version: 66.03
glider: 140
mission: 5
dive: 80
start: 4 21 108 23 27 3
data:
$ID,140
$MISSION,5
$DIVE,80
$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,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,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,-14599.688
$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,9
$R_STBD_OVSHOOT,9
$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
$GPS1,231703,5917.468,-2152.823,44,1.5,44,-15.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-56.6
$GPS2,232645,5917.610,-2152.922,12,1.7,12,-15.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5928.408,-2152.826
$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,16.1,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,89,0.00,0.00,-60.05,0.000,2,0.000,0.000,588,2228,3387
$GC,92,-1.29,-194.7,3.1,-6.5,11,123,13.02,2.85,-11.25,0.000,4,0.208,0.116,2668,3655,3881
$GC,249,-1.29,-194.7,22.9,-9.3,38,255,0.00,2.67,0.00,0.000,6,0.000,0.086,2668,2227,3882
$GC,393,-1.29,-194.7,37.5,-10.1,63,398,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2227,3882
$GC,534,-1.29,-194.7,50.1,-8.5,88,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2227,3882
$GC,676,-1.29,-194.7,62.2,-8.8,113,683,0.00,2.78,0.00,0.000,4,0.000,0.105,2668,3652,3882
$GC,706,-1.29,-194.7,65.1,-9.6,118,713,0.00,2.65,0.00,0.000,6,0.000,0.085,2668,2242,3882
$GC,850,-1.29,-194.7,78.1,-9.3,143,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2242,3882
$GC,992,-1.29,-194.7,91.3,-9.2,168,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2243,3882
$GC,1134,-1.29,-194.7,104.9,-9.5,193,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2243,3882
$GC,1275,-1.29,-194.7,118.4,-9.7,218,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2243,3882
$GC,1418,-1.29,-194.7,132.0,-9.7,243,1424,0.00,2.75,0.00,0.000,4,0.000,0.107,2668,3647,3882
$GC,1447,-1.29,-194.7,135.0,-10.0,248,1454,0.00,2.62,0.00,0.000,6,0.000,0.087,2668,2253,3882
$GC,1591,-1.29,-194.7,148.3,-9.3,273,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2254,3882
$GC,1732,-1.29,-194.7,162.0,-9.3,298,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2254,3882
$GC,2077,-1.29,-194.7,194.3,-9.6,359,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2253,3882
$GC,2420,-1.29,-194.7,227.3,-9.4,420,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2253,3882
$GC,2763,-1.29,-194.7,260.2,-9.5,481,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2253,3882
$GC,3106,-1.29,-194.7,293.1,-9.6,542,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2253,3882
$GC,3449,-1.29,-194.7,325.2,-9.2,603,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2252,3882
$GC,3793,-1.29,-194.7,357.7,-9.7,664,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2252,3882
$GC,4137,-1.29,-194.7,391.6,-9.9,725,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2252,3882
$GC,4479,-1.29,-194.7,423.9,-9.2,786,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2252,3882
$GC,4822,-1.29,-194.7,454.4,-9.0,847,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2252,3882
$GC,5164,-1.29,-194.7,486.2,-9.8,908,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2249,3882
$GC,5507,-1.29,-194.7,518.3,-9.6,969,5513,0.00,2.80,0.00,0.000,4,0.000,0.123,2668,3646,3882
$GC,5549,-1.29,-194.7,522.3,-10.1,976,5555,0.00,2.65,0.00,0.000,6,0.000,0.100,2668,2259,3882
$GC,5893,-1.29,-194.7,554.4,-9.1,1037,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2260,3882
$GC,6235,-1.29,-194.7,584.9,-9.1,1098,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3882
