version: 66.03
glider: 140
mission: 5
dive: 65
start: 4 18 108 10 6 33
data:
$ID,140
$MISSION,5
$DIVE,65
$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,285
$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,-14375.235
$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,11
$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
$GPS1,095808,5928.197,-2211.733,36,0.9,36,-15.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-60.1
$GPS2,100615,5928.161,-2211.956,12,0.9,12,-15.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5930.956,-2217.248
$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,300.3,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,102,0.00,0.00,-70.88,0.000,2,0.000,0.000,588,2229,3592
$GC,104,-1.29,-194.7,3.5,-5.8,13,129,12.90,2.83,-6.00,0.000,4,0.204,0.118,2670,3645,3880
$GC,384,-1.29,-194.7,36.0,-7.4,62,391,0.00,2.67,0.00,0.000,6,0.000,0.091,2670,2231,3882
$GC,526,-1.29,-194.7,49.4,-10.5,87,533,0.00,2.75,0.00,0.000,4,0.000,0.110,2670,3645,3882
$GC,584,-1.29,-194.7,55.3,-11.3,97,590,0.00,2.67,0.00,0.000,6,0.000,0.091,2670,2228,3882
$GC,728,-1.29,-194.7,68.6,-9.5,122,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3881
$GC,870,-1.29,-194.7,82.3,-9.1,147,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3882
$GC,1011,-1.29,-194.7,95.6,-8.8,172,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3882
$GC,1153,-1.29,-194.7,108.8,-9.6,197,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3882
$GC,1295,-1.29,-194.7,122.1,-8.8,222,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3882
$GC,1437,-1.29,-194.7,135.4,-9.2,247,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3882
$GC,1579,-1.29,-194.7,148.4,-9.4,272,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3882
$GC,1721,-1.29,-194.7,161.8,-9.5,297,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3882
$GC,2063,-1.29,-194.7,194.7,-9.5,358,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3882
$GC,2406,-1.29,-194.7,227.4,-9.1,419,2412,0.00,2.80,0.00,0.000,4,0.000,0.114,2670,3651,3882
$GC,2441,-1.29,-194.7,230.6,-9.9,425,2447,0.00,2.70,0.00,0.000,6,0.000,0.093,2670,2222,3882
$GC,2784,-1.29,-194.7,260.5,-9.2,486,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3882
$GC,3128,-1.29,-194.7,291.4,-9.3,547,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3883
$GC,3471,-1.29,-194.7,322.7,-9.0,608,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3883
$GC,3814,-1.29,-194.7,353.1,-8.7,669,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3883
$GC,4157,-1.29,-194.7,382.7,-8.7,730,4163,0.00,2.83,0.00,0.000,4,0.000,0.119,2670,3646,3883
$GC,4203,-1.29,-194.7,386.9,-9.0,738,4209,0.00,2.70,0.00,0.000,6,0.000,0.098,2670,2229,3883
$GC,4547,-1.29,-194.7,416.2,-8.9,799,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3883
$GC,4890,-1.29,-194.7,446.0,-8.5,860,4896,0.00,2.80,0.00,0.000,4,0.000,0.119,2670,3645,3883
$GC,4925,-1.29,-194.7,449.2,-9.1,866,4931,0.00,2.70,0.00,0.000,6,0.000,0.099,2671,2230,3883
$GC,5268,-1.29,-194.7,478.2,-8.1,927,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3883
$GC,5611,-1.29,-194.7,508.3,-9.4,988,5618,0.00,2.83,0.00,0.000,4,0.000,0.121,2670,3648,3883
$GC,5647,-1.29,-194.7,511.7,-9.9,994,5653,0.00,2.72,0.00,0.000,6,0.000,0.100,2670,2226,3883
$GC,5991,-1.29,-194.7,542.3,-8.7,1055,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3882
$GC,6333,-1.29,-194.7,573.0,-9.1,1116,6340,0.00,2.83,0.00,0.000,4,0.000,0.123,2670,3645,3882
$GC,6363,-1.29,-194.7,575.7,-9.9,1121,6370,0.00,2.70,0.00,0.000,6,0.000,0.102,2670,2239,3882
