version: 66.03
glider: 140
mission: 5
dive: 192
start: 5 19 108 1 40 33
data:
$ID,140
$MISSION,5
$DIVE,192
$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,-16887.332
$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,15
$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
$GPS1,012821,6103.716,-2538.163,37,2.3,56,-18.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-62.9
$GPS2,014015,6103.720,-2538.202,15,1.5,15,-18.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6109.119,-2533.689
$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,78.0,20000,-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,25,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,89,0.00,0.00,-59.72,0.000,2,0.000,0.000,588,2232,3450
$GC,92,-1.29,-194.7,3.5,-7.6,11,122,12.32,2.75,-9.60,0.000,4,0.186,0.110,2671,3647,3881
$GC,135,-1.14,-194.7,11.3,-14.2,18,142,0.20,2.65,0.00,0.000,6,0.108,0.080,2709,2234,3881
$GC,278,-1.14,-194.7,22.7,-7.0,43,284,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2233,3882
$GC,421,-1.14,-194.7,33.5,-9.2,68,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2233,3882
$GC,563,-1.14,-194.7,43.7,-6.6,93,570,0.00,2.72,0.00,0.000,4,0.000,0.100,2709,820,3882
$GC,582,-1.14,-194.7,45.1,-7.1,96,589,0.00,2.67,0.00,0.000,6,0.000,0.082,2709,2252,3882
$GC,725,-1.14,-194.7,54.3,-5.9,121,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2252,3882
$GC,1068,-1.18,-194.7,80.7,-7.5,182,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2252,3882
$GC,1411,-1.22,-194.7,107.8,-7.9,243,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2252,3883
$GC,1754,-1.26,-194.7,135.0,-7.7,304,1760,0.12,0.00,0.00,0.000,6,0.062,0.000,2675,2252,3883
$GC,2098,-1.26,-194.7,165.7,-8.9,365,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2252,3883
$GC,2441,-1.26,-194.7,197.5,-9.4,426,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2253,3882
$GC,2786,-1.26,-194.7,228.1,-8.8,487,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2253,3883
$GC,3130,-1.26,-194.7,256.7,-8.4,548,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2253,3883
$GC,3473,-1.26,-194.7,285.1,-8.1,609,3479,0.00,2.83,0.00,0.000,4,0.000,0.110,2675,818,3883
$GC,3497,-1.26,-194.7,287.1,-8.6,613,3503,0.00,2.70,0.00,0.000,6,0.000,0.092,2675,2234,3883
$GC,3840,-1.26,-194.7,315.4,-8.1,674,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2234,3883
$GC,4184,-1.26,-194.7,342.3,-7.5,735,4190,0.00,2.78,0.00,0.000,4,0.000,0.109,2675,3653,3883
$GC,4208,-1.26,-194.7,344.3,-8.0,739,4214,0.00,2.65,0.00,0.000,6,0.000,0.088,2675,2241,3882
$GC,4537,-1.26,-194.7,372.4,-9.0,776,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2241,3882
$GC,4855,-1.26,-194.7,401.6,-9.2,806,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2241,3882
$GC,5176,-1.26,-194.7,430.5,-8.8,836,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2241,3882
$GC,5492,-1.26,-194.7,457.9,-8.2,866,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2241,3882
$GC,5811,-1.26,-194.7,485.1,-8.7,896,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2241,3882
$GC,6129,-1.26,-194.7,513.2,-8.7,926,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2241,3882
$GC,6448,-1.26,-194.7,539.1,-7.7,956,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2241,3882
$GC,6766,-1.26,-194.7,564.7,-8.5,986,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2241,3881
$GC,7085,-1.26,-194.7,592.5,-8.9,1016,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2241,3881
