version: 66.03
glider: 140
mission: 5
dive: 208
start: 5 23 108 1 12 9
data:
$ID,140
$MISSION,5
$DIVE,208
$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,350
$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,-17207.027
$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,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
$GPS1,010355,6132.453,-2608.881,42,1.1,42,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-62.5
$GPS2,011151,6132.498,-2608.987,13,1.4,13,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6143.133,-2609.875
$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,8.6,20000,-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,-194.7,0.0,0.0,0,89,0.00,0.00,-60.08,0.000,2,0.000,0.000,593,2233,3398
$GC,92,-1.29,-194.7,3.4,-7.6,11,123,12.30,2.75,-11.18,0.000,4,0.185,0.108,2670,3651,3879
$GC,309,-1.29,-194.7,28.6,-10.7,49,315,0.00,2.65,0.00,0.000,6,0.000,0.082,2670,2234,3881
$GC,451,-1.29,-194.7,42.2,-8.7,74,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3881
$GC,593,-1.29,-194.7,56.4,-10.7,99,599,0.00,2.72,0.00,0.000,4,0.000,0.099,2670,823,3881
$GC,644,-1.29,-194.7,62.0,-10.8,108,651,0.00,2.67,0.00,0.000,6,0.000,0.087,2670,2232,3881
$GC,989,-1.29,-194.7,95.7,-10.1,169,995,0.00,2.72,0.00,0.000,4,0.000,0.100,2670,826,3881
$GC,1040,-1.29,-194.7,101.3,-11.1,178,1047,0.00,2.65,0.00,0.000,6,0.000,0.089,2670,2219,3881
$GC,1385,-1.29,-194.7,136.7,-10.0,239,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2219,3881
$GC,1727,-1.29,-194.7,169.3,-9.5,300,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2219,3881
$GC,2072,-1.29,-194.7,202.8,-10.4,361,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2219,3882
$GC,2415,-1.29,-194.7,239.2,-10.5,422,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2219,3882
$GC,2759,-1.29,-194.7,270.6,-8.9,483,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2219,3881
$GC,3102,-1.29,-194.7,306.1,-10.5,544,3108,0.00,2.83,0.00,0.000,4,0.000,0.112,2670,3652,3881
$GC,3125,-1.29,-194.7,308.6,-10.8,548,3132,0.00,2.72,0.00,0.000,6,0.000,0.088,2670,2211,3881
$GC,3469,-1.29,-194.7,340.8,-9.1,609,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2211,3881
$GC,3801,-1.29,-194.7,371.1,-9.4,649,3806,0.00,2.83,0.00,0.000,4,0.000,0.110,2670,3645,3881
$GC,3822,-1.29,-194.7,373.4,-9.5,650,3829,0.00,2.72,0.00,0.000,6,0.000,0.091,2670,2209,3881
$GC,4149,-1.29,-194.7,403.6,-9.7,681,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2210,3881
$GC,4466,-1.29,-194.7,435.2,-9.6,711,4470,0.00,2.85,0.00,0.000,4,0.000,0.111,2670,3651,3881
$GC,4487,-1.29,-194.7,437.5,-10.0,712,4493,0.00,2.75,0.00,0.000,6,0.000,0.091,2670,2204,3882
$GC,4814,-1.29,-194.7,467.4,-9.1,743,4819,0.00,2.85,0.00,0.000,4,0.000,0.111,2670,3648,3881
$GC,4853,-1.29,-194.7,471.4,-9.9,746,4858,0.00,2.72,0.00,0.000,6,0.000,0.093,2670,2221,3881
$GC,5180,-1.29,-194.7,499.7,-8.2,776,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2221,3881
$GC,5497,-1.29,-194.7,526.8,-8.1,806,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2221,3881
$GC,5817,-1.29,-194.7,552.6,-7.2,836,5821,0.00,2.85,0.00,0.000,4,0.000,0.115,2670,3652,3881
$GC,5858,-1.29,-194.7,555.6,-7.3,839,5863,0.00,2.75,0.00,0.000,6,0.000,0.095,2670,2218,3880
$GC,6186,-1.29,-194.7,576.6,-6.6,869,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2218,3881
$GC,6511,-1.29,-194.7,598.8,-6.9,900,6516,0.00,2.85,0.00,0.000,4,0.000,0.117,2670,3645,3880
