version: 66.03
glider: 140
mission: 5
dive: 62
start: 4 17 108 17 3 21
data:
$ID,140
$MISSION,5
$DIVE,62
$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,-14330.262
$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,8
$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
$GPS1,165456,5931.238,-2140.898,39,1.6,39,-15.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-57.2
$GPS2,170303,5931.376,-2141.246,14,1.4,14,-15.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5922.530,-2144.401
$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,230.1,20000,-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,-194.7,0.0,0.0,0,101,0.00,0.00,-70.78,0.000,2,0.000,0.000,591,2238,3443
$GC,104,-1.29,-194.7,3.0,-7.6,13,134,12.62,2.78,-10.40,0.000,4,0.196,0.117,2670,821,3881
$GC,281,-1.29,-194.7,24.5,-12.1,44,287,0.00,2.67,0.00,0.000,6,0.000,0.094,2670,2235,3882
$GC,423,-1.29,-194.7,41.0,-11.1,69,429,0.00,2.72,0.00,0.000,4,0.000,0.107,2670,3644,3882
$GC,469,-1.29,-194.7,46.2,-12.2,77,476,0.00,2.65,0.00,0.000,6,0.000,0.090,2670,2239,3882
$GC,613,-1.29,-194.7,58.7,-8.6,102,619,0.00,2.75,0.00,0.000,4,0.000,0.107,2670,822,3882
$GC,649,-1.29,-194.7,61.6,-8.0,108,655,0.00,2.72,0.00,0.000,6,0.000,0.094,2670,2256,3882
$GC,792,-1.29,-194.7,74.3,-10.6,133,798,0.00,2.70,0.00,0.000,4,0.000,0.108,2670,3652,3882
$GC,827,-1.29,-194.7,78.3,-11.0,139,834,0.00,2.62,0.00,0.000,6,0.000,0.091,2670,2262,3882
$GC,969,-1.29,-194.7,93.0,-11.0,164,976,0.00,2.80,0.00,0.000,4,0.000,0.110,2670,822,3882
$GC,1016,-1.29,-194.7,98.2,-11.3,172,1022,0.00,2.75,0.00,0.000,6,0.000,0.093,2670,2273,3882
$GC,1160,-1.29,-194.7,111.0,-9.2,197,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2273,3882
$GC,1301,-1.29,-194.7,125.0,-10.2,222,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2274,3882
$GC,1443,-1.29,-194.7,138.4,-8.2,247,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2273,3882
$GC,1584,-1.29,-194.7,150.5,-9.2,272,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2274,3882
$GC,1928,-1.29,-194.7,182.8,-9.4,333,1934,0.00,2.85,0.00,0.000,4,0.000,0.114,2670,824,3882
$GC,1963,-1.29,-194.7,186.4,-10.5,339,1969,0.00,2.75,0.00,0.000,6,0.000,0.098,2670,2259,3882
$GC,2307,-1.29,-194.7,218.0,-8.3,400,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2259,3881
$GC,2650,-1.29,-194.7,247.3,-8.1,461,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2259,3882
$GC,2992,-1.29,-194.7,277.0,-9.0,522,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2259,3882
$GC,3336,-1.29,-194.7,307.1,-8.3,583,3342,0.00,2.85,0.00,0.000,4,0.000,0.120,2670,824,3882
$GC,3371,-1.29,-194.7,310.1,-8.9,589,3377,0.00,2.78,0.00,0.000,6,0.000,0.104,2670,2259,3882
$GC,3714,-1.29,-194.7,342.0,-10.2,650,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2259,3882
$GC,4056,-1.29,-194.7,374.0,-8.5,711,4062,0.00,2.88,0.00,0.000,4,0.000,0.120,2669,818,3882
$GC,4092,-1.29,-194.7,377.1,-9.3,717,4098,0.00,2.78,0.00,0.000,6,0.000,0.107,2670,2248,3882
$GC,4435,-1.29,-194.7,409.1,-9.3,778,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3882
$GC,4777,-1.29,-194.7,442.3,-9.8,839,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3882
$GC,5120,-1.29,-194.7,474.0,-8.0,900,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3882
$GC,5463,-1.29,-194.7,501.1,-8.2,961,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3882
$GC,5805,-1.29,-194.7,534.8,-10.3,1022,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3882
$GC,6147,-1.29,-194.7,565.4,-8.2,1083,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2249,3882
