version: 66.03
glider: 140
mission: 5
dive: 158
start: 5 10 108 18 40 9
data:
$ID,140
$MISSION,5
$DIVE,158
$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,70
$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,-16267.261
$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,9
$R_STBD_OVSHOOT,11
$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
$GPS1,183202,6125.095,-2635.175,38,1.7,38,-18.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-60.8
$GPS2,183951,6125.156,-2635.213,15,1.1,15,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6128.849,-2630.368
$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,88.7,20000,-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,-65.22,0.000,2,0.000,0.000,591,2247,3377
$GC,98,-1.29,-194.7,3.0,-6.5,12,127,12.30,0.00,-12.27,0.000,6,0.186,0.000,2669,2247,3881
$GC,264,-1.29,-194.7,22.0,-10.7,41,270,0.00,2.70,0.00,0.000,4,0.000,0.102,2669,3650,3882
$GC,294,-1.29,-194.7,25.3,-10.6,46,300,0.00,2.65,0.00,0.000,6,0.000,0.083,2669,2227,3882
$GC,436,-1.29,-194.7,39.8,-10.0,71,443,0.00,2.70,0.00,0.000,4,0.000,0.101,2669,816,3882
$GC,461,-1.29,-194.7,42.3,-10.0,75,467,0.00,2.67,0.00,0.000,6,0.000,0.086,2669,2239,3882
$GC,603,-1.29,-194.7,56.4,-9.8,100,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3882
$GC,947,-1.29,-194.7,90.4,-9.9,161,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3882
$GC,1290,-1.29,-194.7,123.0,-8.8,222,1296,0.00,2.72,0.00,0.000,4,0.000,0.105,2669,3650,3883
$GC,1309,-1.29,-194.7,124.7,-9.2,225,1314,0.00,2.67,0.00,0.000,6,0.000,0.086,2669,2230,3883
$GC,1653,-1.29,-194.7,155.9,-8.2,286,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3883
$GC,1995,-1.29,-194.7,186.9,-9.2,347,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3882
$GC,2338,-1.29,-194.7,216.6,-8.6,408,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3883
$GC,2682,-1.29,-194.7,246.4,-8.8,469,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3883
$GC,3024,-1.29,-194.7,277.3,-9.2,530,3030,0.00,2.80,0.00,0.000,4,0.000,0.110,2669,3650,3883
$GC,3065,-1.29,-194.7,281.2,-9.7,537,3071,0.00,2.67,0.00,0.000,6,0.000,0.089,2669,2235,3883
$GC,3409,-1.29,-194.7,313.4,-9.5,598,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3883
$GC,3752,-1.29,-194.7,346.3,-9.4,659,3758,0.00,2.78,0.00,0.000,4,0.000,0.110,2669,3647,3883
$GC,3776,-1.29,-194.7,348.6,-9.6,663,3782,0.00,2.67,0.00,0.000,6,0.000,0.091,2669,2236,3883
$GC,4105,-1.29,-194.7,379.3,-9.4,695,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3883
$GC,4430,-1.29,-194.7,410.5,-9.4,726,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3882
$GC,4748,-1.29,-194.7,439.3,-9.1,756,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3883
$GC,5067,-1.29,-194.7,468.4,-9.1,786,5071,0.00,2.78,0.00,0.000,4,0.000,0.112,2669,3644,3883
$GC,5088,-1.29,-194.7,470.5,-9.2,787,5094,0.00,2.65,0.00,0.000,6,0.000,0.091,2669,2247,3882
$GC,5416,-1.29,-194.7,499.3,-8.3,818,5420,0.00,2.75,0.00,0.000,4,0.000,0.113,2669,3643,3883
$GC,5432,-1.29,-194.7,501.0,-8.3,819,5437,0.00,2.62,0.00,0.000,6,0.000,0.091,2669,2258,3882
$GC,5761,-1.29,-194.7,526.7,-7.6,849,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2259,3883
$GC,6086,-1.29,-194.7,551.7,-7.4,880,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2259,3882
$GC,6406,-1.29,-194.7,574.9,-7.2,910,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2259,3883
$GC,6722,-1.29,-194.7,598.3,-7.7,940,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2259,3882
$GC,7043,-1.29,-194.7,624.1,-8.4,957,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2259,3882
