version: 66.03
glider: 140
mission: 5
dive: 136
start: 5 5 108 10 9 56
data:
$ID,140
$MISSION,5
$DIVE,136
$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,350
$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,-15885.694
$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,14
$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
$GPS1,100526,6040.853,-2711.758,33,1.2,33,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-59.8
$GPS2,100939,6040.857,-2711.878,13,1.0,13,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6051.493,-2712.792
$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,8.6,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.29,-194.7,0.0,0.0,0,94,0.00,0.00,-65.10,0.000,2,0.000,0.000,585,2229,3454
$GC,97,-1.29,-194.7,3.3,-6.7,12,127,12.48,2.75,-9.50,0.000,4,0.192,0.113,2670,3649,3881
$GC,280,-1.29,-194.7,26.4,-10.9,44,287,0.00,2.65,0.00,0.000,6,0.000,0.083,2671,2227,3883
$GC,423,-1.29,-194.7,42.5,-11.3,69,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3883
$GC,564,-1.29,-194.7,57.0,-10.0,94,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2227,3882
$GC,907,-1.29,-194.7,97.0,-12.3,155,913,0.00,2.75,0.00,0.000,4,0.000,0.101,2670,3650,3882
$GC,936,-1.29,-194.7,100.7,-12.4,160,942,0.00,2.65,0.00,0.000,6,0.000,0.085,2671,2236,3882
$GC,1280,-1.29,-194.7,143.1,-12.3,221,1286,0.00,2.72,0.00,0.000,4,0.000,0.104,2670,3645,3882
$GC,1315,-1.29,-194.7,147.4,-12.8,227,1321,0.00,2.62,0.00,0.000,6,0.000,0.085,2670,2243,3883
$GC,1659,-1.29,-194.7,187.7,-12.0,288,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3883
$GC,2003,-1.29,-194.7,229.0,-12.8,349,2009,0.00,2.72,0.00,0.000,4,0.000,0.107,2671,3644,3882
$GC,2062,-1.29,-194.7,236.6,-13.3,359,2068,0.00,2.62,0.00,0.000,6,0.000,0.088,2671,2248,3882
$GC,2405,-1.29,-194.7,280.1,-11.6,420,2412,0.00,2.72,0.00,0.000,4,0.000,0.107,2670,3646,3882
$GC,2440,-1.29,-194.7,284.5,-12.6,426,2446,0.00,2.62,0.00,0.000,6,0.000,0.090,2671,2255,3882
$GC,2783,-1.29,-194.7,322.3,-10.3,487,2789,0.00,2.72,0.00,0.000,4,0.000,0.108,2670,3651,3882
$GC,2823,-1.29,-194.7,326.8,-11.4,494,2829,0.00,2.62,0.00,0.000,6,0.000,0.090,2670,2257,3882
$GC,3166,-1.29,-194.7,361.0,-9.9,546,3170,0.00,2.72,0.00,0.000,4,0.000,0.109,2671,3652,3882
$GC,3198,-1.29,-194.7,364.4,-10.2,548,3204,0.00,2.62,0.00,0.000,6,0.000,0.091,2671,2261,3882
$GC,3525,-1.29,-194.7,395.7,-9.6,579,3529,0.00,2.70,0.00,0.000,4,0.000,0.109,2670,3645,3882
$GC,3557,-1.29,-194.7,399.3,-10.2,581,3563,0.00,2.60,0.00,0.000,6,0.000,0.091,2671,2267,3882
$GC,3886,-1.29,-194.7,429.0,-9.2,612,3890,0.00,2.70,0.00,0.000,4,0.000,0.110,2670,3646,3882
$GC,3914,-1.29,-194.7,432.1,-10.1,614,3919,0.00,2.60,0.00,0.000,6,0.000,0.092,2670,2273,3882
$GC,4241,-1.29,-194.7,461.7,-8.8,644,4245,0.00,2.70,0.00,0.000,4,0.000,0.111,2671,3652,3882
$GC,4273,-1.29,-194.7,464.8,-9.1,646,4279,0.00,2.58,0.00,0.000,6,0.000,0.091,2670,2286,3882
$GC,4601,-1.29,-194.7,489.2,-6.6,677,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2286,3882
$GC,4916,-1.29,-194.7,510.2,-7.2,707,4921,0.00,2.65,0.00,0.000,4,0.000,0.113,2670,3643,3881
$GC,4949,-1.29,-194.7,512.9,-7.9,709,4955,0.00,2.58,0.00,0.000,6,0.000,0.093,2670,2287,3881
$GC,5276,-1.29,-194.7,541.0,-9.9,740,5280,0.00,2.67,0.00,0.000,4,0.000,0.113,2670,3648,3881
$GC,5308,-1.29,-194.7,544.7,-10.7,742,5314,0.00,2.58,0.00,0.000,6,0.000,0.094,2671,2293,3881
