version: 66.03
glider: 140
mission: 5
dive: 317
start: 6 16 108 22 26 6
data:
$ID,140
$MISSION,5
$DIVE,317
$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,-19044.863
$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,10
$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
$GPS1,220738,6158.626,-2538.512,26,1.0,26,-18.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-61.0
$GPS2,222545,6158.497,-2538.508,11,1.1,11,-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,357.8,11310,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.29,-194.7,0.0,0.0,0,90,0.00,0.00,-66.32,0.000,2,0.000,0.000,592,2228,3470
$GC,93,-1.29,-194.7,3.5,-7.1,9,123,12.25,2.78,-8.60,0.000,4,0.181,0.108,2673,3650,3881
$GC,181,-1.29,-194.7,17.3,-11.6,23,189,0.00,2.65,0.00,0.000,6,0.000,0.080,2674,2230,3882
$GC,328,-1.29,-194.7,32.0,-9.2,48,335,0.00,2.75,0.00,0.000,4,0.000,0.097,2673,3652,3882
$GC,364,-1.29,-194.7,36.1,-10.2,54,372,0.00,2.62,0.00,0.000,6,0.000,0.079,2674,2244,3882
$GC,508,-1.29,-194.7,49.9,-9.3,79,515,0.00,2.72,0.00,0.000,4,0.000,0.097,2673,823,3882
$GC,550,-1.29,-194.7,54.0,-9.6,86,557,0.00,2.65,0.00,0.000,6,0.000,0.086,2673,2238,3882
$GC,896,-1.29,-194.7,86.5,-9.6,147,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2238,3883
$GC,1240,-1.29,-194.7,118.9,-9.7,208,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2238,3883
$GC,1585,-1.29,-194.7,151.6,-9.6,269,1592,0.00,2.78,0.00,0.000,4,0.000,0.104,2674,822,3883
$GC,1622,-1.29,-194.7,155.2,-10.1,275,1629,0.00,2.70,0.00,0.000,6,0.000,0.088,2673,2240,3883
$GC,1966,-1.29,-194.7,187.8,-9.3,336,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2240,3883
$GC,2312,-1.29,-194.7,220.6,-9.6,397,2319,0.00,2.78,0.00,0.000,4,0.000,0.107,2674,827,3883
$GC,2350,-1.29,-194.7,224.2,-9.8,403,2357,0.00,2.70,0.00,0.000,6,0.000,0.092,2673,2237,3883
$GC,2695,-1.29,-194.7,256.7,-9.2,464,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2238,3883
$GC,3040,-1.29,-194.7,288.2,-9.3,525,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2238,3883
$GC,3385,-1.29,-194.7,320.2,-9.1,586,3392,0.00,2.80,0.00,0.000,4,0.000,0.110,2673,826,3882
$GC,3422,-1.29,-194.7,323.7,-9.5,592,3429,0.00,2.70,0.00,0.000,6,0.000,0.097,2673,2225,3882
$GC,3771,-1.29,-194.7,354.8,-8.8,649,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2226,3882
$GC,4090,-1.29,-194.7,382.2,-8.5,679,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2226,3881
$GC,4408,-1.29,-194.7,408.1,-7.9,709,4412,0.00,2.80,0.00,0.000,4,0.000,0.114,2674,823,3881
$GC,4437,-1.29,-194.7,410.5,-8.5,711,4441,0.00,2.72,0.00,0.000,6,0.000,0.096,2673,2235,3881
$GC,4765,-1.29,-194.7,436.5,-8.1,741,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2236,3881
$GC,5090,-1.29,-194.7,463.8,-8.3,772,5095,0.00,2.83,0.00,0.000,4,0.000,0.114,2674,823,3881
$GC,5119,-1.29,-194.7,466.2,-8.7,774,5124,0.00,2.72,0.00,0.000,6,0.000,0.098,2674,2229,3881
$GC,5446,-1.29,-194.7,493.6,-8.8,804,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2229,3881
$GC,5765,-1.29,-194.7,520.5,-9.1,834,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2229,3880
$GC,6091,-1.29,-194.7,549.5,-8.3,865,6095,0.00,2.78,0.00,0.000,4,0.000,0.117,2673,827,3880
$GC,6112,-1.29,-194.7,551.5,-8.6,866,6120,0.00,2.70,0.00,0.000,6,0.000,0.101,2674,2224,3880
$GC,6440,-1.29,-194.7,579.1,-8.4,897,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2223,3880
