version: 66.03
glider: 140
mission: 5
dive: 155
start: 5 10 108 0 57 26
data:
$ID,140
$MISSION,5
$DIVE,155
$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,-16218.267
$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
$GPS1,004937,6116.696,-2629.545,26,1.7,26,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-55.1
$GPS2,005708,6116.789,-2629.371,13,1.8,13,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6127.424,-2630.267
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,111,0.00,0.00,-81.38,0.000,2,0.000,0.000,586,2224,3547
$GC,114,-1.29,-194.7,3.6,-7.0,15,139,12.38,2.78,-6.95,0.000,4,0.186,0.110,2669,820,3881
$GC,353,-1.29,-194.7,30.9,-9.4,57,360,0.00,2.67,0.00,0.000,6,0.000,0.086,2669,2244,3882
$GC,496,-1.29,-194.7,44.0,-9.4,82,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2244,3882
$GC,638,-1.29,-194.7,56.4,-9.2,107,644,0.00,2.75,0.00,0.000,4,0.000,0.099,2669,820,3882
$GC,667,-1.29,-194.7,59.2,-9.3,112,673,0.00,2.65,0.00,0.000,6,0.000,0.086,2669,2239,3883
$GC,1011,-1.29,-194.7,90.4,-9.1,173,1017,0.00,2.75,0.00,0.000,4,0.000,0.102,2669,819,3883
$GC,1052,-1.29,-194.7,94.2,-9.3,180,1058,0.00,2.65,0.00,0.000,6,0.000,0.087,2669,2228,3883
$GC,1396,-1.29,-194.7,125.7,-9.1,241,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3883
$GC,1739,-1.29,-194.7,156.2,-8.4,302,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3883
$GC,2083,-1.29,-194.7,186.4,-8.9,363,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3883
$GC,2425,-1.29,-194.7,218.0,-9.4,424,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3883
$GC,2769,-1.29,-194.7,251.7,-9.6,485,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3883
$GC,3113,-1.29,-194.7,284.7,-9.6,546,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3883
$GC,3456,-1.29,-194.7,317.9,-9.8,607,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3883
$GC,3804,-1.29,-194.7,351.1,-9.4,668,3809,0.00,2.78,0.00,0.000,4,0.000,0.111,2669,3648,3883
$GC,3848,-1.29,-194.7,355.5,-9.9,671,3855,0.00,2.67,0.00,0.000,6,0.000,0.090,2669,2232,3883
$GC,4175,-1.29,-194.7,385.3,-9.0,702,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2233,3883
$GC,4492,-1.29,-194.7,414.5,-9.3,732,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2233,3883
$GC,4810,-1.29,-194.7,443.4,-9.0,762,4815,0.00,2.78,0.00,0.000,4,0.000,0.110,2669,3647,3883
$GC,4832,-1.29,-194.7,445.5,-9.5,763,4838,0.00,2.67,0.00,0.000,6,0.000,0.091,2669,2234,3882
$GC,5158,-1.29,-194.7,474.7,-9.0,794,5159,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3883
$GC,5476,-1.29,-194.7,502.8,-8.7,824,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3883
$GC,5794,-1.29,-194.7,530.5,-8.4,854,5796,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3882
$GC,6115,-1.29,-194.7,557.5,-8.3,884,6119,0.00,2.80,0.00,0.000,4,0.000,0.114,2669,3651,3882
$GC,6177,-1.29,-194.7,563.1,-9.2,889,6181,0.00,2.67,0.00,0.000,6,0.000,0.094,2669,2244,3882
$GC,6503,-1.29,-194.7,591.2,-8.6,919,6508,0.00,2.78,0.00,0.000,4,0.000,0.114,2669,3646,3882
$GC,6536,-1.29,-194.7,594.5,-9.3,921,6542,0.00,2.65,0.00,0.000,6,0.000,0.094,2669,2254,3882
$GC,6854,-1.29,-194.7,622.6,-9.1,940,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2254,3882
$GC,7163,-1.29,-194.7,651.9,-9.6,955,7168,0.00,2.78,0.00,0.000,4,0.000,0.118,2669,3646,3882
$GC,7190,-1.29,-194.7,654.7,-10.1,956,7194,0.00,2.65,0.00,0.000,6,0.000,0.096,2669,2255,3882
