version: 66.03
glider: 140
mission: 5
dive: 177
start: 5 15 108 9 47 3
data:
$ID,140
$MISSION,5
$DIVE,177
$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,-16617.037
$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,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
$GPS1,093752,6110.403,-2618.693,37,2.1,56,-18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-62.3
$GPS2,094645,6110.444,-2618.727,12,1.3,12,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6112.319,-2623.849
$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,-64.82,0.000,2,0.000,0.000,591,2224,3408
$GC,99,-1.29,-194.7,3.4,-8.2,12,129,12.30,2.75,-10.90,0.000,4,0.186,0.109,2668,3646,3880
$GC,338,-1.29,-194.7,30.2,-9.8,54,344,0.00,2.65,0.00,0.000,6,0.000,0.083,2668,2226,3881
$GC,482,-1.29,-194.7,43.3,-9.0,79,488,0.00,2.70,0.00,0.000,4,0.000,0.102,2668,824,3881
$GC,534,-1.29,-194.7,48.4,-9.3,88,541,0.00,2.62,0.00,0.000,6,0.000,0.085,2668,2223,3881
$GC,677,-1.29,-194.7,62.1,-9.7,113,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2223,3881
$GC,1019,-1.29,-194.7,95.2,-9.4,174,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2222,3881
$GC,1363,-1.29,-194.7,124.8,-8.9,235,1369,0.00,2.75,0.00,0.000,4,0.000,0.102,2668,3646,3881
$GC,1398,-1.29,-194.7,128.2,-9.8,241,1405,0.00,2.67,0.00,0.000,6,0.000,0.084,2668,2225,3882
$GC,1742,-1.29,-194.7,158.2,-9.6,302,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2224,3881
$GC,2085,-1.29,-194.7,189.0,-8.5,363,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2224,3881
$GC,2427,-1.29,-194.7,220.2,-9.6,424,2434,0.00,2.78,0.00,0.000,4,0.000,0.104,2668,3646,3881
$GC,2457,-1.29,-194.7,223.1,-10.3,429,2463,0.00,2.70,0.00,0.000,6,0.000,0.087,2669,2221,3882
$GC,2800,-1.29,-194.7,256.6,-9.1,490,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2220,3882
$GC,3144,-1.29,-194.7,287.8,-8.8,551,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2220,3881
$GC,3487,-1.29,-194.7,318.6,-9.1,612,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2220,3882
$GC,3834,-1.29,-194.7,352.2,-10.1,672,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2220,3882
$GC,4153,-1.29,-194.7,382.0,-9.1,702,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2220,3882
$GC,4471,-1.29,-194.7,411.9,-9.1,732,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2220,3882
$GC,4790,-1.29,-194.7,440.8,-8.9,762,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2220,3881
$GC,5108,-1.29,-194.7,468.8,-9.2,792,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2220,3881
$GC,5427,-1.29,-194.7,499.6,-9.8,822,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2220,3881
$GC,5746,-1.29,-194.7,531.4,-9.8,852,5750,0.00,2.83,0.00,0.000,4,0.000,0.113,2668,3647,3880
$GC,5786,-1.29,-194.7,535.4,-10.6,855,5791,0.00,2.72,0.00,0.000,6,0.000,0.094,2668,2221,3881
$GC,6113,-1.29,-194.7,565.2,-8.3,885,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2222,3880
$GC,6430,-1.29,-194.7,594.0,-9.5,915,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2222,3880
$GC,6751,-1.29,-194.7,623.7,-9.2,934,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2221,3880
$GC,7061,-1.29,-194.7,651.6,-8.8,949,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2221,3880
$GC,7371,-1.29,-194.7,680.5,-9.5,964,7372,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2222,3880