$GC,7407,-1.26,-194.7,619.3,-8.4,1036,7412,0.00,2.85,0.00,0.000,4,0.000,0.123,2675,823,3882
$GC,7428,-1.26,-194.7,621.2,-8.5,1037,7433,0.00,2.75,0.00,0.000,6,0.000,0.103,2675,2243,3881
$GC,7749,-1.26,-194.7,647.1,-7.8,1053,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2244,3881
$GC,8058,-1.26,-194.7,673.8,-9.3,1068,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2244,3880
$GC,8368,-1.26,-194.7,701.7,-8.8,1083,8373,0.00,2.88,0.00,0.000,4,0.000,0.123,2675,819,3880
$GC,8389,-1.26,-194.7,703.8,-9.1,1084,8394,0.00,2.78,0.00,0.000,6,0.000,0.107,2675,2238,3880
$GC,8711,-1.26,-194.7,731.6,-8.8,1100,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2238,3880
$GC,9020,-1.26,-194.7,759.1,-8.7,1115,9025,0.00,2.88,0.00,0.000,4,0.000,0.127,2675,820,3879
$GC,9042,-1.26,-194.7,761.2,-9.1,1116,9046,0.00,2.78,0.00,0.000,6,0.000,0.107,2675,2240,3879
$GC,9362,-1.26,-194.7,788.1,-8.2,1132,9367,0.00,2.85,0.00,0.000,4,0.000,0.130,2675,3645,3879
$GC,9395,-1.26,-194.7,791.0,-8.9,1133,9401,0.00,2.70,0.00,0.000,6,0.000,0.099,2675,2241,3879
$GC,9711,-1.26,-194.7,816.9,-8.3,1149,9712,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2241,3879
$GC,10020,-1.26,-194.7,842.1,-8.0,1164,10021,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2242,3879
$GC,10330,-1.26,-194.7,865.8,-7.7,1179,10331,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2242,3878
$GC,10638,-1.26,-194.7,890.2,-8.1,1194,10639,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2242,3878
$GC,10947,-1.26,-194.7,916.4,-8.5,1209,10949,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2242,3878
$GC,11257,-1.26,-194.7,942.8,-8.5,1224,11258,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2241,3877
$GC,11566,-1.26,-194.7,969.2,-8.7,1239,11571,0.00,2.88,0.00,0.000,4,0.000,0.131,2675,3645,3877
$GC,11587,-1.26,-194.7,971.2,-8.8,1240,11592,0.00,2.75,0.00,0.000,6,0.000,0.108,2675,2244,3877
$STATE,11720,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11720,begin apogee
$GC,11726,-0.35,0.0,983.2,8.9,1247,11895,1.00,0.00,165.48,1.422,6,0.099,0.000,2878,2330,3085
$STATE,11896,end apogee,CONTROL_FINISHED_OK
$STATE,11896,begin climb
$GC,11898,1.29,194.7,990.9,0.0,1255,12066,1.62,0.00,162.60,1.388,6,0.059,0.000,3237,2330,2290
$GC,12370,1.20,194.7,943.5,13.3,1278,12375,0.00,2.97,0.00,0.000,4,0.000,0.131,3236,3738,2288
$GC,12403,1.08,194.7,938.7,13.9,1279,12410,0.20,2.83,0.00,0.000,6,0.111,0.108,3199,2340,2288
$GC,12718,1.08,194.7,902.6,11.2,1295,12719,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2340,2287
$GC,13028,1.08,194.7,867.6,11.3,1310,13029,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2340,2287
$GC,13337,1.08,194.7,832.4,11.4,1325,13338,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2341,2286
$GC,13646,1.08,194.7,799.1,10.4,1340,13647,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2340,2286
$GC,13956,1.08,194.7,766.5,10.4,1355,13957,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2340,2285
$GC,14264,1.08,194.7,735.2,10.0,1370,14265,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2340,2285
$GC,14574,1.08,194.7,703.8,10.3,1385,14575,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2340,2285
$GC,14883,1.08,194.7,670.0,11.2,1400,14888,0.00,2.85,0.00,0.000,4,0.000,0.119,3200,3737,2285
$GC,14922,1.01,194.7,665.4,11.6,1402,14927,0.00,2.78,0.00,0.000,6,0.000,0.099,3199,2330,2285
$GC,15249,1.01,194.7,629.5,10.7,1418,15253,0.00,2.85,0.00,0.000,4,0.000,0.120,3199,911,2285
$GC,15281,1.01,194.7,625.9,10.6,1419,15287,0.00,2.78,0.00,0.000,6,0.000,0.099,3199,2346,2285
