version: 66.03
glider: 140
mission: 5
dive: 156
start: 5 10 108 6 51 58
data:
$ID,140
$MISSION,5
$DIVE,156
$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,280
$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,-16232.869
$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,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
$GPS1,064408,6121.533,-2625.366,30,1.3,30,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-61.7
$GPS2,065139,6121.626,-2625.189,12,1.3,12,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6123.501,-2630.282
$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,298.6,20000,-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,24,begin dive
$GC,26,-1.29,-194.7,0.0,0.0,0,94,0.00,0.00,-65.00,0.000,2,0.000,0.000,589,2230,3405
$GC,97,-1.29,-194.7,3.3,-6.9,12,126,12.40,2.70,-11.02,0.000,4,0.189,0.106,2667,823,3881
$GC,207,-1.24,-194.7,19.4,-13.6,31,214,0.10,2.67,0.00,0.000,6,0.131,0.087,2685,2239,3881
$GC,351,-1.24,-194.7,34.0,-9.7,56,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2239,3882
$GC,494,-1.24,-194.7,47.9,-10.2,81,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2239,3882
$GC,635,-1.24,-194.7,61.2,-8.7,106,642,0.00,2.72,0.00,0.000,4,0.000,0.099,2684,818,3882
$GC,665,-1.24,-194.7,64.1,-9.9,111,671,0.00,2.67,0.00,0.000,6,0.000,0.086,2684,2238,3882
$GC,1008,-1.24,-194.7,95.9,-8.9,172,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2237,3882
$GC,1353,-1.24,-194.7,126.2,-8.9,233,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2238,3882
$GC,1696,-1.24,-194.7,156.8,-9.0,294,1702,0.00,2.75,0.00,0.000,4,0.000,0.105,2685,823,3882
$GC,1748,-1.24,-194.7,161.5,-9.1,303,1754,0.00,2.67,0.00,0.000,6,0.000,0.092,2685,2226,3882
$GC,2094,-1.24,-194.7,191.9,-8.6,364,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2226,3882
$GC,2438,-1.24,-194.7,222.2,-9.1,425,2444,0.00,2.78,0.00,0.000,4,0.000,0.108,2684,3652,3882
$GC,2472,-1.24,-194.7,225.6,-9.4,431,2478,0.00,2.70,0.00,0.000,6,0.000,0.087,2685,2215,3882
$GC,2818,-1.24,-194.7,257.2,-9.5,492,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2215,3882
$GC,3161,-1.24,-194.7,288.6,-9.2,553,3167,0.00,2.83,0.00,0.000,4,0.000,0.110,2684,3652,3882
$GC,3196,-1.24,-194.7,292.0,-9.8,559,3202,0.00,2.70,0.00,0.000,6,0.000,0.088,2685,2222,3882
$GC,3541,-1.24,-194.7,321.7,-8.3,620,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2222,3882
$GC,3886,-1.24,-194.7,349.8,-8.2,681,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2222,3882
$GC,4210,-1.24,-194.7,375.5,-7.8,712,4215,0.00,2.80,0.00,0.000,4,0.000,0.111,2684,3646,3882
$GC,4243,-1.24,-194.7,378.3,-8.1,714,4249,0.00,2.67,0.00,0.000,6,0.000,0.089,2684,2228,3882
$GC,4572,-1.24,-194.7,404.1,-8.1,745,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2229,3882
$GC,4899,-1.24,-194.7,430.9,-8.0,776,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2229,3882
$GC,5215,-1.24,-194.7,456.0,-8.1,806,5220,0.00,2.80,0.00,0.000,4,0.000,0.113,2685,3648,3881
$GC,5282,-1.24,-194.7,461.8,-8.9,811,5288,0.00,2.67,0.00,0.000,6,0.000,0.091,2684,2234,3882
$GC,5609,-1.24,-194.7,487.2,-7.8,842,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2234,3881
$GC,5925,-1.24,-194.7,511.9,-7.7,872,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2235,3881
$GC,6244,-1.24,-194.7,537.6,-8.2,902,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2235,3881
$GC,6564,-1.24,-194.7,564.4,-8.6,932,6568,0.00,2.80,0.00,0.000,4,0.000,0.115,2685,3648,3881
