version: 66.03
glider: 140
mission: 5
dive: 28
start: 4 10 108 0 35 9
data:
$ID,140
$MISSION,5
$DIVE,28
$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,225
$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,-13716.534
$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,14
$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
$GPS1,002637,5911.228,-1811.638,39,1.2,44,-13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-60.9
$GPS2,003451,5911.178,-1811.647,11,1.8,11,-13.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5903.542,-1815.574
$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,238.1,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,112,0.00,0.00,-81.35,0.000,2,0.000,0.000,591,2228,3709
$GC,115,-1.29,-194.7,3.7,-7.7,15,139,12.65,2.75,-3.50,0.000,4,0.197,0.114,2668,3648,3882
$GC,392,-1.29,-194.7,38.9,-11.4,64,399,0.00,2.65,0.00,0.000,6,0.000,0.091,2668,2236,3883
$GC,535,-1.29,-194.7,53.0,-9.6,89,541,0.00,2.70,0.00,0.000,4,0.000,0.104,2668,3648,3883
$GC,654,-1.29,-194.7,66.9,-11.7,110,661,0.00,2.65,0.00,0.000,6,0.000,0.091,2668,2239,3883
$GC,797,-1.29,-194.7,80.2,-9.1,135,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2239,3883
$GC,939,-1.29,-194.7,93.4,-9.2,160,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2239,3883
$GC,1081,-1.29,-194.7,106.3,-9.0,185,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3883
$GC,1223,-1.29,-194.7,120.0,-9.6,210,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3883
$GC,1365,-1.29,-194.7,132.8,-9.8,235,1371,0.00,2.70,0.00,0.000,4,0.000,0.107,2668,3647,3883
$GC,1400,-1.29,-194.7,136.6,-11.5,241,1407,0.00,2.62,0.00,0.000,6,0.000,0.092,2667,2249,3883
$GC,1542,-1.29,-194.7,150.5,-8.2,266,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2249,3883
$GC,1886,-1.29,-194.7,181.5,-8.7,327,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2249,3883
$GC,2228,-1.29,-194.7,211.9,-9.0,388,2235,0.00,2.70,0.00,0.000,4,0.000,0.108,2667,3648,3883
$GC,2258,-1.29,-194.7,214.7,-9.7,393,2264,0.00,2.62,0.00,0.000,6,0.000,0.093,2668,2252,3883
$GC,2602,-1.29,-194.7,246.9,-9.7,454,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2252,3883
$GC,2945,-1.29,-194.7,279.6,-9.1,515,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2252,3883
$GC,3287,-1.29,-194.7,309.4,-8.4,576,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2252,3883
$GC,3631,-1.29,-194.7,338.9,-8.5,637,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2252,3883
$GC,3974,-1.29,-194.7,368.9,-8.2,698,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2252,3883
$GC,4316,-1.29,-194.7,398.2,-8.5,759,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2252,3883
$GC,4660,-1.29,-194.7,426.3,-8.3,820,4666,0.00,2.72,0.00,0.000,4,0.000,0.114,2667,3652,3883
$GC,4700,-1.29,-194.7,430.0,-8.5,827,4706,0.00,2.65,0.00,0.000,6,0.000,0.097,2668,2251,3883
$GC,5044,-1.29,-194.7,459.5,-8.5,888,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2251,3883
$GC,5387,-1.29,-194.7,488.9,-8.9,949,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2251,3882
$GC,5730,-1.29,-194.7,518.5,-8.6,1010,5736,0.00,2.72,0.00,0.000,4,0.000,0.114,2668,3648,3883
$GC,5764,-1.29,-194.7,521.7,-9.3,1016,5771,0.00,2.62,0.00,0.000,6,0.000,0.098,2668,2259,3883
$GC,6108,-1.29,-194.7,552.0,-9.1,1077,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3883
$GC,6451,-1.29,-194.7,582.1,-8.3,1138,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3883
$GC,6787,-1.29,-194.7,610.3,-8.4,1188,6789,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3883
