version: 66.03
glider: 140
mission: 5
dive: 281
start: 6 8 108 14 18 4
data:
$ID,140
$MISSION,5
$DIVE,281
$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,-18419.152
$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,15
$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
$GPS1,140956,6146.373,-2630.727,37,1.4,55,-18.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-66.5
$GPS2,141745,6146.294,-2630.641,15,0.9,15,-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,5.1,34174,-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,-194.7,0.0,0.0,0,95,0.00,0.00,-71.68,0.000,2,0.000,0.000,585,2225,3499
$GC,97,-1.29,-194.7,3.4,-6.7,10,128,12.27,2.75,-8.18,0.000,4,0.181,0.107,2673,830,3881
$GC,157,-1.29,-194.7,13.8,-10.8,19,165,0.00,2.65,0.00,0.000,6,0.000,0.081,2673,2237,3882
$GC,301,-1.29,-194.7,28.6,-10.7,44,307,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2238,3882
$GC,445,-1.29,-194.7,42.9,-9.2,69,453,0.00,2.72,0.00,0.000,4,0.000,0.094,2673,819,3882
$GC,483,-1.29,-194.7,46.5,-9.3,75,491,0.00,2.65,0.00,0.000,6,0.000,0.081,2673,2234,3882
$GC,627,-1.29,-194.7,61.2,-10.0,100,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2234,3882
$GC,971,-1.29,-194.7,93.4,-8.5,161,978,0.00,2.75,0.00,0.000,4,0.000,0.100,2673,821,3882
$GC,1002,-1.29,-194.7,96.0,-8.2,166,1009,0.00,2.62,0.00,0.000,6,0.000,0.084,2673,2214,3882
$GC,1348,-1.29,-194.7,125.6,-8.9,227,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2215,3882
$GC,1691,-1.29,-194.7,158.2,-9.9,288,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3882
$GC,2036,-1.29,-194.7,193.8,-10.4,349,2043,0.00,2.72,0.00,0.000,4,0.000,0.105,2673,824,3883
$GC,2073,-1.29,-194.7,197.6,-10.7,355,2079,0.00,2.65,0.00,0.000,6,0.000,0.090,2673,2214,3883
$GC,2418,-1.29,-194.7,231.6,-9.5,416,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2214,3882
$GC,2762,-1.29,-194.7,263.9,-9.4,477,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2214,3883
$GC,3106,-1.29,-194.7,296.1,-9.1,538,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2214,3882
$GC,3451,-1.29,-194.7,328.7,-7.7,599,3458,0.00,2.72,0.00,0.000,4,0.000,0.109,2673,830,3882
$GC,3493,-1.29,-194.7,332.3,-8.7,606,3501,0.00,2.65,0.00,0.000,6,0.000,0.095,2673,2211,3882
$GC,3831,-1.29,-194.7,363.1,-9.5,654,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2211,3882
$GC,4150,-1.29,-194.7,393.1,-9.1,684,4154,0.00,2.75,0.00,0.000,4,0.000,0.113,2673,823,3882
$GC,4178,-1.29,-194.7,395.6,-9.1,686,4183,0.00,2.65,0.00,0.000,6,0.000,0.095,2674,2202,3882
$GC,4505,-1.29,-194.7,424.0,-9.0,716,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,3881
$GC,4822,-1.29,-194.7,451.1,-8.1,746,4827,0.00,2.72,0.00,0.000,4,0.000,0.113,2673,830,3881
$GC,4850,-1.29,-194.7,453.6,-9.2,748,4855,0.00,2.65,0.00,0.000,6,0.000,0.096,2673,2206,3881
$GC,5177,-1.29,-194.7,483.7,-9.2,778,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2206,3882
