version: 66.03
glider: 140
mission: 5
dive: 66
start: 4 18 108 15 47 38
data:
$ID,140
$MISSION,5
$DIVE,66
$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,-14389.864
$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,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
$GPS1,153826,5926.432,-2223.166,37,1.8,37,-15.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-61.8
$GPS2,154720,5926.324,-2223.461,13,1.5,13,-15.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5929.119,-2228.758
$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,300.4,20000,-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,-194.7,0.0,0.0,0,90,0.00,0.00,-59.67,0.000,2,0.000,0.000,591,2229,3400
$GC,93,-1.29,-194.7,3.3,-7.7,11,124,12.88,2.75,-11.10,0.000,4,0.203,0.115,2667,824,3880
$GC,377,-1.29,-194.7,34.3,-9.5,61,384,0.00,2.70,0.00,0.000,6,0.000,0.092,2667,2241,3882
$GC,520,-1.29,-194.7,47.4,-9.4,86,526,0.00,2.75,0.00,0.000,4,0.000,0.107,2667,825,3882
$GC,550,-1.29,-194.7,50.3,-9.6,91,556,0.00,2.65,0.00,0.000,6,0.000,0.093,2667,2229,3882
$GC,692,-1.29,-194.7,63.4,-9.5,116,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2228,3881
$GC,835,-1.29,-194.7,76.9,-9.4,141,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2229,3882
$GC,977,-1.29,-194.7,90.5,-9.4,166,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2228,3882
$GC,1119,-1.29,-194.7,103.6,-9.0,191,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2229,3882
$GC,1261,-1.29,-194.7,117.1,-9.4,216,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2229,3882
$GC,1403,-1.29,-194.7,130.1,-9.5,241,1410,0.00,2.75,0.00,0.000,4,0.000,0.108,2667,3651,3882
$GC,1439,-1.29,-194.7,133.7,-9.8,247,1446,0.00,2.67,0.00,0.000,6,0.000,0.091,2667,2232,3882
$GC,1582,-1.29,-194.7,147.6,-9.9,272,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2233,3881
$GC,1723,-1.29,-194.7,161.2,-9.6,297,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2232,3882
$GC,2065,-1.29,-194.7,195.9,-10.3,358,2072,0.00,2.78,0.00,0.000,4,0.000,0.112,2667,3650,3881
$GC,2100,-1.29,-194.7,199.5,-10.5,364,2106,0.00,2.67,0.00,0.000,6,0.000,0.092,2667,2234,3882
$GC,2445,-1.29,-194.7,234.0,-9.8,425,2451,0.00,2.75,0.00,0.000,4,0.000,0.113,2667,3646,3882
$GC,2474,-1.29,-194.7,237.1,-10.2,430,2480,0.00,2.65,0.00,0.000,6,0.000,0.092,2667,2242,3882
$GC,2819,-1.29,-194.7,271.6,-10.2,491,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2242,3882
$GC,3161,-1.29,-194.7,304.9,-9.8,552,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2242,3882
$GC,3505,-1.29,-194.7,337.5,-9.1,613,3511,0.00,2.78,0.00,0.000,4,0.000,0.116,2667,3647,3882
$GC,3534,-1.29,-194.7,340.3,-9.7,618,3541,0.00,2.65,0.00,0.000,6,0.000,0.095,2667,2247,3882
$GC,3879,-1.29,-194.7,372.4,-9.2,679,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2247,3882
$GC,4221,-1.29,-194.7,404.6,-9.6,740,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2247,3882
$GC,4565,-1.29,-194.7,436.7,-9.3,801,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2248,3882
$GC,4907,-1.29,-194.7,468.9,-8.9,862,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2248,3882
$GC,5250,-1.29,-194.7,499.4,-8.9,923,5256,0.00,2.78,0.00,0.000,4,0.000,0.119,2667,3646,3881
$GC,5290,-1.29,-194.7,503.1,-9.6,930,5297,0.00,2.65,0.00,0.000,6,0.000,0.098,2667,2250,3881
$GC,5634,-1.29,-194.7,535.0,-9.8,991,5640,0.00,2.88,0.00,0.000,4,0.000,0.127,2667,823,3881
$GC,5669,-1.29,-194.7,538.5,-10.5,997,5675,0.00,2.78,0.00,0.000,6,0.000,0.110,2667,2242,3881
$GC,6012,-1.29,-194.7,572.2,-10.4,1058,6018,0.00,2.80,0.00,0.000,4,0.000,0.123,2667,3650,3881
$GC,6041,-1.29,-194.7,575.3,-10.9,1063,6047,0.00,2.70,0.00,0.000,6,0.000,0.100,2667,2239,3881