$GC,7352,-1.29,-194.7,652.3,-9.6,972,7353,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2259,3882
$GC,7661,-1.29,-194.7,681.7,-9.4,987,7662,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2259,3882
$GC,7971,-1.29,-194.7,709.0,-8.6,1002,7975,0.00,2.80,0.00,0.000,4,0.000,0.123,2669,3646,3881
$GC,7992,-1.29,-194.7,710.9,-9.0,1003,7997,0.00,2.65,0.00,0.000,6,0.000,0.099,2669,2264,3881
$GC,8312,-1.29,-194.7,738.4,-8.7,1019,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2265,3881
$GC,8622,-1.29,-194.7,766.4,-9.1,1034,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2264,3880
$GC,8931,-1.29,-194.7,794.4,-8.8,1049,8935,0.00,2.80,0.00,0.000,4,0.000,0.125,2669,3648,3880
$GC,8958,-1.29,-194.7,796.9,-9.2,1050,8962,0.00,2.67,0.00,0.000,6,0.000,0.101,2669,2263,3880
$GC,9274,-1.29,-194.7,822.8,-8.1,1065,9278,0.00,2.97,0.00,0.000,4,0.000,0.136,2669,818,3880
$GC,9300,-1.29,-194.7,825.2,-9.0,1066,9305,0.00,2.83,0.00,0.000,6,0.000,0.108,2668,2263,3880
$GC,9616,-1.29,-194.7,850.7,-8.3,1081,9620,0.00,2.80,0.00,0.000,4,0.000,0.131,2669,3649,3880
$GC,9633,-1.29,-194.7,852.2,-8.6,1082,9637,0.00,2.67,0.00,0.000,6,0.000,0.102,2669,2266,3880
$GC,9959,-1.29,-194.7,881.5,-9.4,1098,9963,0.00,2.80,0.00,0.000,4,0.000,0.125,2669,3651,3880
$GC,9986,-1.29,-194.7,884.1,-9.2,1099,9990,0.00,2.67,0.00,0.000,6,0.000,0.104,2669,2272,3880
$GC,10302,-1.29,-194.7,912.2,-9.4,1114,10306,0.00,2.97,0.00,0.000,4,0.000,0.137,2669,825,3880
$GC,10328,-1.29,-194.7,915.0,-10.1,1115,10333,0.00,2.85,0.00,0.000,6,0.000,0.110,2668,2271,3879
$GC,10644,-1.29,-194.7,943.2,-8.7,1130,10649,0.00,2.83,0.00,0.000,4,0.000,0.133,2669,3652,3879
$GC,10666,-1.29,-194.7,945.1,-9.1,1131,10670,0.00,2.70,0.00,0.000,6,0.000,0.107,2669,2273,3879
$GC,10986,-1.29,-194.7,973.1,-8.9,1147,10987,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2273,3879
$STATE,11189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11190,begin apogee
$GC,11196,-0.35,0.0,991.5,9.2,1157,11366,1.05,0.00,166.25,1.431,6,0.101,0.000,2880,2331,3085
$STATE,11367,end apogee,CONTROL_FINISHED_OK
$STATE,11367,begin climb
$GC,11369,1.29,194.7,999.3,0.0,1165,11543,1.62,3.03,162.95,1.396,4,0.060,0.133,3240,911,2290
$GC,11594,1.21,194.7,982.6,14.3,1176,11599,0.00,2.85,0.00,0.000,6,0.000,0.114,3239,2331,2289
$GC,11921,1.12,194.7,937.3,13.8,1192,11926,0.15,2.97,0.00,0.000,4,0.114,0.134,3209,3738,2288
$GC,11960,1.04,194.7,931.9,12.6,1194,11966,0.12,2.88,0.00,0.000,6,0.118,0.110,3187,2325,2288
$GC,12287,1.04,194.7,895.4,10.7,1210,12288,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2324,2287
$GC,12596,1.04,194.7,863.6,10.0,1225,12601,0.00,2.95,0.00,0.000,4,0.000,0.127,3187,3739,2287
$GC,12635,0.99,194.7,859.5,10.3,1227,12640,0.00,2.83,0.00,0.000,6,0.000,0.105,3187,2331,2287
$GC,12961,0.99,194.7,825.8,10.7,1243,12966,0.00,2.92,0.00,0.000,4,0.000,0.134,3187,910,2286
$GC,13000,0.99,194.7,821.7,10.0,1245,13005,0.00,2.80,0.00,0.000,6,0.000,0.107,3187,2333,2286
$GC,13326,0.99,194.7,785.7,11.1,1261,13327,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2333,2286
$GC,13635,0.99,194.7,752.6,10.1,1276,13639,0.00,2.92,0.00,0.000,4,0.000,0.130,3187,3738,2286
$GC,13684,0.93,194.7,747.2,11.4,1278,13690,0.12,2.80,0.00,0.000,6,0.117,0.102,3165,2319,2285
$GC,14000,0.99,240.3,719.4,8.4,1293,14045,0.00,2.90,39.17,1.249,4,0.000,0.123,3165,921,2104
$GC,14074,1.04,245.5,712.6,9.8,1296,14085,0.00,2.78,5.78,0.966,6,0.000,0.103,3165,2332,2084
$GC,14394,1.06,266.5,682.7,9.3,1312,14420,0.12,2.97,19.45,1.188,4,0.067,0.123,3195,3737,1997
