version: 66.03
glider: 140
mission: 5
dive: 148
start: 5 8 108 7 14 28
data:
$ID,140
$MISSION,5
$DIVE,148
$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,-16098.632
$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
$GPS1,070248,6108.638,-2626.259,38,1.3,55,-18.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-64.8
$GPS2,071409,6108.680,-2626.373,13,1.0,13,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6115.621,-2622.395
$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,68.5,20000,-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,-194.7,0.0,0.0,0,95,0.00,0.00,-65.03,0.000,2,0.000,0.000,586,2230,3481
$GC,98,-1.29,-194.7,3.3,-5.9,12,128,12.43,2.78,-9.15,0.000,4,0.189,0.110,2671,3663,3881
$GC,208,-1.29,-194.7,17.2,-9.8,31,214,0.00,2.67,0.00,0.000,6,0.000,0.083,2671,2228,3882
$GC,350,-1.29,-194.7,30.9,-9.5,56,356,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3882
$GC,493,-1.29,-194.7,43.9,-8.6,81,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3882
$GC,635,-1.29,-194.7,56.6,-8.8,106,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2228,3882
$GC,978,-1.29,-194.7,87.4,-8.7,167,984,0.00,2.75,0.00,0.000,4,0.000,0.100,2671,3651,3882
$GC,1002,-1.29,-194.7,89.6,-9.1,171,1008,0.00,2.65,0.00,0.000,6,0.000,0.083,2671,2230,3882
$GC,1346,-1.29,-194.7,121.2,-9.3,232,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3882
$GC,1689,-1.29,-194.7,153.3,-9.0,293,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3882
$GC,2032,-1.29,-194.7,182.7,-9.1,354,2038,0.00,2.75,0.00,0.000,4,0.000,0.104,2671,3647,3882
$GC,2055,-1.29,-194.7,184.9,-9.3,358,2061,0.00,2.65,0.00,0.000,6,0.000,0.085,2671,2236,3882
$GC,2399,-1.29,-194.7,216.9,-9.4,419,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3882
$GC,2741,-1.29,-194.7,249.0,-9.4,480,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3882
$GC,3084,-1.29,-194.7,281.8,-9.4,541,3090,0.00,2.75,0.00,0.000,4,0.000,0.106,2672,3647,3882
$GC,3108,-1.29,-194.7,284.1,-9.9,545,3114,0.00,2.62,0.00,0.000,6,0.000,0.086,2671,2245,3882
$GC,3452,-1.29,-194.7,315.7,-9.0,606,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3882
$GC,3794,-1.29,-194.7,347.1,-9.1,667,3800,0.00,2.72,0.00,0.000,4,0.000,0.107,2671,3644,3882
$GC,3812,-1.29,-194.7,348.7,-8.8,670,3818,0.00,2.62,0.00,0.000,6,0.000,0.087,2671,2249,3882
$GC,4141,-1.29,-194.7,378.4,-9.3,702,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2249,3882
$GC,4465,-1.29,-194.7,408.6,-8.8,733,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2250,3882
$GC,4784,-1.29,-194.7,436.8,-8.6,763,4789,0.00,2.72,0.00,0.000,4,0.000,0.108,2671,3646,3882
$GC,4803,-1.29,-194.7,438.3,-8.7,764,4807,0.00,2.65,0.00,0.000,6,0.000,0.090,2671,2241,3882
$GC,5129,-1.29,-194.7,464.9,-7.8,794,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3882
$GC,5446,-1.29,-194.7,489.9,-7.6,824,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3882
$GC,5766,-1.29,-194.7,513.8,-7.4,854,5771,0.00,2.75,0.00,0.000,4,0.000,0.109,2671,3648,3881
$GC,5787,-1.29,-194.7,515.7,-7.9,855,5794,0.00,2.65,0.00,0.000,6,0.000,0.091,2671,2249,3881
$GC,6114,-1.29,-194.7,542.1,-8.4,886,6119,0.00,2.83,0.00,0.000,4,0.000,0.119,2671,823,3881
$GC,6132,-1.29,-194.7,543.7,-8.5,887,6136,0.00,2.75,0.00,0.000,6,0.000,0.097,2671,2260,3881
$GC,6458,-1.29,-194.7,572.1,-9.1,917,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2261,3881
$GC,6775,-1.29,-194.7,602.6,-9.8,946,6779,0.00,2.85,0.00,0.000,4,0.000,0.117,2671,819,3881
$GC,6791,-1.29,-194.7,604.3,-9.8,947,6796,0.00,2.75,0.00,0.000,6,0.000,0.099,2671,2254,3881
$GC,7117,-1.29,-194.7,636.6,-10.1,963,7121,0.00,2.83,0.00,0.000,4,0.000,0.116,2671,825,3881
