version: 66.03
glider: 140
mission: 5
dive: 277
start: 6 7 108 17 14 51
data:
$ID,140
$MISSION,5
$DIVE,277
$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,-18355.477
$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,12
$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
$GPS1,170626,6135.873,-2637.604,41,1.1,41,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-62.3
$GPS2,171432,6135.875,-2637.660,12,1.1,16,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NW
$TGT_LATLONG,6204.210,-2640.070
$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,16.5,52518,-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,-194.7,0.0,0.0,0,104,0.00,0.00,-81.38,0.000,2,0.000,0.000,588,2229,3562
$GC,107,-1.29,-194.7,3.4,-5.7,11,132,12.27,2.78,-6.65,0.000,4,0.183,0.108,2672,824,3881
$GC,314,-1.29,-194.7,29.1,-9.8,46,321,0.00,2.65,0.00,0.000,6,0.000,0.082,2672,2244,3882
$GC,457,-1.29,-194.7,43.0,-9.7,71,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2244,3882
$GC,600,-1.29,-194.7,55.8,-8.1,96,607,0.00,2.67,0.00,0.000,4,0.000,0.095,2673,3648,3882
$GC,677,-1.29,-194.7,62.2,-8.2,109,684,0.00,2.55,0.00,0.000,6,0.000,0.080,2672,2286,3882
$GC,1022,-1.29,-194.7,86.3,-8.1,170,1029,0.00,2.83,0.00,0.000,4,0.000,0.100,2672,819,3882
$GC,1064,-1.29,-194.7,89.8,-8.2,177,1071,0.00,2.78,0.00,0.000,6,0.000,0.085,2672,2296,3882
$GC,1410,-1.29,-194.7,118.5,-8.7,238,1417,0.00,2.88,0.00,0.000,4,0.000,0.102,2672,817,3882
$GC,1441,-1.29,-194.7,121.2,-8.5,243,1448,0.00,2.80,0.00,0.000,6,0.000,0.086,2672,2299,3883
$GC,1786,-1.29,-194.7,151.8,-8.8,304,1793,0.00,2.88,0.00,0.000,4,0.000,0.102,2672,817,3882
$GC,1841,-1.29,-194.7,156.7,-9.0,313,1848,0.00,2.78,0.00,0.000,6,0.000,0.089,2672,2281,3882
$GC,2185,-1.29,-194.7,187.8,-9.8,374,2193,0.00,2.85,0.00,0.000,4,0.000,0.105,2672,817,3882
$GC,2221,-1.29,-194.7,191.6,-10.2,380,2229,0.00,2.78,0.00,0.000,6,0.000,0.090,2672,2279,3882
$GC,2568,-1.29,-194.7,226.0,-10.0,441,2575,0.00,2.85,0.00,0.000,4,0.000,0.107,2672,823,3882
$GC,2610,-1.29,-194.7,230.3,-10.3,448,2617,0.00,2.75,0.00,0.000,6,0.000,0.090,2672,2270,3882
$GC,2955,-1.29,-194.7,263.5,-9.3,509,2962,0.00,2.85,0.00,0.000,4,0.000,0.109,2672,821,3882
$GC,2992,-1.29,-194.7,266.9,-9.6,515,2999,0.00,2.72,0.00,0.000,6,0.000,0.092,2672,2250,3882
$GC,3337,-1.29,-194.7,298.8,-9.2,576,3344,0.00,2.80,0.00,0.000,4,0.000,0.109,2672,824,3882
$GC,3361,-1.29,-194.7,301.2,-9.6,580,3369,0.00,2.72,0.00,0.000,6,0.000,0.094,2673,2248,3882
$GC,3707,-1.29,-194.7,332.1,-9.2,641,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2248,3882
$GC,4043,-1.29,-194.7,364.5,-9.3,688,4047,0.00,2.80,0.00,0.000,4,0.000,0.110,2672,827,3882
$GC,4094,-1.29,-194.7,369.2,-9.4,692,4098,0.00,2.72,0.00,0.000,6,0.000,0.096,2672,2243,3882
$GC,4420,-1.29,-194.7,397.6,-8.3,722,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2243,3882
$GC,4737,-1.29,-194.7,423.2,-8.4,752,4742,0.00,2.80,0.00,0.000,4,0.000,0.113,2672,826,3882
$GC,4770,-1.29,-194.7,426.3,-9.0,754,4778,0.00,2.70,0.00,0.000,6,0.000,0.097,2672,2234,3881
