version: 66.03
glider: 140
mission: 5
dive: 72
start: 4 20 108 2 10 57
data:
$ID,140
$MISSION,5
$DIVE,72
$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,-1
$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,-14473.861
$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
$GPS1,020226,5921.501,-2236.407,38,1.4,38,-15.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-64.6
$GPS2,021039,5921.357,-2236.493,15,1.1,15,-15.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,FL48_18APR
$TGT_LATLONG,5953.000,-2226.700
$TGT_RADIUS,1000.000
$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,24.3,59305,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.29,-194.7,0.0,0.0,0,90,0.00,0.00,-65.35,0.000,2,0.000,0.000,592,2231,3604
$GC,93,-1.29,-194.7,3.5,-5.9,12,118,13.07,2.78,-5.72,0.000,4,0.209,0.114,2671,3652,3881
$GC,286,-1.29,-194.7,31.7,-10.3,46,293,0.00,2.65,0.00,0.000,6,0.000,0.086,2671,2235,3882
$GC,429,-1.29,-194.7,45.5,-9.6,71,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3882
$GC,571,-1.29,-194.7,60.6,-11.5,96,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3882
$GC,712,-1.29,-194.7,73.9,-8.7,121,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3882
$GC,854,-1.29,-194.7,86.4,-9.1,146,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3883
$GC,996,-1.29,-194.7,99.9,-9.2,171,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3882
$GC,1138,-1.29,-194.7,113.3,-9.1,196,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3882
$GC,1280,-1.29,-194.7,126.6,-9.8,221,1286,0.00,2.72,0.00,0.000,4,0.000,0.107,2671,824,3882
$GC,1304,-1.29,-194.7,129.0,-9.9,225,1310,0.00,2.70,0.00,0.000,6,0.000,0.093,2671,2244,3882
$GC,1448,-1.29,-194.7,143.1,-10.0,250,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3882
$GC,1590,-1.29,-194.7,157.2,-9.6,275,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3882
$GC,1932,-1.29,-194.7,190.2,-9.7,336,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3882
$GC,2275,-1.29,-194.7,222.7,-9.3,397,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3883
$GC,2618,-1.29,-194.7,255.5,-9.6,458,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3883
$GC,2961,-1.29,-194.7,286.7,-8.8,519,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3883
$GC,3304,-1.29,-194.7,316.8,-8.8,580,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3882
$GC,3647,-1.29,-194.7,347.2,-8.5,641,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3883
$GC,3989,-1.29,-194.7,377.1,-8.8,702,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3883
$GC,4332,-1.29,-194.7,406.6,-8.5,763,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3883
$GC,4675,-1.29,-194.7,436.0,-8.3,824,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3883
$GC,5019,-1.29,-194.7,463.9,-8.2,885,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3883
$GC,5361,-1.29,-194.7,493.3,-8.9,946,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3883
$GC,5704,-1.29,-194.7,524.8,-8.8,1007,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3882
$GC,6046,-1.29,-194.7,555.8,-9.4,1068,6053,0.00,2.78,0.00,0.000,4,0.000,0.119,2670,3646,3882
$GC,6065,-1.29,-194.7,557.5,-9.4,1071,6071,0.00,2.67,0.00,0.000,6,0.000,0.096,2671,2238,3882
$GC,6409,-1.29,-194.7,589.4,-9.0,1132,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3882
$GC,6740,-1.29,-194.7,618.4,-8.6,1173,6741,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3882
