version: 66.03
glider: 140
mission: 5
dive: 168
start: 5 13 108 4 51 21
data:
$ID,140
$MISSION,5
$DIVE,168
$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,260
$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,-16469.564
$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
$GPS1,044301,6115.597,-2556.231,36,1.1,42,-18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-63.6
$GPS2,045103,6115.522,-2556.349,13,1.3,13,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6113.647,-2601.468
$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,278.3,20000,-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,-60.10,0.000,2,0.000,0.000,588,2230,3349
$GC,92,-1.29,-194.7,3.2,-7.3,11,128,12.35,2.78,-12.68,0.000,4,0.186,0.110,2668,825,3881
$GC,291,-1.29,-194.7,25.5,-10.8,46,298,0.00,2.65,0.00,0.000,6,0.000,0.085,2669,2238,3882
$GC,433,-1.29,-194.7,39.8,-10.1,71,440,0.00,2.70,0.00,0.000,4,0.000,0.099,2669,3649,3882
$GC,469,-1.29,-194.7,43.3,-10.1,77,475,0.00,2.62,0.00,0.000,6,0.000,0.081,2668,2237,3882
$GC,610,-1.29,-194.7,57.6,-10.0,102,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3882
$GC,954,-1.29,-194.7,89.8,-8.7,163,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,1296,-1.29,-194.7,119.1,-8.9,224,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3883
$GC,1640,-1.29,-194.7,150.2,-8.9,285,1646,0.00,2.75,0.00,0.000,4,0.000,0.105,2669,819,3882
$GC,1681,-1.29,-194.7,154.0,-9.6,292,1687,0.00,2.67,0.00,0.000,6,0.000,0.088,2668,2235,3882
$GC,2025,-1.29,-194.7,185.0,-8.7,353,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3882
$GC,2368,-1.29,-194.7,214.8,-8.8,414,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3882
$GC,2711,-1.29,-194.7,245.4,-8.8,475,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2235,3883
$GC,3053,-1.29,-194.7,276.6,-9.0,536,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3882
$GC,3397,-1.29,-194.7,305.3,-8.3,597,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3883
$GC,3739,-1.29,-194.7,333.8,-8.8,658,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2235,3883
$GC,4080,-1.29,-194.7,363.4,-8.9,706,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3883
$GC,4399,-1.29,-194.7,389.9,-8.3,736,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2235,3883
$GC,4717,-1.29,-194.7,418.2,-9.3,766,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2235,3882
$GC,5036,-1.29,-194.7,446.5,-9.0,796,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3882
$GC,5354,-1.29,-194.7,475.4,-8.6,826,5358,0.00,2.78,0.00,0.000,4,0.000,0.111,2668,3652,3882
$GC,5387,-1.29,-194.7,478.3,-9.0,828,5393,0.00,2.70,0.00,0.000,6,0.000,0.091,2668,2225,3882
$GC,5713,-1.29,-194.7,505.1,-8.3,859,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3882
$GC,6032,-1.29,-194.7,531.0,-8.3,889,6036,0.00,2.80,0.00,0.000,4,0.000,0.111,2668,3646,3882
$GC,6064,-1.29,-194.7,534.0,-8.9,891,6070,0.00,2.70,0.00,0.000,6,0.000,0.093,2669,2229,3881
$GC,6390,-1.29,-194.7,561.3,-8.7,922,6392,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2230,3882
$GC,6709,-1.29,-194.7,589.6,-9.0,952,6710,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2230,3881
$GC,7021,-1.29,-194.7,616.9,-9.3,973,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2230,3881
$GC,7329,-1.29,-194.7,645.9,-9.0,988,7330,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2230,3881
