version: 66.03
glider: 140
mission: 5
dive: 194
start: 5 19 108 13 52 23
data:
$ID,140
$MISSION,5
$DIVE,194
$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,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,-16955.188
$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,12
$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
$GPS1,132637,6103.950,-2525.394,37,1.1,37,-17.9
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-47.7
$GPS2,135205,6104.065,-2525.853,15,2.8,34,-17.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6109.464,-2521.341
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,160,0.00,0.00,-129.75,0.000,2,0.000,0.000,590,2232,3638
$GC,163,-1.29,-194.7,3.5,-5.8,24,188,12.27,2.75,-4.93,0.000,4,0.183,0.110,2672,818,3881
$GC,200,-0.95,-194.7,12.4,-17.9,30,208,0.38,2.67,0.00,0.000,6,0.097,0.081,2748,2238,3881
$GC,346,-1.04,-194.7,23.2,-7.6,55,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2238,3881
$GC,490,-1.14,-194.7,33.3,-6.7,80,496,0.15,2.70,0.00,0.000,4,0.055,0.094,2703,3651,3881
$GC,515,-1.21,-194.7,35.5,-8.0,84,521,0.00,2.62,0.00,0.000,6,0.000,0.081,2702,2251,3881
$GC,658,-1.21,-194.7,47.1,-8.5,109,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2252,3881
$GC,799,-1.21,-194.7,59.4,-7.9,134,805,0.00,2.70,0.00,0.000,4,0.000,0.097,2703,3646,3881
$GC,824,-1.25,-194.7,61.4,-8.1,138,830,0.00,2.62,0.00,0.000,6,0.000,0.081,2702,2249,3881
$GC,1168,-1.25,-194.7,89.0,-7.3,199,1174,0.00,2.75,0.00,0.000,4,0.000,0.101,2702,824,3881
$GC,1192,-1.25,-194.7,90.8,-7.5,203,1198,0.00,2.70,0.00,0.000,6,0.000,0.085,2702,2255,3881
$GC,1536,-1.25,-194.7,119.7,-8.2,264,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2255,3881
$GC,1879,-1.25,-194.7,148.9,-7.4,325,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2255,3881
$GC,2222,-1.25,-194.7,173.8,-7.1,386,2228,0.00,2.80,0.00,0.000,4,0.000,0.104,2702,819,3881
$GC,2252,-1.25,-194.7,176.2,-8.1,391,2258,0.00,2.72,0.00,0.000,6,0.000,0.088,2702,2255,3880
$GC,2594,-1.25,-194.7,203.0,-7.8,452,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2255,3881
$GC,2938,-1.25,-194.7,230.1,-7.9,513,2944,0.00,2.80,0.00,0.000,4,0.000,0.107,2702,826,3881
$GC,2962,-1.25,-194.7,232.1,-8.4,517,2968,0.00,2.72,0.00,0.000,6,0.000,0.092,2702,2255,3881
$GC,3305,-1.25,-194.7,258.1,-7.2,578,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2255,3880
$GC,3649,-1.25,-194.7,283.0,-7.4,639,3655,0.00,2.80,0.00,0.000,4,0.000,0.109,2702,825,3880
$GC,3678,-1.25,-194.7,285.4,-8.2,644,3684,0.00,2.72,0.00,0.000,6,0.000,0.094,2702,2251,3880
$GC,4022,-1.25,-194.7,312.8,-8.1,705,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2251,3880
$GC,4364,-1.25,-194.7,340.6,-7.9,766,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2251,3880
$GC,4701,-1.25,-194.7,366.6,-7.7,808,4706,0.00,2.83,0.00,0.000,4,0.000,0.114,2702,826,3880
$GC,4718,-1.25,-194.7,368.0,-7.7,809,4723,0.00,2.72,0.00,0.000,6,0.000,0.095,2702,2248,3879
$GC,5045,-1.29,-194.7,392.6,-7.8,839,5047,0.12,0.00,0.00,0.000,6,0.063,0.000,2668,2248,3879
$GC,5363,-1.29,-194.7,421.3,-9.4,869,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2248,3879
$GC,5680,-1.29,-194.7,451.0,-9.3,899,5684,0.00,2.83,0.00,0.000,4,0.000,0.116,2668,827,3879
$GC,5709,-1.29,-194.7,453.8,-10.0,901,5713,0.00,2.72,0.00,0.000,6,0.000,0.098,2668,2245,3879
$GC,6035,-1.29,-194.7,483.1,-8.7,931,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3879
$GC,6353,-1.29,-194.7,510.6,-8.7,961,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3879
$GC,6671,-1.29,-194.7,537.8,-8.4,991,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3878
