version: 66.03
glider: 140
mission: 5
dive: 63
start: 4 17 108 22 40 57
data:
$ID,140
$MISSION,5
$DIVE,63
$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,-14346.335
$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,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
$GPS1,223138,5930.734,-2150.550,40,1.0,40,-15.2
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-54.5
$GPS2,224039,5930.814,-2150.864,15,1.8,15,-15.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5921.968,-2154.020
$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,230.2,20000,-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,-194.7,0.0,0.0,0,100,0.00,0.00,-70.95,0.000,2,0.000,0.000,594,2229,3368
$GC,103,-1.29,-194.7,3.0,-7.1,13,139,12.70,2.83,-12.43,0.000,4,0.199,0.117,2670,817,3881
$GC,180,-1.24,-194.7,12.5,-9.6,26,186,0.00,2.72,0.00,0.000,6,0.000,0.094,2670,2241,3882
$GC,323,-1.24,-194.7,25.5,-6.4,51,329,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2241,3882
$GC,465,-1.24,-194.7,36.8,-10.3,76,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2241,3882
$GC,606,-1.24,-194.7,53.6,-11.1,101,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2241,3881
$GC,748,-1.24,-194.7,69.6,-12.2,126,754,0.00,2.70,0.00,0.000,4,0.000,0.107,2670,3645,3881
$GC,777,-1.24,-194.7,72.7,-10.5,131,784,0.00,2.70,0.00,0.000,6,0.000,0.091,2670,2215,3881
$GC,920,-1.24,-194.7,86.3,-9.8,156,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2216,3881
$GC,1063,-1.24,-194.7,101.0,-9.7,181,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2215,3882
$GC,1205,-1.24,-194.7,114.1,-8.7,206,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2216,3882
$GC,1347,-1.24,-194.7,128.3,-10.6,231,1353,0.00,2.72,0.00,0.000,4,0.000,0.111,2670,817,3882
$GC,1372,-1.24,-194.7,130.9,-10.7,235,1379,0.00,2.72,0.00,0.000,6,0.000,0.097,2670,2242,3882
$GC,1515,-1.24,-194.7,144.3,-9.4,260,1521,0.00,2.72,0.00,0.000,4,0.000,0.111,2670,3645,3882
$GC,1545,-1.24,-194.7,147.4,-10.4,265,1551,0.00,2.65,0.00,0.000,6,0.000,0.091,2670,2237,3882
$GC,1687,-1.24,-194.7,161.7,-9.4,290,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3882
$GC,2031,-1.24,-194.7,195.9,-10.1,351,2037,0.00,2.78,0.00,0.000,4,0.000,0.115,2670,825,3881
$GC,2065,-1.24,-194.7,199.7,-10.9,357,2071,0.00,2.75,0.00,0.000,6,0.000,0.099,2670,2256,3882
$GC,2409,-1.24,-194.7,235.2,-9.5,418,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2256,3881
$GC,2752,-1.24,-194.7,268.2,-9.7,479,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2256,3882
$GC,3094,-1.24,-194.7,299.5,-8.9,540,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2256,3882
$GC,3438,-1.24,-194.7,329.5,-8.3,601,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2257,3882
$GC,3780,-1.24,-194.7,357.9,-8.4,662,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2256,3882
$GC,4123,-1.24,-194.7,387.7,-9.5,723,4129,0.00,2.88,0.00,0.000,4,0.000,0.123,2670,820,3882
$GC,4158,-1.24,-194.7,391.1,-10.3,729,4164,0.00,2.80,0.00,0.000,6,0.000,0.107,2670,2258,3882
$GC,4501,-1.24,-194.7,422.5,-9.0,790,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2258,3882
$GC,4843,-1.24,-194.7,452.4,-8.4,851,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2258,3881
$GC,5186,-1.24,-194.7,482.5,-9.2,912,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2258,3882
$GC,5530,-1.24,-194.7,513.5,-8.8,973,5536,0.00,2.88,0.00,0.000,4,0.000,0.125,2670,825,3882
$GC,5565,-1.24,-194.7,516.8,-9.9,979,5571,0.00,2.78,0.00,0.000,6,0.000,0.109,2670,2249,3882
$GC,5908,-1.24,-194.7,548.5,-9.5,1040,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2249,3881
$GC,6252,-1.24,-194.7,580.1,-8.9,1101,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2250,3882
