version: 66.03
glider: 140
mission: 5
dive: 86
start: 4 23 108 10 37 4
data:
$ID,140
$MISSION,5
$DIVE,86
$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,390
$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,315
$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,-14686.186
$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,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
$GPS1,102726,5956.357,-2142.492,41,1.9,41,-15.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-62.0
$GPS2,103645,5956.470,-2142.645,14,1.1,14,-15.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6004.106,-2146.455
$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,330.3,20000,-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,25,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,95,0.00,0.00,-65.12,0.000,2,0.000,0.000,592,2228,3452
$GC,98,-1.29,-194.7,3.0,-6.6,12,128,12.98,2.78,-9.88,0.000,4,0.206,0.114,2669,3646,3879
$GC,135,-0.96,-194.7,9.7,-14.5,18,142,0.40,2.65,0.00,0.000,6,0.104,0.083,2747,2236,3880
$GC,281,-1.05,-194.7,19.1,-5.6,43,287,0.00,2.75,0.00,0.000,4,0.000,0.102,2747,3652,3880
$GC,435,-1.16,-194.7,29.4,-7.1,70,442,0.17,2.65,0.00,0.000,6,0.055,0.084,2703,2237,3881
$GC,580,-1.16,-194.7,40.4,-7.7,95,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2237,3882
$GC,723,-1.16,-194.7,52.5,-8.6,120,729,0.00,2.72,0.00,0.000,4,0.000,0.103,2703,824,3881
$GC,753,-1.16,-194.7,55.2,-8.3,125,760,0.00,2.67,0.00,0.000,6,0.000,0.089,2702,2242,3881
$GC,896,-1.16,-194.7,67.2,-8.3,150,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2242,3881
$GC,1038,-1.16,-194.7,78.4,-7.6,175,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2242,3881
$GC,1180,-1.16,-194.7,90.2,-8.1,200,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2242,3881
$GC,1322,-1.16,-194.7,102.0,-8.3,225,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2242,3881
$GC,1464,-1.16,-194.7,114.2,-8.2,250,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2242,3881
$GC,1606,-1.16,-194.7,125.0,-7.4,275,1613,0.00,2.70,0.00,0.000,4,0.000,0.104,2703,3645,3881
$GC,1642,-1.21,-194.7,127.8,-7.9,281,1649,0.00,2.62,0.00,0.000,6,0.000,0.085,2702,2240,3881
$GC,1785,-1.21,-194.7,138.8,-7.7,306,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2240,3881
$GC,1929,-1.21,-194.7,149.7,-7.6,331,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2241,3881
$GC,2070,-1.21,-194.7,161.6,-8.6,356,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2241,3881
$GC,2413,-1.21,-194.7,188.2,-7.1,417,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2241,3881
$GC,2755,-1.21,-194.7,214.8,-7.6,478,2762,0.00,2.75,0.00,0.000,4,0.000,0.108,2702,3647,3881
$GC,2786,-1.26,-194.7,217.1,-8.0,483,2792,0.00,2.62,0.00,0.000,6,0.000,0.087,2703,2248,3881
$GC,3130,-1.26,-194.7,242.6,-7.8,544,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2248,3881
$GC,3474,-1.26,-194.7,268.4,-7.9,605,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2248,3881
$GC,3816,-1.26,-194.7,295.6,-8.2,666,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2248,3881
$GC,4160,-1.26,-194.7,322.6,-8.0,727,4165,0.00,2.75,0.00,0.000,4,0.000,0.112,2702,3643,3881
$GC,4195,-1.32,-194.7,325.5,-8.1,733,4202,0.15,2.65,0.00,0.000,6,0.062,0.091,2665,2242,3882
$GC,4539,-1.32,-194.7,356.3,-8.5,794,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2243,3881
$GC,4882,-1.32,-194.7,386.4,-8.8,855,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2243,3881
$GC,5224,-1.32,-194.7,417.8,-9.4,916,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2243,3881
$GC,5567,-1.32,-194.7,450.9,-9.3,977,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2241,3880
