version: 66.03
glider: 140
mission: 5
dive: 197
start: 5 20 108 8 17 56
data:
$ID,140
$MISSION,5
$DIVE,197
$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,-17017.9
$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,10
$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
$GPS1,075938,6112.272,-2512.840,37,1.5,37,-17.9
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-56.0
$GPS2,081737,6112.406,-2513.102,23,1.1,31,-17.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6123.042,-2514.000
$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,7.9,20000,-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,26,-1.29,-194.7,0.0,0.0,0,105,0.00,0.00,-75.80,0.000,2,0.000,0.000,585,2229,3420
$GC,108,-1.29,-194.7,3.1,-7.1,14,138,12.32,2.72,-10.07,0.000,4,0.185,0.109,2669,820,3881
$GC,391,-1.29,-194.7,35.8,-10.5,64,398,0.00,2.67,0.00,0.000,6,0.000,0.086,2668,2242,3882
$GC,534,-1.29,-194.7,50.3,-9.2,89,540,0.00,2.75,0.00,0.000,4,0.000,0.099,2669,824,3882
$GC,711,-1.29,-194.7,67.2,-9.5,120,717,0.00,2.60,0.00,0.000,6,0.000,0.084,2668,2201,3882
$GC,1054,-1.29,-194.7,100.2,-10.3,181,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2202,3882
$GC,1396,-1.29,-194.7,135.5,-10.5,242,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2202,3882
$GC,1740,-1.29,-194.7,170.7,-9.5,303,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2202,3882
$GC,2083,-1.29,-194.7,203.6,-9.9,364,2090,0.00,2.80,0.00,0.000,4,0.000,0.104,2669,3645,3882
$GC,2113,-1.29,-194.7,206.6,-10.2,369,2119,0.00,2.72,0.00,0.000,6,0.000,0.085,2669,2198,3882
$GC,2457,-1.29,-194.7,240.5,-9.7,430,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2198,3882
$GC,2800,-1.29,-194.7,272.6,-9.2,491,2806,0.00,2.85,0.00,0.000,4,0.000,0.107,2669,3646,3882
$GC,2830,-1.29,-194.7,275.4,-9.6,496,2836,0.00,2.72,0.00,0.000,6,0.000,0.087,2668,2203,3882
$GC,3174,-1.29,-194.7,305.2,-8.1,557,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2203,3882
$GC,3516,-1.29,-194.7,333.9,-8.3,618,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2203,3882
$GC,3857,-1.29,-194.7,363.1,-8.5,666,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2203,3882
$GC,4175,-1.29,-194.7,390.7,-8.8,696,4180,0.00,2.85,0.00,0.000,4,0.000,0.110,2669,3647,3882
$GC,4204,-1.29,-194.7,393.4,-9.8,698,4209,0.00,2.75,0.00,0.000,6,0.000,0.089,2669,2196,3881
$GC,4530,-1.29,-194.7,423.6,-9.7,728,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2196,3882
$GC,4848,-1.29,-194.7,454.0,-9.4,758,4852,0.00,2.85,0.00,0.000,4,0.000,0.110,2669,3643,3881
$GC,4880,-1.29,-194.7,457.3,-9.8,760,4887,0.00,2.72,0.00,0.000,6,0.000,0.090,2669,2208,3882
$GC,5207,-1.29,-194.7,486.7,-9.2,791,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2208,3882
$GC,5523,-1.29,-194.7,515.5,-9.0,821,5528,0.00,2.83,0.00,0.000,4,0.000,0.110,2669,3643,3881
$GC,5552,-1.29,-194.7,518.2,-9.6,823,5557,0.00,2.72,0.00,0.000,6,0.000,0.091,2669,2209,3881
$GC,5879,-1.29,-194.7,545.7,-8.3,853,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2209,3881
$GC,6195,-1.29,-194.7,571.8,-8.6,883,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2209,3881
$GC,6514,-1.29,-194.7,600.6,-9.2,913,6519,0.00,2.85,0.00,0.000,4,0.000,0.112,2668,3650,3881
$GC,6541,-1.29,-194.7,603.4,-10.1,914,6546,0.00,2.75,0.00,0.000,6,0.000,0.092,2669,2205,3881
$GC,6857,-1.29,-194.7,635.7,-10.3,929,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2206,3880