$GC,5634,-1.29,-194.7,581.6,-12.1,773,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2293,3880
$GC,5957,-1.29,-194.7,621.2,-12.2,796,5962,0.00,2.65,0.00,0.000,4,0.000,0.117,2670,3644,3881
$GC,6023,-1.29,-194.7,629.9,-12.8,799,6027,0.00,2.55,0.00,0.000,6,0.000,0.097,2670,2305,3881
$GC,6344,-1.29,-194.7,666.8,-11.0,815,6348,0.00,2.67,0.00,0.000,4,0.000,0.119,2671,3645,3880
$GC,6388,-1.29,-194.7,671.7,-11.2,817,6392,0.00,2.58,0.00,0.000,6,0.000,0.099,2670,2303,3880
$GC,6709,-1.29,-194.7,708.2,-12.2,833,6710,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2304,3880
$GC,7017,-1.29,-194.7,748.3,-12.9,848,7021,0.00,2.70,0.00,0.000,4,0.000,0.123,2670,3645,3879
$GC,7066,-1.29,-194.7,755.0,-13.3,850,7071,0.00,2.58,0.00,0.000,6,0.000,0.101,2670,2311,3880
$GC,7381,-1.29,-194.7,792.8,-11.7,865,7386,0.00,2.67,0.00,0.000,4,0.000,0.121,2670,3647,3879
$GC,7402,-1.29,-194.7,795.1,-10.8,866,7406,0.00,2.55,0.00,0.000,6,0.000,0.101,2670,2322,3880
$GC,7730,-1.29,-194.7,825.6,-8.5,882,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2323,3879
$GC,8039,-1.29,-194.7,849.7,-7.1,897,8043,0.00,3.08,0.00,0.000,4,0.000,0.135,2670,823,3879
$GC,8078,-1.29,-194.7,852.4,-7.3,899,8082,0.00,2.90,0.00,0.000,6,0.000,0.109,2670,2307,3878
$GC,8404,-1.29,-194.7,873.3,-6.5,915,8405,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2307,3878
$GC,8713,-1.29,-194.7,896.3,-7.9,930,8718,0.00,3.00,0.00,0.000,4,0.000,0.129,2670,826,3877
$GC,8752,-1.29,-194.7,899.6,-8.6,932,8757,0.00,2.90,0.00,0.000,6,0.000,0.110,2670,2304,3878
$GC,9079,-1.29,-194.7,931.0,-10.5,948,9083,0.00,3.00,0.00,0.000,4,0.000,0.130,2670,825,3878
$GC,9122,-1.29,-194.7,935.9,-11.0,950,9126,0.00,2.90,0.00,0.000,6,0.000,0.113,2670,2298,3878
$GC,9443,-1.29,-194.7,972.9,-12.1,966,9448,0.00,3.00,0.00,0.000,4,0.000,0.132,2670,826,3877
$GC,9464,-1.29,-194.7,975.7,-13.0,967,9469,0.00,2.90,0.00,0.000,6,0.000,0.113,2670,2298,3877
$STATE,9597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9597,begin apogee
$GC,9603,-0.35,0.0,991.7,11.7,974,9771,1.05,0.00,164.93,1.436,6,0.110,0.000,2878,2326,3085
$STATE,9772,end apogee,CONTROL_FINISHED_OK
$STATE,9772,begin climb
$GC,9774,1.29,194.7,1002.2,0.0,982,9947,1.65,3.05,161.77,1.398,4,0.062,0.132,3239,3740,2291
$GC,10043,1.17,194.7,978.5,15.3,994,10050,0.12,2.83,0.00,0.000,6,0.120,0.108,3218,2331,2289
$GC,10359,1.11,194.7,934.3,13.9,1010,10363,0.00,2.92,0.00,0.000,4,0.000,0.133,3218,914,2288
$GC,10391,1.06,194.7,929.3,15.6,1011,10398,0.12,2.83,0.00,0.000,6,0.115,0.110,3195,2338,2288
$GC,10706,1.06,194.7,889.6,11.9,1027,10707,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2338,2288
$GC,11016,1.06,194.7,853.1,12.0,1042,11017,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2338,2287
$GC,11325,1.06,194.7,816.4,12.0,1057,11326,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2338,2287
$GC,11634,1.06,194.7,778.6,12.3,1072,11638,0.00,2.88,0.00,0.000,4,0.000,0.124,3195,3741,2287
$GC,11706,1.00,194.7,769.3,13.0,1075,11710,0.00,2.80,0.00,0.000,6,0.000,0.102,3195,2324,2287
$GC,12021,1.00,194.7,732.0,11.8,1090,12026,0.00,2.88,0.00,0.000,4,0.000,0.120,3195,3739,2286
$GC,12053,0.95,194.7,727.8,12.4,1091,12060,0.15,2.78,0.00,0.000,6,0.113,0.102,3168,2326,2286
$GC,12369,0.95,194.7,692.5,11.0,1107,12370,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2327,2286
