version: 66.03
glider: 140
mission: 5
dive: 36
start: 4 11 108 13 40 47
data:
$ID,140
$MISSION,5
$DIVE,36
$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,-13840.825
$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,11
$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
$GPS1,132931,5904.240,-1840.687,40,1.7,40,-13.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-59.2
$GPS2,134027,5904.260,-1840.618,15,1.5,15,-13.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5904.260,-1846.168
$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,26,-1.29,-194.7,0.0,0.0,0,94,0.00,0.00,-65.10,0.000,2,0.000,0.000,590,2232,3482
$GC,96,-1.29,-194.7,3.6,-11.0,12,126,12.65,2.78,-8.50,0.000,4,0.197,0.114,2665,3648,3881
$GC,364,-1.29,-194.7,35.0,-8.6,59,370,0.00,2.65,0.00,0.000,6,0.000,0.087,2665,2227,3882
$GC,506,-1.29,-194.7,48.6,-10.1,84,512,0.00,2.70,0.00,0.000,4,0.000,0.105,2665,819,3882
$GC,535,-1.29,-194.7,51.9,-10.8,89,542,0.00,2.65,0.00,0.000,6,0.000,0.093,2665,2223,3882
$GC,678,-1.29,-194.7,65.5,-8.3,114,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2223,3882
$GC,821,-1.29,-194.7,79.0,-9.8,139,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2223,3882
$GC,962,-1.29,-194.7,93.9,-10.2,164,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2223,3882
$GC,1104,-1.29,-194.7,108.2,-10.0,189,1110,0.00,2.72,0.00,0.000,4,0.000,0.106,2665,3648,3882
$GC,1139,-1.29,-194.7,112.0,-11.1,195,1145,0.00,2.67,0.00,0.000,6,0.000,0.090,2665,2219,3881
$GC,1281,-1.29,-194.7,126.6,-10.0,220,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2219,3882
$GC,1424,-1.29,-194.7,140.8,-9.5,245,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2219,3882
$GC,1565,-1.29,-194.7,154.4,-9.4,270,1572,0.00,2.78,0.00,0.000,4,0.000,0.107,2665,3657,3882
$GC,1600,-1.29,-194.7,157.8,-9.7,276,1607,0.00,2.65,0.00,0.000,6,0.000,0.089,2665,2233,3882
$GC,1945,-1.29,-194.7,189.9,-9.6,337,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2233,3882
$GC,2287,-1.29,-194.7,224.4,-9.3,398,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2233,3882
$GC,2631,-1.29,-194.7,253.7,-8.5,459,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2233,3882
$GC,2973,-1.29,-194.7,284.0,-9.1,520,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2233,3882
$GC,3317,-1.29,-194.7,314.6,-9.0,581,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2233,3882
$GC,3659,-1.29,-194.7,343.7,-8.0,642,3665,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2233,3882
$GC,4003,-1.29,-194.7,371.8,-8.9,703,4009,0.00,2.78,0.00,0.000,4,0.000,0.115,2665,3649,3882
$GC,4031,-1.29,-194.7,374.8,-10.3,708,4038,0.00,2.67,0.00,0.000,6,0.000,0.094,2665,2226,3882
$GC,4376,-1.29,-194.7,407.6,-9.6,769,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2227,3882
$GC,4718,-1.29,-194.7,440.5,-10.1,830,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2227,3882
$GC,5061,-1.29,-194.7,475.3,-9.9,891,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2227,3882
$GC,5403,-1.29,-194.7,508.7,-9.9,952,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2227,3881
$GC,5747,-1.29,-194.7,541.2,-8.9,1013,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2227,3882
$GC,6089,-1.29,-194.7,572.9,-8.8,1074,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2227,3881
$GC,6430,-1.29,-194.7,604.1,-9.3,1131,6434,0.00,2.80,0.00,0.000,4,0.000,0.120,2665,3649,3881
$GC,6473,-1.29,-194.7,608.4,-9.6,1134,6479,0.00,2.70,0.00,0.000,6,0.000,0.100,2665,2228,3881
$GC,6800,-1.29,-194.7,638.0,-8.8,1165,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2228,3881
$GC,7118,-1.29,-194.7,667.2,-8.9,1195,7122,0.00,2.83,0.00,0.000,4,0.000,0.123,2665,3649,3881
$GC,7157,-1.29,-194.7,670.8,-9.4,1198,7161,0.00,2.70,0.00,0.000,6,0.000,0.102,2665,2237,3882
$GC,7483,-1.29,-194.7,699.2,-8.6,1228,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2238,3881
$GC,7802,-1.29,-194.7,727.0,-9.3,1258,7803,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2238,3881
$STATE,8063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8063,begin apogee
$GC,8069,-0.35,0.0,750.6,9.4,1283,8236,1.02,0.00,160.65,1.256,6,0.101,0.000,2877,2329,3085
