version: 66.03
glider: 140
mission: 5
dive: 250
start: 6 1 108 5 51 16
data:
$ID,140
$MISSION,5
$DIVE,250
$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,2
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-17910.168
$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,12
$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
$GPS1,054255,6134.664,-2551.328,24,1.5,41,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-51.3
$GPS2,055057,6134.701,-2551.356,14,1.6,14,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SE
$TGT_LATLONG,6137.290,-2543.110
$TGT_RADIUS,2000.000
$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,74.9,8700,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.29,-194.7,0.0,0.0,0,102,0.00,0.00,-79.07,0.000,2,0.000,0.000,586,2231,3408
$GC,105,-1.29,-194.7,3.1,-4.7,11,139,12.35,2.80,-11.07,0.000,4,0.184,0.110,2670,3645,3880
$GC,180,-1.29,-194.7,15.6,-14.6,23,188,0.00,2.65,0.00,0.000,6,0.000,0.081,2670,2228,3881
$GC,325,-1.25,-194.7,31.2,-10.6,48,331,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3882
$GC,467,-1.25,-194.7,46.9,-10.8,73,475,0.00,2.75,0.00,0.000,4,0.000,0.098,2670,3646,3881
$GC,510,-1.25,-194.7,51.8,-11.9,80,517,0.00,2.67,0.00,0.000,6,0.000,0.080,2670,2218,3881
$GC,855,-1.25,-194.7,86.4,-8.9,141,862,0.00,2.70,0.00,0.000,4,0.000,0.100,2670,824,3882
$GC,886,-1.25,-194.7,89.2,-9.1,146,894,0.00,2.65,0.00,0.000,6,0.000,0.085,2670,2227,3882
$GC,1233,-1.25,-194.7,118.9,-9.0,207,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3882
$GC,1577,-1.25,-194.7,151.8,-9.7,268,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3882
$GC,1922,-1.25,-194.7,184.0,-9.1,329,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3882
$GC,2266,-1.25,-194.7,214.4,-8.8,390,2273,0.00,2.75,0.00,0.000,4,0.000,0.106,2669,3643,3882
$GC,2286,-1.25,-194.7,216.3,-9.0,393,2293,0.00,2.70,0.00,0.000,6,0.000,0.085,2670,2210,3882
$GC,2631,-1.25,-194.7,246.8,-9.0,454,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2210,3882
$GC,2976,-1.25,-194.7,277.5,-9.3,515,2983,0.00,2.83,0.00,0.000,4,0.000,0.108,2670,3643,3882
$GC,2996,-1.25,-194.7,279.4,-9.7,518,3003,0.00,2.72,0.00,0.000,6,0.000,0.088,2670,2207,3882
$GC,3341,-1.25,-194.7,314.0,-10.1,579,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2207,3882
$GC,3685,-1.25,-194.7,347.6,-9.3,640,3692,0.00,2.85,0.00,0.000,4,0.000,0.108,2669,3647,3882
$GC,3710,-1.25,-194.7,350.0,-9.6,644,3714,0.00,2.72,0.00,0.000,6,0.000,0.089,2670,2215,3882
$GC,4037,-1.25,-194.7,381.3,-9.7,674,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2215,3881
$GC,4353,-1.25,-194.7,413.9,-10.2,704,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2215,3881
$GC,4672,-1.25,-194.7,446.6,-10.3,734,4676,0.00,2.83,0.00,0.000,4,0.000,0.111,2670,3643,3881
$GC,4692,-1.25,-194.7,449.1,-11.0,735,4700,0.00,2.70,0.00,0.000,6,0.000,0.091,2670,2222,3882
$GC,5019,-1.25,-194.7,483.3,-10.4,766,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2222,3881
$GC,5337,-1.25,-194.7,517.2,-10.9,796,5342,0.00,2.83,0.00,0.000,4,0.000,0.110,2670,3649,3881
$GC,5365,-1.25,-194.7,520.4,-11.2,798,5370,0.00,2.72,0.00,0.000,6,0.000,0.094,2670,2227,3881
$GC,5692,-1.25,-194.7,553.5,-9.9,828,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3881
$GC,6008,-1.25,-194.7,583.9,-9.7,858,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3881
$GC,6323,-1.25,-194.7,614.6,-10.1,881,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3880
$GC,6631,-1.25,-194.7,646.2,-10.5,896,6633,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3881
