version: 66.03
glider: 140
mission: 5
dive: 182
start: 5 16 108 14 53 33
data:
$ID,140
$MISSION,5
$DIVE,182
$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,340
$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,-16689.66
$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,13
$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
$GPS1,144542,6126.735,-2622.887,37,1.8,47,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.9
$GPS2,145315,6126.824,-2622.958,12,1.5,12,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6136.972,-2624.714
$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,358.6,20000,-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,-194.7,0.0,0.0,0,89,0.00,0.00,-60.12,0.000,2,0.000,0.000,587,2228,3418
$GC,92,-1.29,-194.7,3.4,-7.6,11,122,12.38,2.72,-10.65,0.000,4,0.187,0.107,2669,3644,3880
$GC,263,-1.29,-194.7,23.6,-10.1,41,269,0.00,2.62,0.00,0.000,6,0.000,0.081,2669,2233,3882
$GC,407,-1.29,-194.7,37.4,-9.8,66,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,548,-1.29,-194.7,51.4,-10.4,91,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2233,3882
$GC,890,-1.29,-194.7,85.2,-9.4,152,897,0.00,2.72,0.00,0.000,4,0.000,0.097,2669,3647,3883
$GC,920,-1.29,-194.7,88.1,-10.2,157,926,0.00,2.62,0.00,0.000,6,0.000,0.083,2669,2245,3882
$GC,1263,-1.29,-194.7,121.6,-9.6,218,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2245,3882
$GC,1607,-1.29,-194.7,154.3,-9.4,279,1613,0.00,2.78,0.00,0.000,4,0.000,0.106,2669,821,3882
$GC,1642,-1.29,-194.7,157.7,-10.1,285,1648,0.00,2.70,0.00,0.000,6,0.000,0.087,2669,2247,3882
$GC,1985,-1.29,-194.7,189.0,-9.0,346,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2247,3882
$GC,2328,-1.29,-194.7,220.4,-9.4,407,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2247,3882
$GC,2671,-1.29,-194.7,251.5,-8.9,468,2678,0.00,2.80,0.00,0.000,4,0.000,0.109,2669,822,3882
$GC,2701,-1.29,-194.7,254.3,-9.6,473,2707,0.00,2.72,0.00,0.000,6,0.000,0.092,2669,2251,3882
$GC,3044,-1.29,-194.7,285.1,-9.0,534,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2251,3882
$GC,3387,-1.29,-194.7,316.2,-9.1,595,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2251,3883
$GC,3730,-1.29,-194.7,347.1,-9.0,656,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2251,3882
$GC,4063,-1.29,-194.7,376.4,-8.6,690,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2251,3882
$GC,4380,-1.29,-194.7,404.3,-8.7,720,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2251,3882
$GC,4698,-1.29,-194.7,431.9,-8.6,750,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2251,3882
$GC,5017,-1.29,-194.7,458.9,-8.4,780,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2251,3882
$GC,5335,-1.29,-194.7,486.0,-8.5,810,5337,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2251,3882
$GC,5654,-1.29,-194.7,513.9,-8.9,840,5656,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2251,3882
$GC,5973,-1.29,-194.7,541.3,-8.1,870,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2251,3882
$GC,6291,-1.29,-194.7,566.6,-8.0,900,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2251,3881
$GC,6609,-1.29,-194.7,592.6,-8.0,930,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2251,3882
$GC,6932,-1.29,-194.7,618.3,-8.0,950,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2251,3881
