version: 66.03
glider: 140
mission: 5
dive: 149
start: 5 8 108 13 21 50
data:
$ID,140
$MISSION,5
$DIVE,149
$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,629.19446
$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,-16112.228
$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,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
$GPS1,130614,6109.400,-2619.933,42,1.5,48,-18.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-64.8
$GPS2,132132,6109.447,-2619.903,12,1.2,12,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6116.389,-2615.927
$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,68.4,20000,-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,-65.15,0.000,2,0.000,0.000,587,2231,3474
$GC,98,-1.29,-194.7,3.4,-6.8,12,127,12.40,2.75,-9.23,0.000,4,0.189,0.110,2670,3652,3881
$GC,147,-1.29,-194.7,11.2,-10.6,20,153,0.00,2.65,0.00,0.000,6,0.000,0.081,2670,2229,3882
$GC,289,-1.29,-194.7,25.8,-9.7,45,295,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3882
$GC,431,-1.29,-194.7,39.9,-9.6,70,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3883
$GC,574,-1.29,-194.7,53.4,-9.6,95,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3883
$GC,917,-1.29,-194.7,85.3,-9.5,156,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3883
$GC,1260,-1.29,-194.7,117.4,-9.1,217,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3883
$GC,1603,-1.29,-194.7,149.6,-10.0,278,1609,0.00,2.75,0.00,0.000,4,0.000,0.102,2670,3652,3883
$GC,1644,-1.29,-194.7,153.8,-10.5,285,1650,0.00,2.67,0.00,0.000,6,0.000,0.084,2671,2225,3883
$GC,1988,-1.29,-194.7,185.7,-9.1,346,1994,0.00,2.75,0.00,0.000,4,0.000,0.103,2670,3647,3883
$GC,2011,-1.29,-194.7,188.0,-9.8,350,2017,0.00,2.65,0.00,0.000,6,0.000,0.085,2670,2234,3883
$GC,2354,-1.29,-194.7,219.8,-8.7,411,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3883
$GC,2697,-1.29,-194.7,251.0,-9.9,472,2703,0.00,2.75,0.00,0.000,4,0.000,0.107,2670,3648,3883
$GC,2727,-1.29,-194.7,253.9,-10.0,477,2733,0.00,2.62,0.00,0.000,6,0.000,0.087,2670,2252,3883
$GC,3071,-1.29,-194.7,285.3,-8.9,538,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3883
$GC,3414,-1.29,-194.7,314.9,-8.6,599,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2251,3883
$GC,3756,-1.29,-194.7,345.6,-9.3,660,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3883
$GC,4085,-1.29,-194.7,375.4,-9.2,695,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3883
$GC,4401,-1.29,-194.7,405.6,-9.8,725,4405,0.00,2.72,0.00,0.000,4,0.000,0.110,2670,3646,3882
$GC,4422,-1.29,-194.7,407.8,-9.9,726,4428,0.00,2.62,0.00,0.000,6,0.000,0.090,2670,2254,3883
$GC,4750,-1.29,-194.7,440.1,-9.8,757,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2255,3882
$GC,5075,-1.29,-194.7,471.2,-9.6,788,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2254,3882
$GC,5394,-1.29,-194.7,501.8,-9.9,818,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2255,3882
$GC,5712,-1.29,-194.7,534.5,-10.4,848,5716,0.00,2.75,0.00,0.000,4,0.000,0.111,2670,3653,3882
$GC,5733,-1.29,-194.7,536.8,-10.1,849,5739,0.00,2.65,0.00,0.000,6,0.000,0.091,2670,2250,3882
$GC,6059,-1.29,-194.7,567.9,-9.6,880,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2250,3882
$GC,6378,-1.29,-194.7,596.4,-9.0,910,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2250,3882
$GC,6687,-1.29,-194.7,624.2,-9.4,927,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2250,3882
$GC,6996,-1.29,-194.7,653.2,-9.2,942,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2250,3882
