version: 66.03
glider: 140
mission: 5
dive: 142
start: 5 6 108 20 18 3
data:
$ID,140
$MISSION,5
$DIVE,142
$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,5
$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,-15995.273
$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,10
$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
$GPS1,200707,6057.829,-2715.342,26,1.1,26,-18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-65.2
$GPS2,201745,6057.915,-2715.234,14,1.3,14,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6108.673,-2714.780
$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,23.8,20000,-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,-194.7,0.0,0.0,0,101,0.00,0.00,-71.25,0.000,2,0.000,0.000,593,2230,3441
$GC,104,-1.29,-194.7,3.3,-7.2,13,134,12.48,2.70,-10.00,0.000,4,0.192,0.110,2669,825,3881
$GC,387,-1.29,-194.7,40.9,-10.8,63,394,0.00,2.65,0.00,0.000,6,0.000,0.087,2669,2241,3881
$GC,529,-1.29,-194.7,56.0,-10.5,88,535,0.00,2.72,0.00,0.000,4,0.000,0.100,2669,818,3882
$GC,575,-1.29,-194.7,60.9,-10.6,96,581,0.00,2.65,0.00,0.000,6,0.000,0.087,2669,2234,3882
$GC,919,-1.29,-194.7,94.7,-9.8,157,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,1262,-1.29,-194.7,130.7,-9.9,218,1268,0.00,2.70,0.00,0.000,4,0.000,0.102,2668,827,3882
$GC,1337,-1.29,-194.7,138.5,-10.3,231,1343,0.00,2.65,0.00,0.000,6,0.000,0.090,2669,2231,3882
$GC,1681,-1.29,-194.7,171.8,-9.7,292,1687,0.00,2.70,0.00,0.000,4,0.000,0.104,2669,826,3882
$GC,1744,-1.29,-194.7,178.1,-10.2,303,1750,0.00,2.62,0.00,0.000,6,0.000,0.091,2669,2218,3882
$GC,2088,-1.29,-194.7,210.9,-9.3,364,2094,0.00,2.70,0.00,0.000,4,0.000,0.107,2669,827,3882
$GC,2118,-1.29,-194.7,213.8,-10.2,369,2124,0.00,2.62,0.00,0.000,6,0.000,0.091,2669,2215,3882
$GC,2461,-1.29,-194.7,246.9,-9.5,430,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2215,3882
$GC,2804,-1.29,-194.7,279.0,-9.5,491,2810,0.00,2.70,0.00,0.000,4,0.000,0.109,2669,826,3882
$GC,2839,-1.29,-194.7,282.3,-9.2,497,2845,0.00,2.65,0.00,0.000,6,0.000,0.095,2669,2219,3882
$GC,3182,-1.29,-194.7,314.0,-8.8,558,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2220,3882
$GC,3525,-1.29,-194.7,343.4,-8.5,619,3531,0.00,2.75,0.00,0.000,4,0.000,0.112,2669,819,3882
$GC,3554,-1.29,-194.7,345.9,-8.9,624,3560,0.00,2.65,0.00,0.000,6,0.000,0.097,2669,2206,3882
$GC,3882,-1.29,-194.7,373.1,-8.2,659,3887,0.00,2.72,0.00,0.000,4,0.000,0.113,2669,821,3882
$GC,3904,-1.29,-194.7,375.0,-8.7,660,3910,0.00,2.65,0.00,0.000,6,0.000,0.098,2669,2204,3882
$GC,4231,-1.29,-194.7,402.8,-8.7,691,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2206,3882
$GC,4550,-1.29,-194.7,431.6,-9.1,721,4554,0.00,2.72,0.00,0.000,4,0.000,0.114,2669,820,3882
$GC,4589,-1.29,-194.7,435.7,-9.8,724,4593,0.00,2.65,0.00,0.000,6,0.000,0.099,2669,2201,3882
$GC,4915,-1.29,-194.7,466.5,-9.6,754,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2201,3881
$GC,5233,-1.29,-194.7,496.7,-9.6,784,5237,0.00,2.72,0.00,0.000,4,0.000,0.117,2669,821,3881
$GC,5254,-1.29,-194.7,499.1,-9.6,785,5260,0.00,2.65,0.00,0.000,6,0.000,0.100,2669,2201,3881
$GC,5580,-1.29,-194.7,529.3,-9.2,816,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2201,3881
$GC,5898,-1.29,-194.7,559.0,-9.0,846,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2202,3881
$GC,6216,-1.29,-194.7,588.7,-9.2,876,6220,0.00,2.72,0.00,0.000,4,0.000,0.118,2669,828,3881
$GC,6237,-1.29,-194.7,590.7,-9.2,877,6243,0.00,2.62,0.00,0.000,6,0.000,0.101,2669,2194,3881
$GC,6556,-1.29,-194.7,618.8,-8.5,898,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2194,3881
