version: 66.03
glider: 140
mission: 5
dive: 61
start: 4 17 108 11 20 43
data:
$ID,140
$MISSION,5
$DIVE,61
$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,215
$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,-14315.486
$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,10
$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
$GPS1,110838,5930.646,-2132.797,28,1.6,28,-15.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-59.8
$GPS2,112026,5930.807,-2132.975,16,1.6,33,-15.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5921.960,-2136.131
$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,230.0,20000,-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,-70.82,0.000,2,0.000,0.000,592,2229,3485
$GC,104,-1.29,-194.7,3.2,-6.6,13,134,12.60,2.78,-8.98,0.000,4,0.196,0.119,2670,819,3882
$GC,243,-1.25,-194.7,19.4,-10.0,37,250,0.00,2.70,0.00,0.000,6,0.000,0.094,2670,2237,3883
$GC,387,-1.25,-194.7,31.4,-7.8,62,393,0.00,2.75,0.00,0.000,4,0.000,0.107,2670,3655,3883
$GC,423,-1.25,-194.7,34.7,-8.7,68,429,0.00,2.67,0.00,0.000,6,0.000,0.088,2670,2232,3883
$GC,565,-1.25,-194.7,47.5,-9.2,93,572,0.00,2.72,0.00,0.000,4,0.000,0.107,2670,824,3883
$GC,595,-1.25,-194.7,50.3,-9.1,98,602,0.00,2.70,0.00,0.000,6,0.000,0.093,2670,2248,3883
$GC,739,-1.25,-194.7,64.0,-9.2,123,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3883
$GC,881,-1.25,-194.7,77.9,-9.8,148,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3883
$GC,1023,-1.25,-194.7,92.9,-9.6,173,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3883
$GC,1164,-1.25,-194.7,108.3,-11.2,198,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3883
$GC,1306,-1.25,-194.7,121.6,-9.4,223,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3883
$GC,1448,-1.25,-194.7,135.2,-10.1,248,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3883
$GC,1590,-1.25,-194.7,149.5,-9.6,273,1596,0.00,2.72,0.00,0.000,4,0.000,0.110,2670,3652,3883
$GC,1619,-1.25,-194.7,152.6,-10.0,278,1626,0.00,2.70,0.00,0.000,6,0.000,0.091,2670,2218,3883
$GC,1964,-1.25,-194.7,184.0,-9.5,339,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2219,3883
$GC,2306,-1.25,-194.7,217.2,-10.1,400,2312,0.00,2.80,0.00,0.000,4,0.000,0.111,2670,3652,3883
$GC,2335,-1.25,-194.7,220.4,-11.7,405,2341,0.00,2.67,0.00,0.000,6,0.000,0.092,2670,2233,3883
$GC,2678,-1.25,-194.7,255.7,-9.8,466,2685,0.00,2.78,0.00,0.000,4,0.000,0.117,2670,823,3883
$GC,2708,-1.25,-194.7,258.5,-10.1,471,2714,0.00,2.70,0.00,0.000,6,0.000,0.099,2670,2231,3883
$GC,3052,-1.25,-194.7,289.2,-7.9,532,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2231,3883
$GC,3395,-1.25,-194.7,321.1,-9.3,593,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2232,3883
$GC,3737,-1.25,-194.7,350.6,-8.5,654,3743,0.00,2.78,0.00,0.000,4,0.000,0.117,2670,3648,3883
$GC,3772,-1.25,-194.7,354.0,-9.6,660,3779,0.00,2.67,0.00,0.000,6,0.000,0.095,2670,2230,3883
$GC,4116,-1.25,-194.7,387.2,-10.0,721,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3883
$GC,4459,-1.25,-194.7,419.4,-8.5,782,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3884
$GC,4802,-1.25,-194.7,450.3,-9.5,843,4808,0.00,2.80,0.00,0.000,4,0.000,0.117,2670,3649,3883
$GC,4831,-1.25,-194.7,453.1,-10.1,848,4837,0.00,2.67,0.00,0.000,6,0.000,0.097,2670,2233,3883
$GC,5175,-1.25,-194.7,485.4,-10.0,909,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3883
$GC,5518,-1.25,-194.7,518.6,-9.2,970,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3883
$GC,5860,-1.25,-194.7,551.0,-9.1,1031,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3883
