version: 66.03
glider: 140
mission: 5
dive: 73
start: 4 20 108 7 44 9
data:
$ID,140
$MISSION,5
$DIVE,73
$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,-14486.186
$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
$GPS1,073531,5920.600,-2234.982,38,1.2,43,-15.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-62.1
$GPS2,074351,5920.462,-2235.040,11,1.0,11,-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,22.8,60757,-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,-65.32,0.000,2,0.000,0.000,591,2232,3494
$GC,93,-1.29,-194.7,3.2,-6.0,12,122,13.02,2.80,-8.85,0.000,4,0.207,0.118,2671,3652,3881
$GC,237,-1.29,-194.7,20.9,-9.0,37,244,0.00,2.67,0.00,0.000,6,0.000,0.087,2671,2229,3882
$GC,380,-1.29,-194.7,33.3,-9.3,62,386,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3882
$GC,523,-1.29,-194.7,46.9,-9.5,87,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3882
$GC,664,-1.29,-194.7,60.3,-9.8,112,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3882
$GC,807,-1.29,-194.7,73.6,-9.4,137,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3882
$GC,948,-1.29,-194.7,86.5,-8.9,162,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3882
$GC,1090,-1.29,-194.7,99.7,-9.2,187,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3882
$GC,1232,-1.29,-194.7,112.9,-9.3,212,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2229,3883
$GC,1374,-1.29,-194.7,126.0,-9.1,237,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3882
$GC,1516,-1.29,-194.7,139.2,-9.3,262,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3883
$GC,1658,-1.29,-194.7,152.3,-9.0,287,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3883
$GC,2000,-1.29,-194.7,183.4,-9.5,348,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3883
$GC,2344,-1.29,-194.7,215.0,-9.2,409,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3883
$GC,2687,-1.29,-194.7,246.3,-8.6,470,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3883
$GC,3030,-1.29,-194.7,275.5,-8.5,531,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3883
$GC,3372,-1.29,-194.7,305.4,-8.9,592,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3883
$GC,3716,-1.29,-194.7,336.2,-9.3,653,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3883
$GC,4059,-1.29,-194.7,366.9,-8.9,714,4065,0.00,2.80,0.00,0.000,4,0.000,0.115,2671,3645,3883
$GC,4088,-1.29,-194.7,369.6,-9.8,719,4094,0.00,2.67,0.00,0.000,6,0.000,0.093,2670,2234,3883
$GC,4431,-1.29,-194.7,400.2,-8.6,780,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3883
$GC,4775,-1.29,-194.7,431.0,-8.9,841,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3883
$GC,5117,-1.29,-194.7,460.9,-8.6,902,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3883
$GC,5460,-1.29,-194.7,489.6,-8.0,963,5466,0.00,2.80,0.00,0.000,4,0.000,0.117,2670,3648,3883
$GC,5483,-1.29,-194.7,491.5,-8.3,967,5489,0.00,2.70,0.00,0.000,6,0.000,0.095,2671,2229,3883
$GC,5827,-1.29,-194.7,519.5,-7.9,1028,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3883
$GC,6170,-1.29,-194.7,548.3,-8.4,1089,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3883
$GC,6513,-1.29,-194.7,576.1,-8.1,1150,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3883
$GC,6854,-1.29,-194.7,602.8,-7.9,1208,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3882
$GC,7173,-1.29,-194.7,627.2,-7.3,1238,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3881
