version: 66.03
glider: 140
mission: 5
dive: 82
start: 4 22 108 11 10 8
data:
$ID,140
$MISSION,5
$DIVE,82
$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,1
$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,-14630.314
$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
$GPS1,110125,5930.211,-2149.139,42,1.1,59,-15.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-56.6
$GPS2,110950,5930.354,-2149.198,10,1.1,15,-15.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5941.151,-2149.104
$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,16.1,20000,-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,-194.7,0.0,0.0,0,101,0.00,0.00,-70.57,0.000,2,0.000,0.000,582,2226,3571
$GC,104,-1.29,-194.7,3.3,-6.1,13,134,13.05,2.83,-6.50,0.000,4,0.207,0.112,2668,3650,3881
$GC,230,-1.29,-194.7,22.1,-12.1,35,237,0.00,2.65,0.00,0.000,6,0.000,0.084,2668,2227,3882
$GC,373,-1.29,-194.7,36.3,-7.3,60,379,0.00,2.75,0.00,0.000,4,0.000,0.102,2668,3646,3882
$GC,392,-1.29,-194.7,37.9,-7.9,63,398,0.00,2.60,0.00,0.000,6,0.000,0.084,2668,2258,3882
$GC,534,-1.29,-194.7,50.9,-9.3,88,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2259,3882
$GC,678,-1.29,-194.7,64.4,-9.8,113,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2259,3882
$GC,819,-1.29,-194.7,79.0,-10.6,138,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2259,3882
$GC,961,-1.29,-194.7,93.5,-9.7,163,968,0.00,2.78,0.00,0.000,4,0.000,0.105,2668,826,3882
$GC,985,-1.29,-194.7,95.9,-9.9,167,992,0.00,2.70,0.00,0.000,6,0.000,0.090,2668,2249,3882
$GC,1128,-1.29,-194.7,109.4,-9.2,192,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2249,3882
$GC,1270,-1.29,-194.7,123.0,-9.5,217,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2249,3882
$GC,1412,-1.29,-194.7,136.5,-9.7,242,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2249,3882
$GC,1554,-1.29,-194.7,150.3,-9.9,267,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2249,3882
$GC,1896,-1.29,-194.7,183.3,-10.1,328,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2249,3882
$GC,2239,-1.29,-194.7,216.6,-9.7,389,2245,0.00,2.80,0.00,0.000,4,0.000,0.109,2668,820,3883
$GC,2267,-1.29,-194.7,219.6,-10.4,394,2274,0.00,2.72,0.00,0.000,6,0.000,0.094,2668,2249,3883
$GC,2612,-1.29,-194.7,253.4,-9.7,455,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2249,3883
$GC,2954,-1.29,-194.7,285.6,-9.5,516,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2249,3883
$GC,3297,-1.29,-194.7,317.3,-9.4,577,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2249,3883
$GC,3640,-1.29,-194.7,349.6,-9.9,638,3647,0.00,2.75,0.00,0.000,4,0.000,0.114,2669,3652,3883
$GC,3664,-1.29,-194.7,352.0,-10.2,642,3670,0.00,2.65,0.00,0.000,6,0.000,0.091,2668,2252,3883
$GC,4008,-1.29,-194.7,386.1,-9.8,703,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2252,3883
$GC,4350,-1.29,-194.7,420.6,-9.9,764,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2252,3882
$GC,4694,-1.29,-194.7,453.4,-9.0,825,4700,0.00,2.85,0.00,0.000,4,0.000,0.120,2668,823,3882
$GC,4718,-1.29,-194.7,455.6,-9.3,829,4724,0.00,2.75,0.00,0.000,6,0.000,0.103,2668,2246,3882
$GC,5061,-1.29,-194.7,485.9,-8.7,890,5067,0.00,2.78,0.00,0.000,4,0.000,0.117,2668,3653,3882
$GC,5096,-1.29,-194.7,489.2,-9.4,896,5103,0.00,2.67,0.00,0.000,6,0.000,0.094,2668,2241,3883
$GC,5441,-1.29,-194.7,519.6,-8.7,957,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2243,3882
$GC,5783,-1.29,-194.7,549.2,-8.7,1018,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2243,3882
$GC,6125,-1.29,-194.7,578.2,-8.3,1079,6131,0.00,2.80,0.00,0.000,4,0.000,0.119,2668,3646,3882
