version: 66.03
glider: 140
mission: 5
dive: 70
start: 4 19 108 14 47 9
data:
$ID,140
$MISSION,5
$DIVE,70
$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,359
$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,-14441.939
$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,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
$GPS1,143131,5923.177,-2235.993,40,0.9,40,-15.5
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-61.6
$GPS2,144651,5922.973,-2236.410,11,2.0,11,-15.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5933.771,-2236.505
$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,14.5,20000,-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,-70.75,0.000,2,0.000,0.000,593,2228,3405
$GC,104,-1.29,-194.7,3.2,-7.9,13,134,13.02,2.78,-10.98,0.000,4,0.208,0.117,2668,3645,3879
$GC,256,-1.29,-194.7,21.5,-11.9,39,262,0.00,2.65,0.00,0.000,6,0.000,0.087,2668,2235,3880
$GC,398,-1.29,-194.7,35.8,-9.3,64,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3880
$GC,540,-1.29,-194.7,49.0,-9.5,89,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3880
$GC,682,-1.29,-194.7,63.1,-9.4,114,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3880
$GC,824,-1.29,-194.7,76.4,-8.8,139,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3880
$GC,965,-1.29,-194.7,89.2,-9.5,164,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3880
$GC,1108,-1.29,-194.7,102.6,-9.4,189,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3880
$GC,1249,-1.29,-194.7,115.7,-9.0,214,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3880
$GC,1391,-1.29,-194.7,128.8,-8.8,239,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3879
$GC,1533,-1.29,-194.7,142.1,-9.3,264,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3880
$GC,1676,-1.29,-194.7,155.8,-9.6,289,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2235,3879
$GC,2019,-1.29,-194.7,190.6,-10.2,350,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3879
$GC,2363,-1.29,-194.7,224.0,-9.8,411,2369,0.00,2.78,0.00,0.000,4,0.000,0.112,2668,3649,3880
$GC,2391,-1.29,-194.7,227.0,-10.0,416,2398,0.00,2.65,0.00,0.000,6,0.000,0.089,2668,2237,3880
$GC,2736,-1.29,-194.7,259.1,-9.1,477,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3880
$GC,3078,-1.29,-194.7,291.4,-9.3,538,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3880
$GC,3422,-1.29,-194.7,324.1,-9.7,599,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3880
$GC,3764,-1.29,-194.7,356.2,-9.2,660,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3880
$GC,4107,-1.29,-194.7,386.8,-9.0,721,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3880
$GC,4450,-1.29,-194.7,418.3,-9.0,782,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3880
$GC,4792,-1.29,-194.7,450.4,-9.3,843,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3879
$GC,5134,-1.29,-194.7,483.2,-9.8,904,5140,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3880
$GC,5478,-1.29,-194.7,516.4,-10.0,965,5484,0.00,2.80,0.00,0.000,4,0.000,0.120,2669,3644,3880
$GC,5502,-1.29,-194.7,518.8,-10.0,969,5508,0.00,2.67,0.00,0.000,6,0.000,0.096,2668,2238,3880
$GC,5846,-1.29,-194.7,550.7,-8.7,1030,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2239,3880
$GC,6189,-1.29,-194.7,581.8,-9.1,1091,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2239,3880
$GC,6524,-1.29,-194.7,611.2,-8.9,1140,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2239,3880
$GC,6843,-1.29,-194.7,638.6,-8.4,1170,6848,0.00,2.85,0.00,0.000,4,0.000,0.127,2668,3647,3880
