version: 66.03
glider: 140
mission: 5
dive: 20
start: 4 8 108 2 42 40
data:
$ID,140
$MISSION,5
$DIVE,20
$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,150
$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,0
$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,-13567.484
$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
$GPS1,023325,5931.022,-1849.947,28,1.4,45,-13.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-60.7
$GPS2,024220,5930.965,-1849.888,14,1.8,31,-13.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,5941.764,-1849.888
$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,13.6,20000,-17.5,-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,25,begin dive
$GC,28,-1.41,-146.0,0.0,0.0,0,90,0.00,0.00,-60.15,0.000,2,0.000,0.000,594,2233,3545
$GC,93,-1.41,-146.0,3.2,-7.3,11,118,12.48,2.78,-3.25,0.000,4,0.196,0.119,2641,825,3683
$GC,175,-1.37,-146.0,14.9,-12.2,25,182,0.10,2.67,0.00,0.000,6,0.130,0.097,2657,2235,3684
$GC,319,-1.37,-146.0,30.7,-10.5,50,325,0.00,2.75,0.00,0.000,4,0.000,0.109,2657,817,3684
$GC,354,-1.37,-146.0,34.9,-11.6,56,361,0.00,2.67,0.00,0.000,6,0.000,0.094,2657,2231,3684
$GC,498,-1.37,-146.0,49.7,-8.4,81,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2231,3684
$GC,639,-1.37,-146.0,62.3,-10.0,106,646,0.00,2.72,0.00,0.000,4,0.000,0.106,2657,3652,3684
$GC,675,-1.37,-146.0,66.0,-10.4,112,682,0.00,2.65,0.00,0.000,6,0.000,0.091,2657,2237,3684
$GC,818,-1.37,-146.0,80.3,-8.7,137,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2236,3684
$GC,960,-1.37,-146.0,93.6,-9.0,162,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2237,3685
$GC,1101,-1.37,-146.0,107.2,-9.5,187,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2237,3684
$GC,1243,-1.37,-146.0,120.4,-9.7,212,1250,0.00,2.72,0.00,0.000,4,0.000,0.107,2657,3652,3685
$GC,1279,-1.37,-146.0,124.0,-10.3,218,1285,0.00,2.65,0.00,0.000,6,0.000,0.093,2657,2240,3685
$GC,1421,-1.37,-146.0,138.3,-9.8,243,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2241,3685
$GC,1562,-1.37,-146.0,151.6,-8.5,268,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2241,3685
$GC,1905,-1.37,-146.0,182.2,-9.2,329,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2241,3685
$GC,2248,-1.37,-146.0,214.4,-9.0,390,2255,0.00,2.70,0.00,0.000,4,0.000,0.109,2657,3645,3685
$GC,2283,-1.37,-146.0,217.8,-9.8,396,2290,0.00,2.60,0.00,0.000,6,0.000,0.093,2657,2255,3685
$GC,2627,-1.37,-146.0,249.8,-9.7,457,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2255,3685
$GC,2970,-1.37,-146.0,281.8,-9.1,518,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2255,3685
$GC,3313,-1.37,-146.0,313.3,-9.1,579,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2255,3685
$GC,3656,-1.37,-146.0,343.7,-9.1,640,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2256,3685
$GC,4000,-1.37,-146.0,376.5,-9.9,701,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2255,3685
$GC,4342,-1.37,-146.0,410.0,-9.7,762,4348,0.00,2.70,0.00,0.000,4,0.000,0.114,2657,3646,3685
$GC,4365,-1.37,-146.0,412.4,-10.0,766,4371,0.00,2.62,0.00,0.000,6,0.000,0.097,2657,2255,3685
$GC,4709,-1.37,-146.0,445.8,-9.6,827,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2255,3686
$GC,5051,-1.37,-146.0,476.6,-8.7,888,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2255,3685
$GC,5395,-1.37,-146.0,504.9,-7.9,949,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2255,3686
$GC,5737,-1.37,-146.0,531.8,-7.6,1010,5743,0.00,2.70,0.00,0.000,4,0.000,0.115,2657,3645,3685
$GC,5771,-1.37,-146.0,534.6,-8.1,1016,5778,0.00,2.65,0.00,0.000,6,0.000,0.100,2657,2242,3685