$GC,6575,-1.29,-194.7,613.6,-8.5,1145,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3881
$GC,6893,-1.29,-194.7,641.9,-9.0,1175,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3881
$GC,7213,-1.29,-194.7,671.2,-9.0,1205,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3881
$GC,7532,-1.29,-194.7,699.1,-8.7,1235,7536,0.00,2.83,0.00,0.000,4,0.000,0.130,2668,3648,3880
$GC,7560,-1.29,-194.7,701.7,-9.5,1237,7564,0.00,2.70,0.00,0.000,6,0.000,0.107,2668,2259,3880
$GC,7888,-1.29,-194.7,729.1,-8.5,1267,7893,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3880
$GC,8212,-1.29,-194.7,756.7,-8.7,1298,8213,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3880
$GC,8531,-1.29,-194.7,783.3,-8.3,1328,8536,0.00,2.85,0.00,0.000,4,0.000,0.133,2668,3653,3879
$GC,8570,-1.29,-194.7,786.7,-8.5,1331,8575,0.00,2.70,0.00,0.000,6,0.000,0.109,2668,2270,3879
$GC,8896,-1.29,-194.7,813.7,-8.3,1361,8897,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2271,3879
$GC,9215,-1.29,-194.7,840.0,-8.4,1391,9216,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2271,3879
$GC,9531,-1.29,-194.7,866.4,-8.4,1421,9536,0.00,2.85,0.00,0.000,4,0.000,0.135,2668,3653,3878
$GC,9552,-1.29,-194.7,868.3,-8.5,1422,9559,0.00,2.72,0.00,0.000,6,0.000,0.112,2668,2269,3878
$GC,9879,-1.29,-194.7,895.3,-8.3,1453,9880,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2270,3878
$GC,10197,-1.29,-194.7,921.9,-8.6,1483,10202,0.00,2.83,0.00,0.000,4,0.000,0.135,2668,3646,3877
$GC,10229,-1.29,-194.7,925.0,-9.2,1485,10236,0.00,2.70,0.00,0.000,6,0.000,0.114,2668,2279,3877
$GC,10556,-1.29,-194.7,952.4,-8.4,1516,10557,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2280,3876
$GC,10874,-1.29,-194.7,979.3,-8.4,1546,10879,0.00,2.80,0.00,0.000,4,0.000,0.137,2668,3645,3876
$GC,10907,-1.29,-194.7,982.3,-9.0,1548,10913,0.00,2.70,0.00,0.000,6,0.000,0.115,2668,2281,3876
$STATE,11006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11006,begin apogee
$GC,11012,-0.35,0.0,990.5,8.0,1558,11181,1.05,0.00,164.68,1.445,6,0.114,0.000,2877,2328,3085
$STATE,11181,end apogee,CONTROL_FINISHED_OK
$STATE,11181,begin climb
$GC,11184,1.29,194.7,996.5,0.0,1575,11351,1.65,0.00,163.02,1.404,6,0.068,0.000,3239,2328,2291
$GC,11669,1.20,194.7,942.8,13.3,1622,11670,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2328,2289
$GC,11989,1.11,194.7,900.2,13.4,1652,11991,0.20,0.00,0.00,0.000,6,0.112,0.000,3203,2328,2288
$GC,12307,1.07,194.7,864.2,11.1,1682,12309,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2328,2288
$GC,12626,1.03,194.7,830.5,10.0,1712,12627,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2328,2287
$GC,12945,0.99,194.7,798.4,10.1,1742,12946,0.15,0.00,0.00,0.000,6,0.114,0.000,3176,2328,2287
$GC,13262,1.01,215.2,769.7,9.3,1772,13282,0.00,0.00,18.33,1.278,6,0.000,0.000,3175,2328,2207
$GC,13599,1.01,215.2,736.7,10.1,1804,13600,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2328,2205
$GC,13919,1.01,215.2,704.3,10.5,1834,13924,0.00,2.90,0.00,0.000,4,0.000,0.129,3175,909,2205
$GC,13958,1.01,215.2,699.9,10.3,1837,13963,0.00,2.80,0.00,0.000,6,0.000,0.110,3175,2325,2205
$GC,14282,1.02,225.4,667.3,9.6,1867,14294,0.00,0.00,9.98,1.176,6,0.000,0.000,3175,2325,2166
$GC,14613,1.03,231.8,634.4,9.8,1898,14627,0.00,2.97,7.30,1.084,4,0.000,0.127,3175,3738,2139
$GC,14649,1.03,231.8,630.3,10.3,1901,14656,0.00,2.80,0.00,0.000,6,0.000,0.100,3175,2315,2138
$GC,14976,1.04,235.5,597.7,9.9,1934,14986,0.00,0.00,4.82,0.902,6,0.000,0.000,3175,2315,2124
