version: 66.03
glider: 140
mission: 5
dive: 162
start: 5 11 108 17 42 46
data:
$ID,140
$MISSION,5
$DIVE,162
$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,90
$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,-16360.896
$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,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
$GPS1,173427,6129.241,-2601.100,34,2.5,53,-18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-64.3
$GPS2,174229,6129.268,-2600.919,12,2.3,31,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6129.268,-2555.764
$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,108.4,20000,-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,-194.7,0.0,0.0,0,88,0.00,0.00,-59.65,0.000,2,0.000,0.000,589,2222,3305
$GC,91,-1.29,-194.7,3.0,-7.7,11,127,12.35,2.80,-14.10,0.000,4,0.187,0.107,2669,3648,3880
$GC,201,-1.29,-194.7,16.4,-9.9,30,207,0.00,2.62,0.00,0.000,6,0.000,0.081,2669,2235,3881
$GC,345,-1.29,-194.7,30.9,-10.3,55,350,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2235,3881
$GC,486,-1.29,-194.7,45.4,-9.8,80,493,0.00,2.72,0.00,0.000,4,0.000,0.099,2669,3646,3881
$GC,505,-1.29,-194.7,47.4,-10.0,83,511,0.00,2.60,0.00,0.000,6,0.000,0.081,2669,2251,3881
$GC,647,-1.29,-194.7,61.3,-9.6,108,653,0.00,2.72,0.00,0.000,4,0.000,0.100,2669,826,3881
$GC,689,-1.29,-194.7,65.4,-10.6,115,695,0.00,2.67,0.00,0.000,6,0.000,0.084,2669,2249,3881
$GC,1032,-1.29,-194.7,100.5,-10.3,176,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2250,3881
$GC,1376,-1.29,-194.7,133.9,-9.0,237,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2250,3881
$GC,1718,-1.29,-194.7,164.9,-9.2,298,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2250,3882
$GC,2061,-1.29,-194.7,199.0,-10.4,359,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2250,3882
$GC,2404,-1.29,-194.7,233.5,-9.5,420,2410,0.00,2.80,0.00,0.000,4,0.000,0.109,2669,822,3882
$GC,2434,-1.29,-194.7,236.4,-9.9,425,2440,0.00,2.70,0.00,0.000,6,0.000,0.091,2669,2241,3882
$GC,2778,-1.29,-194.7,267.2,-9.1,486,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2242,3882
$GC,3121,-1.29,-194.7,299.8,-9.2,547,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2242,3882
$GC,3464,-1.29,-194.7,333.0,-9.7,608,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2242,3882
$GC,3803,-1.29,-194.7,367.2,-9.5,654,3807,0.00,2.80,0.00,0.000,4,0.000,0.114,2669,825,3882
$GC,3830,-1.29,-194.7,370.0,-10.2,656,3835,0.00,2.70,0.00,0.000,6,0.000,0.095,2669,2238,3882
$GC,4157,-1.29,-194.7,400.2,-9.1,686,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3882
$GC,4473,-1.29,-194.7,427.9,-9.0,716,4478,0.00,2.80,0.00,0.000,4,0.000,0.116,2669,825,3882
$GC,4507,-1.29,-194.7,431.0,-9.0,718,4513,0.00,2.67,0.00,0.000,6,0.000,0.097,2669,2229,3882
