version: 66.03
glider: 140
mission: 5
dive: 27
start: 4 9 108 18 56 39
data:
$ID,140
$MISSION,5
$DIVE,27
$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,225
$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,-13704.421
$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,10
$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
$GPS1,184738,5914.671,-1811.595,36,1.1,36,-13.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-58.8
$GPS2,185621,5914.649,-1811.506,14,1.7,14,-13.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5907.013,-1815.426
$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,238.2,20000,-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,-194.7,0.0,0.0,0,112,0.00,0.00,-81.53,0.000,2,0.000,0.000,593,2236,3680
$GC,115,-1.29,-194.7,3.6,-8.5,15,140,12.62,2.72,-4.10,0.000,4,0.196,0.114,2670,3648,3881
$GC,303,-1.29,-194.7,28.1,-10.6,48,310,0.00,2.67,0.00,0.000,6,0.000,0.091,2670,2227,3881
$GC,446,-1.29,-194.7,41.4,-8.8,73,452,0.00,2.72,0.00,0.000,4,0.000,0.110,2670,825,3882
$GC,488,-1.29,-194.7,45.6,-10.8,80,494,0.00,2.70,0.00,0.000,6,0.000,0.096,2670,2246,3882
$GC,630,-1.29,-194.7,59.1,-8.9,105,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3882
$GC,772,-1.29,-194.7,71.7,-9.1,130,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3882
$GC,914,-1.29,-194.7,84.9,-8.8,155,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3882
$GC,1056,-1.29,-194.7,97.9,-9.6,180,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3881
$GC,1197,-1.29,-194.7,111.0,-8.3,205,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3882
$GC,1339,-1.29,-194.7,124.2,-8.8,230,1346,0.00,2.70,0.00,0.000,4,0.000,0.107,2670,3656,3882
$GC,1369,-1.29,-194.7,126.9,-9.0,235,1376,0.00,2.67,0.00,0.000,6,0.000,0.091,2670,2229,3882
$GC,1513,-1.29,-194.7,139.5,-9.1,260,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3882
$GC,1655,-1.29,-194.7,152.2,-8.2,285,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3881
$GC,1997,-1.29,-194.7,183.6,-9.3,346,2004,0.00,2.75,0.00,0.000,4,0.000,0.108,2670,3656,3882
$GC,2050,-1.29,-194.7,188.7,-9.7,355,2056,0.00,2.67,0.00,0.000,6,0.000,0.093,2670,2234,3882
$GC,2393,-1.29,-194.7,220.2,-9.4,416,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,2737,-1.29,-194.7,252.2,-9.3,477,2743,0.00,2.75,0.00,0.000,4,0.000,0.110,2670,3653,3882
$GC,2772,-1.29,-194.7,255.7,-10.2,483,2778,0.00,2.65,0.00,0.000,6,0.000,0.094,2670,2244,3882
$GC,3115,-1.29,-194.7,288.1,-8.8,544,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3882
$GC,3458,-1.29,-194.7,316.2,-8.5,605,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3882
$GC,3800,-1.29,-194.7,346.1,-8.9,666,3807,0.00,2.72,0.00,0.000,4,0.000,0.113,2670,3647,3882
$GC,3830,-1.29,-194.7,348.8,-9.6,671,3836,0.00,2.65,0.00,0.000,6,0.000,0.097,2670,2245,3882
$GC,4173,-1.29,-194.7,379.7,-8.7,732,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3882
$GC,4517,-1.29,-194.7,410.7,-9.1,793,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3882
$GC,4860,-1.29,-194.7,442.3,-9.3,854,4865,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3882
$GC,5203,-1.29,-194.7,473.8,-8.6,915,5209,0.00,2.72,0.00,0.000,4,0.000,0.114,2670,3647,3882
$GC,5249,-1.29,-194.7,478.0,-9.0,923,5255,0.00,2.62,0.00,0.000,6,0.000,0.098,2670,2259,3882
$GC,5592,-1.29,-194.7,506.3,-8.0,984,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2260,3882
$GC,5936,-1.29,-194.7,534.2,-8.6,1045,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2260,3882
$GC,6280,-1.29,-194.7,564.5,-9.2,1106,6286,0.00,2.72,0.00,0.000,4,0.000,0.117,2670,3653,3882
$GC,6321,-1.29,-194.7,568.7,-9.8,1113,6327,0.00,2.65,0.00,0.000,6,0.000,0.100,2670,2262,3881
