version: 66.03
glider: 140
mission: 5
dive: 196
start: 5 20 108 2 8 32
data:
$ID,140
$MISSION,5
$DIVE,196
$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,15
$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,-16985.928
$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,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
$GPS1,015307,6108.803,-2516.415,30,1.7,30,-17.9
$_CALLS,2
$_XMS_NAKs,25
$_XMS_TOUTs,2
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-58.7
$GPS2,020814,6108.856,-2516.627,13,1.7,13,-17.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6119.288,-2515.285
$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,32.9,20000,-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,-194.7,0.0,0.0,0,95,0.00,0.00,-65.12,0.000,2,0.000,0.000,590,2225,3358
$GC,98,-1.29,-194.7,3.1,-8.1,12,128,12.32,2.83,-11.98,0.000,4,0.185,0.108,2670,3647,3881
$GC,243,-1.29,-194.7,23.2,-12.9,37,250,0.00,2.65,0.00,0.000,6,0.000,0.080,2670,2230,3881
$GC,385,-1.29,-194.7,38.9,-12.2,62,392,0.00,2.70,0.00,0.000,4,0.000,0.098,2670,823,3881
$GC,404,-1.29,-194.7,40.6,-10.0,65,411,0.00,2.65,0.00,0.000,6,0.000,0.084,2670,2226,3882
$GC,546,-1.29,-194.7,56.6,-10.6,90,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3882
$GC,890,-1.29,-194.7,90.1,-9.2,151,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3881
$GC,1232,-1.29,-194.7,122.5,-9.7,212,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3882
$GC,1575,-1.29,-194.7,157.0,-10.0,273,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3882
$GC,1918,-1.29,-194.7,191.0,-10.1,334,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3882
$GC,2261,-1.29,-194.7,226.9,-10.0,395,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3881
$GC,2604,-1.29,-194.7,260.5,-9.7,456,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3882
$GC,2948,-1.29,-194.7,292.7,-9.0,517,2954,0.00,2.78,0.00,0.000,4,0.000,0.108,2670,3646,3882
$GC,2984,-1.29,-194.7,295.9,-9.3,523,2990,0.00,2.67,0.00,0.000,6,0.000,0.087,2670,2226,3882
$GC,3327,-1.29,-194.7,326.6,-8.8,584,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3882
$GC,3669,-1.29,-194.7,355.9,-8.6,639,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2227,3882
$GC,3987,-1.29,-194.7,383.7,-8.9,669,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3881
$GC,4305,-1.29,-194.7,411.1,-8.5,699,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2227,3882
$GC,4624,-1.29,-194.7,436.9,-8.0,729,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3881
$GC,4942,-1.29,-194.7,461.8,-7.9,759,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3881
$GC,5261,-1.29,-194.7,487.8,-8.2,789,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3881
$GC,5579,-1.29,-194.7,514.6,-8.5,819,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3881
$GC,5898,-1.29,-194.7,542.4,-8.6,849,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3881
$GC,6216,-1.29,-194.7,570.2,-8.6,879,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2227,3880
$GC,6535,-1.29,-194.7,596.3,-8.2,909,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3880
$GC,6856,-1.29,-194.7,623.9,-8.8,927,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3880
$GC,7165,-1.29,-194.7,650.8,-8.5,942,7166,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3880
$GC,7475,-1.29,-194.7,675.9,-8.0,957,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3879
