version: 66.03
glider: 140
mission: 5
dive: 312
start: 6 15 108 16 11 9
data:
$ID,140
$MISSION,5
$DIVE,312
$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,2
$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,-18971.43
$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,14
$R_STBD_OVSHOOT,13
$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
$GPS1,160232,6147.574,-2545.036,56,1.0,56,-18.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-51.6
$GPS2,161051,6147.526,-2544.954,13,1.2,13,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NE
$TGT_LATLONG,6204.210,-2543.110
$TGT_RADIUS,2000.000
$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,21.5,30939,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.29,-194.7,0.0,0.0,0,105,0.00,0.00,-80.88,0.000,2,0.000,0.000,587,2224,3590
$GC,108,-1.29,-194.7,3.3,-4.6,11,137,12.35,2.75,-5.82,0.000,4,0.185,0.107,2671,826,3881
$GC,296,-1.29,-194.7,27.5,-10.4,43,304,0.00,2.65,0.00,0.000,6,0.000,0.084,2671,2236,3881
$GC,441,-1.29,-194.7,43.0,-10.6,68,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3882
$GC,584,-1.29,-194.7,57.1,-9.5,93,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,928,-1.29,-194.7,89.6,-9.2,154,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3882
$GC,1272,-1.29,-194.7,121.6,-8.8,215,1279,0.00,2.75,0.00,0.000,4,0.000,0.100,2671,825,3882
$GC,1315,-1.29,-194.7,125.3,-9.1,222,1322,0.00,2.67,0.00,0.000,6,0.000,0.088,2671,2228,3882
$GC,1662,-1.29,-194.7,156.3,-9.3,283,1668,0.00,2.72,0.00,0.000,4,0.000,0.101,2671,828,3883
$GC,1693,-1.29,-194.7,159.3,-9.8,288,1700,0.00,2.67,0.00,0.000,6,0.000,0.090,2671,2231,3882
$GC,2039,-1.29,-194.7,191.2,-9.0,349,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,2383,-1.29,-194.7,223.2,-9.3,410,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,2729,-1.29,-194.7,255.6,-9.3,471,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,3073,-1.29,-194.7,288.9,-9.5,532,3080,0.00,2.78,0.00,0.000,4,0.000,0.108,2671,825,3882
$GC,3098,-1.29,-194.7,291.4,-10.0,536,3105,0.00,2.67,0.00,0.000,6,0.000,0.093,2671,2220,3882
$GC,3445,-1.29,-194.7,322.8,-8.5,597,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2220,3882
$GC,3786,-1.29,-194.7,354.2,-9.5,654,3790,0.00,2.78,0.00,0.000,4,0.000,0.111,2671,820,3882
$GC,3814,-1.29,-194.7,357.0,-9.8,656,3819,0.00,2.67,0.00,0.000,6,0.000,0.094,2671,2209,3882
$GC,4142,-1.29,-194.7,387.9,-9.6,686,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2209,3882
$GC,4468,-1.29,-194.7,418.3,-9.2,717,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2209,3881
$GC,4787,-1.29,-194.7,447.2,-9.6,747,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2209,3881
$GC,5105,-1.29,-194.7,476.8,-9.4,777,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2209,3881
$GC,5424,-1.29,-194.7,506.6,-9.2,807,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2209,3881
$GC,5742,-1.29,-194.7,536.0,-9.1,837,5747,0.00,2.75,0.00,0.000,4,0.000,0.114,2671,828,3880
$GC,5783,-1.29,-194.7,539.8,-9.3,840,5787,0.00,2.67,0.00,0.000,6,0.000,0.098,2672,2211,3881
$GC,6110,-1.29,-194.7,568.2,-8.6,870,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2211,3880
$GC,6427,-1.29,-194.7,595.1,-8.8,900,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2211,3880
$GC,6736,-1.29,-194.7,622.6,-8.9,918,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2211,3880
$GC,7046,-1.29,-194.7,650.4,-9.1,933,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2211,3880
