version: 66.03
glider: 140
mission: 5
dive: 145
start: 5 7 108 13 44 29
data:
$ID,140
$MISSION,5
$DIVE,145
$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,50
$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,-16048.952
$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,12
$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
$GPS1,133638,6104.475,-2652.096,27,1.3,27,-18.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-64.7
$GPS2,134409,6104.510,-2651.913,16,1.5,16,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6111.451,-2647.926
$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,68.7,20000,-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,-65.80,0.000,2,0.000,0.000,583,2231,3369
$GC,98,-1.29,-194.7,3.0,-6.8,12,133,12.45,2.80,-12.65,0.000,4,0.189,0.109,2671,3651,3881
$GC,237,-1.29,-194.7,17.9,-10.0,36,243,0.00,2.65,0.00,0.000,6,0.000,0.084,2671,2226,3882
$GC,379,-1.29,-194.7,31.2,-9.4,61,386,0.00,2.67,0.00,0.000,4,0.000,0.100,2672,823,3882
$GC,398,-1.29,-194.7,33.0,-9.2,64,405,0.00,2.62,0.00,0.000,6,0.000,0.081,2671,2243,3882
$GC,541,-1.29,-194.7,46.1,-9.4,89,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2243,3882
$GC,682,-1.29,-194.7,59.5,-9.4,114,689,0.00,2.72,0.00,0.000,4,0.000,0.100,2672,822,3882
$GC,706,-1.29,-194.7,61.8,-10.0,118,712,0.00,2.60,0.00,0.000,6,0.000,0.083,2671,2222,3882
$GC,1050,-1.29,-194.7,92.8,-8.6,179,1056,0.00,2.70,0.00,0.000,4,0.000,0.103,2671,822,3882
$GC,1074,-1.29,-194.7,94.9,-9.0,183,1080,0.00,2.60,0.00,0.000,6,0.000,0.084,2671,2215,3882
$GC,1417,-1.29,-194.7,125.3,-8.7,244,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3882
$GC,1761,-1.29,-194.7,153.9,-8.1,305,1767,0.00,2.70,0.00,0.000,4,0.000,0.105,2671,823,3882
$GC,1813,-1.29,-194.7,158.5,-8.7,314,1819,0.00,2.60,0.00,0.000,6,0.000,0.087,2672,2203,3882
$GC,2156,-1.29,-194.7,187.4,-8.6,375,2162,0.00,2.67,0.00,0.000,4,0.000,0.107,2671,825,3883
$GC,2180,-1.29,-194.7,189.5,-8.8,379,2186,0.00,2.60,0.00,0.000,6,0.000,0.089,2672,2203,3882
$GC,2525,-1.29,-194.7,220.0,-9.1,440,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2203,3882
$GC,2868,-1.29,-194.7,252.3,-9.9,501,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2203,3882
$GC,3211,-1.29,-194.7,286.2,-10.0,562,3217,0.00,2.70,0.00,0.000,4,0.000,0.110,2671,826,3883
$GC,3229,-1.29,-194.7,288.0,-10.0,565,3235,0.00,2.58,0.00,0.000,6,0.000,0.091,2672,2188,3882
$GC,3573,-1.29,-194.7,321.7,-9.8,626,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2189,3882
$GC,3912,-1.29,-194.7,355.9,-10.1,682,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2189,3882
$GC,4231,-1.29,-194.7,387.6,-9.5,712,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2189,3882
$GC,4550,-1.29,-194.7,417.4,-9.5,742,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2189,3882
$GC,4868,-1.29,-194.7,446.8,-9.2,772,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2189,3882
$GC,5187,-1.29,-194.7,473.9,-8.0,802,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2189,3882
$GC,5505,-1.29,-194.7,499.6,-8.1,832,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2189,3882
$GC,5824,-1.29,-194.7,525.5,-8.4,862,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2189,3882
$GC,6142,-1.29,-194.7,554.2,-9.6,892,6147,0.00,2.70,0.00,0.000,4,0.000,0.117,2671,826,3882
$GC,6175,-1.29,-194.7,557.6,-10.1,894,6181,0.00,2.60,0.00,0.000,6,0.000,0.097,2671,2188,3882
$GC,6502,-1.29,-194.7,588.3,-9.2,925,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2188,3882
$GC,6824,-1.29,-194.7,617.4,-8.8,947,6828,0.00,2.70,0.00,0.000,4,0.000,0.120,2671,825,3882
