version: 66.03
glider: 140
mission: 5
dive: 143
start: 5 7 108 2 10 15
data:
$ID,140
$MISSION,5
$DIVE,143
$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,50
$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,-16013.657
$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,7
$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
$GPS1,020226,6101.573,-2710.308,37,1.9,37,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-63.8
$GPS2,020957,6101.601,-2710.158,16,1.1,16,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6108.542,-2706.165
$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,68.8,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,100,0.00,0.00,-70.57,0.000,2,0.000,0.000,592,2220,3511
$GC,103,-1.29,-194.7,3.2,-5.2,13,133,12.50,2.80,-8.40,0.000,4,0.192,0.110,2672,3649,3881
$GC,291,-1.29,-194.7,26.1,-10.3,46,297,0.00,2.65,0.00,0.000,6,0.000,0.085,2671,2237,3881
$GC,435,-1.29,-194.7,39.7,-9.6,71,441,0.00,2.72,0.00,0.000,4,0.000,0.103,2671,820,3881
$GC,470,-1.29,-194.7,43.3,-10.0,77,476,0.00,2.62,0.00,0.000,6,0.000,0.083,2671,2229,3881
$GC,612,-1.29,-194.7,57.5,-10.1,102,618,0.00,2.70,0.00,0.000,4,0.000,0.101,2670,823,3881
$GC,630,-1.29,-194.7,59.4,-10.1,105,636,0.00,2.60,0.00,0.000,6,0.000,0.084,2671,2211,3881
$GC,973,-1.29,-194.7,94.6,-10.0,166,979,0.00,2.67,0.00,0.000,4,0.000,0.103,2671,820,3882
$GC,992,-1.29,-194.7,96.5,-10.0,169,997,0.00,2.60,0.00,0.000,6,0.000,0.085,2671,2206,3882
$GC,1335,-1.29,-194.7,129.3,-9.3,230,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2206,3882
$GC,1678,-1.29,-194.7,159.3,-8.2,291,1684,0.00,2.70,0.00,0.000,4,0.000,0.104,2671,816,3882
$GC,1696,-1.29,-194.7,160.8,-8.3,294,1702,0.00,2.62,0.00,0.000,6,0.000,0.087,2671,2206,3882
$GC,2039,-1.29,-194.7,187.1,-7.2,355,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2206,3882
$GC,2382,-1.29,-194.7,212.9,-8.0,416,2389,0.00,2.70,0.00,0.000,4,0.000,0.109,2671,817,3882
$GC,2401,-1.29,-194.7,214.4,-7.8,419,2407,0.00,2.62,0.00,0.000,6,0.000,0.089,2671,2208,3882
$GC,2745,-1.29,-194.7,242.7,-8.4,480,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2208,3882
$GC,3089,-1.29,-194.7,273.5,-9.4,541,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2208,3882
$GC,3432,-1.29,-194.7,304.8,-9.1,602,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2208,3882
$GC,3774,-1.29,-194.7,338.0,-10.0,663,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2209,3882
$GC,4111,-1.29,-194.7,369.0,-9.2,706,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2209,3882
$GC,4430,-1.29,-194.7,397.7,-8.7,736,4434,0.00,2.78,0.00,0.000,4,0.000,0.107,2671,3647,3882
$GC,4447,-1.29,-194.7,399.2,-8.5,737,4451,0.00,2.70,0.00,0.000,6,0.000,0.089,2671,2207,3882
