version: 66.03
glider: 140
mission: 5
dive: 179
start: 5 15 108 21 22 51
data:
$ID,140
$MISSION,5
$DIVE,179
$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,355
$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,-16645.619
$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,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
$GPS1,211432,6111.657,-2627.514,40,1.4,40,-18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-62.7
$GPS2,212233,6111.679,-2627.387,13,1.1,13,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6122.438,-2627.838
$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,13.5,20000,-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,-65.25,0.000,2,0.000,0.000,590,2228,3313
$GC,98,-1.29,-194.7,3.0,-6.7,12,127,12.35,0.00,-14.30,0.000,6,0.187,0.000,2671,2228,3880
$GC,265,-1.29,-194.7,20.8,-10.3,41,270,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,406,-1.29,-194.7,35.8,-10.2,66,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,548,-1.29,-194.7,49.8,-9.7,91,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,689,-1.29,-194.7,64.2,-10.6,116,695,0.00,2.72,0.00,0.000,4,0.000,0.102,2671,823,3882
$GC,712,-1.29,-194.7,66.7,-10.6,120,719,0.00,2.67,0.00,0.000,6,0.000,0.087,2671,2240,3882
$GC,1056,-1.29,-194.7,102.1,-9.8,181,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3882
$GC,1399,-1.29,-194.7,134.6,-8.7,242,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3882
$GC,1743,-1.29,-194.7,166.2,-9.6,303,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3883
$GC,2085,-1.29,-194.7,200.8,-10.7,364,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3882
$GC,2428,-1.29,-194.7,233.1,-8.6,425,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3882
$GC,2772,-1.29,-194.7,260.8,-7.7,486,2779,0.00,2.80,0.00,0.000,4,0.000,0.111,2671,820,3882
$GC,2807,-1.29,-194.7,263.8,-8.4,492,2814,0.00,2.70,0.00,0.000,6,0.000,0.094,2671,2230,3882
$GC,3151,-1.29,-194.7,292.5,-9.0,553,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,3493,-1.29,-194.7,325.1,-10.3,614,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,3830,-1.29,-194.7,360.5,-10.3,666,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,4149,-1.29,-194.7,391.5,-9.3,696,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2232,3882
$GC,4468,-1.29,-194.7,419.5,-8.4,726,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,4786,-1.29,-194.7,447.6,-8.9,756,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,5105,-1.29,-194.7,476.6,-9.2,786,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,5423,-1.29,-194.7,504.5,-8.5,816,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2232,3882
$GC,5742,-1.29,-194.7,530.3,-8.2,846,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2232,3881
$GC,6062,-1.29,-194.7,556.6,-7.6,876,6066,0.00,2.80,0.00,0.000,4,0.000,0.114,2671,3649,3882
$GC,6101,-1.29,-194.7,559.7,-7.5,879,6106,0.00,2.70,0.00,0.000,6,0.000,0.094,2671,2233,3881
$GC,6428,-1.29,-194.7,583.3,-8.0,909,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3881
$GC,6751,-1.29,-194.7,610.9,-8.6,934,6755,0.00,2.85,0.00,0.000,4,0.000,0.124,2671,821,3881
$GC,6772,-1.29,-194.7,612.8,-8.8,935,6777,0.00,2.75,0.00,0.000,6,0.000,0.103,2671,2237,3881
$GC,7093,-1.29,-194.7,641.5,-9.0,951,7094,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2238,3881
$GC,7401,-1.29,-194.7,671.7,-10.7,966,7406,0.00,2.83,0.00,0.000,4,0.000,0.123,2671,3645,3881