$GC,7134,-1.29,-194.7,638.2,-9.8,964,7138,0.00,2.75,0.00,0.000,6,0.000,0.101,2671,2254,3881
$GC,7460,-1.29,-194.7,667.3,-8.5,980,7464,0.00,2.83,0.00,0.000,4,0.000,0.118,2671,825,3881
$GC,7481,-1.29,-194.7,669.1,-8.6,981,7486,0.00,2.72,0.00,0.000,6,0.000,0.099,2671,2247,3881
$GC,7802,-1.29,-194.7,697.2,-9.1,997,7803,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2247,3880
$GC,8111,-1.29,-194.7,724.9,-9.1,1012,8115,0.00,2.83,0.00,0.000,4,0.000,0.120,2671,826,3880
$GC,8134,-1.29,-194.7,727.0,-9.0,1013,8138,0.00,2.70,0.00,0.000,6,0.000,0.100,2671,2236,3880
$GC,8454,-1.29,-194.7,752.7,-7.2,1029,8459,0.00,2.80,0.00,0.000,4,0.000,0.122,2671,3646,3880
$GC,8487,-1.29,-194.7,755.1,-7.1,1030,8493,0.00,2.67,0.00,0.000,6,0.000,0.097,2671,2243,3880
$GC,8802,-1.29,-194.7,776.7,-7.4,1046,8807,0.00,2.85,0.00,0.000,4,0.000,0.124,2671,822,3880
$GC,8825,-1.29,-194.7,778.3,-8.1,1047,8830,0.00,2.75,0.00,0.000,6,0.000,0.102,2671,2247,3880
$GC,9146,-1.29,-194.7,802.1,-7.6,1063,9151,0.00,2.83,0.00,0.000,4,0.000,0.127,2671,3652,3880
$GC,9168,-1.29,-194.7,803.8,-7.9,1064,9172,0.00,2.70,0.00,0.000,6,0.000,0.098,2671,2241,3879
$GC,9488,-1.29,-194.7,829.0,-8.4,1080,9493,0.00,2.80,0.00,0.000,4,0.000,0.120,2671,3646,3879
$GC,9510,-1.29,-194.7,831.0,-8.8,1081,9514,0.00,2.67,0.00,0.000,6,0.000,0.099,2671,2252,3879
$GC,9830,-1.29,-194.7,855.8,-7.7,1097,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2252,3879
$GC,10140,-1.29,-194.7,881.7,-8.9,1112,10144,0.00,2.80,0.00,0.000,4,0.000,0.123,2671,3649,3879
$GC,10156,-1.29,-194.7,883.3,-9.0,1113,10161,0.00,2.70,0.00,0.000,6,0.000,0.100,2671,2246,3879
$GC,10483,-1.29,-194.7,913.0,-8.9,1129,10484,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2247,3879
$GC,10792,-1.29,-194.7,941.2,-9.1,1144,10794,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2247,3878
$GC,11101,-1.29,-194.7,970.3,-9.2,1159,11106,0.00,2.83,0.00,0.000,4,0.000,0.127,2671,3651,3878
$GC,11128,-1.29,-194.7,972.8,-9.7,1160,11133,0.00,2.72,0.00,0.000,6,0.000,0.104,2671,2244,3878
$STATE,11338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11338,begin apogee
$GC,11344,-0.35,0.0,990.0,8.1,1170,11513,1.02,0.00,165.60,1.418,6,0.104,0.000,2878,2332,3085
$STATE,11514,end apogee,CONTROL_FINISHED_OK
$STATE,11514,begin climb
$GC,11516,1.29,194.7,996.0,0.0,1178,11689,1.62,3.00,162.30,1.383,4,0.061,0.127,3236,3738,2291
$GC,11717,1.17,194.7,981.0,13.1,1187,11724,0.12,2.85,0.00,0.000,6,0.119,0.105,3215,2322,2290
$GC,12033,1.11,194.7,944.5,11.5,1203,12037,0.00,2.95,0.00,0.000,4,0.000,0.126,3215,3738,2289
$GC,12059,1.02,194.7,941.1,12.8,1204,12065,0.17,2.78,0.00,0.000,6,0.111,0.106,3183,2350,2288
$GC,12375,1.03,205.4,910.3,9.6,1219,12391,0.00,3.00,10.55,1.237,4,0.000,0.131,3182,912,2246
$GC,12424,1.03,205.4,904.9,11.1,1220,12429,0.00,2.83,0.00,0.000,6,0.000,0.105,3183,2350,2246
$GC,12740,1.03,205.4,871.5,10.9,1235,12741,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2350,2245
$GC,13049,1.03,205.4,839.5,10.3,1250,13050,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2350,2245
$GC,13358,1.03,205.4,807.2,10.5,1265,13363,0.00,2.85,0.00,0.000,4,0.000,0.123,3183,3738,2245
$GC,13408,1.03,205.4,801.5,10.8,1267,13413,0.00,2.75,0.00,0.000,6,0.000,0.101,3183,2337,2245
$GC,13724,1.03,205.4,768.1,10.6,1282,13728,0.00,2.85,0.00,0.000,4,0.000,0.124,3183,918,2245
$GC,13763,1.03,205.4,763.7,11.0,1284,13767,0.00,2.75,0.00,0.000,6,0.000,0.100,3183,2340,2245
$GC,14089,1.03,205.4,729.7,10.1,1300,14090,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2340,2245
$GC,14397,1.03,205.4,697.5,10.9,1315,14399,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2340,2244
