version: 66.03
glider: 140
mission: 5
dive: 187
start: 5 17 108 20 21 14
data:
$ID,140
$MISSION,5
$DIVE,187
$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,150
$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,-16788.225
$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,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
$GPS1,201238,6122.267,-2559.525,32,0.9,32,-18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-60.1
$GPS2,202056,6122.248,-2559.479,12,1.0,17,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6112.895,-2556.879
$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,168.4,20000,-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,-194.7,0.0,0.0,0,95,0.00,0.00,-65.43,0.000,2,0.000,0.000,586,2232,3492
$GC,98,-1.29,-194.7,3.4,-5.9,12,128,12.38,2.75,-8.75,0.000,4,0.187,0.108,2669,828,3881
$GC,198,-1.29,-194.7,17.2,-10.2,29,204,0.00,2.62,0.00,0.000,6,0.000,0.081,2669,2236,3882
$GC,340,-1.29,-194.7,30.8,-10.2,54,346,0.00,2.70,0.00,0.000,4,0.000,0.094,2669,3648,3882
$GC,403,-1.29,-194.7,37.4,-10.1,65,410,0.00,2.60,0.00,0.000,6,0.000,0.082,2669,2263,3882
$GC,546,-1.29,-194.7,51.4,-9.3,90,552,0.00,2.78,0.00,0.000,4,0.000,0.100,2669,818,3882
$GC,580,-1.29,-194.7,55.0,-10.0,96,587,0.00,2.70,0.00,0.000,6,0.000,0.082,2669,2263,3882
$GC,925,-1.29,-194.7,87.9,-9.2,157,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2263,3882
$GC,1269,-1.29,-194.7,117.2,-8.2,218,1275,0.00,2.80,0.00,0.000,4,0.000,0.104,2669,823,3883
$GC,1315,-1.29,-194.7,121.1,-8.6,226,1321,0.00,2.70,0.00,0.000,6,0.000,0.085,2669,2258,3882
$GC,1659,-1.29,-194.7,148.0,-7.7,287,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2258,3883
$GC,2002,-1.29,-194.7,175.1,-7.7,348,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2259,3883
$GC,2346,-1.29,-194.7,202.5,-8.3,409,2352,0.00,2.80,0.00,0.000,4,0.000,0.107,2669,825,3883
$GC,2369,-1.29,-194.7,204.6,-8.6,413,2376,0.00,2.70,0.00,0.000,6,0.000,0.087,2669,2255,3883
$GC,2713,-1.29,-194.7,234.6,-9.4,474,2720,0.00,2.70,0.00,0.000,4,0.000,0.104,2670,3652,3883
$GC,2737,-1.29,-194.7,236.9,-9.4,478,2744,0.00,2.65,0.00,0.000,6,0.000,0.086,2669,2245,3883
$GC,3081,-1.29,-194.7,269.6,-9.7,539,3087,0.00,2.80,0.00,0.000,4,0.000,0.112,2669,820,3883
$GC,3116,-1.29,-194.7,273.1,-10.5,545,3122,0.00,2.72,0.00,0.000,6,0.000,0.092,2669,2252,3883
$GC,3459,-1.29,-194.7,305.8,-9.3,606,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2252,3883
$GC,3803,-1.29,-194.7,337.4,-8.8,667,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2253,3883
$GC,4141,-1.29,-194.7,367.3,-8.9,711,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2253,3883
$GC,4459,-1.29,-194.7,396.5,-9.1,741,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2253,3883