$GC,6166,-1.29,-194.7,581.8,-8.9,1086,6172,0.00,2.67,0.00,0.000,6,0.000,0.098,2668,2250,3882
$GC,6507,-1.29,-194.7,611.3,-9.0,1136,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2250,3882
$GC,6826,-1.29,-194.7,640.5,-9.0,1166,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2250,3881
$GC,7144,-1.29,-194.7,669.2,-9.2,1196,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2251,3881
$GC,7463,-1.29,-194.7,697.9,-9.2,1226,7464,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2251,3881
$GC,7783,-1.29,-194.7,726.6,-8.8,1256,7787,0.00,2.83,0.00,0.000,4,0.000,0.129,2668,3643,3880
$GC,7815,-1.29,-194.7,729.9,-9.5,1258,7821,0.00,2.67,0.00,0.000,6,0.000,0.104,2668,2261,3880
$GC,8141,-1.29,-194.7,758.8,-8.9,1289,8143,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2262,3880
$GC,8458,-1.29,-194.7,785.9,-8.3,1319,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2263,3879
$GC,8777,-1.29,-194.7,812.3,-8.3,1349,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2262,3879
$GC,9095,-1.29,-194.7,838.6,-8.4,1379,9100,0.00,2.80,0.00,0.000,4,0.000,0.132,2669,3644,3878
$GC,9117,-1.29,-194.7,840.6,-8.8,1380,9123,0.00,2.70,0.00,0.000,6,0.000,0.108,2668,2260,3878
$GC,9443,-1.29,-194.7,867.5,-8.2,1411,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2260,3878
$GC,9760,-1.29,-194.7,893.9,-8.4,1441,9761,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3877
$GC,10081,-1.29,-194.7,921.6,-8.8,1471,10087,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3877
$GC,10408,-1.29,-194.7,950.4,-8.9,1502,10409,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3877
$GC,10726,-1.29,-194.7,978.7,-8.9,1532,10730,0.00,2.85,0.00,0.000,4,0.000,0.136,2668,3644,3876
$GC,10748,-1.29,-194.7,980.8,-9.5,1533,10754,0.00,2.72,0.00,0.000,6,0.000,0.114,2668,2262,3876
$STATE,10857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10857,begin apogee
$GC,10863,-0.35,0.0,990.8,9.1,1544,11032,1.02,0.00,164.85,1.441,6,0.107,0.000,2876,2332,3085
$STATE,11033,end apogee,CONTROL_FINISHED_OK
$STATE,11033,begin climb
$GC,11035,1.29,194.7,998.2,0.0,1561,11203,1.65,0.00,163.32,1.403,6,0.065,0.000,3241,2332,2291
$GC,11520,1.20,194.7,947.0,13.0,1608,11522,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2332,2289
$GC,11841,1.10,194.7,905.2,13.6,1638,11842,0.20,0.00,0.00,0.000,6,0.111,0.000,3204,2332,2288
$GC,12158,1.06,194.7,868.7,10.9,1668,12160,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2332,2288
$GC,12477,1.02,194.7,834.1,10.7,1698,12479,0.12,0.00,0.00,0.000,6,0.116,0.000,3181,2332,2287
$GC,12795,1.03,203.1,803.8,9.7,1728,12805,0.00,0.00,8.15,1.176,6,0.000,0.000,3181,2332,2257
$GC,13123,1.03,203.1,771.1,10.4,1759,13124,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2332,2256
$GC,13442,1.03,203.1,736.7,10.7,1789,13443,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2332,2256
$GC,13761,1.04,214.0,704.8,9.6,1819,13773,0.00,0.00,10.88,1.200,6,0.000,0.000,3181,2332,2212
$GC,14089,1.05,222.4,674.0,9.7,1850,14103,0.00,2.95,8.82,1.140,4,0.000,0.123,3181,3745,2178
$GC,14126,1.05,222.4,670.1,10.2,1853,14133,0.00,2.78,0.00,0.000,6,0.000,0.101,3181,2332,2177
$GC,14452,1.05,222.4,637.4,10.4,1884,14457,0.00,2.85,0.00,0.000,4,0.000,0.123,3181,917,2177
$GC,14496,1.05,222.4,632.3,11.0,1887,14502,0.00,2.78,0.00,0.000,6,0.000,0.105,3181,2335,2177
$GC,14822,1.05,222.4,597.5,10.7,1920,14828,0.00,2.85,0.00,0.000,4,0.000,0.123,3181,3741,2177
$GC,14876,1.05,222.4,591.7,10.7,1929,14882,0.00,2.75,0.00,0.000,6,0.000,0.098,3181,2329,2177
