version: 66.03
glider: 140
mission: 5
dive: 206
start: 5 22 108 13 9 16
data:
$ID,140
$MISSION,5
$DIVE,206
$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,300
$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,-17177.57
$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,11
$R_STBD_OVSHOOT,8
$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
$GPS1,130007,6128.198,-2553.530,38,1.1,38,-18.4
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-59.0
$GPS2,130857,6128.222,-2553.621,12,1.4,12,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6133.622,-2558.075
$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,318.4,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,89,0.00,0.00,-59.78,0.000,2,0.000,0.000,591,2225,3470
$GC,92,-1.29,-194.7,3.4,-7.2,11,122,12.32,2.72,-9.20,0.000,4,0.186,0.110,2669,822,3881
$GC,129,-0.95,-194.7,10.2,-14.1,17,136,0.40,2.67,0.00,0.000,6,0.104,0.084,2748,2239,3882
$GC,276,-1.04,-194.7,18.9,-5.5,42,282,0.00,2.72,0.00,0.000,4,0.000,0.097,2748,822,3882
$GC,421,-1.11,-194.7,27.5,-7.0,67,428,0.15,2.60,0.00,0.000,6,0.054,0.086,2706,2203,3882
$GC,565,-1.11,-194.7,39.4,-7.9,92,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2203,3882
$GC,706,-1.11,-194.7,51.3,-8.2,117,712,0.00,2.78,0.00,0.000,4,0.000,0.100,2706,3644,3882
$GC,742,-1.18,-194.7,54.5,-8.9,123,748,0.00,2.72,0.00,0.000,6,0.000,0.081,2706,2183,3883
$GC,1086,-1.18,-194.7,82.0,-7.7,184,1092,0.00,2.83,0.00,0.000,4,0.000,0.100,2706,3644,3883
$GC,1133,-1.24,-194.7,85.9,-8.4,192,1139,0.00,2.72,0.00,0.000,6,0.000,0.084,2706,2190,3883
$GC,1477,-1.24,-194.7,113.2,-7.7,253,1483,0.00,2.83,0.00,0.000,4,0.000,0.101,2706,3647,3883
$GC,1513,-1.30,-194.7,116.0,-8.2,259,1520,0.12,2.72,0.00,0.000,6,0.064,0.084,2673,2198,3883
$GC,1856,-1.30,-194.7,146.9,-8.9,320,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2197,3883
$GC,2200,-1.30,-194.7,178.1,-9.5,381,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2197,3883
$GC,2544,-1.30,-194.7,209.4,-9.3,442,2550,0.00,2.83,0.00,0.000,4,0.000,0.105,2674,3643,3883
$GC,2574,-1.30,-194.7,212.4,-10.1,447,2580,0.00,2.72,0.00,0.000,6,0.000,0.087,2673,2200,3883
$GC,2917,-1.30,-194.7,245.4,-9.9,508,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2201,3883
$GC,3260,-1.30,-194.7,278.5,-9.5,569,3266,0.00,2.85,0.00,0.000,4,0.000,0.110,2673,3647,3883
$GC,3296,-1.30,-194.7,282.0,-10.0,575,3302,0.00,2.72,0.00,0.000,6,0.000,0.088,2673,2206,3883
$GC,3639,-1.30,-194.7,316.8,-10.3,636,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2206,3883
$GC,3987,-1.30,-194.7,352.2,-9.9,696,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2206,3882
$GC,4305,-1.30,-194.7,381.6,-9.0,726,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2206,3882
$GC,4625,-1.30,-194.7,408.4,-8.3,756,4630,0.00,2.85,0.00,0.000,4,0.000,0.112,2673,3648,3882
$GC,4666,-1.30,-194.7,412.1,-8.8,759,4671,0.00,2.72,0.00,0.000,6,0.000,0.091,2673,2213,3882
$GC,4995,-1.30,-194.7,440.1,-8.6,789,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2213,3882
$GC,5320,-1.30,-194.7,467.8,-8.0,820,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2213,3882
$GC,5639,-1.30,-194.7,493.2,-7.9,850,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2213,3882
$GC,5957,-1.30,-194.7,520.3,-9.0,880,5961,0.00,2.83,0.00,0.000,4,0.000,0.112,2673,3642,3882
$GC,5998,-1.30,-194.7,523.9,-9.6,883,6003,0.00,2.72,0.00,0.000,6,0.000,0.092,2673,2209,3882
$GC,6326,-1.30,-194.7,555.0,-9.4,913,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2209,3882