$GC,4773,-1.29,-194.7,427.9,-8.9,767,4778,0.00,2.80,0.00,0.000,4,0.000,0.107,2671,3652,3882
$GC,4794,-1.29,-194.7,430.1,-9.4,768,4801,0.00,2.70,0.00,0.000,6,0.000,0.091,2671,2217,3882
$GC,5121,-1.29,-194.7,460.0,-9.6,799,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2217,3882
$GC,5437,-1.29,-194.7,490.6,-9.4,829,5441,0.00,2.78,0.00,0.000,4,0.000,0.107,2671,3648,3882
$GC,5458,-1.29,-194.7,492.7,-9.1,830,5464,0.00,2.70,0.00,0.000,6,0.000,0.092,2671,2220,3882
$GC,5785,-1.29,-194.7,521.8,-8.7,861,5789,0.00,2.78,0.00,0.000,4,0.000,0.107,2671,3650,3882
$GC,5806,-1.29,-194.7,524.0,-8.9,862,5812,0.00,2.70,0.00,0.000,6,0.000,0.093,2671,2220,3882
$GC,6134,-1.29,-194.7,553.1,-8.6,893,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2221,3881
$GC,6459,-1.29,-194.7,581.0,-8.4,924,6463,0.00,2.78,0.00,0.000,4,0.000,0.110,2671,3646,3881
$GC,6487,-1.29,-194.7,583.5,-9.5,926,6491,0.00,2.67,0.00,0.000,6,0.000,0.094,2671,2233,3882
$GC,6819,-1.29,-194.7,613.1,-9.1,950,6823,0.00,2.78,0.00,0.000,4,0.000,0.112,2671,3649,3881
$GC,6840,-1.29,-194.7,615.4,-9.6,951,6845,0.00,2.70,0.00,0.000,6,0.000,0.095,2671,2226,3881
$GC,7161,-1.29,-194.7,645.7,-9.6,967,7162,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3882
$GC,7470,-1.29,-194.7,676.2,-10.0,982,7475,0.00,2.80,0.00,0.000,4,0.000,0.114,2671,3650,3882
$GC,7487,-1.29,-194.7,677.9,-10.0,983,7491,0.00,2.67,0.00,0.000,6,0.000,0.096,2671,2238,3881
$GC,7813,-1.29,-194.7,709.3,-9.2,999,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3881
$GC,8122,-1.29,-194.7,736.2,-8.4,1014,8123,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3881
$GC,8431,-1.29,-194.7,761.1,-8.2,1029,8433,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3881
$GC,8740,-1.29,-194.7,787.1,-8.3,1044,8745,0.00,2.80,0.00,0.000,4,0.000,0.120,2671,3645,3881
$GC,8780,-1.29,-194.7,790.5,-9.6,1046,8784,0.00,2.67,0.00,0.000,6,0.000,0.101,2671,2252,3881
$GC,9106,-1.29,-194.7,818.2,-8.7,1062,9111,0.00,2.78,0.00,0.000,4,0.000,0.120,2671,3646,3880
$GC,9146,-1.29,-194.7,821.8,-9.3,1064,9150,0.00,2.65,0.00,0.000,6,0.000,0.100,2671,2266,3880
$GC,9472,-1.29,-194.7,848.7,-8.0,1080,9477,0.00,2.75,0.00,0.000,4,0.000,0.120,2671,3649,3880
$GC,9494,-1.29,-194.7,850.6,-8.1,1081,9498,0.00,2.65,0.00,0.000,6,0.000,0.101,2671,2268,3880
$GC,9814,-1.29,-194.7,876.6,-8.2,1097,9815,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2269,3880
$GC,10123,-1.29,-194.7,902.6,-8.5,1112,10124,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2269,3879
$GC,10433,-1.29,-194.7,929.1,-8.9,1127,10434,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2269,3879
$GC,10742,-1.29,-194.7,952.9,-7.7,1142,10746,0.00,2.95,0.00,0.000,4,0.000,0.134,2671,823,3879
$GC,10763,-1.29,-194.7,954.7,-8.2,1143,10767,0.00,2.80,0.00,0.000,6,0.000,0.108,2671,2263,3879
