version: 66.03
glider: 140
mission: 5
dive: 283
start: 6 9 108 0 34 12
data:
$ID,140
$MISSION,5
$DIVE,283
$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,-18467.006
$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,10
$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
$GPS1,002202,6151.325,-2632.155,44,1.2,44,-18.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-65.2
$GPS2,003351,6151.420,-2631.942,14,1.6,14,-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,2.3,24714,-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,-194.7,0.0,0.0,0,96,0.00,0.00,-73.03,0.000,2,0.000,0.000,591,2238,3490
$GC,99,-1.29,-194.7,3.5,-7.1,10,130,12.20,2.80,-8.30,0.000,4,0.181,0.107,2672,823,3882
$GC,201,-1.29,-194.7,17.5,-9.2,26,208,0.00,2.65,0.00,0.000,6,0.000,0.081,2672,2238,3882
$GC,345,-1.29,-194.7,31.4,-9.8,51,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2238,3882
$GC,486,-1.29,-194.7,45.0,-9.3,76,494,0.00,2.75,0.00,0.000,4,0.000,0.097,2672,815,3883
$GC,557,-1.29,-194.7,51.5,-9.3,88,564,0.00,2.65,0.00,0.000,6,0.000,0.081,2672,2226,3883
$GC,902,-1.29,-194.7,82.0,-9.5,149,909,0.00,2.72,0.00,0.000,4,0.000,0.098,2672,820,3883
$GC,939,-1.29,-194.7,85.5,-9.7,155,946,0.00,2.62,0.00,0.000,6,0.000,0.084,2672,2210,3883
$GC,1285,-1.29,-194.7,117.6,-9.3,216,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2210,3883
$GC,1629,-1.29,-194.7,149.3,-9.3,277,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2211,3883
$GC,1975,-1.29,-194.7,181.6,-9.1,338,1982,0.00,2.72,0.00,0.000,4,0.000,0.104,2672,820,3883
$GC,2018,-1.29,-194.7,185.5,-9.3,345,2025,0.00,2.65,0.00,0.000,6,0.000,0.091,2672,2210,3883
$GC,2362,-1.29,-194.7,216.0,-8.8,406,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2210,3883
$GC,2707,-1.29,-194.7,246.0,-8.6,467,2714,0.00,2.72,0.00,0.000,4,0.000,0.107,2672,822,3883
$GC,2732,-1.29,-194.7,248.3,-9.0,471,2739,0.00,2.62,0.00,0.000,6,0.000,0.091,2672,2199,3883
$GC,3077,-1.29,-194.7,277.4,-8.2,532,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2199,3883
$GC,3421,-1.29,-194.7,305.7,-7.8,593,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2199,3883
$GC,3766,-1.29,-194.7,333.5,-8.3,654,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2199,3883
$GC,4103,-1.29,-194.7,364.1,-9.6,701,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2198,3883
$GC,4420,-1.29,-194.7,395.8,-10.3,731,4425,0.00,2.72,0.00,0.000,4,0.000,0.114,2672,824,3883
$GC,4441,-1.29,-194.7,398.3,-10.9,732,4449,0.00,2.67,0.00,0.000,6,0.000,0.097,2672,2199,3882
$GC,4770,-1.29,-194.7,432.3,-10.2,763,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2199,3882
$GC,5095,-1.29,-194.7,465.2,-9.8,794,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2199,3882
$GC,5415,-1.29,-194.7,495.9,-9.5,824,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2199,3882
$GC,5734,-1.29,-194.7,525.4,-9.5,854,5738,0.00,2.75,0.00,0.000,4,0.000,0.116,2672,818,3882
$GC,5766,-1.29,-194.7,528.8,-10.1,856,5774,0.00,2.67,0.00,0.000,6,0.000,0.098,2672,2207,3881
