version: 66.03
glider: 140
mission: 5
dive: 176
start: 5 15 108 3 56 9
data:
$ID,140
$MISSION,5
$DIVE,176
$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,280
$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,-16604.209
$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
$GPS1,034637,6110.588,-2611.767,25,1.5,25,-18.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-64.4
$GPS2,035551,6110.553,-2611.910,12,1.5,12,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6112.428,-2617.033
$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,298.4,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,96,0.00,0.00,-64.82,0.000,2,0.000,0.000,587,2225,3450
$GC,99,-1.29,-194.7,3.3,-6.5,12,129,12.35,2.78,-9.75,0.000,4,0.186,0.111,2668,3649,3882
$GC,326,-1.29,-194.7,29.9,-10.1,52,332,0.00,2.65,0.00,0.000,6,0.000,0.081,2668,2234,3883
$GC,468,-1.29,-194.7,42.9,-8.7,77,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,609,-1.29,-194.7,56.8,-9.7,102,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3883
$GC,953,-1.29,-194.7,90.2,-8.9,163,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3883
$GC,1295,-1.29,-194.7,122.1,-8.7,224,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3883
$GC,1639,-1.29,-194.7,153.1,-10.0,285,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3883
$GC,1984,-1.29,-194.7,185.3,-9.1,346,1990,0.00,2.75,0.00,0.000,4,0.000,0.108,2669,824,3883
$GC,2030,-1.29,-194.7,190.2,-10.2,354,2036,0.00,2.70,0.00,0.000,6,0.000,0.091,2669,2244,3883
$GC,2375,-1.29,-194.7,224.8,-9.7,415,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2244,3883
$GC,2717,-1.29,-194.7,256.8,-9.3,476,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2244,3883
$GC,3060,-1.29,-194.7,289.6,-10.1,537,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3883
$GC,3403,-1.29,-194.7,321.4,-9.3,598,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3883
$GC,3750,-1.29,-194.7,353.6,-9.7,657,3755,0.00,2.83,0.00,0.000,4,0.000,0.114,2668,821,3883
$GC,3778,-1.29,-194.7,356.4,-10.2,659,3783,0.00,2.72,0.00,0.000,6,0.000,0.097,2668,2238,3883
$GC,4105,-1.29,-194.7,388.2,-10.1,689,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3883
$GC,4422,-1.29,-194.7,419.1,-9.5,719,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3883
$GC,4741,-1.29,-194.7,449.3,-9.7,749,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3882
$GC,5059,-1.29,-194.7,479.0,-8.9,779,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3882
$GC,5378,-1.29,-194.7,506.6,-8.2,809,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3882
$GC,5697,-1.29,-194.7,532.0,-8.3,839,5702,0.00,2.80,0.00,0.000,4,0.000,0.119,2669,827,3882
$GC,5730,-1.29,-194.7,535.2,-9.2,841,5736,0.00,2.72,0.00,0.000,6,0.000,0.101,2669,2233,3882
$GC,6057,-1.29,-194.7,564.9,-9.2,872,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2233,3882
$GC,6373,-1.29,-194.7,593.1,-8.6,902,6374,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,6686,-1.29,-194.7,619.7,-8.8,921,6690,0.00,2.83,0.00,0.000,4,0.000,0.120,2668,3650,3882
$GC,6718,-1.29,-194.7,622.8,-9.5,922,6725,0.00,2.70,0.00,0.000,6,0.000,0.092,2669,2224,3882
$GC,7034,-1.29,-194.7,649.5,-8.1,938,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2225,3881