$GC,5493,-1.29,-194.7,511.9,-8.8,808,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2206,3881
$GC,5812,-1.29,-194.7,540.4,-9.0,838,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2206,3881
$GC,6130,-1.29,-194.7,571.1,-10.1,868,6134,0.00,2.75,0.00,0.000,4,0.000,0.116,2673,831,3881
$GC,6151,-1.29,-194.7,573.5,-10.2,869,6158,0.00,2.65,0.00,0.000,6,0.000,0.097,2673,2202,3881
$GC,6487,-1.29,-194.7,607.1,-10.1,898,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,3880
$GC,6795,-1.29,-194.7,635.7,-8.9,913,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2202,3880
$GC,7105,-1.29,-194.7,668.0,-11.1,928,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,3880
$GC,7414,-1.29,-194.7,701.1,-9.7,943,7415,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,3880
$GC,7723,-1.29,-194.7,735.0,-10.7,958,7725,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,3880
$GC,8033,-1.29,-194.7,764.7,-9.3,973,8034,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,3880
$STATE,8318,end dive,NO_VERTICAL_VELOCITY
$STATE,8318,begin apogee
$GC,8324,-0.35,0.0,771.2,0.0,987,8489,1.00,0.00,162.07,1.263,6,0.083,0.000,2883,2333,3085
$STATE,8490,end apogee,CONTROL_FINISHED_OK
$STATE,8490,begin climb
$GC,8493,1.29,194.7,771.1,0.0,995,8657,1.62,0.00,159.77,1.219,6,0.061,0.000,3238,2333,2291
$GC,8958,1.21,194.7,726.7,11.3,1018,8963,0.00,2.88,0.00,0.000,4,0.000,0.121,3237,3735,2289
$GC,9002,1.10,194.7,721.3,12.2,1020,9007,0.20,2.75,0.00,0.000,6,0.108,0.100,3201,2330,2289
$GC,9323,1.10,194.7,689.0,10.4,1036,9328,0.00,2.90,0.00,0.000,4,0.000,0.124,3201,911,2288
$GC,9363,1.10,194.7,684.6,11.6,1038,9368,0.00,2.78,0.00,0.000,6,0.000,0.099,3201,2329,2288
$GC,9690,1.10,194.7,651.7,10.6,1054,9695,0.00,2.83,0.00,0.000,4,0.000,0.114,3201,3736,2288
$GC,9723,1.04,194.7,647.8,11.5,1055,9730,0.00,2.78,0.00,0.000,6,0.000,0.097,3201,2319,2288
$GC,10039,1.04,196.3,615.5,9.9,1071,10044,0.00,2.83,0.00,0.000,4,0.000,0.118,3201,912,2288
$GC,10080,1.04,196.3,611.2,10.8,1073,10084,0.00,2.75,0.00,0.000,6,0.000,0.096,3201,2330,2288
$GC,10403,1.04,196.3,578.6,10.9,1098,10408,0.00,2.85,0.00,0.000,4,0.000,0.116,3201,3739,2287
$GC,10432,0.99,196.3,575.1,11.7,1100,10437,0.12,2.75,0.00,0.000,6,0.113,0.094,3178,2330,2287
$GC,10757,0.99,196.3,540.3,10.2,1130,10761,0.00,2.83,0.00,0.000,4,0.000,0.115,3178,912,2286
$GC,10800,1.00,210.4,535.8,9.5,1133,10820,0.00,2.75,14.02,1.081,6,0.000,0.095,3178,2339,2227
$GC,11138,1.08,273.8,507.1,7.8,1165,11198,0.00,2.88,54.10,1.070,4,0.000,0.104,3178,3737,1968
$GC,11221,1.10,291.5,499.6,9.4,1172,11246,0.00,2.75,16.83,1.002,6,0.000,0.091,3178,2334,1896
$GC,11564,1.20,335.4,470.9,8.5,1204,11613,0.15,2.88,38.28,1.029,4,0.061,0.111,3221,915,1716
$GC,11652,1.20,335.4,461.2,11.3,1211,11659,0.00,2.75,0.00,0.000,6,0.000,0.094,3221,2332,1714
