version: 66.03
glider: 140
mission: 5
dive: 170
start: 5 13 108 16 26 49
data:
$ID,140
$MISSION,5
$DIVE,170
$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,-16519.826
$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
$GPS1,161831,6109.397,-2600.948,38,1.0,43,-18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-64.1
$GPS2,162632,6109.310,-2601.069,14,1.0,31,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6107.434,-2606.205
$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,-194.7,0.0,0.0,0,100,0.00,0.00,-71.15,0.000,2,0.000,0.000,585,2228,3469
$GC,103,-1.29,-194.7,3.3,-5.5,13,133,12.45,2.78,-9.45,0.000,4,0.189,0.110,2671,3653,3881
$GC,388,-1.29,-194.7,35.1,-10.1,63,394,0.00,2.65,0.00,0.000,6,0.000,0.081,2671,2227,3881
$GC,530,-1.29,-194.7,49.0,-9.6,88,537,0.00,2.72,0.00,0.000,4,0.000,0.098,2670,3646,3882
$GC,622,-1.29,-194.7,57.7,-9.5,104,628,0.00,2.65,0.00,0.000,6,0.000,0.082,2671,2230,3882
$GC,967,-1.29,-194.7,89.6,-9.4,165,973,0.00,2.72,0.00,0.000,4,0.000,0.104,2671,819,3882
$GC,1007,-1.29,-194.7,93.7,-9.9,172,1014,0.00,2.67,0.00,0.000,6,0.000,0.085,2671,2242,3882
$GC,1352,-1.29,-194.7,126.8,-9.2,233,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3882
$GC,1695,-1.29,-194.7,159.3,-9.5,294,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3882
$GC,2039,-1.29,-194.7,189.7,-8.7,355,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3883
$GC,2382,-1.29,-194.7,219.2,-8.4,416,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3883
$GC,2725,-1.29,-194.7,248.1,-9.0,477,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3883
$GC,3068,-1.29,-194.7,277.7,-8.7,538,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3882
$GC,3411,-1.29,-194.7,305.8,-7.8,599,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3882
$GC,3754,-1.29,-194.7,332.4,-8.0,660,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3882
$GC,4096,-1.29,-194.7,361.2,-8.7,710,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3882
$GC,4415,-1.29,-194.7,390.5,-9.4,740,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3882
$GC,4733,-1.29,-194.7,422.6,-10.5,770,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3882
$GC,5052,-1.29,-194.7,457.1,-10.4,800,5056,0.00,2.75,0.00,0.000,4,0.000,0.110,2671,3649,3882
$GC,5084,-1.29,-194.7,460.7,-11.2,802,5090,0.00,2.67,0.00,0.000,6,0.000,0.091,2671,2234,3882
$GC,5411,-1.29,-194.7,491.3,-8.8,833,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3882
$GC,5729,-1.29,-194.7,516.2,-7.2,863,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3881
$GC,6046,-1.29,-194.7,538.1,-6.8,893,6051,0.00,2.78,0.00,0.000,4,0.000,0.111,2671,3644,3881
$GC,6090,-1.29,-194.7,541.3,-7.3,896,6096,0.00,2.67,0.00,0.000,6,0.000,0.091,2671,2234,3881
$GC,6418,-1.29,-194.7,562.7,-6.4,927,6423,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3881
$GC,6743,-1.29,-194.7,581.4,-5.5,958,6748,0.00,2.78,0.00,0.000,4,0.000,0.111,2671,3645,3881
$GC,6776,-1.29,-194.7,583.5,-6.5,960,6783,0.00,2.67,0.00,0.000,6,0.000,0.093,2671,2238,3881
$GC,7103,-1.29,-194.7,604.9,-7.3,988,7104,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2238,3881
$GC,7409,-1.29,-194.7,628.9,-7.8,1003,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3881