$GC,5100,-1.29,-194.7,454.8,-9.3,785,5104,0.00,2.80,0.00,0.000,4,0.000,0.113,2673,821,3881
$GC,5121,-1.29,-194.7,457.4,-9.4,786,5128,0.00,2.70,0.00,0.000,6,0.000,0.095,2672,2233,3881
$GC,5450,-1.29,-194.7,486.1,-8.4,817,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2233,3881
$GC,5775,-1.29,-194.7,514.9,-8.9,848,5780,0.00,2.80,0.00,0.000,4,0.000,0.116,2672,827,3881
$GC,5830,-1.29,-194.7,520.2,-9.4,852,5837,0.00,2.67,0.00,0.000,6,0.000,0.097,2672,2227,3881
$GC,6157,-1.29,-194.7,548.7,-8.6,883,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2227,3881
$GC,6474,-1.29,-194.7,574.0,-7.6,913,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2228,3880
$GC,6793,-1.29,-194.7,598.7,-8.6,943,6797,0.00,2.83,0.00,0.000,4,0.000,0.117,2672,819,3880
$GC,6825,-1.29,-194.7,601.8,-9.2,944,6833,0.00,2.70,0.00,0.000,6,0.000,0.098,2672,2224,3880
$GC,7141,-1.29,-194.7,632.4,-10.2,960,7146,0.00,2.80,0.00,0.000,4,0.000,0.118,2672,824,3880
$GC,7173,-1.29,-194.7,635.9,-10.3,961,7180,0.00,2.67,0.00,0.000,6,0.000,0.098,2672,2212,3880
$GC,7490,-1.29,-194.7,666.1,-9.3,977,7491,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2212,3880
$GC,7799,-1.29,-194.7,690.0,-6.8,992,7803,0.00,2.80,0.00,0.000,4,0.000,0.122,2673,827,3880
$GC,7832,-1.29,-194.7,692.4,-6.9,993,7839,0.00,2.67,0.00,0.000,6,0.000,0.100,2672,2211,3880
$GC,8148,-1.29,-194.7,714.6,-7.5,1009,8149,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2211,3879
$GC,8457,-1.29,-194.7,739.2,-8.8,1024,8462,0.00,2.80,0.00,0.000,4,0.000,0.123,2672,827,3880
$GC,8489,-1.29,-194.7,742.6,-10.1,1025,8497,0.00,2.65,0.00,0.000,6,0.000,0.101,2672,2195,3879
$GC,8807,-1.39,-194.7,768.6,-5.1,1041,8812,0.00,2.92,0.00,0.000,4,0.000,0.123,2672,3653,3879
$STATE,8938,end dive,NO_VERTICAL_VELOCITY
$STATE,8938,begin apogee
$GC,8947,-0.35,0.0,768.6,0.0,1047,9113,0.90,0.00,161.98,1.260,6,0.050,0.000,2882,2332,3085
$STATE,9113,end apogee,CONTROL_FINISHED_OK
$STATE,9113,begin climb
$GC,9116,1.29,194.7,768.6,0.0,1055,9289,1.58,3.00,159.25,1.221,4,0.048,0.127,3239,923,2290
$GC,9474,1.23,194.7,745.5,12.0,1071,9479,0.00,2.75,0.00,0.000,6,0.000,0.098,3240,2332,2289
$GC,9796,1.23,262.9,720.5,7.6,1087,9862,0.00,2.92,58.08,1.184,4,0.000,0.116,3239,3738,2011
$GC,9891,1.17,279.9,712.4,9.4,1091,9913,0.12,2.80,15.85,1.107,6,0.113,0.098,3218,2330,1943
$GC,10236,1.17,279.9,671.8,12.7,1108,10240,0.00,2.88,0.00,0.000,4,0.000,0.123,3218,916,1938
$GC,10285,1.17,279.9,664.5,14.5,1110,10290,0.00,2.75,0.00,0.000,6,0.000,0.097,3218,2329,1938
$GC,10601,1.17,279.9,624.7,13.5,1125,10602,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2330,1937
$GC,10914,1.17,279.9,580.6,13.8,1146,10918,0.00,2.83,0.00,0.000,4,0.000,0.114,3218,918,1937
$GC,10946,1.17,279.9,575.9,14.6,1148,10954,0.00,2.72,0.00,0.000,6,0.000,0.094,3218,2334,1937
$GC,11273,1.17,279.9,535.0,11.9,1179,11277,0.00,2.78,0.00,0.000,4,0.000,0.107,3218,3737,1937
$GC,11317,1.13,279.9,528.9,12.9,1182,11324,0.00,2.72,0.00,0.000,6,0.000,0.093,3218,2332,1936