$GC,7492,-1.29,-194.7,649.7,-6.9,1268,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3882
$GC,7810,-1.29,-194.7,672.3,-7.6,1298,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3881
$GC,8128,-1.29,-194.7,697.8,-8.0,1328,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3881
$GC,8447,-1.29,-194.7,724.0,-8.0,1358,8451,0.00,2.90,0.00,0.000,4,0.000,0.133,2671,3647,3880
$GC,8468,-1.29,-194.7,726.0,-8.8,1359,8474,0.00,2.75,0.00,0.000,6,0.000,0.107,2671,2228,3881
$GC,8795,-1.29,-194.7,752.2,-8.0,1390,8799,0.00,2.88,0.00,0.000,4,0.000,0.129,2671,3648,3880
$GC,8823,-1.29,-194.7,754.7,-8.9,1392,8828,0.00,2.75,0.00,0.000,6,0.000,0.107,2671,2234,3880
$GC,9149,-1.29,-194.7,779.9,-7.8,1422,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3880
$GC,9466,-1.29,-194.7,804.9,-8.0,1452,9467,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3879
$GC,9785,-1.29,-194.7,830.7,-8.1,1482,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3879
$GC,10105,-1.29,-194.7,855.9,-7.8,1512,10110,0.00,2.90,0.00,0.000,4,0.000,0.136,2671,3643,3879
$GC,10133,-1.29,-194.7,858.3,-8.3,1514,10137,0.00,2.75,0.00,0.000,6,0.000,0.110,2671,2239,3879
$GC,10459,-1.29,-194.7,883.6,-7.8,1544,10460,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3878
$GC,10777,-1.29,-194.7,909.7,-8.5,1574,10782,0.00,2.90,0.00,0.000,4,0.000,0.136,2670,3649,3878
$GC,10805,-1.29,-194.7,912.2,-8.8,1576,10810,0.00,2.58,0.00,0.000,3,0.000,0.111,2671,2330,3878
$STATE,10810,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10810,begin apogee
$GC,10816,-0.35,0.0,912.6,8.4,1576,10983,1.02,0.00,163.32,1.384,6,0.112,0.000,2875,2331,3085
$STATE,10984,end apogee,CONTROL_FINISHED_OK
$STATE,10984,begin climb
$GC,10986,1.29,194.7,919.3,0.0,1593,11161,1.67,3.03,160.95,1.344,4,0.068,0.131,3239,3733,2290
$GC,11211,1.17,194.7,900.6,14.2,1614,11218,0.12,2.83,0.00,0.000,6,0.118,0.111,3218,2329,2289
$GC,11536,1.11,194.7,862.3,11.4,1645,11537,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2330,2288
$GC,11856,1.06,194.7,825.5,11.7,1675,11861,0.15,2.92,0.00,0.000,4,0.112,0.130,3190,3737,2287
$GC,11896,1.01,194.7,820.8,11.9,1678,11901,0.00,2.80,0.00,0.000,6,0.000,0.109,3190,2331,2287
$GC,12220,1.01,194.7,786.6,10.8,1708,12225,0.00,2.92,0.00,0.000,4,0.000,0.137,3190,919,2287
$GC,12270,1.01,194.7,781.0,11.3,1712,12275,0.00,2.83,0.00,0.000,6,0.000,0.114,3190,2336,2287
$GC,12594,1.01,194.7,747.0,10.4,1742,12599,0.00,2.90,0.00,0.000,4,0.000,0.132,3191,3741,2287
$GC,12638,0.95,194.7,742.0,11.1,1745,12644,0.12,2.78,0.00,0.000,6,0.117,0.104,3169,2327,2287
$GC,12962,0.96,197.9,710.0,9.9,1776,12974,0.00,2.90,3.67,0.764,4,0.000,0.128,3168,913,2278
$GC,13001,0.96,197.9,705.9,10.3,1779,13007,0.00,2.83,0.00,0.000,6,0.000,0.110,3168,2338,2278
$GC,13328,0.97,204.6,674.1,9.8,1810,13337,0.00,0.00,7.53,1.091,6,0.000,0.000,3168,2338,2250
$GC,13656,0.98,216.9,642.8,9.6,1841,13677,0.00,2.95,12.05,1.155,4,0.000,0.127,3168,3735,2199
$GC,13712,0.98,216.9,637.1,10.4,1846,13717,0.00,2.78,0.00,0.000,6,0.000,0.101,3168,2321,2199
$GC,14036,0.99,227.2,606.3,9.6,1876,14052,0.00,2.88,10.43,1.116,4,0.000,0.121,3168,916,2157
$GC,14086,1.00,228.5,601.3,10.0,1880,14091,0.00,2.80,0.00,0.000,6,0.000,0.107,3168,2331,2157
$GC,14428,1.00,234.3,568.1,9.8,1939,14445,0.00,2.95,7.47,1.033,4,0.000,0.123,3168,3741,2129
$GC,14481,1.00,234.3,562.8,10.5,1948,14487,0.00,2.75,0.00,0.000,6,0.000,0.097,3168,2326,2128
$GC,14826,1.02,246.6,527.9,9.6,2009,14843,0.00,2.92,11.75,1.079,4,0.000,0.118,3168,913,2079