$GC,7344,-1.29,-194.7,676.4,-8.6,953,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2225,3881
$GC,7652,-1.29,-194.7,701.1,-8.1,968,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2225,3881
$GC,7962,-1.29,-194.7,729.2,-9.5,983,7963,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2225,3881
$GC,8271,-1.29,-194.7,758.0,-9.0,998,8275,0.00,2.88,0.00,0.000,4,0.000,0.123,2668,3651,3881
$GC,8297,-1.29,-194.7,760.6,-9.5,999,8302,0.00,2.72,0.00,0.000,6,0.000,0.098,2668,2235,3880
$GC,8613,-1.29,-194.7,787.5,-8.4,1014,8614,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3880
$GC,8923,-1.29,-194.7,813.3,-8.4,1029,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3880
$GC,9231,-1.29,-194.7,838.4,-7.7,1044,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3880
$GC,9541,-1.29,-194.7,864.3,-8.4,1059,9543,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3880
$GC,9850,-1.29,-194.7,888.3,-8.0,1074,9851,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2235,3879
$GC,10159,-1.29,-194.7,913.0,-8.1,1089,10164,0.00,2.88,0.00,0.000,4,0.000,0.129,2668,3645,3879
$GC,10209,-1.29,-194.7,917.3,-8.5,1091,10213,0.00,2.75,0.00,0.000,6,0.000,0.104,2668,2233,3879
$GC,10524,-1.29,-194.7,945.0,-9.3,1106,10525,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3878
$GC,10833,-1.29,-194.7,972.9,-8.9,1121,10835,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3878
$STATE,11037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11037,begin apogee
$GC,11043,-0.35,0.0,991.3,8.9,1131,11213,1.05,0.00,166.02,1.432,6,0.103,0.000,2880,2331,3085
$STATE,11213,end apogee,CONTROL_FINISHED_OK
$STATE,11213,begin climb
$GC,11216,1.29,194.7,998.2,0.0,1139,11384,1.62,0.00,163.65,1.396,6,0.061,0.000,3238,2331,2291
$GC,11689,1.20,194.7,951.1,12.5,1162,11690,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2331,2288
$GC,11996,1.11,194.7,911.6,13.0,1177,11998,0.17,0.00,0.00,0.000,6,0.114,0.000,3207,2331,2288
$GC,12305,1.07,194.7,875.3,11.7,1192,12310,0.00,2.92,0.00,0.000,4,0.000,0.127,3207,3737,2287
$GC,12372,0.99,194.7,867.2,12.1,1195,12377,0.15,2.80,0.00,0.000,6,0.114,0.104,3179,2336,2287
$GC,12693,0.99,194.7,833.8,10.4,1211,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2336,2287
$GC,13002,0.99,194.7,800.5,11.0,1226,13003,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2336,2287
$GC,13311,0.99,194.7,768.7,10.3,1241,13312,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2336,2286
$GC,13620,1.00,198.2,738.2,9.9,1256,13625,0.00,2.90,0.00,0.000,4,0.000,0.127,3179,910,2286
$GC,13659,1.00,198.2,734.1,10.5,1258,13668,0.00,2.78,3.90,0.811,6,0.000,0.100,3180,2335,2277
$GC,13990,1.00,198.2,699.6,10.5,1274,13995,0.00,2.88,0.00,0.000,4,0.000,0.121,3179,3738,2277
$GC,14029,0.95,198.2,695.4,10.7,1276,14034,0.00,2.80,0.00,0.000,6,0.000,0.098,3179,2322,2277
$GC,14356,0.99,223.7,663.9,9.1,1292,14381,0.00,0.00,23.20,1.197,6,0.000,0.000,3180,2322,2173
$GC,14685,0.99,223.7,630.4,10.6,1308,14686,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2322,2171
$GC,14995,1.00,235.8,598.2,9.6,1323,15009,0.00,0.00,11.82,1.117,6,0.000,0.000,3179,2322,2123