$GC,5910,-1.32,-194.7,483.1,-9.6,1038,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2241,3880
$GC,6252,-1.32,-194.7,514.8,-9.3,1099,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2241,3880
$GC,6595,-1.32,-194.7,547.0,-9.4,1160,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2241,3880
$GC,6938,-1.32,-194.7,578.6,-8.9,1221,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2242,3880
$GC,7282,-1.32,-194.7,608.4,-8.3,1274,7286,0.00,2.80,0.00,0.000,4,0.000,0.120,2665,3641,3880
$GC,7314,-1.32,-194.7,611.3,-9.2,1276,7320,0.00,2.67,0.00,0.000,6,0.000,0.097,2665,2244,3880
$GC,7640,-1.32,-194.7,638.1,-8.3,1307,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2245,3879
$GC,7959,-1.32,-194.7,665.9,-8.9,1337,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2245,3879
$GC,8277,-1.32,-194.7,694.1,-8.9,1367,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2245,3879
$GC,8595,-1.32,-194.7,721.8,-8.5,1397,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2245,3879
$GC,8914,-1.32,-194.7,749.2,-8.8,1427,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2245,3878
$GC,9232,-1.32,-194.7,776.6,-8.7,1457,9237,0.00,2.85,0.00,0.000,4,0.000,0.131,2665,3642,3878
$GC,9276,-1.32,-194.7,780.8,-9.0,1460,9282,0.00,2.67,0.00,0.000,6,0.000,0.104,2665,2259,3878
$GC,9603,-1.32,-194.7,808.9,-8.7,1491,9607,0.00,2.95,0.00,0.000,4,0.000,0.136,2665,823,3878
$GC,9635,-1.32,-194.7,812.1,-9.6,1493,9641,0.00,2.83,0.00,0.000,6,0.000,0.113,2665,2252,3878
$GC,9962,-1.32,-194.7,840.1,-8.9,1524,9966,0.00,2.88,0.00,0.000,4,0.000,0.136,2665,3654,3878
$GC,9994,-1.32,-194.7,843.4,-9.4,1526,10000,0.00,2.70,0.00,0.000,6,0.000,0.104,2665,2259,3878
$GC,10321,-1.32,-194.7,872.7,-9.0,1557,10322,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2260,3877
$GC,10639,-1.32,-194.7,900.6,-8.3,1587,10640,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2261,3877
$GC,10958,-1.32,-194.7,926.9,-8.1,1617,10959,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2261,3876
$GC,11275,-1.32,-194.7,953.8,-8.3,1647,11277,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2261,3876
$GC,11594,-1.32,-194.7,979.9,-7.9,1677,11595,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2261,3876
$STATE,11707,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11707,begin apogee
$GC,11712,-0.35,0.0,989.4,8.1,1688,11881,1.05,0.00,164.98,1.432,6,0.109,0.000,2876,2330,3084
$STATE,11882,end apogee,CONTROL_FINISHED_OK
$STATE,11882,begin climb
$GC,11885,1.29,194.7,995.4,0.0,1705,12057,1.65,0.00,162.95,1.393,6,0.064,0.000,3239,2330,2290
$GC,12375,1.20,194.7,941.7,13.3,1752,12380,0.00,2.95,0.00,0.000,4,0.000,0.133,3238,3741,2288
$GC,12419,1.09,194.7,935.4,14.3,1755,12426,0.22,2.83,0.00,0.000,6,0.110,0.110,3197,2331,2288
$GC,12743,1.09,194.7,899.9,10.5,1786,12744,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2332,2288
$GC,13062,1.09,194.7,865.7,10.9,1816,13063,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2332,2288
$GC,13380,1.09,194.7,830.8,11.1,1846,13381,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2331,2287
$GC,13699,1.09,194.7,795.3,11.2,1876,13700,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2331,2287
$GC,14019,1.09,194.7,761.1,10.6,1906,14020,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2331,2286
$GC,14336,1.09,194.7,727.2,10.9,1936,14341,0.00,2.88,0.00,0.000,4,0.000,0.124,3197,3741,2286
$GC,14368,1.03,194.7,723.4,11.0,1938,14374,0.00,2.78,0.00,0.000,6,0.000,0.103,3197,2330,2286
$GC,14694,1.03,194.7,687.3,10.8,1969,14696,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2331,2286