$GC,6115,-1.37,-146.0,562.1,-8.1,1077,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2242,3685
$GC,6458,-1.37,-146.0,590.6,-8.7,1138,6464,0.00,2.75,0.00,0.000,4,0.000,0.117,2657,3648,3685
$GC,6492,-1.37,-146.0,593.7,-9.2,1144,6499,0.00,2.65,0.00,0.000,6,0.000,0.101,2657,2250,3685
$GC,6827,-1.37,-146.0,621.2,-8.4,1182,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2250,3685
$GC,7147,-1.37,-146.0,648.5,-8.7,1212,7152,0.00,2.75,0.00,0.000,4,0.000,0.121,2657,3644,3685
$GC,7175,-1.37,-146.0,651.2,-9.3,1214,7180,0.00,2.65,0.00,0.000,6,0.000,0.104,2657,2257,3685
$GC,7503,-1.37,-146.0,677.5,-8.3,1244,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2258,3685
$GC,7828,-1.37,-146.0,705.1,-8.1,1275,7832,0.00,2.75,0.00,0.000,4,0.000,0.124,2657,3643,3684
$GC,7867,-1.37,-146.0,708.5,-8.9,1278,7871,0.00,2.65,0.00,0.000,6,0.000,0.105,2658,2261,3685
$GC,8193,-1.37,-146.0,734.7,-8.0,1308,8194,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2261,3685
$GC,8511,-1.37,-146.0,761.4,-8.2,1338,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2261,3684
$GC,8829,-1.37,-146.0,789.4,-9.2,1368,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2261,3684
$GC,9147,-1.37,-146.0,817.2,-8.3,1398,9152,0.00,2.78,0.00,0.000,4,0.000,0.130,2657,3645,3684
$GC,9198,-1.37,-146.0,821.6,-9.0,1402,9202,0.00,2.67,0.00,0.000,6,0.000,0.112,2658,2263,3684
$GC,9524,-1.37,-146.0,846.9,-7.3,1432,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2264,3684
$GC,9841,-1.37,-146.0,869.7,-7.4,1462,9842,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2264,3684
$GC,10161,-1.37,-146.0,895.0,-7.9,1492,10162,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2264,3683
$GC,10479,-1.37,-146.0,920.1,-7.7,1522,10484,0.00,2.80,0.00,0.000,4,0.000,0.136,2657,3643,3683
$GC,10512,-1.37,-146.0,923.0,-8.7,1524,10518,0.00,2.70,0.00,0.000,6,0.000,0.117,2657,2269,3683
$STATE,10814,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10816,begin apogee
$GC,10821,-0.35,0.0,947.4,7.9,1553,10950,1.08,0.00,125.00,1.415,6,0.105,0.000,2877,2330,3085
$STATE,10951,end apogee,CONTROL_FINISHED_OK
$STATE,10951,begin climb
$GC,10953,1.41,146.0,951.4,0.0,1566,11086,1.75,3.10,123.28,1.364,4,0.063,0.153,3267,916,2489
$GC,11115,1.33,146.0,939.6,13.6,1581,11121,0.00,2.85,0.00,0.000,6,0.000,0.118,3267,2330,2488
$GC,11441,1.25,146.0,896.0,13.5,1612,11446,0.15,2.90,0.00,0.000,4,0.120,0.134,3236,3740,2487
$GC,11503,1.16,146.0,887.8,12.9,1617,11509,0.12,2.80,0.00,0.000,6,0.123,0.114,3215,2330,2487
$GC,11828,1.16,146.0,852.4,10.6,1647,11832,0.00,2.97,0.00,0.000,4,0.000,0.147,3214,916,2487
$GC,11889,1.16,146.0,845.5,10.7,1652,11893,0.00,2.80,0.00,0.000,6,0.000,0.120,3215,2322,2486
$GC,12214,1.16,146.0,811.3,10.0,1682,12219,0.00,2.92,0.00,0.000,4,0.000,0.136,3214,3744,2486
$GC,12280,1.11,146.0,803.6,11.3,1687,12287,0.00,2.80,0.00,0.000,6,0.000,0.111,3214,2322,2486
$GC,12606,1.11,146.0,770.0,10.0,1718,12608,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2322,2486
$GC,12925,1.11,146.6,738.9,10.0,1748,12926,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2322,2486
$GC,13244,1.11,146.6,706.3,10.0,1778,13248,0.00,2.85,0.00,0.000,4,0.000,0.123,3214,3746,2485
$GC,13287,1.05,146.6,701.5,10.4,1781,13294,0.12,2.78,0.00,0.000,6,0.121,0.107,3193,2318,2485
$GC,13612,1.07,157.1,671.4,9.5,1812,13624,0.00,0.00,10.15,1.162,6,0.000,0.000,3193,2317,2444
$GC,13942,1.07,163.2,640.0,9.7,1843,13951,0.00,0.00,6.97,1.050,6,0.000,0.000,3192,2318,2419
$GC,14270,1.07,163.2,607.1,10.2,1874,14275,0.00,2.83,0.00,0.000,4,0.000,0.117,3193,3746,2418
$GC,14313,1.07,163.2,602.3,10.7,1877,14320,0.00,2.75,0.00,0.000,6,0.000,0.101,3193,2315,2418