$GC,4778,-1.29,-194.7,425.1,-8.7,771,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2253,3883
$GC,5096,-1.29,-194.7,452.0,-8.0,801,5101,0.00,2.72,0.00,0.000,4,0.000,0.111,2669,3645,3883
$GC,5126,-1.29,-194.7,454.4,-8.7,803,5131,0.00,2.67,0.00,0.000,6,0.000,0.091,2669,2234,3882
$GC,5455,-1.29,-194.7,479.7,-7.6,833,5459,0.00,2.80,0.00,0.000,4,0.000,0.118,2669,826,3883
$GC,5494,-1.29,-194.7,483.2,-8.3,836,5498,0.00,2.70,0.00,0.000,6,0.000,0.096,2670,2236,3882
$GC,5820,-1.29,-194.7,508.4,-8.0,866,5825,0.00,2.78,0.00,0.000,4,0.000,0.110,2669,3650,3882
$GC,5848,-1.29,-194.7,510.9,-9.0,868,5853,0.00,2.70,0.00,0.000,6,0.000,0.091,2669,2231,3882
$GC,6175,-1.29,-194.7,538.6,-8.9,898,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2231,3882
$GC,6492,-1.29,-194.7,566.2,-8.6,928,6497,0.00,2.80,0.00,0.000,4,0.000,0.110,2669,3650,3882
$GC,6510,-1.29,-194.7,567.8,-8.4,929,6514,0.00,2.67,0.00,0.000,6,0.000,0.092,2669,2247,3882
$GC,6839,-1.29,-194.7,593.8,-7.5,959,6843,0.00,2.85,0.00,0.000,4,0.000,0.121,2669,824,3882
$GC,6878,-1.29,-194.7,597.3,-8.4,962,6882,0.00,2.72,0.00,0.000,6,0.000,0.100,2669,2236,3882
$GC,7205,-1.29,-194.7,623.4,-8.1,979,7210,0.00,2.80,0.00,0.000,4,0.000,0.117,2669,3646,3882
$GC,7245,-1.29,-194.7,626.9,-8.8,981,7249,0.00,2.67,0.00,0.000,6,0.000,0.094,2669,2246,3882
$GC,7571,-1.29,-194.7,656.9,-9.7,997,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3881
$GC,7880,-1.29,-194.7,685.5,-9.0,1012,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3881
$GC,8190,-1.29,-194.7,711.1,-7.9,1027,8194,0.00,2.88,0.00,0.000,4,0.000,0.127,2669,826,3881
$GC,8211,-1.29,-194.7,712.9,-8.6,1028,8216,0.00,2.80,0.00,0.000,6,0.000,0.104,2669,2267,3881
$GC,8532,-1.29,-194.7,737.9,-7.9,1044,8537,0.00,2.90,0.00,0.000,4,0.000,0.123,2669,826,3881
$GC,8559,-1.29,-194.7,740.4,-8.9,1045,8563,0.00,2.78,0.00,0.000,6,0.000,0.107,2669,2246,3881
$GC,8874,-1.29,-194.7,770.8,-10.1,1060,8879,0.00,2.85,0.00,0.000,4,0.000,0.129,2669,3650,3881
$GC,8906,-1.29,-194.7,774.2,-10.9,1061,8912,0.00,2.70,0.00,0.000,6,0.000,0.099,2669,2244,3881
$GC,9222,-1.29,-194.7,801.9,-8.4,1077,9224,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2245,3881
$GC,9531,-1.29,-194.7,825.3,-6.9,1092,9536,0.00,2.83,0.00,0.000,4,0.000,0.123,2669,3647,3880
$GC,9558,-1.29,-194.7,827.3,-7.5,1093,9563,0.00,2.67,0.00,0.000,6,0.000,0.101,2669,2257,3880
$GC,9873,-1.29,-194.7,855.7,-11.0,1108,9878,0.00,2.80,0.00,0.000,4,0.000,0.123,2669,3646,3879
$GC,9917,-1.29,-194.7,861.0,-12.5,1110,9921,0.00,2.65,0.00,0.000,6,0.000,0.104,2669,2275,3880
$GC,10244,-1.29,-194.7,894.8,-9.3,1126,10248,0.00,3.00,0.00,0.000,4,0.000,0.138,2669,822,3879
$GC,10310,-1.29,-194.7,900.9,-9.5,1129,10314,0.00,2.80,0.00,0.000,6,0.000,0.107,2669,2255,3879
$GC,10630,-1.29,-194.7,925.0,-7.4,1145,10635,0.00,2.85,0.00,0.000,4,0.000,0.133,2669,3649,3879