$GC,7457,-1.29,-194.7,677.7,-10.6,968,7463,0.00,2.70,0.00,0.000,6,0.000,0.097,2671,2234,3880
$GC,7772,-1.29,-194.7,705.7,-8.6,984,7776,0.00,2.85,0.00,0.000,4,0.000,0.127,2671,825,3880
$GC,7799,-1.29,-194.7,708.2,-9.3,985,7803,0.00,2.78,0.00,0.000,6,0.000,0.105,2671,2246,3880
$GC,8114,-1.29,-194.7,733.5,-8.0,1000,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2246,3880
$GC,8424,-1.29,-194.7,759.0,-8.4,1015,8428,0.00,2.83,0.00,0.000,4,0.000,0.128,2671,3648,3880
$GC,8445,-1.29,-194.7,761.0,-8.8,1016,8449,0.00,2.72,0.00,0.000,6,0.000,0.100,2671,2234,3880
$GC,8766,-1.29,-194.7,787.3,-7.9,1032,8767,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3880
$GC,9075,-1.29,-194.7,812.2,-8.4,1047,9080,0.00,2.83,0.00,0.000,4,0.000,0.121,2671,3648,3879
$GC,9124,-1.29,-194.7,817.0,-9.5,1049,9129,0.00,2.70,0.00,0.000,6,0.000,0.101,2671,2245,3879
$GC,9440,-1.29,-194.7,846.4,-9.4,1064,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2246,3879
$GC,9750,-1.29,-194.7,875.2,-9.1,1079,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2246,3879
$GC,10058,-1.29,-194.7,902.0,-8.6,1094,10059,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3878
$GC,10368,-1.29,-194.7,929.0,-8.9,1109,10369,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3878
$GC,10677,-1.29,-194.7,954.9,-7.9,1124,10681,0.00,2.95,0.00,0.000,4,0.000,0.140,2671,825,3877
$GC,10698,-1.29,-194.7,956.6,-8.4,1125,10703,0.00,2.83,0.00,0.000,6,0.000,0.110,2671,2258,3878
$GC,11019,-1.29,-194.7,979.5,-7.1,1141,11024,0.00,2.83,0.00,0.000,4,0.000,0.132,2671,3648,3877
$GC,11052,-1.29,-194.7,982.2,-8.1,1142,11058,0.00,2.72,0.00,0.000,6,0.000,0.108,2671,2256,3878
$STATE,11159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11159,begin apogee
$GC,11165,-0.35,0.0,990.5,7.6,1148,11335,1.02,0.00,166.30,1.433,6,0.101,0.000,2877,2330,3085
$STATE,11335,end apogee,CONTROL_FINISHED_OK
$STATE,11336,begin climb
$GC,11338,1.29,194.7,997.3,0.0,1156,11506,1.65,0.00,163.77,1.401,6,0.060,0.000,3247,2330,2291
$GC,11816,1.19,194.7,949.7,12.6,1180,11818,0.15,0.00,0.00,0.000,6,0.117,0.000,3221,2330,2289
$GC,12124,1.12,194.7,913.8,11.5,1195,12128,0.00,2.95,0.00,0.000,4,0.000,0.130,3221,3738,2288
$GC,12151,1.03,194.7,910.3,12.0,1196,12156,0.17,2.83,0.00,0.000,6,0.112,0.106,3189,2331,2288
$GC,12467,1.03,194.7,876.9,10.6,1211,12468,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2332,2287
$GC,12776,1.03,194.7,842.9,11.0,1226,12780,0.00,2.90,0.00,0.000,4,0.000,0.123,3188,3738,2287
$GC,12831,0.98,194.7,836.5,11.9,1228,12837,0.00,2.80,0.00,0.000,6,0.000,0.105,3189,2338,2287
$GC,13146,0.98,194.7,802.8,10.6,1244,13147,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2338,2287
$GC,13456,0.99,207.8,772.4,9.5,1259,13474,0.00,0.00,12.23,1.245,6,0.000,0.000,3189,2338,2237
$GC,13784,0.99,207.8,736.5,11.5,1275,13788,0.00,2.88,0.00,0.000,4,0.000,0.117,3189,3739,2236
$GC,13824,0.94,207.8,731.7,12.6,1277,13829,0.12,2.78,0.00,0.000,6,0.114,0.100,3167,2344,2236
$GC,14151,0.94,207.8,697.2,10.9,1293,14155,0.00,2.90,0.00,0.000,4,0.000,0.127,3166,913,2236
$GC,14244,0.94,207.8,686.2,11.0,1297,14249,0.00,2.75,0.00,0.000,6,0.000,0.100,3166,2329,2236
$GC,14561,0.95,213.4,654.9,9.8,1312,14575,0.00,2.85,6.43,1.033,4,0.000,0.115,3166,918,2214
$GC,14620,0.95,213.4,648.4,10.8,1314,14626,0.00,2.70,0.00,0.000,6,0.000,0.100,3166,2305,2214
$GC,14936,0.96,221.0,617.0,9.7,1330,14950,0.00,2.85,8.02,1.079,4,0.000,0.114,3166,918,2184
