version: 66.03
glider: 140
mission: 5
dive: 127
start: 5 3 108 12 59 45
data:
$ID,140
$MISSION,5
$DIVE,127
$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,-15534.644
$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,13
$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
$GPS1,125207,6103.212,-2557.317,41,1.1,41,-18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-63.4
$GPS2,125927,6103.172,-2557.510,12,1.2,12,-18.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6057.772,-2602.049
$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,258.2,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,95,0.00,0.00,-65.20,0.000,2,0.000,0.000,592,2226,3512
$GC,98,-1.29,-194.7,3.2,-5.5,12,127,12.65,2.80,-8.30,0.000,4,0.197,0.111,2669,3649,3881
$GC,380,-1.29,-194.7,34.9,-10.1,62,387,0.00,2.62,0.00,0.000,6,0.000,0.081,2668,2233,3883
$GC,522,-1.29,-194.7,47.9,-9.4,87,529,0.00,2.70,0.00,0.000,4,0.000,0.098,2669,3646,3883
$GC,637,-1.29,-194.7,58.8,-9.2,107,643,0.00,2.65,0.00,0.000,6,0.000,0.084,2669,2226,3883
$GC,981,-1.29,-194.7,88.1,-8.2,168,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2225,3883
$GC,1325,-1.29,-194.7,118.0,-9.3,229,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2226,3883
$GC,1667,-1.29,-194.7,148.7,-9.1,290,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2225,3883
$GC,2010,-1.29,-194.7,182.6,-10.3,351,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2225,3883
$GC,2353,-1.29,-194.7,217.4,-9.8,412,2359,0.00,2.75,0.00,0.000,4,0.000,0.103,2669,3647,3883
$GC,2394,-1.29,-194.7,221.6,-10.5,419,2400,0.00,2.65,0.00,0.000,6,0.000,0.087,2669,2238,3883
$GC,2738,-1.29,-194.7,254.6,-9.3,480,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3883
$GC,3082,-1.29,-194.7,285.4,-9.0,541,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3883
$GC,3425,-1.29,-194.7,314.0,-8.1,602,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3883
$GC,3767,-1.29,-194.7,342.4,-8.8,663,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3883
$GC,4101,-1.29,-194.7,372.3,-9.2,702,4106,0.00,2.75,0.00,0.000,4,0.000,0.107,2669,3648,3883
$GC,4141,-1.29,-194.7,376.2,-10.1,705,4145,0.00,2.65,0.00,0.000,6,0.000,0.089,2669,2239,3883
$GC,4467,-1.29,-194.7,407.6,-9.7,735,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2240,3883
$GC,4784,-1.29,-194.7,436.9,-9.4,765,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3883
$GC,5103,-1.29,-194.7,466.1,-8.9,795,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3883
$GC,5423,-1.29,-194.7,495.3,-9.3,825,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,5739,-1.29,-194.7,523.3,-8.5,855,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3882
$GC,6060,-1.29,-194.7,550.4,-8.5,885,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,6376,-1.29,-194.7,576.3,-7.4,915,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,6695,-1.29,-194.7,601.9,-8.3,944,6700,0.00,2.78,0.00,0.000,4,0.000,0.113,2668,3650,3882
$GC,6724,-1.29,-194.7,604.5,-9.1,945,6729,0.00,2.67,0.00,0.000,6,0.000,0.092,2669,2234,3882
$GC,7039,-1.29,-194.7,630.3,-7.7,960,7040,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,7349,-1.29,-194.7,654.0,-7.6,975,7350,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,7658,-1.29,-194.7,677.5,-7.5,990,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,7967,-1.29,-194.7,701.2,-7.8,1005,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,8276,-1.29,-194.7,727.7,-9.3,1020,8281,0.00,2.80,0.00,0.000,4,0.000,0.117,2669,3643,3882
$GC,8309,-1.29,-194.7,731.1,-10.2,1021,8315,0.00,2.70,0.00,0.000,6,0.000,0.097,2669,2233,3881
$GC,8624,-1.29,-194.7,761.7,-9.5,1037,8629,0.00,2.80,0.00,0.000,4,0.000,0.117,2668,3645,3881
$GC,8668,-1.29,-194.7,766.1,-10.3,1039,8672,0.00,2.70,0.00,0.000,6,0.000,0.100,2669,2240,3881
$GC,8989,-1.29,-194.7,796.3,-9.4,1055,8990,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2240,3881
$GC,9298,-1.29,-194.7,823.2,-8.1,1070,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3881
$GC,9607,-1.29,-194.7,849.0,-8.6,1085,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3881
$GC,9917,-1.29,-194.7,877.1,-9.1,1100,9918,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3880
$GC,10226,-1.29,-194.7,905.8,-8.9,1115,10230,0.00,2.85,0.00,0.000,4,0.000,0.126,2669,3650,3880
$GC,10287,-1.29,-194.7,911.5,-9.9,1118,10292,0.00,2.72,0.00,0.000,6,0.000,0.106,2669,2248,3880
$GC,10614,-1.29,-194.7,939.2,-8.2,1134,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2248,3879
$GC,10923,-1.29,-194.7,963.4,-7.7,1149,10924,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2248,3879
$GC,11232,-1.29,-194.7,986.5,-7.6,1164,11233,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2248,3879
