version: 66.03
glider: 140
mission: 5
dive: 160
start: 5 11 108 6 10 44
data:
$ID,140
$MISSION,5
$DIVE,160
$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,65
$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,-16296.385
$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,15
$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
$GPS1,060307,6128.402,-2620.872,37,1.0,37,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-61.7
$GPS2,061024,6128.456,-2620.667,10,1.6,13,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6133.020,-2616.004
$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,83.6,20000,-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,26,-1.29,-194.7,0.0,0.0,0,90,0.00,0.00,-60.65,0.000,2,0.000,0.000,583,2228,3350
$GC,93,-1.29,-194.7,3.2,-8.1,11,123,12.43,2.80,-12.45,0.000,4,0.189,0.110,2670,3644,3881
$GC,209,-1.29,-194.7,17.5,-10.3,31,216,0.00,2.62,0.00,0.000,6,0.000,0.081,2670,2235,3882
$GC,352,-1.29,-194.7,32.4,-9.7,56,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,493,-1.29,-194.7,46.3,-10.1,81,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,634,-1.29,-194.7,60.1,-10.3,106,640,0.00,2.72,0.00,0.000,4,0.000,0.100,2670,3646,3882
$GC,663,-1.29,-194.7,63.0,-10.0,111,670,0.00,2.65,0.00,0.000,6,0.000,0.082,2670,2232,3882
$GC,1007,-1.29,-194.7,95.9,-10.2,172,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2232,3882
$GC,1351,-1.29,-194.7,130.2,-9.7,233,1357,0.00,2.75,0.00,0.000,4,0.000,0.104,2670,3644,3883
$GC,1386,-1.29,-194.7,133.8,-10.5,239,1392,0.00,2.62,0.00,0.000,6,0.000,0.082,2670,2242,3883
$GC,1730,-1.29,-194.7,167.0,-9.3,300,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3883
$GC,2074,-1.29,-194.7,198.4,-9.1,361,2080,0.00,2.75,0.00,0.000,4,0.000,0.107,2670,3645,3883
$GC,2092,-1.29,-194.7,200.1,-9.0,364,2099,0.00,2.62,0.00,0.000,6,0.000,0.084,2670,2246,3883
$GC,2437,-1.29,-194.7,232.0,-9.0,425,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3883
$GC,2780,-1.29,-194.7,262.7,-8.8,486,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3883
$GC,3123,-1.29,-194.7,294.6,-9.2,547,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3883
$GC,3465,-1.29,-194.7,326.0,-9.1,608,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3883
$GC,3809,-1.29,-194.7,359.6,-10.0,661,3814,0.00,2.75,0.00,0.000,4,0.000,0.110,2670,3644,3883
$GC,3830,-1.29,-194.7,361.9,-10.4,662,3837,0.00,2.62,0.00,0.000,6,0.000,0.088,2670,2253,3883
$GC,4157,-1.29,-194.7,394.6,-9.8,693,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2254,3883
$GC,4474,-1.29,-194.7,425.5,-9.7,723,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2254,3883
$GC,4793,-1.29,-194.7,455.2,-9.2,753,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2254,3883
$GC,5111,-1.29,-194.7,485.0,-9.8,783,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2254,3882
$GC,5429,-1.29,-194.7,517.5,-10.5,813,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2254,3883
$GC,5748,-1.29,-194.7,551.0,-10.4,843,5753,0.00,2.75,0.00,0.000,4,0.000,0.114,2670,3643,3882
$GC,5764,-1.29,-194.7,552.7,-10.5,844,5769,0.00,2.62,0.00,0.000,6,0.000,0.090,2670,2258,3882
$GC,6092,-1.29,-194.7,584.3,-9.5,874,6097,0.00,2.85,0.00,0.000,4,0.000,0.117,2670,824,3882
$GC,6120,-1.29,-194.7,587.2,-10.0,876,6124,0.00,2.78,0.00,0.000,6,0.000,0.101,2670,2254,3882
$GC,6440,-1.29,-194.7,615.1,-8.6,898,6444,0.00,2.78,0.00,0.000,4,0.000,0.119,2670,3652,3882
$GC,6456,-1.29,-194.7,616.7,-8.6,899,6461,0.00,2.65,0.00,0.000,6,0.000,0.091,2670,2253,3882
$GC,6783,-1.29,-194.7,645.6,-8.8,915,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2253,3882