$GC,10663,-1.29,-194.7,927.7,-8.3,1146,10669,0.00,2.72,0.00,0.000,6,0.000,0.104,2669,2246,3879
$GC,10978,-1.29,-194.7,956.2,-10.3,1162,10979,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2247,3879
$GC,11288,-1.29,-194.7,986.1,-9.3,1177,11293,0.00,2.85,0.00,0.000,4,0.000,0.127,2669,3646,3878
$GC,11321,-1.29,-194.7,989.1,-9.9,1178,11327,0.00,2.72,0.00,0.000,6,0.000,0.108,2669,2257,3878
$STATE,11347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11347,begin apogee
$GC,11352,-0.35,0.0,991.3,8.6,1180,11522,1.05,0.00,166.00,1.427,6,0.102,0.000,2881,2330,3085
$STATE,11523,end apogee,CONTROL_FINISHED_OK
$STATE,11523,begin climb
$GC,11525,1.29,194.7,997.4,0.0,1188,11698,1.62,3.05,162.12,1.391,4,0.059,0.131,3240,3737,2290
$GC,11760,1.17,194.7,976.5,14.5,1199,11765,0.15,2.88,0.00,0.000,6,0.117,0.110,3214,2328,2289
$GC,12081,1.11,194.7,937.4,11.9,1215,12083,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2329,2288
$GC,12390,1.06,194.7,901.5,11.6,1230,12395,0.12,2.92,0.00,0.000,4,0.115,0.124,3192,3736,2287
$GC,12407,1.01,194.7,899.5,11.6,1231,12412,0.00,2.83,0.00,0.000,6,0.000,0.105,3192,2331,2287
$GC,12734,1.02,202.0,865.6,9.7,1247,12748,0.00,3.03,7.43,1.151,4,0.000,0.137,3192,923,2261
$GC,12779,1.03,217.4,861.4,9.5,1249,12800,0.00,2.80,14.75,1.249,6,0.000,0.106,3192,2336,2198
$GC,13109,1.03,217.4,829.9,10.1,1265,13114,0.00,2.92,0.00,0.000,4,0.000,0.129,3192,3738,2196
$GC,13166,0.99,217.4,823.8,10.6,1267,13172,0.00,2.78,0.00,0.000,6,0.000,0.103,3192,2347,2196
$GC,13481,0.99,217.4,788.4,11.5,1283,13486,0.00,2.85,0.00,0.000,4,0.000,0.119,3192,3737,2196
$GC,13508,0.95,217.4,785.1,12.5,1284,13513,0.12,2.75,0.00,0.000,6,0.114,0.102,3169,2348,2195
$GC,13824,0.95,219.0,752.0,9.9,1299,13829,0.00,2.90,0.00,0.000,4,0.000,0.127,3169,918,2196
$GC,13864,0.95,219.0,747.8,10.3,1301,13868,0.00,2.78,0.00,0.000,6,0.000,0.103,3170,2340,2195
$GC,14190,1.01,265.7,716.8,8.4,1317,14240,0.00,3.00,41.85,1.234,4,0.000,0.119,3169,916,2002
$GC,14263,1.13,327.5,710.7,7.9,1320,14325,0.17,2.75,55.22,1.203,6,0.058,0.098,3213,2326,1748
$GC,14641,1.13,327.5,664.0,12.8,1339,14642,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2326,1740
$GC,14950,1.13,327.5,622.2,13.9,1354,14954,0.00,2.83,0.00,0.000,4,0.000,0.114,3212,916,1739
$GC,14976,1.13,327.5,618.2,14.4,1355,14981,0.00,2.72,0.00,0.000,6,0.000,0.097,3212,2320,1739
$GC,15297,1.13,327.5,575.0,13.3,1378,15301,0.00,2.88,0.00,0.000,4,0.000,0.116,3212,3737,1737
$GC,15313,1.13,327.5,572.7,13.7,1379,15318,0.00,2.80,0.00,0.000,6,0.000,0.091,3213,2301,1737
$GC,15638,1.13,327.5,528.0,14.2,1409,15643,0.00,2.75,0.00,0.000,4,0.000,0.114,3213,919,1737
$GC,15659,1.13,327.5,524.7,14.8,1410,15666,0.00,2.65,0.00,0.000,6,0.000,0.093,3213,2303,1738
