version: 66.03
glider: 140
mission: 5
dive: 195
start: 5 19 108 20 3 51
data:
$ID,140
$MISSION,5
$DIVE,195
$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,-16971.377
$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,14
$R_STBD_OVSHOOT,12
$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
$GPS1,194138,6105.413,-2520.651,36,1.1,36,-17.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-59.2
$GPS2,200333,6105.529,-2520.848,15,1.6,15,-17.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6115.960,-2519.505
$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,-194.7,0.0,0.0,0,90,0.00,0.00,-60.22,0.000,2,0.000,0.000,587,2231,3519
$GC,92,-1.29,-194.7,3.3,-4.8,11,122,12.27,2.78,-7.88,0.000,4,0.183,0.108,2670,3638,3881
$GC,196,-1.29,-194.7,18.6,-12.7,29,203,0.00,2.62,0.00,0.000,6,0.000,0.081,2670,2234,3881
$GC,340,-1.29,-194.7,33.1,-10.8,54,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,482,-1.29,-194.7,46.6,-8.8,79,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3881
$GC,623,-1.29,-194.7,60.7,-10.3,104,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,967,-1.29,-194.7,97.1,-10.4,165,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,1309,-1.29,-194.7,134.5,-10.2,226,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,1652,-1.29,-194.7,169.2,-10.3,287,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,1995,-1.29,-194.7,202.1,-9.6,348,2002,0.00,2.75,0.00,0.000,4,0.000,0.104,2670,3647,3882
$GC,2021,-1.29,-194.7,204.4,-9.4,352,2027,0.00,2.65,0.00,0.000,6,0.000,0.084,2670,2239,3882
$GC,2365,-1.29,-194.7,236.0,-9.0,413,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3882
$GC,2707,-1.29,-194.7,267.0,-8.9,474,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3882
$GC,3050,-1.29,-194.7,296.4,-8.2,535,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3882
$GC,3394,-1.29,-194.7,324.9,-8.3,596,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3882
$GC,3734,-1.29,-194.7,353.7,-8.5,653,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3882
$GC,4055,-1.29,-194.7,381.0,-8.7,683,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3882
$GC,4371,-1.29,-194.7,409.0,-9.0,713,4372,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3882
$GC,4690,-1.29,-194.7,437.8,-9.0,743,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3882
$GC,5008,-1.29,-194.7,466.3,-9.2,773,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3881
$GC,5327,-1.29,-194.7,495.2,-9.0,803,5331,0.00,2.78,0.00,0.000,4,0.000,0.109,2670,3647,3881
$GC,5348,-1.29,-194.7,497.4,-9.6,804,5354,0.00,2.65,0.00,0.000,6,0.000,0.090,2669,2246,3881
$GC,5675,-1.29,-194.7,526.3,-9.0,835,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3881
$GC,5991,-1.29,-194.7,554.5,-8.9,865,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3881
$GC,6310,-1.29,-194.7,581.7,-8.6,895,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3881
$GC,6625,-1.29,-194.7,610.0,-9.0,920,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3881
$GC,6934,-1.29,-194.7,638.4,-9.3,935,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3881
$GC,7244,-1.29,-194.7,667.5,-9.9,950,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3881
$GC,7552,-1.29,-194.7,699.3,-10.6,965,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3880
$GC,7861,-1.29,-194.7,731.7,-10.3,980,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3880
$GC,8172,-1.29,-194.7,761.8,-9.4,995,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3880
$GC,8480,-1.29,-194.7,786.3,-7.3,1010,8485,0.00,2.83,0.00,0.000,4,0.000,0.124,2670,3646,3879
$GC,8502,-1.29,-194.7,787.9,-7.4,1011,8507,0.00,2.70,0.00,0.000,6,0.000,0.100,2670,2252,3879
$GC,8824,-1.29,-194.7,808.2,-6.0,1027,8825,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2253,3880
$GC,9132,-1.29,-194.7,825.2,-5.4,1042,9134,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3879
$GC,9442,-1.29,-194.7,845.4,-6.9,1057,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3879
$GC,9753,-1.29,-194.7,865.5,-6.4,1072,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3878
$GC,10061,-1.29,-194.7,888.6,-8.1,1087,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3878
$GC,10369,-1.29,-194.7,914.5,-8.4,1102,10374,0.00,2.83,0.00,0.000,4,0.000,0.126,2670,3643,3878
$GC,10391,-1.29,-194.7,916.4,-9.6,1103,10396,0.00,2.70,0.00,0.000,6,0.000,0.103,2670,2252,3878
$GC,10711,-1.29,-194.7,941.8,-8.1,1119,10712,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2253,3877
$GC,11021,-1.29,-194.7,966.9,-8.0,1134,11022,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3877
$STATE,11327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11328,begin apogee
$GC,11334,-0.35,0.0,990.1,7.9,1149,11502,1.02,0.00,164.60,1.420,6,0.101,0.000,2877,2326,3086
