version: 66.03
glider: 140
mission: 5
dive: 167
start: 5 12 108 22 59 51
data:
$ID,140
$MISSION,5
$DIVE,167
$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,-16455.484
$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,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
$GPS1,225107,6118.770,-2546.924,29,1.5,29,-18.2
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-62.4
$GPS2,225933,6118.675,-2546.998,11,1.6,11,-18.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6118.675,-2552.182
$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,-194.7,0.0,0.0,0,96,0.00,0.00,-65.15,0.000,2,0.000,0.000,589,2233,3360
$GC,99,-1.29,-194.7,3.1,-5.9,12,134,12.38,2.80,-12.68,0.000,4,0.188,0.111,2671,820,3881
$GC,359,-1.29,-194.7,31.1,-10.7,58,366,0.00,2.65,0.00,0.000,6,0.000,0.085,2671,2241,3882
$GC,503,-1.29,-194.7,43.1,-7.7,83,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3882
$GC,644,-1.29,-194.7,54.3,-8.9,108,651,0.00,2.67,0.00,0.000,4,0.000,0.099,2671,3643,3882
$GC,702,-1.29,-194.7,59.9,-9.7,118,708,0.00,2.62,0.00,0.000,6,0.000,0.081,2671,2234,3882
$GC,1046,-1.29,-194.7,88.5,-7.9,179,1052,0.00,2.72,0.00,0.000,4,0.000,0.102,2671,820,3882
$GC,1092,-1.29,-194.7,92.6,-9.2,187,1098,0.00,2.67,0.00,0.000,6,0.000,0.086,2671,2242,3882
$GC,1436,-1.29,-194.7,122.6,-9.1,248,1442,0.00,2.70,0.00,0.000,4,0.000,0.103,2671,3643,3883
$GC,1471,-1.29,-194.7,125.9,-9.6,254,1478,0.00,2.65,0.00,0.000,6,0.000,0.084,2671,2233,3882
$GC,1816,-1.29,-194.7,158.4,-9.9,315,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3883
$GC,2158,-1.29,-194.7,193.1,-10.1,376,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3883
$GC,2502,-1.29,-194.7,225.1,-8.7,437,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3883
$GC,2844,-1.29,-194.7,254.7,-8.2,498,2851,0.00,2.78,0.00,0.000,4,0.000,0.107,2671,3650,3883
$GC,2880,-1.29,-194.7,257.8,-8.7,504,2886,0.00,2.65,0.00,0.000,6,0.000,0.087,2671,2245,3883
$GC,3223,-1.29,-194.7,288.1,-9.0,565,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3883
$GC,3566,-1.29,-194.7,319.0,-9.1,626,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3883
$GC,3914,-1.29,-194.7,351.5,-9.7,687,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2246,3883
$GC,4232,-1.29,-194.7,383.3,-10.1,717,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2246,3883
$GC,4551,-1.29,-194.7,415.9,-10.5,747,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2246,3882
$GC,4869,-1.29,-194.7,449.8,-10.7,777,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3882
$GC,5188,-1.29,-194.7,482.9,-10.1,807,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2246,3883
$GC,5507,-1.29,-194.7,513.8,-9.2,837,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3882
$GC,5826,-1.29,-194.7,543.1,-9.1,867,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2246,3882
$GC,6144,-1.29,-194.7,571.9,-9.0,897,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2246,3882
$GC,6463,-1.29,-194.7,599.8,-8.2,927,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2246,3881
$GC,6782,-1.29,-194.7,625.1,-8.1,943,6787,0.00,2.78,0.00,0.000,4,0.000,0.116,2671,3648,3882
$GC,6810,-1.29,-194.7,627.5,-9.3,944,6814,0.00,2.67,0.00,0.000,6,0.000,0.094,2671,2245,3882
$GC,7126,-1.29,-194.7,657.3,-11.0,959,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3881
$GC,7434,-1.29,-194.7,692.8,-11.2,974,7439,0.00,2.80,0.00,0.000,4,0.000,0.119,2671,3646,3881
