version: 66.03
glider: 140
mission: 5
dive: 35
start: 4 11 108 9 12 38
data:
$ID,140
$MISSION,5
$DIVE,35
$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,-13824.37
$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
$GPS1,090137,5902.981,-1837.742,35,1.0,41,-13.3
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-53.9
$GPS2,091220,5902.958,-1837.713,14,1.0,14,-13.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5902.958,-1843.267
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,112,0.00,0.00,-81.47,0.000,2,0.000,0.000,593,2222,3670
$GC,115,-1.29,-194.7,3.5,-6.8,15,139,12.80,2.78,-4.20,0.000,4,0.201,0.116,2670,3649,3880
$GC,394,-1.29,-194.7,34.6,-8.8,64,400,0.00,2.65,0.00,0.000,6,0.000,0.091,2670,2235,3881
$GC,536,-1.29,-194.7,48.9,-11.5,89,542,0.00,2.72,0.00,0.000,4,0.000,0.107,2670,3648,3880
$GC,593,-1.29,-194.7,57.0,-15.2,99,600,0.00,2.67,0.00,0.000,6,0.000,0.092,2669,2229,3881
$GC,737,-1.29,-194.7,70.6,-8.9,124,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3881
$GC,879,-1.29,-194.7,83.8,-8.8,149,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3880
$GC,1021,-1.29,-194.7,95.9,-8.4,174,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3880
$GC,1163,-1.29,-194.7,107.8,-9.1,199,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3880
$GC,1305,-1.29,-194.7,121.9,-9.2,224,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3881
$GC,1446,-1.29,-194.7,136.0,-7.9,249,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3880
$GC,1588,-1.29,-194.7,152.7,-12.2,274,1594,0.00,2.78,0.00,0.000,4,0.000,0.110,2669,3655,3880
$GC,1611,-1.29,-194.7,155.5,-11.7,278,1618,0.00,2.67,0.00,0.000,6,0.000,0.092,2670,2232,3880
$GC,1955,-1.29,-194.7,185.3,-9.5,339,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3880
$GC,2297,-1.29,-194.7,218.4,-10.6,400,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2232,3881
$GC,2641,-1.29,-194.7,250.9,-9.0,461,2647,0.00,2.78,0.00,0.000,4,0.000,0.113,2669,3654,3881
$GC,2682,-1.29,-194.7,254.7,-9.5,468,2688,0.00,2.67,0.00,0.000,6,0.000,0.095,2670,2237,3881
$GC,3026,-1.29,-194.7,285.7,-9.2,529,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3880
$GC,3368,-1.29,-194.7,315.5,-8.6,590,3374,0.00,2.75,0.00,0.000,4,0.000,0.114,2670,3649,3880
$GC,3414,-1.29,-194.7,319.4,-8.6,598,3420,0.00,2.67,0.00,0.000,6,0.000,0.096,2670,2231,3880
$GC,3759,-1.29,-194.7,348.5,-8.4,659,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2232,3881
$GC,4101,-1.29,-194.7,377.5,-8.6,720,4107,0.00,2.78,0.00,0.000,4,0.000,0.116,2670,3652,3880
$GC,4143,-1.29,-194.7,381.1,-9.2,727,4149,0.00,2.67,0.00,0.000,6,0.000,0.098,2669,2243,3880
$GC,4486,-1.29,-194.7,411.7,-9.3,788,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3880
$GC,4830,-1.29,-194.7,444.5,-9.3,849,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3880
$GC,5172,-1.29,-194.7,477.3,-10.3,910,5178,0.00,2.75,0.00,0.000,4,0.000,0.116,2670,3646,3880
$GC,5247,-1.29,-194.7,484.5,-9.6,923,5252,0.00,2.65,0.00,0.000,6,0.000,0.099,2670,2250,3880
$GC,5590,-1.29,-194.7,517.1,-9.3,984,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2251,3880
$GC,5933,-1.29,-194.7,548.7,-8.6,1045,5939,0.00,2.75,0.00,0.000,4,0.000,0.118,2670,3649,3880
$GC,5968,-1.29,-194.7,551.6,-8.9,1051,5974,0.00,2.67,0.00,0.000,6,0.000,0.099,2670,2242,3880
$GC,6312,-1.29,-194.7,576.8,-7.2,1112,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3880
$GC,6654,-1.29,-194.7,602.1,-8.2,1171,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3880
$GC,6974,-1.29,-194.7,627.5,-8.8,1201,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3880
$GC,7293,-1.29,-194.7,654.7,-8.7,1231,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3880
$GC,7611,-1.29,-194.7,683.7,-9.0,1261,7613,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3880
$GC,7930,-1.29,-194.7,713.4,-9.7,1291,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3879
$GC,8247,-1.29,-194.7,743.9,-10.0,1321,8248,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3879
$STATE,8308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8308,begin apogee