$GC,7639,-1.29,-194.7,673.4,-9.0,1003,7644,0.00,2.83,0.00,0.000,4,0.000,0.118,2668,3644,3880
$GC,7671,-1.29,-194.7,676.7,-9.9,1004,7678,0.00,2.70,0.00,0.000,6,0.000,0.094,2668,2229,3881
$GC,7987,-1.29,-194.7,706.3,-9.2,1020,7992,0.00,2.83,0.00,0.000,4,0.000,0.117,2668,3646,3881
$GC,8020,-1.29,-194.7,709.5,-9.8,1021,8026,0.00,2.70,0.00,0.000,6,0.000,0.096,2669,2237,3881
$GC,8336,-1.29,-194.7,736.6,-8.4,1037,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,8645,-1.29,-194.7,762.3,-8.0,1052,8649,0.00,2.83,0.00,0.000,4,0.000,0.120,2669,3646,3880
$GC,8684,-1.29,-194.7,765.8,-9.4,1054,8688,0.00,2.70,0.00,0.000,6,0.000,0.098,2668,2242,3880
$GC,9010,-1.29,-194.7,794.2,-9.1,1070,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2243,3880
$GC,9320,-1.29,-194.7,821.8,-8.3,1085,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2243,3879
$GC,9628,-1.29,-194.7,848.1,-8.8,1100,9629,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2243,3879
$GC,9938,-1.29,-194.7,877.1,-9.3,1115,9939,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2243,3880
$GC,10247,-1.29,-194.7,901.0,-7.1,1130,10251,0.00,2.88,0.00,0.000,4,0.000,0.130,2668,3645,3879
$GC,10279,-1.29,-194.7,903.5,-7.8,1131,10286,0.00,2.72,0.00,0.000,6,0.000,0.105,2669,2241,3879
$GC,10595,-1.29,-194.7,927.2,-8.2,1147,10596,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2242,3879
$GC,10904,-1.29,-194.7,954.1,-9.1,1162,10909,0.00,2.85,0.00,0.000,4,0.000,0.127,2669,3643,3879
$GC,10931,-1.29,-194.7,956.8,-9.8,1163,10935,0.00,2.72,0.00,0.000,6,0.000,0.104,2668,2244,3879
$GC,11247,-1.29,-194.7,986.1,-9.4,1178,11248,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2244,3878
$STATE,11285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11285,begin apogee
$GC,11291,-0.35,0.0,990.2,9.7,1180,11460,1.05,0.00,165.38,1.433,6,0.104,0.000,2880,2331,3085
$STATE,11461,end apogee,CONTROL_FINISHED_OK
$STATE,11461,begin climb
$GC,11463,1.29,194.7,998.1,0.0,1188,11631,1.65,0.00,163.48,1.394,6,0.061,0.000,3247,2331,2291
$GC,11941,1.19,194.7,945.5,14.3,1212,11942,0.15,0.00,0.00,0.000,6,0.118,0.000,3222,2331,2288
$GC,12248,1.13,194.7,906.3,12.3,1227,12253,0.00,2.95,0.00,0.000,4,0.000,0.128,3222,3737,2288
$GC,12275,1.03,194.7,902.6,13.0,1228,12281,0.17,2.85,0.00,0.000,6,0.113,0.104,3188,2322,2288
$GC,12591,1.03,194.7,867.8,10.9,1243,12593,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2323,2287
$GC,12900,1.03,194.7,835.5,10.1,1258,12904,0.00,2.95,0.00,0.000,4,0.000,0.124,3189,3739,2287
$GC,12927,0.99,194.7,832.5,11.2,1259,12932,0.00,2.80,0.00,0.000,6,0.000,0.102,3188,2331,2286
$GC,13242,0.99,194.7,800.5,10.0,1274,13247,0.00,2.92,0.00,0.000,4,0.000,0.134,3189,915,2286
$GC,13281,1.00,205.5,796.6,9.6,1276,13296,0.00,2.78,10.07,1.221,6,0.000,0.106,3188,2328,2247
$GC,13607,1.00,205.5,763.5,10.4,1291,13612,0.00,2.92,0.00,0.000,4,0.000,0.127,3188,3737,2246
$GC,13639,0.95,205.5,759.7,10.5,1292,13647,0.00,2.78,0.00,0.000,6,0.000,0.098,3189,2323,2246
$GC,13954,0.95,205.5,726.1,10.4,1308,13956,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2324,2246
$GC,14265,0.96,211.1,695.8,9.8,1323,14279,0.00,2.97,6.47,1.054,4,0.000,0.116,3189,3737,2223
$GC,14324,0.91,211.1,689.6,11.0,1325,14331,0.15,2.75,0.00,0.000,6,0.112,0.095,3161,2332,2223
$GC,14640,0.95,240.4,662.4,9.0,1341,14669,0.00,0.00,26.50,1.186,6,0.000,0.000,3161,2332,2105