$GC,4833,-1.29,-194.7,458.7,-8.2,749,4838,0.00,2.78,0.00,0.000,4,0.000,0.116,2669,826,3882
$GC,4855,-1.29,-194.7,460.8,-8.5,750,4862,0.00,2.67,0.00,0.000,6,0.000,0.097,2669,2224,3882
$GC,5182,-1.29,-194.7,486.9,-8.0,781,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2224,3882
$GC,5500,-1.29,-194.7,512.8,-8.4,811,5504,0.00,2.78,0.00,0.000,4,0.000,0.111,2669,3645,3881
$GC,5533,-1.29,-194.7,515.9,-8.9,813,5539,0.00,2.67,0.00,0.000,6,0.000,0.091,2669,2228,3881
$GC,5859,-1.29,-194.7,541.0,-8.1,844,5860,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3881
$GC,6178,-1.29,-194.7,567.1,-8.4,874,6183,0.00,2.80,0.00,0.000,4,0.000,0.111,2669,3652,3881
$GC,6199,-1.29,-194.7,569.1,-8.2,875,6205,0.00,2.70,0.00,0.000,6,0.000,0.091,2669,2228,3881
$GC,6526,-1.29,-194.7,596.0,-8.4,906,6530,0.00,2.80,0.00,0.000,4,0.000,0.112,2669,3649,3881
$GC,6558,-1.29,-194.7,599.3,-9.5,908,6565,0.00,2.67,0.00,0.000,6,0.000,0.092,2669,2240,3881
$GC,6885,-1.29,-194.7,629.6,-9.8,925,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3881
$GC,7194,-1.29,-194.7,656.8,-8.4,940,7198,0.00,2.80,0.00,0.000,4,0.000,0.115,2669,3652,3880
$GC,7221,-1.29,-194.7,659.2,-9.3,941,7225,0.00,2.67,0.00,0.000,6,0.000,0.094,2669,2247,3880
$GC,7536,-1.29,-194.7,686.3,-8.3,956,7538,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2248,3880
$GC,7846,-1.29,-194.7,714.5,-8.9,971,7847,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2248,3880
$GC,8155,-1.29,-194.7,743.1,-9.4,986,8159,0.00,2.80,0.00,0.000,4,0.000,0.119,2669,3647,3880
$GC,8181,-1.29,-194.7,745.7,-9.9,987,8186,0.00,2.65,0.00,0.000,6,0.000,0.096,2669,2263,3880
$GC,8497,-1.29,-194.7,772.2,-8.5,1002,8502,0.00,2.90,0.00,0.000,4,0.000,0.127,2669,824,3880
$GC,8537,-1.29,-194.7,775.7,-8.8,1004,8541,0.00,2.78,0.00,0.000,6,0.000,0.103,2669,2259,3880
$GC,8863,-1.29,-194.7,801.5,-7.5,1020,8867,0.00,2.80,0.00,0.000,4,0.000,0.126,2669,3649,3880
$GC,8912,-1.29,-194.7,805.4,-7.9,1022,8917,0.00,2.62,0.00,0.000,6,0.000,0.098,2668,2278,3880
$GC,9228,-1.29,-194.7,828.4,-7.8,1037,9229,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2278,3879
$GC,9537,-1.29,-194.7,852.2,-7.5,1052,9541,0.00,2.75,0.00,0.000,4,0.000,0.122,2669,3643,3879
$GC,9558,-1.29,-194.7,853.9,-7.7,1053,9563,0.00,2.62,0.00,0.000,6,0.000,0.100,2669,2282,3879
$GC,9880,-1.29,-194.7,876.9,-7.3,1069,9881,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2282,3878
$GC,10189,-1.29,-194.7,899.2,-7.2,1084,10193,0.00,3.00,0.00,0.000,4,0.000,0.135,2669,822,3879
$GC,10228,-1.29,-194.7,902.1,-8.3,1086,10233,0.00,2.83,0.00,0.000,6,0.000,0.108,2669,2267,3879
$GC,10554,-1.29,-194.7,924.4,-7.3,1102,10558,0.00,2.80,0.00,0.000,4,0.000,0.128,2669,3652,3879
$GC,10575,-1.29,-194.7,926.1,-7.6,1103,10580,0.00,2.67,0.00,0.000,6,0.000,0.104,2669,2271,3878