$GC,6380,-1.29,-194.7,606.6,-8.8,1117,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2240,3881
$GC,6700,-1.29,-194.7,634.6,-9.0,1147,6704,0.00,2.83,0.00,0.000,4,0.000,0.126,2667,3646,3881
$GC,6732,-1.29,-194.7,637.8,-9.2,1149,6738,0.00,2.70,0.00,0.000,6,0.000,0.104,2667,2246,3881
$GC,7059,-1.29,-194.7,667.1,-8.9,1180,7063,0.00,2.83,0.00,0.000,4,0.000,0.127,2667,3649,3880
$GC,7087,-1.29,-194.7,669.9,-9.9,1182,7091,0.00,2.72,0.00,0.000,6,0.000,0.107,2667,2243,3880
$GC,7414,-1.29,-194.7,698.1,-8.6,1212,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2244,3880
$GC,7741,-1.29,-194.7,725.6,-8.4,1243,7745,0.00,2.85,0.00,0.000,4,0.000,0.130,2667,3648,3879
$GC,7769,-1.29,-194.7,728.2,-9.2,1245,7773,0.00,2.70,0.00,0.000,6,0.000,0.107,2667,2253,3879
$GC,8095,-1.29,-194.7,755.0,-8.3,1275,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2254,3879
$GC,8413,-1.29,-194.7,781.2,-8.2,1305,8418,0.00,2.83,0.00,0.000,4,0.000,0.131,2667,3648,3879
$GC,8442,-1.29,-194.7,783.7,-9.3,1307,8447,0.00,2.72,0.00,0.000,6,0.000,0.110,2667,2252,3879
$GC,8768,-1.29,-194.7,810.3,-8.0,1337,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2253,3878
$GC,9087,-1.29,-194.7,836.1,-8.4,1367,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2253,3878
$GC,9405,-1.29,-194.7,862.7,-8.3,1397,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2253,3878
$GC,9723,-1.29,-194.7,889.2,-8.3,1427,9728,0.00,2.88,0.00,0.000,4,0.000,0.137,2667,3648,3877
$GC,9756,-1.29,-194.7,892.3,-9.8,1429,9762,0.00,2.72,0.00,0.000,6,0.000,0.113,2667,2259,3877
$GC,10082,-1.29,-194.7,919.4,-8.2,1460,10083,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2260,3877
$GC,10400,-1.29,-194.7,946.0,-8.5,1490,10405,0.00,2.85,0.00,0.000,4,0.000,0.137,2667,3645,3877
$GC,10439,-1.29,-194.7,949.5,-9.1,1493,10444,0.00,2.72,0.00,0.000,6,0.000,0.114,2667,2263,3876
$GC,10764,-1.29,-194.7,976.7,-8.5,1523,10765,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2263,3876
$STATE,10805,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10805,begin apogee
$GC,10811,-0.35,0.0,980.3,8.4,1527,10980,1.02,0.00,164.62,1.435,6,0.108,0.000,2875,2333,3085
$STATE,10981,end apogee,CONTROL_FINISHED_OK
$STATE,10981,begin climb
$GC,10983,1.29,194.7,987.0,0.0,1544,11156,1.65,3.03,162.45,1.397,4,0.067,0.133,3241,3741,2290
$GC,11202,1.16,194.7,969.5,14.2,1565,11207,0.15,2.88,0.00,0.000,6,0.116,0.115,3215,2327,2289
$GC,11527,1.10,194.7,931.2,11.3,1595,11528,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2328,2288
$GC,11847,1.05,194.7,893.0,12.3,1625,11849,0.15,0.00,0.00,0.000,6,0.115,0.000,3188,2328,2288
$GC,12164,1.05,194.7,857.0,11.3,1655,12165,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2328,2287
$GC,12481,1.05,194.7,821.7,11.3,1685,12486,0.00,2.92,0.00,0.000,4,0.000,0.133,3188,3742,2287
$GC,12525,0.99,194.7,816.5,11.4,1688,12531,0.00,2.80,0.00,0.000,6,0.000,0.112,3188,2333,2287
$GC,12851,0.99,194.7,782.4,10.6,1719,12852,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2334,2287
$GC,13170,1.00,204.4,750.7,9.7,1749,13181,0.00,0.00,9.15,1.190,6,0.000,0.000,3188,2333,2251
$GC,13497,1.01,206.9,718.2,9.9,1780,13508,0.00,2.92,3.88,0.815,4,0.000,0.131,3188,914,2241
$GC,13531,1.01,206.9,714.5,10.5,1783,13535,0.00,2.80,0.00,0.000,6,0.000,0.107,3188,2338,2241
$GC,13855,1.02,222.0,682.4,9.5,1813,13877,0.00,2.92,14.55,1.201,4,0.000,0.127,3188,3739,2178
$GC,13904,1.02,222.0,677.3,10.9,1817,13911,0.00,2.78,0.00,0.000,6,0.000,0.106,3188,2337,2178
$GC,14231,1.03,223.3,645.8,10.0,1848,14232,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2338,2178
$GC,14549,1.03,223.3,612.9,10.6,1878,14554,0.00,2.85,0.00,0.000,4,0.000,0.122,3188,3743,2177