$GC,7108,-1.29,-194.7,637.4,-8.9,1218,7112,0.00,2.72,0.00,0.000,4,0.000,0.120,2668,3649,3883
$GC,7140,-1.29,-194.7,640.6,-9.1,1220,7146,0.00,2.65,0.00,0.000,6,0.000,0.100,2667,2259,3883
$GC,7467,-1.29,-194.7,669.0,-8.8,1251,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3883
$GC,7785,-1.29,-194.7,697.3,-8.7,1281,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3883
$GC,8104,-1.29,-194.7,725.4,-8.7,1311,8108,0.00,2.75,0.00,0.000,4,0.000,0.123,2668,3652,3883
$GC,8143,-1.29,-194.7,729.0,-9.5,1314,8147,0.00,2.65,0.00,0.000,6,0.000,0.104,2668,2269,3883
$GC,8471,-1.29,-194.7,756.5,-8.4,1344,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2269,3882
$GC,8795,-1.29,-194.7,785.0,-8.8,1375,8800,0.00,2.75,0.00,0.000,4,0.000,0.126,2668,3646,3882
$GC,8835,-1.29,-194.7,788.8,-9.8,1378,8839,0.00,2.65,0.00,0.000,6,0.000,0.108,2668,2274,3882
$GC,9161,-1.29,-194.7,818.3,-9.0,1408,9163,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2275,3882
$GC,9480,-1.29,-194.7,845.7,-8.3,1438,9481,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2275,3882
$GC,9798,-1.29,-194.7,872.1,-8.3,1468,9803,0.00,2.78,0.00,0.000,4,0.000,0.131,2668,3648,3881
$GC,9838,-1.29,-194.7,875.7,-9.2,1471,9842,0.00,2.65,0.00,0.000,6,0.000,0.111,2668,2285,3881
$GC,10164,-1.29,-194.7,903.8,-8.4,1501,10169,0.00,3.05,0.00,0.000,4,0.000,0.147,2668,821,3881
$GC,10208,-1.29,-194.7,908.1,-9.3,1504,10214,0.00,2.88,0.00,0.000,6,0.000,0.116,2668,2289,3881
$GC,10534,-1.29,-194.7,935.5,-7.7,1535,10539,0.00,2.72,0.00,0.000,4,0.000,0.134,2667,3647,3881
$GC,10567,-1.29,-194.7,938.5,-9.0,1537,10573,0.00,2.65,0.00,0.000,6,0.000,0.114,2667,2289,3881
$STATE,10805,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10805,begin apogee
$GC,10811,-0.35,0.0,958.2,8.5,1560,10979,1.02,0.00,164.50,1.398,6,0.108,0.000,2875,2327,3086
$STATE,10980,end apogee,CONTROL_FINISHED_OK
$STATE,10980,begin climb
$GC,10982,1.29,194.7,964.4,0.0,1577,11157,1.65,3.00,162.00,1.355,4,0.065,0.132,3237,3741,2290
$GC,11225,1.17,194.7,943.0,14.2,1600,11231,0.12,2.85,0.00,0.000,6,0.119,0.116,3216,2325,2289
$GC,11550,1.11,194.7,902.4,12.6,1630,11551,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2325,2288
$GC,11870,1.05,194.7,863.8,11.8,1660,11875,0.15,2.88,0.00,0.000,4,0.112,0.127,3185,3739,2287
$GC,11905,1.00,194.7,859.7,10.2,1662,11911,0.00,2.80,0.00,0.000,6,0.000,0.114,3185,2326,2287
$GC,12232,1.00,194.7,824.6,10.8,1693,12233,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2327,2287
$GC,12547,1.00,194.7,790.9,10.4,1723,12548,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2327,2286
$GC,12867,1.00,194.7,756.4,10.8,1753,12872,0.00,2.83,0.00,0.000,4,0.000,0.122,3184,3739,2286
$GC,12906,0.95,194.7,751.9,12.2,1756,12911,0.00,2.72,0.00,0.000,6,0.000,0.107,3184,2343,2285
$GC,13231,0.95,194.7,718.6,10.0,1786,13235,0.00,2.80,0.00,0.000,4,0.000,0.120,3185,3744,2285
$GC,13252,0.95,194.7,716.2,11.0,1787,13258,0.00,2.70,0.00,0.000,6,0.000,0.105,3185,2353,2285
$GC,13579,0.95,194.7,683.7,10.2,1818,13580,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2354,2285
$GC,13894,0.95,194.7,650.7,10.2,1848,13895,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2354,2285
$GC,14214,0.95,194.7,617.4,10.7,1878,14219,0.00,2.72,0.00,0.000,4,0.000,0.117,3185,3739,2285
$GC,14231,0.95,194.7,615.4,10.8,1879,14236,0.00,2.67,0.00,0.000,6,0.000,0.101,3185,2350,2285
$GC,14565,0.95,194.7,580.3,11.1,1925,14571,0.00,2.85,0.00,0.000,4,0.000,0.124,3185,918,2285
$GC,14594,0.95,194.7,577.1,11.1,1930,14600,0.00,2.75,0.00,0.000,6,0.000,0.101,3185,2357,2285
