version: 66.03
glider: 140
mission: 5
dive: 30
start: 4 10 108 10 46 15
data:
$ID,140
$MISSION,5
$DIVE,30
$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,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,270
$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,-13750.556
$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
$GPS1,103755,5906.660,-1815.451,26,1.2,43,-13.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-56.1
$GPS2,104557,5906.610,-1815.458,17,1.3,17,-13.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5906.610,-1821.002
$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,283.1,20000,-14.9,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,106,0.00,0.00,-76.53,0.000,2,0.000,0.000,590,2220,3629
$GC,109,-1.29,-194.7,3.4,-7.0,14,133,12.70,2.78,-5.15,0.000,4,0.199,0.115,2668,3649,3880
$GC,364,-1.29,-194.7,36.1,-8.9,59,371,0.00,2.67,0.00,0.000,6,0.000,0.094,2668,2230,3881
$GC,507,-1.29,-194.7,49.5,-9.7,84,513,0.00,2.72,0.00,0.000,4,0.000,0.108,2668,823,3881
$GC,542,-1.29,-194.7,52.6,-8.7,90,549,0.00,2.67,0.00,0.000,6,0.000,0.093,2668,2245,3882
$GC,685,-1.29,-194.7,66.2,-9.6,115,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3882
$GC,828,-1.29,-194.7,80.2,-9.6,140,834,0.00,2.67,0.00,0.000,4,0.000,0.103,2668,3647,3881
$GC,858,-1.29,-194.7,83.3,-9.8,145,864,0.00,2.65,0.00,0.000,6,0.000,0.088,2668,2231,3881
$GC,1000,-1.29,-194.7,96.7,-9.8,170,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2231,3881
$GC,1143,-1.29,-194.7,110.4,-9.3,195,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2231,3882
$GC,1284,-1.29,-194.7,123.2,-8.8,220,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2231,3881
$GC,1426,-1.29,-194.7,135.4,-8.7,245,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2231,3881
$GC,1568,-1.29,-194.7,148.7,-8.9,270,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2231,3882
$GC,1710,-1.29,-194.7,161.6,-9.2,295,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2231,3881
$GC,2052,-1.29,-194.7,192.9,-9.0,356,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2231,3882
$GC,2396,-1.29,-194.7,221.7,-8.2,417,2402,0.00,2.72,0.00,0.000,4,0.000,0.106,2669,3647,3882
$GC,2431,-1.29,-194.7,224.7,-8.6,423,2437,0.00,2.65,0.00,0.000,6,0.000,0.094,2669,2239,3881
$GC,2775,-1.29,-194.7,253.0,-8.7,484,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3882
$GC,3118,-1.29,-194.7,282.4,-8.8,545,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2239,3881
$GC,3461,-1.29,-194.7,311.7,-8.2,606,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2239,3881
$GC,3804,-1.29,-194.7,340.0,-8.2,667,3810,0.00,2.72,0.00,0.000,4,0.000,0.110,2668,3647,3882
$GC,3845,-1.29,-194.7,343.5,-8.8,674,3851,0.00,2.65,0.00,0.000,6,0.000,0.095,2668,2244,3882
$GC,4188,-1.29,-194.7,372.6,-8.4,735,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2244,3881
$GC,4530,-1.29,-194.7,404.1,-9.4,796,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3882
$GC,4874,-1.29,-194.7,437.7,-9.8,857,4880,0.00,2.72,0.00,0.000,4,0.000,0.111,2668,3647,3882
$GC,4915,-1.29,-194.7,441.8,-10.1,864,4922,0.00,2.65,0.00,0.000,6,0.000,0.097,2669,2245,3882
$GC,5260,-1.29,-194.7,474.9,-9.6,925,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2246,3882
$GC,5603,-1.29,-194.7,507.7,-9.5,986,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3881
$GC,5946,-1.29,-194.7,539.6,-9.1,1047,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2246,3882
$GC,6288,-1.29,-194.7,569.3,-8.3,1108,6295,0.00,2.72,0.00,0.000,4,0.000,0.116,2669,3645,3881
$GC,6335,-1.29,-194.7,573.3,-9.1,1116,6342,0.00,2.65,0.00,0.000,6,0.000,0.100,2669,2252,3881
$GC,6679,-1.29,-194.7,601.3,-8.2,1176,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2253,3881
$GC,6999,-1.29,-194.7,626.4,-7.8,1206,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2253,3881
$GC,7317,-1.29,-194.7,652.5,-8.5,1236,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2253,3881
$GC,7636,-1.29,-194.7,680.6,-8.7,1266,7640,0.00,2.78,0.00,0.000,4,0.000,0.122,2669,3650,3881
$GC,7686,-1.29,-194.7,685.4,-9.6,1270,7690,0.00,2.70,0.00,0.000,6,0.000,0.103,2668,2241,3881
$GC,8012,-1.29,-194.7,714.0,-8.8,1300,8013,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2242,3881
$GC,8331,-1.29,-194.7,741.4,-8.5,1330,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2242,3880
$STATE,8413,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,8413,begin apogee
