version: 66.03
glider: 140
mission: 5
dive: 285
start: 6 9 108 11 46 58
data:
$ID,140
$MISSION,5
$DIVE,285
$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,-18496.416
$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,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
$GPS1,113838,6157.712,-2632.654,32,1.1,32,-19.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-64.7
$GPS2,114639,6157.804,-2632.773,13,1.2,13,-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,350.9,13447,-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,-66.38,0.000,2,0.000,0.000,590,2233,3469
$GC,92,-1.29,-194.7,3.2,-6.2,9,123,12.27,2.72,-9.00,0.000,4,0.183,0.107,2673,822,3881
$GC,198,-1.29,-194.7,17.9,-9.9,26,205,0.00,2.67,0.00,0.000,6,0.000,0.084,2672,2245,3882
$GC,343,-1.29,-194.7,32.6,-10.4,51,351,0.00,2.67,0.00,0.000,4,0.000,0.097,2673,3646,3883
$GC,374,-1.29,-194.7,36.1,-11.2,56,382,0.00,2.65,0.00,0.000,6,0.000,0.080,2673,2227,3882
$GC,518,-1.29,-194.7,49.9,-9.5,81,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2226,3882
$GC,660,-1.29,-194.7,62.9,-8.8,106,668,0.00,2.67,0.00,0.000,4,0.000,0.097,2673,825,3882
$GC,697,-1.29,-194.7,66.2,-8.9,112,705,0.00,2.60,0.00,0.000,6,0.000,0.083,2672,2214,3883
$GC,1044,-1.29,-194.7,94.0,-7.1,173,1051,0.00,2.75,0.00,0.000,4,0.000,0.099,2673,3643,3883
$GC,1075,-1.29,-194.7,96.4,-7.9,178,1082,0.00,2.70,0.00,0.000,6,0.000,0.083,2673,2206,3883
$GC,1421,-1.29,-194.7,123.1,-8.4,239,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2206,3883
$GC,1764,-1.29,-194.7,149.9,-7.3,300,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2206,3883
$GC,2109,-1.29,-194.7,177.0,-8.8,361,2116,0.00,2.70,0.00,0.000,4,0.000,0.107,2673,824,3883
$GC,2141,-1.29,-194.7,179.8,-9.3,366,2148,0.00,2.65,0.00,0.000,6,0.000,0.091,2673,2215,3883
$GC,2487,-1.29,-194.7,213.6,-9.9,427,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2215,3883
$GC,2832,-1.29,-194.7,247.6,-9.9,488,2839,0.00,2.72,0.00,0.000,4,0.000,0.107,2672,827,3883
$GC,2874,-1.29,-194.7,251.9,-10.2,495,2881,0.00,2.65,0.00,0.000,6,0.000,0.093,2673,2210,3883
$GC,3219,-1.29,-194.7,286.9,-10.2,556,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2210,3883
$GC,3564,-1.29,-194.7,322.1,-10.0,617,3571,0.00,2.72,0.00,0.000,4,0.000,0.110,2673,827,3882
$GC,3594,-1.29,-194.7,325.5,-10.8,622,3601,0.00,2.65,0.00,0.000,6,0.000,0.095,2673,2208,3883
$GC,3933,-1.29,-194.7,360.2,-10.0,674,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2208,3883
$GC,4251,-1.29,-194.7,391.7,-9.8,704,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2208,3882
$GC,4572,-1.29,-194.7,421.8,-9.0,734,4576,0.00,2.72,0.00,0.000,4,0.000,0.112,2673,827,3882
$GC,4612,-1.29,-194.7,425.7,-9.7,737,4617,0.00,2.65,0.00,0.000,6,0.000,0.099,2673,2205,3882
$GC,4940,-1.29,-194.7,451.5,-7.3,767,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2205,3882