$GC,15011,1.03,194.7,653.4,10.3,1999,15013,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2331,2286
$GC,15330,1.03,194.7,620.2,10.8,2029,15331,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2331,2286
$GC,15654,1.03,194.7,586.2,10.3,2070,15660,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2331,2286
$GC,15997,1.03,196.0,551.0,10.0,2131,16002,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2331,2286
$GC,16341,1.03,196.0,515.5,10.3,2192,16347,0.00,2.83,0.00,0.000,4,0.000,0.116,3197,3741,2286
$GC,16382,0.97,196.0,510.8,11.2,2199,16388,0.12,2.70,0.00,0.000,6,0.116,0.093,3175,2336,2286
$GC,16725,1.02,235.4,478.6,8.6,2260,16769,0.00,2.92,34.25,1.090,4,0.000,0.115,3175,918,2125
$GC,16792,1.04,251.4,472.3,9.4,2272,16814,0.00,2.78,14.73,1.016,6,0.000,0.099,3175,2339,2059
$GC,17152,1.06,264.6,437.6,9.5,2336,17168,0.00,0.00,12.25,1.012,6,0.000,0.000,3174,2340,2006
$GC,17506,1.06,264.6,402.2,10.5,2399,17511,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2340,2003
$GC,17848,1.06,264.6,365.5,10.8,2460,17854,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2340,2003
$GC,18192,1.06,270.3,329.3,9.8,2521,18204,0.00,2.83,6.15,0.846,4,0.000,0.106,3175,911,1983
$GC,18239,1.12,270.3,324.2,11.6,2529,18246,0.12,2.75,0.00,0.000,6,0.064,0.094,3207,2339,1983
$GC,18583,1.12,270.3,282.5,12.8,2590,18589,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2339,1982
$GC,18926,1.12,270.3,241.0,12.0,2651,18932,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2338,1983
$GC,19269,1.12,270.3,200.2,11.3,2712,19275,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2338,1982
$GC,19612,1.12,270.3,158.6,11.5,2773,19617,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2338,1982
$GC,19955,1.12,270.3,117.4,11.0,2834,19960,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2338,1982
$GC,20096,1.12,270.3,101.0,10.8,2859,20102,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2338,1982
$GC,20238,1.12,270.3,84.4,11.6,2884,20244,0.00,2.75,0.00,0.000,4,0.000,0.101,3207,916,1983
$GC,20268,1.12,270.3,80.8,12.2,2889,20274,0.00,2.67,0.00,0.000,6,0.000,0.086,3207,2338,1983
$GC,20411,1.12,270.3,63.9,12.0,2914,20417,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2338,1983
$GC,20553,1.12,270.3,46.9,13.3,2939,20559,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2338,1983
$GC,20694,1.12,270.3,30.1,11.0,2964,20701,0.00,2.75,0.00,0.000,4,0.000,0.100,3207,909,1983
$GC,20730,1.12,270.3,25.9,13.3,2970,20737,0.00,2.65,0.00,0.000,6,0.000,0.085,3207,2330,1983
$GC,20872,1.12,270.3,9.2,12.5,2995,20878,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2329,1983
$STATE,20932,end climb,SURFACE_DEPTH_REACHED
$STATE,20933,begin surface coast
$FINISH,0.3,1.027756
$STATE,20951,end surface coast,CONTROL_FINISHED_OK
$STATE,20951,begin surface
$SM_CCo,21032,0.00,0.000,0,0,1981,270.81
$SM_GC,0.79,11.52,0.00,0.00,0.048,0.000,0.000,594,2220,1981,-10.84,-0.42,270.81
$IRIDIUM_FIX,5923.90,-2140.94,180797,040420
$TT8_MAMPS,0.02301
$HUMID,1595
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,18.10
$XPDR_PINGS,97
$24V_AH,23.4,24.199
$10V_AH,10.7,18.485
$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,28.400,94.125,395.300,0.000,0.000,30.434,55.735,310.293,24.250,0.000,0.000,14.814,4518.992,10672.869,606.879,4920.266,841.034,0.000,2739.268,0.000,4936.430,0.000,0.468
$DEVICE_MAMPS,206.323,155.701,1431.989,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,2083.763,2272.752,1996.082,1285.120,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,170422,3009
$CAP_FILE_SIZE,222816,0
$CFSIZE,260165632,247676928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230408,162838,6001.266,-2148.794,27,1.5,27,-15.4