$STATE,11291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11291,begin apogee
$GC,11297,-0.35,0.0,991.2,7.7,1167,11466,1.05,0.00,165.55,1.424,6,0.101,0.000,2881,2325,3085
$STATE,11467,end apogee,CONTROL_FINISHED_OK
$STATE,11467,begin climb
$GC,11469,1.29,194.7,996.2,0.0,1175,11637,1.62,0.00,162.48,1.385,6,0.062,0.000,3238,2325,2291
$GC,11941,1.20,194.7,943.9,13.3,1198,11942,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2325,2288
$GC,12250,1.11,194.7,905.0,12.8,1213,12252,0.20,0.00,0.00,0.000,6,0.110,0.000,3202,2325,2288
$GC,12559,1.11,194.7,869.7,11.5,1228,12564,0.00,2.90,0.00,0.000,4,0.000,0.123,3202,3738,2287
$GC,12614,1.04,194.7,863.0,12.0,1230,12620,0.00,2.80,0.00,0.000,6,0.000,0.105,3202,2330,2287
$GC,12929,1.00,194.7,826.3,12.1,1246,12931,0.12,0.00,0.00,0.000,6,0.116,0.000,3179,2330,2287
$GC,13238,1.00,194.7,789.7,11.6,1261,13240,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2330,2286
$GC,13547,1.00,194.7,754.9,10.7,1276,13549,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2330,2286
$GC,13857,1.03,221.5,725.4,9.1,1291,13886,0.00,2.95,23.17,1.229,4,0.000,0.115,3180,3732,2181
$GC,13910,1.07,250.6,720.5,9.0,1293,13942,0.00,2.78,26.20,1.190,6,0.000,0.097,3179,2324,2063
$GC,14250,1.07,250.6,686.8,10.0,1310,14252,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2324,2059
$GC,14560,1.07,250.6,654.5,10.4,1325,14561,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2325,2058
$GC,14869,1.07,250.6,622.5,10.4,1340,14874,0.00,2.85,0.00,0.000,4,0.000,0.110,3180,3740,2058
$GC,14890,1.07,250.6,620.1,10.8,1341,14894,0.00,2.72,0.00,0.000,6,0.000,0.093,3180,2329,2057
$GC,15215,1.07,250.6,584.7,11.3,1363,15216,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2329,2058
$GC,15534,1.07,250.6,549.0,10.6,1393,15535,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2328,2058
$GC,15854,1.08,265.3,517.2,9.5,1423,15872,0.00,0.00,13.23,1.070,6,0.000,0.000,3180,2328,2003
$GC,16192,1.14,310.6,487.3,8.4,1455,16235,0.12,0.00,40.15,1.061,6,0.067,0.000,3211,2328,1818
$GC,16551,1.14,310.6,448.7,11.0,1489,16552,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2328,1813
$GC,16867,1.14,310.6,411.1,12.6,1519,16869,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2328,1812
$GC,17186,1.14,310.6,369.3,13.4,1549,17191,0.00,2.75,0.00,0.000,4,0.000,0.109,3211,914,1811
$GC,17208,1.14,310.6,366.2,15.9,1550,17214,0.00,2.70,0.00,0.000,6,0.000,0.090,3211,2336,1811
$GC,17545,1.14,310.6,321.3,14.4,1600,17551,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2337,1811
$GC,17889,1.14,310.6,277.5,11.0,1661,17894,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2337,1811
$GC,18231,1.14,310.6,237.3,11.8,1722,18237,0.00,2.78,0.00,0.000,4,0.000,0.104,3211,911,1811
$GC,18255,1.14,310.6,234.6,12.2,1726,18261,0.00,2.67,0.00,0.000,6,0.000,0.087,3211,2332,1812
$GC,18598,1.14,310.6,197.5,10.7,1787,18603,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2332,1811
$GC,18940,1.14,310.6,160.4,10.0,1848,18946,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2332,1811
$GC,19284,1.14,310.6,120.3,12.7,1909,19289,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2332,1811
$GC,19626,1.14,310.6,78.6,11.5,1970,19632,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2332,1811
$GC,19969,1.14,310.6,36.1,11.7,2031,19975,0.00,2.72,0.00,0.000,4,0.000,0.100,3211,909,1811
$GC,19994,1.14,310.6,33.1,12.9,2035,20001,0.00,2.62,0.00,0.000,6,0.000,0.083,3211,2325,1812
$GC,20137,1.14,310.6,13.7,10.7,2060,20143,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2324,1811
$STATE,20248,end climb,SURFACE_DEPTH_REACHED
$STATE,20248,begin surface coast
$FINISH,0.3,1.027826
$STATE,20261,end surface coast,CONTROL_FINISHED_OK
$STATE,20261,begin surface
$SM_CCo,20342,0.00,0.000,0,0,1806,313.74
$SM_GC,0.73,11.55,0.00,0.00,0.048,0.000,0.000,593,2229,1806,-10.84,-0.17,313.74
$IRIDIUM_FIX,6041.65,-2552.10,280797,070730
$TT8_MAMPS,0.02301
$HUMID,1616
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.00
$XPDR_PINGS,90
$24V_AH,23.4,31.609
$10V_AH,10.7,24.494
$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,27.325,77.225,430.775,0.000,0.000,30.655,28.918,241.789,22.500,0.000,0.000,13.946,3214.524,12972.524,570.456,3401.251,603.734,0.000,2103.675,0.000,3381.494,0.000,0.467
$DEVICE_MAMPS,197.119,146.497,1423.552,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1444.187,1535.822,979.375,590.781,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116609,2082
$CAP_FILE_SIZE,168953,0
$CFSIZE,260165632,243843072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,030508,184002,6058.723,-2607.765,41,1.4,41,-18.2