version: 66.03
glider: 140
mission: 5
dive: 193
start: 5 19 108 7 45 43
data:
$ID,140
$MISSION,5
$DIVE,193
$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,60
$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,629.19446
$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,-16919.07
$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,11
$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
$GPS1,072807,6103.529,-2532.177,38,1.1,38,-17.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-57.7
$GPS2,074526,6103.555,-2532.275,14,1.4,31,-17.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6108.955,-2527.762
$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,77.9,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.29,-194.7,0.0,0.0,0,91,0.00,0.00,-60.40,0.000,2,0.000,0.000,589,2225,3366
$GC,94,-1.29,-194.7,3.1,-6.7,11,125,12.30,2.78,-12.52,0.000,4,0.186,0.108,2670,824,3881
$GC,154,-1.29,-194.7,10.7,-9.8,21,161,0.00,2.67,0.00,0.000,6,0.000,0.083,2671,2239,3881
$GC,297,-1.29,-194.7,27.3,-11.4,46,302,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3882
$GC,439,-1.29,-194.7,41.4,-9.7,71,446,0.00,2.70,0.00,0.000,4,0.000,0.097,2671,3646,3882
$GC,464,-1.29,-194.7,43.9,-9.8,75,470,0.00,2.62,0.00,0.000,6,0.000,0.081,2671,2237,3882
$GC,606,-1.29,-194.7,57.2,-9.6,100,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3882
$GC,950,-1.29,-194.7,90.2,-9.6,161,956,0.00,2.72,0.00,0.000,4,0.000,0.101,2671,826,3882
$GC,990,-1.29,-194.7,94.4,-10.2,168,997,0.00,2.67,0.00,0.000,6,0.000,0.086,2671,2244,3882
$GC,1335,-1.29,-194.7,127.0,-9.6,229,1341,0.00,2.78,0.00,0.000,4,0.000,0.102,2671,817,3882
$GC,1353,-1.29,-194.7,128.8,-9.5,232,1359,0.00,2.70,0.00,0.000,6,0.000,0.085,2671,2251,3882
$GC,1699,-1.29,-194.7,161.5,-9.4,293,1705,0.00,2.78,0.00,0.000,4,0.000,0.104,2670,826,3882
$GC,1728,-1.29,-194.7,164.6,-9.9,298,1734,0.00,2.67,0.00,0.000,6,0.000,0.088,2671,2240,3882
$GC,2072,-1.29,-194.7,195.7,-8.7,359,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3882
$GC,2415,-1.29,-194.7,224.7,-8.6,420,2422,0.00,2.78,0.00,0.000,4,0.000,0.107,2670,820,3882
$GC,2435,-1.29,-194.7,226.3,-8.6,423,2441,0.00,2.70,0.00,0.000,6,0.000,0.091,2671,2240,3882
$GC,2779,-1.29,-194.7,255.6,-8.4,484,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3882
$GC,3123,-1.29,-194.7,286.3,-9.2,545,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3882
$GC,3465,-1.29,-194.7,316.6,-8.5,606,3471,0.00,2.80,0.00,0.000,4,0.000,0.113,2671,825,3882
$GC,3484,-1.29,-194.7,318.2,-8.9,609,3490,0.00,2.70,0.00,0.000,6,0.000,0.094,2671,2238,3882
$GC,3827,-1.29,-194.7,347.2,-8.2,670,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2238,3882
$GC,4160,-1.29,-194.7,375.9,-8.7,704,4165,0.00,2.75,0.00,0.000,4,0.000,0.110,2671,3645,3882
$GC,4182,-1.29,-194.7,378.0,-8.8,705,4188,0.00,2.67,0.00,0.000,6,0.000,0.090,2671,2234,3882
$GC,4509,-1.29,-194.7,406.3,-9.1,736,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,4825,-1.29,-194.7,435.1,-9.0,766,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3882
$GC,5144,-1.29,-194.7,463.4,-8.7,796,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3882
$GC,5462,-1.29,-194.7,490.4,-8.5,826,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3881
$GC,5781,-1.29,-194.7,518.3,-8.7,856,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3880
$GC,6099,-1.29,-194.7,545.7,-8.6,886,6103,0.00,2.80,0.00,0.000,4,0.000,0.110,2671,3653,3881
$GC,6127,-1.29,-194.7,548.2,-9.1,888,6132,0.00,2.70,0.00,0.000,6,0.000,0.092,2671,2235,3881
$GC,6453,-1.29,-194.7,575.6,-8.5,918,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3881
