version: 66.03
glider: 140
mission: 5
dive: 69
start: 4 19 108 8 54 34
data:
$ID,140
$MISSION,5
$DIVE,69
$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,-14430.041
$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
$GPS1,084531,5923.940,-2235.549,38,1.5,43,-15.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-60.4
$GPS2,085415,5923.799,-2235.686,15,1.6,15,-15.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5934.597,-2235.781
$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,24,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,95,0.00,0.00,-64.97,0.000,2,0.000,0.000,594,2231,3383
$GC,98,-1.29,-194.7,3.0,-7.2,12,128,12.95,2.83,-12.07,0.000,4,0.205,0.115,2671,3648,3880
$GC,215,-1.29,-194.7,17.5,-9.6,32,221,0.00,2.67,0.00,0.000,6,0.000,0.089,2671,2228,3881
$GC,357,-1.29,-194.7,29.1,-9.4,57,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,499,-1.29,-194.7,42.7,-10.9,82,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,640,-1.29,-194.7,57.1,-9.0,107,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,783,-1.29,-194.7,70.0,-8.7,132,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3881
$GC,924,-1.29,-194.7,82.8,-9.3,157,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,1066,-1.29,-194.7,95.8,-9.0,182,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,1208,-1.29,-194.7,108.9,-9.6,207,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,1350,-1.29,-194.7,122.3,-9.2,232,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,1491,-1.29,-194.7,136.5,-10.2,257,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,1632,-1.29,-194.7,150.8,-10.2,282,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,1975,-1.29,-194.7,185.3,-10.1,343,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2227,3881
$GC,2318,-1.29,-194.7,218.4,-9.4,404,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2227,3882
$GC,2661,-1.29,-194.7,250.5,-9.5,465,2667,0.00,2.80,0.00,0.000,4,0.000,0.112,2671,3647,3882
$GC,2690,-1.29,-194.7,253.5,-10.2,470,2697,0.00,2.67,0.00,0.000,6,0.000,0.092,2671,2232,3881
$GC,3034,-1.29,-194.7,285.2,-9.0,531,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2232,3882
$GC,3377,-1.29,-194.7,315.1,-8.8,592,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2232,3882
$GC,3720,-1.29,-194.7,345.9,-9.0,653,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,4063,-1.29,-194.7,376.5,-8.8,714,4069,0.00,2.80,0.00,0.000,4,0.000,0.117,2671,3644,3882
$GC,4087,-1.29,-194.7,378.7,-9.5,718,4092,0.00,2.70,0.00,0.000,6,0.000,0.095,2671,2222,3882
$GC,4430,-1.29,-194.7,408.8,-8.7,779,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3882
$GC,4772,-1.29,-194.7,439.1,-9.0,840,4778,0.00,2.80,0.00,0.000,4,0.000,0.117,2671,3646,3882
$GC,4802,-1.29,-194.7,441.8,-9.6,845,4808,0.00,2.70,0.00,0.000,6,0.000,0.097,2671,2228,3882
$GC,5145,-1.29,-194.7,472.9,-8.6,906,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3882
$GC,5488,-1.29,-194.7,503.5,-9.3,967,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3882
$GC,5832,-1.29,-194.7,533.3,-8.7,1028,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3881
$GC,6175,-1.29,-194.7,562.8,-8.6,1089,6181,0.00,2.83,0.00,0.000,4,0.000,0.120,2671,3644,3881
$GC,6210,-1.29,-194.7,566.1,-9.9,1095,6216,0.00,2.72,0.00,0.000,6,0.000,0.099,2671,2221,3881
$GC,6554,-1.29,-194.7,598.7,-9.9,1156,6560,0.00,2.85,0.00,0.000,4,0.000,0.122,2671,3649,3881
$GC,6577,-1.29,-194.7,601.1,-10.5,1160,6582,0.00,2.72,0.00,0.000,6,0.000,0.101,2671,2234,3881
