version: 66.03
glider: 140
mission: 5
dive: 174
start: 5 14 108 16 5 57
data:
$ID,140
$MISSION,5
$DIVE,174
$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,350
$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,-16575.672
$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
$GPS1,155737,6106.818,-2611.164,37,0.9,37,-18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-62.2
$GPS2,160539,6106.780,-2611.320,11,1.4,11,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6117.415,-2612.220
$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,8.3,20000,-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,-70.97,0.000,2,0.000,0.000,591,2231,3508
$GC,103,-1.29,-194.7,3.5,-6.8,13,133,12.35,2.80,-8.10,0.000,4,0.187,0.110,2669,3646,3882
$GC,174,-1.29,-194.7,14.8,-10.5,25,180,0.00,2.62,0.00,0.000,6,0.000,0.080,2669,2235,3882
$GC,317,-1.29,-194.7,29.2,-9.6,50,323,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3882
$GC,459,-1.29,-194.7,42.9,-9.6,75,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3882
$GC,600,-1.29,-194.7,56.4,-9.5,100,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3882
$GC,944,-1.29,-194.7,90.0,-10.0,161,950,0.00,2.75,0.00,0.000,4,0.000,0.100,2669,3651,3882
$GC,984,-1.29,-194.7,94.3,-10.6,168,990,0.00,2.67,0.00,0.000,6,0.000,0.081,2669,2226,3882
$GC,1328,-1.29,-194.7,128.2,-9.7,229,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2225,3882
$GC,1671,-1.29,-194.7,162.1,-9.7,290,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2225,3882
$GC,2014,-1.29,-194.7,194.4,-9.2,351,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2225,3882
$GC,2357,-1.29,-194.7,227.3,-9.7,412,2364,0.00,2.80,0.00,0.000,4,0.000,0.107,2669,3651,3882
$GC,2392,-1.29,-194.7,230.9,-10.0,418,2398,0.00,2.70,0.00,0.000,6,0.000,0.087,2669,2223,3882
$GC,2736,-1.29,-194.7,263.6,-9.2,479,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2223,3882
$GC,3079,-1.29,-194.7,294.9,-8.7,540,3086,0.00,2.80,0.00,0.000,4,0.000,0.108,2669,3652,3882
$GC,3109,-1.29,-194.7,297.6,-9.3,545,3115,0.00,2.67,0.00,0.000,6,0.000,0.087,2669,2238,3882
$GC,3452,-1.29,-194.7,327.7,-8.5,606,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3882
$GC,3791,-1.29,-194.7,356.8,-8.8,660,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3882
$GC,4109,-1.29,-194.7,383.9,-8.2,690,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3882
$GC,4428,-1.29,-194.7,410.1,-8.3,720,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3882
$GC,4746,-1.29,-194.7,436.0,-8.0,750,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3882
$GC,5067,-1.29,-194.7,462.0,-8.2,780,5071,0.00,2.78,0.00,0.000,4,0.000,0.111,2669,3644,3882
$GC,5095,-1.29,-194.7,464.6,-9.0,782,5099,0.00,2.67,0.00,0.000,6,0.000,0.091,2670,2238,3882
$GC,5421,-1.29,-194.7,491.5,-8.3,812,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3882
$GC,5738,-1.29,-194.7,517.9,-8.3,842,5739,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3882
$GC,6057,-1.29,-194.7,545.0,-8.6,872,6061,0.00,2.78,0.00,0.000,4,0.000,0.112,2669,3644,3881
$GC,6078,-1.29,-194.7,547.1,-9.5,873,6084,0.00,2.67,0.00,0.000,6,0.000,0.092,2669,2235,3881
$GC,6405,-1.29,-194.7,575.3,-8.7,904,6409,0.00,2.80,0.00,0.000,4,0.000,0.114,2669,3650,3881
$GC,6433,-1.29,-194.7,577.9,-9.3,906,6437,0.00,2.67,0.00,0.000,6,0.000,0.092,2669,2244,3881
$GC,6767,-1.29,-194.7,606.1,-8.4,934,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2244,3881
$GC,7076,-1.29,-194.7,631.7,-8.2,949,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3881