$GC,6653,-1.30,-194.7,585.2,-9.0,944,6658,0.00,2.85,0.00,0.000,4,0.000,0.114,2673,3649,3881
$GC,6681,-1.30,-194.7,588.0,-9.9,946,6686,0.00,2.75,0.00,0.000,6,0.000,0.094,2674,2209,3881
$GC,7011,-1.30,-194.7,615.8,-8.2,968,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2210,3881
$GC,7321,-1.30,-194.7,641.9,-8.4,983,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2209,3881
$GC,7629,-1.30,-194.7,667.8,-8.6,998,7634,0.00,2.88,0.00,0.000,4,0.000,0.119,2674,3644,3881
$GC,7668,-1.30,-194.7,671.3,-9.0,1000,7673,0.00,2.75,0.00,0.000,6,0.000,0.097,2673,2214,3881
$GC,7995,-1.30,-194.7,697.9,-8.0,1016,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2214,3881
$GC,8305,-1.30,-194.7,722.9,-8.3,1031,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2215,3881
$GC,8613,-1.30,-194.7,749.2,-8.5,1046,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2215,3880
$GC,8924,-1.30,-194.7,776.9,-9.1,1061,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2215,3880
$GC,9232,-1.30,-194.7,805.5,-9.8,1076,9237,0.00,2.92,0.00,0.000,4,0.000,0.127,2673,3648,3880
$GC,9288,-1.30,-194.7,811.2,-10.2,1078,9294,0.00,2.78,0.00,0.000,6,0.000,0.102,2673,2217,3880
$GC,9604,-1.30,-194.7,840.6,-9.5,1094,9605,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2217,3880
$GC,9913,-1.30,-194.7,869.4,-9.1,1109,9918,0.00,2.90,0.00,0.000,4,0.000,0.127,2673,3645,3880
$GC,9946,-1.30,-194.7,872.6,-9.7,1110,9952,0.00,2.78,0.00,0.000,6,0.000,0.105,2673,2222,3879
$GC,10262,-1.30,-194.7,899.9,-8.6,1126,10267,0.00,2.90,0.00,0.000,4,0.000,0.127,2673,3648,3880
$GC,10289,-1.30,-194.7,902.6,-9.4,1127,10293,0.00,2.78,0.00,0.000,6,0.000,0.106,2673,2229,3879
$GC,10605,-1.30,-194.7,928.3,-7.9,1142,10606,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2229,3879
$GC,10913,-1.30,-194.7,953.0,-8.0,1157,10918,0.00,2.88,0.00,0.000,4,0.000,0.127,2673,3642,3878
$GC,10946,-1.30,-194.7,955.9,-8.8,1158,10952,0.00,2.75,0.00,0.000,6,0.000,0.106,2673,2236,3878
$GC,11262,-1.30,-194.7,981.7,-8.2,1174,11263,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2236,3878
$STATE,11362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11362,begin apogee
$GC,11368,-0.35,0.0,990.9,8.9,1179,11537,1.02,0.00,165.85,1.421,6,0.097,0.000,2882,2332,3085
$STATE,11538,end apogee,CONTROL_FINISHED_OK
$STATE,11538,begin climb
$GC,11541,1.29,194.7,997.6,0.0,1187,11709,1.62,0.00,163.93,1.387,6,0.061,0.000,3239,2332,2290
$GC,12014,1.20,194.7,948.6,12.5,1210,12015,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2332,2288
$GC,12321,1.11,194.7,910.0,12.2,1225,12326,0.15,2.95,0.00,0.000,4,0.115,0.130,3208,3738,2287
$GC,12354,1.03,194.7,905.8,11.8,1226,12361,0.12,2.83,0.00,0.000,6,0.117,0.107,3186,2334,2287
$GC,12670,1.04,196.0,874.7,10.0,1242,12671,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2335,2286
$GC,12979,1.04,196.0,842.6,10.7,1257,12980,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2335,2286
$GC,13289,1.04,196.0,809.9,10.2,1272,13290,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2335,2285
$GC,13598,1.04,196.0,778.8,10.0,1287,13600,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2335,2285
$GC,13907,1.04,196.0,746.8,10.5,1302,13911,0.00,2.90,0.00,0.000,4,0.000,0.130,3186,916,2285
$GC,13961,1.04,196.0,740.8,10.4,1304,13968,0.00,2.80,0.00,0.000,6,0.000,0.107,3186,2343,2285
$GC,14277,1.04,196.0,709.0,10.2,1320,14278,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2343,2285
$GC,14587,1.04,196.0,677.1,10.3,1335,14588,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2343,2285
$GC,14896,1.04,196.0,645.2,10.2,1350,14900,0.00,2.85,0.00,0.000,4,0.000,0.114,3186,913,2285