$GC,6490,-1.29,-194.7,594.1,-8.6,1144,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2249,3882
$GC,6822,-1.29,-194.7,622.3,-8.5,1181,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2249,3882
$GC,7147,-1.29,-194.7,648.2,-7.4,1212,7152,0.00,2.88,0.00,0.000,4,0.000,0.129,2670,825,3881
$GC,7179,-1.29,-194.7,650.6,-7.5,1214,7186,0.00,2.80,0.00,0.000,6,0.000,0.112,2670,2252,3881
$GC,7506,-1.29,-194.7,675.7,-8.3,1245,7507,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3881
$GC,7824,-1.29,-194.7,702.3,-8.8,1275,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3881
$GC,8143,-1.29,-194.7,731.8,-9.6,1305,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3881
$GC,8461,-1.29,-194.7,761.4,-9.2,1335,8466,0.00,2.80,0.00,0.000,4,0.000,0.131,2670,3649,3880
$GC,8489,-1.29,-194.7,764.2,-9.5,1337,8494,0.00,2.70,0.00,0.000,6,0.000,0.107,2670,2247,3880
$GC,8815,-1.29,-194.7,792.9,-8.2,1367,8820,0.00,2.92,0.00,0.000,4,0.000,0.140,2670,825,3880
$GC,8866,-1.29,-194.7,797.3,-8.5,1371,8870,0.00,2.80,0.00,0.000,6,0.000,0.119,2670,2241,3880
$GC,9192,-1.29,-194.7,821.6,-7.4,1401,9197,0.00,2.85,0.00,0.000,4,0.000,0.134,2670,3647,3879
$GC,9225,-1.29,-194.7,824.3,-8.5,1403,9231,0.00,2.75,0.00,0.000,6,0.000,0.110,2671,2232,3879
$GC,9551,-1.29,-194.7,850.0,-8.2,1434,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2231,3879
$GC,9869,-1.29,-194.7,877.2,-8.9,1464,9871,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2232,3878
$GC,10188,-1.29,-194.7,906.0,-8.9,1494,10192,0.00,2.90,0.00,0.000,4,0.000,0.135,2670,3652,3878
$GC,10227,-1.29,-194.7,909.8,-10.2,1497,10231,0.00,2.78,0.00,0.000,6,0.000,0.114,2670,2240,3878
$GC,10551,-1.29,-194.7,938.3,-8.7,1527,10552,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3878
$STATE,10814,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10814,begin apogee
$GC,10820,-0.35,0.0,959.9,7.6,1552,10988,1.00,0.00,163.85,1.424,6,0.105,0.000,2874,2336,3085
$STATE,10989,end apogee,CONTROL_FINISHED_OK
$STATE,10989,begin climb
$GC,10991,1.29,194.7,965.0,0.0,1569,11164,1.65,3.00,161.77,1.380,4,0.071,0.131,3236,3736,2290
$GC,11197,1.17,194.7,947.4,14.7,1589,11204,0.00,2.85,0.00,0.000,6,0.000,0.117,3236,2329,2289
$GC,11524,1.08,194.7,905.3,12.6,1620,11525,0.20,0.00,0.00,0.000,6,0.110,0.000,3200,2330,2288
$GC,11841,1.08,194.7,870.9,10.6,1650,11846,0.00,2.92,0.00,0.000,4,0.000,0.132,3199,3744,2288
$GC,11869,1.02,194.7,867.7,11.9,1652,11874,0.00,2.85,0.00,0.000,6,0.000,0.112,3199,2319,2288
$GC,12193,1.02,194.7,834.7,10.3,1682,12198,0.00,2.92,0.00,0.000,4,0.000,0.143,3199,920,2287
$GC,12209,1.02,194.7,833.1,10.3,1683,12214,0.00,2.83,0.00,0.000,6,0.000,0.117,3199,2330,2287
$GC,12534,1.02,194.7,799.5,10.5,1713,12538,0.00,2.90,0.00,0.000,4,0.000,0.133,3200,3740,2287
$GC,12556,0.96,194.7,797.1,11.3,1714,12563,0.15,2.80,0.00,0.000,6,0.113,0.112,3172,2331,2287
$GC,12881,0.99,218.7,765.8,9.2,1745,12904,0.00,0.00,21.05,1.271,6,0.000,0.000,3172,2332,2193
$GC,13219,1.03,248.5,735.1,9.0,1777,13251,0.00,3.03,26.62,1.241,4,0.000,0.133,3171,919,2071
$GC,13274,1.08,286.3,730.0,8.7,1782,13316,0.10,2.83,33.50,1.220,6,0.071,0.112,3197,2331,1917
$GC,13633,1.08,286.3,688.7,12.0,1816,13635,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2330,1912
$GC,13954,1.08,286.3,650.3,11.8,1846,13955,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2331,1911
$GC,14271,1.08,286.3,611.6,12.0,1876,14275,0.00,2.85,0.00,0.000,4,0.000,0.123,3197,919,1910
$GC,14309,1.08,286.3,606.9,12.7,1879,14314,0.00,2.78,0.00,0.000,6,0.000,0.110,3197,2330,1910
