version: 66.03
glider: 140
mission: 5
dive: 284
start: 6 9 108 5 53 10
data:
$ID,140
$MISSION,5
$DIVE,284
$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,-18482.537
$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,13
$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
$GPS1,054132,6154.175,-2631.329,38,1.6,38,-19.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-64.4
$GPS2,055251,6154.068,-2631.165,14,1.6,14,-19.0
$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,356.6,20310,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.29,-194.7,0.0,0.0,0,90,0.00,0.00,-65.30,0.000,2,0.000,0.000,586,2232,3365
$GC,93,-1.29,-194.7,3.0,-6.0,9,124,12.27,2.80,-12.05,0.000,4,0.183,0.107,2671,817,3880
$GC,187,-1.29,-194.7,14.8,-9.9,24,195,0.00,2.67,0.00,0.000,6,0.000,0.083,2672,2234,3882
$GC,330,-1.29,-194.7,28.8,-9.8,49,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2234,3882
$GC,473,-1.29,-194.7,41.5,-8.7,74,480,0.00,2.72,0.00,0.000,4,0.000,0.096,2672,817,3882
$GC,500,-1.29,-194.7,43.8,-8.8,78,507,0.00,2.65,0.00,0.000,6,0.000,0.082,2672,2228,3882
$GC,644,-1.29,-194.7,56.2,-9.1,103,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2228,3882
$GC,987,-1.29,-194.7,88.0,-8.7,164,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2229,3883
$GC,1331,-1.29,-194.7,118.6,-8.9,225,1338,0.00,2.72,0.00,0.000,4,0.000,0.100,2672,822,3882
$GC,1362,-1.29,-194.7,121.6,-9.8,230,1369,0.00,2.67,0.00,0.000,6,0.000,0.090,2672,2230,3882
$GC,1706,-1.29,-194.7,152.7,-9.1,291,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3883
$GC,2050,-1.29,-194.7,185.8,-9.7,352,2058,0.00,2.75,0.00,0.000,4,0.000,0.104,2672,825,3882
$GC,2087,-1.29,-194.7,189.6,-10.3,358,2094,0.00,2.67,0.00,0.000,6,0.000,0.091,2672,2227,3882
$GC,2433,-1.29,-194.7,222.5,-9.3,419,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2227,3882
$GC,2777,-1.29,-194.7,253.5,-8.7,480,2784,0.00,2.75,0.00,0.000,4,0.000,0.107,2672,827,3882
$GC,2821,-1.29,-194.7,257.3,-9.3,487,2828,0.00,2.67,0.00,0.000,6,0.000,0.094,2672,2218,3882
$GC,3166,-1.29,-194.7,287.5,-8.6,548,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2218,3882
$GC,3511,-1.29,-194.7,316.0,-7.8,609,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2218,3882
$GC,3855,-1.29,-194.7,342.8,-8.3,670,3862,0.00,2.75,0.00,0.000,4,0.000,0.110,2672,828,3881
$GC,3887,-1.29,-194.7,345.5,-8.8,675,3894,0.00,2.67,0.00,0.000,6,0.000,0.096,2672,2215,3881
$GC,4222,-1.29,-194.7,373.2,-8.2,711,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2214,3881
$GC,4540,-1.29,-194.7,401.0,-9.0,741,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3881
$GC,4859,-1.29,-194.7,431.5,-10.0,771,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3881
$GC,5180,-1.29,-194.7,461.8,-9.1,801,5185,0.00,2.75,0.00,0.000,4,0.000,0.114,2672,828,3880
$GC,5213,-1.29,-194.7,465.3,-9.5,803,5220,0.00,2.67,0.00,0.000,6,0.000,0.098,2672,2214,3880
$GC,5541,-1.29,-194.7,494.7,-9.4,834,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2214,3880
$GC,5857,-1.29,-194.7,524.7,-9.4,864,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2214,3880
$GC,6176,-1.29,-194.7,555.4,-9.5,894,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2214,3880
$GC,6495,-1.29,-194.7,585.8,-9.6,924,6500,0.00,2.78,0.00,0.000,4,0.000,0.117,2672,821,3880
$GC,6524,-1.29,-194.7,588.9,-10.8,926,6529,0.00,2.67,0.00,0.000,6,0.000,0.100,2672,2205,3880