$GC,6771,-1.29,-194.7,602.5,-8.4,947,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3880
$GC,7079,-1.29,-194.7,627.4,-8.1,962,7083,0.00,2.80,0.00,0.000,4,0.000,0.115,2671,3645,3880
$GC,7111,-1.29,-194.7,630.3,-8.8,963,7117,0.00,2.70,0.00,0.000,6,0.000,0.094,2671,2235,3880
$GC,7428,-1.29,-194.7,655.3,-8.2,979,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3880
$GC,7736,-1.29,-194.7,682.6,-8.9,994,7737,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3880
$GC,8046,-1.29,-194.7,708.3,-7.7,1009,8050,0.00,2.83,0.00,0.000,4,0.000,0.120,2671,3644,3879
$GC,8079,-1.29,-194.7,711.0,-8.1,1010,8085,0.00,2.70,0.00,0.000,6,0.000,0.098,2671,2240,3880
$GC,8394,-1.29,-194.7,734.4,-7.5,1026,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2241,3880
$GC,8704,-1.29,-194.7,759.0,-8.1,1041,8708,0.00,2.85,0.00,0.000,4,0.000,0.122,2671,3651,3879
$GC,8721,-1.29,-194.7,760.4,-8.2,1042,8725,0.00,2.72,0.00,0.000,6,0.000,0.100,2671,2247,3879
$GC,9047,-1.29,-194.7,787.0,-7.9,1058,9051,0.00,2.80,0.00,0.000,4,0.000,0.123,2671,3644,3879
$GC,9079,-1.29,-194.7,789.8,-8.9,1059,9085,0.00,2.70,0.00,0.000,6,0.000,0.100,2670,2250,3879
$GC,9395,-1.29,-194.7,816.4,-8.6,1075,9397,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2250,3878
$GC,9704,-1.29,-194.7,844.1,-9.3,1090,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2251,3878
$GC,10013,-1.29,-194.7,870.6,-8.5,1105,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2251,3878
$GC,10322,-1.29,-194.7,896.7,-8.5,1120,10324,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2251,3878
$GC,10632,-1.29,-194.7,924.1,-8.9,1135,10636,0.00,2.88,0.00,0.000,4,0.000,0.130,2671,3651,3877
$GC,10658,-1.29,-194.7,926.8,-9.8,1136,10663,0.00,2.70,0.00,0.000,6,0.000,0.107,2671,2276,3877
$GC,10974,-1.29,-194.7,953.5,-8.3,1151,10975,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2276,3877
$GC,11283,-1.29,-194.7,980.8,-9.1,1166,11284,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2276,3876
$STATE,11404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11404,begin apogee
$GC,11410,-0.35,0.0,991.5,8.5,1172,11579,1.02,0.00,165.60,1.427,6,0.100,0.000,2878,2334,3085
$STATE,11580,end apogee,CONTROL_FINISHED_OK
$STATE,11581,begin climb
$GC,11583,1.29,194.7,998.0,0.0,1180,11756,1.65,3.10,162.50,1.392,4,0.062,0.141,3239,917,2291
$GC,11790,1.21,194.7,983.4,13.1,1190,11795,0.00,2.88,0.00,0.000,6,0.000,0.115,3239,2334,2289
$GC,12110,1.12,194.7,941.9,13.0,1206,12112,0.20,0.00,0.00,0.000,6,0.109,0.000,3203,2334,2288
$GC,12419,1.07,194.7,907.9,11.2,1221,12421,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2334,2287
$GC,12729,1.03,194.7,872.2,11.2,1236,12730,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2334,2287
$GC,13038,0.98,194.7,838.8,11.1,1251,13044,0.15,2.92,0.00,0.000,4,0.111,0.130,3175,917,2286
$GC,13065,0.98,194.7,835.6,10.4,1252,13070,0.00,2.80,0.00,0.000,6,0.000,0.108,3176,2331,2287
$GC,13382,1.00,211.7,805.3,9.4,1267,13404,0.00,3.00,15.27,1.262,4,0.000,0.132,3176,3738,2221
$GC,13427,1.03,237.1,800.8,9.1,1269,13457,0.00,2.85,23.50,1.244,6,0.000,0.104,3176,2325,2117
$GC,13779,1.03,237.1,762.6,11.2,1286,13780,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2325,2114
$GC,14089,1.03,237.1,728.6,10.7,1301,14090,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2325,2114
$GC,14397,1.03,237.1,695.5,10.6,1316,14402,0.00,2.85,0.00,0.000,4,0.000,0.125,3176,916,2113
$GC,14424,1.03,237.1,692.4,11.2,1317,14429,0.00,2.72,0.00,0.000,6,0.000,0.100,3176,2320,2114
$GC,14739,1.03,237.1,659.0,10.5,1332,14744,0.00,2.90,0.00,0.000,4,0.000,0.121,3175,3737,2113
