version: 66.03
glider: 140
mission: 5
dive: 121
start: 5 2 108 1 36 41
data:
$ID,140
$MISSION,5
$DIVE,121
$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,40
$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,-15442.145
$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,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
$GPS1,012455,6120.812,-2523.819,40,1.1,40,-18.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-57.0
$GPS2,013621,6120.757,-2523.790,12,1.0,12,-18.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6129.030,-2520.476
$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,58.0,20000,-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,-194.7,0.0,0.0,0,95,0.00,0.00,-65.65,0.000,2,0.000,0.000,585,2228,3484
$GC,98,-1.29,-194.7,3.5,-8.6,12,127,12.77,2.72,-8.70,0.000,4,0.199,0.110,2669,823,3881
$GC,201,-1.29,-194.7,18.8,-10.1,30,208,0.00,2.65,0.00,0.000,6,0.000,0.087,2669,2237,3882
$GC,345,-1.29,-194.7,34.0,-10.0,55,350,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,486,-1.29,-194.7,47.6,-9.1,80,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,628,-1.29,-194.7,63.0,-10.5,105,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,970,-1.29,-194.7,97.8,-10.2,166,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3883
$GC,1313,-1.29,-194.7,132.4,-9.8,227,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3883
$GC,1656,-1.29,-194.7,165.5,-9.7,288,1662,0.00,2.75,0.00,0.000,4,0.000,0.104,2669,820,3883
$GC,1691,-1.29,-194.7,168.8,-9.7,294,1697,0.00,2.70,0.00,0.000,6,0.000,0.090,2669,2244,3883
$GC,2034,-1.29,-194.7,201.3,-9.9,355,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2245,3883
$GC,2378,-1.29,-194.7,235.4,-10.0,416,2385,0.00,2.78,0.00,0.000,4,0.000,0.107,2669,823,3883
$GC,2402,-1.29,-194.7,238.0,-10.2,420,2408,0.00,2.72,0.00,0.000,6,0.000,0.094,2669,2254,3883
$GC,2746,-1.29,-194.7,269.4,-9.4,481,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2254,3883
$GC,3089,-1.29,-194.7,301.1,-9.3,542,3095,0.00,2.80,0.00,0.000,4,0.000,0.112,2669,826,3883
$GC,3135,-1.29,-194.7,305.6,-9.7,550,3141,0.00,2.72,0.00,0.000,6,0.000,0.097,2669,2247,3883
$GC,3479,-1.29,-194.7,338.3,-9.6,611,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2247,3883
$GC,3810,-1.29,-194.7,369.2,-9.2,653,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2247,3883
$GC,4128,-1.29,-194.7,397.9,-9.1,683,4133,0.00,2.80,0.00,0.000,4,0.000,0.114,2669,827,3882
$GC,4150,-1.29,-194.7,400.2,-9.9,684,4156,0.00,2.70,0.00,0.000,6,0.000,0.100,2669,2234,3882
$GC,4478,-1.29,-194.7,430.2,-9.2,715,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,4803,-1.29,-194.7,460.0,-8.8,746,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,5121,-1.29,-194.7,488.2,-9.0,776,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,5440,-1.29,-194.7,516.8,-9.0,806,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,5758,-1.29,-194.7,545.6,-9.0,836,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3882
$GC,6078,-1.29,-194.7,574.1,-9.0,866,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,6395,-1.29,-194.7,602.5,-8.8,895,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,6704,-1.29,-194.7,629.6,-8.8,910,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3881
$GC,7013,-1.29,-194.7,657.4,-8.9,925,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,7322,-1.29,-194.7,685.1,-9.0,940,7327,0.00,2.83,0.00,0.000,4,0.000,0.123,2669,3652,3881
$GC,7343,-1.29,-194.7,687.2,-9.7,941,7348,0.00,2.67,0.00,0.000,6,0.000,0.094,2669,2235,3881