$GC,15598,1.01,194.7,592.2,10.9,1438,15603,0.00,2.83,0.00,0.000,4,0.000,0.120,3199,3737,2285
$GC,15653,0.95,194.7,585.7,11.2,1442,15660,0.17,2.67,0.00,0.000,6,0.107,0.094,3167,2358,2285
$GC,15978,0.99,228.1,556.0,8.8,1473,16014,0.00,2.97,28.55,1.128,4,0.000,0.114,3166,916,2154
$GC,16054,1.00,237.0,548.9,9.7,1480,16069,0.00,2.83,8.93,1.008,6,0.000,0.099,3166,2360,2118
$GC,16395,1.04,266.2,517.8,9.0,1512,16426,0.00,3.00,25.98,1.080,4,0.000,0.112,3166,915,1999
$GC,16450,1.11,282.7,512.7,9.4,1517,16473,0.15,2.80,15.75,1.022,6,0.060,0.097,3205,2350,1932
$GC,16790,1.11,282.7,473.2,12.3,1549,16795,0.00,2.78,0.00,0.000,4,0.000,0.112,3205,3735,1927
$GC,16823,1.11,282.7,468.9,12.8,1551,16829,0.00,2.67,0.00,0.000,6,0.000,0.090,3205,2349,1926
$GC,17150,1.11,282.7,429.6,12.3,1582,17154,0.00,2.83,0.00,0.000,4,0.000,0.110,3205,913,1926
$GC,17193,1.11,282.7,423.7,11.5,1585,17199,0.00,2.75,0.00,0.000,6,0.000,0.094,3205,2347,1926
$GC,17520,1.11,282.7,383.7,12.5,1616,17521,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2347,1926
$GC,17840,1.11,282.7,344.6,12.7,1649,17846,0.00,2.80,0.00,0.000,4,0.000,0.107,3205,919,1926
$GC,17864,1.11,282.7,341.5,12.6,1653,17870,0.00,2.72,0.00,0.000,6,0.000,0.092,3205,2345,1926
$GC,18207,1.11,282.7,300.5,11.2,1714,18213,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2345,1926
$GC,18550,1.11,282.7,259.0,11.9,1775,18555,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2345,1926
$GC,18892,1.11,282.7,217.5,12.0,1836,18898,0.00,2.78,0.00,0.000,4,0.000,0.104,3205,914,1926
$GC,18933,1.11,282.7,212.4,11.9,1843,18939,0.00,2.70,0.00,0.000,6,0.000,0.090,3205,2337,1926
$GC,19276,1.11,282.7,170.6,11.2,1904,19283,0.00,2.75,0.00,0.000,4,0.000,0.106,3205,3735,1926
$GC,19306,1.11,282.7,166.8,11.8,1909,19312,0.00,2.70,0.00,0.000,6,0.000,0.085,3205,2324,1925
$GC,19649,1.11,282.7,123.9,12.6,1970,19655,0.00,2.70,0.00,0.000,4,0.000,0.104,3205,918,1926
$GC,19679,1.11,282.7,120.1,12.8,1975,19685,0.00,2.67,0.00,0.000,6,0.000,0.087,3205,2335,1926
$GC,20022,1.11,282.7,78.5,12.0,2036,20028,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2335,1926
$GC,20365,1.11,282.7,38.6,11.0,2097,20371,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2336,1926
$GC,20507,1.11,282.7,22.6,12.6,2122,20513,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2336,1926
$GC,20648,1.11,282.7,6.0,13.5,2147,20654,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2336,1926
$STATE,20681,end climb,SURFACE_DEPTH_REACHED
$STATE,20681,begin surface coast
$FINISH,0.5,1.027702
$STATE,20699,end surface coast,CONTROL_FINISHED_OK
$STATE,20699,begin surface
$SM_CCo,20781,0.00,0.000,0,0,1924,285.04
$SM_GC,0.90,11.43,0.00,0.00,0.044,0.000,0.000,590,2226,1924,-10.84,-0.25,285.04
$IRIDIUM_FIX,6037.25,-2538.30,130897,010132
$TT8_MAMPS,0.022243
$HUMID,1635
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.90
$XPDR_PINGS,106
$24V_AH,22.9,43.653
$10V_AH,10.7,34.686
$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,27.225,117.250,407.275,0.000,0.000,57.127,72.980,369.100,26.500,0.000,0.000,17.507,3340.886,12924.789,576.627,3764.227,865.408,0.000,2198.911,0.000,3742.751,0.000,0.467
$DEVICE_MAMPS,185.614,134.992,1422.018,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1495.755,1602.208,1927.898,633.313,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129593,2156
$CAP_FILE_SIZE,185597,0
$CFSIZE,260165632,237563904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,190508,072807,6103.529,-2532.177,38,1.1,38,-17.9