$GC,6615,-1.24,-194.7,569.2,-9.2,936,6619,0.00,2.67,0.00,0.000,6,0.000,0.093,2684,2232,3881
$GC,6941,-1.24,-194.7,597.5,-8.8,966,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2233,3881
$GC,7260,-1.24,-194.7,625.1,-8.4,983,7261,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2233,3880
$GC,7569,-1.24,-194.7,651.6,-8.6,998,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2233,3880
$GC,7878,-1.24,-194.7,678.6,-8.7,1013,7883,0.00,2.83,0.00,0.000,4,0.000,0.120,2685,3645,3880
$GC,7918,-1.24,-194.7,682.2,-9.1,1015,7922,0.00,2.70,0.00,0.000,6,0.000,0.098,2685,2235,3880
$GC,8244,-1.24,-194.7,707.7,-7.4,1031,8245,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2236,3880
$GC,8553,-1.24,-194.7,730.6,-7.2,1046,8554,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2236,3879
$GC,8863,-1.24,-194.7,752.6,-7.2,1061,8867,0.00,2.83,0.00,0.000,4,0.000,0.122,2685,3644,3879
$GC,8902,-1.24,-194.7,755.6,-8.0,1063,8907,0.00,2.67,0.00,0.000,6,0.000,0.098,2685,2250,3880
$GC,9228,-1.24,-194.7,777.3,-6.8,1079,9229,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2251,3879
$GC,9538,-1.24,-194.7,798.2,-7.0,1094,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2251,3879
$GC,9847,-1.24,-194.7,820.4,-7.1,1109,9848,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2251,3879
$GC,10157,-1.24,-194.7,843.7,-7.6,1124,10161,0.00,2.83,0.00,0.000,4,0.000,0.127,2685,3644,3878
$GC,10197,-1.28,-194.7,846.9,-8.2,1126,10201,0.00,2.70,0.00,0.000,6,0.000,0.104,2685,2253,3879
$GC,10523,-1.28,-194.7,870.4,-6.9,1142,10524,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2253,3878
$GC,10832,-1.28,-194.7,892.2,-6.8,1157,10837,0.00,2.83,0.00,0.000,4,0.000,0.128,2685,3642,3878
$GC,10901,-1.32,-194.7,897.2,-7.6,1160,10905,0.00,2.70,0.00,0.000,6,0.000,0.107,2684,2257,3878
$GC,11221,-1.32,-194.7,923.8,-8.6,1176,11222,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2258,3878
$GC,11531,-1.32,-194.7,949.9,-8.5,1191,11535,0.00,2.83,0.00,0.000,4,0.000,0.130,2685,3644,3878
$GC,11570,-1.37,-194.7,953.3,-9.3,1193,11575,0.00,2.70,0.00,0.000,6,0.000,0.109,2685,2265,3878
$STATE,11708,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11708,begin apogee
$GC,11714,-0.35,0.0,965.4,7.9,1200,11883,0.98,0.00,165.27,1.408,6,0.100,0.000,2881,2328,3085
$STATE,11884,end apogee,CONTROL_FINISHED_OK
$STATE,11884,begin climb
$GC,11887,1.29,194.7,972.3,0.0,1208,12059,1.62,3.03,162.25,1.374,4,0.061,0.127,3239,3737,2290
$GC,12217,1.16,194.7,939.0,13.8,1223,12222,0.12,2.88,0.00,0.000,6,0.122,0.111,3217,2326,2288
$GC,12532,1.10,194.7,900.9,11.7,1238,12537,0.00,2.97,0.00,0.000,4,0.000,0.130,3216,3737,2288
$GC,12576,1.01,194.7,895.3,12.5,1240,12581,0.17,2.83,0.00,0.000,6,0.113,0.109,3182,2339,2288
$GC,12897,1.01,194.7,862.0,10.4,1256,12901,0.00,2.92,0.00,0.000,4,0.000,0.127,3182,3738,2287
$GC,12958,0.96,194.7,854.8,11.2,1259,12963,0.00,2.80,0.00,0.000,6,0.000,0.108,3182,2345,2288
$GC,13284,0.96,194.7,820.4,10.5,1275,13289,0.00,2.95,0.00,0.000,4,0.000,0.135,3182,917,2287
$GC,13311,0.96,194.7,817.4,11.1,1276,13315,0.00,2.85,0.00,0.000,6,0.000,0.109,3182,2358,2287
$GC,13626,0.96,194.7,783.6,11.1,1291,13631,0.00,2.88,0.00,0.000,4,0.000,0.130,3182,3737,2286
$GC,13693,0.91,194.7,775.7,11.7,1294,13698,0.12,2.72,0.00,0.000,6,0.117,0.101,3160,2359,2286
$GC,14013,0.94,222.3,744.3,9.0,1310,14043,0.00,3.00,24.42,1.249,4,0.000,0.123,3160,914,2177
$GC,14065,0.98,252.2,739.3,9.0,1312,14100,0.00,2.88,26.90,1.214,6,0.000,0.104,3160,2370,2055
