version: 66.03
glider: 140
mission: 5
dive: 287
start: 6 9 108 21 47 15
data:
$ID,140
$MISSION,5
$DIVE,287
$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,-18525.223
$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
$GPS1,213908,6203.922,-2635.932,40,1.1,40,-19.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-65.1
$GPS2,214656,6203.910,-2635.988,11,1.1,16,-19.1
$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,298.0,3584,-27.2,-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,-2.00,-63.0,0.0,0.0,0,89,0.00,0.00,-65.03,0.000,6,0.000,0.000,585,2227,3343
$GC,92,-2.04,-98.1,3.1,-6.3,9,116,11.43,2.75,-3.53,0.000,4,0.186,0.105,2510,3651,3486
$GC,269,-2.04,-98.1,31.4,-14.2,39,277,0.00,2.65,0.00,0.000,6,0.000,0.080,2510,2227,3487
$GC,412,-2.04,-98.1,52.0,-14.5,64,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2227,3487
$GC,757,-2.04,-98.1,100.5,-14.7,125,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2227,3488
$GC,1101,-2.04,-98.1,150.5,-14.0,186,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2227,3488
$GC,1446,-2.04,-98.1,197.1,-13.2,247,1453,0.00,2.72,0.00,0.000,4,0.000,0.105,2510,827,3488
$GC,1527,-1.99,-98.1,208.2,-13.2,261,1534,0.00,2.62,0.00,0.000,6,0.000,0.093,2510,2228,3488
$GC,1873,-1.99,-98.1,254.6,-13.2,322,1881,0.00,2.75,0.00,0.000,4,0.000,0.107,2510,827,3488
$GC,1939,-1.95,-98.1,263.6,-14.0,333,1946,0.12,2.67,0.00,0.000,6,0.153,0.096,2529,2216,3488
$GC,2284,-1.95,-98.1,307.0,-12.6,394,2292,0.00,2.72,0.00,0.000,4,0.000,0.109,2529,828,3487
$GC,2338,-1.95,-98.1,314.0,-13.0,403,2345,0.00,2.67,0.00,0.000,6,0.000,0.097,2529,2214,3488
$GC,2680,-1.95,-98.1,357.1,-12.4,459,2685,0.00,2.72,0.00,0.000,4,0.000,0.109,2529,828,3487
$GC,2746,-1.95,-98.1,365.9,-12.6,464,2754,0.00,2.65,0.00,0.000,6,0.000,0.097,2529,2206,3487
$GC,3074,-1.95,-98.1,406.1,-12.3,495,3078,0.00,2.72,0.00,0.000,4,0.000,0.110,2529,825,3487
$GC,3125,-1.95,-98.1,412.8,-13.0,499,3129,0.00,2.65,0.00,0.000,6,0.000,0.097,2529,2196,3487
$GC,3452,-1.95,-98.1,454.1,-12.3,529,3456,0.00,2.72,0.00,0.000,4,0.000,0.112,2529,820,3487
$GC,3491,-1.95,-98.1,459.4,-13.1,532,3496,0.00,2.67,0.00,0.000,6,0.000,0.100,2529,2196,3487
$GC,3818,-1.95,-98.1,499.7,-12.6,562,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2196,3487
$GC,4134,-1.95,-98.1,538.1,-12.0,592,4139,0.00,2.75,0.00,0.000,4,0.000,0.114,2529,820,3487
$GC,4220,-1.95,-98.1,548.9,-13.2,599,4225,0.00,2.67,0.00,0.000,6,0.000,0.102,2529,2189,3487
$GC,4549,-1.95,-98.1,587.6,-12.0,629,4554,0.00,2.72,0.00,0.000,4,0.000,0.117,2529,826,3487
$GC,4590,-1.95,-98.1,593.0,-13.1,632,4594,0.00,2.65,0.00,0.000,6,0.000,0.103,2529,2183,3486
$GC,4918,-1.95,-98.1,634.3,-12.8,650,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2184,3486
$GC,5227,-1.95,-98.1,676.3,-13.8,665,5231,0.00,2.72,0.00,0.000,4,0.000,0.120,2529,828,3486
$GC,5298,-1.95,-98.1,687.0,-14.4,668,5303,0.00,2.62,0.00,0.000,6,0.000,0.104,2529,2172,3486
$GC,5615,-1.95,-98.1,727.3,-11.4,683,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2172,3486
$GC,5923,-1.95,-98.1,762.3,-11.4,698,5928,0.00,2.72,0.00,0.000,4,0.000,0.124,2529,827,3486
$GC,5972,-1.95,-98.1,768.4,-12.5,700,5977,0.00,2.65,0.00,0.000,6,0.000,0.107,2529,2176,3486
$GC,6294,-1.95,-98.1,810.6,-13.0,716,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2177,3486
$GC,6604,-1.95,-98.1,848.4,-11.8,731,6608,0.00,2.75,0.00,0.000,4,0.000,0.126,2529,824,3485
$GC,6670,-1.95,-98.1,856.8,-12.5,734,6674,0.00,2.62,0.00,0.000,6,0.000,0.107,2529,2167,3485
$GC,6991,-1.95,-98.1,898.3,-12.9,750,6996,0.00,2.72,0.00,0.000,4,0.000,0.127,2529,828,3485
$GC,7046,-1.95,-98.1,905.6,-12.8,752,7053,0.00,2.62,0.00,0.000,6,0.000,0.108,2529,2161,3485
$GC,7362,-1.95,-98.1,942.8,-11.5,768,7366,0.00,2.72,0.00,0.000,4,0.000,0.127,2529,822,3484
$GC,7406,-1.95,-98.1,948.2,-11.8,770,7410,0.00,2.62,0.00,0.000,6,0.000,0.107,2529,2154,3485