$GC,7506,-1.29,-194.7,685.1,-9.7,971,7507,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2256,3882
$GC,7815,-1.29,-194.7,714.1,-9.0,986,7820,0.00,2.78,0.00,0.000,4,0.000,0.121,2669,3648,3881
$GC,7848,-1.29,-194.7,717.2,-9.3,987,7854,0.00,2.67,0.00,0.000,6,0.000,0.098,2669,2257,3881
$GC,8164,-1.29,-194.7,743.9,-8.3,1003,8168,0.00,2.80,0.00,0.000,4,0.000,0.122,2669,3649,3881
$GC,8185,-1.29,-194.7,745.9,-9.1,1004,8190,0.00,2.67,0.00,0.000,6,0.000,0.099,2669,2255,3881
$GC,8506,-1.29,-194.7,772.1,-8.2,1020,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2256,3881
$GC,8816,-1.29,-194.7,796.4,-7.8,1035,8820,0.00,2.80,0.00,0.000,4,0.000,0.123,2669,3644,3881
$GC,8843,-1.29,-194.7,798.7,-8.3,1036,8847,0.00,2.67,0.00,0.000,6,0.000,0.101,2669,2259,3881
$GC,9158,-1.29,-194.7,823.1,-7.9,1051,9159,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2260,3880
$GC,9467,-1.29,-194.7,848.1,-8.4,1066,9472,0.00,2.80,0.00,0.000,4,0.000,0.126,2669,3644,3880
$GC,9495,-1.29,-194.7,850.6,-9.7,1067,9499,0.00,2.65,0.00,0.000,6,0.000,0.103,2669,2273,3880
$GC,9810,-1.29,-194.7,877.6,-8.6,1082,9811,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2274,3880
$GC,10120,-1.29,-194.7,904.1,-8.6,1097,10124,0.00,2.80,0.00,0.000,4,0.000,0.128,2669,3648,3879
$GC,10147,-1.29,-194.7,906.6,-9.7,1098,10151,0.00,2.67,0.00,0.000,6,0.000,0.104,2669,2269,3879
$GC,10462,-1.29,-194.7,932.1,-7.7,1113,10467,0.00,2.80,0.00,0.000,4,0.000,0.128,2669,3644,3879
$GC,10484,-1.29,-194.7,934.0,-8.3,1114,10488,0.00,2.65,0.00,0.000,6,0.000,0.107,2669,2282,3879
$GC,10804,-1.29,-194.7,958.2,-7.5,1130,10805,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2282,3879
$GC,11113,-1.29,-194.7,979.7,-6.9,1145,11114,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2282,3878
$STATE,11275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11276,begin apogee
$GC,11281,-0.35,0.0,990.5,6.5,1153,11451,1.02,0.00,166.27,1.423,6,0.099,0.000,2877,2328,3085
$STATE,11452,end apogee,CONTROL_FINISHED_OK
$STATE,11452,begin climb
$GC,11455,1.29,194.7,994.1,0.0,1161,11628,1.65,3.05,162.55,1.386,4,0.064,0.137,3240,916,2291
$GC,11662,1.22,194.7,976.4,13.8,1171,11666,0.00,2.85,0.00,0.000,6,0.000,0.114,3239,2331,2289
$GC,11983,1.13,194.7,934.3,13.0,1187,11988,0.17,3.00,0.00,0.000,4,0.112,0.135,3206,3740,2288
$GC,12033,1.06,194.7,927.8,13.2,1189,12037,0.00,2.85,0.00,0.000,6,0.000,0.110,3205,2332,2288
$GC,12349,1.01,194.7,892.9,10.9,1204,12350,0.12,0.00,0.00,0.000,6,0.117,0.000,3183,2332,2287
$GC,12657,1.05,221.8,864.2,9.1,1219,12683,0.00,0.00,24.25,1.302,6,0.000,0.000,3183,2332,2180
$GC,12986,1.05,221.8,830.4,10.5,1235,12991,0.00,2.92,0.00,0.000,4,0.000,0.124,3183,3739,2178
$GC,13030,1.05,221.8,825.5,10.6,1237,13034,0.00,2.78,0.00,0.000,6,0.000,0.104,3183,2343,2178
$GC,13350,1.05,225.3,792.9,9.9,1253,13357,0.00,0.00,4.40,0.904,6,0.000,0.000,3183,2343,2166
$GC,13659,1.05,225.3,762.0,10.4,1268,13660,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2343,2166
$GC,13969,1.05,225.3,729.3,10.6,1283,13970,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2343,2166
$GC,14278,1.05,225.3,696.9,10.4,1298,14279,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2343,2165
$GC,14587,1.05,225.3,665.4,10.0,1313,14588,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2343,2165
