version: 66.03
glider: 140
mission: 5
dive: 137
start: 5 5 108 15 31 40
data:
$ID,140
$MISSION,5
$DIVE,137
$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,350
$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,-15903.005
$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,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
$GPS1,152237,6042.839,-2715.294,40,1.8,45,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-56.7
$GPS2,153121,6042.928,-2715.564,16,1.6,16,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6053.563,-2716.476
$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,8.6,20000,-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,27,-1.29,-194.7,0.0,0.0,0,100,0.00,0.00,-70.82,0.000,2,0.000,0.000,592,2223,3588
$GC,104,-1.29,-194.7,3.5,-5.9,13,129,12.52,2.75,-6.05,0.000,4,0.194,0.111,2668,3643,3880
$GC,141,-0.93,-194.7,12.8,-20.5,19,148,0.43,2.65,0.00,0.000,6,0.100,0.083,2752,2228,3881
$GC,286,-1.02,-194.7,21.4,-8.4,44,292,0.00,2.72,0.00,0.000,4,0.000,0.097,2753,3654,3881
$GC,447,-1.14,-194.7,31.0,-5.8,72,455,0.20,2.70,0.00,0.000,6,0.054,0.082,2703,2198,3880
$GC,592,-1.14,-194.7,41.7,-8.0,97,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2199,3881
$GC,733,-1.14,-194.7,52.9,-8.2,122,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2199,3881
$GC,1077,-1.14,-194.7,81.4,-8.1,183,1083,0.00,2.80,0.00,0.000,4,0.000,0.100,2703,3652,3882
$GC,1101,-1.19,-194.7,83.4,-8.2,187,1107,0.00,2.70,0.00,0.000,6,0.000,0.083,2703,2205,3881
$GC,1445,-1.19,-194.7,110.5,-8.1,248,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2205,3881
$GC,1789,-1.19,-194.7,138.9,-8.1,309,1795,0.00,2.78,0.00,0.000,4,0.000,0.102,2703,3644,3882
$GC,1847,-1.25,-194.7,143.8,-8.7,319,1853,0.00,2.67,0.00,0.000,6,0.000,0.086,2703,2217,3882
$GC,2190,-1.25,-194.7,171.6,-8.2,380,2197,0.00,2.78,0.00,0.000,4,0.000,0.104,2704,3651,3882
$GC,2233,-1.31,-194.7,175.0,-8.4,387,2240,0.12,2.67,0.00,0.000,6,0.064,0.087,2670,2226,3881
$GC,2577,-1.31,-194.7,207.2,-9.5,448,2584,0.00,2.75,0.00,0.000,4,0.000,0.106,2670,3650,3882
$GC,2601,-1.31,-194.7,209.6,-10.4,452,2608,0.00,2.67,0.00,0.000,6,0.000,0.087,2670,2222,3882
$GC,2945,-1.31,-194.7,244.4,-10.5,513,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2222,3882
$GC,3288,-1.31,-194.7,277.8,-9.5,574,3294,0.00,2.78,0.00,0.000,4,0.000,0.108,2670,3646,3882
$GC,3329,-1.31,-194.7,281.7,-9.6,581,3335,0.00,2.67,0.00,0.000,6,0.000,0.089,2670,2224,3882
$GC,3673,-1.31,-194.7,313.6,-9.4,642,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2225,3882
$GC,4016,-1.31,-194.7,345.9,-9.6,703,4022,0.00,2.78,0.00,0.000,4,0.000,0.110,2670,3644,3881
$GC,4050,-1.31,-194.7,349.4,-10.1,709,4057,0.00,2.67,0.00,0.000,6,0.000,0.091,2670,2226,3881
$GC,4384,-1.31,-194.7,379.9,-9.1,741,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3881
$GC,4700,-1.31,-194.7,408.9,-9.2,771,4705,0.00,2.78,0.00,0.000,4,0.000,0.110,2670,3646,3882
$GC,4744,-1.31,-194.7,413.1,-9.4,774,4750,0.00,2.65,0.00,0.000,6,0.000,0.091,2670,2237,3881
$GC,5070,-1.31,-194.7,441.5,-8.7,805,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,5389,-1.31,-194.7,470.3,-9.4,835,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3881
$GC,5706,-1.31,-194.7,501.3,-9.6,865,5711,0.00,2.75,0.00,0.000,4,0.000,0.111,2670,3644,3881
$GC,5739,-1.31,-194.7,504.8,-10.2,867,5745,0.00,2.67,0.00,0.000,6,0.000,0.092,2670,2230,3881
$GC,6066,-1.31,-194.7,535.4,-9.6,898,6071,0.00,2.78,0.00,0.000,4,0.000,0.113,2670,3643,3881
$GC,6094,-1.31,-194.7,538.4,-10.4,900,6098,0.00,2.65,0.00,0.000,6,0.000,0.093,2670,2244,3881