$STATE,11503,end apogee,CONTROL_FINISHED_OK
$STATE,11503,begin climb
$GC,11505,1.29,194.7,996.1,0.0,1157,11676,1.60,3.08,163.20,1.385,4,0.062,0.132,3240,3738,2290
$GC,11706,1.16,194.7,981.0,13.1,1167,11713,0.15,2.88,0.00,0.000,6,0.114,0.107,3214,2328,2290
$GC,12022,1.11,194.7,945.1,11.3,1183,12026,0.00,2.97,0.00,0.000,4,0.000,0.139,3214,916,2288
$GC,12070,1.11,194.7,939.1,10.3,1185,12075,0.00,2.80,0.00,0.000,6,0.000,0.111,3214,2315,2288
$GC,12387,1.06,194.7,902.8,11.6,1200,12392,0.12,2.97,0.00,0.000,4,0.115,0.131,3192,3738,2288
$GC,12427,1.00,194.7,898.3,11.5,1202,12431,0.00,2.85,0.00,0.000,6,0.000,0.103,3192,2310,2288
$GC,12753,1.00,194.7,865.4,10.2,1218,12754,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2310,2287
$GC,13063,1.02,216.9,835.9,9.2,1233,13085,0.00,0.00,20.10,1.279,6,0.000,0.000,3192,2308,2200
$GC,13392,1.09,269.1,807.5,8.2,1249,13439,0.00,0.00,45.67,1.276,6,0.000,0.000,3193,2308,1988
$GC,13741,1.09,269.1,771.9,10.8,1266,13742,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2308,1983
$GC,14050,1.09,269.1,736.9,11.3,1281,14051,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2308,1982
$GC,14359,1.09,271.9,704.4,9.9,1296,14360,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2308,1981
$GC,14669,1.09,271.9,671.1,11.2,1311,14670,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2308,1981
$GC,14977,1.09,271.9,633.3,12.6,1326,14979,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2308,1982
$GC,15287,1.09,271.9,596.7,11.0,1342,15288,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2308,1981
$GC,15606,1.09,271.9,563.6,10.3,1372,15607,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2308,1981
$GC,15926,1.10,282.9,531.6,9.6,1402,15944,0.00,0.00,12.40,1.076,6,0.000,0.000,3192,2308,1931
$GC,16265,1.10,282.9,499.3,10.2,1434,16266,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2308,1929
$GC,16581,1.10,282.9,466.4,10.5,1464,16583,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2308,1929
$GC,16900,1.10,282.9,430.5,10.6,1494,16901,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2308,1929
$GC,17218,1.10,282.9,395.5,11.7,1524,17223,0.00,2.72,0.00,0.000,4,0.000,0.107,3192,917,1929
$GC,17251,1.10,282.9,391.6,12.1,1526,17257,0.00,2.70,0.00,0.000,6,0.000,0.094,3192,2326,1929
$GC,17577,1.10,282.9,355.2,11.0,1557,17582,0.00,2.80,0.00,0.000,4,0.000,0.110,3192,3736,1929
$GC,17616,1.10,282.9,350.4,11.2,1560,17621,0.00,2.72,0.00,0.000,6,0.000,0.087,3192,2318,1929
$GC,17958,1.10,282.9,312.1,10.6,1620,17964,0.00,2.72,0.00,0.000,4,0.000,0.106,3192,916,1929
$GC,17999,1.10,282.9,307.5,11.8,1627,18005,0.00,2.67,0.00,0.000,6,0.000,0.090,3192,2323,1929
$GC,18343,1.10,282.9,270.5,10.5,1688,18348,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2323,1929
$GC,18686,1.10,282.9,231.0,11.4,1749,18691,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2323,1929
$GC,19028,1.10,282.9,192.0,11.4,1810,19034,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2323,1929
$GC,19371,1.10,282.9,154.3,11.1,1871,19376,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2324,1929
$GC,19714,1.11,290.3,117.5,9.7,1932,19726,0.00,0.00,7.82,0.778,6,0.000,0.000,3192,2323,1901
$GC,20062,1.11,290.3,83.0,10.8,1994,20069,0.00,2.72,0.00,0.000,4,0.000,0.100,3192,914,1899
$GC,20109,1.16,290.3,78.0,11.3,2002,20115,0.00,2.65,0.00,0.000,6,0.000,0.087,3192,2320,1899
$GC,20453,1.16,290.3,42.7,10.1,2063,20460,0.00,2.75,0.00,0.000,4,0.000,0.101,3192,3734,1899
$GC,20495,1.17,303.9,38.5,9.5,2070,20514,0.10,2.70,12.65,0.766,6,0.071,0.081,3219,2299,1846
$GC,20651,1.17,303.9,23.5,14.5,2097,20656,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2300,1845
$STATE,20790,end climb,SURFACE_DEPTH_REACHED
$STATE,20790,begin surface coast
$FINISH,0.3,1.027462
$STATE,20809,end surface coast,CONTROL_FINISHED_OK
$STATE,20809,begin surface
$SM_CCo,20891,0.00,0.000,0,0,1840,305.40
$SM_GC,0.97,11.68,0.00,0.00,0.051,0.000,0.000,590,2226,1840,-10.85,-0.25,305.40
$IRIDIUM_FIX,6046.07,-2518.23,130897,202015
$TT8_MAMPS,0.02301
$HUMID,1646
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.00
$XPDR_PINGS,132
$24V_AH,23.4,44.329
$10V_AH,10.7,35.237
$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,26.950,72.325,426.450,0.000,0.000,140.449,259.692,501.854,33.000,0.000,0.000,15.561,3268.878,13431.477,583.507,3632.039,1264.884,0.000,2113.111,0.000,3619.510,0.000,0.467
$DEVICE_MAMPS,183.313,143.429,1420.484,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1474.011,1583.373,1872.842,593.108,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126155,2125
$CAP_FILE_SIZE,177340,0
$CFSIZE,260165632,237268992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200508,015307,6108.803,-2516.415,30,1.7,30,-17.9