$GC,7306,-1.29,-194.7,682.5,-9.4,957,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2250,3881
$GC,7614,-1.29,-194.7,711.6,-9.3,972,7619,0.00,2.80,0.00,0.000,4,0.000,0.120,2670,3652,3881
$GC,7646,-1.29,-194.7,714.8,-10.0,973,7653,0.00,2.65,0.00,0.000,6,0.000,0.095,2670,2259,3881
$GC,7963,-1.29,-194.7,741.4,-8.2,989,7964,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2259,3881
$GC,8272,-1.29,-194.7,764.9,-7.5,1004,8276,0.00,2.75,0.00,0.000,4,0.000,0.118,2670,3651,3881
$GC,8293,-1.29,-194.7,766.7,-7.9,1005,8297,0.00,2.65,0.00,0.000,6,0.000,0.098,2670,2264,3881
$GC,8614,-1.29,-194.7,793.1,-8.4,1021,8618,0.00,2.90,0.00,0.000,4,0.000,0.126,2670,819,3881
$GC,8630,-1.29,-194.7,794.5,-8.3,1022,8635,0.00,2.80,0.00,0.000,6,0.000,0.102,2670,2269,3881
$GC,8956,-1.29,-194.7,821.8,-8.5,1038,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2269,3880
$GC,9266,-1.29,-194.7,848.3,-8.6,1053,9267,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2270,3880
$GC,9575,-1.29,-194.7,875.8,-9.1,1068,9579,0.00,2.78,0.00,0.000,4,0.000,0.130,2670,3646,3880
$GC,9607,-1.29,-194.7,879.0,-9.5,1069,9613,0.00,2.65,0.00,0.000,6,0.000,0.102,2670,2269,3880
$GC,9923,-1.29,-194.7,905.3,-7.7,1085,9924,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2270,3879
$GC,10232,-1.29,-194.7,928.1,-7.3,1100,10236,0.00,2.75,0.00,0.000,4,0.000,0.124,2670,3645,3879
$GC,10271,-1.29,-194.7,931.1,-8.3,1102,10276,0.00,2.65,0.00,0.000,6,0.000,0.104,2670,2276,3879
$GC,10598,-1.29,-194.7,956.2,-7.7,1118,10599,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2276,3879
$GC,10906,-1.29,-194.7,980.5,-7.8,1133,10907,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2277,3878
$STATE,11027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11027,begin apogee
$GC,11033,-0.35,0.0,990.4,8.0,1139,11203,1.05,0.00,165.90,1.417,6,0.103,0.000,2881,2335,3085
$STATE,11203,end apogee,CONTROL_FINISHED_OK
$STATE,11204,begin climb
$GC,11206,1.29,194.7,996.5,0.0,1147,11379,1.62,3.00,162.55,1.381,4,0.060,0.129,3239,3737,2291
$GC,11458,1.16,194.7,973.1,15.9,1159,11463,0.12,2.85,0.00,0.000,6,0.119,0.107,3217,2325,2289
$GC,11779,1.10,194.7,931.1,13.7,1175,11780,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2325,2288
$GC,12088,1.04,194.7,888.8,13.6,1190,12094,0.15,2.92,0.00,0.000,4,0.114,0.123,3186,3738,2288
$GC,12151,0.99,194.7,880.7,13.0,1193,12155,0.00,2.78,0.00,0.000,6,0.000,0.104,3186,2341,2288
$GC,12477,0.99,194.7,842.7,11.7,1209,12478,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2342,2288
$GC,12786,0.99,194.7,807.9,11.4,1224,12791,0.00,2.85,0.00,0.000,4,0.000,0.119,3186,3738,2287
$GC,12836,0.94,194.7,801.9,11.9,1226,12841,0.12,2.75,0.00,0.000,6,0.114,0.101,3164,2346,2287
$GC,13151,0.97,220.1,771.7,9.1,1241,13180,0.00,2.97,22.48,1.249,4,0.000,0.123,3163,924,2186
$GC,13232,0.98,227.9,763.7,9.7,1244,13246,0.00,2.75,8.20,1.108,6,0.000,0.100,3163,2346,2155
$GC,13569,0.98,227.9,730.3,10.3,1261,13573,0.00,2.85,0.00,0.000,4,0.000,0.124,3163,3738,2154
$GC,13630,0.98,227.9,723.4,11.6,1264,13634,0.00,2.72,0.00,0.000,6,0.000,0.097,3164,2351,2153
$GC,13956,0.98,227.9,690.0,10.2,1280,13957,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2352,2153
$GC,14265,1.02,260.4,661.5,8.9,1295,14296,0.00,0.00,29.05,1.180,6,0.000,0.000,3163,2352,2022
$GC,14594,1.05,289.0,631.6,9.0,1311,14623,0.12,0.00,25.88,1.145,6,0.067,0.000,3195,2352,1906
$GC,14925,1.05,289.0,594.4,11.6,1329,14926,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2352,1902
