version: 66.03
glider: 140
mission: 5
dive: 59
start: 4 16 108 23 49 56
data:
$ID,140
$MISSION,5
$DIVE,59
$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,360
$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,215
$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,-14250.285
$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,12
$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
$GPS1,233632,5928.113,-2122.286,38,1.6,38,-14.9
$_CALLS,2
$_XMS_NAKs,18
$_XMS_TOUTs,3
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-52.0
$GPS2,234938,5928.378,-2122.534,10,1.6,16,-14.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5919.532,-2125.694
$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,229.9,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,107,0.00,0.00,-76.35,0.000,2,0.000,0.000,588,2232,3623
$GC,110,-1.29,-194.7,3.3,-6.1,14,135,12.50,2.78,-5.57,0.000,4,0.192,0.118,2671,826,3879
$GC,204,-1.29,-194.7,18.9,-12.5,30,211,0.00,2.70,0.00,0.000,6,0.000,0.094,2671,2241,3880
$GC,347,-1.29,-194.7,28.3,-6.6,55,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3881
$GC,489,-1.29,-194.7,39.6,-7.4,80,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3880
$GC,631,-1.29,-194.7,50.5,-9.5,105,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3880
$GC,772,-1.29,-194.7,65.1,-10.4,130,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3880
$GC,913,-1.29,-194.7,84.5,-13.7,155,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3880
$GC,1056,-1.29,-194.7,99.2,-7.5,180,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3880
$GC,1197,-1.29,-194.7,112.7,-11.2,205,1204,0.00,2.78,0.00,0.000,4,0.000,0.110,2671,818,3880
$GC,1221,-1.29,-194.7,115.2,-10.5,209,1227,0.00,2.75,0.00,0.000,6,0.000,0.097,2671,2254,3880
$GC,1365,-1.29,-194.7,128.4,-9.6,234,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2254,3880
$GC,1507,-1.29,-194.7,141.7,-9.3,259,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2254,3880
$GC,1648,-1.29,-194.7,155.0,-9.4,284,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2254,3880
$GC,1991,-1.29,-194.7,185.9,-9.1,345,1997,0.00,2.83,0.00,0.000,4,0.000,0.114,2671,820,3880
$GC,2071,-1.29,-194.7,193.1,-9.2,359,2077,0.00,2.78,0.00,0.000,6,0.000,0.101,2670,2261,3880
$GC,2414,-1.29,-194.7,222.6,-8.3,420,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2261,3880
$GC,2758,-1.29,-194.7,252.9,-9.3,481,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2261,3880
$GC,3100,-1.29,-194.7,283.9,-9.1,542,3107,0.00,2.85,0.00,0.000,4,0.000,0.117,2671,824,3880
$GC,3130,-1.29,-194.7,286.7,-9.6,547,3137,0.00,2.78,0.00,0.000,6,0.000,0.104,2671,2260,3880
$GC,3474,-1.29,-194.7,318.4,-9.6,608,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2261,3880
$GC,3817,-1.29,-194.7,350.4,-9.1,669,3823,0.00,2.85,0.00,0.000,4,0.000,0.120,2671,826,3880
$GC,3846,-1.29,-194.7,353.3,-10.1,674,3852,0.00,2.78,0.00,0.000,6,0.000,0.105,2671,2259,3880
$GC,4189,-1.29,-194.7,385.1,-9.2,735,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2259,3880
$GC,4531,-1.29,-194.7,416.1,-8.9,796,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2259,3880
$GC,4875,-1.29,-194.7,446.5,-8.5,857,4881,0.00,2.88,0.00,0.000,4,0.000,0.123,2671,823,3880
$GC,4904,-1.29,-194.7,449.2,-9.4,862,4910,0.00,2.78,0.00,0.000,6,0.000,0.106,2671,2256,3880
$GC,5248,-1.29,-194.7,479.4,-8.8,923,5254,0.00,2.72,0.00,0.000,4,0.000,0.114,2671,3656,3880
$GC,5271,-1.29,-194.7,481.5,-8.8,927,5277,0.00,2.65,0.00,0.000,6,0.000,0.096,2671,2256,3880
$GC,5616,-1.29,-194.7,512.3,-8.8,988,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2257,3880