$GC,6703,-1.29,-194.7,605.6,-8.7,1176,6708,0.00,2.83,0.00,0.000,4,0.000,0.125,2670,3648,3882
$GC,6731,-1.29,-194.7,608.1,-9.4,1178,6736,0.00,2.70,0.00,0.000,6,0.000,0.104,2670,2246,3882
$GC,7057,-1.29,-194.7,636.9,-8.7,1208,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2247,3882
$GC,7376,-1.29,-194.7,664.8,-8.9,1238,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2247,3882
$GC,7694,-1.29,-194.7,692.8,-8.9,1268,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3881
$GC,8013,-1.29,-194.7,720.3,-8.1,1298,8018,0.00,2.85,0.00,0.000,4,0.000,0.133,2670,3644,3881
$GC,8052,-1.29,-194.7,723.7,-8.7,1301,8057,0.00,2.72,0.00,0.000,6,0.000,0.110,2670,2250,3880
$GC,8378,-1.29,-194.7,747.9,-7.3,1331,8380,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2252,3880
$GC,8697,-1.29,-194.7,772.2,-7.9,1361,8701,0.00,2.85,0.00,0.000,4,0.000,0.133,2670,3648,3880
$GC,8729,-1.29,-194.7,775.1,-8.7,1363,8735,0.00,2.72,0.00,0.000,6,0.000,0.111,2670,2255,3880
$GC,9055,-1.29,-194.7,801.0,-8.1,1394,9056,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2255,3879
$GC,9374,-1.29,-194.7,825.8,-8.0,1424,9379,0.00,2.85,0.00,0.000,4,0.000,0.135,2670,3649,3879
$GC,9413,-1.29,-194.7,829.3,-9.1,1427,9418,0.00,2.75,0.00,0.000,6,0.000,0.114,2671,2253,3879
$GC,9741,-1.29,-194.7,856.3,-8.4,1457,9746,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2254,3879
$GC,10067,-1.29,-194.7,883.2,-8.0,1488,10068,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2254,3878
$GC,10386,-1.29,-194.7,908.3,-8.0,1518,10387,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2254,3878
$GC,10704,-1.29,-194.7,932.7,-7.8,1548,10708,0.00,2.85,0.00,0.000,4,0.000,0.138,2671,3644,3878
$GC,10747,-1.29,-194.7,936.6,-8.9,1551,10753,0.00,2.75,0.00,0.000,6,0.000,0.117,2670,2251,3878
$STATE,10804,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10804,begin apogee
$GC,10810,-0.35,0.0,941.5,8.3,1557,10978,1.02,0.00,164.25,1.417,6,0.115,0.000,2875,2328,3085
$STATE,10979,end apogee,CONTROL_FINISHED_OK
$STATE,10979,begin climb
$GC,10982,1.29,194.7,947.7,0.0,1574,11157,1.65,3.03,162.10,1.370,4,0.065,0.134,3237,3739,2290
$GC,11180,1.17,194.7,932.9,12.9,1593,11185,0.12,2.88,0.00,0.000,6,0.120,0.114,3216,2322,2290
$GC,11505,1.11,194.7,893.8,12.2,1623,11506,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2324,2288
$GC,11825,1.05,194.7,855.2,11.9,1653,11827,0.15,0.00,0.00,0.000,6,0.114,0.000,3189,2324,2288
$GC,12143,1.05,194.7,821.6,10.7,1683,12144,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2324,2288
$GC,12462,1.06,198.0,788.5,9.9,1713,12473,0.00,2.97,4.00,0.839,4,0.000,0.132,3188,3743,2277
$GC,12508,1.00,198.0,783.5,10.3,1717,12512,0.00,2.83,0.00,0.000,6,0.000,0.110,3188,2329,2277
$GC,12832,1.02,214.7,751.8,9.4,1747,12852,0.00,0.00,15.80,1.243,6,0.000,0.000,3189,2330,2209
$GC,13172,1.02,214.7,717.3,10.2,1779,13173,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2330,2208
$GC,13489,1.02,214.7,683.0,10.8,1809,13494,0.00,2.90,0.00,0.000,4,0.000,0.127,3189,3742,2208
$GC,13522,0.98,214.7,679.2,11.4,1811,13528,0.00,2.78,0.00,0.000,6,0.000,0.107,3189,2336,2207
$GC,13847,0.98,214.7,643.7,11.4,1842,13848,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2337,2207
$GC,14166,0.98,214.7,607.5,11.4,1872,14171,0.00,2.88,0.00,0.000,4,0.000,0.129,3188,912,2207
$GC,14194,0.98,214.7,604.1,12.4,1874,14198,0.00,2.78,0.00,0.000,6,0.000,0.109,3188,2336,2207
$GC,14535,0.98,214.7,563.8,11.8,1931,14541,0.00,2.85,0.00,0.000,4,0.000,0.126,3188,3743,2207
$GC,14580,0.98,214.7,558.0,12.9,1939,14586,0.00,2.75,0.00,0.000,6,0.000,0.102,3188,2334,2207