$GC,14873,1.07,246.6,523.0,10.2,2017,14879,0.10,2.80,0.00,0.000,6,0.071,0.105,3195,2333,2078
$GC,15217,1.07,246.6,484.2,10.7,2078,15223,0.00,2.83,0.00,0.000,4,0.000,0.119,3195,3741,2077
$GC,15274,1.07,246.6,477.4,11.8,2088,15280,0.00,2.72,0.00,0.000,6,0.000,0.094,3195,2325,2077
$GC,15618,1.07,246.6,439.6,10.2,2149,15623,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2326,2077
$GC,15960,1.08,259.5,404.3,9.6,2210,15977,0.00,0.00,12.25,1.015,6,0.000,0.000,3195,2326,2026
$GC,16314,1.08,259.5,368.4,10.5,2273,16320,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2326,2025
$GC,16657,1.08,259.5,333.5,10.2,2334,16662,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2326,2026
$GC,17000,1.08,259.5,297.9,10.4,2395,17006,0.00,2.83,0.00,0.000,4,0.000,0.113,3195,3742,2025
$GC,17040,1.08,259.5,293.4,11.0,2402,17046,0.00,2.70,0.00,0.000,6,0.000,0.089,3195,2324,2025
$GC,17385,1.08,259.5,256.8,11.8,2463,17390,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2324,2025
$GC,17727,1.08,259.5,218.2,11.0,2524,17733,0.00,2.80,0.00,0.000,4,0.000,0.110,3195,3741,2025
$GC,17756,1.08,259.5,214.6,11.7,2529,17762,0.00,2.67,0.00,0.000,6,0.000,0.088,3195,2330,2025
$GC,18099,1.08,259.5,175.8,11.2,2590,18105,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2331,2025
$GC,18442,1.08,259.5,135.7,12.6,2651,18448,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2331,2025
$GC,18584,1.08,259.5,119.0,11.3,2676,18590,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2331,2026
$GC,18725,1.08,259.5,102.8,11.5,2701,18731,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2331,2026
$GC,18867,1.08,259.5,87.2,10.1,2726,18873,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2331,2026
$GC,19009,1.08,259.5,70.9,10.4,2751,19014,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2331,2026
$GC,19150,1.08,259.5,55.1,11.5,2776,19157,0.00,2.78,0.00,0.000,4,0.000,0.108,3195,3742,2026
$GC,19193,1.08,259.5,50.4,12.3,2783,19199,0.00,2.65,0.00,0.000,6,0.000,0.087,3195,2339,2026
$GC,19335,1.08,259.5,34.9,10.5,2808,19341,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2339,2026
$GC,19476,1.08,259.5,19.2,11.0,2833,19482,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2339,2026
$GC,19617,1.08,259.5,3.3,10.9,2858,19623,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2339,2026
$STATE,19627,end climb,SURFACE_DEPTH_REACHED
$STATE,19627,begin surface coast
$FINISH,0.2,1.027790
$STATE,19645,end surface coast,CONTROL_FINISHED_OK
$STATE,19646,begin surface
$SM_CCo,19727,0.00,0.000,0,0,2025,259.77
$SM_GC,1.08,11.38,0.00,0.00,0.044,0.000,0.000,585,2225,2025,-10.86,-0.25,259.77
$IRIDIUM_FIX,5858.64,-2245.31,150797,020241
$TT8_MAMPS,0.02301
$HUMID,1600
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,18.20
$XPDR_PINGS,108
$24V_AH,23.5,21.815
$10V_AH,10.7,15.774
$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,27.600,112.600,389.425,0.000,0.000,25.364,33.888,288.214,27.000,0.000,0.000,11.696,4292.354,9799.255,592.600,4738.887,774.731,0.000,2671.554,0.000,4755.206,0.000,0.467
$DEVICE_MAMPS,207.090,136.526,1383.668,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1982.914,2167.491,1914.442,1232.584,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,160804,2863
$CAP_FILE_SIZE,213756,0
$CFSIZE,260165632,249241600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$GPS,200408,131408,5919.806,-2232.593,37,1.5,37,-15.4