version: 66.03
glider: 140
mission: 5
dive: 34
start: 4 11 108 4 47 4
data:
$ID,140
$MISSION,5
$DIVE,34
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$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,250
$T_MISSION,280
$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,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,270
$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,-13808.814
$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,12
$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
$GPS1,043208,5902.952,-1833.979,37,1.2,37,-13.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-57.6
$GPS2,044645,5902.841,-1833.973,11,1.7,11,-13.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5902.841,-1839.527
$TGT_RADIUS,1852.000
$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,283.3,20000,-14.9,-10.000
$D_GRID,750
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,111,0.00,0.00,-81.35,0.000,2,0.000,0.000,590,2229,3617
$GC,114,-1.29,-194.7,3.3,-7.9,15,139,12.88,2.78,-5.65,0.000,4,0.202,0.117,2670,3647,3880
$GC,381,-1.29,-194.7,35.6,-12.2,62,387,0.00,2.67,0.00,0.000,6,0.000,0.092,2670,2229,3881
$GC,524,-1.29,-194.7,54.0,-13.0,87,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3881
$GC,666,-1.29,-194.7,66.2,-8.1,112,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3881
$GC,808,-1.29,-194.7,77.6,-8.2,137,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3881
$GC,949,-1.29,-194.7,86.9,-5.6,162,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3880
$GC,1091,-1.29,-194.7,101.8,-11.7,187,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3881
$GC,1232,-1.29,-194.7,115.6,-9.5,212,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3881
$GC,1375,-1.29,-194.7,129.7,-9.2,237,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3881
$GC,1516,-1.29,-194.7,143.3,-9.9,262,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3881
$GC,1658,-1.29,-194.7,154.9,-8.3,287,1664,0.00,2.75,0.00,0.000,4,0.000,0.109,2670,3647,3881
$GC,1705,-1.29,-194.7,159.1,-9.0,295,1711,0.00,2.62,0.00,0.000,6,0.000,0.093,2670,2252,3881
$GC,2048,-1.29,-194.7,190.1,-9.2,356,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2253,3881
$GC,2391,-1.29,-194.7,223.3,-10.0,417,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2253,3880
$GC,2733,-1.29,-194.7,257.1,-9.7,478,2739,0.00,2.72,0.00,0.000,4,0.000,0.111,2670,3652,3880
$GC,2774,-1.29,-194.7,261.0,-10.0,485,2780,0.00,2.65,0.00,0.000,6,0.000,0.096,2670,2252,3881
$GC,3117,-1.29,-194.7,292.1,-8.8,546,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2253,3881
$GC,3461,-1.29,-194.7,322.3,-8.4,607,3467,0.00,2.72,0.00,0.000,4,0.000,0.114,2670,3647,3880
$GC,3501,-1.29,-194.7,326.0,-9.4,614,3508,0.00,2.65,0.00,0.000,6,0.000,0.097,2670,2247,3881
$GC,3845,-1.29,-194.7,357.4,-9.7,675,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3881
$GC,4187,-1.29,-194.7,390.0,-9.7,736,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3881
$GC,4530,-1.29,-194.7,422.1,-9.2,797,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3881
$GC,4873,-1.29,-194.7,453.1,-9.0,858,4879,0.00,2.75,0.00,0.000,4,0.000,0.115,2670,3651,3881
$GC,4914,-1.29,-194.7,456.8,-9.7,865,4920,0.00,2.65,0.00,0.000,6,0.000,0.098,2670,2254,3881
$GC,5257,-1.29,-194.7,486.4,-8.6,926,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2255,3881
$GC,5600,-1.29,-194.7,515.3,-8.0,987,5606,0.00,2.72,0.00,0.000,4,0.000,0.117,2670,3646,3881
$GC,5635,-1.29,-194.7,518.3,-8.8,993,5641,0.00,2.65,0.00,0.000,6,0.000,0.099,2670,2251,3880
$GC,5979,-1.29,-194.7,548.0,-9.0,1054,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3881
$GC,6321,-1.29,-194.7,578.4,-9.2,1115,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3880
$GC,6658,-1.29,-194.7,608.7,-8.9,1167,6663,0.00,2.75,0.00,0.000,4,0.000,0.119,2670,3646,3880
$GC,6691,-1.29,-194.7,611.8,-9.7,1169,6697,0.00,2.65,0.00,0.000,6,0.000,0.101,2670,2258,3880
$GC,7017,-1.29,-194.7,641.1,-9.6,1200,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2258,3881
$GC,7336,-1.29,-194.7,670.7,-8.9,1230,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2258,3880
$GC,7654,-1.29,-194.7,699.0,-8.8,1260,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2259,3880
