version: 66.03
glider: 140
mission: 5
dive: 58
start: 4 16 108 18 7 3
data:
$ID,140
$MISSION,5
$DIVE,58
$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,215
$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,-14232.712
$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,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
$GPS1,175837,5927.224,-2119.798,39,0.9,39,-14.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-52.7
$GPS2,180645,5927.395,-2119.886,11,1.3,11,-14.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5918.549,-2123.048
$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,229.9,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,118,0.00,0.00,-86.75,0.000,2,0.000,0.000,591,2231,3686
$GC,121,-1.29,-194.7,3.5,-6.6,16,145,12.80,2.80,-3.78,0.000,4,0.201,0.121,2667,820,3880
$GC,267,-1.24,-194.7,29.0,-12.9,41,274,0.10,2.70,0.00,0.000,6,0.119,0.096,2685,2236,3881
$GC,411,-1.24,-194.7,44.4,-7.5,66,418,0.00,2.75,0.00,0.000,4,0.000,0.109,2685,3647,3881
$GC,441,-1.24,-194.7,47.3,-9.0,71,448,0.00,2.70,0.00,0.000,6,0.000,0.092,2685,2224,3881
$GC,585,-1.24,-194.7,60.3,-10.6,96,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2224,3881
$GC,726,-1.24,-194.7,76.9,-10.0,121,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2225,3881
$GC,868,-1.24,-194.7,90.0,-9.5,146,874,0.00,2.75,0.00,0.000,4,0.000,0.113,2685,823,3881
$GC,904,-1.24,-194.7,93.1,-9.0,152,910,0.00,2.70,0.00,0.000,6,0.000,0.096,2685,2243,3881
$GC,1046,-1.24,-194.7,108.7,-14.2,177,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2243,3881
$GC,1189,-1.24,-194.7,129.5,-13.7,202,1195,0.00,2.72,0.00,0.000,4,0.000,0.107,2685,3651,3881
$GC,1213,-1.24,-194.7,133.5,-15.8,206,1219,0.00,2.67,0.00,0.000,6,0.000,0.092,2684,2239,3881
$GC,1356,-1.24,-194.7,145.3,-7.1,231,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2239,3881
$GC,1497,-1.24,-194.7,156.6,-8.8,256,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2239,3881
$GC,1840,-1.24,-194.7,189.3,-8.4,317,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2238,3881
$GC,2182,-1.24,-194.7,215.5,-6.1,378,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2239,3881
$GC,2526,-1.24,-194.7,245.5,-10.2,439,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2238,3881
$GC,2868,-1.24,-194.7,283.6,-11.7,500,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2238,3881
$GC,3212,-1.24,-194.7,313.1,-7.0,561,3218,0.00,2.78,0.00,0.000,4,0.000,0.114,2685,3649,3881
$GC,3259,-1.24,-194.7,316.7,-8.1,569,3265,0.00,2.65,0.00,0.000,6,0.000,0.095,2684,2252,3881
$GC,3602,-1.24,-194.7,343.1,-8.1,630,3608,0.00,2.85,0.00,0.000,4,0.000,0.122,2685,820,3881
$GC,3632,-1.24,-194.7,345.5,-8.1,635,3639,0.00,2.80,0.00,0.000,6,0.000,0.104,2685,2263,3881
$GC,3976,-1.24,-194.7,373.0,-8.6,696,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2263,3881
$GC,4320,-1.24,-194.7,403.0,-9.3,757,4326,0.00,2.88,0.00,0.000,4,0.000,0.123,2685,824,3881
$GC,4349,-1.24,-194.7,405.8,-9.5,762,4355,0.00,2.78,0.00,0.000,6,0.000,0.106,2685,2255,3881
$GC,4692,-1.24,-194.7,435.6,-9.5,823,4698,0.00,2.72,0.00,0.000,4,0.000,0.116,2685,3655,3881
$GC,4738,-1.24,-194.7,440.1,-9.9,831,4744,0.00,2.67,0.00,0.000,6,0.000,0.096,2685,2247,3881
$GC,5081,-1.24,-194.7,472.0,-8.9,892,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2248,3881
$GC,5425,-1.24,-194.7,503.2,-9.0,953,5431,0.00,2.88,0.00,0.000,4,0.000,0.127,2685,818,3881
$GC,5449,-1.24,-194.7,505.4,-9.0,957,5455,0.00,2.83,0.00,0.000,6,0.000,0.109,2685,2264,3881
$GC,5792,-1.24,-194.7,537.6,-9.8,1018,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2264,3881