$GC,6670,-1.29,-194.7,601.1,-9.0,1174,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2262,3882
$GC,6991,-1.29,-194.7,629.5,-8.7,1204,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2262,3882
$GC,7316,-1.29,-194.7,658.5,-8.6,1235,7321,0.00,2.75,0.00,0.000,4,0.000,0.121,2670,3653,3882
$GC,7360,-1.29,-194.7,662.5,-8.9,1238,7366,0.00,2.65,0.00,0.000,6,0.000,0.104,2670,2266,3881
$GC,7686,-1.29,-194.7,689.7,-8.3,1269,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2267,3882
$GC,8005,-1.29,-194.7,716.9,-8.8,1299,8009,0.00,2.72,0.00,0.000,4,0.000,0.123,2670,3646,3881
$GC,8049,-1.29,-194.7,721.2,-9.5,1302,8055,0.00,2.62,0.00,0.000,6,0.000,0.105,2670,2277,3881
$GC,8375,-1.29,-194.7,747.9,-7.6,1333,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2278,3882
$GC,8693,-1.29,-194.7,773.0,-8.4,1363,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2278,3881
$GC,9012,-1.29,-194.7,800.4,-8.9,1393,9013,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2278,3881
$GC,9331,-1.29,-194.7,829.3,-9.1,1423,9335,0.00,2.75,0.00,0.000,4,0.000,0.131,2670,3647,3880
$GC,9385,-1.29,-194.7,834.7,-9.2,1427,9392,0.00,2.65,0.00,0.000,6,0.000,0.110,2670,2282,3880
$GC,9712,-1.29,-194.7,864.0,-9.2,1458,9716,0.00,3.03,0.00,0.000,4,0.000,0.147,2670,826,3880
$GC,9744,-1.29,-194.7,867.3,-9.8,1460,9750,0.00,2.88,0.00,0.000,6,0.000,0.118,2670,2287,3880
$GC,10070,-1.29,-194.7,896.7,-9.2,1491,10075,0.00,2.78,0.00,0.000,4,0.000,0.138,2670,3652,3880
$GC,10114,-1.29,-194.7,901.1,-9.4,1494,10120,0.00,2.65,0.00,0.000,6,0.000,0.114,2670,2289,3880
$GC,10440,-1.29,-194.7,928.8,-8.3,1525,10442,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2290,3880
$GC,10759,-1.29,-194.7,954.7,-8.2,1555,10764,0.00,2.72,0.00,0.000,4,0.000,0.133,2670,3647,3879
$GC,10803,-1.29,-194.7,958.9,-9.3,1558,10809,0.00,2.65,0.00,0.000,6,0.000,0.115,2670,2295,3879
$STATE,10817,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10817,begin apogee
$GC,10823,-0.35,0.0,960.2,8.7,1560,10992,1.00,0.00,164.77,1.397,6,0.103,0.000,2875,2334,3085
$STATE,10992,end apogee,CONTROL_FINISHED_OK
$STATE,10993,begin climb
$GC,10995,1.29,194.7,966.4,0.0,1577,11170,1.65,2.97,162.30,1.357,4,0.064,0.133,3238,3741,2290
$GC,11204,1.17,194.7,949.7,14.1,1597,11210,0.12,2.85,0.00,0.000,6,0.120,0.115,3216,2325,2289
$GC,11529,1.11,194.7,910.8,11.9,1627,11530,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2326,2288
$GC,11849,1.05,194.7,873.4,11.7,1657,11854,0.15,2.90,0.00,0.000,4,0.114,0.130,3189,3741,2288
$GC,11877,0.99,194.7,870.0,11.4,1659,11882,0.00,2.80,0.00,0.000,6,0.000,0.114,3189,2328,2287
$GC,12201,0.99,194.7,834.4,11.4,1689,12203,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2328,2287
$GC,12520,0.99,194.7,799.6,10.5,1719,12521,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2329,2286
$GC,12840,0.99,194.7,765.6,10.7,1749,12845,0.00,2.83,0.00,0.000,4,0.000,0.120,3189,3742,2286
$GC,12869,0.95,194.7,762.2,11.7,1751,12874,0.10,2.72,0.00,0.000,6,0.121,0.104,3170,2338,2286
$GC,13193,0.97,208.9,730.5,9.5,1781,13214,0.00,2.95,12.68,1.201,4,0.000,0.131,3170,919,2233
$GC,13225,0.97,212.2,727.3,9.9,1784,13237,0.00,2.80,4.88,0.854,6,0.000,0.105,3170,2352,2219
$GC,13555,0.99,230.8,694.6,9.4,1815,13575,0.00,0.00,17.25,1.177,6,0.000,0.000,3170,2352,2144
$GC,13895,0.99,230.8,660.7,10.4,1847,13899,0.00,2.78,0.00,0.000,4,0.000,0.121,3170,3742,2142
$GC,13938,0.99,230.8,655.7,10.6,1850,13944,0.00,2.72,0.00,0.000,6,0.000,0.100,3170,2328,2142
$GC,14264,1.02,249.9,624.1,9.3,1881,14284,0.00,0.00,17.27,1.137,6,0.000,0.000,3170,2328,2066
$GC,14606,1.06,286.0,592.3,8.7,1920,14642,0.00,0.00,32.00,1.127,6,0.000,0.000,3170,2329,1918
