version: 66.03
glider: 140
mission: 5
dive: 279
start: 6 8 108 3 48 52
data:
$ID,140
$MISSION,5
$DIVE,279
$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,-18387.309
$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,14
$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
$GPS1,034031,6141.257,-2633.317,39,1.2,39,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-62.8
$GPS2,034833,6141.191,-2633.249,16,1.9,16,-18.9
$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,11.0,43039,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.29,-194.7,0.0,0.0,0,96,0.00,0.00,-73.20,0.000,2,0.000,0.000,586,2230,3497
$GC,99,-1.29,-194.7,3.3,-6.9,10,130,12.35,2.78,-8.30,0.000,4,0.183,0.109,2674,820,3881
$GC,200,-1.29,-194.7,17.9,-10.8,26,207,0.00,2.65,0.00,0.000,6,0.000,0.082,2674,2238,3882
$GC,342,-1.29,-194.7,32.6,-9.6,51,349,0.00,2.67,0.00,0.000,4,0.000,0.091,2674,3654,3882
$GC,368,-1.29,-194.7,35.0,-10.0,55,375,0.00,2.65,0.00,0.000,6,0.000,0.081,2674,2234,3882
$GC,512,-1.29,-194.7,47.6,-7.3,80,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2234,3882
$GC,655,-1.29,-194.7,58.2,-7.3,105,662,0.00,2.72,0.00,0.000,4,0.000,0.094,2674,3650,3882
$GC,687,-1.29,-194.7,60.5,-7.3,110,695,0.00,2.62,0.00,0.000,6,0.000,0.081,2674,2247,3882
$GC,1033,-1.29,-194.7,89.1,-9.2,171,1040,0.00,2.75,0.00,0.000,4,0.000,0.101,2674,827,3882
$GC,1075,-1.29,-194.7,93.3,-9.9,178,1083,0.00,2.67,0.00,0.000,6,0.000,0.085,2674,2245,3882
$GC,1421,-1.29,-194.7,121.8,-7.7,239,1428,0.00,2.78,0.00,0.000,4,0.000,0.101,2673,823,3882
$GC,1458,-1.29,-194.7,125.0,-8.7,245,1465,0.00,2.70,0.00,0.000,6,0.000,0.086,2674,2248,3882
$GC,1803,-1.29,-194.7,153.9,-8.6,306,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2248,3882
$GC,2149,-1.29,-194.7,184.8,-8.9,367,2156,0.00,2.80,0.00,0.000,4,0.000,0.104,2674,820,3882
$GC,2180,-1.29,-194.7,187.8,-9.6,372,2187,0.00,2.70,0.00,0.000,6,0.000,0.091,2674,2237,3882
$GC,2524,-1.29,-194.7,220.9,-10.0,433,2531,0.00,2.78,0.00,0.000,4,0.000,0.107,2674,823,3882
$GC,2561,-1.29,-194.7,224.8,-10.7,439,2568,0.00,2.67,0.00,0.000,6,0.000,0.091,2674,2229,3882
$GC,2906,-1.29,-194.7,261.0,-10.2,500,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2229,3882
$GC,3251,-1.29,-194.7,296.0,-9.8,561,3258,0.00,2.75,0.00,0.000,4,0.000,0.109,2673,828,3882
$GC,3281,-1.29,-194.7,299.2,-10.8,566,3289,0.00,2.67,0.00,0.000,6,0.000,0.092,2673,2231,3882
$GC,3627,-1.29,-194.7,333.9,-9.8,627,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2231,3882
$GC,3961,-1.29,-194.7,365.0,-8.0,672,3965,0.00,2.78,0.00,0.000,4,0.000,0.111,2674,827,3882
$GC,4001,-1.29,-194.7,368.3,-8.6,675,4006,0.00,2.70,0.00,0.000,6,0.000,0.096,2674,2231,3882
$GC,4329,-1.29,-194.7,395.3,-8.4,705,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2231,3882
$GC,4654,-1.29,-194.7,423.6,-8.7,736,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2232,3882
$GC,4973,-1.29,-194.7,452.4,-8.9,766,4978,0.00,2.80,0.00,0.000,4,0.000,0.115,2674,829,3881
$GC,4994,-1.29,-194.7,454.4,-8.6,767,5001,0.00,2.67,0.00,0.000,6,0.000,0.094,2674,2224,3881
$GC,5322,-1.29,-194.7,481.3,-8.1,798,5326,0.00,2.78,0.00,0.000,4,0.000,0.114,2674,828,3881
$GC,5354,-1.29,-194.7,484.4,-9.2,800,5361,0.00,2.65,0.00,0.000,6,0.000,0.097,2674,2210,3881
$GC,5681,-1.29,-194.7,512.5,-8.8,831,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2210,3881
$GC,5998,-1.29,-194.7,540.1,-9.2,861,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2210,3881
$GC,6316,-1.29,-194.7,568.5,-8.7,891,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2210,3881
