version: 66.03
glider: 140
mission: 5
dive: 178
start: 5 15 108 15 33 3
data:
$ID,140
$MISSION,5
$DIVE,178
$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,-16631.549
$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
$GPS1,152455,6111.180,-2623.923,41,1.2,41,-18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.5
$GPS2,153245,6111.193,-2623.898,13,1.1,13,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6113.069,-2629.019
$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,298.5,20000,-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,27,-1.29,-194.7,0.0,0.0,0,95,0.00,0.00,-65.18,0.000,2,0.000,0.000,590,2226,3409
$GC,98,-1.29,-194.7,3.3,-6.7,12,128,12.32,2.78,-11.12,0.000,4,0.186,0.112,2671,3650,3880
$GC,319,-1.29,-194.7,26.0,-9.2,51,326,0.00,2.65,0.00,0.000,6,0.000,0.083,2671,2229,3881
$GC,463,-1.29,-194.7,38.9,-9.0,76,470,0.00,2.70,0.00,0.000,4,0.000,0.101,2671,824,3881
$GC,499,-1.29,-194.7,42.4,-9.4,82,506,0.00,2.65,0.00,0.000,6,0.000,0.085,2671,2236,3881
$GC,642,-1.29,-194.7,55.3,-9.0,107,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,984,-1.29,-194.7,86.7,-9.4,168,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3881
$GC,1327,-1.29,-194.7,119.0,-9.3,229,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3881
$GC,1670,-1.29,-194.7,154.4,-11.1,290,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3881
$GC,2013,-1.29,-194.7,188.7,-9.2,351,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3881
$GC,2355,-1.29,-194.7,219.7,-8.6,412,2362,0.00,2.78,0.00,0.000,4,0.000,0.110,2671,826,3881
$GC,2404,-1.29,-194.7,224.0,-9.4,420,2410,0.00,2.67,0.00,0.000,6,0.000,0.093,2671,2231,3881
$GC,2749,-1.29,-194.7,254.6,-8.8,481,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,3091,-1.29,-194.7,284.2,-8.4,542,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3881
$GC,3434,-1.29,-194.7,313.8,-8.6,603,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,3777,-1.29,-194.7,344.3,-8.7,664,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3881
$GC,4112,-1.29,-194.7,374.0,-8.9,701,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3881
$GC,4431,-1.29,-194.7,403.2,-9.4,731,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3881
$GC,4747,-1.29,-194.7,433.8,-9.9,761,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3881
$GC,5066,-1.29,-194.7,465.3,-9.2,791,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3881
$GC,5384,-1.29,-194.7,492.5,-8.2,821,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3881
$GC,5703,-1.29,-194.7,520.1,-8.5,851,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3881
$GC,6022,-1.29,-194.7,548.3,-8.6,881,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3881
$GC,6340,-1.29,-194.7,576.8,-8.7,911,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3881
$GC,6657,-1.29,-194.7,603.6,-8.3,939,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3880
$GC,6966,-1.29,-194.7,627.5,-7.5,954,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3881
$GC,7276,-1.29,-194.7,651.9,-8.1,969,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3880
$GC,7585,-1.29,-194.7,677.5,-8.0,984,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3880
$GC,7895,-1.29,-194.7,702.1,-7.9,999,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3880
$GC,8203,-1.29,-194.7,727.5,-8.3,1014,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3879
$GC,8513,-1.29,-194.7,752.3,-7.7,1029,8514,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3880
$GC,8822,-1.29,-194.7,776.8,-8.3,1044,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3879
$GC,9131,-1.29,-194.7,803.8,-8.5,1059,9136,0.00,2.88,0.00,0.000,4,0.000,0.131,2671,3643,3878
$GC,9175,-1.29,-194.7,807.8,-9.4,1061,9180,0.00,2.75,0.00,0.000,6,0.000,0.104,2671,2226,3879
$GC,9496,-1.29,-194.7,837.4,-9.3,1077,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3878
$GC,9805,-1.29,-194.7,864.7,-9.4,1092,9806,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3878
$GC,10115,-1.29,-194.7,893.1,-8.9,1107,10120,0.00,2.90,0.00,0.000,4,0.000,0.128,2671,3648,3878
$GC,10154,-1.29,-194.7,897.0,-10.0,1109,10159,0.00,2.78,0.00,0.000,6,0.000,0.106,2671,2227,3878
$GC,10481,-1.29,-194.7,927.2,-9.4,1125,10482,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3878
$GC,10790,-1.29,-194.7,956.9,-9.6,1140,10795,0.00,2.88,0.00,0.000,4,0.000,0.127,2671,3644,3877
$GC,10839,-1.29,-194.7,961.8,-10.2,1142,10843,0.00,2.78,0.00,0.000,6,0.000,0.107,2671,2226,3877
$GC,11155,-1.29,-194.7,989.0,-8.3,1157,11160,0.00,2.90,0.00,0.000,4,0.000,0.128,2671,3648,3877
$STATE,11169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11169,begin apogee
$GC,11178,-0.35,0.0,990.4,8.0,1158,11352,1.02,0.00,166.20,1.429,6,0.102,0.000,2877,2321,3085