$GC,7483,-1.29,-194.7,698.5,-11.4,976,7487,0.00,2.67,0.00,0.000,6,0.000,0.097,2671,2248,3881
$GC,7805,-1.29,-194.7,730.2,-8.6,992,7809,0.00,2.88,0.00,0.000,4,0.000,0.125,2671,820,3881
$GC,7837,-1.29,-194.7,733.0,-8.4,993,7843,0.00,2.78,0.00,0.000,6,0.000,0.104,2671,2251,3881
$GC,8153,-1.29,-194.7,752.2,-5.8,1009,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2251,3881
$GC,8462,-1.29,-194.7,774.8,-8.0,1024,8467,0.00,2.83,0.00,0.000,4,0.000,0.127,2671,3647,3881
$GC,8490,-1.29,-194.7,777.4,-9.8,1025,8494,0.00,2.70,0.00,0.000,6,0.000,0.099,2671,2245,3880
$GC,8805,-1.29,-194.7,803.0,-8.4,1040,8806,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2246,3880
$GC,9115,-1.29,-194.7,828.1,-7.7,1055,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2246,3880
$GC,9424,-1.29,-194.7,850.6,-6.9,1070,9428,0.00,2.85,0.00,0.000,4,0.000,0.127,2671,3649,3880
$GC,9467,-1.29,-194.7,853.6,-6.7,1072,9472,0.00,2.72,0.00,0.000,6,0.000,0.103,2671,2246,3880
$GC,9789,-1.29,-194.7,878.9,-9.5,1088,9790,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2246,3879
$GC,10097,-1.29,-194.7,911.1,-10.5,1103,10098,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2246,3879
$GC,10407,-1.29,-194.7,937.4,-7.6,1118,10408,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2246,3879
$GC,10717,-1.29,-194.7,960.7,-7.5,1133,10718,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2246,3879
$GC,11025,-1.29,-194.7,982.9,-7.1,1148,11030,0.00,2.88,0.00,0.000,4,0.000,0.131,2671,3645,3879
$GC,11058,-1.29,-194.7,985.4,-8.3,1149,11064,0.00,2.75,0.00,0.000,6,0.000,0.108,2671,2245,3879
$STATE,11123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11123,begin apogee
$GC,11129,-0.35,0.0,990.7,7.9,1153,11299,1.05,0.00,165.70,1.434,6,0.104,0.000,2882,2330,3085
$STATE,11299,end apogee,CONTROL_FINISHED_OK
$STATE,11299,begin climb
$GC,11302,1.29,194.7,996.2,0.0,1161,11469,1.62,0.00,163.40,1.396,6,0.061,0.000,3246,2330,2291
$GC,11780,1.19,194.7,937.6,15.4,1185,11785,0.15,2.95,0.00,0.000,4,0.118,0.129,3215,3735,2289
$GC,11813,1.10,194.7,932.0,15.4,1186,11819,0.00,2.83,0.00,0.000,6,0.000,0.106,3215,2328,2288
$GC,12128,1.04,194.7,889.6,12.8,1202,12130,0.15,0.00,0.00,0.000,6,0.114,0.000,3188,2328,2288
$GC,12438,1.04,194.7,856.0,10.4,1217,12439,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2327,2288
$GC,12746,1.04,194.7,822.2,11.3,1232,12751,0.00,2.92,0.00,0.000,4,0.000,0.123,3188,3736,2287
$GC,12790,1.00,194.7,816.9,12.1,1234,12794,0.00,2.80,0.00,0.000,6,0.000,0.104,3188,2329,2287
$GC,13111,1.00,199.3,784.5,9.8,1250,13118,0.00,0.00,5.10,0.979,6,0.000,0.000,3188,2329,2272
$GC,13420,1.00,199.3,752.2,10.2,1265,13421,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2328,2271
$GC,13729,1.03,219.5,722.0,9.3,1280,13753,0.00,2.95,18.62,1.229,4,0.000,0.127,3188,920,2189
$GC,13775,1.07,253.1,717.5,8.8,1282,13810,0.00,2.83,29.95,1.206,6,0.000,0.101,3188,2352,2053
$GC,14133,1.07,253.1,680.0,11.1,1300,14134,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2352,2048
$GC,14442,1.07,253.1,647.2,10.6,1315,14447,0.00,2.83,0.00,0.000,4,0.000,0.120,3188,3736,2048
$GC,14464,1.07,253.1,644.7,10.7,1316,14469,0.00,2.72,0.00,0.000,6,0.000,0.094,3188,2340,2047
$GC,14785,1.07,253.1,609.1,11.6,1332,14786,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2341,2048
$GC,15101,1.07,253.1,570.6,12.4,1358,15106,0.00,2.83,0.00,0.000,4,0.000,0.112,3188,3737,2047
$GC,15133,1.07,253.1,566.2,13.4,1360,15140,0.00,2.67,0.00,0.000,6,0.000,0.091,3188,2344,2047
