version: 66.03
glider: 140
mission: 5
dive: 18
start: 4 7 108 15 7 24
data:
$ID,140
$MISSION,5
$DIVE,18
$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,360
$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,150
$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,0
$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,-13520.923
$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,8
$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
$GPS1,145837,5930.350,-1903.583,35,1.6,35,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-64.2
$GPS2,150703,5930.203,-1903.301,13,1.6,13,-13.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,5941.001,-1903.301
$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,13.7,20000,-17.5,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.41,-146.0,0.0,0.0,0,80,0.00,0.00,-49.20,0.000,2,0.000,0.000,590,2232,3432
$GC,82,-1.41,-146.0,3.0,-7.4,9,106,12.50,0.00,-6.25,0.000,6,0.196,0.000,2641,2233,3682
$GC,243,-1.41,-146.0,21.4,-11.0,37,249,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2232,3682
$GC,385,-1.41,-146.0,34.5,-9.4,62,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2233,3682
$GC,526,-1.41,-146.0,48.6,-10.2,87,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2233,3683
$GC,667,-1.41,-146.0,62.2,-10.1,112,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2233,3682
$GC,809,-1.41,-146.0,75.5,-9.2,137,815,0.00,2.70,0.00,0.000,4,0.000,0.107,2641,825,3683
$GC,833,-1.41,-146.0,77.9,-9.9,141,840,0.00,2.65,0.00,0.000,6,0.000,0.094,2641,2238,3683
$GC,975,-1.41,-146.0,92.2,-10.0,166,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2238,3683
$GC,1117,-1.41,-146.0,106.3,-9.9,191,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2237,3683
$GC,1258,-1.41,-146.0,120.2,-10.1,216,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2238,3683
$GC,1400,-1.41,-146.0,134.6,-10.1,241,1406,0.00,2.72,0.00,0.000,4,0.000,0.110,2641,826,3683
$GC,1446,-1.41,-146.0,139.5,-10.4,249,1453,0.00,2.65,0.00,0.000,6,0.000,0.096,2641,2231,3683
$GC,1588,-1.41,-146.0,153.4,-9.9,274,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2231,3683
$GC,1931,-1.41,-146.0,185.9,-9.4,335,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2231,3683
$GC,2274,-1.41,-146.0,221.4,-10.5,396,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2231,3683
$GC,2617,-1.41,-146.0,254.7,-9.8,457,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2231,3683
$GC,2960,-1.41,-146.0,288.3,-9.8,518,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2231,3683
$GC,3303,-1.41,-146.0,321.8,-9.8,579,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2231,3683
$GC,3646,-1.41,-146.0,353.0,-8.9,640,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2231,3683
$GC,3990,-1.41,-146.0,384.6,-9.7,701,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2232,3683
$GC,4332,-1.41,-146.0,416.4,-9.0,762,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2231,3683
$GC,4674,-1.41,-146.0,446.5,-8.8,823,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2232,3683
$GC,5018,-1.41,-146.0,476.1,-8.8,884,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2231,3683
$GC,5362,-1.41,-146.0,507.4,-9.6,945,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2232,3683
$GC,5704,-1.41,-146.0,541.2,-10.1,1006,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2231,3683
$GC,6046,-1.41,-146.0,576.0,-10.1,1067,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2232,3683
$GC,6389,-1.41,-146.0,609.8,-9.7,1120,6390,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2232,3683