$GC,14944,1.04,196.0,639.8,10.8,1352,14949,0.00,2.78,0.00,0.000,6,0.000,0.101,3186,2334,2285
$GC,15261,1.07,222.8,609.9,9.1,1367,15290,0.00,2.95,24.10,1.156,4,0.000,0.122,3186,3738,2175
$GC,15313,1.07,222.8,604.8,10.3,1369,15319,0.00,2.78,0.00,0.000,6,0.000,0.094,3186,2321,2175
$GC,15637,1.09,239.4,574.0,9.4,1397,15656,0.00,0.00,15.57,1.099,6,0.000,0.000,3186,2321,2108
$GC,15976,1.09,239.4,540.1,10.1,1429,15977,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2321,2106
$GC,16292,1.09,239.4,507.8,11.0,1459,16293,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2320,2106
$GC,16611,1.09,239.4,472.5,11.2,1489,16612,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2321,2105
$GC,16929,1.09,239.4,438.8,10.4,1519,16934,0.00,2.85,0.00,0.000,4,0.000,0.110,3186,3740,2105
$GC,16980,1.09,239.4,433.1,11.3,1523,16985,0.00,2.72,0.00,0.000,6,0.000,0.090,3186,2333,2105
$GC,17305,1.09,239.4,400.0,10.7,1553,17306,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2334,2106
$GC,17624,1.09,239.4,366.4,10.7,1583,17625,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2334,2106
$GC,17950,1.09,239.4,330.7,11.2,1628,17957,0.00,2.78,0.00,0.000,4,0.000,0.109,3186,919,2106
$GC,17991,1.09,239.4,326.1,10.7,1635,17998,0.00,2.72,0.00,0.000,6,0.000,0.095,3186,2335,2106
$GC,18335,1.09,239.4,289.0,10.9,1696,18341,0.00,2.80,0.00,0.000,4,0.000,0.111,3185,3738,2105
$GC,18376,1.09,239.4,284.5,10.1,1703,18382,0.00,2.72,0.00,0.000,6,0.000,0.089,3186,2323,2105
$GC,18719,1.09,239.4,247.8,10.9,1764,18725,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2323,2105
$GC,19062,1.09,239.4,210.2,10.2,1825,19067,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2323,2106
$GC,19405,1.10,249.7,174.0,9.6,1886,19416,0.00,0.00,9.80,0.848,6,0.000,0.000,3186,2323,2066
$GC,19753,1.10,249.7,136.3,11.4,1948,19760,0.00,2.83,0.00,0.000,4,0.000,0.106,3186,3739,2065
$GC,19783,1.10,249.7,133.1,10.6,1953,19789,0.00,2.70,0.00,0.000,6,0.000,0.087,3186,2333,2065
$GC,20126,1.10,249.7,95.9,11.1,2014,20132,0.00,2.75,0.00,0.000,4,0.000,0.104,3186,916,2065
$GC,20161,1.10,249.7,92.0,10.3,2020,20168,0.00,2.70,0.00,0.000,6,0.000,0.088,3185,2339,2065
$GC,20506,1.10,249.7,53.5,12.3,2081,20511,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2339,2065
$GC,20849,1.10,249.7,16.4,11.4,2142,20855,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2339,2065
$GC,20991,1.10,249.7,2.2,12.2,2167,20998,0.00,2.72,0.00,0.000,4,0.000,0.103,3186,3737,2065
$STATE,21002,end climb,SURFACE_DEPTH_REACHED
$STATE,21002,begin surface coast
$FINISH,0.3,1.027739
$STATE,21009,end surface coast,CONTROL_FINISHED_OK
$STATE,21009,begin surface
$SM_CCo,21093,0.00,0.000,0,0,2063,250.70
$SM_GC,1.11,11.48,0.00,0.00,0.049,0.000,0.000,590,2234,2063,-10.85,-0.03,250.70
$IRIDIUM_FIX,6059.36,-2539.60,160897,070730
$TT8_MAMPS,0.02301
$HUMID,1647
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.90
$XPDR_PINGS,104
$24V_AH,23.3,46.411
$10V_AH,10.7,37.153
$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,27.400,139.700,379.250,0.000,0.000,29.464,31.982,325.811,26.000,0.000,0.000,12.786,3397.363,13070.020,585.198,3767.448,784.013,0.000,2198.750,0.000,3771.403,0.000,0.467
$DEVICE_MAMPS,186.381,138.060,1421.251,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1505.073,1625.381,1948.870,646.880,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129295,2170
$CAP_FILE_SIZE,187983,0
$CFSIZE,260165632,236195840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,220508,190208,6129.860,-2600.493,44,1.1,44,-18.5