version: 66.03
glider: 140
mission: 5
dive: 139
start: 5 6 108 2 52 59
data:
$ID,140
$MISSION,5
$DIVE,139
$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,5
$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,-15930.07
$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
$GPS1,024538,6048.646,-2721.146,28,1.4,28,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-62.2
$GPS2,025239,6048.688,-2721.249,13,1.5,13,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6059.446,-2720.793
$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,23.7,20000,-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,-194.7,0.0,0.0,0,111,0.00,0.00,-82.05,0.000,2,0.000,0.000,588,2224,3669
$GC,114,-1.29,-194.7,3.6,-6.6,15,139,12.57,2.75,-4.32,0.000,4,0.194,0.112,2671,3646,3881
$GC,278,-1.29,-194.7,24.3,-9.4,43,284,0.00,2.62,0.00,0.000,6,0.000,0.081,2671,2232,3881
$GC,420,-1.29,-194.7,38.1,-10.7,68,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2232,3882
$GC,562,-1.29,-194.7,52.1,-9.3,93,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,904,-1.29,-194.7,83.5,-8.7,154,910,0.00,2.72,0.00,0.000,4,0.000,0.102,2671,3648,3882
$GC,945,-1.29,-194.7,87.2,-9.5,161,951,0.00,2.67,0.00,0.000,6,0.000,0.084,2671,2217,3882
$GC,1289,-1.29,-194.7,118.7,-8.9,222,1295,0.00,2.75,0.00,0.000,4,0.000,0.102,2671,3646,3881
$GC,1342,-1.29,-194.7,123.4,-9.1,231,1348,0.00,2.65,0.00,0.000,6,0.000,0.084,2671,2230,3882
$GC,1686,-1.29,-194.7,153.7,-8.8,292,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3882
$GC,2030,-1.29,-194.7,183.6,-8.5,353,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3881
$GC,2372,-1.29,-194.7,212.8,-8.5,414,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3882
$GC,2714,-1.29,-194.7,243.3,-9.0,475,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3882
$GC,3057,-1.29,-194.7,274.2,-8.6,536,3064,0.00,2.78,0.00,0.000,4,0.000,0.107,2671,3653,3882
$GC,3087,-1.29,-194.7,277.0,-9.5,541,3093,0.00,2.67,0.00,0.000,6,0.000,0.087,2671,2227,3882
$GC,3430,-1.29,-194.7,308.6,-9.4,602,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3882
$GC,3773,-1.29,-194.7,342.0,-9.7,663,3779,0.00,2.78,0.00,0.000,4,0.000,0.109,2671,3646,3882
$GC,3819,-1.29,-194.7,346.6,-9.9,671,3825,0.00,2.65,0.00,0.000,6,0.000,0.088,2671,2235,3882
$GC,4147,-1.29,-194.7,376.9,-8.9,705,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3882
$GC,4466,-1.29,-194.7,404.0,-8.2,735,4471,0.00,2.75,0.00,0.000,4,0.000,0.110,2671,3652,3882
$GC,4505,-1.29,-194.7,407.5,-8.4,738,4510,0.00,2.65,0.00,0.000,6,0.000,0.089,2671,2241,3882
$GC,4832,-1.29,-194.7,432.4,-7.5,768,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3882
$GC,5148,-1.29,-194.7,455.8,-7.5,798,5153,0.00,2.75,0.00,0.000,4,0.000,0.109,2671,3651,3882
$GC,5181,-1.29,-194.7,458.4,-7.8,800,5188,0.00,2.65,0.00,0.000,6,0.000,0.091,2671,2239,3882
$GC,5507,-1.29,-194.7,481.7,-8.2,831,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3881
$GC,5825,-1.29,-194.7,508.8,-8.5,861,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3882
$GC,6142,-1.29,-194.7,539.0,-10.5,891,6144,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3882
$GC,6462,-1.29,-194.7,574.0,-10.9,921,6466,0.00,2.78,0.00,0.000,4,0.000,0.113,2671,3653,3881
$GC,6494,-1.29,-194.7,577.9,-11.7,923,6500,0.00,2.65,0.00,0.000,6,0.000,0.091,2671,2246,3881
$GC,6825,-1.29,-194.7,615.4,-11.8,949,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2246,3881
