,-1.29,-194.7,667.3,-8.9,946,7148,0.00,2.67,0.00,0.000,6,0.000,0.095,2668,2242,3881
$GC,7459,-1.29,-194.7,692.8,-7.8,961,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2243,3881
$GC,7768,-1.29,-194.7,717.2,-7.7,976,7773,0.00,2.85,0.00,0.000,4,0.000,0.125,2668,823,3881
$GC,7812,-1.29,-194.7,720.7,-8.1,978,7817,0.00,2.75,0.00,0.000,6,0.000,0.102,2668,2250,3881
$GC,8132,-1.29,-194.7,744.8,-7.6,994,8137,0.00,2.80,0.00,0.000,4,0.000,0.123,2668,3654,3881
$GC,8165,-1.29,-194.7,747.5,-8.5,995,8171,0.00,2.70,0.00,0.000,6,0.000,0.097,2668,2235,3881
$GC,8481,-1.29,-194.7,772.0,-7.4,1011,8485,0.00,2.83,0.00,0.000,4,0.000,0.124,2668,823,3881
$GC,8524,-1.29,-194.7,775.6,-8.1,1013,8529,0.00,2.75,0.00,0.000,6,0.000,0.102,2668,2247,3881
$GC,8845,-1.29,-194.7,801.7,-8.7,1029,8846,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2247,3881
$GC,9154,-1.29,-194.7,830.9,-9.7,1044,9159,0.00,2.83,0.00,0.000,4,0.000,0.126,2668,3655,3881
$GC,9194,-1.29,-194.7,834.9,-10.0,1046,9198,0.00,2.72,0.00,0.000,6,0.000,0.100,2668,2234,3881
$GC,9520,-1.29,-194.7,865.2,-8.8,1062,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2235,3880
$GC,9829,-1.29,-194.7,890.2,-7.5,1077,9830,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2235,3880
$GC,10138,-1.29,-194.7,912.5,-7.6,1092,10143,0.00,2.83,0.00,0.000,4,0.000,0.123,2668,3654,3880
$GC,10201,-1.29,-194.7,917.5,-7.9,1095,10205,0.00,2.72,0.00,0.000,6,0.000,0.104,2668,2247,3880
$GC,10527,-1.29,-194.7,941.1,-7.3,1111,10528,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2248,3879
$GC,10836,-1.29,-194.7,963.7,-7.3,1126,10837,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2247,3879
$GC,11145,-1.29,-194.7,988.2,-8.0,1141,11150,0.00,2.83,0.00,0.000,4,0.000,0.127,2668,3647,3879
$STATE,11164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11164,begin apogee
$GC,11172,-0.35,0.0,990.1,9.0,1142,11341,1.02,0.00,164.98,1.427,6,0.109,0.000,2875,2330,3085
$STATE,11341,end apogee,CONTROL_FINISHED_OK
$STATE,11342,begin climb
$GC,11344,1.29,194.7,997.0,0.0,1150,11515,1.62,3.00,162.75,1.389,4,0.062,0.123,3239,3737,2291
$GC,11532,1.17,194.7,984.7,12.2,1160,11537,0.12,2.85,0.00,0.000,6,0.119,0.107,3218,2330,2290
$GC,11853,1.11,194.7,947.6,11.4,1176,11857,0.00,2.90,0.00,0.000,4,0.000,0.123,3219,3737,2289
$GC,11880,1.02,194.7,944.1,12.2,1177,11885,0.17,2.80,0.00,0.000,6,0.111,0.106,3186,2337,2289
$GC,12195,1.02,194.7,909.9,10.6,1192,12196,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2337,2288
$GC,12504,1.02,194.7,876.0,10.6,1207,12509,0.00,2.88,0.00,0.000,4,0.000,0.123,3186,3738,2287
$GC,12527,1.02,194.7,873.5,10.9,1208,12531,0.00,2.80,0.00,0.000,6,0.000,0.104,3186,2334,2287
$GC,12847,1.02,194.7,837.1,11.7,1224,12848,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2335,2287
$GC,13156,1.02,194.7,803.5,10.1,1239,13157,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2335,2287
$GC,13466,1.05,219.7,774.9,9.1,1254,13495,0.00,2.95,22.00,1.260,4,0.000,0.116,3186,3735,2188
$GC,13523,1.05,219.7,769.2,10.2,1256,13529,0.00,2.75,0.00,0.000,6,0.000,0.099,3186,2338,2188
$GC,13839,1.06,226.8,739.0,9.8,1272,13853,0.00,2.95,7.60,1.113,4,0.000,0.123,3186,918,2159
$GC,13875,1.06,226.8,735.0,10.3,1273,13882,0.00,2.78,0.00,0.000,6,0.000,0.098,3185,2345,2160
$GC,14191,1.06,226.8,701.3,10.8,1289,14195,0.00,2.83,0.00,0.000,4,0.000,0.121,3186,3738,2159
$GC,14217,1.06,226.8,698.1,11.1,1290,14222,0.00,2.72,0.00,0.000,6,0.000,0.096,3186,2337,2158