$GC,6420,-1.31,-194.7,568.2,-8.7,930,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3881
$GC,6737,-1.31,-194.7,594.6,-8.4,960,6741,0.00,2.78,0.00,0.000,4,0.000,0.115,2670,3650,3881
$GC,6787,-1.31,-194.7,599.0,-9.1,964,6792,0.00,2.67,0.00,0.000,6,0.000,0.095,2670,2244,3881
$GC,7113,-1.31,-194.7,626.1,-8.6,980,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3881
$GC,7422,-1.31,-194.7,654.7,-9.6,995,7427,0.00,2.78,0.00,0.000,4,0.000,0.117,2670,3647,3881
$GC,7449,-1.31,-194.7,657.5,-10.4,996,7454,0.00,2.67,0.00,0.000,6,0.000,0.097,2670,2249,3880
$GC,7765,-1.31,-194.7,686.8,-8.7,1011,7770,0.00,2.78,0.00,0.000,4,0.000,0.120,2670,3643,3880
$GC,7805,-1.31,-194.7,690.4,-9.2,1013,7809,0.00,2.67,0.00,0.000,6,0.000,0.098,2670,2245,3881
$GC,8131,-1.31,-194.7,717.7,-8.0,1029,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3880
$GC,8440,-1.31,-194.7,741.8,-7.6,1044,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3880
$GC,8749,-1.31,-194.7,766.8,-8.7,1059,8754,0.00,2.80,0.00,0.000,4,0.000,0.124,2670,3642,3880
$GC,8798,-1.31,-194.7,771.3,-9.1,1061,8803,0.00,2.67,0.00,0.000,6,0.000,0.102,2670,2252,3880
$GC,9114,-1.31,-194.7,799.9,-9.6,1076,9115,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3880
$GC,9423,-1.31,-194.7,826.2,-7.7,1091,9428,0.00,2.78,0.00,0.000,4,0.000,0.125,2670,3641,3879
$GC,9450,-1.31,-194.7,828.5,-8.5,1092,9454,0.00,2.65,0.00,0.000,6,0.000,0.100,2670,2262,3879
$GC,9766,-1.31,-194.7,849.9,-6.3,1107,9767,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2263,3879
$GC,10075,-1.31,-194.7,870.6,-5.5,1122,10076,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2263,3879
$GC,10384,-1.31,-194.7,890.0,-7.3,1137,10385,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2263,3878
$GC,10693,-1.31,-194.7,911.6,-7.1,1152,10694,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2263,3877
$GC,11003,-1.31,-194.7,935.6,-8.4,1167,11007,0.00,2.80,0.00,0.000,4,0.000,0.129,2670,3644,3878
$GC,11042,-1.31,-194.7,939.1,-9.3,1169,11046,0.00,2.67,0.00,0.000,6,0.000,0.106,2670,2266,3877
$GC,11368,-1.31,-194.7,970.0,-9.7,1185,11369,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2267,3877
$STATE,11592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11592,begin apogee
$GC,11598,-0.35,0.0,990.7,9.2,1196,11767,1.02,0.00,165.07,1.434,6,0.100,0.000,2878,2326,3085
$STATE,11768,end apogee,CONTROL_FINISHED_OK
$STATE,11768,begin climb
$GC,11770,1.29,194.7,998.7,0.0,1204,11943,1.65,3.05,161.95,1.398,4,0.061,0.138,3240,914,2290
$GC,11987,1.21,194.7,984.1,13.1,1214,11992,0.00,2.85,0.00,0.000,6,0.000,0.113,3240,2330,2289
$GC,12303,1.12,194.7,945.8,12.2,1229,12309,0.17,2.95,0.00,0.000,4,0.111,0.133,3206,3739,2289
$GC,12359,1.04,194.7,938.9,12.6,1231,12366,0.00,2.78,0.00,0.000,6,0.000,0.108,3205,2343,2289
$GC,12675,1.00,194.7,903.2,10.9,1247,12680,0.15,2.95,0.00,0.000,4,0.114,0.132,3174,911,2288
$GC,12719,1.00,199.9,898.4,9.8,1249,12730,0.00,2.83,5.72,1.057,6,0.000,0.109,3174,2339,2270
$GC,13040,1.02,211.9,868.2,9.6,1264,13061,0.00,2.97,11.98,1.261,4,0.000,0.127,3174,3734,2220
$GC,13084,1.02,211.9,863.5,11.4,1266,13089,0.00,2.83,0.00,0.000,6,0.000,0.104,3174,2324,2219
$GC,13410,1.02,211.9,825.6,12.0,1282,13411,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2324,2219
$GC,13719,1.02,211.9,789.0,11.6,1297,13720,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2324,2219
$GC,14028,1.02,211.9,754.9,10.5,1312,14033,0.00,2.90,0.00,0.000,4,0.000,0.120,3174,3739,2218
$GC,14060,1.02,211.9,751.3,10.2,1313,14067,0.00,2.75,0.00,0.000,6,0.000,0.100,3174,2333,2219
$GC,14376,1.05,240.0,722.3,9.0,1329,14407,0.00,2.92,24.95,1.240,4,0.000,0.122,3174,914,2106
