version: 66.03
glider: 140
mission: 5
dive: 37
start: 4 11 108 18 9 8
data:
$ID,140
$MISSION,5
$DIVE,37
$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,-13856.884
$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,11
$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
$GPS1,180101,5904.440,-1842.861,38,1.0,43,-13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-53.3
$GPS2,180850,5904.464,-1842.766,10,1.0,15,-13.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5904.464,-1848.316
$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,283.3,20000,-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,-194.7,0.0,0.0,0,116,0.00,0.00,-86.88,0.000,2,0.000,0.000,592,2227,3666
$GC,119,-1.29,-194.7,3.5,-6.9,16,144,12.75,2.78,-4.28,0.000,4,0.199,0.117,2670,3650,3880
$GC,357,-1.29,-194.7,35.8,-14.0,58,364,0.00,2.67,0.00,0.000,6,0.000,0.091,2670,2227,3880
$GC,500,-1.29,-194.7,50.1,-8.2,83,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3880
$GC,643,-1.29,-194.7,64.6,-10.2,108,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3880
$GC,784,-1.29,-194.7,77.6,-8.1,133,791,0.00,2.72,0.00,0.000,4,0.000,0.109,2670,818,3880
$GC,814,-1.29,-194.7,80.5,-9.6,138,821,0.00,2.67,0.00,0.000,6,0.000,0.095,2670,2225,3880
$GC,956,-1.29,-194.7,93.2,-8.2,163,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3880
$GC,1100,-1.29,-194.7,106.2,-9.5,188,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3880
$GC,1241,-1.29,-194.7,119.6,-9.6,213,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2225,3880
$GC,1383,-1.29,-194.7,133.5,-9.5,238,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3880
$GC,1525,-1.29,-194.7,147.1,-9.6,263,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3880
$GC,1666,-1.29,-194.7,160.6,-9.4,288,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3880
$GC,2009,-1.29,-194.7,192.0,-9.4,349,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2225,3880
$GC,2352,-1.29,-194.7,223.6,-9.2,410,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3880
$GC,2695,-1.29,-194.7,255.4,-9.5,471,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3880
$GC,3038,-1.29,-194.7,287.1,-9.3,532,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3880
$GC,3381,-1.29,-194.7,318.9,-9.1,593,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3880
$GC,3723,-1.29,-194.7,350.6,-9.0,654,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3880
$GC,4066,-1.29,-194.7,381.2,-9.6,715,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3880
$GC,4409,-1.29,-194.7,413.6,-9.3,776,4415,0.00,2.78,0.00,0.000,4,0.000,0.117,2670,3646,3881
$GC,4451,-1.29,-194.7,417.7,-9.8,783,4457,0.00,2.72,0.00,0.000,6,0.000,0.099,2670,2213,3880
$GC,4795,-1.29,-194.7,449.6,-9.2,844,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2213,3880
$GC,5138,-1.29,-194.7,483.0,-9.8,905,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2213,3880
$GC,5481,-1.29,-194.7,516.5,-9.6,966,5487,0.00,2.83,0.00,0.000,4,0.000,0.117,2670,3651,3880
$GC,5538,-1.29,-194.7,522.1,-9.9,976,5545,0.00,2.72,0.00,0.000,6,0.000,0.101,2670,2219,3880
$GC,5883,-1.29,-194.7,553.6,-9.1,1037,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2219,3879
$GC,6226,-1.29,-194.7,583.9,-8.8,1098,6232,0.00,2.83,0.00,0.000,4,0.000,0.120,2670,3648,3879
$GC,6261,-1.29,-194.7,587.0,-9.1,1104,6267,0.00,2.72,0.00,0.000,6,0.000,0.101,2670,2219,3879
$GC,6594,-1.29,-194.7,615.3,-8.3,1148,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2220,3879