$GC,11979,1.20,335.4,424.6,11.1,1242,11980,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2332,1711
$GC,12295,1.20,335.4,390.5,10.6,1272,12296,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2332,1710
$GC,12614,1.20,335.4,357.2,10.2,1302,12615,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2332,1709
$GC,12947,1.20,335.4,319.8,12.4,1355,12954,0.00,2.80,0.00,0.000,4,0.000,0.107,3221,915,1709
$GC,12977,1.20,335.4,316.0,12.3,1360,12986,0.00,2.70,0.00,0.000,6,0.000,0.092,3221,2324,1709
$GC,13324,1.20,335.4,275.8,10.9,1421,13330,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2324,1709
$GC,13667,1.20,335.4,235.6,11.3,1482,13673,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2324,1708
$GC,14011,1.20,335.4,198.5,10.5,1543,14018,0.00,2.75,0.00,0.000,4,0.000,0.104,3221,915,1708
$GC,14036,1.20,335.4,195.7,11.0,1547,14044,0.00,2.67,0.00,0.000,6,0.000,0.089,3221,2323,1708
$GC,14381,1.20,335.4,157.6,11.9,1608,14389,0.00,2.78,0.00,0.000,4,0.000,0.102,3221,3738,1708
$GC,14413,1.20,335.4,154.0,12.6,1613,14420,0.00,2.70,0.00,0.000,6,0.000,0.084,3221,2320,1708
$GC,14758,1.20,335.4,114.0,11.8,1674,14766,0.00,2.72,0.00,0.000,4,0.000,0.104,3221,916,1708
$GC,14795,1.20,335.4,109.5,12.6,1680,14803,0.00,2.65,0.00,0.000,6,0.000,0.087,3221,2320,1708
$GC,15141,1.20,335.4,69.4,11.6,1741,15148,0.00,2.75,0.00,0.000,4,0.000,0.099,3221,3736,1707
$GC,15166,1.20,335.4,66.3,12.1,1745,15173,0.00,2.67,0.00,0.000,6,0.000,0.084,3221,2325,1707
$GC,15511,1.20,335.4,27.6,11.4,1806,15518,0.00,2.72,0.00,0.000,4,0.000,0.101,3221,910,1708
$GC,15542,1.20,335.4,23.8,11.9,1811,15549,0.00,2.67,0.00,0.000,6,0.000,0.085,3221,2335,1708
$GC,15685,1.20,335.4,7.6,11.4,1836,15693,0.00,2.72,0.00,0.000,4,0.000,0.099,3221,3738,1707
$GC,15723,1.20,335.4,3.2,12.7,1842,15730,0.00,2.65,0.00,0.000,6,0.000,0.081,3221,2333,1707
$STATE,15735,end climb,SURFACE_DEPTH_REACHED
$STATE,15735,begin surface coast
$FINISH,0.2,1.017752
$STATE,15754,end surface coast,CONTROL_FINISHED_OK
$STATE,15754,begin surface
$SM_CCo,15835,0.00,0.000,0,0,1702,339.00
$SM_GC,0.93,11.55,0.00,0.00,0.044,0.000,0.000,592,2235,1702,-10.84,0.00,339.00
$IRIDIUM_FIX,6121.73,-2631.87,020997,090913
$TT8_MAMPS,0.022243
$HUMID,1679
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.80
$XPDR_PINGS,245
$24V_AH,23.3,60.576
$10V_AH,10.6,49.904
$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,26.925,126.425,445.075,0.000,0.000,29.546,37.647,258.585,61.250,0.000,0.000,15.244,3684.131,8052.949,647.433,3249.416,654.413,0.000,2060.621,0.000,3238.837,0.000,0.467
$DEVICE_MAMPS,181.012,124.254,1263.249,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1278.399,1389.422,1723.365,570.465,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110364,1847
$CAP_FILE_SIZE,154701,0
$CFSIZE,260165632,229105664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.091,115.8,1
$GPS,080608,184325,6148.239,-2630.454,34,1.5,51,-18.9