$GC,6904,-1.29,-194.7,631.5,-8.6,1190,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3881
$GC,7220,-1.29,-194.7,657.7,-7.9,1220,7225,0.00,2.85,0.00,0.000,4,0.000,0.127,2671,3644,3881
$GC,7254,-1.29,-194.7,660.3,-8.6,1222,7260,0.00,2.70,0.00,0.000,6,0.000,0.104,2671,2241,3881
$GC,7582,-1.29,-194.7,685.3,-8.1,1253,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3880
$GC,7907,-1.29,-194.7,712.5,-8.5,1284,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2241,3880
$GC,8227,-1.29,-194.7,739.9,-8.7,1314,8228,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3880
$GC,8544,-1.29,-194.7,768.0,-8.8,1344,8548,0.00,2.88,0.00,0.000,4,0.000,0.132,2671,3650,3880
$GC,8594,-1.29,-194.7,772.6,-9.7,1348,8599,0.00,2.72,0.00,0.000,6,0.000,0.107,2671,2247,3880
$GC,8920,-1.29,-194.7,801.1,-8.5,1378,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2247,3879
$GC,9238,-1.29,-194.7,826.8,-8.1,1408,9242,0.00,2.88,0.00,0.000,4,0.000,0.134,2671,3648,3879
$GC,9270,-1.29,-194.7,829.7,-8.6,1410,9276,0.00,2.75,0.00,0.000,6,0.000,0.110,2671,2245,3879
$GC,9597,-1.29,-194.7,856.2,-8.2,1441,9598,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2246,3878
$GC,9915,-1.29,-194.7,882.5,-8.5,1471,9919,0.00,2.88,0.00,0.000,4,0.000,0.133,2671,3651,3878
$GC,9943,-1.29,-194.7,885.1,-9.6,1473,9947,0.00,2.72,0.00,0.000,6,0.000,0.110,2671,2256,3878
$GC,10269,-1.29,-194.7,911.5,-7.9,1503,10270,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2257,3878
$GC,10588,-1.29,-194.7,936.7,-8.2,1533,10589,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2257,3878
$STATE,10806,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10806,begin apogee
$GC,10812,-0.35,0.0,954.9,8.2,1554,10981,1.00,0.00,164.25,1.415,6,0.101,0.000,2877,2328,3085
$STATE,10981,end apogee,CONTROL_FINISHED_OK
$STATE,10982,begin climb
$GC,10984,1.29,194.7,961.0,0.0,1571,11155,1.65,3.08,162.43,1.376,4,0.062,0.143,3246,916,2290
$GC,11182,1.21,194.7,945.4,13.5,1590,11189,0.12,2.88,0.00,0.000,6,0.117,0.116,3225,2334,2289
$GC,11507,1.14,194.7,903.8,12.5,1621,11512,0.00,2.95,0.00,0.000,4,0.000,0.139,3225,3740,2288
$GC,11547,1.04,194.7,898.5,12.9,1624,11552,0.20,2.83,0.00,0.000,6,0.110,0.111,3187,2332,2288
$GC,11871,1.04,194.7,862.8,10.9,1654,11875,0.00,2.95,0.00,0.000,4,0.000,0.137,3187,912,2287
$GC,11921,1.04,194.7,857.2,10.7,1658,11925,0.00,2.85,0.00,0.000,6,0.000,0.115,3187,2334,2288
$GC,12246,1.04,194.7,822.7,10.3,1688,12248,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2334,2287
$GC,12565,1.05,198.3,790.1,9.9,1718,12577,0.00,2.92,4.07,0.857,4,0.000,0.126,3187,911,2276
$GC,12611,1.05,203.1,785.4,9.8,1722,12623,0.00,2.83,5.93,1.053,6,0.000,0.114,3187,2326,2257
$GC,12940,1.05,203.1,753.0,10.1,1753,12945,0.00,2.92,0.00,0.000,4,0.000,0.133,3187,3741,2256
$GC,12991,1.01,203.1,747.5,11.1,1757,12995,0.00,2.80,0.00,0.000,6,0.000,0.108,3187,2327,2256
$GC,13315,1.01,203.1,712.9,10.8,1787,13320,0.00,2.90,0.00,0.000,4,0.000,0.127,3187,3741,2256
$GC,13354,0.97,203.1,708.4,12.5,1790,13359,0.00,2.78,0.00,0.000,6,0.000,0.105,3187,2330,2256
$GC,13680,0.97,203.8,674.4,10.0,1820,13685,0.00,2.88,0.00,0.000,4,0.000,0.127,3187,912,2256
$GC,13719,0.97,203.8,670.1,10.8,1823,13724,0.00,2.80,0.00,0.000,6,0.000,0.109,3187,2335,2256
$GC,14045,0.99,218.4,637.2,9.5,1853,14067,0.00,2.95,14.45,1.177,4,0.000,0.129,3187,3740,2193
$GC,14123,0.99,218.4,628.9,10.7,1860,14128,0.00,2.75,0.00,0.000,6,0.000,0.101,3187,2337,2193
$GC,14450,0.99,221.4,596.2,9.9,1893,14456,0.00,0.00,4.20,0.813,6,0.000,0.000,3187,2337,2182
$GC,14793,1.02,248.1,563.0,9.1,1954,14820,0.00,0.00,23.90,1.131,6,0.000,0.000,3187,2337,2072
