version: 66.03
glider: 140
mission: 5
dive: 286
start: 6 9 108 16 35 4
data:
$ID,140
$MISSION,5
$DIVE,286
$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,-18508.311
$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,14
$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
$GPS1,162702,6200.932,-2633.115,41,0.9,41,-19.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-60.1
$GPS2,163445,6200.926,-2632.975,11,1.6,11,-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,333.7,8652,-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,-194.7,0.0,0.0,0,104,0.00,0.00,-81.38,0.000,2,0.000,0.000,584,2225,3487
$GC,107,-1.29,-194.7,3.6,-7.5,11,138,12.30,2.80,-8.30,0.000,4,0.182,0.107,2675,3642,3881
$GC,208,-1.29,-194.7,18.2,-10.9,27,216,0.00,2.62,0.00,0.000,6,0.000,0.079,2674,2230,3881
$GC,351,-1.29,-194.7,33.1,-9.5,52,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2230,3882
$GC,493,-1.29,-194.7,46.1,-8.8,77,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2230,3881
$GC,636,-1.29,-194.7,58.7,-8.6,102,643,0.00,2.70,0.00,0.000,4,0.000,0.097,2674,821,3882
$GC,690,-1.29,-194.7,63.4,-8.8,111,697,0.00,2.65,0.00,0.000,6,0.000,0.083,2675,2227,3882
$GC,1036,-1.29,-194.7,91.0,-8.7,172,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2227,3883
$GC,1381,-1.29,-194.7,119.7,-8.0,233,1388,0.00,2.72,0.00,0.000,4,0.000,0.102,2675,827,3883
$GC,1440,-1.29,-194.7,124.8,-8.5,243,1447,0.00,2.65,0.00,0.000,6,0.000,0.088,2674,2219,3883
$GC,1785,-1.29,-194.7,154.8,-8.8,304,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2219,3883
$GC,2131,-1.29,-194.7,185.3,-9.0,365,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2219,3883
$GC,2476,-1.29,-194.7,216.2,-8.9,426,2483,0.00,2.75,0.00,0.000,4,0.000,0.107,2674,820,3883
$GC,2513,-1.29,-194.7,219.5,-9.0,432,2520,0.00,2.67,0.00,0.000,6,0.000,0.092,2675,2220,3883
$GC,2859,-1.29,-194.7,248.6,-8.6,493,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2221,3883
$GC,3204,-1.29,-194.7,280.6,-9.7,554,3211,0.00,2.75,0.00,0.000,4,0.000,0.110,2674,825,3882
$GC,3240,-1.29,-194.7,284.4,-10.6,560,3247,0.00,2.67,0.00,0.000,6,0.000,0.094,2675,2218,3882
$GC,3585,-1.29,-194.7,317.9,-9.1,621,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2218,3882
$GC,3934,-1.29,-194.7,350.9,-9.1,682,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2219,3882
$GC,4252,-1.29,-194.7,379.8,-9.2,712,4257,0.00,2.75,0.00,0.000,4,0.000,0.111,2674,828,3882
$GC,4294,-1.29,-194.7,383.5,-9.5,715,4299,0.00,2.67,0.00,0.000,6,0.000,0.097,2674,2216,3881
$GC,4623,-1.29,-194.7,414.2,-9.7,745,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2216,3881
$GC,4949,-1.29,-194.7,446.7,-9.6,776,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2216,3881
$GC,5268,-1.29,-194.7,476.1,-9.6,806,5273,0.00,2.78,0.00,0.000,4,0.000,0.114,2675,824,3881
$GC,5301,-1.29,-194.7,479.7,-10.1,808,5309,0.00,2.67,0.00,0.000,6,0.000,0.097,2675,2214,3881
$GC,5629,-1.29,-194.7,511.9,-9.6,839,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2214,3881