$GC,7783,-1.29,-194.7,700.8,-7.9,972,7788,0.00,2.85,0.00,0.000,4,0.000,0.120,2670,3644,3880
$GC,7810,-1.29,-194.7,703.1,-9.0,973,7815,0.00,2.72,0.00,0.000,6,0.000,0.097,2670,2226,3880
$GC,8126,-1.29,-194.7,729.1,-8.5,988,8131,0.00,2.83,0.00,0.000,4,0.000,0.119,2670,3641,3880
$GC,8153,-1.29,-194.7,731.6,-9.5,989,8157,0.00,2.72,0.00,0.000,6,0.000,0.097,2670,2222,3879
$GC,8469,-1.29,-194.7,757.5,-8.1,1004,8473,0.00,2.85,0.00,0.000,4,0.000,0.120,2670,3643,3879
$GC,8490,-1.29,-194.7,759.3,-8.2,1005,8495,0.00,2.72,0.00,0.000,6,0.000,0.098,2670,2230,3879
$GC,8813,-1.29,-194.7,785.6,-8.1,1021,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3879
$GC,9120,-1.29,-194.7,811.6,-8.6,1036,9124,0.00,2.85,0.00,0.000,4,0.000,0.123,2671,3642,3879
$GC,9153,-1.29,-194.7,814.6,-9.0,1037,9159,0.00,2.70,0.00,0.000,6,0.000,0.100,2671,2243,3879
$GC,9468,-1.29,-194.7,840.4,-8.1,1053,9469,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3878
$GC,9777,-1.29,-194.7,867.2,-9.1,1068,9778,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3878
$GC,10087,-1.29,-194.7,894.8,-8.7,1083,10092,0.00,2.85,0.00,0.000,4,0.000,0.126,2670,3644,3878
$GC,10114,-1.29,-194.7,897.3,-9.2,1084,10119,0.00,2.72,0.00,0.000,6,0.000,0.104,2670,2246,3878
$GC,10430,-1.29,-194.7,922.9,-8.1,1099,10434,0.00,2.95,0.00,0.000,4,0.000,0.138,2670,823,3878
$GC,10457,-1.29,-194.7,925.2,-8.9,1100,10462,0.00,2.80,0.00,0.000,6,0.000,0.107,2670,2249,3878
$GC,10772,-1.29,-194.7,950.7,-8.1,1115,10773,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2249,3877
$GC,11082,-1.29,-194.7,976.7,-8.7,1130,11083,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2250,3877
$STATE,11244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11244,begin apogee
$GC,11250,-0.35,0.0,990.9,8.4,1138,11419,1.05,0.00,165.20,1.420,6,0.104,0.000,2881,2339,3085
$STATE,11420,end apogee,CONTROL_FINISHED_OK
$STATE,11420,begin climb
$GC,11422,1.29,194.7,997.6,0.0,1146,11594,1.62,3.05,163.10,1.388,4,0.060,0.138,3239,3736,2291
$GC,11629,1.16,194.7,982.2,13.5,1156,11634,0.15,2.88,0.00,0.000,6,0.117,0.109,3213,2323,2289
$GC,11950,1.10,194.7,944.5,11.5,1172,11955,0.00,2.92,0.00,0.000,4,0.000,0.137,3214,919,2288
$GC,12005,1.06,194.7,937.8,11.6,1174,12012,0.12,2.83,0.00,0.000,6,0.113,0.113,3191,2331,2288
$GC,12321,1.09,216.7,907.3,9.2,1190,12343,0.00,0.00,19.88,1.302,6,0.000,0.000,3192,2331,2201
$GC,12649,1.09,216.7,873.5,10.5,1206,12651,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2331,2199
$GC,12960,1.09,216.7,843.0,10.1,1221,12961,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2331,2198
$GC,13268,1.09,219.7,811.3,9.9,1236,13274,0.00,0.00,3.90,0.828,6,0.000,0.000,3191,2330,2189
$GC,13578,1.09,219.7,779.2,10.5,1251,13579,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2331,2189
$GC,13887,1.09,219.7,745.4,11.2,1266,13888,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2331,2188
$GC,14196,1.09,219.7,709.9,11.5,1281,14201,0.00,2.88,0.00,0.000,4,0.000,0.123,3191,3738,2188
$GC,14229,1.05,219.7,705.8,12.1,1282,14237,0.00,2.78,0.00,0.000,6,0.000,0.098,3191,2315,2188
$GC,14545,1.05,219.7,669.8,11.1,1298,14550,0.00,2.80,0.00,0.000,4,0.000,0.120,3191,916,2188
$GC,14577,1.05,219.7,665.8,11.6,1299,14584,0.00,2.72,0.00,0.000,6,0.000,0.100,3191,2320,2188
$GC,14893,1.05,219.7,630.8,10.6,1315,14898,0.00,2.90,0.00,0.000,4,0.000,0.123,3191,3736,2188
$GC,14950,1.00,219.7,624.5,12.0,1317,14956,0.00,2.78,0.00,0.000,6,0.000,0.094,3191,2310,2188
