version: 66.03
glider: 140
mission: 5
dive: 161
start: 5 11 108 11 57 19
data:
$ID,140
$MISSION,5
$DIVE,161
$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,65
$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,-16327.706
$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,13
$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
$GPS1,114502,6128.731,-2610.949,40,1.8,40,-18.5
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-60.8
$GPS2,115702,6128.802,-2610.675,13,1.6,30,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6133.366,-2606.013
$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,83.5,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,96,0.00,0.00,-65.03,0.000,2,0.000,0.000,587,2226,3327
$GC,99,-1.29,-194.7,3.1,-7.6,12,134,12.30,2.80,-13.50,0.000,4,0.186,0.110,2668,3645,3881
$GC,197,-1.29,-194.7,13.7,-8.9,29,204,0.00,2.65,0.00,0.000,6,0.000,0.081,2668,2231,3881
$GC,340,-1.29,-194.7,28.5,-9.4,54,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2231,3881
$GC,483,-1.29,-194.7,42.7,-10.0,79,489,0.00,2.72,0.00,0.000,4,0.000,0.099,2667,3645,3881
$GC,502,-1.29,-194.7,44.6,-9.8,82,508,0.00,2.60,0.00,0.000,6,0.000,0.081,2668,2252,3881
$GC,644,-1.29,-194.7,58.8,-9.9,107,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2252,3882
$GC,987,-1.29,-194.7,92.2,-8.3,168,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2251,3882
$GC,1330,-1.29,-194.7,120.3,-8.4,229,1336,0.00,2.78,0.00,0.000,4,0.000,0.104,2668,817,3882
$GC,1366,-1.29,-194.7,123.5,-9.0,235,1372,0.00,2.70,0.00,0.000,6,0.000,0.086,2667,2248,3883
$GC,1710,-1.29,-194.7,154.8,-9.7,296,1717,0.00,2.78,0.00,0.000,4,0.000,0.105,2668,818,3882
$GC,1728,-1.29,-194.7,156.6,-9.6,299,1734,0.00,2.70,0.00,0.000,6,0.000,0.087,2668,2249,3883
$GC,2074,-1.29,-194.7,188.5,-9.7,360,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2249,3882
$GC,2418,-1.29,-194.7,221.1,-9.7,421,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2249,3883
$GC,2760,-1.29,-194.7,254.0,-9.4,482,2766,0.00,2.80,0.00,0.000,4,0.000,0.110,2668,823,3883
$GC,2784,-1.29,-194.7,256.3,-9.9,486,2790,0.00,2.70,0.00,0.000,6,0.000,0.091,2668,2244,3883
$GC,3128,-1.29,-194.7,289.4,-9.7,547,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3883
$GC,3470,-1.29,-194.7,321.8,-9.1,608,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3883
$GC,3816,-1.29,-194.7,353.5,-9.4,667,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3883
$GC,4136,-1.29,-194.7,383.5,-9.5,697,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3883
$GC,4453,-1.29,-194.7,413.8,-9.4,727,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3883
$GC,4772,-1.29,-194.7,444.1,-9.4,757,4777,0.00,2.83,0.00,0.000,4,0.000,0.117,2668,821,3882
$GC,4794,-1.29,-194.7,446.2,-9.5,758,4800,0.00,2.72,0.00,0.000,6,0.000,0.097,2668,2239,3882
$GC,5122,-1.29,-194.7,476.7,-9.3,789,5126,0.00,2.75,0.00,0.000,4,0.000,0.110,2668,3647,3882
$GC,5139,-1.29,-194.7,478.6,-9.4,790,5143,0.00,2.67,0.00,0.000,6,0.000,0.090,2667,2233,3882
$GC,5466,-1.29,-194.7,508.6,-9.3,820,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2233,3882
$GC,5791,-1.29,-194.7,538.9,-9.6,851,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2233,3882
$GC,6110,-1.29,-194.7,569.2,-9.4,881,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2233,3881
$GC,6430,-1.29,-194.7,598.5,-8.9,911,6434,0.00,2.80,0.00,0.000,4,0.000,0.114,2667,3647,3881
$GC,6451,-1.29,-194.7,600.7,-9.1,912,6455,0.00,2.67,0.00,0.000,6,0.000,0.093,2668,2242,3881
$GC,6771,-1.29,-194.7,628.7,-8.7,928,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2242,3881