$GC,7242,-1.29,-194.7,644.5,-8.6,965,7243,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2251,3881
$GC,7550,-1.29,-194.7,671.4,-8.9,980,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2251,3881
$GC,7861,-1.29,-194.7,698.5,-8.7,995,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2251,3881
$GC,8169,-1.29,-194.7,725.2,-8.4,1010,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2251,3880
$GC,8479,-1.29,-194.7,750.6,-8.2,1025,8483,0.00,2.83,0.00,0.000,4,0.000,0.127,2669,3648,3880
$GC,8506,-1.29,-194.7,752.9,-9.0,1026,8510,0.00,2.70,0.00,0.000,6,0.000,0.099,2669,2241,3880
$GC,8822,-1.29,-194.7,777.7,-8.0,1041,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3880
$GC,9130,-1.29,-194.7,802.4,-7.9,1056,9135,0.00,2.83,0.00,0.000,4,0.000,0.121,2670,3649,3879
$GC,9193,-1.29,-194.7,807.4,-8.5,1059,9197,0.00,2.72,0.00,0.000,6,0.000,0.102,2669,2242,3879
$GC,9519,-1.29,-194.7,832.9,-7.9,1075,9524,0.00,2.83,0.00,0.000,4,0.000,0.123,2669,3645,3879
$GC,9546,-1.29,-194.7,835.4,-9.1,1076,9551,0.00,2.72,0.00,0.000,6,0.000,0.104,2669,2243,3879
$GC,9863,-1.29,-194.7,861.6,-8.6,1091,9864,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2244,3879
$GC,10171,-1.29,-194.7,887.7,-8.4,1106,10172,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2244,3878
$GC,10480,-1.29,-194.7,912.8,-8.1,1121,10481,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2243,3878
$GC,10790,-1.29,-194.7,937.0,-7.8,1136,10791,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2244,3878
$GC,11099,-1.29,-194.7,960.3,-7.9,1151,11100,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2243,3878
$GC,11408,-1.29,-194.7,984.8,-7.8,1166,11413,0.00,2.90,0.00,0.000,4,0.000,0.133,2669,3649,3877
$GC,11447,-1.29,-194.7,988.2,-8.6,1168,11452,0.00,2.78,0.00,0.000,6,0.000,0.111,2669,2246,3878
$STATE,11482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11482,begin apogee
$GC,11488,-0.35,0.0,991.2,8.3,1170,11657,1.05,0.00,165.73,1.434,6,0.102,0.000,2881,2331,3085
$STATE,11658,end apogee,CONTROL_FINISHED_OK
$STATE,11658,begin climb
$GC,11661,1.29,194.7,997.2,0.0,1178,11834,1.62,3.05,162.60,1.401,4,0.059,0.132,3240,3737,2290
$GC,11886,1.15,194.7,978.4,14.5,1189,11891,0.15,2.88,0.00,0.000,6,0.119,0.110,3214,2328,2289
$GC,12213,1.09,194.7,938.2,12.6,1205,12214,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2329,2288
$GC,12522,1.03,194.7,899.0,12.6,1220,12524,0.15,0.00,0.00,0.000,6,0.114,0.000,3187,2329,2287
$GC,12832,1.03,195.8,866.4,10.0,1235,12837,0.00,2.95,0.00,0.000,4,0.000,0.138,3187,918,2287
$GC,12871,1.03,195.8,862.3,10.1,1237,12876,0.00,2.80,0.00,0.000,6,0.000,0.110,3187,2324,2287
$GC,13198,1.03,195.8,830.1,10.1,1253,13199,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2324,2286
$GC,13507,1.03,195.8,797.9,10.6,1268,13508,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2324,2286
$GC,13816,1.03,195.8,766.3,10.4,1283,13821,0.00,2.92,0.00,0.000,4,0.000,0.129,3187,3737,2285
$GC,13856,0.97,195.8,762.0,11.3,1285,13860,0.00,2.83,0.00,0.000,6,0.000,0.100,3187,2312,2285
$GC,14183,0.99,207.4,728.7,9.6,1301,14204,0.00,3.05,11.60,1.216,4,0.000,0.118,3187,3738,2238
$GC,14227,0.94,207.4,724.2,10.0,1303,14233,0.12,2.85,0.00,0.000,6,0.115,0.100,3165,2314,2238
$GC,14554,0.97,233.1,695.7,9.1,1319,14579,0.00,0.00,23.48,1.215,6,0.000,0.000,3165,2314,2134
$GC,14884,0.99,244.5,664.9,9.6,1335,14904,0.00,2.90,11.02,1.144,4,0.000,0.123,3165,913,2087
