version: 66.03
glider: 140
mission: 5
dive: 166
start: 5 12 108 17 9 14
data:
$ID,140
$MISSION,5
$DIVE,166
$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,270
$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,-16443.65
$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,12
$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
$GPS1,170001,6121.631,-2537.884,38,1.3,43,-18.2
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-62.4
$GPS2,170856,6121.610,-2537.988,11,1.3,16,-18.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6121.610,-2543.164
$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,288.2,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,90,0.00,0.00,-59.80,0.000,2,0.000,0.000,586,2233,3268
$GC,93,-1.29,-194.7,3.0,-7.5,11,129,12.38,2.72,-15.65,0.000,4,0.186,0.110,2671,820,3879
$GC,303,-1.29,-194.7,25.0,-10.2,48,310,0.00,2.65,0.00,0.000,6,0.000,0.084,2671,2239,3879
$GC,447,-1.29,-194.7,38.9,-9.4,73,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3880
$GC,588,-1.29,-194.7,52.2,-9.6,98,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3880
$GC,932,-1.29,-194.7,88.2,-10.6,159,938,0.00,2.67,0.00,0.000,4,0.000,0.101,2671,3643,3880
$GC,966,-1.29,-194.7,91.9,-10.4,165,972,0.00,2.62,0.00,0.000,6,0.000,0.082,2671,2240,3879
$GC,1310,-1.29,-194.7,117.2,-6.0,226,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3880
$GC,1654,-1.29,-194.7,145.7,-10.2,287,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3880
$GC,1998,-1.29,-194.7,181.9,-10.2,348,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3880
$GC,2341,-1.29,-194.7,217.1,-9.5,409,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3880
$GC,2683,-1.29,-194.7,247.9,-8.8,470,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3880
$GC,3027,-1.29,-194.7,276.8,-8.9,531,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3880
$GC,3370,-1.29,-194.7,302.8,-7.6,592,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3880
$GC,3713,-1.29,-194.7,330.3,-8.6,653,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3880
$GC,4056,-1.29,-194.7,358.2,-7.9,706,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3880
$GC,4375,-1.29,-194.7,384.2,-8.2,736,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3880
$GC,4693,-1.29,-194.7,409.1,-7.7,766,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3880
$GC,5012,-1.29,-194.7,432.2,-7.6,796,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3880
$GC,5330,-1.29,-194.7,460.7,-8.9,826,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3880
$GC,5649,-1.29,-194.7,488.1,-8.7,856,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3880
$GC,5966,-1.29,-194.7,516.4,-10.1,886,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3880
$GC,6286,-1.29,-194.7,547.4,-9.2,916,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3880
$GC,6604,-1.29,-194.7,575.1,-8.4,946,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3879
$GC,6923,-1.29,-194.7,601.9,-8.2,975,6927,0.00,2.80,0.00,0.000,4,0.000,0.116,2671,3650,3879
$GC,6955,-1.29,-194.7,604.9,-9.2,976,6961,0.00,2.67,0.00,0.000,6,0.000,0.093,2671,2236,3879
$GC,7270,-1.29,-194.7,629.9,-7.7,992,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3879