$GC,7718,-1.29,-194.7,655.0,-8.6,1018,7719,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3880
$GC,8028,-1.29,-194.7,681.7,-8.7,1033,8029,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2238,3880
$GC,8336,-1.29,-194.7,709.2,-9.0,1048,8341,0.00,2.83,0.00,0.000,4,0.000,0.120,2671,3645,3880
$GC,8380,-1.29,-194.7,713.2,-9.4,1050,8384,0.00,2.72,0.00,0.000,6,0.000,0.097,2671,2227,3880
$GC,8701,-1.29,-194.7,741.2,-9.1,1066,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3880
$GC,9010,-1.29,-194.7,766.8,-8.0,1081,9015,0.00,2.85,0.00,0.000,4,0.000,0.119,2671,3650,3880
$GC,9042,-1.29,-194.7,769.8,-9.1,1082,9049,0.00,2.72,0.00,0.000,6,0.000,0.099,2671,2236,3880
$GC,9358,-1.29,-194.7,797.4,-9.3,1098,9360,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3880
$GC,9668,-1.29,-194.7,825.7,-8.7,1113,9672,0.00,2.85,0.00,0.000,4,0.000,0.122,2671,3650,3879
$GC,9717,-1.29,-194.7,829.8,-8.4,1115,9722,0.00,2.75,0.00,0.000,6,0.000,0.103,2671,2233,3879
$GC,10033,-1.29,-194.7,854.5,-8.8,1130,10038,0.00,2.85,0.00,0.000,4,0.000,0.123,2671,3644,3879
$GC,10072,-1.29,-194.7,858.4,-10.2,1132,10077,0.00,2.72,0.00,0.000,6,0.000,0.102,2671,2241,3879
$GC,10399,-1.29,-194.7,888.7,-8.9,1148,10400,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3879
$GC,10707,-1.29,-194.7,914.7,-8.3,1163,10712,0.00,2.85,0.00,0.000,4,0.000,0.127,2671,3642,3879
$GC,10746,-1.29,-194.7,918.1,-8.8,1165,10751,0.00,2.72,0.00,0.000,6,0.000,0.105,2671,2248,3879
$GC,11073,-1.29,-194.7,944.2,-7.8,1181,11074,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2247,3879
$GC,11382,-1.29,-194.7,970.0,-8.7,1196,11383,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2248,3878
$STATE,11606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11606,begin apogee
$GC,11612,-0.35,0.0,991.6,9.8,1207,11782,1.05,0.00,166.02,1.432,6,0.105,0.000,2881,2333,3085
$STATE,11783,end apogee,CONTROL_FINISHED_OK
$STATE,11783,begin climb
$GC,11785,1.29,194.7,1000.3,0.0,1215,11958,1.62,3.05,162.62,1.399,4,0.062,0.132,3238,3736,2290
$GC,12003,1.16,194.7,986.7,12.7,1225,12010,0.12,2.88,0.00,0.000,6,0.120,0.107,3217,2326,2289
$GC,12319,1.10,194.7,952.7,10.7,1241,12320,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2326,2289
$GC,12628,1.04,194.7,916.4,12.4,1256,12630,0.15,0.00,0.00,0.000,6,0.116,0.000,3189,2327,2288
$GC,12938,1.04,194.7,880.3,11.7,1271,12939,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2327,2287
$GC,13246,1.04,194.7,847.2,10.4,1286,13247,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2326,2287
$GC,13556,1.04,194.7,815.6,10.9,1301,13557,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2326,2287
$GC,13865,1.04,194.7,782.2,10.4,1316,13870,0.00,2.90,0.00,0.000,4,0.000,0.120,3189,3737,2286
$GC,13909,0.99,194.7,777.1,11.7,1318,13913,0.00,2.78,0.00,0.000,6,0.000,0.101,3189,2332,2287
$GC,14229,0.99,194.7,743.9,10.3,1334,14230,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2332,2287
$GC,14539,0.99,194.7,710.2,10.6,1349,14540,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2331,2286
$GC,14848,0.99,197.1,679.4,9.9,1364,14849,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2331,2285
$GC,15157,0.99,197.1,647.9,10.6,1379,15158,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2331,2286