$GC,14446,1.06,247.7,715.8,9.7,1332,14460,0.00,2.78,8.23,1.091,6,0.000,0.102,3174,2330,2075
$GC,14787,1.10,274.7,683.9,9.1,1349,14818,0.10,2.95,24.12,1.198,4,0.073,0.121,3200,3739,1965
$GC,14851,1.10,274.7,676.7,11.9,1352,14856,0.00,2.78,0.00,0.000,6,0.000,0.098,3200,2327,1963
$GC,15172,1.10,274.7,641.9,10.7,1368,15173,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2327,1961
$GC,15481,1.10,274.7,609.6,10.4,1383,15482,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2326,1960
$GC,15797,1.10,274.7,576.0,11.2,1408,15798,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2326,1960
$GC,16115,1.10,274.7,538.5,11.8,1438,16116,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2326,1960
$GC,16434,1.10,274.7,499.9,12.5,1468,16435,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2326,1960
$GC,16752,1.10,274.7,458.8,13.4,1498,16753,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2326,1960
$GC,17071,1.10,274.7,413.9,14.3,1528,17076,0.00,2.83,0.00,0.000,4,0.000,0.109,3200,3741,1960
$GC,17110,1.10,274.7,408.0,15.3,1531,17114,0.00,2.72,0.00,0.000,6,0.000,0.088,3200,2323,1960
$GC,17434,1.10,274.7,361.0,14.1,1561,17435,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2323,1960
$GC,17766,1.10,274.7,315.5,13.3,1613,17771,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2323,1960
$GC,18108,1.10,274.7,273.8,11.5,1674,18113,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2323,1961
$GC,18450,1.10,274.7,236.2,11.0,1735,18455,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2323,1960
$GC,18792,1.10,274.7,199.0,11.5,1796,18798,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2323,1960
$GC,19135,1.10,274.7,162.9,11.2,1857,19141,0.00,2.78,0.00,0.000,4,0.000,0.104,3200,3740,1960
$GC,19164,1.10,274.7,159.6,11.0,1862,19170,0.00,2.67,0.00,0.000,6,0.000,0.086,3200,2332,1960
$GC,19508,1.10,274.7,122.1,10.8,1923,19513,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2333,1961
$GC,19850,1.10,274.7,84.3,10.2,1984,19856,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2333,1961
$GC,20196,1.10,274.7,46.1,12.1,2045,20202,0.00,2.75,0.00,0.000,4,0.000,0.102,3200,3740,1961
$GC,20242,1.10,274.7,40.3,13.6,2053,20249,0.00,2.65,0.00,0.000,6,0.000,0.084,3200,2339,1961
$GC,20384,1.10,274.7,24.4,10.3,2078,20391,0.00,2.72,0.00,0.000,4,0.000,0.103,3200,916,1962
$GC,20431,1.10,274.7,18.9,11.8,2086,20438,0.00,2.65,0.00,0.000,6,0.000,0.085,3200,2338,1962
$GC,20574,1.10,274.7,2.3,12.8,2111,20580,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2338,1962
$STATE,20584,end climb,SURFACE_DEPTH_REACHED
$STATE,20584,begin surface coast
$FINISH,0.2,1.020818
$STATE,20598,end surface coast,CONTROL_FINISHED_OK
$STATE,20598,begin surface
$SM_CCo,20679,0.00,0.000,0,0,1960,275.96
$SM_GC,0.89,11.48,0.00,0.00,0.047,0.000,0.000,587,2231,1960,-10.86,-0.11,275.96
$IRIDIUM_FIX,6015.40,-2711.18,300797,101054
$TT8_MAMPS,0.02301
$HUMID,1626
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.70
$XPDR_PINGS,104
$24V_AH,23.4,33.443
$10V_AH,10.7,25.808
$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,27.850,154.975,402.025,0.000,0.000,31.305,27.566,300.788,26.000,0.000,0.000,16.681,3312.476,12992.854,577.713,3576.219,727.300,0.000,2233.236,0.000,3553.071,0.000,0.467
$DEVICE_MAMPS,194.051,154.934,1434.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1465.316,1568.224,1047.123,633.458,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120113,2115
$CAP_FILE_SIZE,189000,0
$CFSIZE,260165632,242970624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,050508,211737,6046.108,-2720.925,38,1.2,43,-18.7