$GC,7385,-1.29,-194.7,657.1,-8.1,964,7389,0.00,2.80,0.00,0.000,4,0.000,0.117,2669,3648,3880
$GC,7434,-1.29,-194.7,661.4,-8.5,966,7438,0.00,2.67,0.00,0.000,6,0.000,0.094,2669,2248,3880
$GC,7750,-1.29,-194.7,687.5,-8.5,981,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2248,3881
$GC,8059,-1.29,-194.7,714.5,-8.7,996,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2248,3880
$GC,8368,-1.29,-194.7,742.0,-8.7,1011,8373,0.00,2.80,0.00,0.000,4,0.000,0.121,2669,3644,3880
$GC,8419,-1.29,-194.7,746.8,-9.6,1013,8423,0.00,2.65,0.00,0.000,6,0.000,0.098,2669,2255,3880
$GC,8735,-1.29,-194.7,776.0,-10.1,1028,8740,0.00,2.80,0.00,0.000,4,0.000,0.120,2669,3649,3880
$GC,8774,-1.29,-194.7,780.2,-10.4,1030,8779,0.00,2.65,0.00,0.000,6,0.000,0.097,2669,2272,3880
$GC,9101,-1.29,-194.7,810.6,-9.0,1046,9105,0.00,2.95,0.00,0.000,4,0.000,0.132,2669,825,3880
$GC,9144,-1.29,-194.7,814.8,-9.4,1048,9149,0.00,2.80,0.00,0.000,6,0.000,0.105,2669,2262,3880
$GC,9465,-1.29,-194.7,843.3,-8.7,1064,9466,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2261,3879
$GC,9775,-1.29,-194.7,869.6,-8.4,1079,9780,0.00,2.83,0.00,0.000,4,0.000,0.133,2669,3646,3879
$GC,9815,-1.29,-194.7,873.3,-9.7,1081,9819,0.00,2.67,0.00,0.000,6,0.000,0.101,2669,2265,3878
$GC,10142,-1.29,-194.7,900.6,-8.3,1097,10143,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2266,3878
$GC,10450,-1.29,-194.7,926.9,-8.7,1112,10451,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2266,3878
$GC,10759,-1.29,-194.7,953.5,-8.4,1127,10760,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2266,3878
$GC,11069,-1.29,-194.7,978.2,-8.0,1142,11070,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2266,3878
$STATE,11231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11231,begin apogee
$GC,11237,-0.35,0.0,991.4,7.9,1150,11406,1.02,0.00,165.93,1.427,6,0.100,0.000,2878,2335,3086
$STATE,11407,end apogee,CONTROL_FINISHED_OK
$STATE,11407,begin climb
$GC,11410,1.29,194.7,997.5,0.0,1158,11581,1.62,3.05,163.20,1.394,4,0.061,0.137,3242,918,2291
$GC,11615,1.21,194.7,981.1,14.6,1169,11620,0.00,2.88,0.00,0.000,6,0.000,0.114,3242,2337,2289
$GC,11942,1.11,194.7,937.6,13.1,1185,11944,0.20,0.00,0.00,0.000,6,0.110,0.000,3206,2337,2288
$GC,12251,1.07,194.7,902.1,11.2,1200,12252,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2337,2288
$GC,12561,1.02,194.7,864.6,12.2,1215,12566,0.12,2.92,0.00,0.000,4,0.117,0.127,3184,915,2287
$GC,12623,1.02,194.7,857.2,12.4,1218,12627,0.00,2.80,0.00,0.000,6,0.000,0.107,3184,2331,2287
$GC,12949,1.02,194.7,821.0,11.0,1234,12953,0.00,2.95,0.00,0.000,4,0.000,0.132,3184,3740,2286
$GC,12988,0.97,194.7,816.6,11.4,1236,12992,0.00,2.80,0.00,0.000,6,0.000,0.100,3184,2324,2286
$GC,13314,0.98,199.9,783.3,9.8,1252,13325,0.00,2.90,5.62,1.029,4,0.000,0.128,3184,918,2269
$GC,13403,0.98,199.9,773.9,10.3,1256,13407,0.00,2.75,0.00,0.000,6,0.000,0.105,3184,2314,2268
$GC,13724,1.00,213.4,742.3,9.5,1272,13746,0.00,2.90,12.77,1.218,4,0.000,0.118,3184,921,2215
$GC,13769,1.01,228.1,737.9,9.5,1274,13792,0.00,2.72,14.32,1.180,6,0.000,0.101,3184,2310,2155
$GC,14100,1.02,231.4,704.9,9.9,1290,14110,0.00,2.97,4.47,0.874,4,0.000,0.125,3184,3737,2141
$GC,14171,1.02,231.4,697.3,10.5,1293,14176,0.00,2.80,0.00,0.000,6,0.000,0.096,3184,2308,2140
$GC,14487,1.02,231.4,665.7,10.0,1308,14491,0.00,2.78,0.00,0.000,4,0.000,0.119,3183,918,2140
$GC,14530,1.02,231.4,660.9,10.7,1310,14534,0.00,2.72,0.00,0.000,6,0.000,0.100,3184,2321,2140