$GC,14932,1.03,244.5,659.7,10.2,1337,14937,0.00,2.75,0.00,0.000,6,0.000,0.099,3165,2319,2087
$GC,15254,1.03,244.5,627.0,10.0,1353,15255,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2319,2086
$GC,15563,1.04,254.7,597.0,9.6,1369,15575,0.00,0.00,10.18,1.104,6,0.000,0.000,3165,2319,2046
$GC,15893,1.06,269.3,566.0,9.5,1400,15913,0.12,2.88,14.02,1.099,4,0.067,0.114,3196,911,1986
$GC,15941,1.06,269.3,560.4,11.4,1404,15948,0.00,2.70,0.00,0.000,6,0.000,0.097,3196,2308,1985
$GC,16268,1.06,269.3,523.0,11.7,1435,16269,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2309,1984
$GC,16585,1.06,269.3,486.2,11.8,1465,16586,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2309,1984
$GC,16907,1.06,269.3,449.8,11.2,1495,16912,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2308,1983
$GC,17232,1.06,269.3,408.6,13.1,1526,17233,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2309,1984
$GC,17550,1.06,269.3,366.7,12.9,1556,17551,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2308,1984
$GC,17879,1.06,269.3,325.0,11.6,1603,17884,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2308,1984
$GC,18221,1.06,269.3,284.6,11.6,1664,18226,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2308,1984
$GC,18564,1.06,269.3,245.4,11.3,1725,18570,0.00,2.72,0.00,0.000,4,0.000,0.106,3196,916,1985
$GC,18599,1.06,269.3,241.3,11.0,1731,18605,0.00,2.65,0.00,0.000,6,0.000,0.088,3196,2317,1984
$GC,18942,1.06,269.3,200.9,12.1,1792,18948,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2318,1984
$GC,19286,1.06,269.3,159.4,12.3,1853,19291,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2317,1984
$GC,19629,1.06,269.7,120.8,10.0,1914,19635,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2317,1985
$GC,19972,1.06,269.7,83.4,11.6,1975,19978,0.00,2.70,0.00,0.000,4,0.000,0.100,3196,915,1985
$GC,20018,1.06,269.7,78.0,10.8,1983,20024,0.00,2.62,0.00,0.000,6,0.000,0.087,3196,2311,1985
$GC,20364,1.06,269.7,39.1,10.9,2044,20369,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2311,1985
$GC,20505,1.06,269.7,23.4,12.2,2069,20511,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2311,1985
$GC,20647,1.06,269.7,7.7,10.8,2094,20652,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2311,1985
$STATE,20701,end climb,SURFACE_DEPTH_REACHED
$STATE,20701,begin surface coast
$FINISH,0.2,1.013649
$STATE,20720,end surface coast,CONTROL_FINISHED_OK
$STATE,20720,begin surface
$SM_CCo,20801,0.00,0.000,0,0,1983,270.32
$SM_GC,1.07,11.40,0.00,0.00,0.044,0.000,0.000,588,2229,1983,-10.85,-0.17,270.32
$IRIDIUM_FIX,6054.92,-2623.88,100897,090932
$TT8_MAMPS,0.02301
$HUMID,1651
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.00
$XPDR_PINGS,125
$24V_AH,23.4,41.806
$10V_AH,10.7,32.931
$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,27.000,89.625,398.625,0.000,0.000,22.962,31.098,255.737,31.250,0.000,0.000,12.453,3268.713,13092.562,541.448,3673.447,658.403,0.000,2123.892,0.000,3661.609,0.000,0.467
$DEVICE_MAMPS,187.148,138.060,1434.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1463.361,1576.418,1864.510,595.279,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123139,2107
$CAP_FILE_SIZE,174585,0
$CFSIZE,260165632,238604288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160508,204137,6131.813,-2624.033,42,1.5,48,-18.7