$GC,7581,-1.29,-194.7,656.6,-8.4,1007,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3879
$GC,7889,-1.29,-194.7,679.7,-7.5,1022,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3879
$GC,8199,-1.29,-194.7,705.4,-9.3,1037,8200,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3879
$GC,8507,-1.29,-194.7,738.2,-10.7,1052,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3879
$GC,8817,-1.29,-194.7,770.3,-9.6,1067,8822,0.00,2.85,0.00,0.000,4,0.000,0.125,2671,3644,3878
$GC,8861,-1.29,-194.7,774.7,-9.8,1069,8865,0.00,2.70,0.00,0.000,6,0.000,0.098,2671,2243,3878
$GC,9182,-1.29,-194.7,798.0,-6.5,1085,9183,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3878
$GC,9491,-1.29,-194.7,817.9,-6.6,1100,9492,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3878
$GC,9801,-1.29,-194.7,841.5,-8.1,1115,9805,0.00,2.83,0.00,0.000,4,0.000,0.126,2672,3641,3878
$GC,9833,-1.29,-194.7,844.3,-8.9,1116,9839,0.00,2.70,0.00,0.000,6,0.000,0.103,2671,2241,3878
$GC,10148,-1.29,-194.7,869.1,-7.9,1132,10150,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3878
$GC,10459,-1.29,-194.7,893.9,-7.9,1147,10460,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3878
$GC,10767,-1.29,-194.7,920.6,-9.2,1162,10768,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3877
$GC,11077,-1.29,-194.7,948.4,-8.7,1177,11078,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3877
$GC,11386,-1.29,-194.7,972.6,-7.4,1192,11387,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3876
$STATE,11630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11630,begin apogee
$GC,11636,-0.35,0.0,990.7,7.7,1204,11805,1.02,0.00,165.45,1.435,6,0.102,0.000,2877,2327,3085
$STATE,11806,end apogee,CONTROL_FINISHED_OK
$STATE,11806,begin climb
$GC,11808,1.29,194.7,996.8,0.0,1212,11980,1.65,3.08,163.12,1.397,4,0.062,0.131,3246,3738,2291
$GC,12002,1.16,194.7,983.0,12.9,1222,12008,0.17,2.88,0.00,0.000,6,0.115,0.109,3215,2332,2289
$GC,12318,1.10,194.7,947.0,11.4,1237,12319,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2331,2288
$GC,12627,1.05,194.7,910.8,11.6,1252,12629,0.15,0.00,0.00,0.000,6,0.114,0.000,3188,2331,2287
$GC,12936,1.05,194.7,876.8,10.9,1267,12941,0.00,2.92,0.00,0.000,4,0.000,0.134,3187,917,2287
$GC,12985,1.05,194.7,870.7,12.6,1269,12990,0.00,2.78,0.00,0.000,6,0.000,0.109,3187,2320,2287
$GC,13308,1.05,194.7,832.5,12.4,1285,13312,0.00,2.97,0.00,0.000,4,0.000,0.132,3188,3739,2286
$GC,13365,0.99,194.7,824.9,13.8,1287,13371,0.00,2.80,0.00,0.000,6,0.000,0.102,3188,2328,2287
$GC,13680,0.99,194.7,786.6,11.9,1303,13682,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2328,2286
$GC,13989,0.99,194.7,750.8,11.6,1318,13990,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2328,2286
$GC,14299,0.99,194.7,717.6,10.0,1333,14304,0.00,2.90,0.00,0.000,4,0.000,0.119,3188,3740,2286
$GC,14348,0.94,194.7,712.2,10.7,1335,14354,0.12,2.80,0.00,0.000,6,0.115,0.098,3166,2316,2286
$GC,14664,1.05,279.2,688.5,7.1,1350,14746,0.00,2.95,72.05,1.230,4,0.000,0.123,3165,916,1945
$GC,14763,1.13,307.3,680.2,9.0,1354,14794,0.17,2.78,25.55,1.158,6,0.059,0.100,3209,2330,1832
$GC,15117,1.13,307.3,636.1,13.0,1372,15118,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2331,1826
$GC,15425,1.13,307.3,596.6,12.3,1388,15430,0.00,2.88,0.00,0.000,4,0.000,0.117,3209,3740,1824