$GC,6871,-1.29,-194.7,641.2,-9.5,1172,6875,0.00,2.70,0.00,0.000,6,0.000,0.101,2669,2243,3880
$GC,7197,-1.29,-194.7,669.7,-9.0,1202,7198,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3879
$GC,7514,-1.29,-194.7,698.4,-8.7,1232,7515,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2244,3879
$GC,7833,-1.29,-194.7,725.3,-8.4,1262,7834,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3878
$GC,8151,-1.29,-194.7,751.8,-8.3,1292,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2244,3878
$GC,8469,-1.29,-194.7,778.8,-8.5,1322,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3878
$GC,8788,-1.29,-194.7,806.0,-8.5,1352,8793,0.00,2.88,0.00,0.000,4,0.000,0.134,2669,3642,3878
$GC,8816,-1.29,-194.7,808.5,-9.1,1354,8821,0.00,2.72,0.00,0.000,6,0.000,0.108,2669,2244,3878
$GC,9142,-1.29,-194.7,835.1,-8.1,1384,9147,0.00,2.88,0.00,0.000,4,0.000,0.133,2669,3650,3877
$GC,9170,-1.29,-194.7,837.7,-9.4,1386,9175,0.00,2.75,0.00,0.000,6,0.000,0.110,2669,2242,3877
$GC,9496,-1.29,-194.7,866.5,-9.1,1416,9498,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2243,3877
$GC,9815,-1.29,-194.7,893.9,-8.2,1446,9820,0.00,2.88,0.00,0.000,4,0.000,0.135,2668,3643,3876
$GC,9836,-1.29,-194.7,896.0,-8.4,1447,9842,0.00,2.72,0.00,0.000,6,0.000,0.110,2669,2253,3876
$GC,10162,-1.29,-194.7,922.8,-8.3,1478,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2254,3876
$GC,10481,-1.29,-194.7,948.8,-8.2,1508,10482,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2254,3875
$GC,10800,-1.29,-194.7,974.7,-8.2,1538,10804,0.00,2.88,0.00,0.000,4,0.000,0.137,2669,3644,3875
$STATE,10807,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10807,begin apogee
$GC,10816,-0.35,0.0,975.6,7.8,1538,10984,1.02,0.00,164.23,1.434,6,0.108,0.000,2876,2322,3085
$STATE,10984,end apogee,CONTROL_FINISHED_OK
$STATE,10985,begin climb
$GC,10987,1.29,194.7,981.3,0.0,1555,11155,1.65,0.00,163.00,1.388,6,0.065,0.000,3242,2322,2291
$GC,11473,1.20,194.7,927.7,12.9,1602,11478,0.00,2.95,0.00,0.000,4,0.000,0.133,3242,3736,2288
$GC,11516,1.08,194.7,921.5,13.6,1605,11523,0.25,2.83,0.00,0.000,6,0.110,0.113,3195,2327,2288
$GC,11841,1.08,194.7,887.3,10.7,1636,11845,0.00,2.97,0.00,0.000,4,0.000,0.143,3195,920,2288
$GC,11873,1.08,194.7,883.6,10.8,1638,11879,0.00,2.85,0.00,0.000,6,0.000,0.117,3195,2337,2288
$GC,12199,1.08,194.7,848.0,11.0,1669,12200,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2337,2287
$GC,12516,1.08,194.7,812.1,11.6,1699,12521,0.00,2.90,0.00,0.000,4,0.000,0.134,3195,3741,2287
$GC,12566,1.02,194.7,805.9,12.8,1703,12571,0.00,2.80,0.00,0.000,6,0.000,0.107,3195,2324,2287
$GC,12892,1.02,194.7,769.5,10.5,1733,12894,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2325,2287
$GC,13209,1.02,194.7,736.2,10.3,1763,13214,0.00,2.90,0.00,0.000,4,0.000,0.127,3195,3742,2287
$GC,13248,0.96,194.7,731.9,10.6,1766,13254,0.12,2.78,0.00,0.000,6,0.116,0.105,3172,2328,2286
$GC,13573,0.97,206.9,700.8,9.6,1796,13593,0.00,2.92,11.20,1.193,4,0.000,0.127,3173,912,2240
$GC,13651,0.98,208.7,693.0,9.9,1803,13655,0.00,2.83,0.00,0.000,6,0.000,0.109,3172,2340,2240
$GC,13978,1.01,232.7,662.0,9.2,1833,14010,0.00,2.95,23.17,1.196,4,0.000,0.126,3172,3735,2135
$GC,14055,1.01,233.6,654.5,10.0,1840,14060,0.00,2.75,0.00,0.000,6,0.000,0.101,3172,2336,2134
$GC,14381,1.04,257.6,625.6,9.2,1870,14413,0.00,2.95,22.27,1.163,4,0.000,0.121,3172,919,2034
$GC,14447,1.08,257.6,619.0,10.4,1876,14453,0.10,2.83,0.00,0.000,6,0.071,0.106,3198,2349,2032
$GC,14781,1.08,257.6,581.4,12.2,1920,14787,0.00,2.83,0.00,0.000,4,0.000,0.125,3198,3740,2031