$GC,7355,-1.29,-194.7,678.2,-8.6,948,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2211,3880
$GC,7665,-1.29,-194.7,703.7,-8.1,963,7669,0.00,2.80,0.00,0.000,4,0.000,0.122,2671,825,3879
$GC,7686,-1.29,-194.7,705.6,-8.1,964,7690,0.00,2.70,0.00,0.000,6,0.000,0.103,2671,2211,3879
$GC,8007,-1.29,-194.7,728.7,-7.0,980,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2211,3879
$GC,8316,-1.29,-194.7,753.0,-8.1,995,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2212,3879
$GC,8625,-1.29,-194.7,779.4,-8.8,1010,8630,0.00,2.80,0.00,0.000,4,0.000,0.125,2671,830,3879
$GC,8659,-1.29,-194.7,782.5,-9.6,1011,8666,0.00,2.70,0.00,0.000,6,0.000,0.107,2671,2209,3879
$GC,8975,-1.29,-194.7,812.0,-9.7,1027,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2210,3879
$GC,9284,-1.29,-194.7,841.3,-9.3,1042,9285,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2209,3878
$GC,9594,-1.29,-194.7,869.5,-8.8,1057,9595,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2209,3878
$GC,9902,-1.29,-194.7,896.9,-8.8,1072,9903,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2210,3878
$GC,10212,-1.29,-194.7,924.2,-8.9,1087,10213,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2209,3877
$GC,10523,-1.29,-194.7,950.2,-8.2,1102,10524,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2209,3877
$GC,10830,-1.29,-194.7,975.8,-8.2,1117,10831,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2209,3876
$STATE,11013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11013,begin apogee
$GC,11019,-0.35,0.0,990.8,8.1,1126,11190,1.02,0.00,167.62,1.421,6,0.100,0.000,2878,2332,3085
$STATE,11191,end apogee,CONTROL_FINISHED_OK
$STATE,11191,begin climb
$GC,11194,1.29,194.7,997.1,0.0,1134,11368,1.65,3.08,165.30,1.386,4,0.060,0.137,3248,922,2291
$GC,11397,1.20,194.7,983.2,12.1,1144,11405,0.15,2.88,0.00,0.000,6,0.112,0.116,3222,2331,2290
$GC,11714,1.14,194.7,948.5,10.6,1160,11718,0.00,3.00,0.00,0.000,4,0.000,0.140,3222,3738,2288
$GC,11754,1.05,194.7,944.0,10.8,1162,11759,0.17,2.85,0.00,0.000,6,0.110,0.107,3189,2328,2288
$GC,12081,1.09,232.7,914.1,8.7,1178,12121,0.00,0.00,34.17,1.318,6,0.000,0.000,3189,2328,2135
$GC,12431,1.12,253.4,882.5,9.3,1195,12452,0.00,0.00,19.30,1.281,6,0.000,0.000,3189,2329,2051
$GC,12760,1.12,253.4,850.1,10.0,1211,12761,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2329,2048
$GC,13069,1.14,267.5,819.4,9.5,1226,13092,0.00,3.03,13.27,1.239,4,0.000,0.131,3189,919,1994
$GC,13126,1.14,272.5,813.6,9.8,1228,13139,0.00,2.80,6.32,1.035,6,0.000,0.107,3189,2322,1973
$GC,13447,1.16,286.1,782.5,9.5,1244,13471,0.10,3.05,13.50,1.220,4,0.071,0.130,3215,3733,1917
$GC,13495,1.16,286.1,777.4,10.4,1246,13500,0.00,2.85,0.00,0.000,6,0.000,0.102,3214,2309,1916
$GC,13823,1.16,286.1,742.3,10.7,1262,13827,0.00,2.85,0.00,0.000,4,0.000,0.125,3215,913,1915
$GC,13849,1.16,286.1,738.9,10.7,1263,13854,0.00,2.78,0.00,0.000,6,0.000,0.104,3215,2323,1915
$GC,14166,1.16,286.1,705.2,11.0,1278,14167,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2324,1914
$GC,14475,1.16,286.1,668.6,12.3,1293,14476,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2324,1914
$GC,14784,1.16,286.1,629.9,12.5,1308,14785,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2324,1914
$GC,15096,1.16,286.1,590.9,12.7,1326,15100,0.00,2.80,0.00,0.000,4,0.000,0.112,3214,910,1914
$GC,15125,1.16,286.1,587.3,12.7,1328,15130,0.00,2.75,0.00,0.000,6,0.000,0.098,3214,2325,1914