$GC,7679,-1.29,-194.7,708.7,-8.7,979,7683,0.00,2.83,0.00,0.000,4,0.000,0.120,2669,3641,3880
$GC,7712,-1.29,-194.7,711.7,-9.0,980,7718,0.00,2.72,0.00,0.000,6,0.000,0.098,2668,2220,3880
$GC,8027,-1.29,-194.7,738.6,-8.6,996,8028,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2221,3880
$GC,8337,-1.29,-194.7,764.7,-8.4,1011,8338,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2221,3879
$GC,8646,-1.29,-194.7,790.0,-8.7,1026,8650,0.00,2.88,0.00,0.000,4,0.000,0.122,2669,3646,3879
$GC,8678,-1.29,-194.7,793.2,-9.4,1027,8684,0.00,2.78,0.00,0.000,6,0.000,0.103,2668,2222,3879
$GC,8994,-1.29,-194.7,822.2,-9.8,1043,8995,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2222,3878
$GC,9303,-1.29,-194.7,851.4,-9.3,1058,9304,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2221,3878
$GC,9612,-1.29,-194.7,878.7,-8.7,1073,9614,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2222,3878
$GC,9921,-1.29,-194.7,905.0,-8.5,1088,9926,0.00,2.90,0.00,0.000,4,0.000,0.127,2668,3643,3878
$GC,9989,-1.29,-194.7,911.2,-8.8,1091,9994,0.00,2.78,0.00,0.000,6,0.000,0.108,2669,2232,3878
$GC,10310,-1.29,-194.7,938.1,-8.4,1107,10311,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2231,3877
$GC,10619,-1.29,-194.7,965.1,-8.8,1122,10624,0.00,2.85,0.00,0.000,4,0.000,0.128,2669,3641,3877
$GC,10674,-1.29,-194.7,970.3,-9.9,1124,10680,0.00,2.78,0.00,0.000,6,0.000,0.110,2668,2231,3877
$STATE,10925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10925,begin apogee
$GC,10931,-0.35,0.0,991.7,8.3,1137,11100,1.05,0.00,165.85,1.430,6,0.099,0.000,2881,2330,3085
$STATE,11101,end apogee,CONTROL_FINISHED_OK
$STATE,11101,begin climb
$GC,11104,1.29,194.7,997.9,0.0,1145,11272,1.62,0.00,164.12,1.395,6,0.061,0.000,3247,2330,2291
$GC,11581,1.19,194.7,942.6,14.0,1169,11583,0.15,0.00,0.00,0.000,6,0.117,0.000,3221,2329,2288
$GC,11889,1.13,194.7,904.2,11.9,1184,11890,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2330,2287
$GC,12199,1.06,194.7,867.4,12.0,1199,12201,0.15,0.00,0.00,0.000,6,0.114,0.000,3193,2330,2287
$GC,12507,1.08,208.7,835.0,9.5,1214,12529,0.00,3.03,12.85,1.262,4,0.000,0.126,3193,3733,2234
$GC,12553,1.08,216.1,830.4,9.7,1216,12567,0.00,2.83,8.55,1.137,6,0.000,0.105,3193,2336,2202
$GC,12885,1.11,239.7,798.7,9.2,1232,12914,0.00,3.03,21.42,1.265,4,0.000,0.135,3193,919,2107
$GC,12953,1.11,239.7,791.3,11.2,1235,12958,0.00,2.80,0.00,0.000,6,0.000,0.104,3193,2336,2106
$GC,13281,1.11,239.7,758.0,10.2,1251,13282,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2337,2104
$GC,13589,1.14,257.1,728.3,9.4,1266,13612,0.00,2.95,16.17,1.214,4,0.000,0.122,3193,912,2035
$GC,13651,1.14,257.1,722.0,10.3,1268,13657,0.00,2.80,0.00,0.000,6,0.000,0.105,3193,2331,2034
$GC,13967,1.14,257.7,692.4,10.0,1284,13968,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2332,2033
$GC,14276,1.14,257.7,659.8,11.0,1299,14281,0.00,2.85,0.00,0.000,4,0.000,0.120,3193,916,2032
$GC,14315,1.14,257.7,655.2,12.2,1301,14320,0.00,2.75,0.00,0.000,6,0.000,0.100,3193,2329,2032
$GC,14642,1.14,257.7,619.9,10.6,1317,14643,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2329,2032
$GC,14954,1.14,257.7,586.7,10.9,1337,14955,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2329,2032