$GC,15268,1.00,219.7,589.8,11.2,1337,15269,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2310,2188
$GC,15586,1.00,219.7,554.7,10.8,1367,15588,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2309,2188
$GC,15907,1.00,219.7,520.4,10.4,1397,15908,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2309,2188
$GC,16223,1.00,219.7,487.5,10.6,1427,16227,0.00,2.85,0.00,0.000,4,0.000,0.110,3191,3737,2188
$GC,16267,0.96,219.7,482.6,10.9,1430,16274,0.12,2.72,0.00,0.000,6,0.110,0.089,3169,2317,2188
$GC,16592,0.99,244.0,452.0,9.2,1461,16623,0.00,2.88,21.80,1.043,4,0.000,0.109,3168,915,2089
$GC,16651,1.04,244.0,446.0,10.5,1466,16658,0.00,2.72,0.00,0.000,6,0.000,0.094,3168,2327,2088
$GC,16978,1.06,262.8,414.7,9.3,1497,17001,0.10,2.92,16.83,0.998,4,0.071,0.107,3195,3737,2011
$GC,17035,1.06,262.8,408.1,11.3,1502,17040,0.00,2.75,0.00,0.000,6,0.000,0.087,3195,2319,2010
$GC,17360,1.06,262.8,371.7,12.0,1532,17361,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2319,2010
$GC,17685,1.06,262.8,335.2,12.0,1573,17690,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2320,2010
$GC,18028,1.07,270.1,299.1,9.7,1634,18039,0.00,0.00,7.20,0.860,6,0.000,0.000,3195,2318,1983
$GC,18377,1.07,270.1,262.9,11.5,1696,18383,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2319,1982
$GC,18721,1.07,271.8,230.0,9.9,1757,18726,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2319,1981
$GC,19063,1.09,287.2,196.4,9.5,1818,19085,0.00,2.88,15.90,0.872,4,0.000,0.104,3195,3737,1912
$GC,19115,1.09,287.2,191.0,10.9,1827,19121,0.00,2.72,0.00,0.000,6,0.000,0.084,3195,2324,1911
$GC,19459,1.09,287.2,155.4,10.4,1888,19465,0.00,2.72,0.00,0.000,4,0.000,0.103,3195,918,1910
$GC,19499,1.09,287.2,151.2,10.5,1895,19505,0.00,2.70,0.00,0.000,6,0.000,0.087,3195,2342,1910
$GC,19843,1.09,287.2,116.0,10.7,1956,19848,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2342,1910
$GC,20186,1.10,292.6,81.0,9.8,2017,20198,0.00,0.00,5.78,0.703,6,0.000,0.000,3195,2343,1892
$GC,20536,1.11,302.9,45.1,9.6,2079,20554,0.00,2.83,10.23,0.759,4,0.000,0.097,3195,917,1850
$GC,20583,1.16,306.8,40.4,9.9,2087,20596,0.00,2.67,5.05,0.609,6,0.000,0.085,3195,2332,1833
$GC,20735,1.21,350.1,26.0,8.5,2113,20781,0.12,2.83,36.90,0.749,4,0.062,0.102,3230,3736,1655
$GC,20827,1.17,350.1,14.0,15.4,2129,20834,0.00,2.70,0.00,0.000,6,0.000,0.082,3230,2327,1651
$STATE,20900,end climb,SURFACE_DEPTH_REACHED
$STATE,20900,begin surface coast
$FINISH,0.5,1.027731
$STATE,20913,end surface coast,CONTROL_FINISHED_OK
$STATE,20913,begin surface
$SM_CCo,20994,0.00,0.000,0,0,1647,352.74
$SM_GC,1.01,11.62,0.00,0.00,0.044,0.000,0.000,586,2231,1647,-10.86,-0.11,352.74
$IRIDIUM_FIX,6041.65,-2508.28,140897,020217
$TT8_MAMPS,0.02301
$HUMID,1635
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,16.80
$XPDR_PINGS,106
$24V_AH,23.4,44.541
$10V_AH,10.7,35.417
$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,27.250,117.675,471.750,0.000,0.000,55.134,69.229,573.333,26.500,0.000,0.000,13.921,3311.603,13142.706,632.892,3710.047,1084.068,0.000,2249.488,0.000,3711.560,0.000,0.468
$DEVICE_MAMPS,184.847,138.060,1420.484,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1484.553,1612.924,1883.219,600.664,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126234,2144
$CAP_FILE_SIZE,188903,0
$CFSIZE,260165632,237158400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200508,075938,6112.272,-2512.840,37,1.5,37,-17.9