version: 66.03
glider: 140
mission: 5
dive: 146
start: 5 7 108 19 27 34
data:
$ID,140
$MISSION,5
$DIVE,146
$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,-16066.365
$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,14
$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
$GPS1,191955,6105.816,-2642.992,27,1.0,44,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-64.6
$GPS2,192714,6105.884,-2642.915,11,1.5,16,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6112.826,-2638.932
$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,68.6,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,95,0.00,0.00,-64.95,0.000,2,0.000,0.000,588,2234,3394
$GC,98,-1.29,-194.7,3.1,-6.2,12,128,12.40,2.80,-11.88,0.000,4,0.190,0.110,2670,3651,3881
$GC,225,-1.29,-194.7,17.5,-9.7,34,232,0.00,2.65,0.00,0.000,6,0.000,0.082,2670,2230,3882
$GC,368,-1.29,-194.7,31.0,-9.2,59,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3882
$GC,511,-1.29,-194.7,44.0,-9.2,84,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3882
$GC,652,-1.29,-194.7,56.9,-8.8,109,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3882
$GC,995,-1.29,-194.7,87.5,-8.9,170,1001,0.00,2.72,0.00,0.000,4,0.000,0.101,2670,3643,3882
$GC,1014,-1.29,-194.7,89.2,-8.8,173,1019,0.00,2.65,0.00,0.000,6,0.000,0.083,2670,2223,3882
$GC,1358,-1.29,-194.7,119.5,-8.5,234,1364,0.00,2.70,0.00,0.000,4,0.000,0.104,2670,820,3882
$GC,1377,-1.29,-194.7,121.1,-8.4,237,1383,0.00,2.65,0.00,0.000,6,0.000,0.086,2670,2230,3882
$GC,1721,-1.29,-194.7,151.5,-9.1,298,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2231,3882
$GC,2064,-1.29,-194.7,182.3,-9.0,359,2070,0.00,2.72,0.00,0.000,4,0.000,0.103,2671,3649,3883
$GC,2087,-1.29,-194.7,184.6,-9.6,363,2093,0.00,2.65,0.00,0.000,6,0.000,0.085,2670,2232,3883
$GC,2433,-1.29,-194.7,215.3,-9.1,424,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2232,3882
$GC,2776,-1.29,-194.7,248.8,-10.4,485,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2231,3883
$GC,3119,-1.29,-194.7,284.6,-10.3,546,3125,0.00,2.75,0.00,0.000,4,0.000,0.106,2670,3646,3883
$GC,3148,-1.29,-194.7,287.7,-10.8,551,3154,0.00,2.65,0.00,0.000,6,0.000,0.087,2670,2237,3883
$GC,3491,-1.29,-194.7,321.4,-9.4,612,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3883
$GC,3837,-1.29,-194.7,354.5,-9.5,670,3841,0.00,2.80,0.00,0.000,4,0.000,0.115,2670,818,3883
$GC,3864,-1.29,-194.7,357.2,-9.9,672,3869,0.00,2.72,0.00,0.000,6,0.000,0.096,2670,2244,3883
$GC,4191,-1.29,-194.7,388.0,-9.2,702,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3883
$GC,4509,-1.29,-194.7,417.9,-9.3,732,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3883
$GC,4828,-1.29,-194.7,447.7,-9.4,762,4832,0.00,2.83,0.00,0.000,4,0.000,0.115,2670,816,3883
$GC,4855,-1.29,-194.7,450.5,-10.1,764,4860,0.00,2.72,0.00,0.000,6,0.000,0.097,2670,2240,3882
$GC,5181,-1.29,-194.7,482.4,-10.1,794,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3882
$GC,5498,-1.29,-194.7,512.8,-9.4,824,5503,0.00,2.72,0.00,0.000,4,0.000,0.109,2670,3647,3882
$GC,5515,-1.29,-194.7,514.4,-9.5,825,5520,0.00,2.67,0.00,0.000,6,0.000,0.091,2670,2229,3883
$GC,5841,-1.29,-194.7,544.5,-8.9,855,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3882
$GC,6159,-1.29,-194.7,572.5,-8.2,885,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3882
$GC,6478,-1.29,-194.7,597.9,-7.8,915,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3882
$GC,6797,-1.29,-194.7,622.8,-7.8,932,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3882
$GC,7107,-1.29,-194.7,646.9,-8.0,947,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3882