$GC,6845,-1.29,-194.7,619.5,-9.6,948,6849,0.00,2.60,0.00,0.000,6,0.000,0.100,2672,2179,3881
$GC,7165,-1.29,-194.7,647.5,-8.6,964,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2180,3881
$GC,7475,-1.29,-194.7,675.1,-9.1,979,7479,0.00,2.70,0.00,0.000,4,0.000,0.120,2671,824,3881
$GC,7491,-1.29,-194.7,676.6,-9.1,980,7496,0.00,2.60,0.00,0.000,6,0.000,0.100,2671,2176,3881
$GC,7818,-1.29,-194.7,705.8,-9.0,996,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2176,3881
$GC,8128,-1.29,-194.7,732.3,-8.3,1011,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2176,3881
$GC,8436,-1.29,-194.7,756.5,-8.4,1026,8438,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2176,3881
$GC,8746,-1.29,-194.7,781.8,-8.3,1041,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2176,3881
$GC,9055,-1.29,-194.7,807.4,-8.2,1056,9060,0.00,2.92,0.00,0.000,4,0.000,0.123,2672,3646,3880
$GC,9076,-1.29,-194.7,809.4,-8.6,1057,9081,0.00,2.83,0.00,0.000,6,0.000,0.099,2670,2169,3880
$GC,9397,-1.29,-194.7,836.8,-8.9,1073,9398,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2169,3880
$GC,9707,-1.29,-194.7,863.6,-8.6,1088,9708,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2169,3880
$GC,10016,-1.29,-194.7,889.9,-8.4,1103,10020,0.00,2.95,0.00,0.000,4,0.000,0.121,2672,3645,3880
$GC,10055,-1.29,-194.7,893.3,-9.1,1105,10060,0.00,2.83,0.00,0.000,6,0.000,0.105,2671,2188,3880
$GC,10381,-1.29,-194.7,919.7,-8.4,1121,10382,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2188,3879
$GC,10690,-1.29,-194.7,945.7,-8.6,1136,10695,0.00,2.92,0.00,0.000,4,0.000,0.123,2671,3646,3879
$GC,10734,-1.29,-194.7,949.9,-10.0,1138,10738,0.00,2.85,0.00,0.000,6,0.000,0.108,2672,2184,3879
$GC,11054,-1.29,-194.7,979.2,-9.1,1154,11059,0.00,2.80,0.00,0.000,4,0.000,0.136,2672,816,3878
$GC,11081,-1.29,-194.7,981.9,-10.1,1155,11085,0.00,2.70,0.00,0.000,6,0.000,0.109,2671,2197,3878
$STATE,11188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11188,begin apogee
$GC,11194,-0.35,0.0,991.4,8.7,1160,11363,1.02,0.00,165.57,1.420,6,0.099,0.000,2879,2340,3085
$STATE,11364,end apogee,CONTROL_FINISHED_OK
$STATE,11364,begin climb
$GC,11366,1.29,194.7,998.2,0.0,1168,11538,1.62,3.00,162.18,1.388,4,0.064,0.128,3236,3733,2290
$GC,11567,1.16,194.7,983.0,14.2,1177,11574,0.12,2.85,0.00,0.000,6,0.118,0.109,3215,2321,2290
$GC,11883,1.10,194.7,942.8,12.9,1193,11888,0.00,2.95,0.00,0.000,4,0.000,0.124,3215,3738,2289
$GC,11949,1.01,194.7,933.6,13.5,1196,11955,0.17,2.80,0.00,0.000,6,0.114,0.106,3183,2341,2288
$GC,12270,1.01,194.7,897.3,11.2,1212,12275,0.00,2.88,0.00,0.000,4,0.000,0.121,3183,3739,2288
$GC,12314,0.96,194.7,892.1,11.4,1214,12319,0.00,2.75,0.00,0.000,6,0.000,0.104,3183,2357,2288
$GC,12634,0.96,194.7,859.3,10.0,1230,12639,0.00,2.83,0.00,0.000,4,0.000,0.120,3183,3738,2288
$GC,12674,0.91,194.7,855.2,10.2,1232,12679,0.12,2.72,0.00,0.000,6,0.116,0.104,3161,2370,2287
$GC,13000,0.95,225.5,825.7,8.9,1248,13033,0.00,2.90,27.23,1.291,4,0.000,0.118,3161,3733,2165
$GC,13056,0.97,240.3,820.4,9.5,1250,13076,0.00,2.67,14.10,1.208,6,0.000,0.101,3161,2384,2104
$GC,13392,1.00,267.5,789.6,9.1,1267,13422,0.00,3.08,24.33,1.249,4,0.000,0.127,3161,912,1994
$GC,13452,1.09,291.2,784.0,9.2,1270,13481,0.15,2.90,22.55,1.219,6,0.061,0.101,3198,2394,1896
$GC,13804,1.09,291.2,742.1,12.6,1287,13805,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2394,1891
$GC,14112,1.09,291.2,701.4,13.0,1302,14116,0.00,2.95,0.00,0.000,4,0.000,0.115,3199,912,1890
$GC,14150,1.09,291.2,696.3,12.7,1304,14155,0.00,2.83,0.00,0.000,6,0.000,0.098,3198,2379,1890