$GC,6093,-1.29,-194.7,560.8,-9.9,887,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2207,3881
$GC,6410,-1.29,-194.7,593.0,-10.4,917,6415,0.00,2.85,0.00,0.000,4,0.000,0.116,2672,3648,3881
$GC,6439,-1.29,-194.7,595.9,-10.6,919,6443,0.00,2.75,0.00,0.000,6,0.000,0.093,2672,2204,3881
$GC,6756,-1.29,-194.7,625.7,-8.9,936,6757,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2205,3881
$GC,7066,-1.29,-194.7,652.6,-8.4,951,7071,0.00,2.78,0.00,0.000,4,0.000,0.122,2672,824,3881
$GC,7094,-1.29,-194.7,655.3,-9.3,952,7098,0.00,2.67,0.00,0.000,6,0.000,0.100,2672,2205,3880
$GC,7410,-1.29,-194.7,683.4,-9.3,967,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2206,3880
$GC,7720,-1.29,-194.7,709.4,-7.9,982,7721,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2206,3880
$GC,8029,-1.29,-194.7,735.4,-8.7,997,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2206,3880
$GC,8338,-1.29,-194.7,764.5,-9.7,1012,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2206,3880
$GC,8648,-1.29,-194.7,794.5,-9.6,1027,8649,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2206,3879
$GC,8958,-1.29,-194.7,822.5,-8.9,1042,8959,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2206,3879
$GC,9266,-1.29,-194.7,849.7,-9.0,1057,9267,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2206,3879
$GC,9577,-1.57,-194.7,869.4,0.0,1072,9579,0.25,0.00,0.00,0.000,6,0.066,0.000,2616,2206,3879
$STATE,9676,end dive,NO_VERTICAL_VELOCITY
$STATE,9676,begin apogee
$GC,9681,-0.35,0.0,869.4,0.0,1077,9849,1.20,0.00,163.82,1.332,6,0.057,0.000,2885,2334,3086
$STATE,9850,end apogee,CONTROL_FINISHED_OK
$STATE,9850,begin climb
$GC,9852,1.29,194.7,869.3,0.0,1085,10021,1.58,0.00,162.02,1.289,6,0.053,0.000,3238,2333,2291
$GC,10331,1.21,194.7,824.4,11.3,1109,10336,0.00,2.92,0.00,0.000,4,0.000,0.133,3238,3738,2289
$GC,10371,1.09,194.7,819.3,12.8,1111,10377,0.20,2.83,0.00,0.000,6,0.110,0.103,3201,2326,2289
$GC,10700,1.09,194.7,786.1,10.2,1127,10705,0.00,2.90,0.00,0.000,4,0.000,0.132,3201,917,2288
$GC,10740,1.09,194.7,781.6,11.2,1129,10745,0.00,2.78,0.00,0.000,6,0.000,0.102,3201,2331,2288
$GC,11068,1.09,194.7,747.9,10.3,1145,11072,0.00,2.88,0.00,0.000,4,0.000,0.120,3201,3738,2288
$GC,11109,1.03,194.7,743.4,11.5,1147,11113,0.00,2.80,0.00,0.000,6,0.000,0.100,3201,2325,2288
$GC,11435,1.03,194.7,709.8,10.1,1163,11440,0.00,2.88,0.00,0.000,4,0.000,0.126,3201,911,2288
$GC,11479,1.03,194.7,705.2,10.4,1165,11483,0.00,2.78,0.00,0.000,6,0.000,0.099,3202,2337,2288
$GC,11802,1.03,194.7,672.6,10.5,1181,11807,0.00,2.85,0.00,0.000,4,0.000,0.117,3202,917,2287
$GC,11846,1.03,194.7,667.5,10.7,1183,11850,0.00,2.75,0.00,0.000,6,0.000,0.099,3201,2331,2287
$GC,12170,1.06,219.0,636.6,9.2,1199,12193,0.00,0.00,21.35,1.167,6,0.000,0.000,3201,2332,2192
$GC,12498,1.08,238.1,605.5,9.3,1215,12518,0.00,0.00,17.83,1.122,6,0.000,0.000,3202,2331,2114
$GC,12836,1.08,238.1,571.7,10.6,1244,12837,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2332,2112