$GC,15986,1.13,327.5,479.8,13.2,1441,15987,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2303,1737
$GC,16303,1.13,327.5,438.9,12.8,1471,16304,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2303,1737
$GC,16621,1.13,327.5,398.3,13.2,1501,16626,0.00,2.75,0.00,0.000,4,0.000,0.109,3213,910,1737
$GC,16643,1.13,327.5,395.2,15.0,1502,16649,0.00,2.62,0.00,0.000,6,0.000,0.091,3213,2295,1737
$GC,16969,1.13,327.5,352.3,13.0,1533,16970,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2295,1737
$GC,17304,1.13,327.5,308.8,11.7,1591,17310,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2295,1737
$GC,17648,1.13,327.5,267.2,12.3,1652,17653,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2295,1737
$GC,17991,1.13,327.5,224.4,12.8,1713,17997,0.00,2.85,0.00,0.000,4,0.000,0.106,3213,3735,1737
$GC,18009,1.13,327.5,221.9,12.9,1716,18015,0.00,2.78,0.00,0.000,6,0.000,0.086,3213,2283,1736
$GC,18353,1.13,327.5,176.9,13.3,1777,18358,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2284,1737
$GC,18695,1.13,327.5,134.7,10.7,1838,18701,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2284,1737
$GC,19039,1.13,327.5,95.3,13.3,1899,19045,0.00,2.88,0.00,0.000,4,0.000,0.102,3213,3736,1737
$GC,19062,1.13,327.5,92.3,12.1,1903,19068,0.00,2.78,0.00,0.000,6,0.000,0.085,3212,2288,1737
$GC,19405,1.13,327.5,49.6,10.9,1964,19412,0.00,2.62,0.00,0.000,4,0.000,0.102,3212,918,1737
$GC,19429,1.13,327.5,46.5,12.8,1968,19436,0.00,2.55,0.00,0.000,6,0.000,0.083,3213,2285,1737
$GC,19572,1.13,327.5,28.0,14.6,1993,19578,0.00,2.83,0.00,0.000,4,0.000,0.100,3213,3734,1737
$GC,19614,1.13,327.5,22.6,12.6,2000,19620,0.00,2.70,0.00,0.000,6,0.000,0.083,3212,2308,1736
$GC,19756,1.13,327.5,2.8,13.8,2025,19763,0.00,2.70,0.00,0.000,4,0.000,0.104,3213,916,1737
$STATE,19767,end climb,SURFACE_DEPTH_REACHED
$STATE,19767,begin surface coast
$FINISH,0.3,1.027722
$STATE,19774,end surface coast,CONTROL_FINISHED_OK
$STATE,19774,begin surface
$SM_CCo,19858,0.00,0.000,0,0,1735,331.15
$SM_GC,1.05,11.35,0.00,0.00,0.037,0.000,0.000,583,2245,1735,-10.85,0.28,331.15
$IRIDIUM_FIX,6059.36,-2607.78,110897,141459
$TT8_MAMPS,0.02301
$HUMID,1640
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,16.70
$XPDR_PINGS,96
$24V_AH,22.9,42.736
$10V_AH,10.7,33.803
$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,26.975,205.325,447.375,0.000,0.000,31.367,38.836,274.530,24.000,0.000,0.000,17.878,3228.834,12073.990,628.372,3681.755,717.411,0.000,2285.887,0.000,3652.509,0.000,0.467
$DEVICE_MAMPS,187.148,138.060,1427.387,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1406.460,1508.211,1787.156,576.605,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120077,2028
$CAP_FILE_SIZE,193264,0
$CFSIZE,260165632,238075904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,180508,015326,6117.720,-2554.008,40,2.0,40,-18.3