$GC,15452,1.16,286.1,549.1,11.5,1358,15457,0.00,2.85,0.00,0.000,4,0.000,0.117,3215,3737,1913
$GC,15481,1.16,286.1,545.6,11.8,1360,15486,0.00,2.78,0.00,0.000,6,0.000,0.093,3215,2312,1914
$GC,15806,1.16,286.1,509.0,10.9,1390,15810,0.00,2.75,0.00,0.000,4,0.000,0.111,3215,914,1914
$GC,15846,1.16,286.1,504.4,12.3,1393,15851,0.00,2.72,0.00,0.000,6,0.000,0.097,3215,2324,1914
$GC,16172,1.16,286.1,468.1,11.0,1423,16176,0.00,2.83,0.00,0.000,4,0.000,0.114,3214,3735,1913
$GC,16204,1.16,286.1,464.0,12.5,1425,16211,0.00,2.72,0.00,0.000,6,0.000,0.091,3214,2318,1913
$GC,16531,1.16,286.1,426.6,11.7,1456,16536,0.00,2.75,0.00,0.000,4,0.000,0.109,3215,912,1914
$GC,16559,1.16,286.1,422.8,13.3,1458,16564,0.00,2.70,0.00,0.000,6,0.000,0.095,3215,2317,1914
$GC,16886,1.16,286.1,384.6,11.3,1488,16891,0.00,2.85,0.00,0.000,4,0.000,0.113,3214,3737,1914
$GC,16914,1.16,286.1,380.9,10.6,1490,16919,0.00,2.75,0.00,0.000,6,0.000,0.087,3215,2309,1914
$GC,17242,1.16,286.1,342.1,11.6,1526,17249,0.00,2.72,0.00,0.000,4,0.000,0.110,3215,918,1914
$GC,17278,1.16,286.1,337.5,12.5,1532,17286,0.00,2.67,0.00,0.000,6,0.000,0.093,3215,2318,1914
$GC,17624,1.16,286.1,297.0,12.5,1593,17631,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2318,1914
$GC,17970,1.16,286.1,256.0,10.5,1654,17976,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2318,1914
$GC,18314,1.16,286.1,216.8,12.4,1715,18321,0.00,2.72,0.00,0.000,4,0.000,0.103,3215,918,1915
$GC,18345,1.16,286.1,213.2,12.1,1720,18352,0.00,2.67,0.00,0.000,6,0.000,0.091,3214,2324,1915
$GC,18691,1.17,298.2,176.3,9.6,1781,18711,0.00,2.85,11.52,0.862,4,0.000,0.105,3214,3737,1868
$GC,18729,1.17,298.2,172.1,12.0,1787,18736,0.00,2.75,0.00,0.000,6,0.000,0.084,3214,2310,1868
$GC,19075,1.17,298.2,137.6,10.7,1848,19081,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2310,1868
$GC,19420,1.18,303.3,104.0,9.8,1909,19433,0.00,0.00,6.10,0.731,6,0.000,0.000,3215,2310,1847
$GC,19771,1.18,303.3,66.0,11.6,1971,19778,0.00,2.70,0.00,0.000,4,0.000,0.100,3215,911,1847
$GC,19813,1.18,303.3,60.9,12.3,1978,19821,0.00,2.67,0.00,0.000,6,0.000,0.087,3215,2321,1847
$GC,20157,1.22,331.6,25.5,9.0,2039,20193,0.00,2.85,24.83,0.766,4,0.000,0.098,3215,3734,1731
$GC,20239,1.22,335.7,16.8,9.9,2052,20254,0.00,2.67,4.97,0.610,6,0.000,0.082,3215,2329,1715
$GC,20395,1.25,362.2,5.9,9.1,2078,20424,0.00,2.80,23.27,0.737,4,0.000,0.095,3215,919,1608
$STATE,20429,end climb,SURFACE_DEPTH_REACHED
$STATE,20429,begin surface coast
$FINISH,0.2,1.017959
$STATE,20446,end surface coast,CONTROL_FINISHED_OK
$STATE,20446,begin surface
$SM_CCo,20530,0.00,0.000,0,0,1600,364.27
$SM_GC,0.96,11.55,0.00,0.00,0.041,0.000,0.000,593,2237,1600,-10.84,0.08,364.27
$IRIDIUM_FIX,6121.73,-2541.08,090997,101059
$TT8_MAMPS,0.02301
$HUMID,1691
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,18.00
$XPDR_PINGS,600
$24V_AH,23.1,66.954
$10V_AH,10.6,55.283
$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,27.000,138.875,490.200,0.000,0.000,26.189,37.943,278.908,150.000,0.000,0.000,13.197,4149.001,11766.327,733.004,3599.782,756.463,0.000,2305.593,0.000,3608.876,0.000,0.467
$DEVICE_MAMPS,184.847,141.128,1421.251,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1445.132,1612.136,1843.957,606.051,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123141,2086
$CAP_FILE_SIZE,179242,0
$CFSIZE,260165632,226033664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.134,155.0,1
$GPS,150608,215432,6149.238,-2543.379,37,1.3,37,-18.5