$GC,6635,-1.29,-194.7,595.2,-8.5,921,6636,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2210,3880
$GC,6946,-1.29,-194.7,621.8,-9.0,939,6950,0.00,2.78,0.00,0.000,4,0.000,0.120,2674,826,3880
$GC,6979,-1.29,-194.7,625.0,-9.3,940,6986,0.00,2.65,0.00,0.000,6,0.000,0.100,2674,2206,3880
$GC,7295,-1.29,-194.7,655.2,-9.9,956,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2206,3880
$GC,7604,-1.29,-194.7,683.2,-8.8,971,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2206,3879
$GC,7914,-1.29,-194.7,710.6,-8.9,986,7918,0.00,2.78,0.00,0.000,4,0.000,0.120,2674,825,3880
$GC,7940,-1.29,-194.7,713.2,-9.4,987,7945,0.00,2.67,0.00,0.000,6,0.000,0.102,2674,2204,3880
$GC,8256,-1.29,-194.7,740.0,-8.1,1002,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2204,3880
$GC,8567,-1.29,-194.7,766.1,-8.0,1017,8568,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2204,3879
$GC,8875,-1.29,-194.7,790.2,-7.6,1032,8880,0.00,2.80,0.00,0.000,4,0.000,0.125,2674,823,3879
$GC,8896,-1.29,-194.7,791.9,-8.0,1033,8901,0.00,2.67,0.00,0.000,6,0.000,0.103,2674,2196,3879
$GC,9220,-1.29,-194.7,815.7,-7.2,1049,9225,0.00,2.90,0.00,0.000,4,0.000,0.120,2674,3647,3879
$GC,9243,-1.29,-194.7,817.6,-8.1,1050,9248,0.00,2.80,0.00,0.000,6,0.000,0.101,2674,2200,3879
$GC,9564,-1.29,-194.7,841.5,-7.6,1066,9565,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2200,3878
$GC,9874,-1.29,-194.7,866.2,-8.0,1081,9875,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2200,3878
$GC,10183,-1.29,-194.7,887.9,-6.8,1096,10184,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2200,3878
$GC,10492,-1.29,-194.7,915.4,-9.8,1111,10493,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2200,3878
$GC,10802,-1.29,-194.7,942.0,-8.3,1126,10803,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2200,3878
$GC,11110,-1.29,-194.7,972.6,-9.4,1141,11112,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2200,3877
$STATE,11314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11314,begin apogee
$GC,11320,-0.35,0.0,992.1,9.0,1151,11490,1.02,0.00,166.82,1.415,6,0.099,0.000,2881,2328,3085
$STATE,11492,end apogee,CONTROL_FINISHED_OK
$STATE,11492,begin climb
$GC,11494,1.29,194.7,1000.9,0.0,1159,11664,1.62,0.00,164.18,1.382,6,0.060,0.000,3239,2328,2291
$GC,11973,1.21,194.7,956.0,11.6,1183,11975,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2328,2289
$GC,12282,1.13,194.7,920.0,12.7,1198,12287,0.17,2.95,0.00,0.000,4,0.110,0.133,3205,916,2289
$GC,12326,1.13,194.7,914.7,11.5,1200,12330,0.00,2.80,0.00,0.000,6,0.000,0.107,3205,2327,2288
$GC,12647,1.14,196.3,883.8,9.9,1216,12648,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2328,2288
$GC,12957,1.14,196.3,850.9,10.9,1231,12961,0.00,2.90,0.00,0.000,4,0.000,0.123,3205,3738,2288
$GC,12989,1.06,196.3,846.9,11.1,1232,12997,0.00,2.85,0.00,0.000,6,0.000,0.105,3205,2306,2287
$GC,13305,1.06,196.3,812.3,11.8,1248,13309,0.00,2.85,0.00,0.000,4,0.000,0.130,3206,916,2288
$GC,13345,1.06,196.3,807.3,12.7,1250,13349,0.00,2.75,0.00,0.000,6,0.000,0.103,3205,2318,2288
$GC,13671,1.06,196.3,767.6,11.9,1266,13675,0.00,2.88,0.00,0.000,4,0.000,0.120,3205,3738,2287
$GC,13734,0.99,196.3,759.7,12.8,1269,13739,0.15,2.80,0.00,0.000,6,0.112,0.100,3178,2322,2287
$GC,14062,0.99,196.3,725.0,10.2,1285,14066,0.00,2.83,0.00,0.000,4,0.000,0.123,3178,916,2287
$GC,14101,0.99,196.3,720.9,11.4,1287,14106,0.00,2.72,0.00,0.000,6,0.000,0.099,3178,2319,2287
$GC,14429,1.04,231.8,691.3,8.8,1303,14472,0.00,2.90,32.15,1.213,4,0.000,0.110,3178,3738,2139
$GC,14511,1.04,231.8,683.1,10.5,1306,14518,0.00,2.80,0.00,0.000,6,0.000,0.097,3178,2316,2138
