version: 66.03
glider: 140
mission: 5
dive: 79
start: 4 21 108 17 46 52
data:
$ID,140
$MISSION,5
$DIVE,79
$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,45
$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,-14585.215
$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,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
$GPS1,173738,5913.747,-2158.267,39,1.1,39,-15.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-58.6
$GPS2,174633,5913.860,-2158.318,14,1.6,14,-15.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5921.497,-2154.426
$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,60.1,20000,-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,-194.7,0.0,0.0,0,106,0.00,0.00,-76.00,0.000,2,0.000,0.000,586,2226,3578
$GC,109,-1.29,-194.7,3.4,-5.7,14,134,13.12,2.85,-6.15,0.000,4,0.209,0.116,2667,3650,3882
$GC,213,-1.29,-194.7,24.6,-15.3,32,220,0.00,2.67,0.00,0.000,6,0.000,0.089,2667,2228,3882
$GC,356,-1.29,-194.7,41.6,-9.8,57,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2229,3882
$GC,499,-1.29,-194.7,54.5,-10.5,82,505,0.00,2.78,0.00,0.000,4,0.000,0.105,2667,3652,3883
$GC,517,-1.29,-194.7,56.5,-10.5,85,523,0.00,2.70,0.00,0.000,6,0.000,0.087,2667,2222,3882
$GC,661,-1.29,-194.7,71.0,-9.9,110,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2222,3882
$GC,802,-1.29,-194.7,85.6,-10.2,135,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2221,3882
$GC,944,-1.29,-194.7,100.1,-10.2,160,950,0.00,2.78,0.00,0.000,4,0.000,0.106,2667,3646,3882
$GC,963,-1.29,-194.7,101.9,-9.9,163,969,0.00,2.65,0.00,0.000,6,0.000,0.087,2667,2238,3882
$GC,1107,-1.29,-194.7,115.3,-9.2,188,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2239,3882
$GC,1248,-1.29,-194.7,127.8,-8.6,213,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2239,3882
$GC,1391,-1.29,-194.7,140.1,-8.6,238,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2239,3882
$GC,1532,-1.29,-194.7,152.0,-8.0,263,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2239,3882
$GC,1875,-1.29,-194.7,181.2,-8.9,324,1881,0.00,2.78,0.00,0.000,4,0.000,0.110,2667,817,3883
$GC,1894,-1.29,-194.7,182.8,-8.8,327,1900,0.00,2.75,0.00,0.000,6,0.000,0.094,2667,2257,3882
$GC,2237,-1.29,-194.7,213.6,-8.8,388,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2257,3883
$GC,2581,-1.29,-194.7,242.8,-8.2,449,2587,0.00,2.83,0.00,0.000,4,0.000,0.113,2667,825,3883
$GC,2621,-1.29,-194.7,246.3,-8.8,456,2627,0.00,2.72,0.00,0.000,6,0.000,0.097,2667,2248,3883
$GC,2965,-1.29,-194.7,275.0,-8.5,517,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2248,3883
$GC,3308,-1.29,-194.7,303.7,-8.2,578,3314,0.00,2.83,0.00,0.000,4,0.000,0.117,2667,825,3883
$GC,3332,-1.29,-194.7,305.7,-8.3,582,3338,0.00,2.75,0.00,0.000,6,0.000,0.101,2667,2250,3883
$GC,3676,-1.29,-194.7,336.3,-9.1,643,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2250,3883
$GC,4019,-1.29,-194.7,367.2,-8.8,704,4025,0.00,2.85,0.00,0.000,4,0.000,0.119,2667,824,3883
$GC,4043,-1.29,-194.7,369.4,-8.8,708,4049,0.00,2.78,0.00,0.000,6,0.000,0.105,2667,2252,3883
$GC,4387,-1.29,-194.7,400.3,-8.7,769,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2252,3883
$GC,4729,-1.29,-194.7,430.1,-9.0,830,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2252,3883
$GC,5072,-1.29,-194.7,459.8,-8.3,891,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2252,3883
$GC,5414,-1.29,-194.7,489.1,-8.9,952,5420,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2252,3883
$GC,5757,-1.29,-194.7,518.7,-8.9,1013,5763,0.00,2.78,0.00,0.000,4,0.000,0.122,2667,3647,3883
$GC,5781,-1.29,-194.7,520.9,-9.0,1017,5787,0.00,2.70,0.00,0.000,6,0.000,0.097,2667,2234,3882