$GC,13153,1.08,238.1,537.7,10.5,1274,13154,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2332,2111
$GC,13471,1.08,238.1,504.4,10.2,1304,13472,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2332,2111
$GC,13792,1.10,248.2,472.4,9.7,1334,13804,0.00,0.00,9.65,1.012,6,0.000,0.000,3201,2332,2072
$GC,14131,1.10,248.2,437.1,10.3,1366,14135,0.00,2.80,0.00,0.000,4,0.000,0.109,3202,915,2072
$GC,14163,1.10,248.2,433.3,11.7,1368,14172,0.00,2.70,0.00,0.000,6,0.000,0.095,3201,2326,2072
$GC,14491,1.10,248.2,398.5,10.8,1399,14495,0.00,2.80,0.00,0.000,4,0.000,0.109,3201,3737,2071
$GC,14523,1.10,248.2,394.2,11.5,1401,14530,0.00,2.72,0.00,0.000,6,0.000,0.088,3201,2313,2071
$GC,14850,1.10,248.2,358.6,11.2,1432,14854,0.00,2.72,0.00,0.000,4,0.000,0.108,3201,919,2072
$GC,14894,1.10,248.2,353.2,11.3,1435,14901,0.00,2.67,0.00,0.000,6,0.000,0.093,3201,2318,2072
$GC,15236,1.10,251.9,316.6,9.9,1493,15244,0.00,0.00,4.75,0.742,6,0.000,0.000,3201,2318,2058
$GC,15581,1.10,251.9,282.4,10.3,1554,15588,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2318,2057
$GC,15925,1.10,251.9,247.3,11.5,1615,15932,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2318,2058
$GC,16269,1.10,251.9,208.2,11.0,1676,16276,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2318,2058
$GC,16613,1.10,251.9,171.7,10.2,1737,16619,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2318,2058
$GC,16957,1.14,283.9,137.4,8.9,1798,16990,0.00,0.00,28.00,0.836,6,0.000,0.000,3202,2318,1926
$GC,17330,1.15,296.8,101.8,9.6,1863,17344,0.00,0.00,12.12,0.802,6,0.000,0.000,3201,2318,1874
$GC,17683,1.16,302.2,64.8,9.8,1925,17690,0.00,0.00,5.65,0.690,6,0.000,0.000,3201,2318,1853
$GC,18028,1.16,302.2,28.1,10.8,1986,18035,0.00,2.72,0.00,0.000,4,0.000,0.099,3201,911,1852
$GC,18093,1.22,302.2,21.4,10.3,1997,18101,0.10,2.62,0.00,0.000,6,0.068,0.086,3230,2302,1851
$GC,18240,1.22,302.2,5.3,10.8,2022,18247,0.00,2.80,0.00,0.000,4,0.000,0.101,3229,3737,1851
$STATE,18263,end climb,SURFACE_DEPTH_REACHED
$STATE,18263,begin surface coast
$FINISH,0.2,1.027392
$STATE,18283,end surface coast,CONTROL_FINISHED_OK
$STATE,18283,begin surface
$SM_CCo,18367,0.00,0.000,0,0,1848,303.19
$SM_GC,0.86,11.60,0.00,0.00,0.044,0.000,0.000,586,2233,1848,-10.85,-0.03,303.19
$IRIDIUM_FIX,6126.23,-2633.90,030997,000012
$TT8_MAMPS,0.022243
$HUMID,1693
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.70
$XPDR_PINGS,280
$24V_AH,23.3,60.957
$10V_AH,10.6,50.255
$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,27.125,104.900,425.200,0.000,0.000,53.054,67.047,370.021,70.000,0.000,0.000,14.767,4065.247,9974.719,642.014,3509.396,865.580,0.000,2131.831,0.000,3513.657,0.000,0.467
$DEVICE_MAMPS,181.012,132.691,1331.512,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1406.270,1561.191,1886.816,605.760,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119923,2029
$CAP_FILE_SIZE,168789,0
$CFSIZE,260165632,228888576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.115, 77.7,1
$GPS,090608,054132,6154.175,-2631.329,38,1.6,38,-19.0