version: 66.03
glider: 140
mission: 5
dive: 154
start: 5 9 108 18 59 45
data:
$ID,140
$MISSION,5
$DIVE,154
$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,-16202.03
$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,8
$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
$GPS1,185207,6111.577,-2631.237,29,1.0,29,-18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-63.5
$GPS2,185927,6111.639,-2631.195,13,1.3,13,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6122.274,-2632.093
$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,8.5,20000,-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,-70.78,0.000,2,0.000,0.000,592,2233,3518
$GC,104,-1.29,-194.7,3.5,-7.5,13,133,12.40,2.80,-7.90,0.000,4,0.189,0.113,2670,3646,3881
$GC,260,-1.29,-194.7,23.2,-9.4,40,266,0.00,2.62,0.00,0.000,6,0.000,0.081,2670,2232,3882
$GC,403,-1.29,-194.7,36.9,-9.0,65,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2232,3882
$GC,545,-1.29,-194.7,50.1,-8.8,90,552,0.00,2.70,0.00,0.000,4,0.000,0.100,2670,827,3882
$GC,570,-1.29,-194.7,52.4,-9.2,94,576,0.00,2.62,0.00,0.000,6,0.000,0.085,2670,2229,3883
$GC,915,-1.29,-194.7,84.3,-9.8,155,921,0.00,2.70,0.00,0.000,4,0.000,0.100,2670,825,3882
$GC,966,-1.29,-194.7,89.7,-10.2,164,973,0.00,2.62,0.00,0.000,6,0.000,0.087,2670,2221,3883
$GC,1310,-1.29,-194.7,124.3,-10.3,225,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2221,3882
$GC,1654,-1.29,-194.7,157.9,-9.2,286,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2221,3882
$GC,1997,-1.29,-194.7,188.5,-8.7,347,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2221,3883
$GC,2341,-1.29,-194.7,219.7,-9.2,408,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2221,3882
$GC,2684,-1.29,-194.7,252.0,-9.3,469,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2221,3883
$GC,3027,-1.29,-194.7,284.9,-9.9,530,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2222,3883
$GC,3370,-1.29,-194.7,318.7,-9.4,591,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2222,3883
$GC,3711,-1.29,-194.7,351.3,-9.4,651,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2222,3883
$GC,4031,-1.29,-194.7,381.9,-9.4,681,4035,0.00,2.80,0.00,0.000,4,0.000,0.111,2670,3654,3883
$GC,4052,-1.29,-194.7,384.1,-9.7,682,4058,0.00,2.70,0.00,0.000,6,0.000,0.089,2670,2222,3883
$GC,4379,-1.29,-194.7,413.6,-8.8,713,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2222,3882
$GC,4695,-1.29,-194.7,442.4,-9.0,743,4696,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2222,3882
$GC,5013,-1.29,-194.7,470.2,-8.6,773,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3882
$GC,5332,-1.29,-194.7,496.5,-7.8,803,5336,0.00,2.80,0.00,0.000,4,0.000,0.112,2670,3646,3883
$GC,5364,-1.29,-194.7,499.3,-8.7,805,5370,0.00,2.70,0.00,0.000,6,0.000,0.091,2670,2216,3882
$GC,5692,-1.29,-194.7,525.1,-8.2,836,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2217,3882
$GC,6017,-1.29,-194.7,550.7,-8.0,867,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2217,3882
$GC,6336,-1.29,-194.7,576.9,-8.4,897,6340,0.00,2.83,0.00,0.000,4,0.000,0.112,2670,3652,3882
$GC,6363,-1.29,-194.7,579.3,-9.1,899,6368,0.00,2.72,0.00,0.000,6,0.000,0.092,2670,2216,3882
$GC,6686,-1.29,-194.7,607.3,-8.8,925,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2217,3882
$GC,6995,-1.29,-194.7,633.1,-7.8,940,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2217,3882
$GC,7304,-1.29,-194.7,657.3,-7.7,955,7309,0.00,2.83,0.00,0.000,4,0.000,0.117,2670,3645,3882