$GC,15324,1.04,235.5,561.8,10.7,1996,15329,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2315,2124
$GC,15667,1.04,235.5,524.6,10.7,2057,15672,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2315,2123
$GC,16009,1.05,247.6,489.2,9.6,2118,16027,0.00,2.83,11.80,1.075,4,0.000,0.113,3175,913,2074
$GC,16063,1.05,247.6,483.9,10.4,2127,16069,0.00,2.78,0.00,0.000,6,0.000,0.100,3175,2334,2073
$GC,16407,1.07,261.7,449.6,9.5,2188,16429,0.00,2.90,13.32,1.044,4,0.000,0.117,3175,3736,2016
$GC,16481,1.09,274.9,442.0,9.5,2201,16503,0.00,2.72,12.62,1.008,6,0.000,0.094,3175,2329,1964
$GC,16841,1.09,274.9,406.6,10.3,2265,16847,0.00,2.80,0.00,0.000,4,0.000,0.114,3175,913,1961
$GC,16888,1.14,274.9,401.7,10.3,2273,16894,0.15,2.75,0.00,0.000,6,0.061,0.099,3214,2334,1961
$GC,17231,1.14,274.9,359.5,13.8,2334,17238,0.00,2.80,0.00,0.000,4,0.000,0.115,3214,3741,1961
$GC,17278,1.09,274.9,353.5,13.0,2342,17284,0.00,2.70,0.00,0.000,6,0.000,0.092,3214,2332,1960
$GC,17621,1.09,274.9,310.0,12.1,2403,17627,0.00,2.80,0.00,0.000,4,0.000,0.111,3214,910,1960
$GC,17656,1.09,274.9,305.4,11.9,2409,17662,0.00,2.75,0.00,0.000,6,0.000,0.096,3214,2340,1961
$GC,17999,1.09,274.9,260.4,14.0,2470,18005,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2341,1961
$GC,18342,1.09,274.9,216.2,12.6,2531,18347,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2340,1961
$GC,18684,1.09,274.9,171.6,11.9,2592,18690,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2340,1961
$GC,19027,1.09,274.9,129.5,12.9,2653,19033,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2340,1962
$GC,19170,1.09,274.9,112.2,12.7,2678,19176,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2341,1961
$GC,19311,1.09,274.9,94.5,11.5,2703,19317,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2341,1962
$GC,19453,1.09,274.9,77.2,12.4,2728,19459,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2341,1962
$GC,19595,1.09,274.9,60.1,10.7,2753,19601,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2341,1962
$GC,19737,1.09,274.9,42.9,12.0,2778,19743,0.00,2.72,0.00,0.000,4,0.000,0.106,3214,3743,1962
$GC,19760,1.09,274.9,39.5,12.9,2782,19767,0.00,2.65,0.00,0.000,6,0.000,0.084,3214,2333,1962
$GC,19903,1.09,274.9,21.9,10.6,2807,19909,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2333,1962
$GC,20045,1.09,274.9,5.1,14.5,2832,20050,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2333,1962
$STATE,20073,end climb,SURFACE_DEPTH_REACHED
$STATE,20073,begin surface coast
$FINISH,0.1,1.017501
$STATE,20090,end surface coast,CONTROL_FINISHED_OK
$STATE,20090,begin surface
$SM_CCo,20171,0.00,0.000,0,0,1960,275.96
$SM_GC,0.90,11.50,0.00,0.00,0.045,0.000,0.000,591,2234,1960,-10.86,-0.03,275.96
$IRIDIUM_FIX,5850.29,-2149.65,160797,171704
$TT8_MAMPS,0.022243
$HUMID,1597
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,16.80
$XPDR_PINGS,90
$24V_AH,23.4,23.103
$10V_AH,10.7,17.229
$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,27.725,94.450,405.875,0.000,0.000,31.224,41.455,332.211,22.500,0.000,0.000,13.847,4259.850,10396.177,613.874,4617.509,834.182,0.000,2626.376,0.000,4623.633,0.000,0.467
$DEVICE_MAMPS,207.857,158.769,1445.028,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1967.949,2146.802,1791.160,1165.483,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,161001,2840
$CAP_FILE_SIZE,209648,0
$CFSIZE,260165632,248401920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,6,0,0,0
$GPS,220408,050432,5923.465,-2150.889,43,1.3,43,-15.1