$GC,6588,-1.24,-194.7,609.2,-8.5,1152,6592,0.00,2.78,0.00,0.000,4,0.000,0.124,2670,3645,3881
$GC,6628,-1.24,-194.7,612.5,-8.8,1155,6632,0.00,2.70,0.00,0.000,6,0.000,0.103,2670,2241,3881
$GC,6954,-1.24,-194.7,640.1,-8.6,1185,6958,0.00,2.90,0.00,0.000,4,0.000,0.133,2670,815,3881
$GC,7015,-1.24,-194.7,645.8,-9.0,1190,7020,0.00,2.80,0.00,0.000,6,0.000,0.114,2670,2238,3881
$GC,7343,-1.24,-194.7,673.1,-8.7,1220,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2238,3880
$GC,7668,-1.24,-194.7,702.1,-9.0,1251,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3880
$GC,7988,-1.24,-194.7,730.7,-8.6,1281,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3880
$GC,8307,-1.24,-194.7,757.2,-8.2,1311,8311,0.00,2.85,0.00,0.000,4,0.000,0.133,2670,3645,3880
$GC,8346,-1.24,-194.7,760.7,-8.6,1314,8350,0.00,2.78,0.00,0.000,6,0.000,0.111,2670,2224,3880
$GC,8672,-1.24,-194.7,787.8,-8.6,1344,8673,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2225,3879
$GC,8990,-1.24,-194.7,816.0,-9.0,1374,8991,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2225,3879
$GC,9308,-1.24,-194.7,843.9,-8.3,1404,9313,0.00,2.90,0.00,0.000,4,0.000,0.135,2670,3645,3878
$GC,9347,-1.24,-194.7,847.4,-8.8,1407,9352,0.00,2.78,0.00,0.000,6,0.000,0.113,2670,2229,3878
$GC,9674,-1.24,-194.7,874.0,-8.2,1437,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3878
$GC,9992,-1.24,-194.7,899.8,-8.1,1467,9997,0.00,2.90,0.00,0.000,4,0.000,0.136,2670,3652,3878
$GC,10036,-1.24,-194.7,903.7,-8.5,1470,10042,0.00,2.80,0.00,0.000,6,0.000,0.116,2670,2233,3877
$GC,10362,-1.24,-194.7,930.6,-8.2,1501,10363,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3877
$GC,10681,-1.24,-194.7,957.9,-8.7,1531,10685,0.00,2.92,0.00,0.000,4,0.000,0.139,2670,3653,3877
$GC,10720,-1.24,-194.7,961.7,-9.4,1534,10724,0.00,2.80,0.00,0.000,6,0.000,0.118,2670,2241,3877
$STATE,10808,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10808,begin apogee
$GC,10814,-0.35,0.0,969.6,8.4,1542,10982,1.02,0.00,164.23,1.434,6,0.107,0.000,2877,2330,3085
$STATE,10983,end apogee,CONTROL_FINISHED_OK
$STATE,10983,begin climb
$GC,10985,1.29,194.7,976.4,0.0,1559,11161,1.65,3.00,162.25,1.391,4,0.067,0.133,3237,3738,2290
$GC,11207,1.17,194.7,958.9,14.0,1580,11212,0.12,2.85,0.00,0.000,6,0.123,0.115,3216,2328,2289
$GC,11531,1.11,194.7,918.9,12.5,1610,11532,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2329,2288
$GC,11851,1.04,194.7,878.9,12.6,1640,11857,0.15,2.95,0.00,0.000,4,0.114,0.133,3185,3741,2288
$GC,11869,0.98,194.7,876.5,12.6,1641,11873,0.00,2.85,0.00,0.000,6,0.000,0.115,3185,2324,2288
$GC,12193,0.98,194.7,840.8,11.2,1671,12194,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2325,2287
$GC,12511,0.98,194.7,805.6,11.0,1701,12512,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2325,2287
$GC,12833,0.98,194.7,771.6,11.0,1731,12838,0.00,2.90,0.00,0.000,4,0.000,0.138,3185,918,2287
$GC,12860,0.98,194.7,768.1,10.8,1733,12865,0.00,2.78,0.00,0.000,6,0.000,0.114,3185,2319,2286
$GC,13185,0.98,194.7,733.6,10.2,1763,13189,0.00,2.90,0.00,0.000,4,0.000,0.130,3185,3739,2286
$GC,13207,0.98,194.7,731.2,10.6,1764,13213,0.00,2.78,0.00,0.000,6,0.000,0.108,3185,2326,2286
$GC,13534,0.98,194.7,697.7,10.1,1795,13539,0.00,2.88,0.00,0.000,4,0.000,0.132,3185,913,2286
$GC,13556,0.98,194.7,695.1,11.1,1796,13562,0.00,2.80,0.00,0.000,6,0.000,0.113,3185,2333,2286
$GC,13884,0.98,194.7,660.9,10.8,1827,13888,0.00,2.85,0.00,0.000,4,0.000,0.123,3185,914,2286
$GC,13900,0.98,194.7,658.7,10.9,1828,13904,0.00,2.78,0.00,0.000,6,0.000,0.113,3185,2320,2286
$GC,14224,0.98,194.7,624.1,10.2,1858,14225,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2321,2286
$GC,14547,1.02,225.0,592.8,8.9,1894,14578,0.00,0.00,25.83,1.184,6,0.000,0.000,3185,2321,2167
