version: 66.03
glider: 140
mission: 5
dive: 68
start: 4 19 108 3 14 28
data:
$ID,140
$MISSION,5
$DIVE,68
$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,-14413.855
$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,13
$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
$GPS1,030526,5924.046,-2234.409,41,1.9,41,-15.5
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-60.0
$GPS2,031409,5923.935,-2234.605,10,2.0,10,-15.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5934.732,-2234.700
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,100,0.00,0.00,-70.60,0.000,2,0.000,0.000,587,2230,3574
$GC,103,-1.29,-194.7,3.4,-6.8,13,133,13.05,2.85,-6.65,0.000,4,0.207,0.118,2670,3649,3881
$GC,230,-1.29,-194.7,18.1,-6.8,35,237,0.00,2.65,0.00,0.000,6,0.000,0.089,2670,2237,3882
$GC,372,-1.29,-194.7,33.0,-13.4,60,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3882
$GC,515,-1.29,-194.7,46.9,-8.4,85,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3883
$GC,656,-1.29,-194.7,61.7,-10.7,110,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3882
$GC,798,-1.29,-194.7,75.5,-9.4,135,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3882
$GC,940,-1.29,-194.7,89.5,-9.4,160,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3882
$GC,1082,-1.29,-194.7,103.1,-9.2,185,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3882
$GC,1223,-1.29,-194.7,116.5,-9.7,210,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3882
$GC,1365,-1.29,-194.7,129.6,-9.4,235,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3882
$GC,1507,-1.29,-194.7,142.6,-9.5,260,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3882
$GC,1648,-1.29,-194.7,156.9,-10.0,285,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3882
$GC,1991,-1.29,-194.7,191.6,-10.4,346,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3882
$GC,2334,-1.29,-194.7,225.5,-9.3,407,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3882
$GC,2677,-1.29,-194.7,258.1,-10.0,468,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3882
$GC,3020,-1.29,-194.7,291.0,-9.4,529,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3882
$GC,3362,-1.29,-194.7,324.2,-10.2,590,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3883
$GC,3705,-1.29,-194.7,358.5,-10.7,651,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3882
$GC,4047,-1.29,-194.7,394.4,-10.0,712,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3882
$GC,4391,-1.29,-194.7,426.8,-9.2,773,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3882
$GC,4733,-1.29,-194.7,456.6,-8.3,834,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3882
$GC,5075,-1.29,-194.7,486.4,-8.9,895,5081,0.00,2.83,0.00,0.000,4,0.000,0.122,2670,3646,3882
$GC,5121,-1.29,-194.7,490.8,-9.6,903,5127,0.00,2.72,0.00,0.000,6,0.000,0.103,2670,2222,3883
$GC,5465,-1.29,-194.7,521.2,-8.5,964,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2221,3882
$GC,5808,-1.29,-194.7,552.5,-10.0,1025,5814,0.00,2.83,0.00,0.000,4,0.000,0.120,2670,3644,3882
$GC,5837,-1.29,-194.7,555.6,-11.3,1030,5843,0.00,2.70,0.00,0.000,6,0.000,0.100,2670,2233,3882
$GC,6181,-1.29,-194.7,590.4,-9.8,1091,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3881
$GC,6510,-1.29,-194.7,619.9,-8.3,1131,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3881
$GC,6831,-1.29,-194.7,645.2,-8.1,1161,6832,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3881