$GC,6854,-1.29,-194.7,619.3,-8.6,947,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2206,3880
$GC,7163,-1.29,-194.7,645.0,-8.1,962,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2206,3880
$GC,7474,-1.29,-194.7,671.7,-9.1,977,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2206,3879
$GC,7783,-1.29,-194.7,700.8,-9.8,992,7788,0.00,2.78,0.00,0.000,4,0.000,0.120,2672,821,3879
$GC,7823,-1.29,-194.7,704.8,-9.6,994,7827,0.00,2.70,0.00,0.000,6,0.000,0.104,2672,2206,3879
$GC,8152,-1.29,-194.7,732.8,-8.7,1010,8156,0.00,2.92,0.00,0.000,4,0.000,0.125,2672,3653,3879
$GC,8184,-1.29,-194.7,736.0,-9.2,1011,8192,0.00,2.78,0.00,0.000,6,0.000,0.098,2672,2214,3879
$GC,8500,-1.29,-194.7,762.9,-8.2,1027,8502,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3878
$GC,8810,-1.29,-194.7,788.3,-8.2,1042,8811,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3878
$GC,9119,-1.29,-194.7,813.5,-8.1,1057,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3878
$GC,9428,-1.29,-194.7,838.5,-8.0,1072,9429,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3878
$GC,9738,-1.29,-194.7,862.0,-7.7,1087,9739,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3878
$GC,10046,-1.29,-194.7,888.2,-9.0,1102,10047,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2215,3877
$GC,10355,-1.29,-194.7,916.9,-10.2,1117,10356,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2214,3877
$GC,10665,-1.29,-194.7,947.2,-9.7,1132,10667,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2214,3877
$GC,10976,-1.29,-194.7,976.6,-9.0,1147,10977,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2214,3877
$STATE,11136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11136,begin apogee
$GC,11143,-0.35,0.0,991.4,8.7,1155,11313,1.02,0.00,166.85,1.414,6,0.097,0.000,2880,2329,3085
$STATE,11314,end apogee,CONTROL_FINISHED_OK
$STATE,11314,begin climb
$GC,11317,1.29,194.7,998.3,0.0,1163,11495,1.62,3.03,163.20,1.378,4,0.058,0.124,3240,3731,2290
$GC,11534,1.17,194.7,984.0,11.4,1172,11542,0.12,2.80,0.00,0.000,6,0.117,0.104,3219,2333,2290
$GC,11850,1.11,194.7,951.0,10.7,1188,11851,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2333,2289
$GC,12159,1.05,194.7,918.0,10.1,1203,12165,0.15,2.95,0.00,0.000,4,0.109,0.132,3190,912,2288
$GC,12193,1.05,194.7,914.4,10.2,1204,12201,0.00,2.83,0.00,0.000,6,0.000,0.107,3190,2340,2288
$GC,12511,1.10,233.6,886.2,8.6,1220,12547,0.00,0.00,34.50,1.309,6,0.000,0.000,3190,2341,2132
$GC,12858,1.10,233.6,853.5,10.3,1236,12860,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2341,2129
$GC,13168,1.11,241.3,823.7,9.7,1251,13177,0.00,0.00,7.93,1.146,6,0.000,0.000,3191,2340,2101
$GC,13477,1.12,252.3,793.4,9.6,1266,13489,0.00,0.00,11.07,1.200,6,0.000,0.000,3190,2340,2056
$GC,13786,1.12,252.3,763.1,10.2,1281,13787,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2341,2054
$GC,14094,1.12,252.3,731.1,10.3,1296,14099,0.00,2.88,0.00,0.000,4,0.000,0.117,3190,914,2054
$GC,14121,1.12,252.3,728.2,11.3,1297,14125,0.00,2.80,0.00,0.000,6,0.000,0.102,3190,2344,2054
$GC,14437,1.12,252.3,696.3,10.1,1312,14438,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2344,2054
$GC,14746,1.14,261.1,665.9,9.7,1327,14757,0.00,0.00,9.07,1.125,6,0.000,0.000,3190,2344,2020
$GC,15055,1.14,261.1,633.3,10.5,1342,15060,0.00,2.88,0.00,0.000,4,0.000,0.114,3191,909,2018
$GC,15082,1.14,261.1,630.2,11.1,1343,15086,0.00,2.78,0.00,0.000,6,0.000,0.100,3190,2333,2018
$GC,15399,1.14,261.1,596.2,10.9,1359,15400,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2334,2018