$GC,7167,-1.29,-194.7,665.9,-9.2,944,7171,0.00,2.88,0.00,0.000,4,0.000,0.115,2669,3649,3880
$GC,7206,-1.29,-194.7,669.4,-9.1,946,7211,0.00,2.75,0.00,0.000,6,0.000,0.097,2668,2218,3880
$GC,7533,-1.29,-194.7,694.1,-7.1,962,7537,0.00,2.85,0.00,0.000,4,0.000,0.117,2668,3643,3880
$GC,7554,-1.29,-194.7,695.8,-7.5,963,7558,0.00,2.75,0.00,0.000,6,0.000,0.097,2669,2216,3879
$GC,7875,-1.29,-194.7,721.0,-8.3,979,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2217,3880
$GC,8184,-1.29,-194.7,749.9,-9.7,994,8189,0.00,2.88,0.00,0.000,4,0.000,0.121,2669,3643,3880
$GC,8211,-1.29,-194.7,752.7,-10.6,995,8215,0.00,2.75,0.00,0.000,6,0.000,0.099,2669,2221,3879
$GC,8527,-1.29,-194.7,780.8,-8.6,1010,8528,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2222,3880
$GC,8837,-1.29,-194.7,806.4,-8.0,1025,8838,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2222,3879
$GC,9145,-1.29,-194.7,830.3,-7.8,1040,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2222,3879
$GC,9455,-1.29,-194.7,855.8,-8.5,1055,9459,0.00,2.90,0.00,0.000,4,0.000,0.126,2668,3646,3879
$GC,9498,-1.29,-194.7,859.9,-9.0,1057,9503,0.00,2.78,0.00,0.000,6,0.000,0.104,2669,2226,3878
$GC,9820,-1.29,-194.7,888.4,-9.1,1073,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3878
$GC,10128,-1.29,-194.7,917.1,-9.5,1088,10133,0.00,2.88,0.00,0.000,4,0.000,0.127,2669,3645,3878
$GC,10155,-1.29,-194.7,919.7,-10.2,1089,10159,0.00,2.78,0.00,0.000,6,0.000,0.106,2669,2228,3878
$GC,10477,-1.29,-194.7,948.9,-8.8,1105,10478,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3878
$GC,10785,-1.29,-194.7,976.2,-8.9,1120,10790,0.00,2.90,0.00,0.000,4,0.000,0.127,2669,3649,3877
$GC,10807,-1.29,-194.7,978.3,-9.5,1121,10811,0.00,2.80,0.00,0.000,6,0.000,0.109,2669,2228,3877
$STATE,10939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10939,begin apogee
$GC,10945,-0.35,0.0,990.7,9.4,1128,11114,1.05,0.00,165.20,1.420,6,0.100,0.000,2881,2325,3085
$STATE,11115,end apogee,CONTROL_FINISHED_OK
$STATE,11115,begin climb
$GC,11117,1.29,194.7,998.6,0.0,1136,11290,1.62,3.08,162.65,1.386,4,0.060,0.143,3239,920,2291
$GC,11313,1.21,194.7,986.1,11.9,1146,11317,0.00,2.88,0.00,0.000,6,0.000,0.114,3240,2335,2290
$GC,11628,1.12,194.7,946.7,12.5,1161,11630,0.17,0.00,0.00,0.000,6,0.110,0.000,3207,2335,2288
$GC,11938,1.07,194.7,911.3,11.4,1176,11942,0.00,2.95,0.00,0.000,4,0.000,0.134,3207,3737,2287
$GC,11993,0.99,194.7,904.6,12.1,1178,11999,0.17,2.83,0.00,0.000,6,0.110,0.107,3175,2328,2287
$GC,12308,1.00,205.5,873.9,9.6,1194,12324,0.00,2.97,10.20,1.231,4,0.000,0.134,3175,915,2247
$GC,12357,1.00,206.6,868.9,10.0,1195,12362,0.00,2.83,0.00,0.000,6,0.000,0.108,3175,2334,2247
$GC,12673,1.00,210.2,838.5,9.9,1210,12684,0.00,2.97,5.72,1.047,4,0.000,0.131,3175,3737,2228
$GC,12723,1.00,210.2,833.0,10.4,1212,12727,0.00,2.78,0.00,0.000,6,0.000,0.103,3175,2337,2227
$GC,13038,1.02,222.1,802.5,9.6,1227,13060,0.00,3.00,11.95,1.226,4,0.000,0.130,3175,922,2179
$GC,13077,1.03,232.8,798.7,9.6,1228,13093,0.00,2.80,11.00,1.157,6,0.000,0.106,3175,2336,2135
$GC,13409,1.03,232.8,765.6,10.7,1245,13410,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2336,2133
$GC,13717,1.03,232.8,731.1,11.3,1260,13722,0.00,2.90,0.00,0.000,4,0.000,0.127,3175,3737,2133
$GC,13750,1.03,232.8,727.3,11.5,1261,13756,0.00,2.78,0.00,0.000,6,0.000,0.099,3175,2322,2132
$GC,14066,1.03,232.8,693.7,10.4,1277,14067,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2323,2132