$GC,7092,-1.29,-194.7,672.2,-8.6,930,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2253,3882
$GC,7402,-1.29,-194.7,698.4,-8.9,945,7403,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2253,3882
$GC,7710,-1.29,-194.7,726.4,-9.1,960,7715,0.00,2.88,0.00,0.000,4,0.000,0.124,2670,823,3881
$GC,7733,-1.29,-194.7,728.5,-9.5,961,7738,0.00,2.80,0.00,0.000,6,0.000,0.107,2670,2259,3881
$GC,8055,-1.29,-194.7,755.4,-8.1,977,8059,0.00,2.80,0.00,0.000,4,0.000,0.128,2670,3644,3881
$GC,8087,-1.29,-194.7,758.2,-8.3,978,8093,0.00,2.65,0.00,0.000,6,0.000,0.097,2670,2262,3881
$GC,8403,-1.29,-194.7,783.3,-8.1,994,8404,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2263,3881
$GC,8712,-1.29,-194.7,808.5,-8.3,1009,8714,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2263,3881
$GC,9021,-1.29,-194.7,835.5,-8.8,1024,9022,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2262,3880
$GC,9330,-1.29,-194.7,861.5,-8.3,1039,9335,0.00,2.83,0.00,0.000,4,0.000,0.127,2670,3651,3880
$GC,9370,-1.29,-194.7,864.9,-9.0,1041,9374,0.00,2.67,0.00,0.000,6,0.000,0.100,2670,2267,3879
$GC,9696,-1.29,-194.7,892.7,-8.6,1057,9700,0.00,2.80,0.00,0.000,4,0.000,0.126,2670,3649,3880
$GC,9728,-1.29,-194.7,895.7,-9.2,1058,9734,0.00,2.62,0.00,0.000,6,0.000,0.101,2670,2293,3880
$GC,10044,-1.29,-194.7,921.6,-7.7,1074,10049,0.00,3.00,0.00,0.000,4,0.000,0.133,2670,826,3879
$GC,10071,-1.29,-194.7,923.9,-8.3,1075,10076,0.00,2.90,0.00,0.000,6,0.000,0.111,2670,2295,3879
$GC,10387,-1.29,-194.7,950.7,-9.2,1090,10392,0.00,2.97,0.00,0.000,4,0.000,0.127,2670,826,3879
$GC,10419,-1.29,-194.7,954.0,-10.7,1091,10426,0.00,2.88,0.00,0.000,6,0.000,0.113,2670,2280,3879
$GC,10735,-1.29,-194.7,984.2,-9.5,1107,10740,0.00,2.83,0.00,0.000,4,0.000,0.137,2670,3647,3879
$GC,10756,-1.29,-194.7,986.4,-9.4,1108,10761,0.00,2.65,0.00,0.000,6,0.000,0.106,2670,2290,3879
$STATE,10807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10807,begin apogee
$GC,10813,-0.35,0.0,991.3,9.6,1111,10983,1.02,0.00,166.38,1.430,6,0.099,0.000,2877,2328,3085
$STATE,10984,end apogee,CONTROL_FINISHED_OK
$STATE,10984,begin climb
$GC,10987,1.29,194.7,998.9,0.0,1119,11158,1.62,3.08,163.15,1.398,4,0.060,0.134,3237,3738,2290
$GC,11194,1.16,194.7,984.2,13.7,1129,11199,0.12,2.88,0.00,0.000,6,0.121,0.110,3216,2327,2289
$GC,11515,1.10,194.7,945.4,12.3,1145,11520,0.00,2.95,0.00,0.000,4,0.000,0.136,3216,914,2287
$GC,11548,1.05,194.7,941.2,12.0,1146,11554,0.15,2.80,0.00,0.000,6,0.114,0.110,3190,2321,2288
$GC,11863,1.05,194.7,906.7,11.4,1162,11864,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2321,2287
$GC,12172,1.05,194.7,872.7,10.6,1177,12173,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2321,2287
$GC,12482,1.05,200.8,841.5,9.8,1192,12495,0.00,2.97,6.45,1.104,4,0.000,0.128,3190,3738,2265
$GC,12526,1.00,200.8,837.0,10.1,1194,12530,0.00,2.88,0.00,0.000,6,0.000,0.104,3189,2307,2265
$GC,12852,1.00,202.0,804.2,10.0,1210,12856,0.00,2.95,0.00,0.000,4,0.000,0.122,3189,3738,2264
$GC,12884,0.94,202.0,800.6,11.2,1211,12891,0.12,2.83,0.00,0.000,6,0.117,0.104,3167,2317,2264
$GC,13200,0.98,237.1,771.4,8.8,1227,13241,0.00,2.97,32.10,1.273,4,0.000,0.128,3167,918,2118
$GC,13269,1.01,260.1,765.0,9.2,1230,13296,0.00,2.78,21.15,1.223,6,0.000,0.104,3167,2323,2024
$GC,13611,1.06,301.1,734.6,8.6,1247,13654,0.10,3.05,36.75,1.233,4,0.074,0.125,3192,3737,1856
$GC,13670,1.06,301.1,728.7,10.8,1249,13677,0.00,2.83,0.00,0.000,6,0.000,0.099,3192,2319,1854
$GC,13986,1.06,301.1,695.3,11.7,1265,13991,0.00,2.83,0.00,0.000,4,0.000,0.121,3192,917,1851
$GC,14030,1.06,301.1,689.5,13.2,1267,14035,0.00,2.70,0.00,0.000,6,0.000,0.102,3192,2300,1851
$GC,14351,1.06,301.1,649.3,12.5,1283,14356,0.00,2.95,0.00,0.000,4,0.000,0.120,3192,3739,1850