$GC,7973,-1.29,-194.7,726.6,-8.3,1290,7977,0.00,2.78,0.00,0.000,4,0.000,0.124,2670,3650,3880
$GC,8016,-1.29,-194.7,730.6,-8.9,1293,8023,0.00,2.67,0.00,0.000,6,0.000,0.105,2670,2257,3880
$STATE,8254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8254,begin apogee
$GC,8260,-0.35,0.0,750.3,8.4,1316,8427,1.00,0.00,160.43,1.253,6,0.104,0.000,2875,2335,3085
$STATE,8428,end apogee,CONTROL_FINISHED_OK
$STATE,8428,begin climb
$GC,8430,1.29,194.7,756.3,0.0,1333,8599,1.65,2.92,158.23,1.218,4,0.063,0.123,3239,3739,2290
$GC,8649,1.18,194.7,738.5,14.1,1353,8656,0.12,2.78,0.00,0.000,6,0.115,0.104,3218,2329,2289
$GC,8974,1.12,194.7,699.8,11.7,1384,8975,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2329,2288
$GC,9294,1.06,194.7,661.6,12.4,1414,9296,0.12,0.00,0.00,0.000,6,0.114,0.000,3195,2329,2288
$GC,9612,1.06,194.7,626.7,10.3,1444,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2329,2288
$GC,9934,1.06,194.7,593.7,10.2,1479,9939,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2329,2288
$GC,10277,1.06,194.7,557.5,10.9,1540,10283,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2329,2287
$GC,10621,1.06,194.7,521.3,10.0,1601,10626,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2329,2287
$GC,10963,1.06,194.7,486.8,10.4,1662,10969,0.00,2.80,0.00,0.000,4,0.000,0.114,3195,3744,2287
$GC,10993,1.02,194.7,483.7,11.3,1667,10999,0.00,2.70,0.00,0.000,6,0.000,0.096,3195,2331,2287
$GC,11336,1.02,194.7,448.6,10.3,1728,11341,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2331,2287
$GC,11679,1.02,194.7,410.8,11.1,1789,11684,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2331,2287
$GC,12021,1.02,194.7,371.5,10.9,1850,12026,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2331,2287
$GC,12364,1.02,194.7,334.6,10.2,1911,12370,0.00,2.78,0.00,0.000,4,0.000,0.113,3195,3742,2287
$GC,12388,1.02,194.7,332.1,10.7,1915,12394,0.00,2.67,0.00,0.000,6,0.000,0.094,3195,2339,2287
$GC,12730,1.02,194.7,296.1,11.0,1976,12736,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2339,2287
$GC,13074,1.05,223.4,260.2,9.0,2037,13101,0.00,0.00,23.85,0.933,6,0.000,0.000,3195,2339,2173
$GC,13438,1.07,237.7,224.9,9.5,2102,13456,0.00,2.85,12.93,0.877,4,0.000,0.110,3195,3739,2115
$GC,13513,1.07,237.7,216.4,12.3,2115,13519,0.00,2.65,0.00,0.000,6,0.000,0.092,3195,2348,2114
$GC,13856,1.11,266.8,177.8,9.0,2176,13889,0.00,2.88,24.60,0.864,4,0.000,0.109,3195,918,1996
$GC,13907,1.18,330.5,173.9,7.8,2185,13967,0.10,2.72,53.10,0.844,6,0.071,0.094,3222,2348,1737
$GC,14304,1.18,330.5,116.3,17.3,2256,14310,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2349,1729
$GC,14447,1.18,330.5,94.6,15.8,2281,14452,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2348,1729
$GC,14588,1.18,330.5,73.0,15.0,2306,14594,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2348,1729
$GC,14730,1.18,330.5,50.5,16.3,2331,14736,0.00,2.78,0.00,0.000,4,0.000,0.105,3222,913,1729
$GC,14754,1.18,330.5,46.6,16.6,2335,14760,0.00,2.70,0.00,0.000,6,0.000,0.093,3222,2343,1729
$GC,14896,1.18,330.5,29.0,11.5,2360,14902,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2343,1728
$GC,15037,1.18,330.5,11.3,13.5,2385,15043,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2343,1728
$STATE,15103,end climb,SURFACE_DEPTH_REACHED
$STATE,15103,begin surface coast
$FINISH,0.1,1.027749
$STATE,15116,end surface coast,CONTROL_FINISHED_OK
$STATE,15116,begin surface
$SM_CCo,15198,0.00,0.000,0,0,1722,334.34
$SM_GC,0.79,11.57,0.00,0.00,0.048,0.000,0.000,592,2222,1722,-10.84,-0.37,334.34
$IRIDIUM_FIX,5841.97,-1839.32,060797,040430
$TT8_MAMPS,0.022243
$HUMID,1583
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.20
$XPDR_PINGS,109
$24V_AH,23.5,14.687
$10V_AH,10.7,7.789
$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,27.450,76.850,433.125,0.000,0.000,77.591,111.561,418.155,27.250,0.000,0.000,11.684,3556.378,6985.449,579.134,3990.999,941.261,0.000,2321.171,0.000,3991.419,0.000,0.468
$DEVICE_MAMPS,202.488,137.293,1253.278,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1657.247,1798.496,1795.912,1113.966,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135548,2399
$CAP_FILE_SIZE,178656,0
$CFSIZE,260165632,253763584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110408,090137,5902.981,-1837.742,35,1.0,41,-13.3