$GC,8314,-0.35,0.0,750.1,9.6,1327,8481,1.02,0.00,160.50,1.253,6,0.100,0.000,2878,2333,3085
$STATE,8482,end apogee,CONTROL_FINISHED_OK
$STATE,8482,begin climb
$GC,8484,1.29,194.7,757.1,0.0,1344,8653,1.62,2.97,157.98,1.219,4,0.061,0.129,3238,3741,2291
$GC,8703,1.18,194.7,739.3,14.2,1364,8710,0.12,2.80,0.00,0.000,6,0.115,0.105,3217,2322,2290
$GC,9028,1.12,194.7,696.4,13.2,1395,9032,0.00,2.90,0.00,0.000,4,0.000,0.135,3217,914,2289
$GC,9049,1.07,194.7,693.4,14.0,1396,9056,0.12,2.78,0.00,0.000,6,0.110,0.108,3194,2328,2289
$GC,9373,1.07,194.7,655.3,11.3,1427,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2328,2289
$GC,9692,1.07,194.7,622.4,10.1,1457,9696,0.00,2.83,0.00,0.000,4,0.000,0.121,3194,3742,2288
$GC,9713,1.03,194.7,620.1,10.8,1458,9719,0.00,2.75,0.00,0.000,6,0.000,0.101,3194,2320,2288
$GC,10044,1.03,194.7,587.3,10.2,1500,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2321,2287
$GC,10386,1.03,194.7,547.5,12.6,1561,10391,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2320,2287
$GC,10728,1.03,194.7,504.7,12.3,1622,10734,0.00,2.80,0.00,0.000,4,0.000,0.114,3193,3740,2287
$GC,10785,0.97,194.7,497.6,12.9,1632,10793,0.12,2.70,0.00,0.000,6,0.111,0.100,3171,2331,2287
$GC,11131,1.00,214.7,461.4,9.3,1693,11154,0.00,2.90,17.38,1.049,4,0.000,0.112,3171,3743,2209
$GC,11200,1.00,214.7,454.3,10.6,1705,11206,0.00,2.67,0.00,0.000,6,0.000,0.096,3171,2351,2208
$GC,11543,1.01,226.1,421.8,9.6,1766,11560,0.00,2.85,10.98,0.985,4,0.000,0.114,3172,917,2162
$GC,11584,1.02,229.8,417.9,9.9,1773,11596,0.00,2.78,4.70,0.715,6,0.000,0.100,3171,2355,2148
$GC,11933,1.02,229.8,384.5,10.2,1835,11938,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2356,2147
$GC,12275,1.02,229.8,349.8,10.4,1896,12281,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2356,2147
$GC,12618,1.02,233.5,314.5,9.9,1957,12624,0.00,0.00,4.75,0.733,6,0.000,0.000,3171,2356,2132
$GC,12962,1.03,237.7,278.4,9.9,2018,12974,0.00,2.83,5.53,0.775,4,0.000,0.110,3171,919,2114
$GC,13009,1.07,237.7,273.5,10.4,2026,13015,0.00,2.72,0.00,0.000,6,0.000,0.095,3171,2356,2115
$GC,13353,1.12,274.0,240.5,8.7,2087,13386,0.15,0.00,30.40,0.905,6,0.061,0.000,3214,2355,1968
$GC,13724,1.12,274.0,196.0,12.3,2153,13729,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2356,1964
$GC,14066,1.12,274.0,153.3,12.9,2214,14072,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2355,1963
$GC,14409,1.12,274.0,108.1,13.3,2275,14415,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2356,1963
$GC,14552,1.12,274.0,89.3,12.4,2300,14557,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2356,1963
$GC,14693,1.12,274.0,70.9,12.3,2325,14699,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2355,1963
$GC,14835,1.12,274.0,53.7,11.8,2350,14840,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2356,1963
$GC,14976,1.12,274.0,36.1,12.1,2375,14982,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2356,1963
$GC,15118,1.12,274.0,19.0,16.6,2400,15123,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2356,1963
$STATE,15247,end climb,SURFACE_DEPTH_REACHED
$STATE,15247,begin surface coast
$FINISH,0.5,1.027733
$STATE,15258,end surface coast,CONTROL_FINISHED_OK
$STATE,15258,begin surface
$SM_CCo,15339,0.00,0.000,0,0,1960,275.72
$SM_GC,0.82,11.50,0.00,0.00,0.046,0.000,0.000,590,2233,1960,-10.85,-0.06,275.72
$IRIDIUM_FIX,5837.82,-1749.13,060797,090936
$TT8_MAMPS,0.02301
$HUMID,1591
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,18.50
$XPDR_PINGS,111
$24V_AH,23.5,14.846
$10V_AH,10.7,7.974
$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,27.475,83.150,392.200,0.000,0.000,54.128,67.013,316.165,27.750,0.000,0.000,14.929,3613.802,6991.007,549.064,4041.704,763.690,0.000,2298.456,0.000,4040.575,0.000,0.469
$DEVICE_MAMPS,200.954,137.293,1253.278,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1676.407,1817.422,1831.899,1131.181,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,138753,2425
$CAP_FILE_SIZE,179001,0
$CFSIZE,260165632,253665280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,110408,132931,5904.240,-1840.687,40,1.7,40,-13.3