$GC,6914,-1.29,-194.7,643.2,-9.3,1178,6919,0.00,2.85,0.00,0.000,4,0.000,0.123,2670,3652,3879
$GC,6957,-1.29,-194.7,647.5,-10.0,1181,6964,0.00,2.72,0.00,0.000,6,0.000,0.104,2670,2229,3879
$GC,7284,-1.29,-194.7,677.1,-9.1,1212,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3879
$GC,7602,-1.29,-194.7,706.6,-9.1,1242,7607,0.00,2.85,0.00,0.000,4,0.000,0.127,2670,3648,3879
$GC,7635,-1.29,-194.7,709.9,-9.9,1244,7641,0.00,2.72,0.00,0.000,6,0.000,0.107,2670,2235,3879
$GC,7961,-1.29,-194.7,737.9,-8.5,1275,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3879
$GC,8279,-1.29,-194.7,765.8,-8.9,1305,8284,0.00,2.83,0.00,0.000,4,0.000,0.127,2670,3645,3879
$GC,8318,-1.29,-194.7,769.6,-9.4,1308,8323,0.00,2.72,0.00,0.000,6,0.000,0.110,2670,2243,3879
$GC,8645,-1.29,-194.7,799.1,-9.0,1338,8649,0.00,2.83,0.00,0.000,4,0.000,0.130,2670,3644,3878
$GC,8677,-1.29,-194.7,802.4,-9.3,1340,8683,0.00,2.70,0.00,0.000,6,0.000,0.110,2670,2250,3879
$GC,9003,-1.29,-194.7,829.9,-8.8,1371,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2250,3878
$GC,9322,-1.29,-194.7,858.1,-8.8,1401,9326,0.00,2.83,0.00,0.000,4,0.000,0.133,2670,3643,3878
$GC,9354,-1.29,-194.7,861.2,-10.0,1403,9360,0.00,2.72,0.00,0.000,6,0.000,0.113,2670,2251,3878
$GC,9680,-1.29,-194.7,889.4,-8.9,1434,9681,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3878
$GC,9999,-1.29,-194.7,915.7,-8.0,1464,10000,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2249,3878
$GC,10317,-1.29,-194.7,941.4,-8.2,1494,10318,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2249,3877
$GC,10636,-1.29,-194.7,968.4,-8.4,1524,10640,0.00,2.85,0.00,0.000,4,0.000,0.140,2670,3645,3877
$GC,10691,-1.29,-194.7,973.5,-8.8,1528,10697,0.00,2.75,0.00,0.000,6,0.000,0.119,2670,2254,3876
$STATE,10811,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10811,begin apogee
$GC,10817,-0.35,0.0,983.5,8.1,1540,10985,1.02,0.00,163.52,1.432,6,0.105,0.000,2878,2326,3084
$STATE,10985,end apogee,CONTROL_FINISHED_OK
$STATE,10986,begin climb
$GC,10988,1.29,194.7,989.4,0.0,1557,11159,1.62,0.00,162.25,1.388,6,0.062,0.000,3236,2326,2291
$GC,11478,1.20,194.7,933.8,13.9,1604,11483,0.00,2.97,0.00,0.000,4,0.000,0.138,3236,3743,2288
$GC,11533,1.08,194.7,925.6,14.9,1608,11540,0.20,2.83,0.00,0.000,6,0.111,0.118,3200,2339,2288
$GC,11858,1.08,194.7,886.7,12.2,1639,11862,0.00,3.00,0.00,0.000,4,0.000,0.147,3200,917,2287
$GC,11890,1.08,194.7,882.6,11.9,1641,11896,0.00,2.85,0.00,0.000,6,0.000,0.118,3200,2342,2287
$GC,12217,1.08,194.7,846.1,11.2,1672,12222,0.00,2.90,0.00,0.000,4,0.000,0.137,3200,3741,2286
$GC,12250,1.02,194.7,841.9,11.7,1674,12256,0.00,2.80,0.00,0.000,6,0.000,0.113,3200,2330,2287
$GC,12576,1.02,194.7,806.4,10.7,1705,12577,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2331,2286
$GC,12893,1.02,194.7,772.9,10.2,1735,12897,0.00,2.88,0.00,0.000,4,0.000,0.128,3200,3742,2286
$GC,12936,0.95,194.7,768.2,10.4,1738,12943,0.17,2.78,0.00,0.000,6,0.109,0.110,3167,2335,2286
$GC,13261,0.97,210.0,738.2,9.5,1769,13281,0.00,0.00,13.75,1.229,6,0.000,0.000,3167,2336,2228
$GC,13601,1.00,235.8,706.4,9.1,1801,13632,0.00,2.92,23.33,1.210,4,0.000,0.119,3168,3738,2122
$GC,13649,1.04,264.3,701.6,9.0,1805,13680,0.00,2.75,25.50,1.181,6,0.000,0.103,3167,2342,2007
$GC,13998,1.04,264.3,666.7,10.2,1838,14003,0.00,2.88,0.00,0.000,4,0.000,0.126,3167,914,2002
$GC,14020,1.08,264.3,664.4,10.5,1839,14026,0.12,2.80,0.00,0.000,6,0.065,0.107,3200,2348,2002
