version: 66.03
glider: 140
mission: 5
dive: 180
start: 5 16 108 3 13 3
data:
$ID,140
$MISSION,5
$DIVE,180
$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,355
$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,-16659.963
$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,10
$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
$GPS1,030437,6115.781,-2623.001,28,1.5,28,-18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-63.6
$GPS2,031245,6115.885,-2623.028,13,1.5,13,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6126.643,-2623.478
$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,13.5,20000,-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,-194.7,0.0,0.0,0,100,0.00,0.00,-71.03,0.000,2,0.000,0.000,589,2231,3483
$GC,103,-1.29,-194.7,3.3,-5.6,13,128,12.38,0.00,-9.05,0.000,6,0.187,0.000,2671,2231,3881
$GC,267,-1.29,-194.7,22.5,-8.8,41,272,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,408,-1.29,-194.7,33.5,-7.3,66,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,551,-1.29,-194.7,44.5,-8.6,91,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,692,-1.29,-194.7,58.1,-9.5,116,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,1035,-1.29,-194.7,88.9,-9.2,177,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3882
$GC,1378,-1.29,-194.7,118.0,-8.6,238,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3883
$GC,1722,-1.29,-194.7,148.8,-8.9,299,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3883
$GC,2065,-1.29,-194.7,178.9,-8.6,360,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3883
$GC,2408,-1.29,-194.7,207.4,-8.5,421,2414,0.00,2.78,0.00,0.000,4,0.000,0.104,2671,3651,3883
$GC,2437,-1.29,-194.7,209.9,-9.0,426,2444,0.00,2.67,0.00,0.000,6,0.000,0.087,2671,2236,3883
$GC,2781,-1.29,-194.7,239.7,-10.1,487,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3884
$GC,3123,-1.29,-194.7,275.9,-10.3,548,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3883
$GC,3466,-1.29,-194.7,309.1,-9.7,609,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3883
$GC,3809,-1.29,-194.7,340.7,-9.0,670,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3883
$GC,4144,-1.29,-194.7,373.8,-10.2,710,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3883
$GC,4463,-1.29,-194.7,404.7,-9.7,740,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3883
$GC,4781,-1.29,-194.7,434.3,-9.1,770,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3883
$GC,5100,-1.29,-194.7,464.1,-9.5,800,5104,0.00,2.78,0.00,0.000,4,0.000,0.110,2671,3647,3883
$GC,5128,-1.29,-194.7,466.9,-10.0,802,5132,0.00,2.67,0.00,0.000,6,0.000,0.091,2671,2236,3883
$GC,5454,-1.29,-194.7,497.4,-9.1,832,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3883
$GC,5771,-1.29,-194.7,527.0,-9.8,862,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3883
$GC,6089,-1.29,-194.7,559.2,-10.1,892,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3883
$GC,6410,-1.29,-194.7,588.1,-8.6,922,6414,0.00,2.78,0.00,0.000,4,0.000,0.112,2671,3650,3882
$GC,6438,-1.29,-194.7,590.8,-9.3,924,6442,0.00,2.67,0.00,0.000,6,0.000,0.093,2671,2245,3882
$GC,6757,-1.29,-194.7,618.5,-8.8,944,6758,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3883
$GC,7066,-1.29,-194.7,643.8,-8.4,959,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3882