$GC,14648,1.08,286.3,566.9,12.0,1933,14654,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2330,1909
$GC,14992,1.08,286.3,525.6,12.0,1994,14998,0.00,2.83,0.00,0.000,4,0.000,0.119,3197,916,1909
$GC,15010,1.08,286.3,523.3,12.6,1997,15016,0.00,2.72,0.00,0.000,6,0.000,0.107,3198,2315,1909
$GC,15353,1.08,286.3,482.6,11.8,2058,15359,0.00,2.85,0.00,0.000,4,0.000,0.120,3197,3740,1909
$GC,15376,1.08,286.3,479.8,11.2,2062,15382,0.00,2.75,0.00,0.000,6,0.000,0.098,3197,2313,1909
$GC,15719,1.08,286.3,440.3,12.0,2123,15725,0.00,2.78,0.00,0.000,4,0.000,0.120,3197,918,1909
$GC,15742,1.08,286.3,437.5,11.4,2127,15748,0.00,2.72,0.00,0.000,6,0.000,0.102,3198,2330,1909
$GC,16085,1.08,286.3,396.5,11.9,2188,16091,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2330,1909
$GC,16429,1.08,286.3,356.1,11.5,2249,16435,0.00,2.80,0.00,0.000,4,0.000,0.116,3197,916,1910
$GC,16448,1.08,286.3,353.9,11.6,2252,16455,0.00,2.70,0.00,0.000,6,0.000,0.102,3198,2319,1909
$GC,16793,1.08,286.3,315.2,10.4,2313,16799,0.00,2.80,0.00,0.000,4,0.000,0.114,3197,3739,1909
$GC,16811,1.08,286.3,313.1,11.6,2316,16817,0.00,2.72,0.00,0.000,6,0.000,0.095,3197,2311,1909
$GC,17155,1.08,286.3,273.8,12.3,2377,17160,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2312,1909
$GC,17498,1.08,286.3,234.8,10.6,2438,17503,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2312,1909
$GC,17840,1.08,286.3,197.4,10.3,2499,17845,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2312,1910
$GC,18182,1.08,286.3,160.4,11.0,2560,18188,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2311,1910
$GC,18525,1.08,286.3,121.7,10.2,2621,18532,0.00,2.80,0.00,0.000,4,0.000,0.111,3197,3741,1909
$GC,18561,1.08,286.3,117.8,11.0,2627,18567,0.00,2.70,0.00,0.000,6,0.000,0.093,3197,2321,1910
$GC,18703,1.08,286.3,101.0,13.2,2652,18710,0.00,2.72,0.00,0.000,4,0.000,0.110,3198,914,1911
$GC,18722,1.08,286.3,98.6,11.6,2655,18729,0.00,2.65,0.00,0.000,6,0.000,0.094,3198,2316,1911
$GC,18865,1.08,286.3,80.1,13.1,2680,18871,0.00,2.78,0.00,0.000,4,0.000,0.110,3197,3740,1910
$GC,18889,1.08,286.3,76.9,12.9,2684,18896,0.00,2.72,0.00,0.000,6,0.000,0.090,3197,2300,1910
$GC,19031,1.08,286.3,59.8,14.1,2709,19037,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2301,1910
$GC,19174,1.08,286.3,42.9,12.4,2734,19180,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2301,1910
$GC,19316,1.13,332.6,25.7,8.4,2759,19355,0.00,0.00,37.80,0.798,6,0.000,0.000,3197,2301,1729
$GC,19494,1.13,332.6,7.2,13.5,2790,19500,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2301,1725
$STATE,19526,end climb,SURFACE_DEPTH_REACHED
$STATE,19527,begin surface coast
$FINISH,0.2,1.027809
$STATE,19541,end surface coast,CONTROL_FINISHED_OK
$STATE,19541,begin surface
$SM_CCo,19622,0.00,0.000,0,0,1719,334.83
$SM_GC,1.05,11.60,0.00,0.00,0.051,0.000,0.000,594,2233,1719,-10.84,-0.08,334.83
$IRIDIUM_FIX,5907.03,-2129.97,120797,111112
$TT8_MAMPS,0.02301
$HUMID,1588
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,18.10
$XPDR_PINGS,107
$24V_AH,22.9,19.805
$10V_AH,10.6,13.506
$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,27.325,151.200,444.600,0.000,0.000,26.257,32.966,268.689,26.750,0.000,0.000,14.147,4220.604,9835.863,638.845,4641.824,740.525,0.000,2699.640,0.000,4632.074,0.000,0.468
$DEVICE_MAMPS,196.352,146.497,1423.552,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1935.911,2101.247,1830.220,1185.246,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,160850,2798
$CAP_FILE_SIZE,215977,0
$CFSIZE,260165632,250523648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170408,223138,5930.734,-2150.550,40,1.0,40,-15.2