$GC,14344,1.08,264.3,626.8,11.3,1870,14345,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2348,2001
$GC,14667,1.08,264.3,589.8,11.3,1907,14672,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2349,2001
$GC,15009,1.08,264.3,551.2,10.7,1968,15015,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2349,2001
$GC,15352,1.08,264.3,511.4,11.1,2029,15358,0.00,2.78,0.00,0.000,4,0.000,0.119,3200,3745,2001
$GC,15376,1.08,264.3,508.6,11.9,2033,15382,0.00,2.70,0.00,0.000,6,0.000,0.098,3200,2341,2001
$GC,15720,1.08,264.3,468.6,12.3,2094,15725,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2341,2001
$GC,16062,1.08,264.3,428.4,10.9,2155,16067,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2341,2002
$GC,16406,1.08,264.3,390.1,11.3,2216,16411,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2341,2002
$GC,16749,1.08,264.3,349.4,10.2,2277,16755,0.00,2.78,0.00,0.000,4,0.000,0.117,3200,3746,2001
$GC,16772,1.08,264.3,346.7,10.7,2281,16778,0.00,2.67,0.00,0.000,6,0.000,0.096,3200,2348,2002
$GC,17115,1.08,264.3,308.2,10.6,2342,17121,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2348,2002
$GC,17458,1.08,264.3,270.3,11.1,2403,17463,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2349,2001
$GC,17800,1.08,264.3,233.7,11.1,2464,17805,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2348,2002
$GC,18143,1.08,264.3,199.1,10.1,2525,18148,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2348,2002
$GC,18486,1.11,287.1,164.3,9.2,2586,18508,0.00,0.00,19.45,0.880,6,0.000,0.000,3200,2348,1913
$GC,18845,1.11,287.1,124.0,11.7,2650,18851,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2348,1911
$GC,18988,1.14,311.8,108.1,9.1,2675,19017,0.00,2.85,21.67,0.831,4,0.000,0.109,3200,911,1812
$GC,19029,1.15,319.2,103.9,9.7,2682,19043,0.00,2.75,7.45,0.706,6,0.000,0.097,3200,2341,1783
$GC,19182,1.18,343.0,88.1,9.2,2708,19205,0.00,0.00,20.73,0.804,6,0.000,0.000,3200,2341,1686
$GC,19342,1.18,343.0,70.0,12.9,2736,19348,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2341,1683
$GC,19483,1.18,343.0,51.3,12.9,2761,19489,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2341,1682
$GC,19625,1.18,343.0,33.7,12.1,2786,19632,0.00,2.78,0.00,0.000,4,0.000,0.110,3200,918,1682
$GC,19651,1.18,343.0,30.5,13.8,2790,19657,0.00,2.67,0.00,0.000,6,0.000,0.094,3200,2328,1682
$GC,19793,1.18,343.0,10.9,10.9,2815,19799,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2328,1682
$STATE,19865,end climb,SURFACE_DEPTH_REACHED
$STATE,19865,begin surface coast
$FINISH,0.2,1.027798
$STATE,19883,end surface coast,CONTROL_FINISHED_OK
$STATE,19883,begin surface
$SM_CCo,19964,0.00,0.000,0,0,1677,345.14
$SM_GC,0.94,11.43,0.00,0.00,0.043,0.000,0.000,588,2232,1677,-10.86,-0.08,345.14
$IRIDIUM_FIX,5841.97,-1839.32,060797,131340
$TT8_MAMPS,0.02301
$HUMID,1589
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.10
$XPDR_PINGS,124
$24V_AH,23.4,15.211
$10V_AH,10.7,8.366
$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,27.325,117.525,457.650,0.000,0.000,33.111,36.664,253.455,31.000,0.000,0.000,15.431,4253.731,10101.278,660.359,4687.584,705.996,0.000,2727.142,0.000,4674.439,0.000,0.469
$DEVICE_MAMPS,198.653,154.934,1431.989,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1957.221,2117.250,1826.876,1180.995,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,160711,2831
$CAP_FILE_SIZE,213834,0
$CFSIZE,260165632,253394944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110408,234308,5903.920,-1846.974,42,1.5,42,-13.4