$GC,10897,-1.29,-194.7,949.5,-7.5,1119,10898,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2271,3878
$GC,11205,-1.29,-194.7,972.5,-7.5,1134,11210,0.00,2.80,0.00,0.000,4,0.000,0.127,2669,3650,3878
$GC,11233,-1.29,-194.7,974.7,-8.3,1135,11237,0.00,2.67,0.00,0.000,6,0.000,0.105,2669,2277,3877
$STATE,11442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11442,begin apogee
$GC,11448,-0.35,0.0,990.5,7.5,1145,11618,1.02,0.00,166.30,1.429,6,0.097,0.000,2878,2336,3085
$STATE,11619,end apogee,CONTROL_FINISHED_OK
$STATE,11619,begin climb
$GC,11621,1.29,194.7,995.1,0.0,1153,11789,1.62,0.00,163.43,1.391,6,0.061,0.000,3236,2337,2291
$GC,12092,1.20,194.7,940.3,14.0,1176,12097,0.00,2.92,0.00,0.000,4,0.000,0.126,3236,3738,2288
$GC,12125,1.09,194.7,935.4,14.3,1177,12132,0.20,2.80,0.00,0.000,6,0.111,0.105,3200,2341,2288
$GC,12441,1.05,194.7,898.1,11.9,1193,12445,0.00,2.92,0.00,0.000,4,0.000,0.130,3200,919,2288
$GC,12462,1.05,194.7,895.3,12.5,1194,12466,0.00,2.83,0.00,0.000,6,0.000,0.107,3200,2346,2288
$GC,12783,1.05,194.7,857.5,11.6,1210,12788,0.00,2.90,0.00,0.000,4,0.000,0.130,3200,3738,2287
$GC,12816,0.98,194.7,853.5,11.1,1211,12822,0.15,2.78,0.00,0.000,6,0.113,0.102,3173,2344,2287
$GC,13131,0.98,199.0,821.9,9.8,1227,13142,0.00,2.95,4.88,0.956,4,0.000,0.129,3173,912,2274
$GC,13163,0.98,199.0,818.3,10.6,1228,13170,0.00,2.83,0.00,0.000,6,0.000,0.104,3173,2348,2273
$GC,13479,0.98,199.0,785.3,10.2,1244,13484,0.00,2.88,0.00,0.000,4,0.000,0.126,3173,3738,2272
$GC,13511,0.98,199.0,781.7,10.7,1245,13518,0.00,2.75,0.00,0.000,6,0.000,0.099,3173,2341,2272
$GC,13827,0.98,199.0,749.0,10.3,1261,13832,0.00,2.88,0.00,0.000,4,0.000,0.124,3173,913,2272
$GC,13884,0.98,199.0,743.0,10.4,1263,13890,0.00,2.78,0.00,0.000,6,0.000,0.100,3173,2343,2273
$GC,14199,0.98,199.0,711.4,10.0,1279,14200,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2343,2272
$GC,14508,0.98,199.3,681.0,10.0,1294,14513,0.00,2.83,0.00,0.000,4,0.000,0.119,3172,3736,2272
$GC,14541,0.98,199.3,677.5,10.2,1295,14547,0.00,2.75,0.00,0.000,6,0.000,0.095,3173,2321,2272
$GC,14857,0.99,205.4,646.9,9.8,1311,14871,0.00,2.85,7.07,1.055,4,0.000,0.115,3173,922,2247
$GC,14889,0.99,205.4,643.6,10.0,1312,14893,0.00,2.75,0.00,0.000,6,0.000,0.097,3173,2338,2246
$GC,15205,1.01,221.8,614.2,9.4,1327,15224,0.00,0.00,15.55,1.141,6,0.000,0.000,3173,2338,2180
$GC,15539,1.02,226.8,581.4,9.8,1351,15548,0.00,0.00,5.80,0.947,6,0.000,0.000,3173,2337,2160
$GC,15869,1.02,226.8,548.3,10.1,1382,15870,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2338,2160
$GC,16187,1.03,232.6,517.1,9.8,1412,16196,0.00,0.00,6.70,0.966,6,0.000,0.000,3173,2338,2136
$GC,16517,1.03,232.9,484.6,10.0,1443,16521,0.00,2.80,0.00,0.000,4,0.000,0.109,3173,915,2135
$GC,16537,1.03,232.9,482.2,10.0,1444,16544,0.00,2.67,0.00,0.000,6,0.000,0.092,3173,2317,2136
