version: 66.03
glider: 140
mission: 5
dive: 3
start: 4 4 108 11 2 11
data:
$ID,140
$MISSION,5
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$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,250
$T_MISSION,280
$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,150
$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,-1
$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,225
$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,-13267.769
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,592
$PITCH_MAX,3894
$C_PITCH,2990
$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,2100
$C_ROLL_CLIMB,2150
$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,0.029999999
$ROLL_ADJ_DBAND,3
$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
$GPS1,105751,5900.334,-2028.710,14,1.1,14,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-58.4
$GPS2,110151,5900.339,-2028.704,9,1.0,15,-14.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,VM
$TGT_LATLONG,5859.850,-2029.850
$TGT_RADIUS,400.000
$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,244.5,1420,-27.2,-10.000
$D_GRID,750
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-2.00,-63.0,0.0,0.0,0,86,0.00,0.00,-64.72,0.000,6,0.000,0.000,593,2109,3342
$GC,89,-2.06,-118.6,2.1,-4.1,12,114,11.18,2.72,-7.57,0.000,4,0.175,0.113,2535,3512,3569
$GC,369,-2.12,-118.6,33.5,-13.2,61,375,0.00,2.67,0.00,0.000,6,0.000,0.094,2535,2101,3570
$GC,443,-2.12,-118.6,42.2,-11.7,74,450,0.00,2.72,0.00,0.000,4,0.000,0.104,2535,3511,3570
$GC,529,-2.17,-118.6,53.5,-13.9,89,536,0.00,2.67,0.00,0.000,6,0.000,0.094,2535,2099,3569
$GC,671,-2.17,-118.6,73.9,-14.4,114,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2100,3570
$GC,813,-2.17,-118.6,92.9,-12.4,139,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2099,3570
$GC,954,-2.21,-118.6,110.9,-12.1,164,961,0.12,2.75,0.00,0.000,4,0.074,0.106,2506,3515,3570
$GC,990,-2.21,-118.6,115.9,-14.3,170,997,0.00,2.70,0.00,0.000,6,0.000,0.095,2506,2095,3570
$GC,1133,-2.21,-118.6,135.2,-13.8,195,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2094,3570
$GC,1274,-2.21,-118.6,154.2,-13.6,220,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2094,3570
$GC,1415,-2.21,-118.6,174.1,-14.6,245,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2094,3570
$GC,1555,-2.21,-118.6,193.6,-13.1,270,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2094,3570
$GC,1696,-2.21,-118.6,213.1,-14.2,295,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2094,3570
$GC,1836,-2.21,-118.6,233.8,-14.4,320,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2094,3570
$GC,1977,-2.21,-118.6,253.7,-14.1,345,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2094,3570
$GC,2117,-2.21,-118.6,273.6,-14.0,370,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2094,3570
$GC,2258,-2.21,-118.6,294.2,-14.6,395,2264,0.00,2.78,0.00,0.000,4,0.000,0.112,2506,3511,3570