$GC,7081,-1.29,-194.7,658.4,-9.9,943,7086,0.00,2.85,0.00,0.000,4,0.000,0.124,2668,826,3881
$GC,7114,-1.29,-194.7,661.9,-10.2,944,7121,0.00,2.75,0.00,0.000,6,0.000,0.102,2668,2245,3881
$GC,7430,-1.29,-194.7,691.3,-9.2,960,7435,0.00,2.80,0.00,0.000,4,0.000,0.121,2668,3648,3881
$GC,7452,-1.29,-194.7,693.5,-9.5,961,7456,0.00,2.67,0.00,0.000,6,0.000,0.096,2668,2246,3881
$GC,7772,-1.29,-194.7,722.7,-8.7,977,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2246,3880
$GC,8081,-1.29,-194.7,749.2,-8.8,992,8086,0.00,2.80,0.00,0.000,4,0.000,0.120,2668,3652,3880
$GC,8109,-1.29,-194.7,751.9,-10.0,993,8113,0.00,2.65,0.00,0.000,6,0.000,0.098,2668,2271,3880
$GC,8424,-1.29,-194.7,779.3,-8.2,1008,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2272,3880
$GC,8733,-1.29,-194.7,808.7,-9.4,1023,8735,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2272,3880
$GC,9043,-1.29,-194.7,837.5,-9.2,1038,9048,0.00,2.95,0.00,0.000,4,0.000,0.133,2667,826,3879
$GC,9060,-1.29,-194.7,839.0,-8.7,1039,9064,0.00,2.83,0.00,0.000,6,0.000,0.107,2668,2273,3880
$GC,9386,-1.29,-194.7,868.2,-8.9,1055,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2273,3879
$GC,9695,-1.29,-194.7,898.1,-9.8,1070,9700,0.00,2.95,0.00,0.000,4,0.000,0.128,2668,821,3879
$GC,9727,-1.29,-194.7,901.4,-10.5,1071,9734,0.00,2.85,0.00,0.000,6,0.000,0.109,2667,2272,3879
$GC,10043,-1.29,-194.7,928.6,-8.3,1087,10048,0.00,2.83,0.00,0.000,4,0.000,0.133,2667,3651,3879
$GC,10060,-1.29,-194.7,930.0,-8.5,1088,10065,0.00,2.67,0.00,0.000,6,0.000,0.103,2668,2274,3879
$GC,10387,-1.29,-194.7,956.0,-7.8,1104,10388,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2274,3879
$GC,10695,-1.29,-194.7,980.2,-7.5,1119,10700,0.00,2.80,0.00,0.000,4,0.000,0.127,2668,3652,3878
$GC,10723,-1.29,-194.7,982.4,-8.0,1120,10728,0.00,2.67,0.00,0.000,6,0.000,0.104,2667,2275,3878
$STATE,10830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10830,begin apogee
$GC,10836,-0.35,0.0,990.5,7.3,1125,11005,1.05,0.00,166.05,1.428,6,0.101,0.000,2879,2337,3085
$STATE,11007,end apogee,CONTROL_FINISHED_OK
$STATE,11007,begin climb
$GC,11009,1.29,194.7,994.6,0.0,1133,11177,1.62,0.00,162.73,1.391,6,0.058,0.000,3246,2337,2291
$GC,11486,1.19,194.7,934.3,14.4,1157,11491,0.15,2.92,0.00,0.000,4,0.117,0.123,3216,3739,2288
$GC,11535,1.10,194.7,926.9,14.1,1159,11540,0.00,2.80,0.00,0.000,6,0.000,0.106,3216,2340,2289
$GC,11851,1.05,194.7,884.9,13.1,1174,11853,0.15,0.00,0.00,0.000,6,0.114,0.000,3189,2341,2288
$GC,12160,1.05,194.7,849.1,11.2,1189,12165,0.00,2.92,0.00,0.000,4,0.000,0.131,3188,918,2287
$GC,12203,1.05,194.7,844.2,11.6,1191,12208,0.00,2.75,0.00,0.000,6,0.000,0.106,3188,2321,2287
$GC,12525,1.05,194.7,811.0,10.3,1207,12529,0.00,2.95,0.00,0.000,4,0.000,0.130,3188,3737,2287
$GC,12564,1.00,194.7,806.7,11.1,1209,12568,0.00,2.83,0.00,0.000,6,0.000,0.101,3188,2317,2287
$GC,12890,1.00,194.7,771.6,11.0,1225,12891,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2317,2287
$GC,13199,1.00,194.7,738.6,10.5,1240,13203,0.00,2.83,0.00,0.000,4,0.000,0.124,3188,914,2286
$GC,13225,1.00,194.7,735.6,11.0,1241,13230,0.00,2.75,0.00,0.000,6,0.000,0.101,3189,2332,2286
$GC,13541,1.00,194.7,702.7,10.4,1256,13546,0.00,2.88,0.00,0.000,4,0.000,0.120,3188,3739,2286
$GC,13613,0.95,194.7,694.7,11.2,1259,13618,0.00,2.78,0.00,0.000,6,0.000,0.098,3188,2330,2286
$GC,13928,0.97,211.5,664.0,9.4,1274,13948,0.00,0.00,15.23,1.196,6,0.000,0.000,3188,2330,2221
$GC,14258,1.00,232.0,633.0,9.3,1290,14278,0.00,0.00,18.77,1.157,6,0.000,0.000,3188,2330,2139
$GC,14587,1.00,232.0,598.9,10.7,1306,14588,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2330,2137