$GC,14897,1.05,225.3,632.4,11.2,1328,14898,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2344,2165
$GC,15206,1.05,225.3,599.3,10.2,1343,15210,0.00,2.83,0.00,0.000,4,0.000,0.114,3183,3739,2165
$GC,15234,1.05,225.3,596.4,10.8,1345,15238,0.00,2.72,0.00,0.000,6,0.000,0.092,3183,2340,2165
$GC,15558,1.05,225.3,563.6,10.2,1375,15562,0.00,2.80,0.00,0.000,4,0.000,0.114,3183,918,2165
$GC,15608,1.05,225.3,558.3,11.0,1379,15613,0.00,2.78,0.00,0.000,6,0.000,0.098,3183,2359,2165
$GC,15932,1.05,225.3,522.9,11.7,1409,15937,0.00,2.78,0.00,0.000,4,0.000,0.115,3183,3739,2165
$GC,15964,1.05,225.3,518.7,12.5,1411,15971,0.00,2.67,0.00,0.000,6,0.000,0.091,3183,2343,2165
$GC,16292,1.05,225.3,479.7,11.8,1442,16297,0.00,2.78,0.00,0.000,4,0.000,0.110,3183,918,2165
$GC,16331,1.05,225.3,474.4,12.1,1445,16336,0.00,2.75,0.00,0.000,6,0.000,0.097,3183,2351,2165
$GC,16657,1.05,225.3,439.0,10.3,1475,16658,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2352,2165
$GC,16975,1.05,225.3,405.4,10.7,1505,16979,0.00,2.78,0.00,0.000,4,0.000,0.115,3183,3737,2165
$GC,17013,1.05,225.3,400.9,12.3,1508,17018,0.00,2.67,0.00,0.000,6,0.000,0.088,3183,2348,2165
$GC,17339,1.05,225.3,365.1,11.2,1538,17344,0.00,2.80,0.00,0.000,4,0.000,0.109,3183,910,2166
$GC,17372,1.05,225.3,361.0,11.4,1540,17378,0.00,2.75,0.00,0.000,6,0.000,0.094,3182,2354,2166
$GC,17712,1.05,225.3,323.1,11.5,1592,17717,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2354,2166
$GC,18055,1.05,225.3,285.8,10.2,1653,18060,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2354,2166
$GC,18397,1.09,260.5,252.6,8.8,1714,18434,0.00,0.00,30.10,0.920,6,0.000,0.000,3183,2354,2022
$GC,18772,1.12,281.4,218.3,9.3,1781,18793,0.00,0.00,18.35,0.883,6,0.000,0.000,3183,2354,1937
$GC,19131,1.13,292.1,183.7,9.6,1845,19147,0.10,0.00,10.48,0.844,6,0.071,0.000,3209,2354,1893
$GC,19484,1.13,292.1,140.8,12.8,1908,19490,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2355,1891
$GC,19828,1.13,292.1,98.4,13.2,1969,19834,0.00,2.75,0.00,0.000,4,0.000,0.107,3210,3739,1890
$GC,19874,1.13,292.1,92.7,11.4,1977,19880,0.00,2.67,0.00,0.000,6,0.000,0.084,3210,2344,1890
$GC,20217,1.13,292.1,51.7,12.4,2038,20223,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2344,1890
$GC,20560,1.13,292.1,11.9,10.2,2099,20566,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2344,1890
$STATE,20637,end climb,SURFACE_DEPTH_REACHED
$STATE,20638,begin surface coast
$FINISH,0.1,1.004161
$STATE,20656,end surface coast,CONTROL_FINISHED_OK
$STATE,20656,begin surface
$SM_CCo,20737,0.00,0.000,0,0,1886,293.87
$SM_GC,0.94,11.57,0.00,0.00,0.048,0.000,0.000,590,2232,1886,-10.86,-0.08,293.87
$IRIDIUM_FIX,6046.07,-2635.90,030897,191906
$TT8_MAMPS,0.02301
$HUMID,1627
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.90
$XPDR_PINGS,130
$24V_AH,23.4,36.821
$10V_AH,10.7,28.431
$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,27.025,132.575,416.400,0.000,0.000,29.416,36.298,243.396,32.500,0.000,0.000,15.608,3283.239,13126.193,575.949,3537.381,646.165,0.000,2207.271,0.000,3511.809,0.000,0.467
$DEVICE_MAMPS,186.381,161.837,1422.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1468.221,1563.088,995.375,601.832,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119923,2116
$CAP_FILE_SIZE,181529,0
$CFSIZE,260165632,241225728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,100508,064408,6121.533,-2625.366,30,1.3,30,-18.6