$GC,2298,-2.21,-118.6,300.4,-15.4,402,2305,0.00,2.70,0.00,0.000,6,0.000,0.100,2506,2101,3570
$GC,2440,-2.21,-118.6,321.6,-15.0,427,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2101,3570
$GC,2580,-2.21,-118.6,342.3,-15.2,452,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2100,3570
$GC,2721,-2.21,-118.6,362.9,-14.2,477,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2100,3570
$GC,2862,-2.21,-118.6,383.2,-14.1,502,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2100,3570
$GC,3002,-2.21,-118.6,403.5,-14.9,527,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2101,3570
$GC,3142,-2.21,-118.6,423.5,-13.9,552,3148,0.00,2.78,0.00,0.000,4,0.000,0.115,2506,3513,3570
$GC,3176,-2.21,-118.6,428.6,-15.0,558,3182,0.00,2.72,0.00,0.000,6,0.000,0.100,2506,2096,3570
$GC,3318,-2.21,-118.6,448.9,-14.3,583,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2096,3570
$GC,3458,-2.21,-118.6,469.2,-14.3,608,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2096,3570
$GC,3599,-2.21,-118.6,489.3,-14.3,633,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2095,3570
$GC,3739,-2.21,-118.6,509.4,-14.4,658,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2095,3569
$GC,3880,-2.21,-118.6,529.1,-13.9,683,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2096,3570
$GC,4020,-2.21,-118.6,549.1,-14.2,708,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2095,3570
$GC,4159,-2.21,-118.6,568.9,-14.4,722,4164,0.00,2.80,0.00,0.000,4,0.000,0.117,2506,3516,3570
$GC,4192,-2.21,-118.6,573.9,-14.7,724,4198,0.00,2.72,0.00,0.000,6,0.000,0.102,2506,2098,3570
$GC,4325,-2.21,-118.6,592.4,-14.1,737,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2098,3570
$GC,4453,-2.21,-118.6,610.0,-13.5,749,4457,0.00,2.80,0.00,0.000,4,0.000,0.119,2506,3512,3570
$GC,4492,-2.21,-118.6,615.6,-14.5,752,4496,0.00,2.72,0.00,0.000,6,0.000,0.104,2506,2100,3570
$GC,4625,-2.21,-118.6,634.3,-14.0,764,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2100,3570
$GC,4752,-2.21,-118.6,652.9,-14.6,776,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2100,3570
$GC,4879,-2.21,-118.6,670.7,-14.1,788,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2100,3570
$GC,5007,-2.21,-118.6,688.8,-14.2,800,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2101,3570
$GC,5134,-2.21,-118.6,706.7,-14.3,812,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2100,3570
$GC,5263,-2.21,-118.6,724.9,-14.2,824,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2100,3570
$GC,5391,-2.21,-118.6,742.6,-13.8,836,5395,0.00,2.83,0.00,0.000,4,0.000,0.123,2506,3512,3570
$STATE,5438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5439,begin apogee
$GC,5446,-0.35,0.0,750.3,15.2,840,5553,2.03,0.00,100.53,1.310,6,0.122,0.000,2909,2150,3085
$STATE,5554,end apogee,CONTROL_FINISHED_OK
$STATE,5554,begin climb
$GC,5556,2.06,118.6,753.4,0.0,851,5660,2.35,0.00,98.97,1.259,6,0.056,0.000,3443,2150,2601