$GC,14782,1.03,237.1,654.1,11.1,1334,14787,0.00,2.78,0.00,0.000,6,0.000,0.097,3175,2320,2113
$GC,15109,1.09,281.2,624.5,8.5,1350,15154,0.00,2.90,38.12,1.167,4,0.000,0.117,3175,919,1938
$GC,15182,1.13,281.2,616.9,10.8,1353,15188,0.12,2.75,0.00,0.000,6,0.066,0.098,3208,2330,1936
$GC,15504,1.13,281.2,574.6,13.4,1376,15509,0.00,2.85,0.00,0.000,4,0.000,0.116,3208,3738,1933
$GC,15555,1.08,281.2,567.3,14.5,1380,15559,0.00,2.75,0.00,0.000,6,0.000,0.093,3208,2333,1932
$GC,15880,1.08,281.2,524.6,13.0,1410,15885,0.00,2.80,0.00,0.000,4,0.000,0.113,3208,915,1933
$GC,15908,1.08,281.2,520.6,13.6,1412,15913,0.00,2.75,0.00,0.000,6,0.000,0.097,3208,2338,1933
$GC,16234,1.08,281.2,478.2,12.7,1442,16238,0.00,2.80,0.00,0.000,4,0.000,0.112,3208,3738,1932
$GC,16267,1.04,281.2,473.7,13.0,1444,16273,0.00,2.72,0.00,0.000,6,0.000,0.090,3208,2331,1931
$GC,16593,1.04,281.2,434.1,12.4,1475,16597,0.00,2.78,0.00,0.000,4,0.000,0.111,3208,918,1932
$GC,16625,1.04,281.2,429.5,12.2,1477,16631,0.00,2.72,0.00,0.000,6,0.000,0.093,3208,2342,1932
$GC,16951,1.04,281.2,388.7,13.1,1508,16956,0.00,2.78,0.00,0.000,4,0.000,0.109,3208,3738,1932
$GC,16979,1.04,281.2,384.7,14.4,1510,16983,0.00,2.72,0.00,0.000,6,0.000,0.088,3208,2326,1931
$GC,17307,1.04,281.2,342.2,12.3,1545,17313,0.00,2.75,0.00,0.000,4,0.000,0.110,3208,919,1932
$GC,17342,1.04,281.2,337.6,12.8,1551,17348,0.00,2.70,0.00,0.000,6,0.000,0.091,3208,2339,1932
$GC,17685,1.04,281.2,294.4,12.6,1612,17691,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2339,1932
$GC,18028,1.04,281.2,253.5,11.4,1673,18034,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2339,1932
$GC,18371,1.04,281.2,212.5,11.5,1734,18377,0.00,2.78,0.00,0.000,4,0.000,0.105,3208,917,1932
$GC,18406,1.04,281.2,207.8,13.1,1740,18413,0.00,2.67,0.00,0.000,6,0.000,0.089,3208,2331,1932
$GC,18751,1.04,281.2,163.0,12.1,1801,18757,0.00,2.75,0.00,0.000,4,0.000,0.104,3208,3735,1932
$GC,18786,1.04,281.2,158.5,11.7,1807,18792,0.00,2.72,0.00,0.000,6,0.000,0.085,3209,2310,1932
$GC,19130,1.04,281.2,120.2,11.0,1868,19137,0.00,2.70,0.00,0.000,4,0.000,0.104,3208,914,1932
$GC,19171,1.04,281.2,115.4,12.3,1875,19177,0.00,2.65,0.00,0.000,6,0.000,0.087,3208,2319,1933
$GC,19514,1.04,281.2,73.9,11.5,1936,19520,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2319,1932
$GC,19857,1.04,281.2,27.7,12.0,1997,19863,0.00,2.75,0.00,0.000,4,0.000,0.101,3208,3736,1932
$GC,19892,1.04,281.2,22.5,14.7,2003,19899,0.00,2.67,0.00,0.000,6,0.000,0.081,3208,2321,1932
$GC,20036,1.04,281.2,2.6,13.4,2028,20042,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2322,1933
$STATE,20046,end climb,SURFACE_DEPTH_REACHED
$STATE,20046,begin surface coast
$FINISH,0.3,1.026962
$STATE,20059,end surface coast,CONTROL_FINISHED_OK
$STATE,20059,begin surface
$SM_CCo,20079,278.73,0.713,4,0,519,629.19
$SM_GC,0.68,0.00,0.00,278.73,0.000,0.000,0.713,590,2232,519,-10.90,-0.08,629.19
$IRIDIUM_FIX,6041.65,-2536.21,130897,070729
$TT8_MAMPS,0.02301
$HUMID,1584
$INTERNAL_PRESSURE,8.31087
$TCM_TEMP,18.00
$XPDR_PINGS,95
$24V_AH,23.4,43.898
$10V_AH,10.7,34.862
$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,26.900,166.275,405.000,278.725,0.000,139.331,336.066,136.623,23.750,0.000,0.000,31.110,3193.971,12693.153,879.781,3626.204,1005.264,0.000,2479.467,0.000,3590.091,0.000,0.468
$DEVICE_MAMPS,185.614,150.332,1427.387,712.543,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1410.348,1511.044,1786.752,566.954,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120102,2032
$CAP_FILE_SIZE,184407,0
$CFSIZE,260165632,237424640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,4,0
$GPS,190508,132637,6103.950,-2525.394,37,1.1,37,-17.9