$GC,5956,-1.29,-194.7,540.7,-8.5,870,5960,0.00,2.78,0.00,0.000,4,0.000,0.115,2675,823,3881
$GC,5989,-1.29,-194.7,543.8,-8.8,872,5997,0.00,2.65,0.00,0.000,6,0.000,0.099,2675,2198,3881
$GC,6318,-1.29,-194.7,572.6,-8.3,903,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2198,3880
$GC,6643,-1.29,-194.7,602.1,-9.0,933,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2198,3880
$GC,6952,-1.29,-194.7,628.7,-8.6,948,6953,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2198,3880
$GC,7261,-1.29,-194.7,652.9,-6.8,963,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2198,3880
$GC,7570,-1.29,-194.7,672.2,-5.8,978,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2198,3880
$GC,7880,-1.29,-194.7,693.0,-6.5,993,7884,0.00,2.78,0.00,0.000,4,0.000,0.122,2675,827,3879
$GC,7912,-1.29,-194.7,696.0,-9.8,994,7920,0.00,2.67,0.00,0.000,6,0.000,0.105,2674,2199,3879
$GC,8229,-1.29,-194.7,725.8,-9.7,1010,8233,0.00,2.88,0.00,0.000,4,0.000,0.116,2675,3651,3879
$GC,8261,-1.29,-194.7,729.2,-10.4,1011,8268,0.00,2.78,0.00,0.000,6,0.000,0.096,2675,2202,3879
$GC,8577,-1.29,-194.7,755.9,-7.9,1027,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2203,3879
$GC,8887,-1.29,-194.7,784.5,-9.0,1042,8888,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2203,3879
$GC,9197,-1.29,-194.7,810.6,-8.7,1057,9198,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2203,3879
$GC,9505,-1.29,-194.7,837.7,-9.0,1072,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2203,3878
$GC,9816,-1.36,-194.7,861.6,-5.5,1087,9817,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2203,3878
$STATE,9977,end dive,NO_VERTICAL_VELOCITY
$STATE,9977,begin apogee
$GC,9983,-0.35,0.0,861.7,0.0,1095,10150,0.98,0.00,163.95,1.332,6,0.074,0.000,2884,2330,3085
$STATE,10151,end apogee,CONTROL_FINISHED_OK
$STATE,10151,begin climb
$GC,10153,1.29,194.7,861.5,0.0,1103,10325,1.62,2.97,161.15,1.286,4,0.068,0.122,3241,3736,2291
$GC,10355,1.17,194.7,847.6,12.0,1113,10361,0.15,2.83,0.00,0.000,6,0.114,0.101,3216,2331,2290
$GC,10684,1.11,194.7,813.2,10.7,1129,10688,0.00,2.92,0.00,0.000,4,0.000,0.132,3215,920,2289
$GC,10716,1.11,194.7,809.1,11.7,1130,10724,0.00,2.78,0.00,0.000,6,0.000,0.102,3215,2327,2289
$GC,11033,1.06,195.3,774.7,10.0,1146,11035,0.12,0.00,0.00,0.000,6,0.113,0.000,3193,2329,2288
$GC,11342,1.07,201.8,745.1,9.8,1161,11352,0.00,0.00,7.55,1.083,6,0.000,0.000,3193,2328,2262
$GC,11651,1.11,233.6,716.8,8.9,1176,11681,0.00,0.00,28.58,1.203,6,0.000,0.000,3193,2329,2132
$GC,11980,1.13,253.4,686.9,9.3,1192,12001,0.00,0.00,18.23,1.167,6,0.000,0.000,3193,2329,2051
$GC,12309,1.13,253.4,654.6,10.4,1208,12314,0.00,2.85,0.00,0.000,4,0.000,0.116,3192,917,2048
$GC,12336,1.13,253.4,651.5,10.7,1209,12341,0.00,2.75,0.00,0.000,6,0.000,0.099,3193,2322,2048
$GC,12652,1.13,253.4,617.9,10.7,1224,12657,0.00,2.88,0.00,0.000,4,0.000,0.120,3193,3737,2047
$GC,12692,1.13,253.4,613.6,11.3,1226,12696,0.00,2.78,0.00,0.000,6,0.000,0.094,3192,2319,2047
$GC,13013,1.13,253.4,580.3,10.6,1250,13017,0.00,2.80,0.00,0.000,4,0.000,0.117,3193,916,2046