$GC,6990,-1.29,-194.7,563.4,-7.7,1021,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3878
$GC,7310,-1.29,-194.7,589.2,-8.5,1051,7314,0.00,2.85,0.00,0.000,4,0.000,0.118,2668,823,3878
$GC,7327,-1.29,-194.7,590.9,-8.8,1052,7331,0.00,2.75,0.00,0.000,6,0.000,0.100,2668,2243,3878
$GC,7645,-1.29,-194.7,619.4,-9.1,1072,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2243,3878
$GC,7955,-1.29,-194.7,648.0,-9.6,1087,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2242,3877
$GC,8264,-1.29,-194.7,677.2,-9.0,1102,8268,0.00,2.83,0.00,0.000,4,0.000,0.123,2668,3649,3877
$GC,8291,-1.29,-194.7,679.9,-9.9,1103,8295,0.00,2.72,0.00,0.000,6,0.000,0.096,2668,2228,3877
$GC,8606,-1.29,-194.7,706.5,-8.6,1118,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3877
$GC,8916,-1.29,-194.7,732.4,-8.5,1133,8921,0.00,2.85,0.00,0.000,4,0.000,0.120,2668,3646,3877
$GC,8949,-1.29,-194.7,735.5,-9.6,1134,8955,0.00,2.70,0.00,0.000,6,0.000,0.099,2668,2244,3877
$GC,9264,-1.29,-194.7,761.5,-7.9,1150,9269,0.00,2.88,0.00,0.000,4,0.000,0.127,2668,825,3877
$GC,9291,-1.29,-194.7,763.8,-9.2,1151,9296,0.00,2.78,0.00,0.000,6,0.000,0.106,2668,2247,3877
$GC,9607,-1.29,-194.7,789.1,-8.1,1166,9611,0.00,2.83,0.00,0.000,4,0.000,0.127,2668,3645,3876
$GC,9639,-1.29,-194.7,791.9,-8.8,1167,9645,0.00,2.70,0.00,0.000,6,0.000,0.100,2668,2249,3876
$GC,9956,-1.29,-194.7,819.9,-9.1,1183,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2249,3876
$GC,10264,-1.29,-194.7,845.9,-8.0,1198,10269,0.00,2.83,0.00,0.000,4,0.000,0.124,2668,3645,3876
$GC,10286,-1.29,-194.7,847.8,-8.4,1199,10291,0.00,2.67,0.00,0.000,6,0.000,0.101,2668,2265,3876
$GC,10608,-1.29,-194.7,872.3,-7.5,1215,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2266,3876
$GC,10917,-1.29,-194.7,899.2,-9.3,1230,10918,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2266,3875
$GC,11226,-1.29,-194.7,928.5,-9.3,1245,11227,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2266,3875
$GC,11535,-1.29,-194.7,954.9,-7.5,1260,11537,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2266,3874
$STATE,11718,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11718,begin apogee
$GC,11724,-0.35,0.0,968.8,7.7,1269,11891,1.05,0.00,163.50,1.412,6,0.097,0.000,2881,2329,3085
$STATE,11892,end apogee,CONTROL_FINISHED_OK
$STATE,11892,begin climb
$GC,11894,1.29,194.7,974.2,0.0,1277,12067,1.62,3.08,161.38,1.370,4,0.061,0.139,3240,927,2290
$GC,12106,1.21,194.7,955.5,14.9,1287,12111,0.00,2.83,0.00,0.000,6,0.000,0.111,3240,2330,2289
$GC,12428,1.12,194.7,909.7,13.7,1303,12433,0.15,3.00,0.00,0.000,4,0.112,0.135,3209,3738,2288
$GC,12513,1.04,194.7,898.0,13.0,1307,12518,0.12,2.83,0.00,0.000,6,0.116,0.106,3186,2339,2288
$GC,12840,1.04,194.7,860.3,11.1,1323,12845,0.00,2.95,0.00,0.000,4,0.000,0.136,3186,916,2288
$GC,12883,1.04,194.7,855.1,12.2,1325,12888,0.00,2.83,0.00,0.000,6,0.000,0.110,3186,2334,2287
$GC,13205,1.04,194.7,818.8,11.3,1341,13210,0.00,2.95,0.00,0.000,4,0.000,0.133,3186,3738,2287
$GC,13267,0.98,194.7,811.4,11.8,1344,13271,0.00,2.80,0.00,0.000,6,0.000,0.102,3186,2334,2287
$GC,13593,0.98,194.7,776.1,10.3,1360,13597,0.00,2.90,0.00,0.000,4,0.000,0.130,3186,918,2287
$GC,13636,0.98,194.7,771.5,11.0,1362,13640,0.00,2.78,0.00,0.000,6,0.000,0.105,3186,2325,2287
$GC,13957,0.98,194.7,738.1,10.8,1378,13962,0.00,2.92,0.00,0.000,4,0.000,0.127,3186,3739,2286
$GC,14001,0.93,194.7,733.3,10.8,1380,14006,0.12,2.78,0.00,0.000,6,0.113,0.098,3164,2323,2286
$GC,14322,0.95,213.7,704.5,9.3,1396,14342,0.00,0.00,16.80,1.212,6,0.000,0.000,3164,2324,2213
$GC,14651,0.99,243.3,675.1,9.0,1412,14680,0.00,0.00,26.40,1.187,6,0.000,0.000,3164,2324,2093