$GC,14810,1.08,257.6,577.8,12.1,1925,14816,0.00,2.72,0.00,0.000,6,0.000,0.097,3198,2338,2031
$GC,15153,1.08,257.6,536.8,11.3,1986,15158,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2339,2030
$GC,15495,1.08,257.6,496.5,11.7,2047,15500,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2339,2031
$GC,15839,1.08,257.6,456.1,11.4,2108,15845,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2339,2031
$GC,16182,1.08,257.6,417.1,10.9,2169,16187,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2338,2031
$GC,16524,1.08,257.6,379.1,10.0,2230,16530,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2339,2031
$GC,16867,1.08,257.6,340.8,10.3,2291,16872,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2339,2031
$GC,17209,1.08,257.6,303.2,12.3,2352,17214,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2339,2031
$GC,17552,1.08,257.6,265.0,11.8,2413,17557,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2339,2032
$GC,17894,1.08,257.6,226.4,10.8,2474,17899,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2339,2032
$GC,18236,1.08,257.6,189.1,10.1,2535,18242,0.00,2.78,0.00,0.000,4,0.000,0.110,3198,3743,2032
$GC,18271,1.08,257.6,185.2,10.6,2541,18277,0.00,2.65,0.00,0.000,6,0.000,0.088,3199,2341,2032
$GC,18615,1.08,257.6,146.1,11.8,2602,18621,0.00,2.72,0.00,0.000,4,0.000,0.105,3198,919,2032
$GC,18657,1.08,257.6,141.1,12.8,2609,18663,0.00,2.70,0.00,0.000,6,0.000,0.092,3198,2345,2032
$GC,18799,1.08,257.6,124.3,12.2,2634,18805,0.00,2.72,0.00,0.000,4,0.000,0.110,3198,3741,2032
$GC,18830,1.08,257.6,120.7,11.8,2639,18837,0.00,2.65,0.00,0.000,6,0.000,0.087,3198,2335,2032
$GC,18972,1.08,257.6,104.1,11.4,2664,18978,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2336,2033
$GC,19114,1.08,257.6,88.0,11.2,2689,19120,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2336,2033
$GC,19255,1.08,257.6,72.4,10.9,2714,19261,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2336,2033
$GC,19398,1.08,257.6,56.6,10.7,2739,19403,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2336,2033
$GC,19539,1.08,257.6,41.6,11.2,2764,19545,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2337,2033
$GC,19681,1.12,288.1,27.6,8.9,2789,19709,0.00,0.00,26.00,0.784,6,0.000,0.000,3198,2336,1909
$GC,19847,1.12,288.1,6.9,12.3,2818,19853,0.00,2.78,0.00,0.000,4,0.000,0.108,3198,3742,1906
$GC,19889,1.12,288.1,2.3,10.5,2825,19895,0.00,2.62,0.00,0.000,6,0.000,0.084,3198,2351,1906
$STATE,19900,end climb,SURFACE_DEPTH_REACHED
$STATE,19900,begin surface coast
$FINISH,0.4,1.027765
$STATE,19918,end surface coast,CONTROL_FINISHED_OK
$STATE,19918,begin surface
$SM_CCo,19999,0.00,0.000,0,0,1902,290.19
$SM_GC,1.04,11.55,0.00,0.00,0.049,0.000,0.000,593,2225,1902,-10.85,-0.28,290.19
$IRIDIUM_FIX,5858.64,-2232.00,140797,141450
$TT8_MAMPS,0.02301
$HUMID,1573
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.20
$XPDR_PINGS,106
$24V_AH,23.4,21.290
$10V_AH,10.7,15.157
$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,27.725,111.850,409.875,0.000,0.000,81.625,182.277,371.183,26.500,0.000,0.000,11.270,4254.464,10283.140,626.677,4682.696,1039.803,0.000,2669.864,0.000,4675.073,0.000,0.468
$DEVICE_MAMPS,207.857,143.429,1433.523,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1959.768,2117.614,1843.911,1194.831,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,160633,2830
$CAP_FILE_SIZE,214955,0
$CFSIZE,260165632,249585664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,190408,202138,5922.687,-2237.780,35,2.0,35,-15.5