$GC,14827,1.08,264.8,654.0,8.9,1322,14863,0.00,2.92,29.33,1.169,4,0.000,0.120,3178,917,2005
$GC,14895,1.14,275.4,647.9,9.6,1325,14911,0.15,2.72,10.65,1.068,6,0.059,0.096,3216,2315,1962
$GC,15220,1.14,275.4,610.0,11.8,1340,15225,0.00,2.88,0.00,0.000,4,0.000,0.113,3215,3737,1958
$GC,15247,1.14,275.4,606.5,12.0,1341,15252,0.00,2.80,0.00,0.000,6,0.000,0.096,3215,2307,1957
$GC,15572,1.14,275.4,569.7,11.8,1368,15573,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2306,1958
$GC,15889,1.14,275.4,534.6,10.3,1398,15890,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2307,1956
$GC,16207,1.14,275.4,501.0,10.9,1428,16208,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2307,1956
$GC,16526,1.14,275.4,466.0,11.2,1458,16527,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2306,1956
$GC,16844,1.14,275.4,430.4,11.1,1488,16848,0.00,2.85,0.00,0.000,4,0.000,0.106,3215,3737,1956
$GC,16886,1.10,275.4,425.8,11.2,1491,16890,0.00,2.75,0.00,0.000,6,0.000,0.091,3215,2316,1956
$GC,17214,1.10,275.4,391.3,10.2,1521,17219,0.00,2.75,0.00,0.000,4,0.000,0.110,3216,917,1956
$GC,17254,1.10,276.2,386.8,10.0,1524,17258,0.00,2.70,0.00,0.000,6,0.000,0.091,3215,2326,1956
$GC,17578,1.10,276.2,352.1,10.9,1554,17583,0.00,2.80,0.00,0.000,4,0.000,0.107,3215,3738,1956
$GC,17612,1.10,276.2,348.2,11.7,1557,17619,0.00,2.75,0.00,0.000,6,0.000,0.089,3216,2313,1956
$GC,17957,1.10,276.2,310.8,10.8,1618,17964,0.00,2.75,0.00,0.000,4,0.000,0.108,3216,912,1956
$GC,17987,1.10,276.2,307.4,11.3,1623,17995,0.00,2.70,0.00,0.000,6,0.000,0.091,3216,2325,1956
$GC,18333,1.10,276.2,270.5,10.2,1684,18339,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2325,1956
$GC,18677,1.10,276.2,233.3,10.8,1745,18683,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2325,1956
$GC,19020,1.10,276.2,194.9,10.9,1806,19027,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2325,1956
$GC,19364,1.10,276.2,157.4,11.0,1867,19371,0.00,2.75,0.00,0.000,4,0.000,0.103,3216,913,1957
$GC,19406,1.10,276.2,152.4,11.8,1874,19413,0.00,2.65,0.00,0.000,6,0.000,0.089,3216,2311,1957
$GC,19751,1.10,276.2,114.1,11.6,1935,19758,0.00,2.75,0.00,0.000,4,0.000,0.096,3215,3736,1956
$GC,19799,1.10,276.2,108.0,12.6,1943,19806,0.00,2.72,0.00,0.000,6,0.000,0.086,3215,2310,1957
$GC,20143,1.10,276.2,66.2,12.5,2004,20150,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2309,1957
$GC,20488,1.11,283.7,26.9,9.7,2065,20502,0.00,0.00,8.02,0.725,6,0.000,0.000,3215,2309,1927
$GC,20640,1.11,283.7,10.2,11.6,2091,20647,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2310,1926
$STATE,20713,end climb,SURFACE_DEPTH_REACHED
$STATE,20713,begin surface coast
$FINISH,0.1,1.027571
$STATE,20731,end surface coast,CONTROL_FINISHED_OK
$STATE,20731,begin surface
$SM_CCo,20813,0.00,0.000,0,0,1924,284.79
$SM_GC,0.89,11.45,0.00,0.00,0.041,0.000,0.000,591,2226,1924,-10.84,-0.28,284.79
$IRIDIUM_FIX,6112.75,-2639.97,010997,212118
$TT8_MAMPS,0.02301
$HUMID,1685
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.90
$XPDR_PINGS,273
$24V_AH,23.2,60.229
$10V_AH,10.6,49.586
$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,26.925,160.525,411.150,0.000,0.000,24.775,32.182,265.978,68.250,0.000,0.000,16.694,4252.341,11925.072,675.159,3697.657,723.459,0.000,2285.234,0.000,3698.109,0.000,0.467
$DEVICE_MAMPS,183.313,133.458,1415.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1460.624,1608.436,1864.908,601.105,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126365,2107
$CAP_FILE_SIZE,185615,0
$CFSIZE,260165632,229232640
$ERRORS,0,5,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.127,102.6,1
$GPS,080608,093702,6143.877,-2631.406,42,1.7,42,-18.9