$GC,6865,-1.29,-194.7,644.8,-8.2,913,6870,0.00,2.88,0.00,0.000,4,0.000,0.118,2669,3650,3881
$GC,6892,-1.29,-194.7,647.3,-9.7,914,6897,0.00,2.75,0.00,0.000,6,0.000,0.094,2669,2194,3881
$GC,7207,-1.29,-194.7,675.3,-8.7,929,7212,0.00,2.88,0.00,0.000,4,0.000,0.117,2669,3650,3881
$GC,7234,-1.29,-194.7,677.8,-9.3,930,7239,0.00,2.78,0.00,0.000,6,0.000,0.096,2669,2193,3881
$GC,7550,-1.29,-194.7,707.3,-9.3,945,7554,0.00,2.72,0.00,0.000,4,0.000,0.124,2669,825,3881
$GC,7582,-1.29,-194.7,710.5,-9.7,946,7588,0.00,2.65,0.00,0.000,6,0.000,0.104,2669,2197,3881
$GC,7898,-1.29,-194.7,737.5,-8.1,962,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2197,3881
$GC,8207,-1.29,-194.7,761.9,-8.0,977,8212,0.00,2.90,0.00,0.000,4,0.000,0.125,2669,3646,3880
$GC,8240,-1.29,-194.7,764.7,-8.5,978,8246,0.00,2.78,0.00,0.000,6,0.000,0.099,2669,2196,3880
$GC,8555,-1.29,-194.7,789.7,-7.9,994,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2197,3880
$GC,8865,-1.29,-194.7,816.9,-9.1,1009,8866,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2197,3880
$GC,9174,-1.29,-194.7,842.7,-7.7,1024,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2197,3879
$GC,9483,-1.29,-194.7,866.8,-7.8,1039,9488,0.00,2.92,0.00,0.000,4,0.000,0.127,2669,3646,3879
$GC,9527,-1.29,-194.7,870.3,-8.2,1041,9532,0.00,2.80,0.00,0.000,6,0.000,0.104,2669,2195,3879
$GC,9847,-1.29,-194.7,896.6,-8.5,1057,9848,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2196,3879
$GC,10157,-1.29,-194.7,923.2,-8.4,1072,10161,0.00,2.92,0.00,0.000,4,0.000,0.127,2669,3646,3879
$GC,10189,-1.29,-194.7,926.1,-8.8,1073,10196,0.00,2.80,0.00,0.000,6,0.000,0.104,2669,2197,3878
$GC,10505,-1.29,-194.7,951.6,-7.9,1089,10506,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2196,3878
$GC,10814,-1.29,-194.7,976.4,-7.9,1104,10815,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2197,3878
$STATE,10998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10998,begin apogee
$GC,11004,-0.35,0.0,991.5,8.2,1113,11173,1.05,0.00,165.77,1.424,6,0.102,0.000,2881,2333,3085
$STATE,11174,end apogee,CONTROL_FINISHED_OK
$STATE,11174,begin climb
$GC,11176,1.29,194.7,998.0,0.0,1121,11349,1.62,3.03,162.15,1.392,4,0.062,0.134,3237,918,2291
$GC,11372,1.21,194.7,985.3,11.9,1130,11376,0.00,2.85,0.00,0.000,6,0.000,0.112,3237,2336,2290
$GC,11687,1.11,194.7,945.3,13.1,1145,11693,0.17,2.95,0.00,0.000,4,0.113,0.133,3204,3739,2288
$GC,11755,1.04,194.7,936.7,12.2,1148,11759,0.00,2.83,0.00,0.000,6,0.000,0.106,3204,2327,2288
$GC,12075,0.99,194.7,898.5,12.1,1164,12081,0.15,2.92,0.00,0.000,4,0.112,0.125,3177,3739,2288
$GC,12160,0.95,194.7,888.3,11.7,1168,12165,0.00,2.78,0.00,0.000,6,0.000,0.105,3176,2348,2288
$GC,12487,0.95,194.7,851.2,11.2,1184,12491,0.00,2.88,0.00,0.000,4,0.000,0.124,3177,3739,2288
$GC,12536,0.91,194.7,845.3,12.0,1186,12540,0.00,2.72,0.00,0.000,6,0.000,0.104,3177,2362,2288
$GC,12852,0.93,209.7,813.6,9.5,1201,12873,0.00,2.90,13.68,1.261,4,0.000,0.122,3177,3739,2230
$GC,12900,0.93,209.7,808.4,10.7,1203,12905,0.00,2.72,0.00,0.000,6,0.000,0.103,3176,2369,2230
$GC,13221,0.93,209.7,774.0,11.0,1219,13222,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2370,2229
$GC,13530,0.93,209.7,738.6,11.1,1234,13535,0.00,2.80,0.00,0.000,4,0.000,0.119,3176,3739,2229
$GC,13569,0.93,209.7,734.0,11.3,1236,13574,0.00,2.67,0.00,0.000,6,0.000,0.098,3176,2379,2229
$GC,13895,0.93,209.7,698.3,10.6,1252,13896,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2380,2229
$GC,14204,0.93,209.7,667.0,10.1,1267,14205,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2378,2229
$GC,14513,0.93,209.7,635.9,10.1,1282,14514,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2378,2229