$GC,15459,1.07,253.1,527.2,11.4,1391,15463,0.00,2.80,0.00,0.000,4,0.000,0.111,3188,918,2047
$GC,15497,1.07,253.1,522.5,12.0,1394,15502,0.00,2.75,0.00,0.000,6,0.000,0.096,3188,2349,2047
$GC,15821,1.07,253.1,487.6,10.6,1424,15823,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2349,2047
$GC,16140,1.07,253.1,454.0,10.7,1454,16142,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2349,2047
$GC,16459,1.07,253.1,419.4,10.5,1484,16460,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2349,2048
$GC,16778,1.07,253.1,386.3,10.3,1514,16779,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2349,2047
$GC,17096,1.07,253.1,351.7,11.1,1544,17100,0.00,2.80,0.00,0.000,4,0.000,0.107,3188,917,2047
$GC,17124,1.07,253.1,348.5,12.5,1547,17130,0.00,2.75,0.00,0.000,6,0.000,0.093,3188,2358,2048
$GC,17467,1.07,253.1,311.8,10.7,1608,17473,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2358,2048
$GC,17811,1.07,256.0,278.2,9.9,1669,17816,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2359,2048
$GC,18153,1.07,256.0,245.1,11.4,1730,18158,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2359,2048
$GC,18496,1.07,256.0,210.6,11.4,1791,18502,0.00,2.80,0.00,0.000,4,0.000,0.104,3188,916,2048
$GC,18542,1.07,256.0,205.7,11.2,1799,18548,0.00,2.70,0.00,0.000,6,0.000,0.091,3188,2340,2048
$GC,18885,1.07,256.0,170.3,10.2,1860,18892,0.00,2.75,0.00,0.000,4,0.000,0.107,3188,3736,2048
$GC,18916,1.07,256.0,167.2,11.7,1865,18922,0.00,2.67,0.00,0.000,6,0.000,0.084,3188,2334,2048
$GC,19259,1.10,282.6,133.7,9.1,1926,19292,0.00,2.83,24.67,0.856,4,0.000,0.102,3188,922,1933
$GC,19315,1.10,282.6,128.2,10.9,1936,19322,0.00,2.72,0.00,0.000,6,0.000,0.088,3188,2347,1932
$GC,19660,1.11,284.8,93.8,9.9,1997,19666,0.00,2.78,0.00,0.000,4,0.000,0.102,3187,915,1930
$GC,19690,1.15,284.8,90.7,11.9,2002,19697,0.10,2.67,0.00,0.000,6,0.071,0.087,3215,2332,1930
$GC,20034,1.15,284.8,48.5,11.2,2063,20041,0.00,2.72,0.00,0.000,4,0.000,0.103,3215,3735,1930
$GC,20070,1.15,284.8,43.8,13.3,2069,20077,0.00,2.65,0.00,0.000,6,0.000,0.082,3215,2335,1929
$GC,20213,1.15,284.8,26.8,11.4,2094,20219,0.00,2.78,0.00,0.000,4,0.000,0.103,3215,3738,1929
$GC,20237,1.15,284.8,23.8,12.6,2098,20244,0.00,2.62,0.00,0.000,6,0.000,0.083,3215,2357,1929
$GC,20381,1.15,284.8,6.1,12.5,2123,20386,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2357,1928
$STATE,20413,end climb,SURFACE_DEPTH_REACHED
$STATE,20413,begin surface coast
$FINISH,0.3,1.014033
$STATE,20431,end surface coast,CONTROL_FINISHED_OK
$STATE,20431,begin surface
$SM_CCo,20513,0.00,0.000,0,0,1926,284.06
$SM_GC,1.19,11.55,0.00,0.00,0.045,0.000,0.000,589,2232,1926,-10.86,-0.08,284.06
$IRIDIUM_FIX,6054.92,-2539.75,060897,171758
$TT8_MAMPS,0.02301
$HUMID,1644
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.90
$XPDR_PINGS,131
$24V_AH,23.4,39.049
$10V_AH,10.7,30.337
$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,27.000,132.800,407.450,0.000,0.000,23.122,34.702,307.922,32.750,0.000,0.000,11.206,3316.760,12666.882,608.211,3689.865,716.815,0.000,2193.111,0.000,3679.556,0.000,0.467
$DEVICE_MAMPS,187.915,131.157,1433.523,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1487.598,1581.522,1894.176,617.077,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126353,2132
$CAP_FILE_SIZE,182651,0
$CFSIZE,260165632,240058368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,130508,044301,6115.597,-2556.231,36,1.1,42,-18.3