$GC,7416,-1.29,-194.7,672.0,-8.1,962,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3882
$GC,7725,-1.29,-194.7,698.1,-8.6,977,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3882
$GC,8035,-1.29,-194.7,725.6,-8.7,992,8039,0.00,2.80,0.00,0.000,4,0.000,0.119,2670,3645,3881
$GC,8067,-1.29,-194.7,728.6,-8.8,993,8073,0.00,2.70,0.00,0.000,6,0.000,0.097,2670,2232,3882
$GC,8383,-1.29,-194.7,755.8,-9.0,1009,8387,0.00,2.83,0.00,0.000,4,0.000,0.125,2670,817,3881
$GC,8404,-1.29,-194.7,757.8,-9.3,1010,8409,0.00,2.72,0.00,0.000,6,0.000,0.100,2671,2238,3881
$GC,8725,-1.29,-194.7,786.4,-8.5,1026,8729,0.00,2.80,0.00,0.000,4,0.000,0.123,2670,3644,3881
$GC,8764,-1.29,-194.7,789.8,-9.3,1028,8768,0.00,2.67,0.00,0.000,6,0.000,0.099,2670,2245,3881
$GC,9090,-1.29,-194.7,817.3,-8.7,1044,9095,0.00,2.85,0.00,0.000,4,0.000,0.127,2670,825,3880
$GC,9145,-1.29,-194.7,822.4,-9.4,1046,9151,0.00,2.75,0.00,0.000,6,0.000,0.106,2670,2246,3881
$GC,9461,-1.29,-194.7,851.7,-9.5,1062,9462,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3881
$GC,9770,-1.29,-194.7,879.1,-8.8,1077,9771,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3880
$GC,10079,-1.29,-194.7,905.5,-8.4,1092,10083,0.00,2.88,0.00,0.000,4,0.000,0.126,2670,820,3880
$GC,10100,-1.29,-194.7,907.4,-8.9,1093,10105,0.00,2.75,0.00,0.000,6,0.000,0.106,2670,2239,3880
$GC,10422,-1.29,-194.7,933.8,-7.9,1109,10426,0.00,2.85,0.00,0.000,4,0.000,0.130,2670,3646,3880
$GC,10465,-1.29,-194.7,937.4,-7.9,1111,10470,0.00,2.70,0.00,0.000,6,0.000,0.107,2670,2252,3880
$GC,10787,-1.29,-194.7,963.5,-8.4,1127,10788,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3879
$GC,11096,-1.29,-194.7,988.4,-8.7,1142,11100,0.00,2.92,0.00,0.000,4,0.000,0.135,2670,822,3878
$STATE,11114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11115,begin apogee
$GC,11123,-0.35,0.0,990.2,8.5,1143,11292,1.02,0.00,165.18,1.421,6,0.107,0.000,2877,2338,3085
$STATE,11293,end apogee,CONTROL_FINISHED_OK
$STATE,11293,begin climb
$GC,11295,1.29,194.7,996.4,0.0,1151,11468,1.65,3.00,161.85,1.388,4,0.061,0.127,3238,918,2290
$GC,11496,1.21,194.7,981.8,13.5,1160,11502,0.00,2.83,0.00,0.000,6,0.000,0.110,3239,2330,2289
$GC,11811,1.13,194.7,937.2,14.4,1176,11817,0.15,2.92,0.00,0.000,4,0.114,0.126,3208,3737,2288
$GC,11889,1.04,194.7,926.2,14.0,1179,11896,0.00,2.78,0.00,0.000,6,0.000,0.106,3208,2349,2288
$GC,12205,0.99,194.7,886.0,12.6,1195,12211,0.15,2.88,0.00,0.000,4,0.112,0.122,3177,3738,2288
$GC,12249,0.99,194.7,880.4,12.0,1197,12254,0.00,2.75,0.00,0.000,6,0.000,0.104,3177,2352,2288
$GC,12570,1.00,196.4,847.2,9.9,1213,12575,0.00,2.92,0.00,0.000,4,0.000,0.130,3177,917,2287
$GC,12609,1.00,196.4,843.0,10.0,1215,12614,0.00,2.83,0.00,0.000,6,0.000,0.105,3177,2359,2287
$GC,12935,1.00,196.4,809.3,10.0,1231,12936,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2360,2287
$GC,13244,1.02,217.0,778.7,9.3,1246,13270,0.00,2.97,19.67,1.256,4,0.000,0.117,3177,908,2200
$GC,13320,1.03,222.2,771.3,9.8,1249,13331,0.00,2.80,6.07,1.025,6,0.000,0.101,3177,2354,2179
$GC,13653,1.03,225.7,739.0,9.9,1266,13663,0.00,2.88,4.95,0.944,4,0.000,0.123,3177,3738,2164
$GC,13752,1.03,225.7,728.1,10.8,1270,13759,0.00,2.70,0.00,0.000,6,0.000,0.097,3177,2356,2163
$GC,14068,1.04,228.9,696.6,9.9,1286,14074,0.00,0.00,4.22,0.843,6,0.000,0.000,3177,2357,2152
$GC,14377,1.04,228.9,663.6,11.2,1301,14381,0.00,2.78,0.00,0.000,4,0.000,0.113,3177,3738,2152
$GC,14438,1.04,228.9,656.3,11.5,1304,14443,0.00,2.67,0.00,0.000,6,0.000,0.095,3177,2363,2152
$GC,14765,1.04,228.9,619.2,11.3,1320,14769,0.00,2.85,0.00,0.000,4,0.000,0.114,3176,916,2152