$GC,11084,-1.29,-194.7,981.4,-8.6,1159,11088,0.00,2.78,0.00,0.000,4,0.000,0.129,2671,3646,3878
$GC,11105,-1.29,-194.7,983.5,-9.5,1160,11110,0.00,2.67,0.00,0.000,6,0.000,0.107,2671,2270,3878
$STATE,11197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11197,begin apogee
$GC,11203,-0.35,0.0,991.4,8.4,1165,11372,1.02,0.00,165.68,1.425,6,0.101,0.000,2877,2331,3085
$STATE,11373,end apogee,CONTROL_FINISHED_OK
$STATE,11373,begin climb
$GC,11375,1.29,194.7,997.1,0.0,1173,11548,1.65,3.00,162.25,1.390,4,0.061,0.131,3239,917,2291
$GC,11582,1.21,194.7,980.8,14.4,1183,11587,0.00,2.83,0.00,0.000,6,0.000,0.109,3239,2335,2289
$GC,11909,1.12,194.7,937.2,13.5,1199,11915,0.17,2.90,0.00,0.000,4,0.111,0.126,3206,3737,2289
$GC,11976,1.04,194.7,928.6,12.2,1202,11981,0.00,2.83,0.00,0.000,6,0.000,0.107,3205,2327,2288
$GC,12298,0.99,194.7,891.9,11.3,1218,12300,0.15,0.00,0.00,0.000,6,0.112,0.000,3178,2328,2288
$GC,12606,0.99,194.7,859.0,10.5,1233,12607,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2328,2288
$GC,12915,0.99,194.7,827.5,10.2,1248,12920,0.00,2.88,0.00,0.000,4,0.000,0.118,3178,3738,2287
$GC,12993,0.95,194.7,818.9,11.2,1251,12999,0.00,2.78,0.00,0.000,6,0.000,0.104,3178,2339,2287
$GC,13308,0.95,194.7,787.2,10.1,1267,13313,0.00,2.83,0.00,0.000,4,0.000,0.117,3178,3738,2287
$GC,13376,0.90,194.7,779.7,11.1,1270,13381,0.12,2.75,0.00,0.000,6,0.112,0.103,3156,2346,2286
$GC,13697,0.90,194.7,748.0,10.0,1286,13701,0.00,2.88,0.00,0.000,4,0.000,0.123,3155,916,2287
$GC,13735,0.90,194.7,743.9,11.0,1288,13740,0.00,2.78,0.00,0.000,6,0.000,0.099,3156,2354,2287
$GC,14062,0.91,206.0,711.8,9.6,1304,14078,0.00,2.90,10.57,1.183,4,0.000,0.114,3156,915,2245
$GC,14111,0.95,206.0,706.4,10.2,1305,14116,0.00,2.78,0.00,0.000,6,0.000,0.097,3156,2352,2244
$GC,14427,0.95,206.8,674.7,10.0,1320,14428,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2353,2244
$GC,14737,0.97,219.6,645.2,9.6,1335,14756,0.00,0.00,13.25,1.149,6,0.000,0.000,3156,2353,2188
$GC,15065,1.01,250.8,614.1,8.9,1351,15100,0.10,2.88,27.67,1.141,4,0.074,0.114,3181,3734,2061
$GC,15133,1.01,250.8,606.7,11.8,1354,15138,0.00,2.72,0.00,0.000,6,0.000,0.093,3181,2332,2059
$GC,15463,1.01,250.8,570.4,11.5,1382,15464,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2332,2058
$GC,15780,1.01,250.8,534.5,11.3,1412,15785,0.00,2.80,0.00,0.000,4,0.000,0.109,3181,3737,2058
$GC,15830,1.01,250.8,528.4,12.0,1416,15835,0.00,2.70,0.00,0.000,6,0.000,0.091,3181,2344,2057
$GC,16156,1.01,250.8,490.6,11.4,1446,16161,0.00,2.75,0.00,0.000,4,0.000,0.107,3181,3737,2058
$GC,16200,1.01,250.8,485.0,12.3,1449,16206,0.00,2.62,0.00,0.000,6,0.000,0.089,3181,2366,2057
$GC,16526,1.01,250.8,446.8,11.5,1480,16527,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2366,2058