$GC,15243,1.05,289.0,556.2,12.4,1359,15248,0.00,2.78,0.00,0.000,4,0.000,0.109,3194,3739,1901
$GC,15276,1.05,289.0,551.7,13.1,1361,15282,0.00,2.65,0.00,0.000,6,0.000,0.090,3195,2358,1901
$GC,15602,1.05,289.0,511.4,11.9,1392,15607,0.00,2.83,0.00,0.000,4,0.000,0.110,3195,913,1902
$GC,15646,1.05,289.0,505.8,12.2,1395,15652,0.00,2.75,0.00,0.000,6,0.000,0.094,3195,2352,1902
$GC,15973,1.05,289.0,467.4,11.9,1426,15978,0.00,2.75,0.00,0.000,4,0.000,0.110,3195,3738,1901
$GC,16017,1.05,289.0,461.5,13.2,1429,16023,0.00,2.65,0.00,0.000,6,0.000,0.088,3195,2349,1901
$GC,16343,1.05,289.0,420.2,12.6,1460,16348,0.00,2.80,0.00,0.000,4,0.000,0.108,3195,911,1901
$GC,16375,1.05,289.0,415.6,12.5,1462,16382,0.00,2.75,0.00,0.000,6,0.000,0.093,3195,2358,1901
$GC,16702,1.05,289.0,375.4,11.8,1493,16706,0.00,2.72,0.00,0.000,4,0.000,0.109,3195,3737,1901
$GC,16745,1.05,289.0,369.4,13.5,1496,16752,0.00,2.62,0.00,0.000,6,0.000,0.088,3195,2355,1901
$GC,17079,1.05,289.0,329.9,12.4,1542,17084,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2355,1900
$GC,17421,1.05,289.0,288.3,12.3,1603,17426,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2355,1901
$GC,17763,1.05,289.0,250.9,11.6,1664,17769,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2355,1901
$GC,18107,1.05,289.0,214.3,10.0,1725,18113,0.00,2.72,0.00,0.000,4,0.000,0.105,3195,3736,1901
$GC,18136,1.05,289.0,210.9,11.1,1730,18142,0.00,2.62,0.00,0.000,6,0.000,0.086,3195,2358,1901
$GC,18480,1.05,289.0,170.2,11.7,1791,18486,0.00,2.78,0.00,0.000,4,0.000,0.105,3195,919,1901
$GC,18509,1.05,289.0,166.7,12.6,1796,18515,0.00,2.70,0.00,0.000,6,0.000,0.087,3195,2361,1901
$GC,18853,1.05,289.0,125.4,12.4,1857,18859,0.00,2.67,0.00,0.000,4,0.000,0.104,3195,3735,1901
$GC,18910,1.05,289.0,118.2,12.7,1867,18916,0.00,2.60,0.00,0.000,6,0.000,0.084,3195,2365,1900
$GC,19253,1.05,289.0,79.8,10.6,1928,19260,0.00,2.78,0.00,0.000,4,0.000,0.103,3195,914,1901
$GC,19283,1.05,289.0,76.3,12.0,1933,19289,0.00,2.72,0.00,0.000,6,0.000,0.084,3195,2373,1901
$GC,19627,1.05,289.0,36.2,11.1,1994,19633,0.00,2.65,0.00,0.000,4,0.000,0.102,3195,3738,1901
$GC,19662,1.05,289.0,31.8,12.7,2000,19669,0.00,2.60,0.00,0.000,6,0.000,0.084,3194,2365,1901
$GC,19805,1.05,289.0,15.1,11.2,2025,19811,0.00,2.65,0.00,0.000,4,0.000,0.096,3195,3737,1900
$GC,19840,1.05,289.0,10.6,13.9,2031,19847,0.00,2.45,0.00,0.000,6,0.000,0.081,3195,2442,1901
$STATE,19913,end climb,SURFACE_DEPTH_REACHED
$STATE,19913,begin surface coast
$FINISH,0.4,1.027757
$STATE,19931,end surface coast,CONTROL_FINISHED_OK
$STATE,19931,begin surface
$SM_CCo,19952,270.95,0.723,1,0,520,629.19
$SM_GC,0.80,0.00,0.00,270.95,0.000,0.000,0.723,589,2224,520,-10.90,-0.31,629.19
$IRIDIUM_FIX,6046.07,-2623.94,020897,131340
$TT8_MAMPS,0.02301
$HUMID,1580
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,17.90
$XPDR_PINGS,124
$24V_AH,23.4,35.722
$10V_AH,10.7,27.546
$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,27.025,148.000,414.050,270.950,0.000,149.598,380.062,0.000,31.000,0.000,0.000,12.968,3198.085,12729.797,876.087,3441.369,883.249,0.000,2473.750,0.000,3424.818,0.000,0.468
$DEVICE_MAMPS,188.682,151.099,1416.649,723.281,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1419.569,1515.976,971.433,588.573,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116741,2047
$CAP_FILE_SIZE,178117,0
$CFSIZE,260165632,241782784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,080508,190008,6109.527,-2614.420,32,1.4,32,-18.4