$GC,6767,-1.29,-194.7,605.4,-8.1,925,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2224,3880
$GC,7076,-1.29,-194.7,631.3,-8.4,940,7080,0.00,2.80,0.00,0.000,4,0.000,0.120,2673,828,3879
$GC,7115,-1.29,-194.7,634.8,-9.0,942,7120,0.00,2.72,0.00,0.000,6,0.000,0.104,2673,2223,3879
$GC,7443,-1.29,-194.7,660.6,-7.4,958,7444,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2224,3879
$GC,7752,-1.29,-194.7,684.7,-7.9,973,7753,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2224,3879
$GC,8062,-1.29,-194.7,709.2,-8.1,988,8067,0.00,2.83,0.00,0.000,4,0.000,0.123,2673,827,3879
$GC,8089,-1.29,-194.7,711.7,-9.0,989,8094,0.00,2.75,0.00,0.000,6,0.000,0.107,2674,2229,3879
$GC,8405,-1.29,-194.7,737.4,-8.2,1004,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2228,3878
$GC,8715,-1.29,-194.7,762.6,-8.4,1019,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2229,3878
$GC,9024,-1.29,-194.7,787.0,-7.5,1034,9026,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2229,3878
$GC,9333,-1.29,-194.7,809.5,-7.1,1049,9338,0.00,2.88,0.00,0.000,4,0.000,0.129,2674,823,3878
$GC,9360,-1.29,-194.7,811.9,-8.5,1050,9365,0.00,2.75,0.00,0.000,6,0.000,0.109,2673,2219,3877
$GC,9677,-1.29,-194.7,836.9,-7.9,1065,9678,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2219,3877
$GC,9986,-1.29,-194.7,862.5,-8.2,1080,9987,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2219,3877
$GC,10295,-1.29,-194.7,888.2,-8.1,1095,10296,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2219,3876
$GC,10606,-1.29,-194.7,912.6,-7.8,1110,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2219,3876
$GC,10913,-1.29,-194.7,935.4,-7.1,1125,10915,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2219,3876
$GC,11223,-1.29,-194.7,955.4,-6.3,1140,11224,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2219,3875
$GC,11532,-1.29,-194.7,974.5,-6.5,1155,11534,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2219,3875
$STATE,11715,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11715,begin apogee
$GC,11721,-0.35,0.0,987.1,6.8,1164,11897,1.00,0.00,168.02,1.428,6,0.096,0.000,2878,2328,3085
$STATE,11898,end apogee,CONTROL_FINISHED_OK
$STATE,11898,begin climb
$GC,11900,1.29,194.7,991.5,0.0,1173,12075,1.65,3.08,165.43,1.391,4,0.057,0.135,3240,926,2290
$GC,12107,1.21,194.7,974.6,13.0,1183,12112,0.00,2.88,0.00,0.000,6,0.000,0.115,3240,2337,2290
$GC,12434,1.13,194.7,930.9,13.2,1199,12436,0.17,0.00,0.00,0.000,6,0.110,0.000,3209,2337,2288
$GC,12744,1.08,194.7,896.1,10.9,1214,12745,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2337,2288
$GC,13054,1.04,194.7,864.8,10.0,1229,13056,0.12,0.00,0.00,0.000,6,0.114,0.000,3186,2337,2288
$GC,13362,1.07,222.3,836.5,9.0,1244,13389,0.00,0.00,25.12,1.300,6,0.000,0.000,3186,2337,2177
$GC,13691,1.15,281.1,808.2,8.0,1260,13749,0.10,3.00,52.10,1.289,4,0.073,0.124,3212,924,1939
$GC,13779,1.16,289.0,800.0,9.7,1264,13793,0.00,2.83,8.60,1.115,6,0.000,0.107,3211,2330,1906
$GC,14113,1.16,293.2,767.1,9.9,1280,14121,0.00,0.00,4.85,0.930,6,0.000,0.000,3212,2330,1889
$GC,14445,1.18,309.0,734.7,9.5,1296,14466,0.00,0.00,15.52,1.213,6,0.000,0.000,3212,2330,1825
$GC,14775,1.19,319.4,702.7,9.6,1312,14787,0.00,0.00,10.43,1.163,6,0.000,0.000,3212,2330,1783
$GC,15083,1.19,319.4,671.2,10.5,1327,15088,0.00,2.85,0.00,0.000,4,0.000,0.117,3212,919,1781
$GC,15123,1.19,319.4,666.8,11.1,1329,15128,0.00,2.78,0.00,0.000,6,0.000,0.102,3212,2329,1781