$GC,15446,1.13,307.3,593.7,13.5,1389,15452,0.00,2.75,0.00,0.000,6,0.000,0.091,3209,2324,1824
$GC,15772,1.13,307.3,552.9,12.5,1420,15773,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2323,1823
$GC,16090,1.13,307.3,513.7,12.1,1450,16094,0.00,2.78,0.00,0.000,4,0.000,0.112,3209,918,1823
$GC,16110,1.13,307.3,510.9,13.0,1451,16117,0.00,2.72,0.00,0.000,6,0.000,0.096,3209,2334,1823
$GC,16436,1.13,307.3,470.0,12.4,1482,16438,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2334,1823
$GC,16754,1.13,307.3,431.8,12.1,1512,16755,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2334,1823
$GC,17072,1.13,307.3,394.1,11.1,1542,17073,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2334,1823
$GC,17391,1.13,307.3,358.7,11.2,1572,17396,0.00,2.80,0.00,0.000,4,0.000,0.108,3210,910,1823
$GC,17419,1.13,307.3,355.4,12.5,1574,17423,0.00,2.70,0.00,0.000,6,0.000,0.092,3209,2330,1823
$GC,17758,1.13,307.3,316.1,11.7,1630,17765,0.00,2.80,0.00,0.000,4,0.000,0.109,3209,3736,1822
$GC,17782,1.13,307.3,313.3,11.1,1634,17788,0.00,2.70,0.00,0.000,6,0.000,0.086,3209,2325,1822
$GC,18126,1.13,307.3,275.8,11.8,1695,18131,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2326,1823
$GC,18468,1.13,307.3,237.1,11.7,1756,18475,0.00,2.72,0.00,0.000,4,0.000,0.107,3209,913,1823
$GC,18498,1.13,307.3,233.4,14.2,1761,18504,0.00,2.67,0.00,0.000,6,0.000,0.091,3209,2328,1823
$GC,18841,1.13,307.3,194.4,13.5,1822,18846,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2328,1823
$GC,19184,1.13,307.3,149.9,12.0,1883,19190,0.00,2.78,0.00,0.000,4,0.000,0.107,3209,3734,1822
$GC,19213,1.13,307.3,145.8,14.0,1888,19219,0.00,2.67,0.00,0.000,6,0.000,0.085,3209,2327,1822
$GC,19556,1.13,307.3,99.9,13.9,1949,19562,0.00,2.72,0.00,0.000,4,0.000,0.104,3209,918,1823
$GC,19580,1.13,307.3,96.7,13.4,1953,19586,0.00,2.65,0.00,0.000,6,0.000,0.087,3209,2328,1823
$GC,19923,1.13,307.3,53.5,12.7,2014,19929,0.00,2.75,0.00,0.000,4,0.000,0.104,3209,3735,1822
$GC,19947,1.13,307.3,50.4,13.6,2018,19953,0.00,2.67,0.00,0.000,6,0.000,0.084,3209,2324,1822
$GC,20291,1.13,307.3,9.8,12.1,2079,20297,0.00,2.78,0.00,0.000,4,0.000,0.100,3209,3737,1823
$STATE,20348,end climb,SURFACE_DEPTH_REACHED
$STATE,20348,begin surface coast
$FINISH,0.3,1.027762
$STATE,20365,end surface coast,CONTROL_FINISHED_OK
$STATE,20365,begin surface
$SM_CCo,20449,0.00,0.000,0,0,1819,310.55
$SM_GC,1.04,11.52,0.00,0.00,0.047,0.000,0.000,589,2236,1819,-10.85,0.03,310.55
$IRIDIUM_FIX,6103.81,-2406.89,060897,111116
$TT8_MAMPS,0.02301
$HUMID,1647
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,16.50
$XPDR_PINGS,113
$24V_AH,23.4,38.866
$10V_AH,10.7,30.162
$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,27.200,105.725,426.175,0.000,0.000,23.314,41.544,314.804,28.250,0.000,0.000,16.471,3249.610,12752.399,583.408,3640.759,737.141,0.000,2145.135,0.000,3632.008,0.000,0.467
$DEVICE_MAMPS,186.381,145.730,1435.057,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1451.997,1562.686,1852.638,597.040,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,122815,2092
$CAP_FILE_SIZE,174682,0
$CFSIZE,260165632,240160768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,120508,225107,6118.770,-2546.924,29,1.5,29,-18.2