$GC,7147,-1.29,-194.7,670.6,-8.1,1191,7152,0.00,2.88,0.00,0.000,4,0.000,0.129,2670,3650,3881
$GC,7187,-1.29,-194.7,674.0,-8.6,1194,7191,0.00,2.75,0.00,0.000,6,0.000,0.106,2670,2230,3880
$GC,7513,-1.29,-194.7,702.6,-9.3,1224,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2231,3880
$GC,7829,-1.29,-194.7,731.0,-8.6,1254,7834,0.00,2.88,0.00,0.000,4,0.000,0.130,2670,3649,3880
$GC,7857,-1.29,-194.7,733.5,-9.2,1256,7862,0.00,2.72,0.00,0.000,6,0.000,0.106,2670,2241,3880
$GC,8183,-1.29,-194.7,762.3,-8.7,1286,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3880
$GC,8500,-1.29,-194.7,790.1,-8.5,1316,8502,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3879
$GC,8819,-1.29,-194.7,817.4,-8.3,1346,8820,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3879
$GC,9138,-1.29,-194.7,843.1,-8.0,1376,9142,0.00,2.88,0.00,0.000,4,0.000,0.135,2670,3642,3878
$GC,9170,-1.29,-194.7,845.9,-9.0,1378,9176,0.00,2.75,0.00,0.000,6,0.000,0.111,2670,2237,3878
$GC,9498,-1.29,-194.7,871.2,-7.8,1409,9503,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3878
$GC,9825,-1.29,-194.7,898.3,-8.6,1440,9829,0.00,2.88,0.00,0.000,4,0.000,0.134,2670,3642,3878
$GC,9875,-1.29,-194.7,903.0,-9.7,1444,9879,0.00,2.72,0.00,0.000,6,0.000,0.111,2670,2244,3878
$GC,10201,-1.29,-194.7,931.4,-8.8,1474,10202,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3877
$GC,10520,-1.29,-194.7,959.6,-8.9,1504,10524,0.00,2.88,0.00,0.000,4,0.000,0.137,2670,3643,3877
$GC,10548,-1.29,-194.7,962.3,-9.6,1506,10552,0.00,2.75,0.00,0.000,6,0.000,0.114,2670,2250,3877
$STATE,10806,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10806,begin apogee
$GC,10812,-0.35,0.0,985.0,8.4,1530,10980,1.02,0.00,164.45,1.446,6,0.110,0.000,2877,2333,3085
$STATE,10981,end apogee,CONTROL_FINISHED_OK
$STATE,10981,begin climb
$GC,10984,1.29,194.7,991.5,0.0,1547,11152,1.62,0.00,163.52,1.401,6,0.065,0.000,3241,2333,2291
$GC,11470,1.20,194.7,939.3,13.1,1594,11474,0.00,2.95,0.00,0.000,4,0.000,0.136,3241,3740,2288
$GC,11509,1.08,194.7,933.9,14.4,1597,11514,0.22,2.85,0.00,0.000,6,0.111,0.113,3198,2327,2288
$GC,11833,1.08,194.7,897.8,11.1,1627,11834,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2327,2288
$GC,12151,1.08,194.7,863.9,10.7,1657,12152,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2327,2287
$GC,12471,1.08,194.7,828.7,10.9,1687,12475,0.00,2.92,0.00,0.000,4,0.000,0.131,3198,3741,2287
$GC,12525,1.01,194.7,822.0,12.1,1691,12532,0.00,2.78,0.00,0.000,6,0.000,0.110,3198,2339,2287
$GC,12851,1.01,194.7,786.4,11.1,1722,12853,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2340,2286
$GC,13168,1.01,194.7,751.1,10.6,1752,13170,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2340,2287
$GC,13487,1.01,194.7,716.8,11.3,1782,13488,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2340,2286
$GC,13805,1.01,194.7,682.6,10.4,1812,13807,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2340,2286
$GC,14124,1.01,194.7,649.6,10.3,1842,14129,0.00,2.85,0.00,0.000,4,0.000,0.123,3198,3741,2285
$GC,14157,0.96,194.7,645.9,11.0,1844,14163,0.15,2.72,0.00,0.000,6,0.114,0.104,3171,2347,2285
$GC,14481,0.98,211.2,615.7,9.4,1875,14503,0.00,2.95,14.55,1.176,4,0.000,0.123,3170,916,2223
$GC,14548,0.98,211.2,609.1,10.3,1881,14553,0.00,2.80,0.00,0.000,6,0.000,0.106,3170,2345,2222
$GC,14886,1.00,234.4,577.2,9.2,1932,14912,0.00,0.00,20.95,1.143,6,0.000,0.000,3170,2346,2129
$GC,15250,1.05,272.5,543.8,8.7,1997,15287,0.00,0.00,33.10,1.122,6,0.000,0.000,3171,2346,1973