$GC,7059,-1.29,-194.7,644.4,-8.0,1203,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3882
$GC,7379,-1.29,-194.7,669.9,-8.0,1233,7383,0.00,2.85,0.00,0.000,4,0.000,0.127,2670,3648,3881
$GC,7407,-1.29,-194.7,672.4,-8.8,1235,7411,0.00,2.70,0.00,0.000,6,0.000,0.102,2671,2244,3881
$GC,7733,-1.29,-194.7,698.9,-7.9,1265,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3881
$GC,8050,-1.29,-194.7,723.3,-7.4,1295,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3880
$GC,8368,-1.29,-194.7,747.8,-7.8,1325,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3880
$GC,8687,-1.29,-194.7,772.4,-7.7,1355,8692,0.00,2.85,0.00,0.000,4,0.000,0.130,2671,3645,3880
$GC,8731,-1.29,-194.7,776.0,-8.2,1358,8737,0.00,2.72,0.00,0.000,6,0.000,0.107,2671,2243,3880
$GC,9057,-1.29,-194.7,800.9,-7.8,1389,9058,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3879
$GC,9374,-1.29,-194.7,826.9,-8.3,1419,9375,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3879
$GC,9693,-1.29,-194.7,853.3,-8.5,1449,9694,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3878
$GC,10013,-1.29,-194.7,880.2,-8.0,1479,10017,0.00,2.90,0.00,0.000,4,0.000,0.136,2671,3649,3878
$GC,10052,-1.29,-194.7,883.7,-8.6,1482,10057,0.00,2.75,0.00,0.000,6,0.000,0.111,2671,2247,3878
$GC,10378,-1.29,-194.7,910.2,-8.0,1512,10379,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2248,3878
$GC,10697,-1.29,-194.7,935.5,-8.0,1542,10702,0.00,2.88,0.00,0.000,4,0.000,0.135,2671,3645,3876
$GC,10736,-1.29,-194.7,938.9,-8.6,1545,10741,0.00,2.75,0.00,0.000,6,0.000,0.113,2671,2248,3877
$STATE,10814,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10814,begin apogee
$GC,10820,-0.35,0.0,945.2,7.7,1552,10988,1.02,0.00,164.15,1.406,6,0.110,0.000,2877,2332,3085
$STATE,10989,end apogee,CONTROL_FINISHED_OK
$STATE,10989,begin climb
$GC,10991,1.29,194.7,950.7,0.0,1569,11159,1.62,0.00,162.30,1.364,6,0.072,0.000,3239,2332,2291
$GC,11477,1.21,194.7,895.0,13.8,1616,11478,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2332,2288
$GC,11797,1.12,194.7,851.3,13.5,1646,11802,0.15,2.92,0.00,0.000,4,0.115,0.130,3208,3741,2288
$GC,11848,1.05,194.7,844.4,13.2,1650,11852,0.00,2.80,0.00,0.000,6,0.000,0.110,3208,2337,2288
$GC,12174,1.00,194.7,804.8,12.1,1680,12179,0.15,2.95,0.00,0.000,4,0.113,0.136,3176,915,2287
$GC,12213,1.00,194.7,800.0,10.8,1683,12218,0.00,2.83,0.00,0.000,6,0.000,0.113,3176,2338,2287
$GC,12539,1.00,194.7,765.8,10.4,1713,12540,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2339,2287
$GC,12856,1.00,194.7,732.5,10.1,1743,12861,0.00,2.88,0.00,0.000,4,0.000,0.123,3176,912,2287
$GC,12895,1.00,194.7,728.3,10.9,1746,12900,0.00,2.80,0.00,0.000,6,0.000,0.110,3176,2333,2287
$GC,13221,1.02,209.6,696.1,9.5,1776,13239,0.00,0.00,13.52,1.207,6,0.000,0.000,3176,2333,2229
$GC,13560,1.03,213.0,662.3,9.9,1808,13568,0.00,0.00,4.55,0.887,6,0.000,0.000,3176,2333,2216
$GC,13888,1.03,218.6,629.8,9.8,1839,13897,0.00,0.00,6.45,1.021,6,0.000,0.000,3176,2333,2193
$GC,14217,1.06,240.4,598.7,9.2,1871,14245,0.00,2.92,19.73,1.141,4,0.000,0.117,3176,911,2104
$GC,14274,1.10,276.4,593.4,8.7,1881,14312,0.10,2.80,32.08,1.127,6,0.071,0.104,3202,2332,1958
$GC,14651,1.10,276.4,550.1,12.2,1948,14657,0.00,2.85,0.00,0.000,4,0.000,0.122,3202,3742,1952
$GC,14681,1.10,276.4,546.3,11.9,1953,14687,0.00,2.75,0.00,0.000,6,0.000,0.096,3202,2319,1952
$GC,15025,1.10,276.4,505.6,11.8,2014,15031,0.00,2.78,0.00,0.000,4,0.000,0.116,3202,919,1951