$GC,15451,1.19,319.4,631.3,11.0,1345,15452,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2329,1780
$GC,15760,1.19,319.4,597.6,10.7,1361,15761,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2329,1780
$GC,16079,1.19,319.4,563.6,10.2,1391,16083,0.00,2.80,0.00,0.000,4,0.000,0.114,3212,921,1780
$GC,16111,1.19,319.4,559.8,11.0,1393,16118,0.00,2.72,0.00,0.000,6,0.000,0.100,3212,2325,1780
$GC,16438,1.19,319.4,522.8,12.3,1424,16439,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2325,1780
$GC,16756,1.19,319.4,485.7,12.1,1454,16757,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2325,1779
$GC,17072,1.19,319.4,448.5,11.5,1484,17073,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2324,1779
$GC,17391,1.19,319.4,413.1,10.7,1514,17396,0.00,2.78,0.00,0.000,4,0.000,0.109,3212,918,1779
$GC,17423,1.19,319.4,409.1,11.7,1516,17431,0.00,2.70,0.00,0.000,6,0.000,0.095,3212,2306,1780
$GC,17753,1.19,319.4,373.2,11.0,1547,17757,0.00,2.85,0.00,0.000,4,0.000,0.111,3212,3737,1779
$GC,17781,1.19,319.4,369.5,11.5,1549,17786,0.00,2.78,0.00,0.000,6,0.000,0.091,3212,2305,1779
$GC,18115,1.19,319.4,332.5,11.4,1593,18123,0.00,2.70,0.00,0.000,4,0.000,0.109,3212,918,1779
$GC,18152,1.19,319.4,328.2,12.2,1599,18159,0.00,2.67,0.00,0.000,6,0.000,0.094,3212,2312,1779
$GC,18498,1.19,319.4,289.7,11.4,1660,18504,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2311,1779
$GC,18843,1.19,319.4,250.6,10.8,1721,18849,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2311,1780
$GC,19187,1.19,319.4,212.0,11.7,1782,19193,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2312,1779
$GC,19532,1.19,319.4,173.2,11.8,1843,19539,0.00,2.72,0.00,0.000,4,0.000,0.103,3212,915,1780
$GC,19563,1.19,319.4,169.6,10.9,1848,19571,0.00,2.67,0.00,0.000,6,0.000,0.091,3212,2314,1780
$GC,19909,1.19,319.4,132.8,10.4,1909,19916,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2314,1780
$GC,20251,1.19,319.4,95.9,10.5,1970,20258,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2314,1780
$GC,20597,1.19,319.4,57.4,12.2,2031,20603,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2314,1780
$GC,20940,1.19,319.4,21.8,10.0,2092,20947,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2314,1780
$GC,21083,1.20,321.4,7.9,9.9,2117,21090,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2314,1779
$STATE,21134,end climb,SURFACE_DEPTH_REACHED
$STATE,21134,begin surface coast
$FINISH,0.3,1.019868
$STATE,21152,end surface coast,CONTROL_FINISHED_OK
$STATE,21152,begin surface
$SM_CCo,21234,0.00,0.000,0,0,1778,320.61
$SM_GC,0.95,11.38,0.00,0.00,0.038,0.000,0.000,583,2230,1778,-10.86,-0.14,320.61
$IRIDIUM_FIX,6135.28,-2542.75,100997,222247
$TT8_MAMPS,0.02301
$HUMID,1716
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.80
$XPDR_PINGS,607
$24V_AH,23.1,68.047
$10V_AH,10.6,56.197
$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,26.675,111.125,450.075,0.000,0.000,73.647,115.228,601.218,151.750,0.000,0.000,11.566,4304.931,12408.869,670.851,3677.680,1237.596,0.000,2258.345,0.000,3690.296,0.000,0.468
$DEVICE_MAMPS,181.012,147.264,1428.154,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1477.191,1631.386,1879.787,600.722,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126380,2129
$CAP_FILE_SIZE,186626,0
$CFSIZE,260165632,225525760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125, 99.8,1
$GPS,170608,042107,6201.169,-2537.939,31,1.1,31,-18.6