$GC,15625,1.12,297.2,510.1,9.1,2064,15652,0.15,0.00,22.23,1.085,6,0.061,0.000,3212,2346,1873
$GC,15990,1.12,297.2,465.6,12.5,2129,15996,0.00,2.85,0.00,0.000,4,0.000,0.114,3212,911,1869
$GC,16019,1.12,297.2,461.7,13.2,2134,16025,0.00,2.80,0.00,0.000,6,0.000,0.101,3212,2351,1869
$GC,16362,1.12,297.2,418.8,12.2,2195,16368,0.00,2.78,0.00,0.000,4,0.000,0.117,3212,3744,1868
$GC,16407,1.12,297.2,412.8,13.2,2203,16414,0.00,2.70,0.00,0.000,6,0.000,0.094,3212,2338,1867
$GC,16751,1.12,297.2,369.6,13.4,2264,16757,0.00,2.80,0.00,0.000,4,0.000,0.115,3212,914,1867
$GC,16786,1.12,297.2,365.0,12.9,2270,16792,0.00,2.78,0.00,0.000,6,0.000,0.099,3212,2352,1868
$GC,17129,1.12,297.2,321.4,14.4,2331,17135,0.00,2.75,0.00,0.000,4,0.000,0.113,3212,3745,1867
$GC,17153,1.12,297.2,318.2,12.6,2335,17159,0.00,2.70,0.00,0.000,6,0.000,0.094,3212,2339,1867
$GC,17495,1.12,297.2,273.7,13.7,2396,17502,0.00,2.78,0.00,0.000,4,0.000,0.112,3212,919,1868
$GC,17525,1.12,297.2,269.8,14.8,2401,17531,0.00,2.75,0.00,0.000,6,0.000,0.097,3213,2353,1867
$GC,17868,1.12,297.2,226.2,12.6,2462,17874,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2353,1868
$GC,18211,1.12,297.2,183.0,13.8,2523,18216,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2353,1868
$GC,18554,1.12,297.2,140.1,12.5,2584,18560,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2353,1867
$GC,18695,1.12,297.2,122.0,12.5,2609,18702,0.00,2.78,0.00,0.000,4,0.000,0.106,3212,919,1868
$GC,18725,1.12,297.2,118.0,14.7,2614,18731,0.00,2.70,0.00,0.000,6,0.000,0.092,3212,2344,1868
$GC,18869,1.12,297.2,100.2,11.7,2639,18875,0.00,2.72,0.00,0.000,4,0.000,0.109,3213,3738,1867
$GC,18904,1.12,297.2,95.6,13.0,2645,18911,0.00,2.65,0.00,0.000,6,0.000,0.088,3213,2337,1867
$GC,19047,1.12,297.2,77.7,12.6,2670,19053,0.00,2.75,0.00,0.000,4,0.000,0.106,3212,909,1868
$GC,19082,1.12,297.2,73.3,11.9,2676,19089,0.00,2.67,0.00,0.000,6,0.000,0.091,3212,2333,1868
$GC,19224,1.12,297.2,55.6,13.0,2701,19231,0.00,2.72,0.00,0.000,4,0.000,0.107,3212,3738,1867
$GC,19272,1.12,297.2,49.8,12.0,2709,19278,0.00,2.62,0.00,0.000,6,0.000,0.088,3213,2345,1867
$GC,19415,1.12,297.2,33.0,10.6,2734,19421,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2346,1868
$GC,19557,1.12,297.2,17.9,12.3,2759,19563,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2346,1868
$STATE,19685,end climb,SURFACE_DEPTH_REACHED
$STATE,19685,begin surface coast
$FINISH,0.4,1.027773
$STATE,19703,end surface coast,CONTROL_FINISHED_OK
$STATE,19703,begin surface
$SM_CCo,19785,0.00,0.000,0,0,1864,299.27
$SM_GC,1.01,11.48,0.00,0.00,0.045,0.000,0.000,594,2234,1864,-10.84,-0.06,299.27
$IRIDIUM_FIX,5902.83,-2237.52,130797,212119
$TT8_MAMPS,0.02301
$HUMID,1598
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.10
$XPDR_PINGS,87
$24V_AH,23.4,20.906
$10V_AH,10.7,14.738
$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,27.700,117.200,418.800,0.000,0.000,31.499,31.525,310.482,21.750,0.000,0.000,10.525,4168.757,10159.472,622.441,4563.896,765.843,0.000,2626.844,0.000,4567.038,0.000,0.467
$DEVICE_MAMPS,207.090,152.633,1445.795,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1927.623,2096.228,1764.866,1147.531,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,157508,2785
$CAP_FILE_SIZE,207745,0
$CFSIZE,260165632,249831424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,190408,084531,5923.940,-2235.549,38,1.5,43,-15.5