version: 66.03
glider: 140
mission: 5
dive: 159
start: 5 11 108 0 28 17
data:
$ID,140
$MISSION,5
$DIVE,159
$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,45
$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,-16282.315
$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
$GPS1,002037,6126.514,-2629.356,35,1.0,35,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-63.0
$GPS2,002757,6126.628,-2629.255,14,1.1,14,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6134.265,-2625.619
$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,63.7,20000,-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,26,-1.29,-194.7,0.0,0.0,0,89,0.00,0.00,-60.47,0.000,2,0.000,0.000,590,2228,3377
$GC,92,-1.29,-194.7,3.1,-7.2,11,123,12.32,2.83,-12.20,0.000,4,0.187,0.113,2671,3645,3880
$GC,275,-1.29,-194.7,23.3,-10.2,43,281,0.00,2.65,0.00,0.000,6,0.000,0.083,2671,2227,3882
$GC,417,-1.29,-194.7,37.5,-10.3,68,423,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2227,3882
$GC,559,-1.29,-194.7,51.7,-9.7,93,565,0.00,2.75,0.00,0.000,4,0.000,0.100,2671,3646,3882
$GC,588,-1.29,-194.7,54.7,-10.4,98,594,0.00,2.60,0.00,0.000,6,0.000,0.081,2671,2250,3882
$GC,932,-1.29,-194.7,88.4,-9.9,159,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2250,3882
$GC,1274,-1.29,-194.7,121.7,-9.9,220,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2250,3882
$GC,1618,-1.29,-194.7,154.5,-9.7,281,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2250,3882
$GC,1961,-1.29,-194.7,187.1,-9.4,342,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2250,3882
$GC,2303,-1.29,-194.7,218.8,-9.1,403,2309,0.00,2.80,0.00,0.000,4,0.000,0.110,2671,821,3882
$GC,2332,-1.29,-194.7,221.6,-9.5,408,2339,0.00,2.72,0.00,0.000,6,0.000,0.093,2671,2250,3882
$GC,2677,-1.29,-194.7,253.4,-9.5,469,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2251,3882
$GC,3020,-1.29,-194.7,286.8,-10.1,530,3026,0.00,2.83,0.00,0.000,4,0.000,0.111,2671,820,3882
$GC,3049,-1.29,-194.7,289.8,-10.6,535,3055,0.00,2.72,0.00,0.000,6,0.000,0.095,2671,2243,3882
$GC,3393,-1.29,-194.7,324.7,-10.0,596,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3882
$GC,3736,-1.29,-194.7,360.3,-10.5,649,3741,0.00,2.83,0.00,0.000,4,0.000,0.115,2671,819,3882
$GC,3768,-1.29,-194.7,363.9,-10.7,651,3774,0.00,2.72,0.00,0.000,6,0.000,0.097,2671,2244,3882
$GC,4095,-1.29,-194.7,396.4,-9.8,682,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3882
$GC,4414,-1.29,-194.7,426.4,-9.0,712,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3882
$GC,4731,-1.29,-194.7,455.0,-9.1,742,4735,0.00,2.83,0.00,0.000,4,0.000,0.117,2671,820,3882
$GC,4752,-1.29,-194.7,457.1,-9.2,743,4758,0.00,2.72,0.00,0.000,6,0.000,0.099,2671,2237,3882
$GC,5078,-1.29,-194.7,487.5,-9.5,774,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2238,3882
$GC,5395,-1.29,-194.7,516.8,-8.7,804,5396,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3882
$GC,5714,-1.29,-194.7,544.0,-8.5,834,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3882
$GC,6032,-1.29,-194.7,570.8,-7.8,864,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2238,3882
$GC,6350,-1.29,-194.7,596.2,-8.0,894,6355,0.00,2.80,0.00,0.000,4,0.000,0.117,2671,3652,3881
$GC,6372,-1.29,-194.7,598.0,-8.9,895,6378,0.00,2.70,0.00,0.000,6,0.000,0.094,2671,2231,3881
$GC,6688,-1.29,-194.7,623.8,-8.1,912,6689,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3881
$GC,6997,-1.29,-194.7,649.6,-8.0,927,7002,0.00,2.83,0.00,0.000,4,0.000,0.117,2671,3650,3881
