version: 66.03
glider: 140
mission: 5
dive: 45
start: 4 13 108 16 9 40
data:
$ID,140
$MISSION,5
$DIVE,45
$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,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,-14020.105
$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,12
$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
$GPS1,160101,5901.285,-1922.559,40,1.5,45,-13.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-64.1
$GPS2,160921,5901.336,-1922.552,11,1.7,11,-13.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5901.336,-1928.110
$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,283.7,20000,-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,-194.7,0.0,0.0,0,89,0.00,0.00,-59.97,0.000,2,0.000,0.000,591,2227,3463
$GC,92,-1.29,-194.7,3.1,-6.4,11,122,12.95,2.78,-9.90,0.000,4,0.205,0.122,2671,822,3880
$GC,237,-1.29,-194.7,19.8,-10.0,36,244,0.00,2.67,0.00,0.000,6,0.000,0.096,2671,2237,3881
$GC,380,-1.29,-194.7,33.3,-9.1,61,385,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3881
$GC,523,-1.29,-194.7,46.1,-9.2,86,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3881
$GC,664,-1.29,-194.7,59.2,-9.1,111,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,806,-1.29,-194.7,72.3,-8.8,136,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3881
$GC,948,-1.29,-194.7,84.9,-8.5,161,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3881
$GC,1090,-1.29,-194.7,96.9,-8.2,186,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,1232,-1.29,-194.7,108.9,-8.7,211,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,1374,-1.29,-194.7,121.7,-9.2,236,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,1516,-1.29,-194.7,134.5,-8.5,261,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,1658,-1.29,-194.7,147.1,-9.0,286,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,1800,-1.29,-194.7,159.9,-8.9,311,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,2142,-1.29,-194.7,191.5,-9.2,372,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,2485,-1.29,-194.7,223.3,-9.3,433,2491,0.00,2.75,0.00,0.000,4,0.000,0.112,2671,3650,3881
$GC,2520,-1.29,-194.7,226.7,-9.8,439,2526,0.00,2.70,0.00,0.000,6,0.000,0.097,2671,2230,3881
$GC,2864,-1.29,-194.7,258.7,-9.4,500,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,3207,-1.29,-194.7,290.2,-8.8,561,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3882
$GC,3549,-1.29,-194.7,321.0,-8.9,622,3555,0.00,2.78,0.00,0.000,4,0.000,0.117,2671,3645,3882
$GC,3579,-1.29,-194.7,323.7,-9.3,627,3585,0.00,2.70,0.00,0.000,6,0.000,0.100,2671,2231,3881
$GC,3924,-1.29,-194.7,353.6,-8.7,688,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3881
$GC,4268,-1.29,-194.7,383.7,-8.6,749,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3881
$GC,4611,-1.29,-194.7,414.1,-9.2,810,4617,0.00,2.80,0.00,0.000,4,0.000,0.118,2671,3650,3881
$GC,4645,-1.29,-194.7,417.3,-9.4,816,4652,0.00,2.70,0.00,0.000,6,0.000,0.102,2671,2238,3881
$GC,4990,-1.29,-194.7,447.3,-8.8,877,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2238,3881
$GC,5332,-1.29,-194.7,478.1,-9.0,938,5338,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2239,3881
$GC,5675,-1.29,-194.7,508.6,-8.7,999,5681,0.00,2.72,0.00,0.000,4,0.000,0.120,2671,3645,3881
$GC,5716,-1.29,-194.7,512.4,-9.3,1006,5722,0.00,2.70,0.00,0.000,6,0.000,0.103,2671,2240,3881