$GC,14937,0.95,194.7,540.4,10.3,1991,14942,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2357,2285
$GC,15279,0.95,194.7,504.4,10.5,2052,15285,0.00,2.67,0.00,0.000,4,0.000,0.112,3184,3740,2285
$GC,15302,0.95,194.7,501.8,11.6,2056,15309,0.00,2.62,0.00,0.000,6,0.000,0.094,3184,2355,2285
$GC,15648,0.95,194.7,466.1,10.2,2117,15653,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2354,2285
$GC,15991,0.95,195.0,430.8,10.0,2178,15997,0.00,2.80,0.00,0.000,4,0.000,0.117,3185,919,2286
$GC,16009,0.96,199.2,428.9,9.9,2181,16020,0.00,2.75,4.70,0.777,6,0.000,0.099,3184,2364,2272
$GC,16358,0.97,211.1,394.4,9.6,2243,16374,0.00,0.00,11.52,0.995,6,0.000,0.000,3185,2364,2223
$GC,16712,0.98,215.9,359.2,9.8,2306,16722,0.00,0.00,5.88,0.838,6,0.000,0.000,3185,2364,2203
$GC,17060,0.98,215.9,324.4,10.6,2368,17065,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2364,2203
$GC,17403,0.98,215.9,289.5,10.4,2429,17409,0.00,2.83,0.00,0.000,4,0.000,0.112,3185,913,2204
$GC,17426,0.98,215.9,286.9,10.4,2433,17433,0.00,2.72,0.00,0.000,6,0.000,0.097,3184,2372,2203
$GC,17770,0.98,215.9,250.2,11.9,2494,17775,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2372,2203
$GC,18113,0.98,218.1,212.7,9.9,2555,18119,0.00,2.83,0.00,0.000,4,0.000,0.110,3185,913,2203
$GC,18142,0.98,218.1,209.3,12.7,2560,18153,0.00,2.72,3.72,0.597,6,0.000,0.096,3184,2360,2194
$GC,18490,0.98,218.1,171.9,11.4,2622,18497,0.00,2.80,0.00,0.000,4,0.000,0.110,3184,911,2194
$GC,18509,0.98,218.1,169.9,10.2,2625,18515,0.00,2.72,0.00,0.000,6,0.000,0.095,3184,2356,2194
$GC,18854,0.98,218.1,134.5,10.1,2686,18860,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2356,2194
$GC,18995,0.98,218.1,119.4,10.3,2711,19001,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2356,2195
$GC,19137,0.99,223.8,103.8,9.8,2736,19149,0.00,0.00,6.45,0.746,6,0.000,0.000,3185,2356,2172
$GC,19286,0.99,223.8,89.9,10.4,2762,19292,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2355,2171
$GC,19427,0.99,223.8,75.0,11.5,2787,19433,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2356,2171
$GC,19569,1.01,240.0,60.4,9.4,2812,19587,0.00,0.00,14.25,0.793,6,0.000,0.000,3184,2356,2106
$GC,19724,1.01,240.0,49.0,10.2,2839,19730,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2355,2105
$GC,19865,1.01,240.0,32.7,12.2,2864,19871,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2355,2105
$GC,20007,1.01,240.0,17.9,10.4,2889,20013,0.00,2.78,0.00,0.000,4,0.000,0.106,3184,914,2105
$GC,20025,1.01,240.0,15.9,10.6,2892,20032,0.00,2.67,0.00,0.000,6,0.000,0.093,3184,2335,2105
$STATE,20143,end climb,SURFACE_DEPTH_REACHED
$STATE,20143,begin surface coast
$FINISH,0.2,1.027821
$STATE,20163,end surface coast,CONTROL_FINISHED_OK
$STATE,20163,begin surface
$SM_CCo,20244,0.00,0.000,0,0,2103,240.88
$SM_GC,0.81,11.43,0.00,0.00,0.047,0.000,0.000,589,2225,2103,-10.86,-0.28,240.88
$IRIDIUM_FIX,5850.29,-1810.14,040797,181852
$TT8_MAMPS,0.022243
$HUMID,1583
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,17.10
$XPDR_PINGS,108
$24V_AH,23.4,13.710
$10V_AH,10.7,6.677
$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,27.025,131.850,373.025,0.000,0.000,29.427,32.511,281.100,27.000,0.000,0.000,11.484,4400.424,10139.096,584.509,4827.092,755.931,0.000,2703.587,0.000,4834.500,0.000,0.469
$DEVICE_MAMPS,197.119,169.507,1398.241,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,2017.606,2190.812,1931.326,1246.279,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,163847,2916
$CAP_FILE_SIZE,221616,0
$CFSIZE,260165632,254291968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100408,061338,5907.573,-1812.011,30,1.2,30,-13.1