$GC,7135,-1.29,-194.7,654.0,-12.3,964,7139,0.00,2.78,0.00,0.000,4,0.000,0.117,2671,3649,3881
$GC,7167,-1.29,-194.7,658.3,-12.9,965,7173,0.00,2.67,0.00,0.000,6,0.000,0.095,2671,2241,3881
$GC,7482,-1.29,-194.7,691.9,-10.1,981,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3881
$GC,7792,-1.29,-194.7,723.0,-10.2,996,7794,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3881
$GC,8102,-1.29,-194.7,752.9,-9.0,1011,8106,0.00,2.85,0.00,0.000,4,0.000,0.124,2671,818,3880
$GC,8123,-1.29,-194.7,754.7,-8.5,1012,8127,0.00,2.75,0.00,0.000,6,0.000,0.101,2671,2245,3880
$GC,8444,-1.29,-194.7,778.4,-7.5,1028,8448,0.00,2.80,0.00,0.000,4,0.000,0.126,2671,3644,3880
$GC,8476,-1.29,-194.7,780.9,-8.1,1029,8482,0.00,2.67,0.00,0.000,6,0.000,0.096,2671,2238,3880
$GC,8792,-1.29,-194.7,803.5,-7.5,1045,8796,0.00,2.80,0.00,0.000,4,0.000,0.120,2671,3645,3880
$GC,8819,-1.29,-194.7,805.5,-7.7,1046,8823,0.00,2.67,0.00,0.000,6,0.000,0.099,2671,2244,3880
$GC,9135,-1.29,-194.7,826.6,-6.7,1061,9136,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3880
$GC,9443,-1.29,-194.7,846.5,-5.9,1076,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3879
$GC,9753,-1.29,-194.7,865.2,-6.1,1091,9757,0.00,2.80,0.00,0.000,4,0.000,0.123,2671,3645,3879
$GC,9792,-1.29,-194.7,867.8,-6.6,1093,9796,0.00,2.67,0.00,0.000,6,0.000,0.101,2671,2254,3879
$GC,10118,-1.29,-194.7,888.3,-5.8,1109,10119,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2255,3879
$GC,10427,-1.29,-194.7,910.7,-7.9,1124,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2254,3878
$GC,10736,-1.29,-194.7,940.6,-10.9,1139,10737,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2255,3878
$GC,11045,-1.29,-194.7,977.6,-12.0,1154,11050,0.00,2.83,0.00,0.000,4,0.000,0.129,2671,3649,3878
$GC,11072,-1.29,-194.7,981.0,-12.8,1155,11076,0.00,2.70,0.00,0.000,6,0.000,0.106,2671,2256,3878
$STATE,11158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11158,begin apogee
$GC,11164,-0.35,0.0,991.8,12.4,1159,11333,1.02,0.00,165.48,1.426,6,0.103,0.000,2878,2328,3084
$STATE,11334,end apogee,CONTROL_FINISHED_OK
$STATE,11334,begin climb
$GC,11336,1.29,194.7,1004.7,0.0,1167,11509,1.65,3.05,162.23,1.396,4,0.062,0.132,3241,3738,2290
$GC,11577,1.17,205.6,996.2,9.6,1178,11595,0.12,2.85,10.90,1.239,6,0.120,0.107,3219,2322,2246
$GC,11919,1.23,303.8,973.8,6.6,1195,12007,0.00,0.00,86.05,1.362,6,0.000,0.000,3219,2323,1846
$GC,12306,1.23,303.8,934.9,11.6,1214,12307,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2323,1839
$GC,12615,1.23,303.8,897.1,12.7,1229,12616,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2323,1837
$GC,12925,1.23,303.8,855.8,13.9,1244,12929,0.00,2.92,0.00,0.000,4,0.000,0.125,3219,3738,1837
$GC,12986,1.18,303.8,846.3,15.1,1247,12991,0.00,2.80,0.00,0.000,6,0.000,0.103,3219,2329,1836
$GC,13313,1.18,303.8,800.9,13.0,1263,13317,0.00,2.88,0.00,0.000,4,0.000,0.127,3218,917,1836
$GC,13345,1.18,303.8,796.5,13.0,1264,13351,0.00,2.78,0.00,0.000,6,0.000,0.102,3219,2342,1836
$GC,13660,1.18,303.8,753.7,13.7,1280,13665,0.00,2.85,0.00,0.000,4,0.000,0.123,3218,3739,1835
$GC,13715,1.14,303.8,745.7,14.4,1282,13722,0.00,2.72,0.00,0.000,6,0.000,0.099,3218,2338,1835
$GC,14031,1.14,303.8,701.6,13.9,1298,14035,0.00,2.83,0.00,0.000,4,0.000,0.119,3219,919,1835
$GC,14074,1.14,303.8,695.2,13.2,1300,14079,0.00,2.72,0.00,0.000,6,0.000,0.100,3218,2335,1835