$GC,14656,1.09,175.3,569.6,9.4,1936,14673,0.00,2.85,11.57,1.100,4,0.000,0.114,3193,3741,2370
$GC,14708,1.10,183.8,564.6,9.6,1945,14725,0.00,2.72,8.68,1.010,6,0.000,0.098,3193,2325,2335
$GC,15061,1.10,183.8,529.7,10.2,2008,15068,0.00,2.80,0.00,0.000,4,0.000,0.125,3193,919,2334
$GC,15091,1.10,183.8,526.6,10.9,2013,15097,0.00,2.72,0.00,0.000,6,0.000,0.104,3193,2334,2334
$GC,15435,1.10,183.8,489.8,10.7,2074,15441,0.00,2.78,0.00,0.000,4,0.000,0.116,3192,3746,2334
$GC,15492,1.10,183.8,483.5,11.4,2084,15498,0.00,2.67,0.00,0.000,6,0.000,0.097,3193,2336,2334
$GC,15836,1.10,183.8,447.9,10.0,2145,15841,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2337,2334
$GC,16178,1.11,189.4,413.8,9.7,2206,16190,0.00,2.83,6.47,0.903,4,0.000,0.111,3193,3740,2312
$GC,16219,1.11,189.4,409.5,10.6,2213,16225,0.00,2.65,0.00,0.000,6,0.000,0.094,3193,2344,2311
$GC,16562,1.13,207.4,374.3,9.2,2274,16583,0.00,0.00,16.15,0.991,6,0.000,0.000,3193,2343,2238
$GC,16921,1.13,207.4,336.0,12.1,2338,16926,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2344,2238
$GC,17264,1.13,207.4,299.4,10.4,2399,17269,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2344,2238
$GC,17606,1.13,207.7,263.2,10.0,2460,17612,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2344,2238
$GC,17949,1.14,214.7,227.4,9.7,2521,17962,0.00,2.80,7.65,0.849,4,0.000,0.107,3193,3741,2209
$GC,17996,1.14,214.7,222.2,10.2,2529,18003,0.00,2.65,0.00,0.000,6,0.000,0.092,3193,2343,2208
$GC,18340,1.18,214.7,186.9,11.4,2590,18346,0.10,0.00,0.00,0.000,6,0.074,0.000,3219,2344,2209
$GC,18683,1.18,214.7,147.2,10.5,2651,18690,0.00,2.70,0.00,0.000,4,0.000,0.108,3219,3744,2208
$GC,18730,1.18,214.7,141.6,13.3,2659,18737,0.00,2.62,0.00,0.000,6,0.000,0.091,3219,2344,2208
$GC,18872,1.18,214.7,125.3,10.9,2684,18878,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2343,2209
$GC,19015,1.18,214.7,108.8,11.0,2709,19020,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2343,2209
$GC,19156,1.18,214.7,91.1,13.8,2734,19163,0.00,2.70,0.00,0.000,4,0.000,0.109,3219,3741,2209
$GC,19225,1.18,214.7,81.9,14.6,2746,19232,0.00,2.62,0.00,0.000,6,0.000,0.090,3219,2339,2209
$GC,19368,1.18,214.7,67.4,12.3,2771,19373,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2339,2209
$GC,19509,1.18,214.7,52.0,10.6,2796,19515,0.00,2.70,0.00,0.000,4,0.000,0.105,3219,3743,2209
$GC,19606,1.18,214.7,40.4,12.5,2813,19612,0.00,2.65,0.00,0.000,6,0.000,0.090,3219,2328,2209
$GC,19750,1.18,214.7,25.1,11.4,2838,19756,0.00,2.70,0.00,0.000,4,0.000,0.109,3219,920,2209
$GC,19790,1.18,214.7,19.8,13.5,2845,19797,0.00,2.62,0.00,0.000,6,0.000,0.093,3219,2330,2209
$STATE,19925,end climb,SURFACE_DEPTH_REACHED
$STATE,19925,begin surface coast
$FINISH,0.2,1.021118
$STATE,19939,end surface coast,CONTROL_FINISHED_OK
$STATE,19939,begin surface
$SM_CCo,20020,0.00,0.000,0,0,2208,215.13
$SM_GC,1.07,11.62,0.00,0.00,0.051,0.000,0.000,593,2235,2208,-10.84,0.00,215.13
$IRIDIUM_FIX,5907.03,-1858.22,020797,212102
$TT8_MAMPS,0.02301
$HUMID,1566
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,18.10
$XPDR_PINGS,66
$24V_AH,23.4,12.267
$10V_AH,10.7,5.021
$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,27.525,148.250,315.925,0.000,0.000,30.989,31.172,304.391,16.500,0.000,0.000,31.961,4339.320,10129.487,536.438,4769.495,753.277,0.000,2616.544,0.000,4744.590,0.000,0.468
$DEVICE_MAMPS,196.352,154.934,1415.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1987.228,2152.131,1862.889,1201.968,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,163879,2871
$CAP_FILE_SIZE,219249,0
$CFSIZE,260165632,255258624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080408,081732,5932.501,-1844.640,38,1.3,38,-13.6