$GC,14905,1.00,232.0,566.5,10.2,1336,14910,0.00,2.85,0.00,0.000,4,0.000,0.110,3188,3739,2137
$GC,14933,1.00,232.0,563.4,10.9,1338,14938,0.00,2.72,0.00,0.000,6,0.000,0.091,3188,2342,2137
$GC,15257,1.00,232.0,530.0,10.5,1368,15262,0.00,2.80,0.00,0.000,4,0.000,0.113,3188,919,2137
$GC,15290,1.00,232.0,526.4,11.0,1370,15296,0.00,2.75,0.00,0.000,6,0.000,0.095,3189,2354,2136
$GC,15618,1.00,232.0,491.2,10.9,1401,15622,0.00,2.78,0.00,0.000,4,0.000,0.112,3188,3737,2137
$GC,15650,1.00,232.0,486.9,11.8,1403,15656,0.00,2.67,0.00,0.000,6,0.000,0.089,3188,2347,2137
$GC,15976,1.00,232.0,449.2,12.1,1434,15981,0.00,2.80,0.00,0.000,4,0.000,0.111,3188,916,2137
$GC,16008,1.00,232.0,444.9,12.2,1436,16015,0.00,2.75,0.00,0.000,6,0.000,0.094,3188,2360,2137
$GC,16337,1.00,232.0,406.9,11.6,1467,16342,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2360,2137
$GC,16661,1.00,232.0,368.8,11.3,1498,16666,0.00,2.83,0.00,0.000,4,0.000,0.107,3188,918,2137
$GC,16689,1.00,232.0,365.4,11.6,1500,16694,0.00,2.72,0.00,0.000,6,0.000,0.091,3188,2350,2137
$GC,17024,1.00,232.0,328.0,10.7,1547,17030,0.00,2.75,0.00,0.000,4,0.000,0.110,3188,3736,2137
$GC,17069,1.00,232.0,322.7,12.2,1555,17075,0.00,2.67,0.00,0.000,6,0.000,0.087,3188,2344,2137
$GC,17413,1.00,232.0,286.4,10.8,1616,17419,0.00,2.78,0.00,0.000,4,0.000,0.108,3188,919,2137
$GC,17455,1.00,232.0,281.9,11.2,1623,17461,0.00,2.72,0.00,0.000,6,0.000,0.091,3188,2358,2138
$GC,17800,1.01,245.7,246.4,9.5,1684,17816,0.00,0.00,12.68,0.918,6,0.000,0.000,3188,2358,2083
$GC,18154,1.01,245.7,208.1,10.7,1747,18160,0.00,2.80,0.00,0.000,4,0.000,0.104,3188,916,2082
$GC,18182,1.01,245.7,204.7,12.1,1752,18189,0.00,2.70,0.00,0.000,6,0.000,0.087,3188,2349,2081
$GC,18527,1.01,245.7,165.4,12.3,1813,18533,0.00,2.72,0.00,0.000,4,0.000,0.105,3188,3736,2082
$GC,18567,1.01,245.7,160.4,11.9,1820,18574,0.00,2.65,0.00,0.000,6,0.000,0.084,3188,2340,2081
$GC,18911,1.01,245.7,120.6,11.5,1881,18916,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2341,2082
$GC,19254,1.03,258.6,84.6,9.6,1942,19271,0.00,0.00,12.02,0.819,6,0.000,0.000,3188,2341,2029
$GC,19609,1.03,259.0,46.8,10.0,2005,19615,0.00,2.72,0.00,0.000,4,0.000,0.100,3188,915,2028
$GC,19644,1.03,259.0,43.0,10.1,2011,19651,0.00,2.67,0.00,0.000,6,0.000,0.083,3188,2352,2029
$GC,19787,1.06,281.6,28.3,9.2,2036,19810,0.00,0.00,20.05,0.775,6,0.000,0.000,3188,2353,1936
$GC,19947,1.06,281.6,11.4,10.6,2064,19954,0.00,2.70,0.00,0.000,4,0.000,0.100,3188,3736,1933
$GC,19977,1.06,281.6,8.2,10.1,2069,19984,0.00,2.65,0.00,0.000,6,0.000,0.081,3188,2336,1933
$STATE,20039,end climb,SURFACE_DEPTH_REACHED
$STATE,20039,begin surface coast
$FINISH,0.3,1.027766
$STATE,20057,end surface coast,CONTROL_FINISHED_OK
$STATE,20057,begin surface
$SM_CCo,20139,0.00,0.000,0,0,1931,283.32
$SM_GC,1.06,11.43,0.00,0.00,0.044,0.000,0.000,590,2224,1931,-10.85,-0.31,283.32
$IRIDIUM_FIX,6103.81,-2605.73,050897,111105
$TT8_MAMPS,0.02301
$HUMID,1645
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,16.70
$XPDR_PINGS,114
$24V_AH,23.4,37.921
$10V_AH,10.7,29.300
$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,26.700,171.750,407.525,0.000,0.000,61.154,75.947,362.721,28.500,0.000,0.000,30.692,3260.937,12618.998,608.931,3490.997,858.707,0.000,2230.062,0.000,3460.913,0.000,0.467
$DEVICE_MAMPS,185.614,134.992,1428.154,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1459.349,1534.457,1009.509,611.422,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119795,2083
$CAP_FILE_SIZE,189703,0
$CFSIZE,260165632,240644096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,110508,173427,6129.241,-2601.100,34,2.5,53,-18.5