$GC,6125,-1.29,-194.7,550.5,-8.5,1078,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3882
$GC,6467,-1.29,-194.7,580.7,-8.8,1139,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3882
$GC,6808,-1.29,-194.7,612.0,-9.2,1189,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3882
$GC,7127,-1.29,-194.7,640.3,-8.4,1219,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3881
$GC,7446,-1.29,-194.7,666.3,-8.1,1249,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3881
$GC,7766,-1.29,-194.7,690.7,-7.6,1279,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3880
$GC,8084,-1.29,-194.7,716.2,-8.6,1309,8088,0.00,2.88,0.00,0.000,4,0.000,0.131,2667,3646,3880
$GC,8123,-1.29,-194.7,720.0,-9.7,1312,8127,0.00,2.72,0.00,0.000,6,0.000,0.107,2667,2245,3880
$GC,8449,-1.29,-194.7,748.4,-8.8,1342,8450,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2246,3880
$GC,8766,-1.29,-194.7,776.5,-9.0,1372,8771,0.00,2.85,0.00,0.000,4,0.000,0.131,2667,3647,3879
$GC,8787,-1.29,-194.7,778.5,-9.2,1373,8793,0.00,2.72,0.00,0.000,6,0.000,0.108,2667,2249,3879
$GC,9113,-1.29,-194.7,806.3,-8.1,1404,9115,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2249,3879
$GC,9431,-1.29,-194.7,832.9,-8.2,1434,9435,0.00,2.85,0.00,0.000,4,0.000,0.133,2667,3644,3879
$GC,9459,-1.29,-194.7,835.3,-9.0,1436,9463,0.00,2.72,0.00,0.000,6,0.000,0.110,2667,2256,3878
$GC,9785,-1.29,-194.7,861.4,-8.1,1466,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2256,3878
$GC,10103,-1.29,-194.7,888.1,-8.3,1496,10105,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2256,3878
$GC,10422,-1.29,-194.7,915.0,-8.6,1526,10423,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2256,3877
$GC,10739,-1.29,-194.7,941.3,-8.4,1556,10741,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2256,3877
$STATE,10811,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10812,begin apogee
$GC,10817,-0.35,0.0,947.4,8.2,1563,10986,1.02,0.00,164.30,1.411,6,0.122,0.000,2874,2329,3085
$STATE,10986,end apogee,CONTROL_FINISHED_OK
$STATE,10986,begin climb
$GC,10989,1.29,194.7,953.8,0.0,1580,11164,1.65,3.03,161.77,1.371,4,0.064,0.132,3235,3738,2290
$GC,11192,1.17,194.7,938.5,14.0,1599,11198,0.00,2.88,0.00,0.000,6,0.000,0.114,3235,2326,2290
$GC,11518,1.09,194.7,897.4,13.1,1630,11523,0.17,3.00,0.00,0.000,4,0.113,0.143,3199,913,2288
$GC,11550,1.09,194.7,893.1,11.7,1632,11557,0.00,2.85,0.00,0.000,6,0.000,0.116,3199,2328,2288
$GC,11877,1.09,194.7,856.8,11.2,1663,11881,0.00,2.95,0.00,0.000,4,0.000,0.134,3199,3740,2288
$GC,11920,1.02,194.7,851.3,11.5,1666,11927,0.00,2.80,0.00,0.000,6,0.000,0.107,3199,2327,2288
$GC,12246,1.02,194.7,815.6,11.0,1697,12251,0.00,2.92,0.00,0.000,4,0.000,0.136,3199,917,2288
$GC,12285,1.02,194.7,811.0,11.6,1700,12290,0.00,2.83,0.00,0.000,6,0.000,0.114,3199,2331,2288
$GC,12611,1.02,194.7,775.0,11.2,1730,12616,0.00,2.92,0.00,0.000,4,0.000,0.131,3199,3745,2287
$GC,12650,0.95,194.7,770.3,12.5,1733,12655,0.17,2.83,0.00,0.000,6,0.112,0.107,3167,2323,2287
$GC,12975,0.98,220.6,739.9,9.1,1763,13006,0.00,2.97,22.67,1.262,4,0.000,0.129,3167,921,2185
$GC,13034,0.98,225.3,734.2,9.8,1768,13045,0.00,2.83,5.65,0.983,6,0.000,0.110,3167,2336,2166
$GC,13364,1.00,236.1,703.2,9.6,1799,13377,0.00,0.00,10.85,1.179,6,0.000,0.000,3167,2336,2122
$GC,13694,1.00,240.8,670.7,9.8,1830,13702,0.00,0.00,5.45,0.981,6,0.000,0.000,3167,2336,2103
$GC,14022,1.02,252.3,638.7,9.6,1861,14043,0.00,3.00,11.55,1.157,4,0.000,0.121,3167,912,2055
$GC,14071,1.08,266.9,633.6,9.5,1865,14091,0.12,2.80,14.07,1.125,6,0.067,0.108,3198,2325,1996
$GC,14414,1.08,266.9,594.3,12.5,1901,14420,0.00,2.90,0.00,0.000,4,0.000,0.126,3198,3742,1993
$GC,14460,1.08,266.9,588.4,12.7,1909,14466,0.00,2.78,0.00,0.000,6,0.000,0.100,3198,2323,1992