$GC,14582,0.98,223.3,609.1,11.2,1880,14588,0.00,2.70,0.00,0.000,6,0.000,0.103,3188,2354,2177
$GC,14920,0.98,223.3,572.4,10.7,1933,14925,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2355,2178
$GC,15262,1.00,236.2,537.7,9.6,1994,15279,0.00,0.00,13.10,1.109,6,0.000,0.000,3188,2354,2122
$GC,15617,1.01,240.7,502.5,9.8,2057,15628,0.00,0.00,5.62,0.911,6,0.000,0.000,3188,2355,2103
$GC,15965,1.01,240.7,464.9,11.6,2119,15970,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2355,2102
$GC,16307,1.01,240.7,426.6,10.3,2180,16313,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2355,2102
$GC,16651,1.01,240.7,390.3,11.9,2241,16657,0.00,2.85,0.00,0.000,4,0.000,0.116,3188,911,2103
$GC,16685,1.01,240.7,386.2,11.6,2247,16691,0.00,2.80,0.00,0.000,6,0.000,0.100,3188,2365,2103
$GC,17029,1.01,240.7,348.6,11.1,2308,17035,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2365,2102
$GC,17373,1.01,240.7,311.5,11.2,2369,17379,0.00,2.85,0.00,0.000,4,0.000,0.112,3188,913,2103
$GC,17401,1.01,240.7,308.2,12.1,2374,17408,0.00,2.78,0.00,0.000,6,0.000,0.097,3187,2367,2103
$GC,17746,1.01,240.7,270.5,10.2,2435,17751,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2367,2103
$GC,18088,1.01,240.7,234.8,10.1,2496,18094,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2367,2103
$GC,18431,1.01,240.7,197.7,11.2,2557,18437,0.00,2.83,0.00,0.000,4,0.000,0.107,3188,909,2104
$GC,18460,1.01,240.7,194.5,10.4,2562,18466,0.00,2.75,0.00,0.000,6,0.000,0.094,3188,2360,2104
$GC,18804,1.01,240.7,157.7,11.0,2623,18810,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2360,2105
$GC,19148,1.01,240.7,120.3,10.2,2684,19154,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2360,2105
$GC,19289,1.01,240.7,104.8,12.4,2709,19295,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2360,2105
$GC,19431,1.01,240.7,89.5,10.7,2734,19437,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2360,2105
$GC,19572,1.01,240.7,74.5,10.7,2759,19579,0.00,2.80,0.00,0.000,4,0.000,0.105,3188,908,2105
$GC,19602,1.01,240.7,71.2,10.6,2764,19609,0.00,2.72,0.00,0.000,6,0.000,0.091,3188,2353,2105
$GC,19745,1.01,240.7,55.4,10.5,2789,19750,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2354,2105
$GC,19888,1.02,254.8,40.5,9.5,2814,19905,0.00,0.00,13.23,0.800,6,0.000,0.000,3188,2353,2046
$GC,20044,1.05,279.1,25.5,9.2,2841,20067,0.00,0.00,20.90,0.772,6,0.000,0.000,3188,2353,1947
$GC,20206,1.09,310.8,8.0,8.9,2869,20240,0.00,2.85,26.95,0.757,4,0.000,0.104,3188,916,1818
$GC,20247,1.17,339.0,3.6,9.0,2876,20267,0.12,2.75,13.50,0.701,2,0.061,0.091,3222,2347,1756
$STATE,20267,end climb,SURFACE_DEPTH_REACHED
$STATE,20267,begin surface coast
$FINISH,0.7,1.027765
$STATE,20272,end surface coast,CONTROL_FINISHED_OK
$STATE,20273,begin surface
$SM_CCo,20354,0.00,0.000,0,0,1748,327.97
$SM_GC,1.10,11.77,0.00,0.00,0.050,0.000,0.000,595,2227,1748,-10.84,-0.23,327.97
$IRIDIUM_FIX,5907.03,-2208.53,130797,101027
$TT8_MAMPS,0.022243
$HUMID,1569
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.30
$XPDR_PINGS,115
$24V_AH,23.4,20.534
$10V_AH,10.6,14.335
$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,27.750,139.475,447.950,0.000,0.000,28.355,50.993,296.210,28.750,0.000,0.000,14.000,4344.377,10312.639,628.130,4769.955,801.449,0.000,2736.356,0.000,4762.149,0.000,0.468
$DEVICE_MAMPS,203.255,160.303,1435.057,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1993.618,2164.072,1869.696,1210.566,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,163925,2880
$CAP_FILE_SIZE,222834,0
$CFSIZE,260165632,250040320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,180408,212808,5924.289,-2233.727,41,1.5,41,-15.5