$GC,8419,-0.35,0.0,748.6,8.4,1338,8586,1.02,0.00,160.90,1.250,6,0.106,0.000,2877,2331,3085
$STATE,8587,end apogee,CONTROL_FINISHED_OK
$STATE,8587,begin climb
$GC,8589,1.29,194.7,755.4,0.0,1355,8758,1.62,2.92,159.18,1.212,4,0.062,0.123,3235,3738,2290
$GC,8774,1.19,194.7,743.0,11.9,1373,8780,0.00,2.78,0.00,0.000,6,0.000,0.101,3235,2326,2289
$GC,9100,1.11,194.7,701.9,12.8,1404,9102,0.17,0.00,0.00,0.000,6,0.110,0.000,3203,2326,2289
$GC,9418,1.11,194.7,666.2,11.3,1434,9423,0.00,2.83,0.00,0.000,4,0.000,0.118,3203,3739,2288
$GC,9469,1.05,194.7,660.1,12.3,1438,9473,0.00,2.72,0.00,0.000,6,0.000,0.102,3203,2337,2288
$GC,9795,1.05,194.7,622.3,11.6,1468,9796,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2338,2288
$GC,10118,1.05,194.7,585.2,11.4,1509,10124,0.00,2.80,0.00,0.000,4,0.000,0.116,3203,3746,2287
$GC,10142,0.99,194.7,582.5,11.2,1513,10149,0.15,2.70,0.00,0.000,6,0.108,0.099,3175,2344,2287
$GC,10486,1.00,203.6,550.0,9.7,1574,10497,0.00,0.00,8.60,1.020,6,0.000,0.000,3175,2345,2254
$GC,10834,1.00,205.1,516.6,9.9,1636,10840,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2344,2254
$GC,11178,1.02,219.2,483.8,9.5,1697,11194,0.00,0.00,14.35,1.036,6,0.000,0.000,3175,2344,2191
$GC,11531,1.03,227.0,448.0,9.7,1760,11548,0.00,2.83,8.18,0.956,4,0.000,0.112,3175,3737,2159
$GC,11566,1.03,227.0,444.4,10.4,1766,11572,0.00,2.67,0.00,0.000,6,0.000,0.095,3176,2344,2158
$GC,11909,1.04,233.2,410.2,9.8,1827,11920,0.00,0.00,6.88,0.904,6,0.000,0.000,3176,2345,2134
$GC,12258,1.06,248.8,376.2,9.5,1889,12274,0.00,0.00,14.27,0.968,6,0.000,0.000,3176,2345,2070
$GC,12611,1.06,248.8,341.0,10.1,1952,12617,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2345,2067
$GC,12954,1.06,248.8,303.6,10.9,2013,12960,0.00,2.80,0.00,0.000,4,0.000,0.115,3175,916,2068
$GC,12989,1.10,248.8,299.9,11.0,2019,12996,0.10,2.72,0.00,0.000,6,0.072,0.099,3203,2345,2067
$GC,13333,1.10,248.8,258.3,12.2,2080,13339,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2345,2068
$GC,13676,1.10,248.8,216.0,12.3,2141,13682,0.00,2.72,0.00,0.000,4,0.000,0.111,3203,3742,2067
$GC,13700,1.10,248.8,212.8,13.1,2145,13706,0.00,2.65,0.00,0.000,6,0.000,0.092,3203,2340,2068
$GC,14043,1.10,248.8,172.0,10.7,2206,14049,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2341,2068
$GC,14386,1.10,248.8,131.8,12.3,2267,14392,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2340,2068
$GC,14528,1.10,248.8,114.3,12.1,2292,14534,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2340,2068
$GC,14669,1.10,248.8,96.2,12.5,2317,14675,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2340,2068
$GC,14811,1.10,248.8,79.4,12.2,2342,14817,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2340,2067
$GC,14952,1.10,248.8,61.5,13.4,2367,14959,0.00,2.72,0.00,0.000,4,0.000,0.107,3203,3742,2067
$GC,14976,1.10,248.8,58.1,13.4,2371,14983,0.00,2.62,0.00,0.000,6,0.000,0.091,3203,2349,2067
$GC,15120,1.10,248.8,40.2,11.3,2396,15126,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2350,2068
$GC,15261,1.10,248.8,24.4,11.6,2421,15267,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2349,2068
$GC,15403,1.10,248.8,7.1,13.5,2446,15409,0.00,2.75,0.00,0.000,4,0.000,0.110,3203,919,2068
$GC,15416,1.10,248.8,5.4,13.6,2448,15422,0.00,2.72,0.00,0.000,6,0.000,0.095,3203,2360,2068
$STATE,15449,end climb,SURFACE_DEPTH_REACHED
$STATE,15449,begin surface coast
$FINISH,0.1,1.027277
$STATE,15474,end surface coast,CONTROL_FINISHED_OK
$STATE,15474,begin surface
$SM_CCo,15555,0.00,0.000,0,0,2066,249.96
$SM_GC,1.11,11.50,0.00,0.00,0.048,0.000,0.000,593,2225,2066,-10.84,-0.25,249.96
$IRIDIUM_FIX,5846.12,-1811.51,050797,060654
$TT8_MAMPS,0.02301
$HUMID,1579
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,18.30
$XPDR_PINGS,126
$24V_AH,23.5,14.022
$10V_AH,10.7,7.047
$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,27.275,87.600,372.350,0.000,0.000,30.721,40.076,269.167,31.500,0.000,0.000,17.390,3676.774,7023.359,556.877,4092.442,664.928,0.000,2316.940,0.000,4087.402,0.000,0.468
$DEVICE_MAMPS,198.653,134.992,1250.210,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1699.888,1837.348,1862.871,1151.540,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,138678,2458
$CAP_FILE_SIZE,180517,0
$CFSIZE,260165632,254148608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100408,150638,5905.344,-1818.988,34,1.0,34,-13.1