$GC,6059,-1.29,-194.7,543.9,-9.7,1067,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3881
$GC,6401,-1.29,-194.7,576.7,-9.9,1128,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3881
$GC,6745,-1.29,-194.7,608.9,-9.2,1181,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3881
$GC,7064,-1.29,-194.7,636.8,-8.6,1211,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3881
$GC,7383,-1.29,-194.7,664.2,-8.8,1241,7388,0.00,2.83,0.00,0.000,4,0.000,0.127,2671,3644,3881
$GC,7415,-1.29,-194.7,667.3,-9.7,1243,7422,0.00,2.72,0.00,0.000,6,0.000,0.108,2671,2241,3881
$GC,7742,-1.29,-194.7,694.6,-8.4,1274,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3880
$GC,8060,-1.29,-194.7,720.9,-8.2,1304,8062,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3880
$GC,8379,-1.29,-194.7,746.6,-8.0,1334,8383,0.00,2.85,0.00,0.000,4,0.000,0.132,2672,3647,3880
$GC,8418,-1.29,-194.7,750.1,-9.0,1337,8423,0.00,2.75,0.00,0.000,6,0.000,0.112,2671,2242,3880
$GC,8744,-1.29,-194.7,776.4,-7.6,1367,8745,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3880
$GC,9063,-1.29,-194.7,800.5,-7.9,1397,9064,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3880
$GC,9381,-1.29,-194.7,825.2,-7.8,1427,9385,0.00,2.85,0.00,0.000,4,0.000,0.134,2671,3642,3879
$GC,9424,-1.29,-194.7,829.1,-8.0,1430,9431,0.00,2.72,0.00,0.000,6,0.000,0.117,2671,2256,3879
$GC,9750,-1.29,-194.7,854.8,-8.2,1461,9755,0.00,3.00,0.00,0.000,4,0.000,0.148,2671,821,3879
$GC,9790,-1.29,-194.7,858.3,-8.9,1464,9794,0.00,2.80,0.00,0.000,6,0.000,0.117,2671,2243,3879
$GC,10114,-1.29,-194.7,884.2,-7.8,1494,10115,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3878
$GC,10435,-1.29,-194.7,909.8,-7.9,1524,10436,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3878
$GC,10753,-1.29,-194.7,935.0,-7.8,1554,10754,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3878
$STATE,10813,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10813,begin apogee
$GC,10818,-0.35,0.0,939.9,7.9,1560,10986,1.02,0.00,163.88,1.391,6,0.108,0.000,2878,2332,3085
$STATE,10987,end apogee,CONTROL_FINISHED_OK
$STATE,10987,begin climb
$GC,10990,1.29,194.7,945.4,0.0,1577,11162,1.65,3.03,161.93,1.350,4,0.063,0.138,3239,3739,2291
$GC,11184,1.17,194.7,930.5,13.1,1596,11191,0.12,2.88,0.00,0.000,6,0.117,0.120,3218,2323,2290
$GC,11509,1.11,194.7,891.9,11.5,1627,11510,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2324,2288
$GC,11829,1.05,194.7,853.9,11.8,1657,11834,0.15,2.95,0.00,0.000,4,0.111,0.133,3190,3745,2287
$GC,11851,0.99,194.7,851.0,11.8,1658,11857,0.00,2.85,0.00,0.000,6,0.000,0.118,3190,2325,2287
$GC,12175,0.99,194.7,816.5,10.2,1689,12177,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2326,2287
$GC,12496,0.99,195.6,783.5,10.0,1719,12500,0.00,2.90,0.00,0.000,4,0.000,0.130,3190,3740,2287
$GC,12546,0.94,195.6,777.9,10.7,1723,12551,0.12,2.80,0.00,0.000,6,0.114,0.116,3168,2336,2287
$GC,12871,0.98,224.8,749.6,9.0,1753,12904,0.00,2.97,26.17,1.247,4,0.000,0.128,3168,3735,2168
$GC,12922,1.02,258.3,744.8,8.8,1758,12957,0.00,2.78,29.98,1.215,6,0.000,0.112,3167,2349,2031
$GC,13277,1.05,280.3,710.2,9.2,1791,13298,0.00,0.00,19.70,1.191,6,0.000,0.000,3168,2349,1942
$GC,13615,1.07,299.6,678.7,9.3,1823,13636,0.12,0.00,18.15,1.167,6,0.067,0.000,3199,2350,1863
$GC,13954,1.07,299.6,639.2,12.3,1855,13955,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2350,1859
$GC,14272,1.07,299.6,600.5,12.0,1885,14274,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2350,1859