$GC,14857,1.02,231.4,627.4,10.5,1326,14858,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2321,2140
$GC,15167,1.02,231.4,593.6,11.1,1343,15169,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2321,2140
$GC,15486,1.02,231.4,558.2,11.5,1373,15487,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2321,2140
$GC,15805,1.02,231.4,521.7,11.5,1403,15806,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2321,2140
$GC,16123,1.02,231.4,485.1,11.0,1433,16128,0.00,2.85,0.00,0.000,4,0.000,0.114,3184,3738,2140
$GC,16151,1.02,231.4,481.7,11.9,1435,16156,0.00,2.78,0.00,0.000,6,0.000,0.089,3184,2304,2140
$GC,16478,1.02,231.4,445.4,11.4,1465,16479,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2302,2141
$GC,16795,1.02,231.4,411.2,10.1,1495,16799,0.00,2.88,0.00,0.000,4,0.000,0.110,3184,3738,2141
$GC,16845,1.02,231.4,405.7,11.2,1499,16849,0.00,2.75,0.00,0.000,6,0.000,0.088,3184,2314,2141
$GC,17171,1.02,231.4,372.8,10.1,1529,17176,0.00,2.72,0.00,0.000,4,0.000,0.110,3184,918,2141
$GC,17204,1.02,232.2,369.0,10.0,1531,17210,0.00,2.67,0.00,0.000,6,0.000,0.094,3184,2321,2141
$GC,17537,1.02,232.2,335.1,10.2,1575,17542,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2320,2142
$GC,17881,1.04,247.0,299.4,9.5,1636,17899,0.00,0.00,14.40,0.957,6,0.000,0.000,3184,2321,2077
$GC,18237,1.04,247.0,260.1,10.8,1699,18242,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2321,2075
$GC,18578,1.04,247.0,223.1,11.3,1760,18584,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2321,2075
$GC,18922,1.04,247.0,185.8,10.5,1821,18927,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2321,2076
$GC,19264,1.04,247.0,148.5,10.6,1882,19270,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2320,2076
$GC,19607,1.04,247.0,111.4,11.4,1943,19612,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2321,2076
$GC,19950,1.04,247.0,74.9,11.5,2004,19955,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2321,2076
$GC,20293,1.04,247.0,40.4,10.3,2065,20299,0.00,2.67,0.00,0.000,4,0.000,0.098,3184,917,2076
$GC,20340,1.04,247.0,35.6,10.4,2073,20346,0.00,2.60,0.00,0.000,6,0.000,0.084,3184,2314,2076
$GC,20484,1.04,248.3,21.6,10.0,2098,20490,0.00,2.75,0.00,0.000,4,0.000,0.101,3184,3735,2076
$GC,20519,1.04,248.3,17.6,11.3,2104,20525,0.00,2.67,0.00,0.000,6,0.000,0.081,3184,2313,2076
$GC,20663,1.04,248.3,2.6,11.1,2129,20669,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2313,2076
$STATE,20673,end climb,SURFACE_DEPTH_REACHED
$STATE,20673,begin surface coast
$FINISH,0.4,1.027713
$STATE,20693,end surface coast,CONTROL_FINISHED_OK
$STATE,20693,begin surface
$SM_CCo,20774,0.00,0.000,0,0,2075,247.75
$SM_GC,1.31,11.27,0.00,0.00,0.041,0.000,0.000,586,2228,2075,-10.85,-0.20,247.75
$IRIDIUM_FIX,6041.65,-2616.00,080897,101004
$TT8_MAMPS,0.02301
$HUMID,1652
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.90
$XPDR_PINGS,119
$24V_AH,23.4,40.328
$10V_AH,10.7,31.555
$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,26.600,133.475,380.725,0.000,0.000,27.310,36.926,277.228,29.750,0.000,0.000,11.431,3336.745,12844.338,563.162,3783.705,707.457,0.000,2207.723,0.000,3771.369,0.000,0.468
$DEVICE_MAMPS,187.148,145.730,1427.387,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1484.437,1595.210,1895.763,611.521,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126141,2134
$CAP_FILE_SIZE,183693,0
$CFSIZE,260165632,239362048
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140508,215325,6108.519,-2611.311,39,1.1,39,-18.3