$GC,6707,-1.41,-146.0,639.6,-9.2,1150,6712,0.00,2.78,0.00,0.000,4,0.000,0.123,2641,3645,3683
$GC,6735,-1.41,-146.0,642.4,-10.5,1152,6739,0.00,2.70,0.00,0.000,6,0.000,0.101,2641,2220,3683
$GC,7062,-1.41,-146.0,674.3,-9.8,1182,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2221,3683
$GC,7387,-1.41,-146.0,708.2,-10.5,1213,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2221,3683
$GC,7706,-1.41,-146.0,739.5,-9.6,1243,7707,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2221,3682
$GC,8024,-1.41,-146.0,768.5,-9.0,1273,8029,0.00,2.83,0.00,0.000,4,0.000,0.125,2641,3644,3683
$GC,8052,-1.41,-146.0,771.1,-10.1,1275,8056,0.00,2.70,0.00,0.000,6,0.000,0.105,2641,2232,3682
$GC,8378,-1.41,-146.0,801.3,-9.5,1305,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2233,3683
$GC,8696,-1.41,-146.0,831.0,-9.0,1335,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2233,3682
$GC,9014,-1.41,-146.0,858.6,-8.3,1365,9018,0.00,2.83,0.00,0.000,4,0.000,0.129,2641,3644,3682
$GC,9041,-1.41,-146.0,861.0,-9.1,1367,9046,0.00,2.72,0.00,0.000,6,0.000,0.111,2641,2237,3681
$GC,9368,-1.41,-146.0,888.0,-8.4,1397,9372,0.00,2.83,0.00,0.000,4,0.000,0.130,2641,3646,3681
$GC,9400,-1.41,-146.0,891.1,-9.4,1399,9406,0.00,2.72,0.00,0.000,6,0.000,0.114,2641,2240,3681
$GC,9726,-1.41,-146.0,919.3,-8.9,1430,9731,0.00,2.83,0.00,0.000,4,0.000,0.130,2641,3647,3681
$GC,9777,-1.41,-146.0,924.3,-9.9,1434,9782,0.00,2.72,0.00,0.000,6,0.000,0.116,2641,2255,3681
$GC,10103,-1.41,-146.0,953.9,-9.0,1464,10108,0.00,3.00,0.00,0.000,4,0.000,0.151,2641,819,3680
$GC,10136,-1.41,-146.0,957.1,-9.8,1466,10142,0.00,2.85,0.00,0.000,6,0.000,0.121,2641,2261,3680
$GC,10462,-1.41,-146.0,985.6,-9.1,1497,10463,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2261,3680
$STATE,10511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10511,begin apogee
$GC,10517,-0.35,0.0,990.4,9.3,1502,10646,1.15,0.00,125.15,1.449,6,0.109,0.000,2874,2336,3085
$STATE,10646,end apogee,CONTROL_FINISHED_OK
$STATE,10647,begin climb
$GC,10649,1.41,146.0,994.7,0.0,1515,10783,1.77,3.00,124.15,1.398,4,0.064,0.140,3263,3741,2488
$GC,10846,1.29,146.0,979.0,13.4,1533,10852,0.00,2.83,0.00,0.000,6,0.000,0.116,3263,2329,2487
$GC,11172,1.21,146.0,938.4,12.8,1564,11177,0.17,2.97,0.00,0.000,4,0.118,0.146,3227,918,2486
$GC,11211,1.21,146.0,933.5,11.7,1567,11216,0.00,2.85,0.00,0.000,6,0.000,0.123,3227,2332,2486
$GC,11535,1.21,146.0,896.7,11.7,1597,11537,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2333,2486
$GC,11856,1.21,146.0,859.3,11.6,1627,11860,0.00,2.90,0.00,0.000,4,0.000,0.135,3228,3746,2485
$GC,11899,1.13,146.0,853.8,12.0,1630,11906,0.00,2.80,0.00,0.000,6,0.000,0.114,3228,2327,2485
$GC,12225,1.13,146.0,817.4,11.2,1661,12226,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2328,2485
$GC,12542,1.13,146.0,782.0,11.0,1691,12543,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2328,2485
$GC,12861,1.13,146.0,747.3,10.7,1721,12862,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2328,2484
$GC,13179,1.13,146.0,712.2,11.1,1751,13184,0.00,2.83,0.00,0.000,4,0.000,0.123,3228,3741,2484
$GC,13223,1.07,146.0,707.4,10.7,1754,13230,0.17,2.75,0.00,0.000,6,0.117,0.106,3195,2320,2484
$GC,13548,1.09,166.1,678.4,9.1,1785,13568,0.00,0.00,17.52,1.218,6,0.000,0.000,3195,2320,2407
$GC,13888,1.11,183.2,646.2,9.2,1817,13906,0.00,0.00,15.45,1.167,6,0.000,0.000,3195,2320,2338
$GC,14226,1.12,186.4,612.8,9.9,1849,14238,0.00,2.85,4.38,0.837,4,0.000,0.117,3195,3743,2325
$GC,14265,1.12,186.4,608.4,10.9,1852,14271,0.00,2.72,0.00,0.000,6,0.000,0.101,3195,2325,2325