$GC,14823,0.95,230.5,605.5,9.3,1297,14847,0.00,2.83,18.92,1.147,4,0.000,0.114,3176,3739,2145
$GC,14875,0.95,230.5,599.9,10.8,1299,14880,0.00,2.62,0.00,0.000,6,0.000,0.092,3176,2388,2144
$GC,15202,0.97,244.2,567.5,9.5,1329,15220,0.00,0.00,13.12,1.088,6,0.000,0.000,3176,2388,2088
$GC,15540,0.97,244.2,533.7,10.2,1361,15545,0.00,2.70,0.00,0.000,4,0.000,0.111,3176,3740,2086
$GC,15572,0.97,244.2,530.0,10.3,1363,15579,0.00,2.60,0.00,0.000,6,0.000,0.091,3176,2389,2086
$GC,15899,0.97,244.2,496.8,10.6,1394,15900,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2389,2086
$GC,16216,0.97,244.2,462.7,10.9,1424,16217,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2388,2086
$GC,16536,0.97,244.2,428.9,10.2,1454,16537,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2388,2086
$GC,16853,0.97,244.2,395.0,10.8,1484,16854,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2388,2087
$GC,17173,0.98,247.6,362.4,9.9,1514,17185,0.00,2.72,4.30,0.719,4,0.000,0.108,3176,3741,2074
$GC,17212,0.98,247.6,358.0,10.2,1517,17218,0.00,2.58,0.00,0.000,6,0.000,0.087,3177,2394,2074
$GC,17550,0.98,247.6,325.3,10.3,1570,17556,0.00,2.88,0.00,0.000,4,0.000,0.108,3176,915,2074
$GC,17585,0.98,254.1,321.9,9.8,1576,17597,0.00,2.83,7.25,0.881,6,0.000,0.091,3176,2408,2049
$GC,17935,1.00,265.2,289.1,9.6,1638,17952,0.00,2.67,11.07,0.916,4,0.000,0.107,3176,3740,2002
$GC,17976,1.03,291.8,285.1,9.1,1645,18008,0.00,2.60,23.92,0.904,6,0.000,0.084,3176,2384,1894
$GC,18345,1.03,291.8,247.4,11.0,1711,18351,0.00,2.85,0.00,0.000,4,0.000,0.104,3176,911,1890
$GC,18381,1.08,291.8,243.8,10.9,1717,18387,0.00,2.80,0.00,0.000,6,0.000,0.087,3176,2398,1890
$GC,18724,1.08,291.8,208.3,10.7,1778,18729,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2399,1890
$GC,19066,1.09,293.0,172.3,10.0,1839,19072,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2399,1889
$GC,19409,1.09,297.0,137.8,9.9,1900,19421,0.00,2.90,5.18,0.703,4,0.000,0.101,3176,906,1874
$GC,19455,1.15,297.0,132.9,10.9,1908,19462,0.15,2.80,0.00,0.000,6,0.058,0.086,3216,2395,1874
$GC,19799,1.15,297.0,88.8,13.3,1969,19805,0.00,2.62,0.00,0.000,4,0.000,0.101,3216,3740,1873
$GC,19840,1.15,297.0,83.5,13.1,1976,19846,0.00,2.58,0.00,0.000,6,0.000,0.084,3216,2383,1873
$GC,20184,1.15,297.0,41.1,12.3,2037,20190,0.00,2.80,0.00,0.000,4,0.000,0.102,3216,911,1872
$GC,20213,1.15,297.0,37.1,13.0,2042,20220,0.00,2.75,0.00,0.000,6,0.000,0.083,3216,2396,1873
$GC,20357,1.15,297.0,18.9,12.8,2067,20362,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2396,1872
$STATE,20490,end climb,SURFACE_DEPTH_REACHED
$STATE,20490,begin surface coast
$FINISH,0.2,1.027522
$STATE,20510,end surface coast,CONTROL_FINISHED_OK
$STATE,20510,begin surface
$SM_CCo,20591,0.00,0.000,0,0,1869,298.28
$SM_GC,1.03,11.50,0.00,0.00,0.044,0.000,0.000,592,2221,1869,-10.84,-0.40,298.28
$IRIDIUM_FIX,6037.25,-2719.50,310797,202003
$TT8_MAMPS,0.02301
$HUMID,1611
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.70
$XPDR_PINGS,149
$24V_AH,23.4,34.385
$10V_AH,10.7,26.524
$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,27.125,176.550,425.375,0.000,0.000,52.987,59.504,317.033,37.250,0.000,0.000,14.656,3267.065,13042.274,608.205,3509.517,781.956,0.000,2253.989,0.000,3487.608,0.000,0.467
$DEVICE_MAMPS,191.750,134.225,1423.552,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1451.725,1552.821,947.532,572.538,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119791,2094
$CAP_FILE_SIZE,190714,0
$CFSIZE,260165632,242495488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,7,0,0
$GPS,070508,020226,6101.573,-2710.308,37,1.9,37,-18.8