$GC,16866,1.05,254.6,450.9,9.2,1475,16891,0.00,2.90,19.83,1.040,4,0.000,0.109,3173,3736,2046
$GC,16919,1.09,287.8,445.4,8.8,1479,16957,0.12,2.75,29.65,1.020,6,0.067,0.087,3204,2314,1910
$GC,17275,1.09,287.8,403.4,12.4,1513,17279,0.00,2.75,0.00,0.000,4,0.000,0.110,3204,913,1906
$GC,17295,1.09,287.8,400.6,12.6,1514,17302,0.00,2.70,0.00,0.000,6,0.000,0.091,3204,2333,1906
$GC,17622,1.09,287.8,362.6,11.9,1545,17623,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2333,1905
$GC,17950,1.09,287.8,323.1,11.9,1594,17956,0.00,2.78,0.00,0.000,4,0.000,0.107,3204,913,1905
$GC,17969,1.09,287.8,320.9,11.7,1597,17975,0.00,2.67,0.00,0.000,6,0.000,0.088,3204,2330,1905
$GC,18312,1.09,287.8,279.1,11.8,1658,18317,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2330,1904
$GC,18655,1.09,287.8,236.9,12.5,1719,18660,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2330,1904
$GC,18997,1.09,287.8,195.0,11.6,1780,19003,0.00,2.72,0.00,0.000,4,0.000,0.104,3204,917,1905
$GC,19015,1.09,287.8,192.8,11.7,1783,19021,0.00,2.60,0.00,0.000,6,0.000,0.087,3204,2304,1904
$GC,19358,1.09,287.8,151.9,12.7,1844,19365,0.00,2.80,0.00,0.000,4,0.000,0.103,3203,3735,1904
$GC,19388,1.09,287.8,148.2,13.2,1849,19394,0.00,2.72,0.00,0.000,6,0.000,0.084,3203,2301,1904
$GC,19731,1.09,287.8,106.7,11.5,1910,19737,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2301,1904
$GC,20074,1.09,287.8,65.4,12.0,1971,20080,0.00,2.83,0.00,0.000,4,0.000,0.102,3204,3735,1904
$GC,20103,1.09,287.8,61.6,13.2,1976,20109,0.00,2.70,0.00,0.000,6,0.000,0.084,3204,2315,1904
$GC,20447,1.09,287.8,19.9,12.7,2037,20454,0.00,2.70,0.00,0.000,4,0.000,0.104,3204,913,1903
$GC,20483,1.09,287.8,15.3,13.5,2043,20490,0.00,2.58,0.00,0.000,6,0.000,0.083,3204,2303,1903
$STATE,20596,end climb,SURFACE_DEPTH_REACHED
$STATE,20596,begin surface coast
$FINISH,0.2,1.013664
$STATE,20610,end surface coast,CONTROL_FINISHED_OK
$STATE,20610,begin surface
$SM_CCo,20691,0.00,0.000,0,0,1901,290.44
$SM_GC,1.06,11.45,0.00,0.00,0.044,0.000,0.000,590,2232,1901,-10.85,-0.08,290.44
$IRIDIUM_FIX,6103.81,-2603.66,050897,121244
$TT8_MAMPS,0.02301
$HUMID,1638
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.80
$XPDR_PINGS,111
$24V_AH,23.4,38.104
$10V_AH,10.7,29.472
$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,26.925,188.025,419.200,0.000,0.000,23.283,33.348,262.166,27.750,0.000,0.000,32.563,3259.985,12862.972,647.154,3677.608,703.875,0.000,2268.750,0.000,3645.610,0.000,0.467
$DEVICE_MAMPS,187.148,141.128,1428.921,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1433.020,1546.002,1821.856,575.568,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123051,2065
$CAP_FILE_SIZE,191445,0
$CFSIZE,260165632,240541696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,110508,232856,6128.728,-2553.260,44,1.8,44,-18.4