$GC,7375,-1.29,-194.7,669.8,-8.5,974,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2246,3882
$GC,7685,-1.29,-194.7,696.6,-8.7,989,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3882
$GC,7993,-1.29,-194.7,724.2,-8.9,1004,7998,0.00,2.83,0.00,0.000,4,0.000,0.121,2671,3650,3882
$GC,8015,-1.29,-194.7,726.2,-9.5,1005,8019,0.00,2.72,0.00,0.000,6,0.000,0.101,2671,2243,3881
$GC,8336,-1.29,-194.7,753.9,-8.4,1021,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3881
$GC,8644,-1.29,-194.7,778.3,-7.8,1036,8646,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3880
$GC,8954,-1.29,-194.7,804.7,-9.1,1051,8959,0.00,2.83,0.00,0.000,4,0.000,0.122,2671,3646,3880
$GC,8999,-1.29,-194.7,809.1,-9.7,1053,9003,0.00,2.70,0.00,0.000,6,0.000,0.102,2671,2248,3880
$GC,9320,-1.29,-194.7,836.3,-8.1,1069,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2249,3880
$GC,9628,-1.29,-194.7,862.4,-8.3,1084,9630,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2249,3880
$GC,9939,-1.29,-194.7,888.2,-8.3,1099,9944,0.00,2.85,0.00,0.000,4,0.000,0.127,2671,3650,3879
$GC,9966,-1.29,-194.7,890.7,-8.9,1100,9971,0.00,2.72,0.00,0.000,6,0.000,0.106,2671,2253,3879
$GC,10281,-1.29,-194.7,917.4,-8.4,1115,10283,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2254,3879
$GC,10591,-1.29,-194.7,941.8,-7.6,1130,10592,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2254,3879
$GC,10900,-1.29,-194.7,965.8,-8.1,1145,10901,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2254,3878
$STATE,11207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11207,begin apogee
$GC,11213,-0.35,0.0,991.4,8.6,1160,11383,1.02,0.00,166.48,1.431,6,0.102,0.000,2877,2336,3085
$STATE,11384,end apogee,CONTROL_FINISHED_OK
$STATE,11384,begin climb
$GC,11386,1.29,194.7,998.6,0.0,1168,11558,1.62,3.05,164.07,1.401,4,0.061,0.133,3241,3738,2290
$GC,11588,1.15,194.7,985.7,12.7,1178,11594,0.15,2.90,0.00,0.000,6,0.117,0.110,3216,2325,2289
$GC,11903,1.09,194.7,951.4,11.1,1194,11905,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2325,2287
$GC,12212,1.03,194.7,915.2,12.0,1209,12214,0.15,0.00,0.00,0.000,6,0.114,0.000,3188,2326,2286
$GC,12521,1.03,194.7,881.2,10.7,1224,12526,0.00,2.95,0.00,0.000,4,0.000,0.124,3188,3738,2286
$GC,12571,0.98,194.7,875.4,11.3,1226,12575,0.00,2.83,0.00,0.000,6,0.000,0.107,3188,2333,2286
$GC,12887,0.98,194.7,841.7,10.6,1241,12892,0.00,2.92,0.00,0.000,4,0.000,0.123,3188,3739,2286
$GC,12927,0.93,194.7,837.3,11.2,1243,12933,0.12,2.83,0.00,0.000,6,0.117,0.104,3166,2335,2286
$GC,13254,0.96,221.3,806.6,9.1,1259,13280,0.00,0.00,23.50,1.286,6,0.000,0.000,3166,2336,2182
$GC,13583,0.96,221.3,776.0,10.1,1275,13584,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2335,2180
$GC,13892,0.96,221.3,744.3,10.1,1290,13897,0.00,2.92,0.00,0.000,4,0.000,0.132,3165,915,2180
$GC,13931,0.96,221.3,740.2,10.0,1292,13936,0.00,2.83,0.00,0.000,6,0.000,0.104,3165,2354,2180
$GC,14257,0.98,237.0,707.7,9.5,1308,14279,0.00,2.95,14.77,1.211,4,0.000,0.127,3165,3739,2117
$GC,14318,0.98,237.9,701.7,10.0,1310,14325,0.00,2.78,0.00,0.000,6,0.000,0.098,3165,2338,2117
$GC,14634,1.04,290.9,675.3,8.2,1326,14684,0.10,0.00,48.05,1.203,6,0.074,0.000,3191,2338,1898
$GC,14983,1.04,290.9,638.1,11.6,1343,14988,0.00,2.85,0.00,0.000,4,0.000,0.114,3190,3739,1892
$GC,15022,1.04,290.9,633.2,11.9,1345,15027,0.00,2.72,0.00,0.000,6,0.000,0.094,3191,2356,1892