$GC,14808,1.04,228.9,614.1,10.9,1322,14812,0.00,2.78,0.00,0.000,6,0.000,0.096,3176,2365,2152
$GC,15138,1.04,228.9,579.1,10.9,1347,15142,0.00,2.72,0.00,0.000,4,0.000,0.112,3177,3737,2152
$GC,15170,1.04,228.9,575.0,11.5,1349,15176,0.00,2.65,0.00,0.000,6,0.000,0.092,3177,2356,2152
$GC,15496,1.04,228.9,540.9,10.6,1380,15497,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2357,2152
$GC,15813,1.04,228.9,507.4,10.3,1410,15817,0.00,2.80,0.00,0.000,4,0.000,0.111,3176,921,2152
$GC,15845,1.04,228.9,503.7,10.9,1412,15851,0.00,2.72,0.00,0.000,6,0.000,0.092,3177,2359,2152
$GC,16173,1.04,228.9,468.8,10.9,1443,16177,0.00,2.72,0.00,0.000,4,0.000,0.109,3177,3737,2152
$GC,16202,1.04,228.9,465.3,10.7,1445,16206,0.00,2.65,0.00,0.000,6,0.000,0.087,3177,2354,2152
$GC,16528,1.04,228.9,430.0,10.5,1475,16532,0.00,2.80,0.00,0.000,4,0.000,0.110,3176,915,2152
$GC,16567,1.04,228.9,425.4,11.0,1478,16571,0.00,2.72,0.00,0.000,6,0.000,0.091,3177,2357,2153
$GC,16893,1.04,228.9,390.5,10.8,1508,16894,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2357,2152
$GC,17209,1.04,228.9,357.2,10.3,1538,17210,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2357,2153
$GC,17542,1.05,237.5,323.4,9.7,1591,17559,0.00,2.83,9.12,0.913,4,0.000,0.104,3177,920,2116
$GC,17582,1.05,237.5,319.4,11.1,1598,17588,0.00,2.72,0.00,0.000,6,0.000,0.089,3177,2354,2115
$GC,17925,1.07,254.9,285.7,9.4,1659,17947,0.00,2.78,15.85,0.923,4,0.000,0.105,3177,3737,2044
$GC,17964,1.08,267.6,281.7,9.6,1666,17982,0.00,2.67,11.85,0.857,6,0.000,0.085,3177,2349,1994
$GC,18320,1.08,267.6,244.8,10.0,1729,18326,0.00,2.78,0.00,0.000,4,0.000,0.105,3176,918,1991
$GC,18355,1.13,267.6,241.0,11.3,1735,18361,0.12,2.72,0.00,0.000,6,0.064,0.089,3210,2359,1991
$GC,18698,1.13,267.6,197.2,13.0,1796,18705,0.00,2.70,0.00,0.000,4,0.000,0.105,3210,3738,1990
$GC,18751,1.09,267.6,189.9,13.9,1805,18757,0.00,2.65,0.00,0.000,6,0.000,0.085,3210,2349,1990
$GC,19094,1.09,267.6,144.6,12.4,1866,19100,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2349,1991
$GC,19437,1.09,267.6,101.6,12.5,1927,19443,0.00,2.72,0.00,0.000,4,0.000,0.101,3210,3738,1990
$GC,19472,1.09,267.6,97.2,13.9,1933,19478,0.00,2.62,0.00,0.000,6,0.000,0.084,3210,2358,1990
$GC,19815,1.09,267.6,56.9,11.2,1994,19821,0.00,2.70,0.00,0.000,4,0.000,0.101,3210,3738,1990
$GC,19850,1.09,267.6,52.7,11.1,2000,19856,0.00,2.60,0.00,0.000,6,0.000,0.084,3210,2364,1990
$GC,20195,1.09,267.6,12.3,11.3,2061,20201,0.00,2.75,0.00,0.000,4,0.000,0.100,3210,919,1991
$GC,20230,1.09,267.6,7.8,12.5,2067,20237,0.00,2.72,0.00,0.000,6,0.000,0.084,3210,2382,1991
$STATE,20281,end climb,SURFACE_DEPTH_REACHED
$STATE,20281,begin surface coast
$FINISH,0.3,1.027767
$STATE,20299,end surface coast,CONTROL_FINISHED_OK
$STATE,20299,begin surface
$SM_CCo,20381,0.00,0.000,0,0,1989,268.85
$SM_GC,1.02,11.48,0.00,0.00,0.044,0.000,0.000,588,2232,1989,-10.85,-0.06,268.85
$IRIDIUM_FIX,6041.65,-2651.82,010897,131337
$TT8_MAMPS,0.022243
$HUMID,1616
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,16.70
$XPDR_PINGS,130
$24V_AH,23.4,35.118
$10V_AH,10.7,27.102
$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,26.975,188.075,398.775,0.000,0.000,28.204,35.246,234.872,32.500,0.000,0.000,16.786,3274.835,12751.149,584.020,3544.872,647.849,0.000,2241.571,0.000,3516.087,0.000,0.467
$DEVICE_MAMPS,190.216,134.992,1421.251,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1438.517,1545.885,984.965,594.806,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116866,2079
$CAP_FILE_SIZE,190255,0
$CFSIZE,260165632,242110464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,080508,010832,6107.307,-2634.399,42,0.8,42,-18.5