$STATE,8237,end apogee,CONTROL_FINISHED_OK
$STATE,8237,begin climb
$GC,8240,1.29,194.7,757.2,0.0,1300,8408,1.62,2.97,158.15,1.221,4,0.061,0.133,3237,919,2291
$GC,8442,1.22,194.7,741.0,14.1,1319,8447,0.00,2.80,0.00,0.000,6,0.000,0.110,3237,2331,2290
$GC,8769,1.13,194.7,700.2,12.2,1349,8774,0.15,2.88,0.00,0.000,4,0.111,0.126,3206,3743,2289
$GC,8813,1.06,194.7,694.7,11.7,1352,8819,0.00,2.78,0.00,0.000,6,0.000,0.104,3206,2322,2288
$GC,9139,1.01,194.7,659.8,11.1,1383,9141,0.12,0.00,0.00,0.000,6,0.113,0.000,3183,2322,2288
$GC,9457,1.03,204.0,627.5,9.7,1413,9471,0.00,2.90,8.95,1.064,4,0.000,0.119,3184,3744,2253
$GC,9512,0.99,204.0,621.7,10.5,1418,9516,0.00,2.75,0.00,0.000,6,0.000,0.102,3183,2334,2253
$GC,9841,0.99,204.0,588.6,11.1,1457,9846,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2334,2252
$GC,10183,0.99,204.0,553.8,10.0,1518,10188,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2334,2252
$GC,10525,0.99,204.0,518.6,10.4,1579,10530,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2334,2252
$GC,10867,0.99,204.7,484.0,10.0,1640,10873,0.00,2.78,0.00,0.000,4,0.000,0.114,3184,3742,2252
$GC,10890,0.99,204.7,481.6,10.3,1644,10897,0.00,2.70,0.00,0.000,6,0.000,0.097,3184,2328,2252
$GC,11235,0.99,204.7,447.4,10.0,1705,11240,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2329,2252
$GC,11577,1.01,222.2,414.4,9.4,1766,11599,0.00,2.83,16.30,1.012,4,0.000,0.114,3183,918,2179
$GC,11617,1.02,230.3,410.6,9.7,1773,11634,0.00,2.75,8.43,0.895,6,0.000,0.101,3183,2335,2145
$GC,11972,1.02,230.3,374.8,10.0,1836,11977,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2335,2145
$GC,12315,1.02,231.3,340.5,10.0,1897,12320,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2335,2144
$GC,12657,1.03,242.7,306.3,9.6,1958,12674,0.00,0.00,11.60,0.929,6,0.000,0.000,3183,2335,2094
$GC,13011,1.03,242.7,269.0,10.7,2021,13017,0.00,2.78,0.00,0.000,4,0.000,0.112,3183,915,2093
$GC,13046,1.03,242.7,265.1,10.8,2027,13052,0.00,2.70,0.00,0.000,6,0.000,0.098,3183,2330,2093
$GC,13389,1.03,242.7,229.4,10.5,2088,13395,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2330,2093
$GC,13732,1.03,242.7,192.7,10.2,2149,13737,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2331,2093
$GC,14074,1.03,242.7,156.0,11.7,2210,14080,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2331,2093
$GC,14418,1.03,242.7,117.6,10.4,2271,14424,0.00,2.75,0.00,0.000,4,0.000,0.110,3183,911,2093
$GC,14447,1.03,242.7,114.2,12.2,2276,14453,0.00,2.67,0.00,0.000,6,0.000,0.094,3183,2333,2094
$GC,14591,1.03,242.7,98.8,10.6,2301,14596,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2333,2093
$GC,14732,1.03,242.7,83.0,11.7,2326,14738,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2333,2093
$GC,14874,1.07,274.3,67.3,8.9,2351,14903,0.00,0.00,26.45,0.806,6,0.000,0.000,3183,2333,1965
$GC,15041,1.07,274.3,49.5,11.3,2380,15047,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2333,1962
$GC,15182,1.07,274.3,31.3,11.7,2405,15188,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2333,1962
$GC,15324,1.18,364.2,17.6,6.9,2430,15402,0.15,0.00,72.70,0.754,6,0.061,0.000,3226,2333,1599
$STATE,15440,end climb,SURFACE_DEPTH_REACHED
$STATE,15440,begin surface coast
$FINISH,0.3,1.020405
$STATE,15456,end surface coast,CONTROL_FINISHED_OK
$STATE,15456,begin surface
$SM_CCo,15537,0.00,0.000,0,0,1590,366.48
$SM_GC,0.80,11.62,0.00,0.00,0.044,0.000,0.000,592,2227,1590,-10.84,-0.23,366.48
$IRIDIUM_FIX,5841.97,-1844.62,060797,131329
$TT8_MAMPS,0.02301
$HUMID,1570
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,18.50
$XPDR_PINGS,120
$24V_AH,23.5,15.020
$10V_AH,10.7,8.162
$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,27.350,77.525,463.225,0.000,0.000,53.420,69.583,322.255,30.000,0.000,0.000,15.826,3642.332,7042.246,588.023,4112.842,786.289,0.000,2380.890,0.000,4115.142,0.000,0.468
$DEVICE_MAMPS,197.119,138.060,1256.346,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1694.818,1839.251,1873.297,1156.986,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,138798,2453
$CAP_FILE_SIZE,180494,0
$CFSIZE,260165632,253558784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110408,180101,5904.440,-1842.861,38,1.0,43,-13.3