$GC,14603,1.12,186.4,573.3,10.2,1905,14608,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2326,2325
$GC,14945,1.14,203.6,539.9,9.2,1966,14968,0.00,2.85,16.25,1.104,4,0.000,0.114,3195,3743,2253
$GC,15003,1.14,203.6,534.2,10.5,1976,15010,0.00,2.72,0.00,0.000,6,0.000,0.098,3195,2326,2252
$GC,15348,1.14,207.3,499.8,9.8,2037,15354,0.00,0.00,4.60,0.812,6,0.000,0.000,3195,2326,2238
$GC,15691,1.14,207.3,464.5,10.0,2098,15696,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2326,2239
$GC,16033,1.14,207.3,428.1,11.1,2159,16038,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2326,2239
$GC,16377,1.14,207.3,391.4,11.2,2220,16384,0.00,2.75,0.00,0.000,4,0.000,0.111,3195,3743,2239
$GC,16412,1.14,207.3,387.3,11.2,2226,16418,0.00,2.65,0.00,0.000,6,0.000,0.094,3195,2338,2239
$GC,16755,1.14,207.3,350.4,10.6,2287,16760,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2338,2239
$GC,17097,1.14,207.3,313.8,12.2,2348,17102,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2339,2239
$GC,17440,1.14,207.3,276.8,10.4,2409,17445,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2339,2239
$GC,17782,1.14,207.3,239.6,10.2,2470,17788,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2339,2239
$GC,18125,1.15,210.8,201.9,9.8,2531,18137,0.00,2.75,4.82,0.712,4,0.000,0.107,3195,3747,2225
$GC,18183,1.15,210.8,195.2,11.6,2541,18189,0.00,2.65,0.00,0.000,6,0.000,0.091,3195,2340,2225
$GC,18525,1.15,210.8,158.3,11.0,2602,18531,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2340,2225
$GC,18869,1.19,251.1,122.6,8.1,2663,18910,0.10,2.78,33.97,0.857,4,0.074,0.104,3221,3744,2060
$GC,18946,1.19,251.1,114.6,11.7,2676,18953,0.00,2.65,0.00,0.000,6,0.000,0.091,3221,2346,2058
$GC,19088,1.19,251.1,97.3,13.7,2701,19094,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2347,2057
$GC,19230,1.19,251.1,79.9,12.6,2726,19236,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2347,2056
$GC,19371,1.19,251.1,62.1,13.8,2751,19378,0.00,2.70,0.00,0.000,4,0.000,0.106,3221,3745,2056
$GC,19407,1.19,251.1,57.5,12.9,2757,19413,0.00,2.60,0.00,0.000,6,0.000,0.091,3221,2363,2056
$GC,19549,1.19,251.1,41.0,11.4,2782,19555,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2363,2056
$GC,19690,1.19,251.1,22.1,14.1,2807,19696,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2364,2056
$GC,19831,1.19,251.1,5.6,12.9,2832,19838,0.00,2.65,0.00,0.000,4,0.000,0.104,3221,3743,2056
$GC,19844,1.19,251.1,3.7,13.5,2834,19851,0.00,2.60,0.00,0.000,6,0.000,0.090,3222,2357,2055
$STATE,19855,end climb,SURFACE_DEPTH_REACHED
$STATE,19855,begin surface coast
$FINISH,0.2,1.027859
$STATE,19868,end surface coast,CONTROL_FINISHED_OK
$STATE,19868,begin surface
$SM_CCo,19949,0.00,0.000,0,0,2052,253.15
$SM_GC,1.01,11.65,0.00,0.00,0.050,0.000,0.000,593,2233,2052,-10.85,-0.06,253.15
$IRIDIUM_FIX,5907.03,-1913.00,020797,090953
$TT8_MAMPS,0.02301
$HUMID,1594
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,18.20
$XPDR_PINGS,54
$24V_AH,23.4,11.963
$10V_AH,10.7,4.607
$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,27.525,105.500,346.300,0.000,0.000,28.397,39.560,288.646,13.500,0.000,0.000,13.727,4268.754,10215.084,534.344,4699.827,712.411,0.000,2580.297,0.000,4679.282,0.000,0.468
$DEVICE_MAMPS,196.352,155.701,1448.863,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1964.776,2116.512,1828.460,1176.897,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,160677,2838
$CAP_FILE_SIZE,209640,0
$CFSIZE,260165632,255500288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070408,204108,5930.261,-1855.357,41,1.1,41,-13.6