$GC,14413,1.06,301.1,641.3,14.1,1286,14417,0.00,2.83,0.00,0.000,6,0.000,0.096,3192,2296,1849
$GC,14738,1.06,301.1,603.9,10.8,1302,14740,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2296,1849
$GC,15056,1.06,301.1,568.9,11.2,1330,15057,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2297,1849
$GC,15374,1.06,301.1,531.7,12.0,1360,15379,0.00,2.92,0.00,0.000,4,0.000,0.111,3192,3738,1849
$GC,15413,1.06,301.1,526.8,12.9,1363,15417,0.00,2.80,0.00,0.000,6,0.000,0.091,3192,2300,1848
$GC,15738,1.06,301.1,487.8,12.1,1393,15742,0.00,2.72,0.00,0.000,4,0.000,0.112,3192,911,1849
$GC,15765,1.06,301.1,484.3,12.5,1395,15770,0.00,2.70,0.00,0.000,6,0.000,0.094,3192,2325,1849
$GC,16090,1.06,301.1,445.3,12.1,1425,16091,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2325,1849
$GC,16408,1.06,301.1,406.7,12.3,1455,16412,0.00,2.83,0.00,0.000,4,0.000,0.110,3192,3737,1849
$GC,16429,1.06,301.1,404.0,13.2,1456,16435,0.00,2.72,0.00,0.000,6,0.000,0.089,3192,2311,1848
$GC,16755,1.06,301.1,364.8,12.1,1487,16759,0.00,2.75,0.00,0.000,4,0.000,0.110,3192,910,1849
$GC,16787,1.06,301.1,360.5,12.1,1489,16793,0.00,2.67,0.00,0.000,6,0.000,0.092,3193,2318,1849
$GC,17125,1.06,301.1,319.2,11.6,1542,17131,0.00,2.83,0.00,0.000,4,0.000,0.110,3192,3736,1849
$GC,17159,1.06,301.1,314.6,13.2,1548,17166,0.00,2.75,0.00,0.000,6,0.000,0.088,3192,2303,1848
$GC,17503,1.06,301.1,271.7,11.7,1609,17509,0.00,2.70,0.00,0.000,4,0.000,0.108,3192,919,1849
$GC,17544,1.10,301.1,266.7,12.7,1616,17551,0.00,2.62,0.00,0.000,6,0.000,0.091,3192,2309,1849
$GC,17889,1.10,301.1,225.2,11.0,1677,17895,0.00,2.83,0.00,0.000,4,0.000,0.106,3192,3736,1849
$GC,17924,1.10,301.1,220.7,12.9,1683,17930,0.00,2.75,0.00,0.000,6,0.000,0.087,3192,2297,1849
$GC,18268,1.10,301.1,179.2,11.5,1744,18273,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2298,1849
$GC,18612,1.11,307.7,141.5,9.8,1805,18624,0.00,2.67,5.75,0.734,4,0.000,0.104,3192,913,1830
$GC,18647,1.11,307.7,137.6,11.1,1811,18653,0.00,2.65,0.00,0.000,6,0.000,0.087,3192,2314,1830
$GC,18991,1.11,307.7,99.4,10.2,1872,18998,0.00,2.78,0.00,0.000,4,0.000,0.104,3193,3735,1829
$GC,19023,1.11,307.7,96.0,11.1,1877,19029,0.00,2.75,0.00,0.000,6,0.000,0.085,3192,2294,1829
$GC,19367,1.11,307.7,57.9,12.0,1938,19374,0.00,2.62,0.00,0.000,4,0.000,0.102,3192,920,1830
$GC,19391,1.11,307.7,55.2,10.9,1942,19397,0.00,2.60,0.00,0.000,6,0.000,0.084,3193,2315,1830
$GC,19735,1.11,307.7,18.6,11.4,2003,19741,0.00,2.75,0.00,0.000,4,0.000,0.100,3192,3735,1829
$GC,19787,1.11,307.7,12.3,11.7,2012,19794,0.00,2.65,0.00,0.000,6,0.000,0.081,3192,2327,1829
$STATE,19877,end climb,SURFACE_DEPTH_REACHED
$STATE,19877,begin surface coast
$FINISH,0.4,1.027768
$STATE,19901,end surface coast,CONTROL_FINISHED_OK
$STATE,19901,begin surface
$SM_CCo,19983,0.00,0.000,0,0,1827,308.34
$SM_GC,1.05,11.40,0.00,0.00,0.044,0.000,0.000,588,2227,1827,-10.86,-0.23,308.34
$IRIDIUM_FIX,6059.36,-2617.83,050897,000035
$TT8_MAMPS,0.022243
$HUMID,1636
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.90
$XPDR_PINGS,133
$24V_AH,23.4,37.734
$10V_AH,10.7,29.152
$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,26.975,189.250,431.725,0.000,0.000,33.117,36.710,231.672,33.250,0.000,0.000,13.444,3201.255,12494.204,627.387,3432.719,648.501,0.000,2242.665,0.000,3411.701,0.000,0.467
$DEVICE_MAMPS,188.682,144.196,1430.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1413.982,1504.224,969.473,585.821,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116773,2032
$CAP_FILE_SIZE,186595,0
$CFSIZE,260165632,240746496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,110508,114502,6128.731,-2610.949,40,1.8,40,-18.5