$GC,15323,1.01,243.2,565.0,9.7,1354,15333,0.00,0.00,7.82,1.029,6,0.000,0.000,3179,2322,2093
$GC,15654,1.02,254.1,532.1,9.6,1385,15671,0.00,0.00,10.77,1.055,6,0.000,0.000,3179,2321,2049
$GC,15991,1.02,254.1,495.6,11.4,1417,15993,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2321,2047
$GC,16309,1.02,254.1,460.2,10.5,1447,16313,0.00,2.83,0.00,0.000,4,0.000,0.107,3179,3739,2047
$GC,16341,1.02,254.1,456.2,12.0,1449,16347,0.00,2.72,0.00,0.000,6,0.000,0.091,3180,2328,2047
$GC,16665,1.02,254.1,420.8,10.6,1480,16670,0.00,2.78,0.00,0.000,4,0.000,0.113,3179,919,2047
$GC,16705,1.06,254.1,416.5,11.0,1483,16710,0.00,2.70,0.00,0.000,6,0.000,0.093,3179,2331,2047
$GC,17030,1.06,254.1,381.7,10.9,1513,17031,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2330,2047
$GC,17351,1.08,269.8,348.8,9.5,1544,17368,0.00,0.00,14.55,0.976,6,0.000,0.000,3179,2331,1985
$GC,17706,1.08,269.8,312.8,11.7,1607,17711,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2332,1983
$GC,18049,1.11,292.7,277.1,9.2,1668,18078,0.10,2.85,21.02,0.932,4,0.071,0.107,3206,912,1891
$GC,18106,1.11,292.7,270.4,11.4,1678,18113,0.00,2.72,0.00,0.000,6,0.000,0.090,3206,2329,1890
$GC,18451,1.11,292.7,227.3,13.4,1739,18456,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2330,1888
$GC,18793,1.11,292.7,184.9,13.6,1800,18799,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2330,1888
$GC,19137,1.11,292.7,142.7,11.2,1861,19143,0.00,2.75,0.00,0.000,4,0.000,0.104,3206,919,1888
$GC,19165,1.11,292.7,139.0,13.0,1866,19172,0.00,2.65,0.00,0.000,6,0.000,0.088,3206,2322,1888
$GC,19510,1.11,292.7,98.1,10.8,1927,19516,0.00,2.78,0.00,0.000,4,0.000,0.104,3206,3737,1887
$GC,19534,1.11,292.7,95.3,12.6,1931,19540,0.00,2.70,0.00,0.000,6,0.000,0.084,3206,2321,1887
$GC,19877,1.11,292.7,53.5,11.6,1992,19883,0.00,2.70,0.00,0.000,4,0.000,0.103,3206,917,1887
$GC,19907,1.11,292.7,49.7,13.1,1997,19913,0.00,2.62,0.00,0.000,6,0.000,0.087,3206,2318,1887
$GC,20049,1.11,292.7,32.8,10.1,2022,20054,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2318,1887
$GC,20190,1.11,292.7,16.8,11.9,2047,20195,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2319,1887
$STATE,20311,end climb,SURFACE_DEPTH_REACHED
$STATE,20311,begin surface coast
$FINISH,0.5,1.027733
$STATE,20329,end surface coast,CONTROL_FINISHED_OK
$STATE,20329,begin surface
$SM_CCo,20411,0.00,0.000,0,0,1884,294.61
$SM_GC,1.03,11.50,0.00,0.00,0.047,0.000,0.000,591,2225,1884,-10.84,-0.28,294.61
$IRIDIUM_FIX,6037.25,-2458.60,080897,222255
$TT8_MAMPS,0.02301
$HUMID,1634
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.00
$XPDR_PINGS,122
$24V_AH,23.4,40.705
$10V_AH,10.7,31.899
$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,26.950,89.000,422.775,0.000,0.000,25.799,40.098,347.444,30.500,0.000,0.000,12.550,3208.770,12809.669,586.485,3571.437,768.926,0.000,2108.845,0.000,3569.209,0.000,0.467
$DEVICE_MAMPS,186.381,140.361,1431.989,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1441.732,1543.767,1838.952,584.745,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123135,2072
$CAP_FILE_SIZE,173202,0
$CFSIZE,260165632,239177728
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,150508,093752,6110.403,-2618.693,37,2.1,56,-18.4