$GC,5786,1.97,118.6,724.5,18.2,873,5792,0.12,2.85,0.00,0.000,4,0.134,0.120,3422,3559,2600
$GC,5917,1.85,118.6,700.9,18.3,884,5922,0.15,2.80,0.00,0.000,6,0.131,0.107,3397,2145,2600
$GC,6050,1.85,118.6,678.9,15.8,896,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2145,2600
$GC,6178,1.81,118.6,657.8,17.2,908,6182,0.00,2.83,0.00,0.000,4,0.000,0.116,3397,3560,2600
$GC,6217,1.72,118.6,650.8,18.5,911,6222,0.17,2.78,0.00,0.000,6,0.130,0.104,3367,2142,2600
$GC,6350,1.72,118.6,629.8,15.5,923,6355,0.00,2.83,0.00,0.000,4,0.000,0.114,3367,3562,2600
$GC,6394,1.67,118.6,622.4,17.4,926,6400,0.00,2.75,0.00,0.000,6,0.000,0.104,3367,2149,2600
$GC,6527,1.67,118.6,603.2,13.9,939,6531,0.00,2.80,0.00,0.000,4,0.000,0.113,3367,3563,2600
$GC,6582,1.62,118.6,595.1,15.0,943,6588,0.12,2.75,0.00,0.000,6,0.131,0.102,3346,2144,2600
$GC,6715,1.62,118.6,577.3,13.7,956,6719,0.00,2.80,0.00,0.000,4,0.000,0.113,3346,3560,2600
$GC,6781,1.62,118.6,567.5,15.1,961,6787,0.00,2.75,0.00,0.000,6,0.000,0.103,3346,2145,2600
$GC,6915,1.62,118.6,548.3,14.6,975,6921,0.00,2.80,0.00,0.000,4,0.000,0.112,3346,3568,2599
$GC,6960,1.62,118.6,541.6,15.5,983,6966,0.00,2.75,0.00,0.000,6,0.000,0.100,3346,2143,2599
$GC,7101,1.62,118.6,521.8,14.2,1008,7108,0.00,2.78,0.00,0.000,4,0.000,0.110,3346,3563,2599
$GC,7136,1.62,118.6,516.9,14.1,1014,7142,0.00,2.72,0.00,0.000,6,0.000,0.100,3346,2148,2599
$GC,7277,1.62,118.6,497.4,14.1,1039,7283,0.00,2.78,0.00,0.000,4,0.000,0.110,3346,3565,2599
$GC,7334,1.62,118.6,488.9,14.9,1049,7340,0.00,2.72,0.00,0.000,6,0.000,0.100,3346,2149,2599
$GC,7476,1.62,118.6,468.4,14.8,1074,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2149,2599
$GC,7616,1.62,118.6,448.1,15.1,1099,7622,0.00,2.75,0.00,0.000,4,0.000,0.109,3346,3561,2599
$GC,7661,1.62,118.6,440.9,16.7,1107,7667,0.00,2.70,0.00,0.000,6,0.000,0.097,3346,2148,2599
$GC,7804,1.62,118.6,419.1,15.7,1132,7810,0.00,2.75,0.00,0.000,4,0.000,0.110,3346,3563,2599
$GC,7851,1.62,118.6,411.5,15.8,1140,7858,0.00,2.70,0.00,0.000,6,0.000,0.098,3346,2147,2599
$GC,7993,1.62,118.6,389.8,14.9,1165,7999,0.00,2.75,0.00,0.000,4,0.000,0.109,3346,3561,2599
$GC,8039,1.62,118.6,382.7,15.5,1173,8045,0.00,2.70,0.00,0.000,6,0.000,0.098,3346,2148,2600
$GC,8180,1.62,118.6,362.0,14.6,1198,8186,0.00,2.75,0.00,0.000,4,0.000,0.108,3346,3565,2599
$GC,8215,1.62,118.6,356.9,15.5,1204,8221,0.00,2.70,0.00,0.000,6,0.000,0.097,3346,2149,2599
$GC,8357,1.62,118.6,336.1,14.4,1229,8363,0.00,2.75,0.00,0.000,4,0.000,0.107,3346,3566,2599
$GC,8397,1.62,118.6,330.0,15.6,1236,8403,0.00,2.70,0.00,0.000,6,0.000,0.097,3346,2147,2599
$GC,8539,1.62,118.6,308.8,15.0,1261,8545,0.00,2.75,0.00,0.000,4,0.000,0.107,3346,3567,2599
$GC,8579,1.62,118.6,302.6,15.6,1268,8585,0.00,2.70,0.00,0.000,6,0.000,0.096,3346,2146,2599
$GC,8721,1.62,118.6,281.8,14.9,1293,8727,0.00,2.72,0.00,0.000,4,0.000,0.107,3346,3561,2599
$GC,8766,1.62,118.6,274.6,15.6,1301,8772,0.00,2.67,0.00,0.000,6,0.000,0.096,3346,2150,2599