$GC,14803,1.08,266.9,547.7,12.0,1970,14809,0.00,2.83,0.00,0.000,4,0.000,0.122,3198,917,1992
$GC,14832,1.08,266.9,544.1,11.6,1975,14838,0.00,2.80,0.00,0.000,6,0.000,0.104,3198,2346,1992
$GC,15176,1.08,266.9,503.9,11.4,2036,15182,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2347,1992
$GC,15519,1.08,266.9,465.6,11.4,2097,15525,0.00,2.85,0.00,0.000,4,0.000,0.119,3198,917,1992
$GC,15543,1.08,266.9,462.9,11.7,2101,15549,0.00,2.75,0.00,0.000,6,0.000,0.103,3198,2335,1992
$GC,15886,1.08,266.9,423.5,11.1,2162,15892,0.00,2.83,0.00,0.000,4,0.000,0.119,3198,3743,1992
$GC,15932,1.08,266.9,418.2,11.6,2170,15938,0.00,2.72,0.00,0.000,6,0.000,0.096,3198,2332,1991
$GC,16276,1.08,266.9,381.7,10.3,2231,16282,0.00,2.80,0.00,0.000,4,0.000,0.117,3198,916,1992
$GC,16311,1.08,266.9,377.9,10.5,2237,16317,0.00,2.75,0.00,0.000,6,0.000,0.100,3198,2338,1992
$GC,16654,1.08,266.9,338.9,12.3,2298,16660,0.00,2.78,0.00,0.000,4,0.000,0.114,3198,3739,1992
$GC,16683,1.08,266.9,335.3,13.0,2303,16690,0.00,2.70,0.00,0.000,6,0.000,0.093,3198,2331,1992
$GC,17027,1.08,266.9,293.8,11.1,2364,17033,0.00,2.80,0.00,0.000,4,0.000,0.114,3198,909,1992
$GC,17069,1.08,266.9,288.9,11.3,2371,17075,0.00,2.75,0.00,0.000,6,0.000,0.097,3198,2339,1992
$GC,17412,1.08,266.9,250.7,10.7,2432,17419,0.00,2.75,0.00,0.000,4,0.000,0.112,3198,3740,1992
$GC,17442,1.08,266.9,247.3,11.5,2437,17448,0.00,2.70,0.00,0.000,6,0.000,0.091,3198,2327,1992
$GC,17785,1.08,266.9,210.5,12.7,2498,17791,0.00,2.75,0.00,0.000,4,0.000,0.110,3198,915,1993
$GC,17820,1.08,266.9,206.5,10.9,2504,17826,0.00,2.70,0.00,0.000,6,0.000,0.094,3198,2333,1993
$GC,18164,1.08,266.9,167.1,11.1,2565,18169,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2333,1993
$GC,18506,1.08,266.9,128.3,10.8,2626,18512,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2334,1994
$GC,18648,1.08,266.9,112.7,12.4,2651,18654,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2334,1994
$GC,18790,1.08,266.9,97.4,10.7,2676,18796,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2334,1994
$GC,18931,1.08,266.9,81.3,10.9,2701,18937,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2334,1994
$GC,19073,1.08,269.2,65.3,9.9,2726,19079,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2334,1994
$GC,19215,1.08,269.2,50.5,10.6,2751,19221,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2334,1994
$GC,19356,1.08,269.2,36.4,11.7,2776,19362,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2334,1994
$GC,19498,1.08,269.2,18.1,14.9,2801,19505,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2334,1994
$STATE,19638,end climb,SURFACE_DEPTH_REACHED
$STATE,19638,begin surface coast
$FINISH,0.2,1.027788
$STATE,19652,end surface coast,CONTROL_FINISHED_OK
$STATE,19652,begin surface
$SM_CCo,19732,0.00,0.000,0,0,1993,267.87
$SM_GC,1.00,11.48,0.00,0.00,0.048,0.000,0.000,588,2229,1993,-10.86,-0.20,267.87
$IRIDIUM_FIX,5850.29,-2205.23,160797,121215
$TT8_MAMPS,0.02301
$HUMID,1614
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.10
$XPDR_PINGS,82
$24V_AH,23.4,22.920
$10V_AH,10.7,17.025
$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,27.750,151.850,396.325,0.000,0.000,25.750,44.753,307.476,20.500,0.000,0.000,14.062,4263.289,9870.457,626.331,4671.149,804.148,0.000,2691.166,0.000,4676.376,0.000,0.467
$DEVICE_MAMPS,209.391,154.167,1411.280,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1959.834,2136.264,1854.635,1200.976,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,160872,2828
$CAP_FILE_SIZE,217012,0
$CFSIZE,260165632,248516608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$GPS,210408,231703,5917.468,-2152.823,44,1.5,44,-15.1