version: 66.03
glider: 140
mission: 5
dive: 280
start: 6 8 108 9 45 27
data:
$ID,140
$MISSION,5
$DIVE,280
$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,-18403.279
$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,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
$GPS1,093702,6143.877,-2631.406,42,1.7,42,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-65.1
$GPS2,094508,6143.925,-2631.421,10,1.3,15,-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,7.6,38310,-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,20,-1.29,-194.7,0.0,0.0,0,89,0.00,0.00,-66.62,0.000,2,0.000,0.000,591,2223,3468
$GC,92,-1.29,-194.7,3.3,-6.8,9,123,12.32,2.72,-9.02,0.000,4,0.184,0.108,2672,819,3881
$GC,181,-1.29,-194.7,17.0,-11.3,23,188,0.00,2.67,0.00,0.000,6,0.000,0.083,2672,2244,3882
$GC,326,-1.29,-194.7,33.3,-12.1,48,332,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2244,3882
$GC,468,-1.29,-194.7,51.0,-12.5,73,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2244,3882
$GC,812,-1.29,-194.7,83.5,-8.1,134,819,0.00,2.75,0.00,0.000,4,0.000,0.100,2672,826,3883
$GC,843,-1.29,-194.7,86.2,-8.8,139,850,0.00,2.67,0.00,0.000,6,0.000,0.084,2672,2243,3883
$GC,1189,-1.29,-194.7,115.3,-8.9,200,1196,0.00,2.75,0.00,0.000,4,0.000,0.101,2672,827,3882
$GC,1221,-1.29,-194.7,118.3,-9.4,205,1228,0.00,2.70,0.00,0.000,6,0.000,0.087,2672,2248,3883
$GC,1566,-1.29,-194.7,148.3,-8.5,266,1573,0.00,2.78,0.00,0.000,4,0.000,0.103,2672,823,3883
$GC,1597,-1.29,-194.7,151.1,-9.1,271,1604,0.00,2.67,0.00,0.000,6,0.000,0.088,2672,2231,3883
$GC,1942,-1.29,-194.7,180.7,-9.1,332,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2231,3883
$GC,2287,-1.29,-194.7,213.5,-9.3,393,2294,0.00,2.78,0.00,0.000,4,0.000,0.106,2672,820,3883
$GC,2324,-1.29,-194.7,217.2,-9.8,399,2331,0.00,2.70,0.00,0.000,6,0.000,0.091,2672,2233,3883
$GC,2668,-1.29,-194.7,249.9,-9.6,460,2675,0.00,2.78,0.00,0.000,4,0.000,0.108,2672,821,3883
$GC,2689,-1.29,-194.7,251.7,-9.2,463,2696,0.00,2.67,0.00,0.000,6,0.000,0.091,2672,2223,3883
$GC,3034,-1.29,-194.7,282.0,-8.4,524,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2223,3883
$GC,3378,-1.29,-194.7,310.0,-8.0,585,3385,0.00,2.75,0.00,0.000,4,0.000,0.109,2672,824,3883
$GC,3404,-1.29,-194.7,312.0,-8.0,589,3410,0.00,2.67,0.00,0.000,6,0.000,0.094,2672,2220,3882
$GC,3748,-1.29,-194.7,341.1,-8.7,650,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2220,3882
$GC,4084,-1.29,-194.7,372.7,-10.1,690,4089,0.00,2.78,0.00,0.000,4,0.000,0.113,2672,820,3882
$GC,4116,-1.29,-194.7,376.1,-10.6,692,4124,0.00,2.67,0.00,0.000,6,0.000,0.095,2672,2214,3883
$GC,4444,-1.29,-194.7,411.3,-11.6,723,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2214,3882
$GC,4760,-1.29,-194.7,446.2,-10.4,753,4764,0.00,2.75,0.00,0.000,4,0.000,0.114,2672,828,3882
$GC,4781,-1.29,-194.7,448.6,-10.3,754,4789,0.00,2.65,0.00,0.000,6,0.000,0.096,2672,2210,3882
$GC,5110,-1.29,-194.7,479.2,-8.8,785,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2210,3882
$GC,5435,-1.29,-194.7,508.2,-9.4,816,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2210,3882
$GC,5753,-1.29,-194.7,536.5,-9.1,846,5754,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2210,3882
$GC,6072,-1.29,-194.7,570.4,-10.9,876,6077,0.00,2.78,0.00,0.000,4,0.000,0.118,2672,824,3881
$GC,6104,-1.29,-194.7,574.2,-11.4,878,6112,0.00,2.67,0.00,0.000,6,0.000,0.097,2672,2200,3881
$GC,6427,-1.29,-194.7,607.6,-10.5,906,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2200,3881
$GC,6738,-1.29,-194.7,642.9,-11.6,921,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2199,3881
$GC,7048,-1.29,-194.7,677.6,-10.9,936,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2200,3881
$GC,7357,-1.29,-194.7,708.6,-9.6,951,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2200,3881
$GC,7667,-1.29,-194.7,735.7,-8.7,966,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2200,3881
$GC,7975,-1.29,-194.7,764.4,-9.5,981,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2200,3880
$GC,8285,-1.48,-194.7,776.5,-0.0,996,8287,0.15,0.00,0.00,0.000,6,0.063,0.000,2633,2200,3880
$STATE,8302,end dive,NO_VERTICAL_VELOCITY