$GC,6204,-1.25,-194.7,580.5,-9.1,1092,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3883
$GC,6539,-1.25,-194.7,611.8,-9.8,1142,6541,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,6860,-1.25,-194.7,638.9,-7.8,1172,6864,0.00,2.85,0.00,0.000,4,0.000,0.126,2670,3648,3882
$GC,6903,-1.25,-194.7,642.7,-8.3,1175,6909,0.00,2.70,0.00,0.000,6,0.000,0.102,2670,2240,3882
$GC,7229,-1.25,-194.7,670.6,-9.8,1206,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2241,3882
$GC,7546,-1.25,-194.7,704.6,-10.5,1236,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3882
$GC,7866,-1.25,-194.7,733.7,-8.5,1266,7871,0.00,2.85,0.00,0.000,4,0.000,0.129,2670,3652,3882
$GC,7894,-1.25,-194.7,736.2,-9.0,1268,7899,0.00,2.72,0.00,0.000,6,0.000,0.106,2670,2243,3882
$GC,8222,-1.25,-194.7,765.5,-9.9,1298,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3881
$GC,8547,-1.25,-194.7,796.1,-8.8,1329,8552,0.00,2.92,0.00,0.000,4,0.000,0.138,2670,819,3882
$GC,8575,-1.25,-194.7,798.6,-9.4,1331,8580,0.00,2.85,0.00,0.000,6,0.000,0.115,2670,2261,3881
$GC,8901,-1.25,-194.7,823.8,-7.4,1361,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2262,3881
$GC,9219,-1.25,-194.7,847.8,-7.6,1391,9224,0.00,2.85,0.00,0.000,4,0.000,0.137,2670,3653,3880
$GC,9263,-1.25,-194.7,851.6,-8.4,1394,9269,0.00,2.72,0.00,0.000,6,0.000,0.110,2670,2254,3880
$GC,9590,-1.25,-194.7,879.2,-9.1,1425,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2255,3880
$GC,9908,-1.25,-194.7,907.7,-8.8,1455,9912,0.00,2.97,0.00,0.000,4,0.000,0.143,2670,822,3880
$GC,9936,-1.25,-194.7,910.4,-9.4,1457,9941,0.00,2.88,0.00,0.000,6,0.000,0.120,2670,2264,3879
$GC,10262,-1.25,-194.7,936.9,-7.7,1487,10263,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2264,3879
$GC,10581,-1.25,-194.7,961.8,-8.1,1517,10585,0.00,2.85,0.00,0.000,4,0.000,0.139,2670,3652,3879
$GC,10620,-1.25,-194.7,965.2,-9.0,1520,10624,0.00,2.72,0.00,0.000,6,0.000,0.114,2670,2268,3879
$STATE,10804,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10804,begin apogee
$GC,10810,-0.35,0.0,979.9,7.8,1537,10979,1.00,0.00,164.73,1.431,6,0.104,0.000,2875,2331,3085
$STATE,10980,end apogee,CONTROL_FINISHED_OK
$STATE,10980,begin climb
$GC,10982,1.29,194.7,985.2,0.0,1554,11150,1.65,0.00,162.48,1.391,6,0.063,0.000,3237,2331,2291
$GC,11466,1.20,194.7,929.3,13.9,1600,11470,0.00,2.95,0.00,0.000,4,0.000,0.134,3237,3742,2288
$GC,11493,1.09,194.7,925.2,14.6,1602,11499,0.20,2.85,0.00,0.000,6,0.111,0.112,3200,2324,2288
$GC,11818,1.09,194.7,885.1,12.5,1632,11819,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2325,2288
$GC,12138,1.05,194.7,845.5,12.4,1662,12143,0.00,2.92,0.00,0.000,4,0.000,0.138,3200,916,2287
$GC,12177,1.05,194.7,840.3,12.6,1665,12181,0.00,2.83,0.00,0.000,6,0.000,0.117,3200,2330,2288
$GC,12501,1.05,194.7,801.4,11.2,1695,12506,0.00,2.92,0.00,0.000,4,0.000,0.133,3200,3744,2287
$GC,12540,0.98,194.7,796.8,12.1,1698,12546,0.15,2.80,0.00,0.000,6,0.112,0.109,3173,2331,2287
$GC,12865,0.98,195.7,764.0,10.0,1728,12869,0.00,2.90,0.00,0.000,4,0.000,0.133,3173,916,2286
$GC,12919,0.98,195.7,758.0,10.8,1732,12926,0.00,2.80,0.00,0.000,6,0.000,0.114,3173,2330,2286
$GC,13246,0.99,207.5,725.7,9.6,1763,13263,0.00,0.00,11.60,1.220,6,0.000,0.000,3173,2330,2239
$GC,13584,1.00,211.8,692.0,9.9,1795,13595,0.00,2.90,5.30,0.971,4,0.000,0.123,3173,920,2221
$GC,13607,1.00,211.8,689.3,10.1,1797,13614,0.00,2.80,0.00,0.000,6,0.000,0.110,3173,2333,2221
$GC,13934,1.01,219.0,658.2,9.7,1828,13944,0.00,0.00,7.82,1.092,6,0.000,0.000,3173,2333,2192