$GC,14969,0.95,240.4,628.3,10.8,1357,14970,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2332,2101
$GC,15278,0.99,271.4,598.6,8.9,1372,15309,0.00,0.00,27.45,1.141,6,0.000,0.000,3161,2333,1977
$GC,15627,1.12,336.0,569.7,7.8,1405,15688,0.20,0.00,56.70,1.119,6,0.057,0.000,3209,2332,1714
$GC,16006,1.12,336.0,522.4,12.6,1441,16010,0.00,2.80,0.00,0.000,4,0.000,0.111,3210,918,1707
$GC,16027,1.12,336.0,519.4,13.5,1442,16034,0.00,2.78,0.00,0.000,6,0.000,0.096,3209,2352,1707
$GC,16353,1.12,336.0,478.1,12.7,1473,16355,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2353,1706
$GC,16671,1.12,336.0,437.0,13.7,1503,16675,0.00,2.83,0.00,0.000,4,0.000,0.110,3210,918,1706
$GC,16714,1.12,336.0,430.9,12.8,1506,16721,0.00,2.72,0.00,0.000,6,0.000,0.094,3209,2337,1706
$GC,17041,1.12,336.0,389.7,13.3,1537,17042,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2338,1706
$GC,17360,1.12,336.0,347.9,13.9,1568,17367,0.00,2.80,0.00,0.000,4,0.000,0.108,3210,913,1705
$GC,17395,1.12,336.0,342.9,13.4,1574,17402,0.00,2.70,0.00,0.000,6,0.000,0.092,3210,2335,1705
$GC,17739,1.12,336.0,300.4,12.5,1635,17744,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2336,1705
$GC,18081,1.12,336.0,257.6,12.9,1696,18087,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2336,1705
$GC,18424,1.12,336.0,214.4,13.5,1757,18430,0.00,2.78,0.00,0.000,4,0.000,0.104,3210,910,1705
$GC,18454,1.12,336.0,210.6,12.6,1762,18460,0.00,2.67,0.00,0.000,6,0.000,0.089,3210,2332,1705
$GC,18798,1.12,336.0,169.1,12.1,1823,18803,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2332,1705
$GC,19140,1.12,336.0,129.0,11.5,1884,19146,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2332,1705
$GC,19483,1.12,336.0,87.9,12.2,1945,19489,0.00,2.72,0.00,0.000,4,0.000,0.100,3210,916,1705
$GC,19512,1.12,336.0,84.1,14.9,1950,19519,0.00,2.65,0.00,0.000,6,0.000,0.086,3210,2332,1705
$GC,19856,1.12,336.0,43.4,10.3,2011,19862,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2332,1705
$GC,19998,1.12,336.0,26.1,11.5,2036,20004,0.00,2.70,0.00,0.000,4,0.000,0.099,3210,917,1705
$GC,20022,1.12,336.0,22.9,13.2,2040,20028,0.00,2.62,0.00,0.000,6,0.000,0.084,3210,2327,1705
$GC,20166,1.12,336.0,5.1,12.7,2065,20172,0.00,2.75,0.00,0.000,4,0.000,0.100,3210,3737,1704
$GC,20184,1.12,336.0,2.4,13.5,2068,20190,0.00,2.67,0.00,0.000,6,0.000,0.081,3210,2317,1704
$STATE,20195,end climb,SURFACE_DEPTH_REACHED
$STATE,20195,begin surface coast
$FINISH,0.3,1.014261
$STATE,20207,end surface coast,CONTROL_FINISHED_OK
$STATE,20207,begin surface
$SM_CCo,20289,0.00,0.000,0,0,1701,339.50
$SM_GC,1.18,11.50,0.00,0.00,0.046,0.000,0.000,591,2232,1701,-10.84,-0.08,339.50
$IRIDIUM_FIX,6054.92,-2547.83,060897,232303
$TT8_MAMPS,0.02301
$HUMID,1652
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,16.60
$XPDR_PINGS,122
$24V_AH,23.4,39.245
$10V_AH,10.7,30.508
$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,27.225,122.150,456.050,0.000,0.000,31.338,38.395,264.259,30.500,0.000,0.000,13.451,3224.388,12576.879,653.943,3583.900,710.079,0.000,2208.039,0.000,3585.680,0.000,0.467
$DEVICE_MAMPS,186.381,134.992,1432.756,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1447.236,1541.987,1833.585,585.846,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123125,2072
$CAP_FILE_SIZE,178454,0
$CFSIZE,260165632,239960064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,130508,103037,6112.141,-2603.958,32,1.1,32,-18.3