$GC,5960,-1.29,-194.7,543.3,-9.0,1049,5966,0.00,2.88,0.00,0.000,4,0.000,0.128,2671,821,3880
$GC,5989,-1.29,-194.7,546.0,-9.7,1054,5995,0.00,2.80,0.00,0.000,6,0.000,0.108,2671,2260,3880
$GC,6333,-1.29,-194.7,577.1,-9.2,1115,6338,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2260,3880
$GC,6671,-1.29,-194.7,605.5,-8.1,1170,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2261,3880
$GC,6991,-1.29,-194.7,630.3,-7.5,1200,6992,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2261,3880
$GC,7310,-1.29,-194.7,656.0,-8.4,1230,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2261,3880
$GC,7628,-1.29,-194.7,683.7,-8.9,1260,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2261,3880
$GC,7947,-1.29,-194.7,712.0,-8.6,1290,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2261,3880
$GC,8265,-1.29,-194.7,738.5,-8.1,1320,8266,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2262,3879
$GC,8584,-1.29,-194.7,764.7,-8.2,1350,8589,0.00,2.92,0.00,0.000,4,0.000,0.132,2671,824,3879
$GC,8612,-1.29,-194.7,767.2,-8.6,1352,8616,0.00,2.80,0.00,0.000,6,0.000,0.114,2671,2251,3879
$GC,8938,-1.29,-194.7,793.7,-8.5,1382,8943,0.00,2.83,0.00,0.000,4,0.000,0.130,2671,3653,3879
$GC,8977,-1.29,-194.7,797.4,-9.2,1385,8982,0.00,2.70,0.00,0.000,6,0.000,0.105,2671,2253,3879
$GC,9303,-1.29,-194.7,824.9,-8.1,1415,9304,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2254,3878
$GC,9621,-1.29,-194.7,849.5,-7.7,1445,9626,0.00,2.95,0.00,0.000,4,0.000,0.138,2671,817,3878
$GC,9655,-1.29,-194.7,852.3,-8.5,1447,9661,0.00,2.85,0.00,0.000,6,0.000,0.117,2671,2260,3879
$GC,9983,-1.29,-194.7,878.5,-8.4,1478,9988,0.00,2.83,0.00,0.000,4,0.000,0.134,2671,3651,3878
$GC,10012,-1.29,-194.7,881.2,-8.8,1480,10016,0.00,2.70,0.00,0.000,6,0.000,0.107,2671,2255,3878
$GC,10337,-1.29,-194.7,907.5,-8.1,1510,10341,0.00,2.95,0.00,0.000,4,0.000,0.141,2671,823,3877
$GC,10369,-1.29,-194.7,910.4,-9.7,1512,10375,0.00,2.85,0.00,0.000,6,0.000,0.117,2671,2262,3877
$GC,10695,-1.29,-194.7,936.9,-8.3,1543,10697,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2262,3877
$STATE,10808,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10808,begin apogee
$GC,10814,-0.35,0.0,946.4,8.1,1554,10982,1.02,0.00,163.25,1.397,6,0.100,0.000,2881,2330,3085
$STATE,10983,end apogee,CONTROL_FINISHED_OK
$STATE,10983,begin climb
$GC,10985,1.29,194.7,952.2,0.0,1571,11158,1.62,3.03,161.65,1.358,4,0.061,0.133,3239,3738,2290
$GC,11175,1.17,194.7,938.3,12.7,1590,11181,0.12,2.85,0.00,0.000,6,0.117,0.111,3218,2323,2290
$GC,11500,1.11,194.7,899.2,12.4,1620,11505,0.00,2.92,0.00,0.000,4,0.000,0.129,3219,3741,2288
$GC,11521,1.03,194.7,896.4,12.6,1621,11528,0.12,2.78,0.00,0.000,6,0.104,0.112,3190,2338,2288
$GC,11845,1.03,194.7,861.4,10.5,1652,11847,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2339,2288
$GC,12164,1.03,194.7,829.2,10.1,1682,12165,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2339,2288
$GC,12484,1.05,208.9,797.4,9.5,1712,12503,0.00,0.00,13.12,1.238,6,0.000,0.000,3190,2339,2233
$GC,12822,1.05,208.9,762.4,10.9,1744,12824,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2339,2232
$GC,13140,1.05,208.9,727.6,10.5,1774,13141,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2339,2231
$GC,13460,1.05,213.6,696.0,9.8,1804,13468,0.00,0.00,5.38,0.962,6,0.000,0.000,3190,2339,2214
$GC,13788,1.05,213.6,661.7,10.4,1835,13793,0.00,2.83,0.00,0.000,4,0.000,0.121,3190,3739,2213
$GC,13804,1.05,213.6,659.7,11.0,1836,13809,0.00,2.72,0.00,0.000,6,0.000,0.100,3190,2337,2213