$GC,7727,-2.44,-191.9,974.3,-0.0,786,7732,0.43,2.72,0.00,0.000,4,0.045,0.127,2422,821,3484
$STATE,7825,end dive,NO_VERTICAL_VELOCITY
$STATE,7825,begin apogee
$GC,7834,-0.35,0.0,974.2,0.0,790,7924,2.17,0.00,85.30,1.406,6,0.092,0.000,2883,2332,3085
$STATE,7925,end apogee,CONTROL_FINISHED_OK
$STATE,7925,begin climb
$GC,7928,2.15,191.9,974.1,0.0,795,8104,2.50,3.03,161.55,1.374,4,0.064,0.126,3430,3735,2301
$GC,8211,2.05,191.9,933.9,22.1,807,8219,0.12,2.80,0.00,0.000,6,0.137,0.103,3410,2333,2301
$GC,8529,2.05,191.9,874.3,18.5,823,8534,0.00,2.92,0.00,0.000,4,0.000,0.131,3410,918,2300
$GC,8556,2.05,191.9,868.2,20.6,824,8560,0.00,2.78,0.00,0.000,6,0.000,0.106,3410,2324,2300
$GC,8872,2.05,191.9,806.2,19.2,839,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2324,2299
$GC,9181,2.05,191.9,748.0,18.4,854,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2324,2299
$GC,9490,2.05,191.9,693.7,16.6,869,9492,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2324,2299
$GC,9800,2.05,191.9,640.0,18.5,884,9804,0.00,2.85,0.00,0.000,4,0.000,0.116,3410,3738,2298
$GC,9821,1.99,191.9,635.7,19.0,885,9826,0.00,2.75,0.00,0.000,6,0.000,0.094,3410,2320,2299
$GC,10147,1.99,191.9,574.4,19.4,907,10148,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2320,2298
$GC,10467,1.99,191.9,513.8,19.1,937,10473,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2320,2298
$GC,10792,1.99,191.9,452.7,18.4,968,10797,0.00,2.85,0.00,0.000,4,0.000,0.110,3410,3739,2298
$GC,10821,1.93,191.9,447.2,19.4,970,10826,0.15,2.72,0.00,0.000,6,0.132,0.090,3384,2328,2297
$GC,11146,1.93,191.9,392.7,16.2,1000,11147,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2329,2298
$GC,11469,1.93,191.9,341.7,14.9,1034,11475,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2329,2297
$GC,11814,1.93,191.9,289.9,14.5,1095,11821,0.00,2.80,0.00,0.000,4,0.000,0.107,3384,3738,2298
$GC,11838,1.93,191.9,285.9,16.2,1099,11846,0.00,2.67,0.00,0.000,6,0.000,0.087,3384,2336,2298
$GC,12183,1.93,191.9,229.6,16.9,1160,12190,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2336,2298
$GC,12529,1.93,191.9,171.6,16.5,1221,12535,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2336,2298
$GC,12872,1.93,191.9,113.2,17.5,1282,12880,0.00,2.78,0.00,0.000,4,0.000,0.105,3384,3738,2298
$GC,12926,1.93,191.9,103.6,18.0,1291,12933,0.00,2.67,0.00,0.000,6,0.000,0.086,3384,2342,2298
$GC,13273,1.93,191.9,49.0,14.8,1352,13280,0.00,2.75,0.00,0.000,4,0.000,0.102,3384,913,2298
$GC,13343,1.93,191.9,38.0,14.3,1364,13351,0.00,2.70,0.00,0.000,6,0.000,0.089,3384,2338,2299
$GC,13487,1.93,191.9,16.5,15.0,1389,13495,0.00,2.72,0.00,0.000,4,0.000,0.104,3384,3735,2299
$GC,13514,1.93,191.9,12.3,16.0,1393,13522,0.00,2.65,0.00,0.000,6,0.000,0.081,3384,2329,2299
$STATE,13582,end climb,SURFACE_DEPTH_REACHED
$STATE,13582,begin surface coast
$FINISH,0.4,1.025425
$STATE,13595,end surface coast,CONTROL_FINISHED_OK
$STATE,13595,begin surface
$SM_CCo,13617,7.25,0.706,0,0,2268,200.16
$SM_GC,2.11,0.00,0.00,7.25,0.000,0.000,0.706,592,2231,2268,-10.89,-0.11,200.16
$IRIDIUM_FIX,6135.28,-2635.95,030997,161609
$TT8_MAMPS,0.02301
$HUMID,1708
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,16.40
$XPDR_PINGS,193
$24V_AH,23.2,61.638
$10V_AH,10.6,50.894
$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,29.200,125.725,246.850,7.250,0.000,26.113,35.487,251.973,48.250,0.000,0.000,16.284,2900.783,7536.112,441.599,2590.090,607.557,0.000,1589.967,0.000,2580.683,0.000,0.467
$DEVICE_MAMPS,186.381,131.157,1405.911,706.407,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,975.551,1068.440,1255.923,413.249,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85215,1407
$CAP_FILE_SIZE,131331,0
$CFSIZE,260165632,228581376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.129,359.2,1
$GPS,100608,013538,6204.984,-2639.853,41,1.0,41,-19.2