$GC,6135,-1.24,-194.7,569.4,-8.9,1079,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2264,3881
$GC,6478,-1.24,-194.7,596.8,-7.5,1140,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2264,3881
$GC,6812,-1.24,-194.7,627.2,-9.9,1175,6817,0.00,2.92,0.00,0.000,4,0.000,0.130,2685,819,3881
$GC,6839,-1.24,-194.7,630.2,-10.6,1177,6844,0.00,2.80,0.00,0.000,6,0.000,0.110,2685,2259,3880
$GC,7166,-1.24,-194.7,659.7,-8.2,1207,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2259,3881
$GC,7484,-1.24,-194.7,685.8,-8.5,1237,7488,0.00,2.75,0.00,0.000,4,0.000,0.123,2685,3652,3880
$GC,7517,-1.24,-194.7,688.9,-9.3,1239,7523,0.00,2.67,0.00,0.000,6,0.000,0.104,2685,2255,3880
$GC,7843,-1.24,-194.7,716.2,-8.2,1270,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2256,3880
$GC,8161,-1.24,-194.7,741.4,-7.7,1300,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2256,3880
$GC,8480,-1.24,-194.7,767.3,-8.0,1330,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2256,3879
$GC,8798,-1.24,-194.7,792.5,-8.4,1360,8800,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2256,3880
$GC,9117,-1.24,-194.7,818.6,-8.0,1390,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2256,3879
$GC,9435,-1.24,-194.7,842.0,-7.4,1420,9440,0.00,2.80,0.00,0.000,4,0.000,0.130,2685,3646,3879
$GC,9479,-1.24,-194.7,845.7,-8.2,1423,9485,0.00,2.70,0.00,0.000,6,0.000,0.108,2685,2257,3879
$GC,9806,-1.24,-194.7,871.5,-8.0,1454,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2257,3879
$GC,10124,-1.24,-194.7,894.4,-6.9,1484,10128,0.00,2.80,0.00,0.000,4,0.000,0.130,2685,3647,3879
$GC,10158,-1.24,-194.7,897.0,-7.8,1486,10164,0.00,2.67,0.00,0.000,6,0.000,0.110,2685,2262,3879
$GC,10486,-1.24,-194.7,921.2,-7.8,1517,10490,0.00,2.97,0.00,0.000,4,0.000,0.143,2685,822,3878
$GC,10518,-1.24,-194.7,924.3,-8.3,1519,10524,0.00,2.88,0.00,0.000,6,0.000,0.117,2685,2272,3878
$STATE,10808,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10810,begin apogee
$GC,10816,-0.35,0.0,946.2,7.0,1547,10983,0.93,0.00,163.38,1.401,6,0.104,0.000,2874,2336,3085
$STATE,10984,end apogee,CONTROL_FINISHED_OK
$STATE,10984,begin climb
$GC,10986,1.29,194.7,951.4,0.0,1564,11161,1.67,3.00,161.45,1.355,4,0.065,0.130,3240,3735,2290
$GC,11189,1.17,194.7,933.7,15.0,1583,11196,0.15,2.83,0.00,0.000,6,0.111,0.112,3214,2329,2290
$GC,11514,1.11,194.7,894.1,11.7,1614,11515,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2329,2288
$GC,11834,1.05,194.7,855.7,11.5,1644,11836,0.12,0.00,0.00,0.000,6,0.112,0.000,3191,2329,2288
$GC,12152,1.05,194.7,821.3,11.1,1674,12156,0.00,2.90,0.00,0.000,4,0.000,0.127,3191,3741,2288
$GC,12195,1.00,194.7,815.9,11.8,1677,12202,0.00,2.80,0.00,0.000,6,0.000,0.109,3191,2320,2288
$GC,12520,1.00,194.7,780.9,10.7,1708,12521,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2320,2287
$GC,12840,1.00,194.7,747.5,10.4,1738,12844,0.00,2.88,0.00,0.000,4,0.000,0.123,3191,3739,2287
$GC,12872,0.95,194.7,743.7,10.6,1740,12879,0.12,2.78,0.00,0.000,6,0.113,0.105,3168,2325,2287
$GC,13197,0.95,198.2,712.4,9.9,1771,13207,0.00,0.00,3.92,0.790,6,0.000,0.000,3169,2326,2277
$GC,13527,0.99,225.5,680.9,9.1,1802,13555,0.00,0.00,24.77,1.197,6,0.000,0.000,3169,2326,2165
$GC,13874,1.01,242.7,648.2,9.4,1835,13896,0.00,2.92,15.85,1.144,4,0.000,0.120,3169,3740,2094
$GC,13912,1.05,276.0,644.4,8.8,1838,13949,0.00,2.78,29.42,1.141,6,0.000,0.102,3169,2325,1959
$GC,14267,1.06,288.2,609.6,9.6,1872,14289,0.10,2.95,11.38,1.088,4,0.071,0.123,3195,918,1909
$GC,14301,1.06,288.2,606.1,11.5,1875,14305,0.00,2.78,0.00,0.000,6,0.000,0.104,3195,2329,1909