$GC,7664,-1.29,-194.7,716.1,-9.1,957,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3881
$GC,7973,-1.29,-194.7,745.1,-9.4,972,7978,0.00,2.83,0.00,0.000,4,0.000,0.121,2669,3650,3881
$GC,7990,-1.29,-194.7,746.7,-9.3,973,7994,0.00,2.70,0.00,0.000,6,0.000,0.096,2669,2234,3881
$GC,8316,-1.29,-194.7,777.9,-9.8,989,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3881
$GC,8625,-1.29,-194.7,808.4,-9.9,1004,8626,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3881
$GC,8934,-1.29,-194.7,838.2,-9.3,1019,8939,0.00,2.85,0.00,0.000,4,0.000,0.123,2669,3652,3880
$GC,8955,-1.29,-194.7,840.3,-10.2,1020,8960,0.00,2.72,0.00,0.000,6,0.000,0.099,2669,2233,3880
$GC,9276,-1.29,-194.7,869.6,-9.0,1036,9277,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2233,3880
$GC,9585,-1.29,-194.7,895.9,-7.9,1051,9590,0.00,2.85,0.00,0.000,4,0.000,0.123,2669,3651,3880
$GC,9608,-1.29,-194.7,897.7,-8.3,1052,9613,0.00,2.72,0.00,0.000,6,0.000,0.100,2669,2234,3880
$GC,9929,-1.29,-194.7,924.8,-8.2,1068,9931,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3880
$GC,10239,-1.29,-194.7,949.2,-7.9,1083,10243,0.00,2.85,0.00,0.000,4,0.000,0.126,2669,3652,3879
$GC,10266,-1.29,-194.7,951.6,-9.4,1084,10270,0.00,2.72,0.00,0.000,6,0.000,0.104,2669,2235,3880
$GC,10581,-1.29,-194.7,976.5,-7.5,1099,10582,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3880
$STATE,10764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10764,begin apogee
$GC,10770,-0.35,0.0,991.0,7.8,1108,10939,1.05,0.00,165.93,1.426,6,0.105,0.000,2879,2334,3085
$STATE,10940,end apogee,CONTROL_FINISHED_OK
$STATE,10940,begin climb
$GC,10943,1.29,194.7,996.3,0.0,1116,11110,1.62,0.00,163.15,1.388,6,0.060,0.000,3245,2334,2291
$GC,11420,1.19,194.7,943.2,13.7,1140,11425,0.12,2.92,0.00,0.000,4,0.118,0.129,3223,919,2288
$GC,11448,1.13,194.7,939.1,13.8,1141,11453,0.00,2.78,0.00,0.000,6,0.000,0.108,3223,2321,2289
$GC,11763,1.07,194.7,899.8,12.5,1156,11769,0.15,2.92,0.00,0.000,4,0.110,0.127,3196,3738,2288
$GC,11841,1.01,194.7,890.2,11.7,1159,11848,0.00,2.80,0.00,0.000,6,0.000,0.101,3196,2312,2288
$GC,12157,1.01,194.7,854.3,11.5,1175,12158,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2313,2288
$GC,12466,1.01,194.7,819.4,11.7,1190,12470,0.00,2.90,0.00,0.000,4,0.000,0.120,3196,3738,2287
$GC,12505,0.95,194.7,814.5,12.4,1192,12510,0.15,2.75,0.00,0.000,6,0.108,0.097,3168,2331,2287
$GC,12832,0.95,194.7,779.9,10.3,1208,12833,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2332,2287
$GC,13141,0.97,212.2,750.6,9.4,1223,13163,0.00,2.88,15.88,1.227,4,0.000,0.118,3168,919,2219
$GC,13191,0.98,217.2,745.7,9.8,1225,13202,0.00,2.78,5.90,0.974,6,0.000,0.101,3168,2338,2199
$GC,13511,0.98,217.2,713.7,10.1,1240,13515,0.00,2.85,0.00,0.000,4,0.000,0.120,3168,3738,2198
$GC,13543,0.98,217.2,710.2,10.1,1241,13549,0.00,2.72,0.00,0.000,6,0.000,0.094,3168,2331,2198
$GC,13859,0.99,224.7,679.6,9.7,1257,13869,0.00,0.00,8.12,1.099,6,0.000,0.000,3168,2331,2168
$GC,14167,0.99,224.7,648.5,10.0,1272,14169,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2331,2167
$GC,14478,1.00,237.4,618.5,9.6,1287,14496,0.00,0.00,12.35,1.119,6,0.000,0.000,3168,2331,2117
$GC,14810,1.01,248.5,585.7,9.6,1309,14822,0.00,0.00,10.73,1.078,6,0.000,0.000,3168,2331,2072
$GC,15143,1.02,252.6,553.3,9.9,1340,15153,0.00,0.00,5.28,0.886,6,0.000,0.000,3168,2331,2055
$GC,15475,1.04,267.9,522.2,9.5,1371,15495,0.00,2.90,14.73,1.058,4,0.000,0.110,3168,3738,1991