$GC,11645,1.13,279.9,490.2,11.5,1213,11650,0.00,2.80,0.00,0.000,4,0.000,0.114,3218,919,1936
$GC,11689,1.13,279.9,484.4,12.7,1216,11696,0.00,2.72,0.00,0.000,6,0.000,0.094,3218,2332,1936
$GC,12016,1.13,279.9,449.5,10.7,1247,12018,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2333,1935
$GC,12332,1.13,279.9,416.3,10.4,1277,12334,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2333,1936
$GC,12651,1.13,279.9,383.9,10.2,1307,12652,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2333,1936
$GC,12972,1.13,280.4,352.0,10.0,1337,12973,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2333,1936
$GC,13304,1.15,298.1,319.1,9.4,1395,13324,0.00,0.00,15.77,0.951,6,0.000,0.000,3218,2333,1869
$GC,13663,1.16,303.8,283.7,9.8,1458,13671,0.00,0.00,6.45,0.822,6,0.000,0.000,3218,2333,1846
$GC,14008,1.16,303.8,245.0,12.5,1519,14015,0.00,2.80,0.00,0.000,4,0.000,0.105,3218,910,1844
$GC,14050,1.16,303.8,239.6,13.0,1526,14057,0.00,2.67,0.00,0.000,6,0.000,0.089,3218,2319,1844
$GC,14395,1.16,303.8,195.5,13.2,1587,14402,0.00,2.80,0.00,0.000,4,0.000,0.104,3217,3739,1843
$GC,14436,1.16,303.8,189.9,13.3,1594,14444,0.00,2.72,0.00,0.000,6,0.000,0.086,3217,2318,1843
$GC,14781,1.16,303.8,148.0,11.7,1655,14788,0.00,2.72,0.00,0.000,4,0.000,0.104,3218,914,1844
$GC,14823,1.16,303.8,142.9,12.3,1662,14830,0.00,2.67,0.00,0.000,6,0.000,0.088,3218,2324,1844
$GC,15167,1.16,303.8,103.6,11.4,1723,15174,0.00,2.75,0.00,0.000,4,0.000,0.100,3218,3736,1843
$GC,15204,1.16,303.8,99.2,12.8,1729,15211,0.00,2.70,0.00,0.000,6,0.000,0.084,3218,2318,1843
$GC,15549,1.16,303.8,60.3,11.0,1790,15556,0.00,2.70,0.00,0.000,4,0.000,0.102,3218,914,1844
$GC,15591,1.16,303.8,55.5,11.1,1797,15598,0.00,2.65,0.00,0.000,6,0.000,0.086,3218,2322,1844
$GC,15937,1.16,303.8,16.2,11.9,1858,15944,0.00,2.70,0.00,0.000,4,0.000,0.100,3218,915,1844
$GC,15968,1.16,303.8,12.0,13.4,1863,15976,0.00,2.62,0.00,0.000,6,0.000,0.085,3218,2317,1844
$STATE,16054,end climb,SURFACE_DEPTH_REACHED
$STATE,16054,begin surface coast
$FINISH,0.5,1.027592
$STATE,16071,end surface coast,CONTROL_FINISHED_OK
$STATE,16071,begin surface
$SM_CCo,16152,0.00,0.000,0,0,1840,305.40
$SM_GC,0.80,11.52,0.00,0.00,0.044,0.000,0.000,587,2233,1840,-10.85,-0.03,305.40
$IRIDIUM_FIX,6112.75,-2639.97,010997,111137
$TT8_MAMPS,0.02301
$HUMID,1691
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.70
$XPDR_PINGS,210
$24V_AH,23.1,59.851
$10V_AH,10.6,49.227
$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,26.400,165.725,417.375,0.000,0.000,26.045,38.392,267.708,52.500,0.000,0.000,16.722,3768.536,8113.119,638.160,3409.270,687.457,0.000,2134.520,0.000,3396.323,0.000,0.467
$DEVICE_MAMPS,183.313,126.555,1260.181,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1301.815,1424.223,1754.901,588.619,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110584,1881
$CAP_FILE_SIZE,164826,0
$CFSIZE,260165632,229466112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079, 84.0,1
$GPS,070608,214508,6138.219,-2636.459,30,1.4,30,-18.9