$GC,14476,1.09,291.2,656.3,12.4,1320,14477,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2380,1890
$GC,14786,1.09,291.2,618.8,12.1,1335,14787,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2380,1889
$GC,15099,1.09,291.2,580.1,12.1,1357,15104,0.00,2.88,0.00,0.000,4,0.000,0.109,3198,917,1889
$GC,15126,1.09,291.2,576.6,12.7,1359,15131,0.00,2.78,0.00,0.000,6,0.000,0.094,3199,2372,1889
$GC,15452,1.09,291.2,536.9,12.0,1389,15457,0.00,2.72,0.00,0.000,4,0.000,0.111,3199,3737,1888
$GC,15480,1.09,291.2,533.0,12.4,1391,15485,0.00,2.65,0.00,0.000,6,0.000,0.090,3199,2363,1888
$GC,15805,1.09,291.2,494.2,11.6,1421,15809,0.00,2.83,0.00,0.000,4,0.000,0.112,3199,917,1889
$GC,15855,1.09,291.2,488.2,11.8,1425,15860,0.00,2.75,0.00,0.000,6,0.000,0.094,3199,2363,1889
$GC,16181,1.09,291.2,450.1,12.2,1455,16182,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2363,1889
$GC,16498,1.09,291.2,411.8,12.1,1485,16503,0.00,2.72,0.00,0.000,4,0.000,0.108,3198,3738,1889
$GC,16526,1.09,291.2,408.2,13.6,1487,16531,0.00,2.67,0.00,0.000,6,0.000,0.087,3198,2343,1888
$GC,16852,1.09,291.2,369.0,12.7,1517,16857,0.00,2.75,0.00,0.000,4,0.000,0.107,3199,918,1888
$GC,16881,1.09,291.2,365.3,12.3,1519,16885,0.00,2.72,0.00,0.000,6,0.000,0.091,3198,2358,1888
$GC,17216,1.09,291.2,324.7,11.0,1567,17222,0.00,2.72,0.00,0.000,4,0.000,0.107,3199,3736,1888
$GC,17274,1.09,291.2,317.4,14.4,1577,17280,0.00,2.62,0.00,0.000,6,0.000,0.087,3198,2361,1888
$GC,17618,1.09,291.2,276.5,11.5,1638,17623,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2361,1889
$GC,17960,1.09,291.2,237.4,12.9,1699,17966,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2362,1889
$GC,18302,1.09,291.2,198.7,11.8,1760,18309,0.00,2.70,0.00,0.000,4,0.000,0.104,3199,3736,1888
$GC,18332,1.09,291.2,195.1,12.0,1765,18338,0.00,2.62,0.00,0.000,6,0.000,0.086,3199,2359,1889
$GC,18676,1.09,291.2,153.2,12.5,1826,18682,0.00,2.78,0.00,0.000,4,0.000,0.105,3199,921,1889
$GC,18710,1.09,291.2,149.0,12.3,1832,18717,0.00,2.67,0.00,0.000,6,0.000,0.086,3199,2360,1889
$GC,19055,1.09,291.2,108.7,12.9,1893,19060,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2360,1889
$GC,19397,1.09,291.2,68.5,11.2,1954,19404,0.00,2.78,0.00,0.000,4,0.000,0.100,3199,913,1889
$GC,19427,1.09,291.2,64.9,14.1,1959,19433,0.00,2.67,0.00,0.000,6,0.000,0.083,3199,2353,1890
$GC,19771,1.09,291.2,22.8,12.3,2020,19777,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2353,1889
$GC,19912,1.09,291.2,5.8,11.8,2045,19919,0.00,2.67,0.00,0.000,4,0.000,0.100,3199,3736,1889
$STATE,19946,end climb,SURFACE_DEPTH_REACHED
$STATE,19946,begin surface coast
$FINISH,0.2,1.027573
$STATE,19963,end surface coast,CONTROL_FINISHED_OK
$STATE,19964,begin surface
$SM_CCo,20047,0.00,0.000,0,0,1887,293.87
$SM_GC,0.96,11.35,0.00,0.00,0.041,0.000,0.000,589,2236,1887,-10.84,0.03,293.87
$IRIDIUM_FIX,6041.65,-2703.71,010897,080805
$TT8_MAMPS,0.02301
$HUMID,1633
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.80
$XPDR_PINGS,115
$24V_AH,23.4,34.943
$10V_AH,10.7,26.957
$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,27.025,170.925,415.950,0.000,0.000,31.411,25.401,254.724,28.750,0.000,0.000,16.346,3224.522,12550.113,603.076,3454.201,649.834,0.000,2210.555,0.000,3433.462,0.000,0.469
$DEVICE_MAMPS,188.682,135.759,1420.484,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1422.878,1526.195,984.863,595.807,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116795,2054
$CAP_FILE_SIZE,184703,0
$CFSIZE,260165632,242208768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,070508,191955,6105.816,-2642.992,27,1.0,44,-18.6