$GC,14423,0.98,252.3,704.7,10.0,1330,14425,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2370,2051
$GC,14732,0.99,259.2,673.8,9.8,1345,14746,0.00,3.00,6.80,1.050,4,0.000,0.114,3160,912,2028
$GC,14769,1.05,267.1,670.0,9.7,1346,14784,0.12,2.83,8.60,1.076,6,0.065,0.103,3192,2358,1995
$GC,15105,1.05,267.1,631.2,11.6,1363,15110,0.00,2.83,0.00,0.000,4,0.000,0.122,3192,3737,1993
$GC,15133,1.05,267.1,627.7,12.1,1364,15137,0.00,2.70,0.00,0.000,6,0.000,0.095,3192,2349,1992
$GC,15450,1.05,267.1,591.2,11.9,1382,15451,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2349,1993
$GC,15769,1.05,267.1,553.3,11.9,1412,15770,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2349,1993
$GC,16088,1.05,267.1,515.3,12.2,1442,16090,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2349,1992
$GC,16406,1.05,267.1,475.5,12.9,1472,16410,0.00,2.80,0.00,0.000,4,0.000,0.114,3192,3739,1992
$GC,16456,1.05,267.1,468.7,14.4,1476,16460,0.00,2.67,0.00,0.000,6,0.000,0.090,3192,2355,1992
$GC,16780,1.05,267.1,428.7,11.7,1506,16781,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2355,1992
$GC,17100,1.05,267.1,391.4,11.3,1536,17101,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2355,1992
$GC,17417,1.05,267.1,355.1,11.5,1566,17418,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2355,1992
$GC,17752,1.05,267.1,317.7,10.9,1621,17758,0.00,2.75,0.00,0.000,4,0.000,0.108,3192,3738,1992
$GC,17786,1.05,267.1,313.5,12.5,1627,17792,0.00,2.65,0.00,0.000,6,0.000,0.088,3192,2360,1992
$GC,18129,1.05,267.1,276.7,10.1,1688,18134,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2360,1993
$GC,18472,1.05,267.1,240.1,10.6,1749,18477,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2360,1993
$GC,18814,1.05,267.1,202.5,10.7,1810,18819,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2360,1993
$GC,19157,1.05,267.1,164.6,11.4,1871,19162,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2360,1993
$GC,19498,1.05,267.1,126.1,11.3,1932,19504,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2360,1993
$GC,19842,1.05,267.1,86.9,10.7,1993,19847,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2360,1993
$GC,20184,1.05,267.1,49.7,10.1,2054,20189,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2360,1993
$GC,20325,1.09,298.8,35.3,8.9,2079,20359,0.00,0.00,27.38,0.786,6,0.000,0.000,3192,2360,1865
$GC,20497,1.09,298.8,16.8,11.7,2109,20503,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2360,1862
$STATE,20627,end climb,SURFACE_DEPTH_REACHED
$STATE,20627,begin surface coast
$FINISH,0.1,1.015112
$STATE,20644,end surface coast,CONTROL_FINISHED_OK
$STATE,20646,begin surface
$SM_CCo,20727,0.00,0.000,0,0,1857,301.23
$SM_GC,0.95,11.40,0.00,0.00,0.042,0.000,0.000,587,2225,1857,-10.86,-0.28,301.23
$IRIDIUM_FIX,6050.49,-2619.90,040897,010143
$TT8_MAMPS,0.02301
$HUMID,1649
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,16.50
$XPDR_PINGS,143
$24V_AH,23.4,37.002
$10V_AH,10.7,28.579
$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,27.050,128.575,421.625,0.000,0.000,31.376,33.987,245.504,35.750,0.000,0.000,13.973,3353.102,12948.747,572.265,3616.101,670.131,0.000,2245.014,0.000,3599.304,0.000,0.467
$DEVICE_MAMPS,188.682,145.730,1408.212,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1484.229,1586.898,1006.792,609.159,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119865,2135
$CAP_FILE_SIZE,187450,0
$CFSIZE,260165632,241123328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100508,123837,6123.562,-2629.712,37,1.0,37,-18.6