$STATE,11352,end apogee,CONTROL_FINISHED_OK
$STATE,11352,begin climb
$GC,11355,1.29,194.7,997.2,0.0,1167,11529,1.62,3.08,162.80,1.394,4,0.061,0.132,3236,3734,2290
$GC,11562,1.17,194.7,980.3,13.9,1177,11568,0.12,2.85,0.00,0.000,6,0.120,0.109,3216,2333,2289
$GC,11883,1.11,194.7,942.4,11.6,1193,11885,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2333,2288
$GC,12193,1.05,194.7,907.7,11.2,1208,12195,0.15,0.00,0.00,0.000,6,0.115,0.000,3188,2333,2287
$GC,12502,1.05,194.7,875.0,10.5,1223,12503,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2334,2287
$GC,12811,1.05,194.7,843.3,10.2,1238,12812,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2334,2287
$GC,13121,1.07,217.6,812.8,9.2,1253,13143,0.00,0.00,20.55,1.286,6,0.000,0.000,3188,2333,2197
$GC,13450,1.10,236.2,781.5,9.4,1269,13470,0.00,0.00,17.27,1.247,6,0.000,0.000,3188,2334,2122
$GC,13779,1.10,236.2,749.7,10.1,1285,13783,0.00,2.90,0.00,0.000,4,0.000,0.127,3188,915,2120
$GC,13811,1.10,236.2,746.1,11.1,1286,13818,0.00,2.80,0.00,0.000,6,0.000,0.107,3188,2331,2120
$GC,14127,1.10,236.2,713.1,10.6,1302,14131,0.00,2.92,0.00,0.000,4,0.000,0.127,3188,3738,2119
$GC,14158,1.10,236.2,709.3,11.4,1303,14165,0.00,2.78,0.00,0.000,6,0.000,0.100,3188,2333,2119
$GC,14475,1.10,236.2,675.6,10.6,1319,14476,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2334,2119
$GC,14783,1.10,236.2,641.9,10.8,1334,14784,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2334,2119
$GC,15093,1.10,242.3,610.7,9.8,1349,15102,0.00,0.00,6.60,1.024,6,0.000,0.000,3188,2334,2097
$GC,15408,1.10,242.3,579.6,10.1,1373,15409,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2334,2096
$GC,15726,1.10,242.3,546.1,11.0,1403,15731,0.00,2.80,0.00,0.000,4,0.000,0.114,3188,919,2097
$GC,15781,1.10,242.3,539.7,11.1,1407,15787,0.00,2.78,0.00,0.000,6,0.000,0.099,3188,2349,2096
$GC,16107,1.10,242.3,501.2,12.8,1438,16108,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2349,2096
$GC,16425,1.10,242.3,459.8,13.6,1468,16429,0.00,2.83,0.00,0.000,4,0.000,0.110,3188,914,2096
$GC,16457,1.10,242.3,455.1,13.7,1470,16464,0.00,2.78,0.00,0.000,6,0.000,0.098,3188,2336,2097
$GC,16785,1.10,242.3,411.3,13.3,1501,16791,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2337,2097
$GC,17110,1.10,242.3,368.4,13.2,1532,17111,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2337,2096
$GC,17437,1.10,242.3,328.8,11.7,1578,17443,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2337,2096
$GC,17781,1.10,242.3,292.2,10.4,1639,17786,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2338,2096
$GC,18124,1.12,252.9,257.6,9.6,1700,18136,0.00,0.00,10.48,0.913,6,0.000,0.000,3188,2338,2054
$GC,18474,1.12,259.4,224.8,9.8,1762,18486,0.00,2.85,7.18,0.833,4,0.000,0.104,3188,918,2027
$GC,18521,1.12,259.4,220.4,10.6,1770,18527,0.00,2.72,0.00,0.000,6,0.000,0.091,3188,2341,2026
$GC,18866,1.19,313.8,189.2,8.1,1831,18919,0.15,0.00,46.50,0.874,6,0.061,0.000,3230,2341,1804
$GC,19259,1.19,313.8,141.7,14.0,1901,19265,0.00,2.78,0.00,0.000,4,0.000,0.103,3230,918,1800
$GC,19287,1.19,313.8,137.8,12.5,1906,19294,0.00,2.70,0.00,0.000,6,0.000,0.089,3230,2336,1799
$GC,19631,1.19,313.8,95.4,13.2,1967,19636,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2336,1799
$GC,19974,1.19,313.8,49.6,12.8,2028,19979,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2336,1798
$GC,20115,1.19,313.8,30.6,14.1,2053,20122,0.00,2.75,0.00,0.000,4,0.000,0.100,3230,913,1798
$GC,20134,1.19,313.8,27.8,14.3,2056,20140,0.00,2.65,0.00,0.000,6,0.000,0.086,3230,2322,1798
$GC,20276,1.19,313.8,8.2,14.6,2081,20282,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2322,1798
$STATE,20320,end climb,SURFACE_DEPTH_REACHED
$STATE,20320,begin surface coast
$FINISH,0.5,1.027731
$STATE,20332,end surface coast,CONTROL_FINISHED_OK
$STATE,20332,begin surface
$SM_CCo,20414,0.00,0.000,0,0,1795,316.44
$SM_GC,1.16,11.57,0.00,0.00,0.044,0.000,0.000,590,2228,1795,-10.85,-0.20,316.44
$IRIDIUM_FIX,6046.07,-2615.95,090897,090956
$TT8_MAMPS,0.02301
$HUMID,1638
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.80
$XPDR_PINGS,115
$24V_AH,23.4,41.079
$10V_AH,10.7,32.241
$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,26.975,83.875,437.575,0.000,0.000,28.950,36.577,258.483,28.750,0.000,0.000,13.883,3226.058,12772.733,568.173,3620.916,675.282,0.000,2131.465,0.000,3614.944,0.000,0.467
$DEVICE_MAMPS,185.614,131.924,1428.921,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1456.875,1557.144,1848.832,585.604,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,122988,2091
$CAP_FILE_SIZE,172046,0
$CFSIZE,260165632,238989312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,150508,211432,6111.657,-2627.514,40,1.4,40,-18.5