$GC,8907,1.62,118.6,253.5,15.3,1326,8914,0.00,2.72,0.00,0.000,4,0.000,0.106,3346,3564,2600
$GC,8982,1.62,118.6,242.2,15.5,1339,8988,0.00,2.70,0.00,0.000,6,0.000,0.096,3346,2140,2599
$GC,9123,1.62,118.6,222.1,13.7,1364,9129,0.00,2.75,0.00,0.000,4,0.000,0.105,3346,3566,2599
$GC,9142,1.62,118.6,219.6,13.5,1367,9148,0.00,2.67,0.00,0.000,6,0.000,0.094,3346,2149,2599
$GC,9283,1.62,118.6,200.3,14.3,1392,9289,0.00,2.72,0.00,0.000,4,0.000,0.104,3346,3567,2599
$GC,9357,1.62,118.6,190.1,13.9,1405,9363,0.00,2.67,0.00,0.000,6,0.000,0.095,3346,2150,2600
$GC,9498,1.62,118.6,171.8,12.3,1430,9505,0.00,2.70,0.00,0.000,4,0.000,0.104,3346,3562,2599
$GC,9544,1.62,118.6,165.3,13.9,1438,9550,0.00,2.67,0.00,0.000,6,0.000,0.094,3346,2142,2599
$GC,9686,1.62,118.6,146.4,13.7,1463,9692,0.00,2.72,0.00,0.000,4,0.000,0.103,3346,3569,2599
$GC,9745,1.62,118.6,138.2,14.2,1473,9751,0.00,2.67,0.00,0.000,6,0.000,0.094,3346,2149,2599
$GC,9887,1.62,118.6,119.1,13.8,1498,9894,0.00,2.70,0.00,0.000,4,0.000,0.104,3346,3563,2599
$GC,9945,1.62,118.6,111.0,14.5,1508,9951,0.00,2.67,0.00,0.000,6,0.000,0.094,3346,2144,2599
$GC,10088,1.62,118.6,90.7,15.1,1533,10095,0.00,2.72,0.00,0.000,4,0.000,0.102,3346,3570,2600
$GC,10146,1.62,118.6,82.2,14.9,1543,10153,0.00,2.65,0.00,0.000,6,0.000,0.093,3346,2150,2600
$GC,10288,1.62,118.6,62.5,14.3,1568,10295,0.00,2.70,0.00,0.000,4,0.000,0.102,3346,3564,2600
$GC,10335,1.62,118.6,55.6,14.4,1576,10341,0.00,2.67,0.00,0.000,6,0.000,0.093,3346,2140,2599
$GC,10478,1.62,118.6,35.2,14.4,1601,10485,0.00,2.70,0.00,0.000,4,0.000,0.100,3346,3563,2600
$GC,10519,1.62,118.6,28.9,15.5,1608,10526,0.00,2.65,0.00,0.000,6,0.000,0.094,3346,2143,2600
$GC,10594,1.62,118.6,17.6,15.3,1621,10600,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2142,2600
$GC,10669,1.62,118.6,5.5,16.6,1634,10676,0.00,2.70,0.00,0.000,4,0.000,0.100,3346,3564,2600
$STATE,10691,end climb,SURFACE_DEPTH_REACHED
$STATE,10691,begin surface coast
$FINISH,0.4,1.027763
$STATE,10703,end surface coast,CONTROL_FINISHED_OK
$STATE,10704,begin surface
$SM_CCo,10727,84.38,0.805,1,0,2167,225.19
$SM_GC,1.08,0.00,0.00,84.38,0.000,0.000,0.805,591,2091,2167,-11.04,-0.25,225.19
$IRIDIUM_FIX,5837.82,-2032.87,290697,111111
$TT8_MAMPS,0.02301
$HUMID,1547
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,18.30
$XPDR_PINGS,37
$24V_AH,23.5,9.728
$10V_AH,10.7,1.745
$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,28.350,180.400,199.500,84.375,0.000,0.000,0.000,0.000,9.250,0.000,0.000,15.727,2559.082,4686.748,595.388,2817.068,232.316,0.000,1909.364,0.000,2811.137,0.000,0.468
$DEVICE_MAMPS,174.876,123.487,1310.036,804.583,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1130.458,1220.335,1313.045,851.017,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94730,1640
$CAP_FILE_SIZE,165118,0
$CFSIZE,260165632,257249280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040408,140358,5900.150,-2029.854,33,2.3,52,-14.2