$GC,6538,-1.29,-194.7,600.9,-7.6,901,6543,0.00,2.72,0.00,0.000,6,0.000,0.095,2670,2221,3880
$GC,6854,-1.29,-194.7,621.2,-6.6,916,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2222,3880
$GC,7164,-1.29,-194.7,643.7,-8.3,931,7169,0.00,2.85,0.00,0.000,4,0.000,0.120,2670,3643,3880
$GC,7226,-1.29,-194.7,649.5,-9.4,934,7230,0.00,2.72,0.00,0.000,6,0.000,0.097,2670,2229,3880
$GC,7552,-1.29,-194.7,678.2,-8.0,950,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3879
$GC,7861,-1.29,-194.7,702.4,-8.0,965,7866,0.00,2.85,0.00,0.000,4,0.000,0.120,2670,3647,3879
$GC,7901,-1.29,-194.7,705.7,-8.7,967,7906,0.00,2.72,0.00,0.000,6,0.000,0.099,2671,2237,3879
$GC,8228,-1.29,-194.7,731.2,-7.7,983,8229,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3879
$GC,8537,-1.29,-194.7,754.9,-7.6,998,8538,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3879
$GC,8846,-1.29,-194.7,774.4,-6.1,1013,8851,0.00,2.85,0.00,0.000,4,0.000,0.123,2670,3645,3879
$GC,8874,-1.29,-194.7,776.3,-6.7,1014,8878,0.00,2.72,0.00,0.000,6,0.000,0.101,2670,2238,3879
$GC,9190,-1.29,-194.7,800.5,-8.7,1029,9194,0.00,2.85,0.00,0.000,4,0.000,0.124,2670,3645,3878
$GC,9221,-1.29,-194.7,803.8,-10.4,1030,9228,0.00,2.72,0.00,0.000,6,0.000,0.104,2670,2241,3878
$GC,9538,-1.29,-194.7,830.6,-7.4,1046,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3878
$GC,9847,-1.29,-194.7,850.3,-6.1,1061,9852,0.00,2.85,0.00,0.000,4,0.000,0.126,2670,3643,3878
$GC,9887,-1.29,-194.7,852.9,-6.6,1063,9892,0.00,2.72,0.00,0.000,6,0.000,0.103,2670,2246,3878
$GC,10214,-1.29,-194.7,876.6,-7.7,1079,10216,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3878
$GC,10523,-1.29,-194.7,901.7,-8.9,1094,10524,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3877
$GC,10832,-1.29,-194.7,927.5,-7.9,1109,10837,0.00,2.88,0.00,0.000,4,0.000,0.130,2670,3646,3877
$GC,10876,-1.29,-194.7,931.2,-8.6,1111,10880,0.00,2.75,0.00,0.000,6,0.000,0.107,2670,2241,3877
$GC,11196,-1.29,-194.7,951.4,-6.3,1127,11197,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3877
$GC,11506,-1.29,-194.7,973.1,-7.0,1142,11507,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3876
$STATE,11709,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11709,begin apogee
$GC,11716,-0.35,0.0,988.0,7.3,1152,11885,1.05,0.00,165.50,1.417,6,0.103,0.000,2881,2327,3085
$STATE,11886,end apogee,CONTROL_FINISHED_OK
$STATE,11886,begin climb
$GC,11888,1.29,194.7,992.9,0.0,1160,12057,1.62,0.00,163.90,1.386,6,0.061,0.000,3246,2327,2291
$GC,12366,1.19,194.7,937.3,13.9,1184,12368,0.15,0.00,0.00,0.000,6,0.119,0.000,3220,2327,2289
$GC,12673,1.13,194.7,899.3,12.0,1199,12675,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2327,2288
$GC,12983,1.07,194.7,862.6,12.0,1214,12988,0.15,2.95,0.00,0.000,4,0.115,0.130,3192,3738,2287
$GC,13033,1.01,194.7,856.5,12.1,1216,13038,0.00,2.83,0.00,0.000,6,0.000,0.106,3192,2332,2287
$GC,13348,1.01,194.7,822.6,11.2,1231,13350,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2332,2286
$GC,13657,1.01,194.7,784.5,12.2,1246,13659,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2333,2286
$GC,13967,1.01,194.7,746.5,12.5,1261,13972,0.00,2.90,0.00,0.000,4,0.000,0.122,3192,3738,2286
$GC,14029,0.96,194.7,738.3,13.6,1264,14034,0.12,2.80,0.00,0.000,6,0.115,0.102,3170,2333,2286
$GC,14356,0.96,194.7,702.3,10.6,1280,14360,0.00,2.90,0.00,0.000,4,0.000,0.127,3170,911,2286
$GC,14399,0.96,194.7,697.5,10.1,1282,14403,0.00,2.78,0.00,0.000,6,0.000,0.103,3170,2337,2286