$GC,5265,-1.29,-194.7,479.8,-10.7,798,5269,0.00,2.72,0.00,0.000,4,0.000,0.114,2672,828,3882
$GC,5293,-1.29,-194.7,483.1,-12.2,800,5298,0.00,2.65,0.00,0.000,6,0.000,0.099,2673,2200,3881
$GC,5620,-1.29,-194.7,524.4,-12.2,830,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2200,3882
$GC,5938,-1.29,-194.7,553.9,-6.5,860,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2200,3881
$GC,6256,-1.29,-194.7,577.3,-8.7,890,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2200,3881
$GC,6582,-1.29,-194.7,612.8,-9.7,915,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2200,3881
$GC,6892,-1.29,-194.7,635.3,-4.1,930,6896,0.00,2.83,0.00,0.000,4,0.000,0.109,2673,3647,3881
$GC,6924,-1.29,-194.7,636.9,-4.6,931,6932,0.00,2.78,0.00,0.000,6,0.000,0.095,2672,2195,3881
$GC,7241,-1.29,-194.7,664.6,-10.3,947,7246,0.00,2.75,0.00,0.000,4,0.000,0.123,2672,827,3881
$GC,7273,-1.29,-194.7,668.8,-12.4,948,7281,0.00,2.67,0.00,0.000,6,0.000,0.103,2673,2202,3880
$GC,7590,-1.29,-194.7,700.0,-9.7,964,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,3880
$GC,7900,-1.29,-194.7,730.1,-10.0,979,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,3880
$GC,8208,-1.29,-194.7,759.6,-9.8,994,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,3880
$GC,8518,-1.29,-194.7,786.7,-8.2,1009,8519,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2203,3880
$STATE,8824,end dive,NO_VERTICAL_VELOCITY
$STATE,8824,begin apogee
$GC,8831,-0.35,0.0,796.3,0.0,1024,8997,0.93,0.00,162.62,1.282,6,0.042,0.000,2892,2335,3085
$STATE,8997,end apogee,CONTROL_FINISHED_OK
$STATE,8997,begin climb
$GC,9000,1.29,194.7,796.1,0.0,1032,9170,1.52,3.00,159.95,1.235,4,0.048,0.123,3239,917,2291
$GC,9238,1.22,194.7,778.5,12.6,1042,9245,0.00,2.80,0.00,0.000,6,0.000,0.104,3239,2334,2290
$GC,9554,1.14,194.7,742.2,11.5,1058,9559,0.15,2.88,0.00,0.000,4,0.110,0.120,3209,3738,2288
$GC,9594,1.06,194.7,737.8,11.2,1060,9599,0.00,2.78,0.00,0.000,6,0.000,0.097,3208,2332,2288
$GC,9921,1.06,194.7,705.4,10.2,1076,9926,0.00,2.88,0.00,0.000,4,0.000,0.124,3208,917,2288
$GC,9964,1.06,194.7,700.6,10.8,1078,9969,0.00,2.78,0.00,0.000,6,0.000,0.102,3208,2330,2288
$GC,10288,1.06,194.7,667.6,10.2,1094,10289,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2331,2288
$GC,10596,1.06,194.7,636.3,10.3,1109,10597,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2330,2287
$GC,10906,1.08,207.9,606.3,9.5,1124,10925,0.00,0.00,12.32,1.116,6,0.000,0.000,3208,2330,2236
$GC,11243,1.11,232.2,575.7,9.2,1152,11272,0.00,0.00,21.85,1.108,6,0.000,0.000,3208,2330,2138
$GC,11590,1.11,232.2,541.6,10.2,1185,11594,0.00,2.80,0.00,0.000,4,0.000,0.110,3209,917,2136
$GC,11619,1.11,232.2,538.7,10.4,1187,11624,0.00,2.72,0.00,0.000,6,0.000,0.096,3208,2325,2136
$GC,11945,1.14,254.8,507.8,9.2,1217,11967,0.00,0.00,20.08,1.066,6,0.000,0.000,3208,2325,2046
$GC,12283,1.14,261.3,476.0,9.8,1249,12296,0.00,2.92,7.05,0.940,4,0.000,0.112,3208,3738,2018