$GC,15059,1.10,276.4,501.3,11.6,2020,15066,0.00,2.75,0.00,0.000,6,0.000,0.103,3202,2330,1951
$GC,15403,1.10,276.4,460.1,12.1,2081,15409,0.00,2.83,0.00,0.000,4,0.000,0.118,3202,3743,1950
$GC,15437,1.10,276.4,455.7,12.2,2087,15444,0.00,2.72,0.00,0.000,6,0.000,0.094,3202,2325,1950
$GC,15781,1.10,276.4,415.4,12.0,2148,15787,0.00,2.78,0.00,0.000,4,0.000,0.114,3202,914,1951
$GC,15816,1.10,276.4,411.3,12.1,2154,15822,0.00,2.72,0.00,0.000,6,0.000,0.099,3202,2327,1950
$GC,16158,1.10,276.4,372.0,11.7,2215,16165,0.00,2.83,0.00,0.000,4,0.000,0.115,3202,3744,1950
$GC,16187,1.10,276.4,368.5,12.3,2220,16194,0.00,2.72,0.00,0.000,6,0.000,0.093,3202,2320,1950
$GC,16531,1.10,276.4,328.3,10.7,2281,16537,0.00,2.75,0.00,0.000,4,0.000,0.113,3202,918,1950
$GC,16566,1.10,276.4,324.1,12.3,2287,16572,0.00,2.70,0.00,0.000,6,0.000,0.097,3202,2324,1950
$GC,16909,1.10,276.4,283.3,11.3,2348,16915,0.00,2.80,0.00,0.000,4,0.000,0.114,3202,3740,1950
$GC,16938,1.10,276.4,279.7,11.5,2353,16944,0.00,2.70,0.00,0.000,6,0.000,0.090,3202,2316,1950
$GC,17281,1.10,276.4,238.9,11.8,2414,17288,0.00,2.72,0.00,0.000,4,0.000,0.109,3202,913,1951
$GC,17324,1.10,276.4,234.0,13.2,2421,17330,0.00,2.67,0.00,0.000,6,0.000,0.094,3202,2318,1951
$GC,17668,1.10,276.4,192.9,11.9,2482,17673,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2318,1951
$GC,18011,1.10,276.4,152.4,12.1,2543,18016,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2319,1951
$GC,18354,1.10,276.4,112.8,10.5,2604,18360,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2318,1951
$GC,18496,1.10,276.4,96.7,11.6,2629,18502,0.00,2.70,0.00,0.000,4,0.000,0.104,3202,914,1951
$GC,18525,1.10,276.4,93.1,11.3,2634,18532,0.00,2.62,0.00,0.000,6,0.000,0.091,3202,2309,1951
$GC,18668,1.10,276.4,76.4,11.2,2659,18674,0.00,2.80,0.00,0.000,4,0.000,0.107,3202,3742,1951
$GC,18703,1.10,276.4,72.0,13.2,2665,18710,0.00,2.70,0.00,0.000,6,0.000,0.085,3202,2308,1951
$GC,18845,1.10,276.4,55.6,11.9,2690,18852,0.00,2.67,0.00,0.000,4,0.000,0.104,3202,914,1951
$GC,18888,1.10,276.4,50.5,12.1,2697,18894,0.00,2.62,0.00,0.000,6,0.000,0.091,3202,2307,1951
$GC,19030,1.10,276.4,33.7,12.0,2722,19037,0.00,2.78,0.00,0.000,4,0.000,0.107,3202,3739,1951
$GC,19066,1.10,276.4,29.4,13.4,2728,19072,0.00,2.72,0.00,0.000,6,0.000,0.087,3202,2292,1951
$GC,19208,1.10,276.4,12.4,13.2,2753,19214,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2292,1951
$STATE,19296,end climb,SURFACE_DEPTH_REACHED
$STATE,19296,begin surface coast
$FINISH,0.3,1.027773
$STATE,19315,end surface coast,CONTROL_FINISHED_OK
$STATE,19315,begin surface
$SM_CCo,19396,0.00,0.000,0,0,1949,278.66
$SM_GC,1.16,11.55,0.00,0.00,0.051,0.000,0.000,590,2233,1949,-10.85,-0.06,278.66
$IRIDIUM_FIX,5858.64,-2239.79,140797,202025
$TT8_MAMPS,0.02301
$HUMID,1606
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,18.20
$XPDR_PINGS,80
$24V_AH,23.5,21.645
$10V_AH,10.7,15.565
$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,27.675,127.625,402.775,0.000,0.000,24.687,38.301,270.334,20.000,0.000,0.000,15.594,4151.150,9799.828,614.015,4539.059,755.543,0.000,2599.815,0.000,4553.249,0.000,0.468
$DEVICE_MAMPS,208.624,141.895,1405.911,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1919.359,2092.706,1806.070,1172.328,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,157669,2772
$CAP_FILE_SIZE,207274,0
$CFSIZE,260165632,249368576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200408,073531,5920.600,-2234.982,38,1.2,43,-15.5