$GC,7348,-1.29,-194.7,661.0,-8.4,957,7353,0.00,2.70,0.00,0.000,6,0.000,0.094,2670,2229,3881
$GC,7668,-1.29,-194.7,686.1,-7.8,973,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3881
$GC,7978,-1.29,-194.7,710.9,-8.0,988,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3882
$GC,8287,-1.29,-194.7,736.4,-8.4,1003,8292,0.00,2.83,0.00,0.000,4,0.000,0.121,2669,3646,3881
$GC,8328,-1.29,-194.7,739.9,-8.8,1005,8332,0.00,2.72,0.00,0.000,6,0.000,0.098,2670,2223,3881
$GC,8654,-1.29,-194.7,765.2,-7.4,1021,8659,0.00,2.85,0.00,0.000,4,0.000,0.121,2670,3646,3881
$GC,8675,-1.29,-194.7,767.0,-8.3,1022,8680,0.00,2.70,0.00,0.000,6,0.000,0.098,2670,2238,3881
$GC,8996,-1.29,-194.7,791.3,-7.4,1038,9001,0.00,2.83,0.00,0.000,4,0.000,0.121,2670,3648,3881
$GC,9029,-1.29,-194.7,794.0,-8.4,1039,9035,0.00,2.70,0.00,0.000,6,0.000,0.100,2670,2245,3881
$GC,9345,-1.29,-194.7,818.0,-7.9,1055,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3881
$GC,9654,-1.29,-194.7,842.6,-7.8,1070,9655,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3880
$GC,9963,-1.29,-194.7,867.6,-7.9,1085,9964,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3880
$GC,10272,-1.29,-194.7,894.7,-9.1,1100,10277,0.00,2.85,0.00,0.000,4,0.000,0.128,2670,3649,3879
$GC,10298,-1.29,-194.7,897.4,-10.5,1101,10303,0.00,2.72,0.00,0.000,6,0.000,0.105,2670,2247,3880
$GC,10615,-1.29,-194.7,926.1,-9.1,1116,10616,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3879
$GC,10924,-1.29,-194.7,951.8,-7.9,1131,10928,0.00,2.85,0.00,0.000,4,0.000,0.130,2670,3649,3879
$GC,10956,-1.29,-194.7,954.5,-8.3,1132,10962,0.00,2.72,0.00,0.000,6,0.000,0.107,2670,2254,3878
$GC,11272,-1.29,-194.7,978.2,-7.4,1148,11273,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2253,3878
$STATE,11434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11434,begin apogee
$GC,11440,-0.35,0.0,990.3,7.3,1156,11609,1.05,0.00,165.93,1.420,6,0.104,0.000,2881,2327,3085
$STATE,11610,end apogee,CONTROL_FINISHED_OK
$STATE,11610,begin climb
$GC,11612,1.29,194.7,995.2,0.0,1164,11780,1.62,0.00,162.95,1.385,6,0.060,0.000,3238,2327,2291
$GC,12084,1.20,194.7,941.8,13.8,1187,12089,0.00,2.95,0.00,0.000,4,0.000,0.129,3238,3737,2288
$GC,12128,1.08,194.7,935.5,13.7,1189,12133,0.22,2.83,0.00,0.000,6,0.111,0.107,3197,2332,2288
$GC,12449,1.08,194.7,898.4,11.3,1205,12453,0.00,2.92,0.00,0.000,4,0.000,0.133,3197,918,2287
$GC,12488,1.08,194.7,893.7,12.1,1207,12492,0.00,2.83,0.00,0.000,6,0.000,0.110,3197,2340,2287
$GC,12813,1.08,194.7,859.0,10.4,1223,12818,0.00,2.92,0.00,0.000,4,0.000,0.130,3197,3737,2287
$GC,12863,1.01,194.7,853.5,11.2,1225,12867,0.00,2.83,0.00,0.000,6,0.000,0.104,3197,2327,2286
$GC,13178,1.01,194.7,818.9,11.2,1240,13183,0.00,2.90,0.00,0.000,4,0.000,0.131,3197,913,2286
$GC,13249,1.01,194.7,810.4,11.5,1243,13254,0.00,2.80,0.00,0.000,6,0.000,0.109,3197,2331,2286
$GC,13565,1.01,194.7,774.1,11.6,1258,13570,0.00,2.92,0.00,0.000,4,0.000,0.130,3197,3737,2286
$GC,13644,0.95,194.7,764.3,12.5,1261,13651,0.15,2.78,0.00,0.000,6,0.114,0.103,3169,2334,2286
$GC,13960,0.95,194.7,731.4,10.3,1277,13961,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2335,2285
$GC,14268,0.95,194.7,699.7,10.2,1292,14269,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2335,2285
$GC,14578,0.95,194.7,668.3,10.1,1307,14582,0.00,2.83,0.00,0.000,4,0.000,0.119,3169,916,2285
$GC,14610,0.95,194.7,664.9,10.3,1308,14616,0.00,2.80,0.00,0.000,6,0.000,0.102,3169,2356,2285