$GC,15273,1.14,257.7,550.3,11.2,1367,15274,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2329,2032
$GC,15591,1.14,257.7,512.6,12.3,1397,15595,0.00,2.83,0.00,0.000,4,0.000,0.113,3193,3739,2032
$GC,15620,1.14,257.7,509.0,13.2,1399,15625,0.00,2.78,0.00,0.000,6,0.000,0.092,3193,2314,2031
$GC,15945,1.14,257.7,469.7,11.6,1429,15946,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2314,2032
$GC,16264,1.14,257.7,433.7,11.0,1459,16265,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2314,2032
$GC,16584,1.14,258.6,401.2,10.0,1489,16589,0.00,2.88,0.00,0.000,4,0.000,0.110,3193,3740,2032
$GC,16627,1.14,258.6,396.3,10.9,1492,16634,0.00,2.72,0.00,0.000,6,0.000,0.090,3193,2323,2032
$GC,16954,1.14,258.6,361.9,10.8,1523,16956,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2323,2032
$GC,17282,1.14,258.6,327.9,10.1,1572,17288,0.00,2.83,0.00,0.000,4,0.000,0.109,3193,3738,2032
$GC,17312,1.14,258.6,324.6,11.4,1577,17318,0.00,2.72,0.00,0.000,6,0.000,0.089,3193,2329,2032
$GC,17656,1.15,268.1,290.1,9.7,1638,17673,0.00,2.83,10.43,0.930,4,0.000,0.110,3193,919,1990
$GC,17697,1.15,268.1,285.7,11.2,1645,17703,0.00,2.70,0.00,0.000,6,0.000,0.091,3193,2329,1990
$GC,18040,1.16,275.7,249.7,9.7,1706,18058,0.00,2.90,7.62,0.858,4,0.000,0.109,3193,3739,1960
$GC,18087,1.16,275.7,244.7,11.0,1714,18093,0.00,2.72,0.00,0.000,6,0.000,0.087,3194,2336,1960
$GC,18430,1.16,275.7,206.7,11.7,1775,18435,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2336,1960
$GC,18773,1.18,293.9,169.9,9.4,1836,18796,0.10,2.88,17.17,0.866,4,0.072,0.105,3220,915,1886
$GC,18825,1.18,293.9,163.6,14.7,1845,18831,0.00,2.72,0.00,0.000,6,0.000,0.090,3220,2336,1885
$GC,19168,1.18,293.9,118.4,14.1,1906,19175,0.00,2.78,0.00,0.000,4,0.000,0.107,3220,3735,1883
$GC,19226,1.18,293.9,110.1,12.7,1916,19233,0.00,2.67,0.00,0.000,6,0.000,0.086,3220,2342,1883
$GC,19571,1.18,293.9,67.4,11.6,1977,19577,0.00,2.72,0.00,0.000,4,0.000,0.103,3220,918,1884
$GC,19600,1.18,293.9,63.9,11.5,1982,19606,0.00,2.70,0.00,0.000,6,0.000,0.090,3220,2345,1884
$GC,19944,1.18,293.9,21.0,12.5,2043,19950,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2346,1883
$GC,20086,1.18,293.9,2.7,11.5,2068,20092,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2346,1883
$STATE,20096,end climb,SURFACE_DEPTH_REACHED
$STATE,20096,begin surface coast
$FINISH,0.3,1.027470
$STATE,20114,end surface coast,CONTROL_FINISHED_OK
$STATE,20114,begin surface
$SM_CCo,20196,0.00,0.000,0,0,1881,295.34
$SM_GC,1.12,11.52,0.00,0.00,0.044,0.000,0.000,590,2226,1881,-10.84,-0.25,295.34
$IRIDIUM_FIX,6046.07,-2609.97,090897,030338
$TT8_MAMPS,0.02301
$HUMID,1644
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.80
$XPDR_PINGS,114
$24V_AH,23.4,40.894
$10V_AH,10.7,32.070
$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,26.900,117.550,424.200,0.000,0.000,31.155,33.418,327.906,28.500,0.000,0.000,12.199,3227.731,12535.942,601.348,3599.184,745.038,0.000,2150.287,0.000,3591.209,0.000,0.467
$DEVICE_MAMPS,185.614,134.992,1429.688,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1439.383,1549.197,1833.591,586.913,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123065,2073
$CAP_FILE_SIZE,177336,0
$CFSIZE,260165632,239075328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,150508,152455,6111.180,-2623.923,41,1.2,41,-18.5