$GC,6941,-1.25,-194.7,676.8,-9.5,911,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3880
$GC,7251,-1.25,-194.7,702.4,-8.0,926,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3880
$GC,7560,-1.25,-194.7,729.2,-9.0,941,7564,0.00,2.88,0.00,0.000,4,0.000,0.129,2670,820,3880
$GC,7581,-1.25,-194.7,731.4,-9.6,942,7586,0.00,2.78,0.00,0.000,6,0.000,0.106,2669,2234,3880
$GC,7902,-1.25,-194.7,759.9,-8.6,958,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3880
$GC,8212,-1.25,-194.7,785.5,-8.1,973,8216,0.00,2.88,0.00,0.000,4,0.000,0.126,2670,819,3879
$GC,8252,-1.25,-194.7,788.9,-8.5,975,8256,0.00,2.78,0.00,0.000,6,0.000,0.107,2670,2231,3879
$GC,8579,-1.25,-194.7,816.2,-8.6,991,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2231,3879
$GC,8889,-1.25,-194.7,843.1,-8.8,1006,8894,0.00,2.88,0.00,0.000,4,0.000,0.129,2670,823,3879
$GC,8910,-1.25,-194.7,845.2,-8.5,1007,8915,0.00,2.75,0.00,0.000,6,0.000,0.107,2670,2225,3878
$GC,9233,-1.25,-194.7,870.7,-7.5,1023,9237,0.00,2.85,0.00,0.000,4,0.000,0.129,2670,826,3878
$GC,9260,-1.25,-194.7,873.1,-8.6,1024,9264,0.00,2.75,0.00,0.000,6,0.000,0.109,2670,2221,3878
$GC,9576,-1.25,-194.7,897.3,-7.8,1039,9581,0.00,2.85,0.00,0.000,4,0.000,0.128,2670,823,3878
$GC,9609,-1.25,-194.7,900.1,-8.5,1040,9616,0.00,2.72,0.00,0.000,6,0.000,0.109,2670,2209,3877
$GC,9925,-1.25,-194.7,925.9,-8.4,1056,9926,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2210,3877
$GC,10234,-1.25,-194.7,953.3,-9.0,1071,10235,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2210,3877
$GC,10543,-1.25,-194.7,980.8,-8.8,1086,10548,0.00,2.85,0.00,0.000,4,0.000,0.133,2670,826,3877
$GC,10576,-1.25,-194.7,983.9,-9.8,1087,10583,0.00,2.75,0.00,0.000,6,0.000,0.113,2670,2214,3876
$STATE,10662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10662,begin apogee
$GC,10668,-0.35,0.0,991.6,8.8,1092,10839,1.02,0.00,166.55,1.427,6,0.099,0.000,2878,2329,3085
$STATE,10839,end apogee,CONTROL_FINISHED_OK
$STATE,10839,begin climb
$GC,10842,1.29,194.7,997.1,0.0,1100,11010,1.65,0.00,163.90,1.392,6,0.061,0.000,3239,2329,2291
$GC,11315,1.20,194.7,944.4,14.3,1123,11320,0.00,2.97,0.00,0.000,4,0.000,0.136,3239,3737,2289
$GC,11348,1.09,194.7,939.1,14.3,1124,11356,0.22,2.80,0.00,0.000,6,0.110,0.106,3198,2338,2288
$GC,11664,1.09,194.7,902.7,11.1,1140,11669,0.00,2.92,0.00,0.000,4,0.000,0.127,3198,3739,2288
$GC,11704,1.03,194.7,898.0,11.6,1142,11709,0.00,2.80,0.00,0.000,6,0.000,0.105,3198,2341,2288
$GC,12031,1.03,194.7,863.0,10.3,1158,12035,0.00,2.90,0.00,0.000,4,0.000,0.127,3198,3738,2288
$GC,12058,0.98,194.7,859.9,10.9,1159,12063,0.12,2.78,0.00,0.000,6,0.119,0.104,3176,2342,2287
$GC,12374,1.00,213.3,830.4,9.4,1174,12397,0.00,3.03,16.92,1.280,4,0.000,0.124,3176,3738,2214
$GC,12444,1.00,213.3,823.4,10.3,1177,12449,0.00,2.75,0.00,0.000,6,0.000,0.104,3176,2368,2214
$GC,12771,1.01,221.3,791.9,9.7,1193,12781,0.00,0.00,8.60,1.173,6,0.000,0.000,3176,2368,2182
$GC,13079,1.01,221.3,760.4,10.5,1208,13080,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2368,2181
$GC,13389,1.02,229.3,729.1,9.7,1223,13400,0.00,0.00,8.57,1.155,6,0.000,0.000,3176,2368,2150
$GC,13698,1.08,278.9,702.3,8.3,1238,13744,0.00,0.00,44.08,1.221,6,0.000,0.000,3176,2368,1948
$GC,14048,1.08,278.9,663.7,12.0,1255,14053,0.00,2.80,0.00,0.000,4,0.000,0.117,3176,3738,1942
$GC,14088,1.08,278.9,659.2,11.7,1257,14093,0.00,2.72,0.00,0.000,6,0.000,0.098,3176,2363,1942
$GC,14415,1.08,279.5,626.4,10.0,1273,14420,0.00,2.90,0.00,0.000,4,0.000,0.120,3176,918,1941