$GC,14925,0.95,199.6,633.5,9.8,1324,14932,0.00,0.00,4.85,0.897,6,0.000,0.000,3169,2356,2271
$GC,15235,0.99,226.5,604.3,9.1,1339,15261,0.00,0.00,24.52,1.150,6,0.000,0.000,3169,2356,2161
$GC,15574,1.01,247.8,573.5,9.3,1368,15595,0.00,0.00,19.27,1.109,6,0.000,0.000,3169,2357,2074
$GC,15910,1.01,247.8,540.3,10.2,1400,15911,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2357,2071
$GC,16230,1.02,254.5,508.6,9.8,1430,16242,0.00,2.85,7.00,0.965,4,0.000,0.111,3169,3738,2047
$GC,16270,1.02,254.5,504.2,10.7,1433,16276,0.00,2.70,0.00,0.000,6,0.000,0.091,3169,2340,2046
$GC,16596,1.02,254.5,471.3,10.2,1464,16597,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2340,2046
$GC,16913,1.03,259.1,438.9,9.8,1494,16923,0.00,0.00,5.65,0.865,6,0.000,0.000,3169,2340,2028
$GC,17245,1.03,259.1,406.0,10.2,1525,17250,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2340,2027
$GC,17569,1.04,274.3,373.6,9.5,1556,17589,0.00,0.00,14.27,0.983,6,0.000,0.000,3169,2340,1966
$GC,17914,1.08,274.3,338.7,10.4,1597,17921,0.12,2.83,0.00,0.000,4,0.065,0.110,3201,3739,1963
$GC,17944,1.08,274.3,335.1,11.9,1602,17950,0.00,2.70,0.00,0.000,6,0.000,0.088,3201,2342,1963
$GC,18287,1.08,274.3,295.4,10.8,1663,18293,0.00,2.80,0.00,0.000,4,0.000,0.110,3201,3738,1963
$GC,18315,1.08,274.3,292.0,11.6,1668,18322,0.00,2.67,0.00,0.000,6,0.000,0.087,3201,2346,1964
$GC,18659,1.08,274.3,252.3,12.2,1729,18665,0.00,2.78,0.00,0.000,4,0.000,0.107,3201,918,1963
$GC,18688,1.08,274.3,248.6,13.0,1734,18695,0.00,2.75,0.00,0.000,6,0.000,0.092,3201,2360,1963
$GC,19031,1.08,274.3,208.1,12.3,1795,19036,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2361,1963
$GC,19373,1.08,274.3,168.0,11.5,1856,19378,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2361,1963
$GC,19716,1.08,274.3,128.4,11.7,1917,19722,0.00,2.80,0.00,0.000,4,0.000,0.104,3201,915,1964
$GC,19750,1.08,274.3,124.2,12.0,1923,19756,0.00,2.70,0.00,0.000,6,0.000,0.087,3201,2345,1964
$GC,20093,1.08,274.3,83.8,12.0,1984,20100,0.00,2.72,0.00,0.000,4,0.000,0.104,3201,3736,1963
$GC,20123,1.08,274.3,80.2,11.8,1989,20129,0.00,2.65,0.00,0.000,6,0.000,0.084,3201,2342,1963
$GC,20467,1.08,274.3,42.0,10.2,2050,20472,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2343,1964
$GC,20609,1.18,349.1,28.6,7.4,2075,20677,0.00,2.85,62.17,0.767,4,0.000,0.100,3201,920,1660
$GC,20706,1.22,349.1,17.2,10.5,2092,20713,0.10,2.67,0.00,0.000,6,0.068,0.087,3229,2331,1657
$STATE,20830,end climb,SURFACE_DEPTH_REACHED
$STATE,20830,begin surface coast
$FINISH,0.0,1.016365
$STATE,20850,end surface coast,CONTROL_FINISHED_OK
$STATE,20850,begin surface
$SM_CCo,20931,0.00,0.000,0,0,1650,352.01
$SM_GC,0.83,11.57,0.00,0.00,0.041,0.000,0.000,586,2225,1650,-10.85,-0.28,352.01
$IRIDIUM_FIX,6050.49,-2621.93,030897,131329
$TT8_MAMPS,0.02301
$HUMID,1647
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,17.80
$XPDR_PINGS,115
$24V_AH,23.4,36.642
$10V_AH,10.7,28.286
$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,27.250,139.100,466.625,0.000,0.000,24.294,37.915,236.348,28.750,0.000,0.000,15.076,3279.805,13280.270,643.874,3507.143,639.924,0.000,2269.976,0.000,3491.048,0.000,0.467
$DEVICE_MAMPS,188.682,152.633,1420.484,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1464.761,1573.398,986.695,596.985,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120104,2117
$CAP_FILE_SIZE,182875,0
$CFSIZE,260165632,241324032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,100508,004937,6116.696,-2629.545,26,1.7,26,-18.6