$GC,14726,0.96,194.7,663.4,10.4,1298,14730,0.00,2.90,0.00,0.000,4,0.000,0.127,3170,3739,2286
$GC,14765,0.96,194.7,659.2,11.6,1300,14769,0.00,2.78,0.00,0.000,6,0.000,0.097,3170,2328,2286
$GC,15091,0.98,214.4,627.7,9.3,1316,15111,0.00,0.00,17.50,1.171,6,0.000,0.000,3170,2330,2210
$GC,15421,1.01,236.5,597.3,9.2,1333,15443,0.00,0.00,20.10,1.132,6,0.000,0.000,3170,2329,2120
$GC,15759,1.07,282.9,568.1,8.4,1365,15806,0.10,2.92,40.62,1.116,4,0.073,0.113,3195,3738,1930
$GC,15840,1.07,282.9,560.0,11.1,1372,15845,0.00,2.75,0.00,0.000,6,0.000,0.091,3196,2340,1927
$GC,16167,1.07,282.9,524.8,11.0,1402,16171,0.00,2.83,0.00,0.000,4,0.000,0.113,3196,914,1925
$GC,16199,1.07,282.9,520.9,10.5,1404,16206,0.00,2.80,0.00,0.000,6,0.000,0.098,3196,2341,1925
$GC,16528,1.07,282.9,484.7,11.6,1435,16533,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2340,1924
$GC,16852,1.07,282.9,447.7,10.1,1466,16853,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2340,1924
$GC,17171,1.07,282.9,413.4,11.6,1496,17172,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2340,1924
$GC,17489,1.07,282.9,378.1,10.9,1526,17490,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2340,1924
$GC,17811,1.07,282.9,341.4,12.1,1562,17817,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2340,1924
$GC,18154,1.07,282.9,297.8,12.4,1623,18160,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2340,1924
$GC,18497,1.07,282.9,252.2,13.2,1684,18503,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2340,1924
$GC,18840,1.07,282.9,210.7,11.4,1745,18845,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2340,1924
$GC,19181,1.07,282.9,168.7,12.7,1806,19187,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2340,1924
$GC,19524,1.07,282.9,127.0,12.2,1867,19529,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2340,1924
$GC,19867,1.07,282.9,86.2,12.4,1928,19873,0.00,2.75,0.00,0.000,4,0.000,0.101,3195,918,1924
$GC,19896,1.07,282.9,82.5,12.8,1933,19902,0.00,2.70,0.00,0.000,6,0.000,0.087,3196,2346,1924
$GC,20240,1.07,282.9,42.9,10.4,1994,20246,0.00,2.72,0.00,0.000,4,0.000,0.106,3195,3735,1924
$GC,20286,1.07,282.9,37.4,12.2,2002,20294,0.00,2.62,0.00,0.000,6,0.000,0.083,3196,2345,1924
$GC,20431,1.07,282.9,21.7,10.0,2027,20438,0.00,2.72,0.00,0.000,4,0.000,0.100,3195,920,1924
$GC,20467,1.07,282.9,17.4,11.7,2033,20473,0.00,2.67,0.00,0.000,6,0.000,0.084,3196,2348,1924
$STATE,20601,end climb,SURFACE_DEPTH_REACHED
$STATE,20601,begin surface coast
$FINISH,0.4,1.027730
$STATE,20622,end surface coast,CONTROL_FINISHED_OK
$STATE,20622,begin surface
$SM_CCo,20703,0.00,0.000,0,0,1921,285.53
$SM_GC,1.17,11.43,0.00,0.00,0.044,0.000,0.000,588,2227,1921,-10.86,-0.23,285.53
$IRIDIUM_FIX,6103.81,-2551.61,160897,191916
$TT8_MAMPS,0.02301
$HUMID,1663
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.90
$XPDR_PINGS,87
$24V_AH,23.3,46.766
$10V_AH,10.7,37.501
$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,26.925,133.900,407.625,0.000,0.000,27.874,32.250,268.003,21.750,0.000,0.000,13.282,3221.656,13015.899,602.217,3623.659,693.342,0.000,2165.387,0.000,3609.831,0.000,0.466
$DEVICE_MAMPS,184.847,145.730,1417.416,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1428.473,1532.688,1823.315,574.037,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123083,2060
$CAP_FILE_SIZE,177261,0
$CFSIZE,260165632,236011520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230508,065837,6136.151,-2611.710,38,1.8,50,-18.6