$GC,14395,1.14,303.8,655.0,11.6,1316,14397,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2335,1834
$GC,14705,1.14,303.8,616.6,13.2,1331,14706,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2336,1835
$GC,15019,1.14,303.8,574.5,13.4,1354,15023,0.00,2.80,0.00,0.000,4,0.000,0.114,3218,3739,1834
$GC,15058,1.09,303.8,568.9,15.1,1357,15063,0.00,2.70,0.00,0.000,6,0.000,0.091,3218,2335,1833
$GC,15384,1.09,303.8,523.1,14.1,1387,15389,0.10,2.78,0.00,0.000,4,0.118,0.110,3201,912,1834
$GC,15412,1.09,303.8,519.2,13.2,1389,15416,0.00,2.72,0.00,0.000,6,0.000,0.093,3201,2345,1834
$GC,15736,1.09,303.8,479.0,12.1,1419,15737,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2345,1834
$GC,16055,1.09,303.8,441.7,11.9,1449,16057,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2345,1834
$GC,16373,1.09,303.8,406.1,10.5,1479,16374,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2345,1835
$GC,16691,1.09,303.8,372.6,11.6,1509,16696,0.00,2.78,0.00,0.000,4,0.000,0.106,3201,914,1835
$GC,16719,1.09,303.8,369.4,10.6,1511,16724,0.00,2.70,0.00,0.000,6,0.000,0.091,3201,2340,1835
$GC,17052,1.09,303.8,328.6,12.0,1556,17058,0.00,2.75,0.00,0.000,4,0.000,0.107,3201,3738,1835
$GC,17082,1.09,303.8,324.7,14.8,1561,17088,0.00,2.67,0.00,0.000,6,0.000,0.087,3201,2332,1834
$GC,17426,1.09,303.8,278.7,14.8,1622,17432,0.00,2.72,0.00,0.000,4,0.000,0.107,3201,919,1835
$GC,17455,1.09,303.8,274.6,13.9,1627,17461,0.00,2.65,0.00,0.000,6,0.000,0.088,3201,2333,1835
$GC,17798,1.09,303.8,229.2,12.9,1688,17803,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2334,1835
$GC,18142,1.09,303.8,187.1,11.1,1749,18147,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2334,1835
$GC,18484,1.09,303.8,149.4,10.4,1810,18489,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2334,1835
$GC,18827,1.09,303.8,114.0,10.6,1871,18833,0.00,2.72,0.00,0.000,4,0.000,0.100,3201,917,1835
$GC,18867,1.09,303.8,109.4,10.8,1878,18873,0.00,2.65,0.00,0.000,6,0.000,0.086,3201,2338,1835
$GC,19210,1.09,303.8,71.8,10.6,1939,19216,0.00,2.70,0.00,0.000,4,0.000,0.100,3201,3735,1835
$GC,19246,1.09,303.8,67.6,12.4,1945,19252,0.00,2.65,0.00,0.000,6,0.000,0.081,3200,2328,1835
$GC,19589,1.09,303.8,27.7,11.3,2006,19594,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2327,1835
$GC,19731,1.09,303.8,11.5,11.0,2031,19737,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2327,1835
$STATE,19814,end climb,SURFACE_DEPTH_REACHED
$STATE,19814,begin surface coast
$FINISH,0.2,1.019447
$STATE,19832,end surface coast,CONTROL_FINISHED_OK
$STATE,19833,begin surface
$SM_CCo,19913,0.00,0.000,0,0,1833,307.12
$SM_GC,1.02,11.40,0.00,0.00,0.043,0.000,0.000,585,2227,1833,-10.86,-0.23,307.12
$IRIDIUM_FIX,6024.11,-2719.24,300797,212137
$TT8_MAMPS,0.02301
$HUMID,1616
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.90
$XPDR_PINGS,91
$24V_AH,23.4,33.825
$10V_AH,10.7,26.088
$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,26.875,143.050,424.650,0.000,0.000,30.280,27.923,229.837,22.750,0.000,0.000,13.526,3185.444,12474.342,606.664,3431.792,621.723,0.000,2192.069,0.000,3410.020,0.000,0.470
$DEVICE_MAMPS,194.051,143.429,1425.853,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1422.887,1517.656,981.587,593.448,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116743,2049
$CAP_FILE_SIZE,176651,0
$CFSIZE,260165632,242798592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,060508,082608,6051.668,-2721.239,41,1.6,41,-18.8