$GC,15466,0.99,197.1,614.5,10.6,1394,15467,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2331,2286
$GC,15780,0.99,197.1,580.9,10.6,1417,15782,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2331,2286
$GC,16100,0.99,197.1,545.8,11.0,1447,16101,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2332,2285
$GC,16418,0.99,197.1,511.2,10.6,1477,16419,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2332,2285
$GC,16738,1.00,203.5,478.5,9.8,1507,16748,0.00,0.00,8.23,0.989,6,0.000,0.000,3189,2332,2255
$GC,17064,1.00,207.7,446.4,9.9,1538,17075,0.00,0.00,5.20,0.844,6,0.000,0.000,3189,2332,2238
$GC,17395,1.00,207.7,413.6,10.7,1569,17396,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2331,2238
$GC,17711,1.00,207.7,379.8,10.8,1599,17712,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2331,2238
$GC,18034,1.00,207.7,344.1,11.0,1633,18039,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2332,2238
$GC,18377,1.00,207.7,305.4,10.8,1694,18382,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2332,2239
$GC,18720,1.00,207.7,267.8,10.8,1755,18725,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2332,2239
$GC,19063,1.00,207.7,231.9,10.2,1816,19068,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2331,2239
$GC,19406,1.04,234.5,199.8,9.1,1877,19433,0.00,0.00,23.45,0.892,6,0.000,0.000,3189,2331,2128
$GC,19771,1.04,235.6,165.8,10.0,1942,19777,0.00,2.80,0.00,0.000,4,0.000,0.106,3189,3738,2126
$GC,19795,1.06,252.1,163.4,9.4,1946,19817,0.00,2.70,15.52,0.854,6,0.000,0.084,3189,2334,2056
$GC,20155,1.06,252.1,126.6,10.5,2010,20160,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2334,2055
$GC,20499,1.06,252.1,88.2,11.3,2071,20505,0.00,2.72,0.00,0.000,4,0.000,0.102,3189,920,2055
$GC,20539,1.06,252.1,83.4,12.3,2078,20545,0.00,2.70,0.00,0.000,6,0.000,0.087,3189,2343,2054
$GC,20885,1.07,262.7,46.5,9.6,2139,20897,0.00,0.00,9.88,0.790,6,0.000,0.000,3189,2343,2013
$GC,21036,1.08,272.5,32.0,9.7,2165,21048,0.00,0.00,9.55,0.757,6,0.000,0.000,3189,2343,1973
$GC,21184,1.09,278.6,16.5,9.8,2191,21196,0.00,0.00,6.47,0.702,6,0.000,0.000,3189,2343,1949
$STATE,21318,end climb,SURFACE_DEPTH_REACHED
$STATE,21318,begin surface coast
$FINISH,0.4,1.017805
$STATE,21338,end surface coast,CONTROL_FINISHED_OK
$STATE,21338,begin surface
$SM_CCo,21419,0.00,0.000,0,0,1946,279.64
$SM_GC,1.15,11.50,0.00,0.00,0.048,0.000,0.000,593,2233,1946,-10.84,-0.06,279.64
$IRIDIUM_FIX,6046.07,-2605.97,070897,101043
$TT8_MAMPS,0.02301
$HUMID,1632
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.80
$XPDR_PINGS,126
$24V_AH,23.4,39.610
$10V_AH,10.7,30.862
$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,26.900,83.350,406.950,0.000,0.000,31.348,30.893,253.959,31.500,0.000,0.000,31.689,3421.659,13365.450,535.391,3866.793,687.950,0.000,2186.231,0.000,3841.744,0.000,0.467
$DEVICE_MAMPS,188.682,141.128,1431.989,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1540.350,1651.567,1965.617,630.489,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129414,2218
$CAP_FILE_SIZE,180265,0
$CFSIZE,260165632,239751168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130508,222502,6106.061,-2610.010,39,1.1,39,-18.3