$GC,14374,1.03,232.8,661.9,10.0,1292,14375,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2323,2132
$GC,14684,1.06,258.7,633.2,9.1,1307,14713,0.00,2.97,22.80,1.163,4,0.000,0.114,3175,3731,2029
$GC,14743,1.07,259.5,627.4,10.0,1309,14749,0.00,2.75,0.00,0.000,6,0.000,0.094,3175,2329,2027
$GC,15059,1.07,259.5,595.4,10.0,1327,15061,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2330,2026
$GC,15378,1.07,259.5,563.9,10.1,1357,15379,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2330,2027
$GC,15696,1.07,259.5,531.8,10.2,1387,15697,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2330,2027
$GC,16015,1.07,259.5,497.4,10.9,1417,16016,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2330,2027
$GC,16335,1.07,259.9,464.1,10.0,1447,16336,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2330,2027
$GC,16652,1.07,259.9,428.8,11.3,1477,16653,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2330,2027
$GC,16970,1.07,259.9,394.3,10.4,1507,16972,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2330,2028
$GC,17289,1.07,259.9,360.8,10.5,1537,17290,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2330,2028
$GC,17621,1.07,259.9,326.1,11.7,1587,17626,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2330,2028
$GC,17963,1.07,267.1,290.4,9.7,1648,17975,0.00,0.00,8.52,0.880,6,0.000,0.000,3174,2330,1995
$GC,18312,1.08,272.2,254.9,9.8,1710,18323,0.00,0.00,5.85,0.783,6,0.000,0.000,3174,2330,1974
$GC,18660,1.09,280.7,220.4,9.7,1772,18678,0.10,2.88,8.82,0.845,4,0.070,0.104,3202,3735,1939
$GC,18701,1.09,280.7,215.7,11.5,1779,18707,0.00,2.70,0.00,0.000,6,0.000,0.084,3202,2333,1939
$GC,19045,1.09,280.7,173.1,12.5,1840,19051,0.00,2.75,0.00,0.000,4,0.000,0.103,3202,911,1938
$GC,19079,1.09,280.7,168.7,11.9,1846,19086,0.00,2.72,0.00,0.000,6,0.000,0.088,3202,2345,1938
$GC,19423,1.09,280.7,126.6,12.5,1907,19429,0.00,2.75,0.00,0.000,4,0.000,0.106,3202,3736,1938
$GC,19459,1.09,280.7,122.3,13.1,1913,19465,0.00,2.67,0.00,0.000,6,0.000,0.084,3202,2333,1938
$GC,19801,1.09,280.7,80.6,13.7,1974,19807,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2333,1937
$GC,20145,1.12,307.5,42.6,9.1,2035,20173,0.00,0.00,23.55,0.773,6,0.000,0.000,3202,2333,1830
$GC,20310,1.12,307.5,22.8,14.5,2064,20315,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2333,1827
$GC,20451,1.12,307.5,5.1,13.9,2089,20457,0.00,2.75,0.00,0.000,4,0.000,0.100,3202,3735,1826
$STATE,20473,end climb,SURFACE_DEPTH_REACHED
$STATE,20473,begin surface coast
$FINISH,0.3,1.027722
$STATE,20486,end surface coast,CONTROL_FINISHED_OK
$STATE,20486,begin surface
$SM_CCo,20569,0.00,0.000,0,0,1823,309.81
$SM_GC,1.03,11.50,0.00,0.00,0.045,0.000,0.000,592,2233,1823,-10.85,-0.06,309.81
$IRIDIUM_FIX,6046.07,-2512.07,140897,080841
$TT8_MAMPS,0.02301
$HUMID,1642
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,16.90
$XPDR_PINGS,128
$24V_AH,23.4,44.746
$10V_AH,10.7,35.596
$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,26.950,140.850,436.275,0.000,0.000,122.939,153.854,442.528,32.000,0.000,0.000,31.345,3251.920,12970.141,594.581,3714.233,1095.498,0.000,2213.366,0.000,3684.505,0.000,0.467
$DEVICE_MAMPS,184.847,142.662,1420.484,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1451.801,1567.670,1852.322,586.642,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123311,2095
$CAP_FILE_SIZE,185759,0
$CFSIZE,260165632,237064192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,200508,140221,6116.648,-2511.457,41,2.6,60,-17.9