$GC,16843,1.01,250.8,410.8,10.6,1510,16847,0.00,2.72,0.00,0.000,4,0.000,0.106,3181,3738,2058
$GC,16893,1.01,250.8,405.0,10.8,1514,16897,0.00,2.62,0.00,0.000,6,0.000,0.089,3181,2374,2058
$GC,17219,1.01,250.8,370.3,10.5,1544,17220,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2375,2058
$GC,17543,1.01,250.8,334.8,10.0,1586,17548,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2375,2058
$GC,17885,1.01,250.8,296.6,10.6,1647,17891,0.00,2.70,0.00,0.000,4,0.000,0.105,3181,3738,2058
$GC,17920,1.01,250.8,292.6,10.6,1653,17926,0.00,2.60,0.00,0.000,6,0.000,0.087,3181,2381,2059
$GC,18264,1.03,265.3,255.8,9.5,1714,18280,0.00,0.00,12.93,0.916,6,0.000,0.000,3181,2382,2003
$GC,18618,1.03,265.3,218.2,11.7,1777,18623,0.00,2.67,0.00,0.000,4,0.000,0.104,3181,3738,2001
$GC,18657,1.03,265.3,213.8,10.0,1784,18664,0.00,2.58,0.00,0.000,6,0.000,0.087,3181,2390,2001
$GC,19002,1.04,275.8,180.3,9.6,1845,19018,0.00,2.88,10.30,0.854,4,0.000,0.103,3181,916,1959
$GC,19049,1.10,289.3,175.8,9.5,1853,19071,0.00,2.80,13.02,0.812,6,0.000,0.085,3181,2402,1904
$GC,19409,1.13,312.1,142.1,9.2,1917,19432,0.10,0.00,20.02,0.836,6,0.071,0.000,3208,2402,1812
$GC,19770,1.13,312.1,103.6,10.6,1981,19776,0.00,2.62,0.00,0.000,4,0.000,0.102,3208,3739,1807
$GC,19809,1.13,312.1,99.0,10.2,1988,19816,0.00,2.60,0.00,0.000,6,0.000,0.084,3208,2374,1808
$GC,20154,1.13,312.1,59.3,12.5,2049,20160,0.00,2.80,0.00,0.000,4,0.000,0.102,3208,914,1808
$GC,20183,1.13,312.1,55.7,11.3,2054,20189,0.00,2.75,0.00,0.000,6,0.000,0.084,3208,2391,1808
$GC,20527,1.13,312.1,14.9,12.2,2115,20534,0.00,2.83,0.00,0.000,4,0.000,0.100,3208,916,1808
$GC,20551,1.13,312.1,11.9,12.0,2119,20558,0.00,2.70,0.00,0.000,6,0.000,0.082,3208,2371,1808
$STATE,20635,end climb,SURFACE_DEPTH_REACHED
$STATE,20635,begin surface coast
$FINISH,0.2,1.012359
$STATE,20653,end surface coast,CONTROL_FINISHED_OK
$STATE,20654,begin surface
$SM_CCo,20735,0.00,0.000,0,0,1803,313.98
$SM_GC,1.09,11.48,0.00,0.00,0.044,0.000,0.000,589,2221,1803,-10.85,-0.40,313.98
$IRIDIUM_FIX,6032.86,-2717.47,310797,202027
$TT8_MAMPS,0.022243
$HUMID,1632
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,17.80
$XPDR_PINGS,119
$24V_AH,23.4,34.570
$10V_AH,10.7,26.672
$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,27.300,186.750,435.700,0.000,0.000,27.970,25.764,250.371,29.750,0.000,0.000,17.755,3348.392,12917.045,616.770,3622.906,661.167,0.000,2315.932,0.000,3591.704,0.000,0.467
$DEVICE_MAMPS,191.750,143.429,1425.086,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1484.191,1575.899,1000.475,603.872,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119913,2137
$CAP_FILE_SIZE,194379,0
$CFSIZE,260165632,242393088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,070508,075702,6103.012,-2701.695,38,1.4,38,-18.7