$GC,15717,1.14,261.1,562.5,10.6,1389,15722,0.00,2.83,0.00,0.000,4,0.000,0.114,3190,3738,2018
$GC,15746,1.14,261.1,559.3,11.2,1391,15751,0.00,2.75,0.00,0.000,6,0.000,0.093,3190,2324,2018
$GC,16071,1.14,261.1,524.5,10.9,1421,16076,0.00,2.78,0.00,0.000,4,0.000,0.113,3191,916,2018
$GC,16104,1.14,261.1,520.6,10.9,1423,16112,0.00,2.72,0.00,0.000,6,0.000,0.095,3190,2334,2018
$GC,16431,1.14,261.3,487.2,10.0,1454,16432,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2334,2018
$GC,16750,1.16,284.0,457.0,9.2,1484,16779,0.10,0.00,20.92,1.044,6,0.071,0.000,3217,2334,1926
$GC,17096,1.16,284.0,419.1,11.3,1517,17100,0.00,2.83,0.00,0.000,4,0.000,0.107,3217,910,1924
$GC,17124,1.16,284.0,415.7,12.3,1519,17129,0.00,2.72,0.00,0.000,6,0.000,0.093,3217,2326,1924
$GC,17449,1.16,284.0,376.1,12.6,1549,17454,0.00,2.83,0.00,0.000,4,0.000,0.110,3217,3738,1924
$GC,17481,1.16,284.0,371.5,14.3,1551,17489,0.00,2.72,0.00,0.000,6,0.000,0.087,3217,2318,1923
$GC,17815,1.16,284.0,328.3,13.6,1596,17822,0.00,2.72,0.00,0.000,4,0.000,0.107,3217,918,1923
$GC,17845,1.16,284.0,324.2,12.8,1601,17853,0.00,2.70,0.00,0.000,6,0.000,0.092,3217,2328,1924
$GC,18191,1.16,284.0,277.9,13.2,1662,18197,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2329,1923
$GC,18535,1.16,284.0,233.7,11.1,1723,18542,0.00,2.78,0.00,0.000,4,0.000,0.106,3217,3738,1923
$GC,18560,1.16,284.0,230.7,11.8,1727,18567,0.00,2.70,0.00,0.000,6,0.000,0.085,3217,2324,1923
$GC,18905,1.16,284.0,192.7,11.6,1788,18912,0.00,2.72,0.00,0.000,4,0.000,0.104,3217,914,1924
$GC,18936,1.16,284.0,189.3,10.8,1793,18943,0.00,2.70,0.00,0.000,6,0.000,0.091,3217,2331,1924
$GC,19280,1.16,284.0,151.8,11.0,1854,19287,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2331,1924
$GC,19625,1.16,284.0,114.0,13.0,1915,19632,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2331,1924
$GC,19967,1.16,284.0,71.2,13.5,1976,19975,0.00,2.75,0.00,0.000,4,0.000,0.104,3217,3735,1923
$GC,20010,1.16,284.0,65.6,15.4,1983,20017,0.00,2.70,0.00,0.000,6,0.000,0.084,3217,2317,1924
$GC,20357,1.16,284.0,24.7,10.7,2044,20364,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2318,1924
$GC,20501,1.16,284.0,8.5,11.1,2069,20508,0.00,2.78,0.00,0.000,4,0.000,0.100,3217,3736,1924
$GC,20549,1.16,284.0,2.9,11.9,2077,20557,0.00,2.70,0.00,0.000,6,0.000,0.082,3217,2311,1924
$STATE,20562,end climb,SURFACE_DEPTH_REACHED
$STATE,20562,begin surface coast
$FINISH,0.2,1.013010
$STATE,20580,end surface coast,CONTROL_FINISHED_OK
$STATE,20580,begin surface
$SM_CCo,20661,0.00,0.000,0,0,1921,285.28
$SM_GC,0.92,11.52,0.00,0.00,0.044,0.000,0.000,590,2235,1921,-10.85,0.00,285.28
$IRIDIUM_FIX,6130.75,-2631.86,030997,050542
$TT8_MAMPS,0.02301
$HUMID,1695
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,16.60
$XPDR_PINGS,280
$24V_AH,23.2,61.150
$10V_AH,10.6,50.434
$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,26.825,127.325,413.550,0.000,0.000,64.237,147.558,256.345,70.000,0.000,0.000,14.903,4224.103,11973.407,642.233,3629.227,851.655,0.000,2215.766,0.000,3629.394,0.000,0.466
$DEVICE_MAMPS,182.546,131.924,1413.581,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1443.679,1584.962,1845.681,593.670,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123129,2082
$CAP_FILE_SIZE,179840,0
$CFSIZE,260165632,228777984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.092, 36.7,1
$GPS,090608,113838,6157.712,-2632.654,32,1.1,32,-19.0