$GC,12678,0.95,194.7,660.2,11.2,1122,12682,0.00,2.85,0.00,0.000,4,0.000,0.119,3168,3740,2286
$GC,12718,0.95,194.7,655.9,11.5,1124,12723,0.00,2.75,0.00,0.000,6,0.000,0.100,3168,2335,2285
$GC,13044,0.95,194.7,622.6,10.3,1140,13045,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2335,2286
$GC,13355,0.95,194.7,589.4,10.4,1159,13357,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2335,2285
$GC,13676,0.96,207.4,557.3,9.6,1189,13697,0.00,2.92,11.43,1.118,4,0.000,0.112,3168,3739,2238
$GC,13758,0.96,207.4,548.8,10.2,1196,13764,0.00,2.70,0.00,0.000,6,0.000,0.094,3168,2348,2238
$GC,14086,1.00,242.7,519.0,8.8,1227,14123,0.00,0.00,31.05,1.101,6,0.000,0.000,3168,2348,2094
$GC,14441,1.05,280.0,486.9,8.7,1261,14476,0.00,0.00,32.45,1.068,6,0.000,0.000,3168,2348,1943
$GC,14790,1.06,284.2,454.4,9.9,1294,14800,0.00,0.00,4.72,0.798,6,0.000,0.000,3168,2348,1925
$GC,15122,1.10,284.2,421.7,10.3,1325,15128,0.15,0.00,0.00,0.000,6,0.062,0.000,3205,2348,1924
$GC,15448,1.10,284.2,382.0,11.9,1356,15452,0.00,2.80,0.00,0.000,4,0.000,0.108,3205,911,1924
$GC,15480,1.10,284.2,377.6,11.9,1358,15486,0.00,2.78,0.00,0.000,6,0.000,0.094,3205,2363,1924
$GC,15809,1.10,284.2,340.4,10.5,1396,15814,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2364,1923
$GC,16152,1.10,284.2,302.8,10.7,1457,16157,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2363,1923
$GC,16494,1.10,284.2,263.4,11.9,1518,16499,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2364,1923
$GC,16836,1.10,284.2,221.8,12.3,1579,16841,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2363,1923
$GC,17178,1.10,284.2,177.8,12.4,1640,17185,0.00,2.80,0.00,0.000,4,0.000,0.104,3205,916,1924
$GC,17208,1.10,284.2,173.9,13.5,1645,17214,0.00,2.70,0.00,0.000,6,0.000,0.087,3205,2354,1924
$GC,17551,1.10,284.2,129.1,13.3,1706,17556,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2354,1923
$GC,17894,1.10,284.2,85.3,11.2,1767,17899,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2354,1923
$GC,18236,1.10,284.2,44.6,12.6,1828,18243,0.00,2.75,0.00,0.000,4,0.000,0.100,3205,916,1924
$GC,18283,1.10,284.2,38.5,12.0,1836,18289,0.00,2.65,0.00,0.000,6,0.000,0.085,3205,2340,1924
$GC,18427,1.10,284.2,21.6,14.5,1861,18433,0.00,2.67,0.00,0.000,4,0.000,0.100,3205,3734,1923
$GC,18456,1.10,284.2,17.6,13.4,1866,18463,0.00,2.65,0.00,0.000,6,0.000,0.083,3205,2325,1923
$STATE,18574,end climb,SURFACE_DEPTH_REACHED
$STATE,18574,begin surface coast
$FINISH,0.2,1.027865
$STATE,18599,end surface coast,CONTROL_FINISHED_OK
$STATE,18599,begin surface
$SM_CCo,18681,0.00,0.000,0,0,1920,285.77
$SM_GC,0.76,11.70,0.00,0.00,0.056,0.000,0.000,592,2225,1920,-10.85,-0.28,285.77
$IRIDIUM_FIX,6015.40,-2726.91,300797,101056
$TT8_MAMPS,0.02301
$HUMID,1618
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.60
$XPDR_PINGS,104
$24V_AH,23.4,33.260
$10V_AH,10.7,25.659
$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,27.425,164.775,406.350,0.000,0.000,0.000,0.000,0.000,26.000,0.000,0.000,13.565,2968.940,11681.673,596.677,3223.550,276.307,0.000,2110.420,0.000,3202.947,0.000,0.467
$DEVICE_MAMPS,191.750,167.206,1435.824,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1314.259,1400.175,878.820,529.559,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107217,1891
$CAP_FILE_SIZE,189596,0
$CFSIZE,260165632,243064832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,050508,152237,6042.839,-2715.294,40,1.8,45,-18.6