$GC,14609,1.07,299.6,559.1,11.9,1944,14615,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2350,1858
$GC,14953,1.07,299.6,516.8,12.3,2005,14958,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2350,1858
$GC,15295,1.07,299.6,473.5,12.5,2066,15300,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2350,1858
$GC,15637,1.07,299.6,431.7,11.8,2127,15642,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2350,1858
$GC,15979,1.07,299.6,391.3,11.6,2188,15985,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2349,1858
$GC,16322,1.07,299.6,349.6,12.2,2249,16328,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2350,1858
$GC,16664,1.07,299.6,307.4,12.4,2310,16670,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2350,1858
$GC,17008,1.07,299.6,266.0,11.9,2371,17014,0.00,2.83,0.00,0.000,4,0.000,0.119,3200,918,1858
$GC,17036,1.07,299.6,262.3,13.2,2376,17043,0.00,2.75,0.00,0.000,6,0.000,0.099,3200,2355,1858
$GC,17380,1.07,299.6,222.7,10.4,2437,17385,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2355,1858
$GC,17722,1.07,299.6,185.9,12.2,2498,17728,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2355,1858
$GC,18066,1.07,299.6,146.4,10.8,2559,18072,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2355,1858
$GC,18208,1.07,299.6,128.7,11.8,2584,18213,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2355,1858
$GC,18349,1.07,299.6,111.5,12.9,2609,18355,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2355,1858
$GC,18491,1.07,299.6,94.9,11.8,2634,18497,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2355,1858
$GC,18632,1.07,299.6,78.3,11.2,2659,18639,0.00,2.83,0.00,0.000,4,0.000,0.114,3199,912,1858
$GC,18651,1.07,299.6,75.9,12.5,2662,18658,0.00,2.72,0.00,0.000,6,0.000,0.097,3199,2347,1858
$GC,18795,1.07,299.6,58.8,13.1,2687,18801,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2347,1858
$GC,18936,1.07,299.6,41.9,11.9,2712,18942,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2347,1858
$GC,19078,1.07,299.6,25.5,11.3,2737,19084,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2347,1858
$GC,19219,1.07,299.6,9.9,11.6,2762,19226,0.00,2.72,0.00,0.000,4,0.000,0.111,3199,3742,1858
$GC,19261,1.07,299.6,4.7,13.5,2769,19267,0.00,2.70,0.00,0.000,6,0.000,0.097,3199,2330,1858
$STATE,19284,end climb,SURFACE_DEPTH_REACHED
$STATE,19284,begin surface coast
$FINISH,0.3,1.007644
$STATE,19295,end surface coast,CONTROL_FINISHED_OK
$STATE,19295,begin surface
$SM_CCo,19376,0.00,0.000,0,0,1855,301.47
$SM_GC,1.15,11.43,0.00,0.00,0.046,0.000,0.000,592,2231,1855,-10.84,-0.11,301.47
$IRIDIUM_FIX,5837.82,-1913.66,080797,101051
$TT8_MAMPS,0.023777
$HUMID,1573
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,18.30
$XPDR_PINGS,116
$24V_AH,23.5,16.677
$10V_AH,10.7,10.007
$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,27.575,89.925,419.800,0.000,0.000,27.991,33.053,287.854,29.000,0.000,0.000,11.737,4173.112,9752.160,602.469,4574.273,744.934,0.000,2604.758,0.000,4579.362,0.000,0.468
$DEVICE_MAMPS,204.789,149.565,1391.338,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1919.641,2085.491,1843.974,1192.793,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,154644,2775
$CAP_FILE_SIZE,207603,0
$CFSIZE,260165632,252489728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,130408,213338,5900.291,-1932.375,28,1.7,28,-13.7