$GC,7020,-1.29,-194.7,651.4,-8.4,928,7024,0.00,2.70,0.00,0.000,6,0.000,0.097,2671,2238,3881
$GC,7340,-1.29,-194.7,676.7,-7.8,944,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2238,3881
$GC,7649,-1.29,-194.7,700.7,-7.7,959,7654,0.00,2.85,0.00,0.000,4,0.000,0.127,2671,824,3881
$GC,7676,-1.29,-194.7,703.0,-8.9,960,7681,0.00,2.75,0.00,0.000,6,0.000,0.105,2671,2242,3880
$GC,7992,-1.29,-194.7,728.6,-8.3,975,7997,0.00,2.83,0.00,0.000,4,0.000,0.126,2671,3647,3880
$GC,8036,-1.29,-194.7,732.9,-9.8,977,8040,0.00,2.67,0.00,0.000,6,0.000,0.098,2671,2255,3880
$GC,8356,-1.29,-194.7,762.0,-9.0,993,8357,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2256,3880
$GC,8666,-1.29,-194.7,790.5,-9.6,1008,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2256,3880
$GC,8975,-1.29,-194.7,818.6,-8.8,1023,8979,0.00,2.83,0.00,0.000,4,0.000,0.127,2671,3648,3880
$GC,9002,-1.29,-194.7,821.1,-9.1,1024,9006,0.00,2.67,0.00,0.000,6,0.000,0.100,2671,2263,3879
$GC,9318,-1.29,-194.7,846.6,-8.1,1039,9322,0.00,2.95,0.00,0.000,4,0.000,0.136,2671,826,3879
$GC,9339,-1.29,-194.7,848.5,-8.5,1040,9344,0.00,2.83,0.00,0.000,6,0.000,0.108,2671,2266,3879
$GC,9659,-1.29,-194.7,875.3,-8.5,1056,9664,0.00,2.83,0.00,0.000,4,0.000,0.130,2671,3654,3879
$GC,9703,-1.29,-194.7,879.4,-9.6,1058,9708,0.00,2.67,0.00,0.000,6,0.000,0.104,2671,2274,3879
$GC,10024,-1.29,-194.7,908.4,-9.0,1074,10025,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2275,3879
$GC,10333,-1.29,-194.7,936.4,-8.8,1089,10334,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2275,3878
$GC,10643,-1.29,-194.7,962.6,-8.3,1104,10644,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2275,3878
$GC,10952,-1.29,-194.7,987.8,-8.0,1119,10953,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2276,3878
$STATE,10990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10990,begin apogee
$GC,10996,-0.35,0.0,990.9,7.5,1121,11166,1.02,0.00,165.93,1.428,6,0.102,0.000,2877,2333,3085
$STATE,11166,end apogee,CONTROL_FINISHED_OK
$STATE,11166,begin climb
$GC,11169,1.29,194.7,995.8,0.0,1129,11342,1.65,3.05,162.90,1.394,4,0.061,0.132,3239,3737,2290
$GC,11376,1.16,194.7,978.3,14.4,1139,11381,0.15,2.88,0.00,0.000,6,0.115,0.110,3213,2328,2289
$GC,11698,1.10,194.7,941.2,10.8,1155,11702,0.00,2.95,0.00,0.000,4,0.000,0.137,3213,916,2288
$GC,11730,1.05,194.7,937.4,10.5,1156,11737,0.12,2.83,0.00,0.000,6,0.114,0.111,3191,2329,2288
$GC,12046,1.05,194.7,904.8,10.7,1172,12050,0.00,2.97,0.00,0.000,4,0.000,0.133,3191,3738,2287
$GC,12085,0.99,194.7,900.2,12.5,1174,12089,0.00,2.85,0.00,0.000,6,0.000,0.105,3191,2322,2287
$GC,12411,0.99,194.7,866.0,10.5,1190,12412,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2322,2287
$GC,12720,0.99,194.7,834.6,10.2,1205,12725,0.00,2.95,0.00,0.000,4,0.000,0.125,3191,3738,2286
$GC,12747,0.93,194.7,831.6,10.8,1206,12752,0.15,2.80,0.00,0.000,6,0.115,0.104,3164,2332,2286
$GC,13062,0.96,220.2,802.2,9.1,1221,13087,0.00,0.00,22.60,1.287,6,0.000,0.000,3165,2333,2187
$GC,13392,0.99,240.5,771.0,9.3,1237,13412,0.00,0.00,18.88,1.249,6,0.000,0.000,3164,2333,2103
$GC,13720,0.99,240.5,738.0,10.4,1253,13722,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2333,2101
$GC,14030,0.99,240.5,706.7,10.2,1268,14031,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2333,2100
$GC,14339,1.01,255.6,676.0,9.5,1283,14361,0.00,2.92,14.00,1.187,4,0.000,0.121,3164,918,2041
$GC,14389,1.08,274.4,671.3,9.3,1285,14414,0.15,2.80,17.80,1.157,6,0.064,0.099,3201,2350,1965