$GC,14707,1.03,205.4,663.9,10.9,1330,14708,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2340,2244
$GC,15016,1.03,205.4,629.4,11.5,1345,15017,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2340,2244
$GC,15326,1.03,205.4,595.1,11.0,1362,15328,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2340,2244
$GC,15645,1.03,205.4,561.9,10.2,1392,15646,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2340,2244
$GC,15964,1.03,205.4,528.0,10.5,1422,15968,0.00,2.78,0.00,0.000,4,0.000,0.110,3183,3738,2245
$GC,15996,1.03,205.4,524.4,10.7,1424,16003,0.00,2.67,0.00,0.000,6,0.000,0.089,3183,2333,2245
$GC,16323,1.04,210.4,492.0,9.8,1455,16334,0.00,2.80,5.55,0.874,4,0.000,0.109,3183,908,2226
$GC,16362,1.04,210.4,487.6,10.3,1458,16368,0.00,2.72,0.00,0.000,6,0.000,0.091,3183,2339,2226
$GC,16690,1.04,210.4,453.8,10.7,1489,16695,0.00,2.78,0.00,0.000,4,0.000,0.109,3183,3737,2226
$GC,16734,1.04,210.4,448.2,11.5,1492,16741,0.00,2.70,0.00,0.000,6,0.000,0.088,3183,2320,2226
$GC,17060,1.04,210.4,413.3,10.6,1523,17062,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2320,2226
$GC,17380,1.04,210.4,379.6,10.8,1553,17381,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2321,2226
$GC,17699,1.06,224.1,345.4,9.5,1586,17721,0.00,2.90,12.95,0.963,4,0.000,0.106,3183,3735,2170
$GC,17744,1.06,224.1,340.3,10.6,1594,17750,0.00,2.70,0.00,0.000,6,0.000,0.086,3183,2336,2170
$GC,18087,1.06,224.1,305.3,10.5,1655,18093,0.00,2.78,0.00,0.000,4,0.000,0.108,3183,914,2170
$GC,18127,1.06,224.1,301.0,11.6,1662,18133,0.00,2.70,0.00,0.000,6,0.000,0.087,3183,2344,2170
$GC,18470,1.06,224.1,266.0,10.4,1723,18476,0.00,2.75,0.00,0.000,4,0.000,0.107,3183,3737,2170
$GC,18516,1.06,224.1,260.8,10.5,1731,18522,0.00,2.67,0.00,0.000,6,0.000,0.085,3183,2334,2170
$GC,18860,1.06,224.1,221.8,10.6,1792,18866,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2334,2171
$GC,19204,1.06,224.1,186.0,10.9,1853,19209,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2334,2170
$GC,19547,1.08,240.9,150.7,9.4,1914,19564,0.00,0.00,15.00,0.849,6,0.000,0.000,3183,2335,2103
$GC,19902,1.08,240.9,111.9,11.3,1977,19907,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2335,2102
$GC,20244,1.08,241.0,75.7,10.0,2038,20251,0.00,2.75,0.00,0.000,4,0.000,0.102,3183,3737,2102
$GC,20313,1.08,241.0,68.1,12.8,2050,20319,0.00,2.67,0.00,0.000,6,0.000,0.083,3183,2324,2102
$GC,20657,1.13,282.2,33.9,8.6,2111,20697,0.10,0.00,34.53,0.768,6,0.071,0.000,3209,2324,1933
$GC,20833,1.13,282.2,13.2,12.0,2142,20839,0.00,2.78,0.00,0.000,4,0.000,0.100,3209,3738,1929
$GC,20857,1.13,282.2,10.1,12.9,2146,20864,0.00,2.67,0.00,0.000,6,0.000,0.082,3210,2330,1929
$STATE,20924,end climb,SURFACE_DEPTH_REACHED
$STATE,20924,begin surface coast
$FINISH,0.3,1.027752
$STATE,20943,end surface coast,CONTROL_FINISHED_OK
$STATE,20943,begin surface
$SM_CCo,21024,0.00,0.000,0,0,1927,284.06
$SM_GC,0.96,11.40,0.00,0.00,0.039,0.000,0.000,588,2233,1927,-10.84,-0.06,284.06
$IRIDIUM_FIX,6041.65,-2538.14,020897,070749
$TT8_MAMPS,0.02301
$HUMID,1625
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.00
$XPDR_PINGS,126
$24V_AH,23.4,35.482
$10V_AH,10.7,27.398
$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,26.875,171.525,406.475,0.000,0.000,55.120,70.868,349.218,31.500,0.000,0.000,13.730,3371.809,13291.780,586.278,3605.926,830.687,0.000,2270.333,0.000,3574.969,0.000,0.467
$DEVICE_MAMPS,188.682,137.293,1418.183,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1496.974,1600.588,1024.541,617.523,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,122889,2161
$CAP_FILE_SIZE,195532,0
$CFSIZE,260165632,241905664
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,080508,130614,6109.400,-2619.933,42,1.5,48,-18.4