$GC,14980,1.07,294.0,555.4,9.7,1987,14997,0.10,2.85,7.97,1.006,4,0.072,0.110,3196,3740,1885
$GC,15020,1.07,294.0,550.7,11.9,1994,15026,0.00,2.70,0.00,0.000,6,0.000,0.095,3196,2333,1884
$GC,15363,1.07,294.0,509.5,12.1,2055,15369,0.00,2.75,0.00,0.000,4,0.000,0.110,3196,3740,1883
$GC,15386,1.07,294.0,506.5,12.9,2059,15392,0.00,2.65,0.00,0.000,6,0.000,0.093,3196,2345,1883
$GC,15731,1.07,294.0,463.7,12.8,2120,15737,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2345,1883
$GC,16075,1.07,294.0,420.9,12.5,2181,16080,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2345,1883
$GC,16417,1.07,294.0,380.0,12.5,2242,16423,0.00,2.72,0.00,0.000,4,0.000,0.108,3196,3744,1883
$GC,16440,1.07,294.0,377.1,14.2,2246,16446,0.00,2.62,0.00,0.000,6,0.000,0.091,3196,2351,1883
$GC,16783,1.07,294.0,336.9,11.9,2307,16789,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2351,1882
$GC,17126,1.07,294.0,297.9,11.0,2368,17132,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2351,1883
$GC,17469,1.07,294.0,257.8,11.9,2429,17474,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2351,1882
$GC,17812,1.07,294.0,216.0,12.3,2490,17817,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2351,1883
$GC,18154,1.07,294.0,175.0,10.5,2551,18160,0.00,2.67,0.00,0.000,4,0.000,0.105,3195,3740,1883
$GC,18172,1.07,294.0,172.9,11.1,2554,18178,0.00,2.60,0.00,0.000,6,0.000,0.090,3196,2354,1882
$GC,18516,1.07,294.0,132.7,11.7,2615,18522,0.00,2.75,0.00,0.000,4,0.000,0.107,3196,913,1883
$GC,18534,1.07,294.0,130.4,11.8,2618,18541,0.00,2.72,0.00,0.000,6,0.000,0.091,3196,2369,1883
$GC,18678,1.07,294.0,113.7,12.2,2643,18684,0.00,2.62,0.00,0.000,4,0.000,0.104,3196,3742,1883
$GC,18696,1.07,294.0,111.0,13.6,2646,18702,0.00,2.55,0.00,0.000,6,0.000,0.087,3196,2368,1883
$GC,18840,1.07,294.0,93.7,11.2,2671,18846,0.00,2.75,0.00,0.000,4,0.000,0.105,3196,920,1883
$GC,18858,1.07,294.0,91.3,11.8,2674,18864,0.00,2.72,0.00,0.000,6,0.000,0.092,3196,2376,1884
$GC,19001,1.07,294.0,74.5,10.7,2699,19007,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2376,1883
$GC,19142,1.07,294.0,57.9,10.5,2724,19148,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2376,1883
$GC,19284,1.07,294.0,42.9,10.6,2749,19290,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2376,1884
$GC,19426,1.08,301.9,25.5,9.7,2774,19439,0.00,2.88,7.78,0.732,4,0.000,0.103,3196,916,1854
$GC,19445,1.08,301.9,23.2,11.6,2777,19452,0.00,2.72,0.00,0.000,6,0.000,0.091,3196,2365,1854
$GC,19589,1.08,301.9,7.0,11.3,2802,19595,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2365,1853
$STATE,19621,end climb,SURFACE_DEPTH_REACHED
$STATE,19621,begin surface coast
$FINISH,0.4,1.027815
$STATE,19639,end surface coast,CONTROL_FINISHED_OK
$STATE,19639,begin surface
$SM_CCo,19720,0.00,0.000,0,0,1850,302.70
$SM_GC,0.72,11.52,0.00,0.00,0.049,0.000,0.000,591,2229,1850,-10.86,-0.20,302.70
$IRIDIUM_FIX,5854.46,-1815.45,040797,131324
$TT8_MAMPS,0.02301
$HUMID,1586
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.20
$XPDR_PINGS,99
$24V_AH,23.4,13.547
$10V_AH,10.7,6.466
$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,27.275,147.975,426.900,0.000,0.000,27.969,33.508,305.058,24.750,0.000,0.000,14.235,4244.697,9895.858,647.566,4660.943,760.327,0.000,2715.769,0.000,4649.718,0.000,0.469
$DEVICE_MAMPS,195.585,147.264,1396.707,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1943.085,2106.007,1838.824,1190.694,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,157811,2811
$CAP_FILE_SIZE,220035,0
$CFSIZE,260165632,254423040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100408,002637,5911.228,-1811.638,39,1.2,44,-13.1