$GC,14640,1.06,288.2,567.2,11.0,1930,14646,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2330,1907
$GC,14983,1.06,288.2,529.7,11.3,1991,14989,0.00,2.83,0.00,0.000,4,0.000,0.118,3195,912,1907
$GC,15000,1.06,288.2,527.6,11.7,1994,15006,0.00,2.72,0.00,0.000,6,0.000,0.102,3195,2323,1907
$GC,15343,1.06,288.2,488.2,11.2,2055,15349,0.00,2.80,0.00,0.000,4,0.000,0.115,3195,3737,1906
$GC,15372,1.06,288.2,484.7,12.4,2060,15379,0.00,2.72,0.00,0.000,6,0.000,0.097,3195,2320,1905
$GC,15717,1.06,288.2,446.0,11.3,2121,15722,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2321,1906
$GC,16059,1.06,288.2,407.3,11.4,2182,16064,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2321,1906
$GC,16401,1.06,288.2,367.3,11.2,2243,16406,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2321,1906
$GC,16743,1.06,288.2,328.0,10.3,2304,16749,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2321,1906
$GC,17086,1.06,288.2,289.7,12.3,2365,17093,0.00,2.72,0.00,0.000,4,0.000,0.114,3195,920,1906
$GC,17110,1.06,288.2,287.0,11.3,2369,17116,0.00,2.70,0.00,0.000,6,0.000,0.098,3195,2328,1906
$GC,17453,1.06,288.2,247.6,12.0,2430,17459,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2328,1906
$GC,17796,1.06,288.2,208.5,10.5,2491,17802,0.00,2.78,0.00,0.000,4,0.000,0.111,3195,914,1906
$GC,17815,1.06,288.2,206.5,10.1,2494,17822,0.00,2.67,0.00,0.000,6,0.000,0.097,3195,2318,1906
$GC,18159,1.06,288.2,169.9,10.3,2555,18164,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2318,1906
$GC,18502,1.08,302.0,133.3,9.5,2616,18519,0.00,0.00,12.65,0.857,6,0.000,0.000,3195,2318,1853
$GC,18656,1.08,302.0,116.0,11.3,2643,18662,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2318,1851
$GC,18798,1.08,302.0,101.8,10.6,2668,18804,0.00,2.75,0.00,0.000,4,0.000,0.110,3195,910,1851
$GC,18822,1.08,302.0,98.8,11.7,2672,18828,0.00,2.67,0.00,0.000,6,0.000,0.093,3195,2321,1850
$GC,18966,1.08,302.0,80.8,14.2,2697,18972,0.00,2.75,0.00,0.000,4,0.000,0.108,3195,3737,1850
$GC,18990,1.08,302.0,77.3,14.3,2701,18996,0.00,2.67,0.00,0.000,6,0.000,0.090,3195,2326,1850
$GC,19132,1.08,302.0,58.3,11.9,2726,19138,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2327,1850
$GC,19274,1.08,302.0,38.5,17.1,2751,19280,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2327,1850
$GC,19415,1.08,302.0,23.9,12.9,2776,19422,0.00,2.72,0.00,0.000,4,0.000,0.107,3195,914,1850
$GC,19428,1.08,302.0,22.1,13.8,2778,19435,0.00,2.62,0.00,0.000,6,0.000,0.091,3195,2314,1851
$GC,19571,1.08,302.0,5.0,18.6,2803,19576,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2314,1850
$STATE,19597,end climb,SURFACE_DEPTH_REACHED
$STATE,19597,begin surface coast
$FINISH,0.1,1.017990
$STATE,19615,end surface coast,CONTROL_FINISHED_OK
$STATE,19615,begin surface
$SM_CCo,19696,0.00,0.000,0,0,1847,303.68
$SM_GC,0.97,11.52,0.00,0.00,0.050,0.000,0.000,589,2234,1847,-10.86,-0.06,303.68
$IRIDIUM_FIX,5858.64,-2112.85,110797,121218
$TT8_MAMPS,0.02301
$HUMID,1590
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,18.30
$XPDR_PINGS,128
$24V_AH,23.5,19.025
$10V_AH,10.7,12.683
$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,27.525,144.675,422.825,0.000,0.000,23.607,44.754,268.928,32.000,0.000,0.000,11.539,4235.969,9881.097,646.993,4630.377,759.955,0.000,2707.690,0.000,4634.110,0.000,0.468
$DEVICE_MAMPS,200.954,148.798,1400.542,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1942.670,2113.732,1802.479,1170.307,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,160916,2811
$CAP_FILE_SIZE,216875,0
$CFSIZE,260165632,250994688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,160408,233632,5928.113,-2122.286,38,1.6,38,-14.9