$GC,14916,1.02,227.7,557.8,9.9,1960,14922,0.00,0.00,3.75,0.735,6,0.000,0.000,3185,2321,2156
$GC,15260,1.04,242.7,524.7,9.5,2021,15282,0.00,2.88,14.35,1.098,4,0.000,0.118,3185,916,2094
$GC,15294,1.06,258.6,521.2,9.5,2027,15316,0.00,2.78,14.80,1.051,6,0.000,0.106,3185,2322,2030
$GC,15654,1.06,258.6,484.0,10.1,2091,15660,0.00,2.85,0.00,0.000,4,0.000,0.120,3185,3741,2028
$GC,15671,1.06,258.6,482.1,10.7,2094,15677,0.00,2.78,0.00,0.000,6,0.000,0.099,3185,2313,2027
$GC,16015,1.06,258.6,447.4,10.1,2155,16020,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2314,2027
$GC,16358,1.07,268.1,415.0,9.7,2216,16370,0.00,0.00,8.93,0.999,6,0.000,0.000,3185,2314,1992
$GC,16707,1.10,286.3,380.3,9.4,2278,16728,0.00,0.00,17.20,1.010,6,0.000,0.000,3185,2314,1916
$GC,17066,1.10,286.3,341.2,11.2,2342,17071,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2314,1914
$GC,17409,1.10,286.3,304.1,10.7,2403,17415,0.00,2.85,0.00,0.000,4,0.000,0.116,3185,3742,1913
$GC,17444,1.10,286.3,300.2,11.2,2409,17450,0.00,2.72,0.00,0.000,6,0.000,0.095,3185,2322,1913
$GC,17787,1.10,286.3,263.2,11.7,2470,17793,0.00,2.75,0.00,0.000,4,0.000,0.114,3185,915,1913
$GC,17810,1.10,286.3,260.6,10.6,2474,17817,0.00,2.70,0.00,0.000,6,0.000,0.097,3185,2331,1913
$GC,18154,1.10,286.3,221.1,11.1,2535,18159,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2331,1913
$GC,18496,1.10,286.3,182.7,10.8,2596,18502,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2331,1914
$GC,18839,1.10,286.3,144.6,12.2,2657,18846,0.00,2.75,0.00,0.000,4,0.000,0.109,3185,916,1914
$GC,18865,1.10,286.3,141.6,11.8,2661,18871,0.00,2.67,0.00,0.000,6,0.000,0.094,3185,2328,1914
$GC,19007,1.10,286.3,125.5,10.3,2686,19013,0.00,2.75,0.00,0.000,4,0.000,0.110,3185,3738,1914
$GC,19025,1.10,286.3,123.4,10.7,2689,19032,0.00,2.70,0.00,0.000,6,0.000,0.091,3185,2315,1913
$GC,19169,1.10,292.1,108.3,9.8,2714,19181,0.00,0.00,6.20,0.748,6,0.000,0.000,3185,2315,1893
$GC,19318,1.10,292.1,91.6,10.2,2740,19324,0.00,2.70,0.00,0.000,4,0.000,0.109,3185,916,1893
$GC,19337,1.10,292.1,89.3,11.5,2743,19343,0.00,2.67,0.00,0.000,6,0.000,0.093,3185,2327,1893
$GC,19481,1.10,292.1,73.4,12.1,2768,19487,0.00,2.75,0.00,0.000,4,0.000,0.109,3185,3738,1893
$GC,19499,1.10,292.1,70.9,11.2,2771,19505,0.00,2.67,0.00,0.000,6,0.000,0.091,3185,2327,1892
$GC,19643,1.10,292.1,56.8,13.9,2796,19649,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2327,1893
$GC,19784,1.10,292.1,39.8,12.1,2821,19790,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2327,1893
$GC,19926,1.10,292.1,22.2,13.4,2846,19932,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2327,1893
$GC,20068,1.10,292.1,5.1,11.9,2871,20074,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2327,1893
$STATE,20100,end climb,SURFACE_DEPTH_REACHED
$STATE,20100,begin surface coast
$FINISH,0.2,1.006379
$STATE,20118,end surface coast,CONTROL_FINISHED_OK
$STATE,20119,begin surface
$SM_CCo,20200,0.00,0.000,0,0,1891,292.89
$SM_GC,0.93,11.35,0.00,0.00,0.044,0.000,0.000,592,2231,1891,-10.84,-0.11,292.89
$IRIDIUM_FIX,5907.03,-2141.79,120797,171708
$TT8_MAMPS,0.02301
$HUMID,1592
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,18.10
$XPDR_PINGS,110
$24V_AH,23.4,19.991
$10V_AH,10.7,13.715
$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,27.000,151.200,417.525,0.000,0.000,28.258,37.649,316.860,27.500,0.000,0.000,15.447,4357.547,10139.745,629.009,4767.252,816.123,0.000,2750.197,0.000,4768.195,0.000,0.467
$DEVICE_MAMPS,198.653,149.565,1434.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1993.440,2172.665,1864.549,1209.118,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,163882,2880
$CAP_FILE_SIZE,225168,0
$CFSIZE,260165632,250392576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180408,041858,5928.880,-2159.338,27,2.2,46,-15.2