$GC,14533,1.06,226.8,663.1,11.2,1305,14534,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2337,2158
$GC,14842,1.06,226.8,628.4,11.4,1320,14843,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2337,2159
$GC,15153,1.06,226.8,593.2,11.0,1337,15154,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2337,2159
$GC,15471,1.06,226.8,557.3,11.5,1367,15476,0.00,2.80,0.00,0.000,4,0.000,0.109,3186,3739,2159
$GC,15492,1.06,226.8,554.6,11.2,1368,15499,0.00,2.67,0.00,0.000,6,0.000,0.091,3186,2341,2159
$GC,15818,1.06,226.8,517.9,11.2,1399,15819,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2341,2159
$GC,16135,1.06,226.8,482.3,11.1,1429,16136,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2342,2159
$GC,16456,1.06,226.8,447.8,10.9,1459,16460,0.00,2.78,0.00,0.000,4,0.000,0.107,3186,3739,2159
$GC,16476,1.06,226.8,445.1,11.4,1460,16483,0.00,2.65,0.00,0.000,6,0.000,0.089,3186,2351,2159
$GC,16805,1.08,241.2,411.7,9.5,1491,16822,0.00,0.00,13.55,1.005,6,0.000,0.000,3186,2351,2101
$GC,17141,1.08,241.2,377.3,10.1,1523,17142,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2351,2100
$GC,17463,1.08,241.2,344.5,10.8,1557,17468,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2351,2100
$GC,17806,1.09,253.1,308.4,9.6,1618,17822,0.00,0.00,11.35,0.929,6,0.000,0.000,3186,2351,2052
$GC,18161,1.10,260.2,270.1,9.8,1681,18171,0.00,0.00,7.32,0.847,6,0.000,0.000,3186,2351,2024
$GC,18508,1.10,260.2,232.2,11.3,1743,18514,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2351,2023
$GC,18851,1.10,260.2,194.9,10.6,1804,18857,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2351,2023
$GC,19195,1.11,263.1,157.2,9.9,1865,19201,0.00,0.00,4.15,0.633,6,0.000,0.000,3186,2351,2012
$GC,19538,1.11,268.7,118.3,9.8,1926,19549,0.00,0.00,6.55,0.757,6,0.000,0.000,3186,2352,1987
$GC,19887,1.11,268.7,78.3,10.4,1988,19894,0.00,2.78,0.00,0.000,4,0.000,0.103,3186,911,1987
$GC,19911,1.11,268.7,75.6,11.5,1992,19917,0.00,2.72,0.00,0.000,6,0.000,0.083,3186,2370,1987
$GC,20255,1.11,268.7,36.9,11.6,2053,20261,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2370,1987
$GC,20397,1.11,268.7,21.4,10.4,2078,20403,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2370,1987
$GC,20538,1.11,268.7,6.1,10.0,2103,20545,0.00,2.80,0.00,0.000,4,0.000,0.100,3186,910,1987
$GC,20569,1.16,268.7,2.9,11.1,2108,20576,0.12,2.70,0.00,0.000,6,0.062,0.086,3221,2358,1987
$STATE,20580,end climb,SURFACE_DEPTH_REACHED
$STATE,20580,begin surface coast
$FINISH,0.1,1.016741
$STATE,20604,end surface coast,CONTROL_FINISHED_OK
$STATE,20604,begin surface
$SM_CCo,20686,0.00,0.000,0,0,1985,269.83
$SM_GC,0.93,11.52,0.00,0.00,0.044,0.000,0.000,592,2227,1985,-10.84,-0.23,269.83
$IRIDIUM_FIX,6050.49,-2537.98,280797,010138
$TT8_MAMPS,0.02301
$HUMID,1617
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,16.70
$XPDR_PINGS,87
$24V_AH,23.4,31.426
$10V_AH,10.7,24.352
$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,27.200,133.125,400.250,0.000,0.000,28.106,27.206,235.809,21.750,0.000,0.000,16.364,3291.313,13076.689,597.746,3494.666,637.919,0.000,2197.323,0.000,3480.586,0.000,0.467
$DEVICE_MAMPS,195.585,126.555,1427.387,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1462.632,1574.184,993.145,602.826,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119895,2114
$CAP_FILE_SIZE,181642,0
$CFSIZE,260165632,243920896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,030508,125207,6103.212,-2557.317,41,1.1,41,-18.2