$GC,14260,1.01,219.0,624.2,10.6,1859,14262,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2333,2191
$GC,14584,1.01,219.0,590.8,10.3,1897,14590,0.00,2.83,0.00,0.000,4,0.000,0.120,3173,917,2191
$GC,14612,1.01,219.0,587.7,11.0,1902,14619,0.00,2.75,0.00,0.000,6,0.000,0.106,3172,2327,2191
$GC,14956,1.01,219.0,553.3,10.6,1963,14961,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2327,2191
$GC,15298,1.01,219.0,517.1,11.2,2024,15304,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2327,2191
$GC,15642,1.03,234.2,481.5,9.5,2085,15658,0.00,0.00,14.35,1.071,6,0.000,0.000,3173,2327,2130
$GC,15995,1.03,234.2,444.9,10.5,2148,16001,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2327,2128
$GC,16339,1.04,247.8,411.2,9.5,2209,16361,0.00,2.90,12.65,1.013,4,0.000,0.115,3173,913,2074
$GC,16385,1.09,247.8,406.4,10.1,2217,16392,0.10,2.75,0.00,0.000,6,0.071,0.102,3200,2325,2073
$GC,16729,1.09,247.8,365.2,13.1,2278,16734,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2325,2072
$GC,17071,1.09,247.8,324.4,10.8,2339,17076,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2325,2073
$GC,17413,1.09,247.8,284.6,10.8,2400,17419,0.00,2.78,0.00,0.000,4,0.000,0.114,3200,917,2072
$GC,17432,1.09,247.8,282.5,12.2,2403,17438,0.00,2.67,0.00,0.000,6,0.000,0.097,3200,2320,2072
$GC,17775,1.09,247.8,243.2,11.7,2464,17780,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2320,2073
$GC,18117,1.09,247.8,203.9,11.7,2525,18123,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2320,2073
$GC,18460,1.09,247.8,163.3,10.9,2586,18466,0.00,2.75,0.00,0.000,4,0.000,0.110,3200,910,2074
$GC,18483,1.09,247.8,160.5,12.0,2590,18490,0.00,2.67,0.00,0.000,6,0.000,0.095,3200,2318,2074
$GC,18827,1.09,247.8,122.1,10.1,2651,18833,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2319,2074
$GC,18969,1.09,247.8,105.9,11.0,2676,18975,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2319,2074
$GC,19110,1.09,247.8,90.4,11.1,2701,19116,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2319,2074
$GC,19252,1.09,247.8,74.1,12.2,2726,19258,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2319,2073
$GC,19393,1.09,247.8,58.8,11.5,2751,19399,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2319,2074
$GC,19535,1.17,312.8,43.6,7.7,2776,19591,0.00,0.00,53.65,0.797,6,0.000,0.000,3200,2319,1808
$GC,19726,1.17,312.8,20.1,13.8,2810,19732,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2318,1804
$GC,19868,1.17,312.8,3.1,11.8,2835,19874,0.00,2.72,0.00,0.000,4,0.000,0.108,3200,917,1804
$STATE,19878,end climb,SURFACE_DEPTH_REACHED
$STATE,19879,begin surface coast
$FINISH,0.1,1.014615
$STATE,19896,end surface coast,CONTROL_FINISHED_OK
$STATE,19897,begin surface
$SM_CCo,19980,0.00,0.000,0,0,1798,315.46
$SM_GC,0.86,11.43,0.00,0.00,0.042,0.000,0.000,591,2237,1798,-10.84,0.06,315.46
$IRIDIUM_FIX,5907.03,-2141.79,120797,111152
$TT8_MAMPS,0.02301
$HUMID,1581
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.10
$XPDR_PINGS,108
$24V_AH,23.5,19.614
$10V_AH,10.7,13.302
$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,27.125,133.725,432.575,0.000,0.000,51.241,76.519,339.870,27.000,0.000,0.000,33.639,4272.641,10155.723,632.521,4717.996,878.204,0.000,2708.319,0.000,4689.904,0.000,0.468
$DEVICE_MAMPS,195.585,152.633,1431.222,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1964.722,2131.861,1845.705,1191.833,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,160835,2840
$CAP_FILE_SIZE,219287,0
$CFSIZE,260165632,250638336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170408,165456,5931.238,-2140.898,39,1.6,39,-15.1