$GC,14736,1.08,274.4,632.5,11.5,1302,14738,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2350,1961
$GC,15045,1.08,274.4,593.7,13.1,1319,15046,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2350,1961
$GC,15364,1.08,274.4,549.9,14.4,1349,15369,0.00,2.85,0.00,0.000,4,0.000,0.113,3201,915,1960
$GC,15396,1.08,274.4,545.2,13.6,1351,15402,0.00,2.75,0.00,0.000,6,0.000,0.096,3201,2341,1960
$GC,15722,1.08,274.4,503.9,12.2,1382,15723,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2341,1960
$GC,16040,1.08,274.4,465.7,12.0,1412,16041,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2341,1960
$GC,16358,1.08,274.4,428.1,11.7,1442,16362,0.00,2.80,0.00,0.000,4,0.000,0.110,3201,911,1960
$GC,16386,1.08,274.4,424.9,11.5,1444,16390,0.00,2.72,0.00,0.000,6,0.000,0.094,3201,2334,1961
$GC,16711,1.08,274.4,386.8,12.0,1474,16716,0.00,2.80,0.00,0.000,4,0.000,0.110,3201,3738,1960
$GC,16750,1.08,274.4,381.8,12.8,1477,16755,0.00,2.72,0.00,0.000,6,0.000,0.091,3201,2330,1960
$GC,17077,1.08,274.4,343.5,10.6,1512,17083,0.00,2.75,0.00,0.000,4,0.000,0.111,3201,920,1961
$GC,17106,1.08,274.4,340.1,11.1,1517,17112,0.00,2.70,0.00,0.000,6,0.000,0.092,3201,2339,1961
$GC,17449,1.08,274.4,299.8,13.2,1578,17455,0.00,2.78,0.00,0.000,4,0.000,0.107,3201,3737,1960
$GC,17484,1.08,274.4,295.3,12.1,1584,17490,0.00,2.70,0.00,0.000,6,0.000,0.088,3201,2334,1960
$GC,17828,1.08,274.4,251.7,12.7,1645,17834,0.00,2.75,0.00,0.000,4,0.000,0.108,3201,919,1961
$GC,17863,1.08,274.4,247.1,13.9,1651,17869,0.00,2.67,0.00,0.000,6,0.000,0.090,3201,2335,1961
$GC,18206,1.08,274.4,203.6,12.2,1712,18213,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2335,1961
$GC,18550,1.08,274.4,162.9,10.6,1773,18555,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2335,1961
$GC,18893,1.08,274.4,122.4,10.7,1834,18898,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2335,1961
$GC,19236,1.08,274.4,82.7,12.1,1895,19242,0.00,2.72,0.00,0.000,4,0.000,0.102,3201,919,1961
$GC,19264,1.08,274.4,78.9,12.0,1900,19271,0.00,2.65,0.00,0.000,6,0.000,0.086,3201,2335,1961
$GC,19608,1.08,274.4,38.6,11.0,1961,19615,0.00,2.72,0.00,0.000,4,0.000,0.101,3201,3736,1961
$GC,19632,1.08,274.4,35.5,11.8,1965,19639,0.00,2.70,0.00,0.000,6,0.000,0.083,3201,2307,1961
$GC,19775,1.08,274.4,18.3,11.4,1990,19782,0.00,2.65,0.00,0.000,4,0.000,0.101,3201,919,1961
$GC,19805,1.08,274.4,14.7,12.5,1995,19811,0.00,2.60,0.00,0.000,6,0.000,0.085,3201,2312,1961
$STATE,19916,end climb,SURFACE_DEPTH_REACHED
$STATE,19916,begin surface coast
$FINISH,0.4,1.027771
$STATE,19937,end surface coast,CONTROL_FINISHED_OK
$STATE,19937,begin surface
$SM_CCo,20018,0.00,0.000,0,0,1960,275.96
$SM_GC,0.99,11.43,0.00,0.00,0.043,0.000,0.000,584,2229,1960,-10.86,-0.17,275.96
$IRIDIUM_FIX,6059.36,-2629.88,040897,181803
$TT8_MAMPS,0.022243
$HUMID,1636
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.80
$XPDR_PINGS,133
$24V_AH,22.9,37.543
$10V_AH,10.7,29.009
$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,27.000,150.275,402.100,0.000,0.000,24.715,40.008,236.859,33.250,0.000,0.000,14.429,3157.231,12706.754,572.933,3367.265,636.086,0.000,2137.263,0.000,3345.076,0.000,0.467
$DEVICE_MAMPS,187.148,157.235,1428.154,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1404.694,1491.358,948.425,573.023,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113632,2018
$CAP_FILE_SIZE,177938,0
$CFSIZE,260165632,240852992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,110508,060307,6128.402,-2620.872,37,1.0,37,-18.6