$GC,14924,0.98,214.7,518.6,11.6,2000,14930,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2334,2207
$GC,15268,0.98,214.7,479.0,11.0,2061,15274,0.00,2.80,0.00,0.000,4,0.000,0.120,3188,913,2207
$GC,15297,0.98,214.7,475.4,11.7,2066,15303,0.00,2.80,0.00,0.000,6,0.000,0.104,3188,2359,2207
$GC,15640,0.98,214.7,435.1,12.1,2127,15646,0.00,2.75,0.00,0.000,4,0.000,0.119,3188,3740,2207
$GC,15680,0.98,214.7,430.2,11.8,2134,15686,0.00,2.67,0.00,0.000,6,0.000,0.097,3188,2348,2207
$GC,16023,0.98,214.7,392.9,10.4,2195,16029,0.00,2.83,0.00,0.000,4,0.000,0.118,3188,917,2207
$GC,16052,0.98,214.7,389.8,11.4,2200,16059,0.00,2.75,0.00,0.000,6,0.000,0.102,3188,2346,2207
$GC,16397,1.00,227.4,354.0,9.6,2261,16413,0.00,0.00,11.75,0.992,6,0.000,0.000,3188,2346,2158
$GC,16749,1.00,227.4,316.6,11.2,2324,16755,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2347,2157
$GC,17092,1.00,227.4,281.3,10.6,2385,17097,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2347,2158
$GC,17434,1.00,227.4,246.9,10.6,2446,17441,0.00,2.75,0.00,0.000,4,0.000,0.112,3188,3741,2158
$GC,17464,1.00,227.4,243.7,11.1,2451,17470,0.00,2.67,0.00,0.000,6,0.000,0.093,3189,2340,2158
$GC,17807,1.00,227.4,209.4,11.0,2512,17812,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2341,2158
$GC,18150,1.03,253.0,174.8,9.1,2573,18177,0.00,0.00,22.52,0.877,6,0.000,0.000,3188,2341,2052
$GC,18517,1.03,253.0,135.1,10.8,2638,18523,0.00,2.78,0.00,0.000,4,0.000,0.110,3188,3743,2049
$GC,18541,1.03,253.0,132.2,11.6,2642,18547,0.00,2.65,0.00,0.000,6,0.000,0.090,3188,2351,2049
$GC,18683,1.03,253.0,117.3,10.8,2667,18689,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2351,2049
$GC,18825,1.03,253.0,101.4,12.6,2692,18831,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2352,2050
$GC,18966,1.03,253.0,86.0,10.8,2717,18972,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2352,2050
$GC,19108,1.03,253.0,70.5,11.0,2742,19114,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2352,2049
$GC,19250,1.03,253.0,54.9,11.9,2767,19256,0.00,2.75,0.00,0.000,4,0.000,0.106,3188,920,2049
$GC,19274,1.03,253.0,52.2,11.8,2771,19281,0.00,2.72,0.00,0.000,6,0.000,0.091,3188,2361,2050
$GC,19418,1.03,253.0,36.6,10.4,2796,19424,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2362,2049
$GC,19559,1.03,253.0,20.7,11.7,2821,19566,0.00,2.78,0.00,0.000,4,0.000,0.104,3188,919,2050
$GC,19578,1.03,253.0,18.5,11.3,2824,19584,0.00,2.72,0.00,0.000,6,0.000,0.090,3188,2361,2050
$GC,19720,1.05,268.3,4.3,9.5,2849,19738,0.00,0.00,13.23,0.772,6,0.000,0.000,3188,2361,1991
$STATE,19742,end climb,SURFACE_DEPTH_REACHED
$STATE,19742,begin surface coast
$FINISH,0.2,1.027745
$STATE,19760,end surface coast,CONTROL_FINISHED_OK
$STATE,19760,begin surface
$SM_CCo,19841,0.00,0.000,0,0,1987,269.34
$SM_GC,0.97,11.50,0.00,0.00,0.046,0.000,0.000,591,2229,1987,-10.86,-0.17,269.34
$IRIDIUM_FIX,5902.83,-2159.09,130797,040410
$TT8_MAMPS,0.02301
$HUMID,1570
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.20
$XPDR_PINGS,103
$24V_AH,23.4,20.346
$10V_AH,10.7,14.126
$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,27.350,133.900,393.650,0.000,0.000,31.197,33.231,269.640,25.750,0.000,0.000,12.415,4307.906,9925.976,597.148,4730.094,736.308,0.000,2674.747,0.000,4715.303,0.000,0.467
$DEVICE_MAMPS,204.022,146.497,1416.649,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1977.825,2144.902,1904.044,1223.558,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,160858,2856
$CAP_FILE_SIZE,218142,0
$CFSIZE,260165632,250167296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180408,153826,5926.432,-2223.166,37,1.8,37,-15.4