$GC,14980,1.00,254.8,643.7,9.6,1428,14993,0.00,0.00,11.18,1.111,6,0.000,0.000,3164,2324,2045
$GC,15290,1.00,254.8,611.1,10.5,1443,15295,0.00,2.83,0.00,0.000,4,0.000,0.117,3164,913,2044
$GC,15317,1.05,254.8,608.1,10.3,1444,15322,0.12,2.75,0.00,0.000,6,0.066,0.097,3196,2333,2044
$GC,15640,1.05,254.8,571.5,11.3,1470,15642,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2333,2043
$GC,15958,1.05,254.8,534.3,11.2,1500,15962,0.00,2.83,0.00,0.000,4,0.000,0.114,3196,3739,2043
$GC,15985,1.05,254.8,531.0,12.0,1502,15990,0.00,2.75,0.00,0.000,6,0.000,0.090,3196,2321,2043
$GC,16309,1.05,254.8,495.2,10.7,1532,16314,0.00,2.75,0.00,0.000,4,0.000,0.110,3196,919,2043
$GC,16354,1.05,254.8,490.1,11.6,1535,16360,0.00,2.70,0.00,0.000,6,0.000,0.095,3195,2324,2044
$GC,16680,1.05,254.8,454.3,10.9,1566,16681,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2324,2043
$GC,16997,1.05,254.8,419.9,10.4,1596,16998,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2324,2044
$GC,17315,1.05,254.8,385.7,10.8,1626,17317,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2324,2044
$GC,17634,1.05,254.8,352.7,10.0,1656,17638,0.00,2.75,0.00,0.000,4,0.000,0.106,3196,918,2044
$GC,17661,1.05,254.8,349.7,10.8,1658,17667,0.00,2.67,0.00,0.000,6,0.000,0.092,3196,2325,2044
$GC,18005,1.05,255.4,315.1,10.0,1719,18011,0.00,2.80,0.00,0.000,4,0.000,0.109,3196,3737,2044
$GC,18040,1.05,255.4,311.3,10.0,1725,18046,0.00,2.72,0.00,0.000,6,0.000,0.084,3196,2311,2044
$GC,18383,1.05,255.4,274.6,11.3,1786,18389,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2311,2044
$GC,18726,1.05,255.4,237.6,10.9,1847,18731,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2310,2044
$GC,19069,1.05,255.4,199.8,10.5,1908,19075,0.00,2.83,0.00,0.000,4,0.000,0.104,3196,3738,2044
$GC,19098,1.05,255.4,196.3,11.3,1913,19105,0.00,2.70,0.00,0.000,6,0.000,0.085,3196,2325,2044
$GC,19442,1.05,255.4,155.2,13.1,1974,19448,0.00,2.72,0.00,0.000,4,0.000,0.104,3196,917,2045
$GC,19488,1.05,255.4,149.5,13.7,1982,19494,0.00,2.65,0.00,0.000,6,0.000,0.088,3196,2321,2045
$GC,19831,1.05,255.4,109.2,12.2,2043,19837,0.00,2.80,0.00,0.000,4,0.000,0.106,3196,3738,2044
$GC,19861,1.05,255.4,105.7,12.8,2048,19867,0.00,2.70,0.00,0.000,6,0.000,0.083,3196,2319,2045
$GC,20205,1.05,255.4,65.5,10.3,2109,20211,0.00,2.67,0.00,0.000,4,0.000,0.100,3196,919,2045
$GC,20245,1.05,255.4,60.8,10.9,2116,20252,0.00,2.62,0.00,0.000,6,0.000,0.085,3196,2317,2045
$GC,20590,1.05,255.4,23.2,11.8,2177,20596,0.00,2.75,0.00,0.000,4,0.000,0.102,3196,3735,2045
$GC,20676,1.05,255.4,13.3,12.0,2192,20682,0.00,2.67,0.00,0.000,6,0.000,0.081,3196,2321,2045
$STATE,20782,end climb,SURFACE_DEPTH_REACHED
$STATE,20782,begin surface coast
$FINISH,0.2,1.020707
$STATE,20802,end surface coast,CONTROL_FINISHED_OK
$STATE,20802,begin surface
$SM_CCo,20884,0.00,0.000,0,0,2043,255.36
$SM_GC,1.16,11.32,0.00,0.00,0.040,0.000,0.000,588,2233,2043,-10.86,-0.06,255.36
$IRIDIUM_FIX,6041.65,-2530.29,130897,131329
$TT8_MAMPS,0.02301
$HUMID,1640
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,18.00
$XPDR_PINGS,138
$24V_AH,23.4,44.116
$10V_AH,10.7,35.057
$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,27.450,172.200,379.250,0.000,0.000,117.681,148.901,892.850,34.500,0.000,0.000,35.488,3452.726,12800.131,617.868,3942.420,1578.889,0.000,2338.584,0.000,3908.372,0.000,0.467
$DEVICE_MAMPS,183.313,145.730,1412.047,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1535.112,1653.320,2005.404,659.683,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132566,2214
$CAP_FILE_SIZE,214073,0
$CFSIZE,260165632,237330432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,190508,194138,6105.413,-2520.651,36,1.1,36,-17.9