$GC,15158,1.03,252.3,526.5,9.9,2019,15169,0.00,2.88,4.90,0.861,4,0.000,0.119,3187,912,2055
$GC,15193,1.04,259.5,522.9,9.8,2025,15210,0.00,2.80,7.95,0.997,6,0.000,0.103,3187,2346,2026
$GC,15547,1.04,259.5,485.9,10.3,2088,15554,0.00,2.80,0.00,0.000,4,0.000,0.120,3187,3741,2025
$GC,15582,1.04,259.5,481.9,11.5,2094,15588,0.00,2.70,0.00,0.000,6,0.000,0.096,3188,2343,2025
$GC,15925,1.04,259.5,442.6,11.4,2155,15931,0.00,2.83,0.00,0.000,4,0.000,0.115,3187,912,2024
$GC,15960,1.04,259.5,438.5,11.9,2161,15966,0.00,2.80,0.00,0.000,6,0.000,0.102,3187,2354,2024
$GC,16303,1.04,259.5,400.2,11.1,2222,16308,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2355,2024
$GC,16644,1.04,259.5,362.2,10.6,2283,16650,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2354,2025
$GC,16987,1.04,259.5,326.1,11.1,2344,16992,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2355,2025
$GC,17330,1.05,270.8,290.6,9.6,2405,17347,0.00,0.00,10.80,0.940,6,0.000,0.000,3187,2355,1981
$GC,17684,1.05,270.8,253.5,10.9,2468,17689,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2355,1979
$GC,18027,1.05,270.8,218.8,10.0,2529,18033,0.00,2.80,0.00,0.000,4,0.000,0.107,3187,917,1979
$GC,18055,1.05,270.8,215.7,10.5,2534,18062,0.00,2.72,0.00,0.000,6,0.000,0.094,3187,2349,1979
$GC,18401,1.07,285.8,181.5,9.5,2595,18417,0.00,0.00,13.85,0.879,6,0.000,0.000,3187,2349,1920
$GC,18755,1.09,301.3,146.1,9.5,2658,18772,0.00,0.00,14.55,0.848,6,0.000,0.000,3187,2349,1855
$GC,18910,1.09,301.3,130.3,10.2,2685,18915,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2349,1853
$GC,19051,1.09,301.3,115.5,11.0,2710,19057,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2349,1853
$GC,19193,1.09,301.3,100.5,12.1,2735,19199,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2349,1853
$GC,19335,1.11,321.6,86.3,9.3,2760,19357,0.00,0.00,17.95,0.814,6,0.000,0.000,3187,2349,1773
$GC,19496,1.12,328.4,70.2,9.8,2788,19508,0.00,0.00,7.15,0.737,6,0.000,0.000,3187,2349,1745
$GC,19645,1.12,328.4,53.8,10.8,2814,19652,0.00,2.78,0.00,0.000,4,0.000,0.105,3187,917,1744
$GC,19681,1.18,328.4,49.6,10.8,2820,19688,0.12,2.70,0.00,0.000,6,0.061,0.091,3222,2344,1744
$GC,19827,1.18,328.4,30.8,13.4,2845,19833,0.00,2.72,0.00,0.000,4,0.000,0.107,3222,3741,1743
$GC,19857,1.18,328.4,26.3,13.7,2850,19863,0.00,2.67,0.00,0.000,6,0.000,0.087,3222,2328,1743
$GC,19999,1.18,328.4,7.6,13.9,2875,20005,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2329,1743
$STATE,20043,end climb,SURFACE_DEPTH_REACHED
$STATE,20043,begin surface coast
$FINISH,0.2,1.015802
$STATE,20061,end surface coast,CONTROL_FINISHED_OK
$STATE,20061,begin surface
$SM_CCo,20142,0.00,0.000,0,0,1740,329.93
$SM_GC,0.98,11.52,0.00,0.00,0.044,0.000,0.000,593,2230,1740,-10.84,-0.14,329.93
$IRIDIUM_FIX,5902.83,-2232.00,140797,030341
$TT8_MAMPS,0.02301
$HUMID,1579
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,18.20
$XPDR_PINGS,103
$24V_AH,23.4,21.096
$10V_AH,10.7,14.949
$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,27.575,135.100,456.375,0.000,0.000,25.714,33.167,310.080,25.750,0.000,0.000,15.558,4336.882,10071.684,653.734,4774.949,801.253,0.000,2761.652,0.000,4781.805,0.000,0.469
$DEVICE_MAMPS,204.789,155.701,1415.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1997.068,2181.678,1902.368,1231.610,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,164077,2886
$CAP_FILE_SIZE,219712,0
$CFSIZE,260165632,249696256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190408,143131,5923.177,-2235.993,40,0.9,40,-15.5