$GC,15519,1.04,268.8,517.6,10.0,1375,15523,0.00,2.72,0.00,0.000,6,0.000,0.088,3168,2334,1990
$GC,15845,1.07,292.7,486.0,9.2,1405,15877,0.10,2.90,22.58,1.051,4,0.071,0.111,3194,917,1891
$GC,15893,1.07,292.7,480.6,11.0,1409,15899,0.00,2.78,0.00,0.000,6,0.000,0.095,3195,2344,1890
$GC,16220,1.07,292.7,444.4,12.0,1440,16224,0.00,2.78,0.00,0.000,4,0.000,0.112,3195,3738,1887
$GC,16252,1.07,292.7,440.0,13.4,1442,16258,0.00,2.67,0.00,0.000,6,0.000,0.087,3195,2336,1887
$GC,16580,1.07,292.7,402.6,11.5,1473,16585,0.00,2.78,0.00,0.000,4,0.000,0.110,3195,916,1887
$GC,16610,1.07,292.7,399.1,11.1,1475,16615,0.00,2.75,0.00,0.000,6,0.000,0.094,3195,2352,1887
$GC,16935,1.07,292.7,362.4,10.7,1505,16939,0.00,2.75,0.00,0.000,4,0.000,0.110,3194,3737,1886
$GC,16967,1.07,292.7,358.6,11.0,1507,16973,0.00,2.65,0.00,0.000,6,0.000,0.085,3195,2339,1886
$GC,17306,1.07,292.7,323.4,10.9,1560,17313,0.00,2.78,0.00,0.000,4,0.000,0.108,3195,915,1886
$GC,17348,1.07,292.7,318.9,11.4,1567,17354,0.00,2.70,0.00,0.000,6,0.000,0.091,3195,2335,1887
$GC,17691,1.07,292.7,283.0,10.5,1628,17698,0.00,2.75,0.00,0.000,4,0.000,0.108,3195,3737,1886
$GC,17732,1.07,292.7,278.4,10.2,1635,17738,0.00,2.67,0.00,0.000,6,0.000,0.087,3195,2334,1886
$GC,18077,1.07,292.7,241.8,10.7,1696,18083,0.00,2.75,0.00,0.000,4,0.000,0.107,3195,914,1886
$GC,18106,1.07,292.7,238.3,10.6,1701,18112,0.00,2.70,0.00,0.000,6,0.000,0.090,3195,2337,1886
$GC,18449,1.07,292.7,198.9,12.4,1762,18455,0.00,2.75,0.00,0.000,4,0.000,0.107,3195,3737,1886
$GC,18490,1.07,292.7,194.0,13.4,1769,18496,0.00,2.67,0.00,0.000,6,0.000,0.084,3195,2325,1886
$GC,18833,1.07,292.7,154.9,10.8,1830,18839,0.00,2.70,0.00,0.000,4,0.000,0.104,3194,919,1886
$GC,18867,1.07,292.7,151.0,11.6,1836,18874,0.00,2.67,0.00,0.000,6,0.000,0.090,3195,2341,1886
$GC,19211,1.07,292.7,113.1,10.3,1897,19217,0.00,2.72,0.00,0.000,4,0.000,0.104,3195,3737,1886
$GC,19240,1.07,292.7,109.8,11.5,1902,19246,0.00,2.65,0.00,0.000,6,0.000,0.083,3195,2328,1886
$GC,19584,1.07,292.7,72.4,11.0,1963,19590,0.00,2.70,0.00,0.000,4,0.000,0.101,3195,918,1886
$GC,19619,1.11,292.7,68.1,12.7,1969,19625,0.00,2.67,0.00,0.000,6,0.000,0.087,3195,2338,1886
$GC,19963,1.11,292.7,28.2,10.6,2030,19969,0.00,2.70,0.00,0.000,4,0.000,0.103,3195,3737,1886
$GC,20004,1.11,292.7,23.1,12.3,2037,20011,0.00,2.65,0.00,0.000,6,0.000,0.083,3195,2329,1885
$GC,20146,1.11,292.7,7.1,14.3,2062,20152,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2330,1886
$STATE,20196,end climb,SURFACE_DEPTH_REACHED
$STATE,20196,begin surface coast
$FINISH,0.3,1.027850
$STATE,20214,end surface coast,CONTROL_FINISHED_OK
$STATE,20214,begin surface
$SM_CCo,20295,0.00,0.000,0,0,1884,294.61
$SM_GC,0.98,11.40,0.00,0.00,0.044,0.000,0.000,589,2234,1884,-10.85,-0.06,294.61
$IRIDIUM_FIX,6059.36,-2525.68,270797,010159
$TT8_MAMPS,0.02301
$HUMID,1618
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.90
$XPDR_PINGS,73
$24V_AH,23.4,30.506
$10V_AH,10.7,23.628
$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,27.375,154.750,424.625,0.000,0.000,55.726,69.227,356.253,18.250,0.000,0.000,12.783,3234.302,12851.027,642.816,3397.620,838.446,0.000,2211.802,0.000,3387.832,0.000,0.467
$DEVICE_MAMPS,199.420,140.361,1425.853,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1450.628,1526.175,970.346,586.307,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116697,2074
$CAP_FILE_SIZE,185648,0
$CFSIZE,260165632,244396032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,020508,071624,6121.239,-2519.110,37,1.9,53,-18.0