$GC,12324,1.14,261.3,471.6,10.8,1252,12332,0.00,2.75,0.00,0.000,6,0.000,0.090,3208,2330,2018
$GC,12653,1.14,261.3,436.2,10.7,1283,12658,0.00,2.80,0.00,0.000,4,0.000,0.109,3208,911,2018
$GC,12686,1.14,261.3,431.8,11.4,1285,12694,0.00,2.72,0.00,0.000,6,0.000,0.094,3208,2324,2018
$GC,13013,1.14,261.3,393.7,12.3,1316,13014,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2324,2017
$GC,13330,1.14,261.3,355.3,11.8,1346,13331,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2324,2017
$GC,13664,1.14,261.3,318.4,10.8,1401,13670,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2324,2017
$GC,14008,1.14,261.3,281.1,10.4,1462,14016,0.00,2.78,0.00,0.000,4,0.000,0.106,3208,909,2018
$GC,14045,1.14,261.3,277.0,11.4,1468,14052,0.00,2.70,0.00,0.000,6,0.000,0.091,3208,2327,2017
$GC,14390,1.14,261.3,240.2,10.6,1529,14397,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2327,2017
$GC,14734,1.14,261.3,202.8,10.8,1590,14741,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2327,2017
$GC,15079,1.18,292.5,169.1,8.9,1651,15112,0.00,0.00,27.50,0.861,6,0.000,0.000,3208,2327,1890
$GC,15450,1.18,292.5,130.7,11.7,1716,15457,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2327,1888
$GC,15796,1.18,292.5,91.0,11.5,1777,15803,0.00,2.75,0.00,0.000,4,0.000,0.101,3208,911,1887
$GC,15826,1.18,292.5,87.5,11.2,1782,15834,0.00,2.65,0.00,0.000,6,0.000,0.087,3208,2313,1887
$GC,16171,1.24,336.9,54.3,8.5,1843,16216,0.00,2.80,37.33,0.783,4,0.000,0.100,3208,911,1711
$GC,16258,1.33,368.8,46.8,8.9,1857,16295,0.17,2.62,27.50,0.753,6,0.055,0.083,3254,2301,1580
$GC,16431,1.33,368.8,26.9,12.8,1886,16438,0.00,2.70,0.00,0.000,4,0.000,0.100,3254,910,1574
$GC,16475,1.33,368.8,21.2,15.3,1893,16483,0.00,2.60,0.00,0.000,6,0.000,0.083,3254,2294,1574
$GC,16618,1.33,368.8,2.1,14.3,1918,16626,0.00,2.83,0.00,0.000,4,0.000,0.100,3254,3734,1572
$STATE,16632,end climb,SURFACE_DEPTH_REACHED
$STATE,16632,begin surface coast
$FINISH,0.3,1.027444
$STATE,16643,end surface coast,CONTROL_FINISHED_OK
$STATE,16644,begin surface
$SM_CCo,16728,0.00,0.000,0,0,1569,371.87
$SM_GC,0.98,11.65,0.00,0.00,0.039,0.000,0.000,584,2226,1569,-10.86,-0.25,371.87
$IRIDIUM_FIX,6130.75,-2633.90,030997,050511
$TT8_MAMPS,0.02301
$HUMID,1690
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.70
$XPDR_PINGS,294
$24V_AH,23.3,61.333
$10V_AH,10.6,50.599
$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,26.700,120.750,476.200,0.000,0.000,29.879,33.809,264.423,73.500,0.000,0.000,13.250,3861.240,8600.483,670.365,3366.923,688.576,0.000,2141.075,0.000,3371.399,0.000,0.467
$DEVICE_MAMPS,183.313,124.254,1282.424,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1329.714,1457.540,1785.769,593.556,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113621,1922
$CAP_FILE_SIZE,160862,0
$CFSIZE,260165632,228712448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.155, 45.0,1
$GPS,090608,162702,6200.932,-2633.115,41,0.9,41,-19.1