$GC,15003,0.96,223.2,610.1,9.9,1333,15012,0.00,2.67,3.75,0.735,6,0.000,0.099,3166,2292,2175
$GC,15330,0.96,223.2,577.0,10.1,1359,15335,0.00,2.92,0.00,0.000,4,0.000,0.116,3166,3738,2174
$GC,15381,0.96,223.2,571.5,11.8,1363,15386,0.00,2.83,0.00,0.000,6,0.000,0.093,3166,2293,2174
$GC,15706,1.02,268.3,542.3,8.4,1393,15751,0.00,2.80,39.53,1.116,4,0.000,0.114,3167,918,1991
$GC,15798,1.09,284.7,534.0,9.4,1401,15819,0.12,2.67,15.50,1.054,6,0.065,0.097,3199,2297,1924
$GC,16138,1.09,284.7,493.5,12.2,1433,16143,0.00,2.92,0.00,0.000,4,0.000,0.114,3199,3738,1919
$GC,16171,1.09,284.7,489.2,12.7,1435,16177,0.00,2.80,0.00,0.000,6,0.000,0.090,3199,2281,1919
$GC,16496,1.09,284.7,450.0,12.2,1466,16498,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2281,1919
$GC,16814,1.09,284.7,410.3,13.4,1496,16815,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2281,1918
$GC,17132,1.09,284.7,371.2,12.0,1526,17133,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2281,1918
$GC,17459,1.09,284.7,331.4,12.4,1569,17465,0.00,2.92,0.00,0.000,4,0.000,0.107,3199,3739,1918
$GC,17487,1.09,284.7,327.7,12.3,1574,17494,0.00,2.80,0.00,0.000,6,0.000,0.087,3199,2287,1917
$GC,17831,1.09,284.7,288.6,10.5,1635,17836,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2287,1918
$GC,18173,1.09,284.7,250.2,11.5,1696,18180,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2287,1918
$GC,18518,1.09,284.7,211.0,11.4,1757,18524,0.00,2.90,0.00,0.000,4,0.000,0.106,3198,3739,1918
$GC,18547,1.09,284.7,207.6,12.3,1762,18554,0.00,2.80,0.00,0.000,6,0.000,0.087,3200,2285,1918
$GC,18892,1.09,284.7,169.4,10.9,1823,18897,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2285,1918
$GC,19234,1.09,284.7,130.3,12.9,1884,19240,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2285,1918
$GC,19577,1.09,284.7,90.9,12.6,1945,19583,0.00,2.88,0.00,0.000,4,0.000,0.101,3199,3739,1918
$GC,19617,1.09,284.7,85.7,12.5,1952,19624,0.00,2.78,0.00,0.000,6,0.000,0.084,3199,2288,1918
$GC,19962,1.12,312.6,44.4,9.0,2013,19990,0.00,0.00,23.73,0.792,6,0.000,0.000,3199,2289,1810
$GC,20128,1.12,312.6,27.7,10.9,2042,20133,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2289,1807
$GC,20269,1.12,312.6,11.6,12.0,2067,20276,0.00,2.85,0.00,0.000,4,0.000,0.100,3199,3738,1806
$GC,20305,1.12,312.6,6.9,13.1,2073,20312,0.00,2.72,0.00,0.000,6,0.000,0.081,3199,2305,1806
$STATE,20344,end climb,SURFACE_DEPTH_REACHED
$STATE,20344,begin surface coast
$FINISH,0.3,1.027147
$STATE,20362,end surface coast,CONTROL_FINISHED_OK
$STATE,20362,begin surface
$SM_CCo,20443,0.00,0.000,0,0,1803,314.47
$SM_GC,1.06,11.45,0.00,0.00,0.044,0.000,0.000,589,2233,1803,-10.85,-0.06,314.47
$IRIDIUM_FIX,6050.49,-2607.94,090897,151504
$TT8_MAMPS,0.02301
$HUMID,1639
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.80
$XPDR_PINGS,111
$24V_AH,23.4,41.267
$10V_AH,10.7,32.414
$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,27.050,129.325,439.250,0.000,0.000,29.619,36.319,266.358,27.750,0.000,0.000,13.442,3247.455,12653.008,626.781,3666.594,709.791,0.000,2224.455,0.000,3663.125,0.000,0.467
$DEVICE_MAMPS,187.148,139.594,1432.756,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1446.027,1562.660,1846.981,595.460,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123184,2083
$CAP_FILE_SIZE,179837,0
$CFSIZE,260165632,238886912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,160508,030437,6115.781,-2623.001,28,1.5,28,-18.5