$GC,15219,1.05,222.4,556.9,10.2,1990,15225,0.00,2.83,0.00,0.000,4,0.000,0.121,3181,915,2177
$GC,15253,1.05,222.4,553.4,10.1,1996,15260,0.00,2.75,0.00,0.000,6,0.000,0.102,3181,2331,2177
$GC,15598,1.05,222.4,518.2,11.1,2057,15604,0.00,2.83,0.00,0.000,4,0.000,0.118,3181,3741,2177
$GC,15638,1.05,222.4,513.5,11.4,2064,15644,0.00,2.75,0.00,0.000,6,0.000,0.097,3181,2323,2177
$GC,15982,1.05,222.4,477.3,10.4,2125,15988,0.00,2.78,0.00,0.000,4,0.000,0.116,3181,917,2177
$GC,16022,1.05,222.4,472.8,10.7,2132,16029,0.00,2.72,0.00,0.000,6,0.000,0.102,3181,2330,2177
$GC,16368,1.06,233.1,437.7,9.6,2193,16383,0.00,0.00,10.80,1.037,6,0.000,0.000,3181,2330,2133
$GC,16721,1.09,254.7,403.0,9.3,2256,16742,0.00,0.00,19.25,1.022,6,0.000,0.000,3182,2330,2046
$GC,17080,1.09,254.7,367.4,10.5,2320,17086,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2330,2044
$GC,17423,1.10,265.1,334.3,9.6,2381,17435,0.00,0.00,9.88,0.953,6,0.000,0.000,3181,2331,2004
$GC,17772,1.10,265.1,299.2,10.4,2443,17778,0.00,2.78,0.00,0.000,4,0.000,0.107,3181,915,2003
$GC,17802,1.14,265.1,296.1,11.9,2448,17809,0.12,2.70,0.00,0.000,6,0.065,0.095,3213,2324,2003
$GC,18146,1.14,265.1,255.2,12.1,2509,18152,0.00,2.80,0.00,0.000,4,0.000,0.110,3214,3741,2002
$GC,18181,1.10,265.1,250.7,12.0,2515,18188,0.00,2.72,0.00,0.000,6,0.000,0.089,3214,2315,2002
$GC,18525,1.10,265.1,210.4,10.7,2576,18531,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2315,2002
$GC,18869,1.10,265.1,170.3,11.6,2637,18874,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2315,2003
$GC,19211,1.10,265.1,128.9,11.3,2698,19217,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2316,2003
$GC,19352,1.10,265.1,111.8,13.4,2723,19358,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2316,2003
$GC,19494,1.10,265.1,93.4,12.7,2748,19500,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2316,2003
$GC,19635,1.10,265.1,75.7,12.8,2773,19642,0.00,2.80,0.00,0.000,4,0.000,0.105,3214,3739,2003
$GC,19677,1.05,265.1,70.4,13.4,2780,19684,0.12,2.67,0.00,0.000,6,0.109,0.085,3191,2319,2003
$GC,19821,1.05,265.1,55.1,10.4,2805,19828,0.00,2.70,0.00,0.000,4,0.000,0.102,3191,908,2004
$GC,19851,1.05,265.1,51.7,10.3,2810,19858,0.00,2.67,0.00,0.000,6,0.000,0.087,3191,2330,2004
$GC,19993,1.05,265.1,35.8,14.0,2835,19999,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2330,2004
$GC,20135,1.05,265.1,18.2,14.0,2860,20142,0.00,2.75,0.00,0.000,4,0.000,0.106,3191,3744,2004
$GC,20170,1.05,265.1,13.6,13.3,2866,20177,0.00,2.72,0.00,0.000,6,0.000,0.084,3191,2296,2004
$STATE,20265,end climb,SURFACE_DEPTH_REACHED
$STATE,20265,begin surface coast
$FINISH,0.1,1.027792
$STATE,20283,end surface coast,CONTROL_FINISHED_OK
$STATE,20285,begin surface
$SM_CCo,20366,0.00,0.000,0,0,2002,265.41
$SM_GC,0.89,11.43,0.00,0.00,0.046,0.000,0.000,590,2234,2002,-10.85,-0.03,265.41
$IRIDIUM_FIX,5858.64,-2155.93,170797,050548
$TT8_MAMPS,0.02301
$HUMID,1609
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.10
$XPDR_PINGS,78
$24V_AH,23.4,23.463
$10V_AH,10.7,17.644
$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,27.725,121.550,395.950,0.000,0.000,22.404,30.811,291.366,19.500,0.000,0.000,15.647,4320.548,10448.359,618.614,4691.733,759.836,0.000,2661.860,0.000,4694.009,0.000,0.467
$DEVICE_MAMPS,207.090,151.099,1441.193,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1999.545,2173.926,1822.515,1180.515,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,163987,2886
$CAP_FILE_SIZE,213901,0
$CFSIZE,260165632,248160256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220408,165038,5936.808,-2146.788,29,1.2,29,-15.2