$GC,13053,1.13,253.4,576.1,10.6,1253,13058,0.00,2.72,0.00,0.000,6,0.000,0.097,3193,2324,2047
$GC,13379,1.15,269.7,543.9,9.4,1283,13399,0.00,0.00,14.90,1.094,6,0.000,0.000,3193,2324,1984
$GC,13719,1.19,303.9,513.8,8.8,1315,13759,0.12,0.00,31.33,1.079,6,0.065,0.000,3225,2324,1843
$GC,14076,1.19,303.9,475.6,11.0,1349,14077,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2325,1840
$GC,14395,1.19,303.9,438.7,11.7,1379,14396,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2324,1839
$GC,14713,1.19,303.9,400.6,11.9,1409,14717,0.00,2.78,0.00,0.000,4,0.000,0.108,3225,918,1838
$GC,14742,1.19,303.9,396.9,13.0,1411,14746,0.00,2.70,0.00,0.000,6,0.000,0.094,3225,2321,1839
$GC,15067,1.19,303.9,356.3,12.8,1441,15071,0.00,2.83,0.00,0.000,4,0.000,0.110,3225,3738,1838
$GC,15095,1.19,303.9,352.5,13.3,1443,15100,0.00,2.75,0.00,0.000,6,0.000,0.088,3225,2313,1838
$GC,15437,1.19,303.9,308.7,12.4,1501,15443,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2313,1838
$GC,15780,1.19,303.9,267.1,11.5,1562,15787,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2313,1838
$GC,16125,1.19,303.9,226.0,11.8,1623,16131,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2313,1838
$GC,16469,1.19,303.9,185.6,10.6,1684,16476,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2313,1838
$GC,16814,1.19,303.9,144.6,11.4,1745,16820,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2313,1838
$GC,17156,1.19,303.9,104.9,12.5,1806,17163,0.00,2.70,0.00,0.000,4,0.000,0.103,3225,917,1838
$GC,17181,1.19,303.9,101.7,12.1,1810,17189,0.00,2.67,0.00,0.000,6,0.000,0.089,3225,2325,1838
$GC,17528,1.19,303.9,61.8,11.2,1871,17534,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2325,1838
$GC,17867,1.19,303.9,24.2,10.7,1932,17875,0.00,2.75,0.00,0.000,4,0.000,0.101,3225,3738,1838
$GC,17931,1.19,303.9,16.8,10.1,1943,17939,0.00,2.67,0.00,0.000,6,0.000,0.083,3225,2325,1837
$STATE,18067,end climb,SURFACE_DEPTH_REACHED
$STATE,18067,begin surface coast
$FINISH,0.2,1.026191
$STATE,18087,end surface coast,CONTROL_FINISHED_OK
$STATE,18087,begin surface
$SM_CCo,18169,0.00,0.000,0,0,1836,306.62
$SM_GC,0.95,11.50,0.00,0.00,0.042,0.000,0.000,586,2229,1836,-10.84,-0.17,306.62
$IRIDIUM_FIX,6135.28,-2635.95,030997,111149
$TT8_MAMPS,0.022243
$HUMID,1710
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.70
$XPDR_PINGS,295
$24V_AH,23.2,61.513
$10V_AH,10.6,50.769
$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,26.800,105.000,425.675,0.000,0.000,28.633,33.711,253.638,73.750,0.000,0.000,11.265,3989.636,9846.951,646.589,3448.370,681.882,0.000,2129.739,0.000,3454.320,0.000,0.467
$DEVICE_MAMPS,181.779,131.924,1331.512,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1365.174,1497.937,1835.779,586.001,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116647,1970
$CAP_FILE_SIZE,164741,0
$CFSIZE,260165632,228610048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132, 23.8,1
$GPS,090608,213908,6203.922,-2635.932,40,1.1,40,-19.1