$GC,14448,1.13,279.5,622.6,10.8,1274,14456,0.15,2.83,0.00,0.000,6,0.061,0.100,3214,2375,1941
$GC,14767,1.13,279.5,582.5,12.1,1296,14768,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2375,1941
$GC,15086,1.13,279.5,546.4,10.7,1326,15088,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2375,1940
$GC,15404,1.13,279.5,512.1,10.7,1356,15406,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2375,1940
$GC,15723,1.13,279.5,476.8,11.5,1386,15728,0.00,2.72,0.00,0.000,4,0.000,0.114,3214,3738,1940
$GC,15744,1.13,279.5,474.0,12.2,1387,15752,0.00,2.62,0.00,0.000,6,0.000,0.088,3214,2369,1939
$GC,16071,1.13,279.5,436.4,11.8,1418,16075,0.00,2.85,0.00,0.000,4,0.000,0.109,3214,919,1940
$GC,16099,1.13,279.5,432.6,12.9,1420,16104,0.00,2.80,0.00,0.000,6,0.000,0.094,3214,2375,1940
$GC,16425,1.13,279.5,395.0,11.6,1450,16430,0.00,2.72,0.00,0.000,4,0.000,0.111,3214,3739,1940
$GC,16458,1.13,279.5,390.8,13.0,1452,16466,0.00,2.62,0.00,0.000,6,0.000,0.087,3214,2380,1940
$GC,16787,1.13,279.5,353.7,11.1,1483,16792,0.00,2.85,0.00,0.000,4,0.000,0.109,3214,918,1940
$GC,16838,1.13,279.5,347.2,12.3,1489,16845,0.00,2.78,0.00,0.000,6,0.000,0.094,3214,2372,1940
$GC,17181,1.13,279.5,307.3,11.5,1550,17188,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2372,1940
$GC,17525,1.13,279.5,268.0,12.0,1611,17532,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2372,1940
$GC,17870,1.13,279.5,227.5,11.6,1672,17877,0.00,2.85,0.00,0.000,4,0.000,0.104,3214,916,1940
$GC,17906,1.13,279.5,223.0,11.1,1678,17914,0.00,2.78,0.00,0.000,6,0.000,0.091,3214,2374,1940
$GC,18252,1.13,279.5,182.4,11.7,1739,18258,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2374,1940
$GC,18596,1.13,279.5,141.4,12.6,1800,18604,0.00,2.83,0.00,0.000,4,0.000,0.101,3214,918,1941
$GC,18621,1.13,279.5,138.4,11.6,1804,18629,0.00,2.72,0.00,0.000,6,0.000,0.087,3214,2359,1941
$GC,18967,1.13,279.5,99.4,11.6,1865,18974,0.00,2.70,0.00,0.000,4,0.000,0.104,3214,3737,1940
$GC,19003,1.13,279.5,94.9,12.0,1871,19011,0.00,2.62,0.00,0.000,6,0.000,0.083,3214,2354,1941
$GC,19348,1.13,279.5,53.3,12.5,1932,19356,0.00,2.78,0.00,0.000,4,0.000,0.101,3214,912,1941
$GC,19390,1.13,279.5,47.7,14.5,1939,19398,0.00,2.75,0.00,0.000,6,0.000,0.086,3214,2368,1941
$GC,19533,1.13,279.5,31.1,11.5,1964,19540,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2368,1941
$GC,19678,1.13,279.5,15.5,10.5,1989,19685,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2369,1941
$STATE,19801,end climb,SURFACE_DEPTH_REACHED
$STATE,19801,begin surface coast
$FINISH,0.2,1.027637
$STATE,19813,end surface coast,CONTROL_FINISHED_OK
$STATE,19813,begin surface
$SM_CCo,19895,0.00,0.000,0,0,1939,281.11
$SM_GC,0.98,11.40,0.00,0.00,0.039,0.000,0.000,584,2232,1939,-10.86,-0.08,281.11
$IRIDIUM_FIX,6112.75,-2553.46,260897,000017
$TT8_MAMPS,0.02301
$HUMID,1678
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.90
$XPDR_PINGS,104
$24V_AH,23.3,54.593
$10V_AH,10.6,44.497
$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,26.925,156.300,408.625,0.000,0.000,28.608,35.248,266.408,26.000,0.000,0.000,14.916,4067.822,11371.740,688.057,3510.784,716.669,0.000,2218.422,0.000,3517.973,0.000,0.467
$DEVICE_MAMPS,184.080,135.759,1427.387,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1395.761,1539.801,1778.515,568.966,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119949,2013
$CAP_FILE_SIZE,177976,0
$CFSIZE,260165632,232042496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.273,169.2,1
$GPS,010608,112428,6133.512,-2544.966,42,99.0,61,-18.3