$GC,14481,1.06,266.5,672.7,12.0,1316,14486,0.00,2.78,0.00,0.000,6,0.000,0.097,3195,2330,1995
$GC,14803,1.06,266.5,634.4,12.5,1332,14807,0.00,2.88,0.00,0.000,4,0.000,0.117,3195,3737,1994
$GC,14835,1.06,266.5,629.9,14.0,1333,14841,0.00,2.72,0.00,0.000,6,0.000,0.097,3195,2346,1993
$GC,15152,1.06,266.5,589.8,12.0,1352,15157,0.00,2.85,0.00,0.000,4,0.000,0.117,3195,915,1993
$GC,15191,1.06,266.5,585.0,12.6,1355,15195,0.00,2.78,0.00,0.000,6,0.000,0.099,3196,2346,1993
$GC,15519,1.06,266.5,545.6,11.8,1385,15524,0.00,2.80,0.00,0.000,4,0.000,0.116,3195,3737,1993
$GC,15551,1.06,266.5,540.9,12.6,1387,15557,0.00,2.72,0.00,0.000,6,0.000,0.094,3196,2333,1993
$GC,15878,1.06,266.5,502.7,11.6,1418,15879,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2334,1993
$GC,16194,1.06,266.5,467.1,11.6,1448,16195,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2333,1993
$GC,16513,1.06,266.5,430.7,11.3,1478,16517,0.00,2.78,0.00,0.000,4,0.000,0.112,3196,918,1993
$GC,16540,1.06,266.5,427.4,12.4,1480,16544,0.00,2.75,0.00,0.000,6,0.000,0.096,3195,2351,1993
$GC,16866,1.06,266.5,388.5,11.8,1510,16867,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2351,1993
$GC,17183,1.06,266.5,350.8,11.0,1540,17184,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2351,1993
$GC,17518,1.06,266.5,312.5,11.9,1599,17524,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2351,1993
$GC,17861,1.06,266.5,274.1,11.5,1660,17867,0.00,2.80,0.00,0.000,4,0.000,0.107,3196,914,1993
$GC,17884,1.06,266.5,271.5,10.1,1664,17891,0.00,2.70,0.00,0.000,6,0.000,0.091,3195,2340,1993
$GC,18228,1.06,266.5,233.5,11.4,1725,18235,0.00,2.72,0.00,0.000,4,0.000,0.108,3195,3738,1993
$GC,18252,1.06,266.5,230.6,11.1,1729,18258,0.00,2.67,0.00,0.000,6,0.000,0.087,3196,2343,1993
$GC,18595,1.06,266.5,191.1,12.4,1790,18601,0.00,2.75,0.00,0.000,4,0.000,0.105,3196,918,1993
$GC,18618,1.06,266.5,188.3,11.6,1794,18624,0.00,2.70,0.00,0.000,6,0.000,0.089,3196,2348,1994
$GC,18962,1.06,266.5,148.3,10.8,1855,18967,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2348,1994
$GC,19304,1.06,266.5,108.6,10.9,1916,19310,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2348,1993
$GC,19647,1.06,266.5,69.5,10.8,1977,19652,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2348,1994
$GC,19990,1.06,266.5,31.9,10.3,2038,19997,0.00,2.72,0.00,0.000,4,0.000,0.105,3196,3736,1994
$GC,20037,1.06,266.5,26.5,10.6,2046,20043,0.00,2.67,0.00,0.000,6,0.000,0.084,3196,2328,1994
$GC,20181,1.06,266.5,10.7,10.3,2071,20186,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2329,1994
$STATE,20259,end climb,SURFACE_DEPTH_REACHED
$STATE,20259,begin surface coast
$FINISH,0.2,1.015526
$STATE,20276,end surface coast,CONTROL_FINISHED_OK
$STATE,20276,begin surface
$SM_CCo,20358,0.00,0.000,0,0,1993,268.11
$SM_GC,0.99,11.50,0.00,0.00,0.049,0.000,0.000,590,2230,1993,-10.84,-0.14,268.11
$IRIDIUM_FIX,6103.81,-2627.86,040897,121240
$TT8_MAMPS,0.02301
$HUMID,1647
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,16.60
$XPDR_PINGS,114
$24V_AH,23.4,37.363
$10V_AH,10.7,28.870
$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,27.000,161.625,393.600,0.000,0.000,27.581,32.176,263.528,28.500,0.000,0.000,15.420,3282.710,12758.462,572.213,3517.887,676.654,0.000,2211.586,0.000,3495.552,0.000,0.467
$DEVICE_MAMPS,186.381,154.167,1431.222,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1451.431,1549.479,984.122,593.894,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116590,2088
$CAP_FILE_SIZE,187016,0
$CFSIZE,260165632,240934912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,110508,002037,6126.514,-2629.356,35,1.0,35,-18.7