$STATE,8302,begin apogee
$GC,8308,-0.35,0.0,776.5,0.0,997,8474,1.15,0.00,162.25,1.265,6,0.068,0.000,2882,2331,3085
$STATE,8475,end apogee,CONTROL_FINISHED_OK
$STATE,8475,begin climb
$GC,8477,1.29,194.7,776.4,0.0,1005,8646,1.62,0.00,160.40,1.226,6,0.068,0.000,3234,2331,2290
$GC,8956,1.21,194.7,729.9,12.0,1029,8960,0.00,2.90,0.00,0.000,4,0.000,0.123,3234,3737,2288
$GC,8996,1.10,194.7,724.7,13.1,1031,9002,0.17,2.80,0.00,0.000,6,0.110,0.100,3203,2326,2289
$GC,9325,1.10,194.7,690.2,10.2,1047,9330,0.00,2.88,0.00,0.000,4,0.000,0.125,3202,914,2288
$GC,9374,1.10,194.7,684.5,10.7,1049,9379,0.00,2.80,0.00,0.000,6,0.000,0.100,3202,2341,2288
$GC,9691,1.10,194.7,652.0,10.2,1064,9695,0.00,2.85,0.00,0.000,4,0.000,0.120,3202,3738,2287
$GC,9731,1.04,194.7,647.5,11.8,1066,9735,0.00,2.78,0.00,0.000,6,0.000,0.097,3202,2329,2287
$GC,10058,1.06,209.9,614.0,9.5,1082,10078,0.00,0.00,13.93,1.116,6,0.000,0.000,3202,2329,2228
$GC,10394,1.06,209.9,580.3,10.4,1107,10400,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2329,2227
$GC,10719,1.06,209.9,545.0,10.6,1138,10724,0.00,2.83,0.00,0.000,4,0.000,0.109,3202,3739,2227
$GC,10762,1.00,209.9,540.6,11.5,1141,10768,0.12,2.72,0.00,0.000,6,0.113,0.093,3180,2341,2227
$GC,11088,1.02,224.3,508.3,9.5,1171,11111,0.00,2.92,13.43,1.056,4,0.000,0.113,3180,916,2170
$GC,11147,1.02,224.3,502.5,10.1,1176,11151,0.00,2.78,0.00,0.000,6,0.000,0.094,3180,2349,2170
$GC,11471,1.03,232.2,471.8,9.7,1206,11483,0.00,0.00,8.30,0.978,6,0.000,0.000,3180,2349,2138
$GC,11802,1.03,232.2,438.9,10.1,1237,11803,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2349,2137
$GC,12120,1.04,242.1,406.7,9.7,1267,12132,0.00,0.00,10.02,0.969,6,0.000,0.000,3180,2348,2097
$GC,12448,1.08,277.3,376.0,8.8,1298,12485,0.00,2.97,30.55,0.979,4,0.000,0.109,3180,914,1954
$GC,12524,1.17,295.7,368.8,9.4,1304,12548,0.15,2.72,17.40,0.933,6,0.057,0.085,3220,2346,1879
$GC,12877,1.17,295.7,330.9,11.3,1352,12884,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2346,1874
$GC,13222,1.17,295.7,292.6,10.7,1413,13229,0.00,2.83,0.00,0.000,4,0.000,0.105,3220,911,1873
$GC,13258,1.17,295.7,288.5,11.4,1419,13266,0.00,2.75,0.00,0.000,6,0.000,0.093,3220,2342,1873
$GC,13604,1.18,309.8,251.7,9.5,1480,13624,0.00,0.00,12.57,0.894,6,0.000,0.000,3220,2342,1821
$GC,13961,1.18,309.8,213.8,10.9,1543,13967,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2342,1819
$GC,14305,1.18,309.8,171.9,12.6,1604,14312,0.00,2.78,0.00,0.000,4,0.000,0.102,3220,912,1819
$GC,14353,1.18,309.8,165.6,13.2,1612,14360,0.00,2.70,0.00,0.000,6,0.000,0.090,3220,2329,1819
$GC,14699,1.18,309.8,118.2,13.7,1673,14705,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2330,1818
$GC,15040,1.18,309.8,73.4,12.0,1734,15046,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2330,1818
$GC,15386,1.18,309.8,34.9,11.2,1795,15393,0.00,2.72,0.00,0.000,4,0.000,0.099,3220,914,1818
$GC,15468,1.18,309.8,25.0,11.6,1809,15475,0.00,2.62,0.00,0.000,6,0.000,0.085,3220,2310,1818
$GC,15611,1.18,309.8,9.5,10.8,1834,15618,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2310,1818
$STATE,15679,end climb,SURFACE_DEPTH_REACHED
$STATE,15679,begin surface coast
$FINISH,0.1,1.027415
$STATE,15697,end surface coast,CONTROL_FINISHED_OK
$STATE,15697,begin surface
$SM_CCo,15779,0.00,0.000,0,0,1815,311.78
$SM_GC,1.04,11.48,0.00,0.00,0.041,0.000,0.000,585,2225,1815,-10.86,-0.28,311.78
$IRIDIUM_FIX,6117.23,-2627.82,020997,030340
$TT8_MAMPS,0.02301
$HUMID,1712
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.80
$XPDR_PINGS,228
$24V_AH,23.3,60.399
$10V_AH,10.6,49.744
$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,27.175,105.175,428.850,0.000,0.000,30.064,34.610,266.413,57.000,0.000,0.000,15.342,3668.057,8055.150,650.302,3194.420,674.971,0.000,2023.094,0.000,3198.542,0.000,0.467
$DEVICE_MAMPS,184.080,125.021,1264.783,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1279.936,1413.836,1720.034,568.026,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110625,1849
$CAP_FILE_SIZE,150589,0
$CFSIZE,260165632,229187584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091, 80.2,1
$GPS,080608,140956,6146.373,-2630.727,37,1.4,55,-18.9