$GC,15339,1.04,290.9,594.8,11.9,1362,15344,0.00,2.88,0.00,0.000,4,0.000,0.117,3191,914,1891
$GC,15396,1.04,290.9,588.0,12.4,1366,15402,0.00,2.78,0.00,0.000,6,0.000,0.097,3191,2352,1891
$GC,15722,1.04,290.9,550.4,11.1,1397,15723,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2352,1891
$GC,16039,1.04,290.9,513.4,12.1,1427,16040,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2352,1891
$GC,16357,1.04,290.9,475.3,11.9,1457,16359,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2352,1890
$GC,16676,1.04,290.9,436.7,12.4,1487,16681,0.00,2.83,0.00,0.000,4,0.000,0.108,3191,913,1891
$GC,16709,1.04,290.9,432.5,11.9,1489,16715,0.00,2.72,0.00,0.000,6,0.000,0.092,3190,2340,1891
$GC,17035,1.04,290.9,393.0,11.4,1520,17039,0.00,2.78,0.00,0.000,4,0.000,0.107,3191,3736,1890
$GC,17062,1.04,290.9,389.3,12.4,1522,17067,0.00,2.72,0.00,0.000,6,0.000,0.089,3191,2326,1890
$GC,17387,1.04,290.9,351.9,10.9,1552,17391,0.00,2.78,0.00,0.000,4,0.000,0.110,3191,915,1890
$GC,17420,1.04,290.9,348.2,11.4,1555,17426,0.00,2.72,0.00,0.000,6,0.000,0.091,3191,2345,1891
$GC,17763,1.04,290.9,310.2,11.2,1616,17769,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2345,1890
$GC,18106,1.04,290.9,271.1,12.0,1677,18111,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2345,1891
$GC,18448,1.04,290.9,232.9,10.8,1738,18454,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2345,1891
$GC,18791,1.04,290.9,197.5,10.3,1799,18797,0.00,2.78,0.00,0.000,4,0.000,0.104,3191,919,1891
$GC,18826,1.04,290.9,193.7,12.0,1805,18832,0.00,2.65,0.00,0.000,6,0.000,0.087,3191,2330,1891
$GC,19169,1.04,290.9,157.6,10.7,1866,19175,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2330,1891
$GC,19512,1.04,290.9,120.9,11.7,1927,19518,0.00,2.75,0.00,0.000,4,0.000,0.104,3190,3735,1891
$GC,19541,1.04,290.9,117.5,11.5,1932,19547,0.00,2.65,0.00,0.000,6,0.000,0.083,3191,2338,1891
$GC,19885,1.04,290.9,77.8,10.9,1993,19891,0.00,2.72,0.00,0.000,4,0.000,0.101,3191,919,1891
$GC,19937,1.04,290.9,71.5,11.9,2002,19943,0.00,2.65,0.00,0.000,6,0.000,0.085,3191,2332,1891
$GC,20281,1.04,290.9,31.3,12.9,2063,20287,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2332,1891
$GC,20423,1.04,290.9,15.3,10.6,2088,20429,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2332,1891
$STATE,20545,end climb,SURFACE_DEPTH_REACHED
$STATE,20545,begin surface coast
$FINISH,0.3,1.027900
$STATE,20563,end surface coast,CONTROL_FINISHED_OK
$STATE,20563,begin surface
$SM_CCo,20644,0.00,0.000,0,0,1888,293.62
$SM_GC,1.06,11.40,0.00,0.00,0.045,0.000,0.000,590,2225,1888,-10.85,-0.28,293.62
$IRIDIUM_FIX,6046.07,-2631.91,090897,212136
$TT8_MAMPS,0.02301
$HUMID,1640
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,16.70
$XPDR_PINGS,129
$24V_AH,23.4,41.453
$10V_AH,10.7,32.587
$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,26.950,106.350,416.875,0.000,0.000,33.067,48.728,260.313,32.250,0.000,0.000,13.716,3278.926,12845.926,607.992,3670.499,707.377,0.000,2178.787,0.000,3667.540,0.000,0.467
$DEVICE_MAMPS,187.148,144.963,1431.222,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1469.728,1583.880,1878.122,614.602,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,122980,2113
$CAP_FILE_SIZE,175352,0
$CFSIZE,260165632,238792704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160508,085827,6121.306,-2621.264,25,3.1,44,-18.6