$GC,14129,1.05,213.6,625.4,10.4,1866,14130,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2337,2214
$GC,14451,1.05,213.6,591.7,10.4,1903,14456,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2338,2213
$GC,14793,1.06,217.0,556.9,9.9,1964,14805,0.00,2.83,4.70,0.838,4,0.000,0.116,3190,3740,2200
$GC,14817,1.06,217.0,554.3,11.1,1968,14823,0.00,2.67,0.00,0.000,6,0.000,0.094,3190,2344,2200
$GC,15161,1.06,217.0,518.1,10.1,2029,15166,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2344,2200
$GC,15503,1.06,217.0,480.5,10.9,2090,15508,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2345,2200
$GC,15845,1.06,217.0,443.0,10.5,2151,15851,0.00,2.80,0.00,0.000,4,0.000,0.117,3190,920,2200
$GC,15864,1.06,217.0,441.1,11.0,2154,15870,0.00,2.75,0.00,0.000,6,0.000,0.100,3190,2352,2200
$GC,16207,1.06,217.0,405.4,10.6,2215,16212,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2352,2200
$GC,16549,1.07,226.0,369.6,9.7,2276,16561,0.00,0.00,9.45,0.959,6,0.000,0.000,3190,2352,2162
$GC,16898,1.09,239.7,333.0,9.5,2338,16915,0.00,0.00,12.68,0.948,6,0.000,0.000,3190,2352,2106
$GC,17253,1.09,246.9,295.5,9.8,2401,17265,0.00,0.00,7.32,0.865,6,0.000,0.000,3190,2352,2078
$GC,17602,1.09,246.9,258.7,11.8,2463,17608,0.00,2.83,0.00,0.000,4,0.000,0.111,3190,915,2077
$GC,17626,1.09,246.9,256.2,11.7,2467,17632,0.00,2.75,0.00,0.000,6,0.000,0.096,3190,2351,2077
$GC,17969,1.09,246.9,218.6,10.8,2528,17974,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2351,2077
$GC,18312,1.09,246.9,180.5,11.1,2589,18317,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2351,2077
$GC,18655,1.09,246.9,144.0,10.7,2650,18661,0.00,2.72,0.00,0.000,4,0.000,0.110,3190,3742,2077
$GC,18685,1.09,246.9,140.7,10.4,2655,18691,0.00,2.65,0.00,0.000,6,0.000,0.091,3190,2344,2077
$GC,18828,1.09,246.9,125.4,11.2,2680,18835,0.00,2.72,0.00,0.000,4,0.000,0.110,3190,3740,2077
$GC,18858,1.09,246.9,121.6,12.0,2685,18864,0.00,2.65,0.00,0.000,6,0.000,0.091,3190,2342,2077
$GC,19002,1.09,246.9,104.9,10.1,2710,19007,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2342,2078
$GC,19143,1.09,246.9,88.4,11.3,2735,19149,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2343,2077
$GC,19285,1.09,246.9,72.2,11.3,2760,19292,0.00,2.72,0.00,0.000,4,0.000,0.109,3190,3740,2078
$GC,19304,1.09,246.9,69.8,12.5,2763,19310,0.00,2.62,0.00,0.000,6,0.000,0.090,3190,2352,2078
$GC,19446,1.09,246.9,50.7,11.9,2788,19452,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2353,2077
$GC,19589,1.33,438.8,40.3,3.3,2813,19749,0.22,0.00,153.48,0.775,6,0.055,0.000,3251,2352,1294
$STATE,19845,end climb,SURFACE_DEPTH_REACHED
$STATE,19845,begin surface coast
$FINISH,0.5,1.027752
$STATE,19858,end surface coast,CONTROL_FINISHED_OK
$STATE,19858,begin surface
$SM_CCo,19939,0.00,0.000,0,0,1282,442.52
$SM_GC,0.92,11.73,0.00,0.00,0.044,0.000,0.000,591,2230,1282,-10.84,-0.14,442.52
$IRIDIUM_FIX,5907.03,-2121.38,110797,232347
$TT8_MAMPS,0.02301
$HUMID,1571
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,18.30
$XPDR_PINGS,115
$24V_AH,23.5,19.236
$10V_AH,10.6,12.892
$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,27.350,123.175,531.025,0.000,0.000,60.253,69.292,433.986,28.750,0.000,0.000,16.945,4272.731,10063.377,678.663,4711.271,967.934,0.000,2778.000,0.000,4697.991,0.000,0.469
$DEVICE_MAMPS,191.750,148.031,1397.474,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1975.817,2137.191,1866.439,1206.188,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,161009,2861
$CAP_FILE_SIZE,220042,0
$CFSIZE,260165632,250871808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,170408,052407,5929.715,-2127.032,73,1.1,78,-15.0