version: 66.03
glider: 140
mission: 5
dive: 31
start: 4 10 108 15 14 32
data:
$ID,140
$MISSION,5
$DIVE,31
$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,-13768.016
$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,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
$GPS1,150638,5905.344,-1818.988,34,1.0,34,-13.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-61.4
$GPS2,151414,5905.278,-1819.056,11,1.0,16,-13.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5905.278,-1824.604
$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,283.1,20000,-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,-194.7,0.0,0.0,0,95,0.00,0.00,-65.55,0.000,2,0.000,0.000,593,2224,3593
$GC,98,-1.29,-194.7,3.4,-6.7,12,123,12.68,2.78,-6.05,0.000,4,0.199,0.117,2667,3654,3881
$GC,361,-1.29,-194.7,35.6,-10.7,58,367,0.00,2.67,0.00,0.000,6,0.000,0.092,2667,2233,3882
$GC,503,-1.29,-194.7,51.5,-10.9,83,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2233,3881
$GC,644,-1.29,-194.7,65.8,-10.4,108,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2233,3881
$GC,786,-1.29,-194.7,78.2,-9.3,133,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2234,3882
$GC,928,-1.29,-194.7,91.1,-9.6,158,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2233,3881
$GC,1069,-1.29,-194.7,103.4,-8.9,183,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2233,3881
$GC,1211,-1.29,-194.7,114.7,-7.9,208,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2233,3882
$GC,1353,-1.29,-194.7,126.7,-8.6,233,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2233,3882
$GC,1495,-1.29,-194.7,139.3,-9.0,258,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2233,3882
$GC,1636,-1.29,-194.7,151.9,-9.6,283,1642,0.00,2.75,0.00,0.000,4,0.000,0.110,2667,3648,3881
$GC,1665,-1.29,-194.7,154.9,-10.6,288,1672,0.00,2.65,0.00,0.000,6,0.000,0.094,2667,2243,3882
$GC,2009,-1.29,-194.7,187.5,-10.0,349,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2244,3882
$GC,2351,-1.29,-194.7,221.3,-9.6,410,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2244,3882
$GC,2695,-1.29,-194.7,255.1,-9.3,471,2701,0.00,2.72,0.00,0.000,4,0.000,0.111,2667,3646,3882
$GC,2730,-1.29,-194.7,258.5,-10.3,477,2736,0.00,2.65,0.00,0.000,6,0.000,0.096,2667,2246,3882
$GC,3073,-1.29,-194.7,290.7,-9.8,538,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2246,3882
$GC,3417,-1.29,-194.7,323.4,-8.8,599,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2246,3881
$GC,3759,-1.29,-194.7,353.7,-8.6,660,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2246,3881
$GC,4103,-1.29,-194.7,383.8,-8.9,721,4109,0.00,2.72,0.00,0.000,4,0.000,0.115,2667,3646,3882
$GC,4138,-1.29,-194.7,387.1,-9.8,727,4144,0.00,2.65,0.00,0.000,6,0.000,0.098,2667,2250,3882
$GC,4482,-1.29,-194.7,418.2,-9.3,788,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2251,3882
$GC,4825,-1.29,-194.7,450.2,-9.4,849,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2251,3882
$GC,5168,-1.29,-194.7,482.4,-9.3,910,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2251,3882
$GC,5510,-1.29,-194.7,513.2,-9.3,971,5516,0.00,2.75,0.00,0.000,4,0.000,0.117,2667,3653,3882
$GC,5545,-1.29,-194.7,516.4,-9.3,977,5551,0.00,2.65,0.00,0.000,6,0.000,0.098,2667,2255,3881
$GC,5888,-1.29,-194.7,547.3,-9.1,1038,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2255,3882
$GC,6230,-1.29,-194.7,577.9,-9.4,1099,6235,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2256,3881
$GC,6568,-1.29,-194.7,609.0,-9.1,1151,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2255,3882
$GC,6887,-1.29,-194.7,637.6,-9.1,1181,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2256,3881
$GC,7207,-1.29,-194.7,666.6,-9.2,1211,7211,0.00,2.75,0.00,0.000,4,0.000,0.122,2667,3646,3881
$GC,7246,-1.29,-194.7,670.7,-10.0,1214,7250,0.00,2.67,0.00,0.000,6,0.000,0.103,2667,2250,3881
$GC,7572,-1.29,-194.7,699.1,-8.4,1244,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2250,3881
$GC,7891,-1.29,-194.7,724.3,-7.7,1274,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2250,3881
$GC,8209,-1.29,-194.7,748.7,-7.9,1304,8210,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2250,3881
$STATE,8226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8226,begin apogee
$GC,8232,-0.35,0.0,750.4,7.9,1306,8400,1.05,0.00,161.10,1.249,6,0.102,0.000,2880,2330,3084
$STATE,8400,end apogee,CONTROL_FINISHED_OK
$STATE,8401,begin climb
$GC,8403,1.29,194.7,756.0,0.0,1323,8572,1.62,2.92,158.68,1.211,4,0.061,0.123,3239,3737,2291
$GC,8651,1.17,194.7,734.0,13.8,1346,8657,0.12,2.78,0.00,0.000,6,0.115,0.104,3218,2324,2289
$GC,8976,1.11,194.7,694.3,12.0,1376,8977,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2325,2289
$GC,9296,1.05,194.7,655.8,11.8,1406,9298,0.15,0.00,0.00,0.000,6,0.110,0.000,3190,2325,2288
$GC,9614,1.05,194.7,622.9,10.1,1436,9619,0.00,2.83,0.00,0.000,4,0.000,0.117,3190,3742,2287
$GC,9653,1.00,194.7,618.6,11.2,1439,9658,0.00,2.72,0.00,0.000,6,0.000,0.100,3190,2332,2287
$GC,9985,1.00,194.7,584.4,10.2,1482,9990,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2332,2287
$GC,10328,1.00,194.7,547.5,11.0,1543,10334,0.00,2.78,0.00,0.000,4,0.000,0.114,3190,3738,2287
$GC,10363,0.95,194.7,543.6,11.5,1549,10370,0.12,2.70,0.00,0.000,6,0.111,0.097,3168,2329,2287
$GC,10708,0.96,195.1,510.3,10.0,1610,10713,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2328,2287
$GC,11050,0.96,202.1,477.9,9.8,1671,11061,0.00,0.00,7.20,0.943,6,0.000,0.000,3168,2329,2261
$GC,11400,0.98,212.8,443.8,9.6,1733,11416,0.00,0.00,10.65,0.998,6,0.000,0.000,3167,2328,2216
$GC,11753,0.99,227.5,408.8,9.5,1796,11770,0.00,0.00,13.60,0.989,6,0.000,0.000,3168,2328,2157
$GC,12107,1.01,240.3,374.3,9.6,1859,12123,0.00,0.00,11.98,0.958,6,0.000,0.000,3168,2329,2105
$GC,12460,1.05,268.9,341.1,9.0,1922,12488,0.00,0.00,24.80,0.961,6,0.000,0.000,3168,2328,1988
$GC,12826,1.09,306.6,306.8,8.7,1987,12864,0.12,0.00,32.40,0.935,6,0.064,0.000,3200,2329,1834
$GC,13204,1.09,306.6,263.9,11.7,2054,13209,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2329,1829
$GC,13546,1.09,306.6,222.1,12.3,2115,13552,0.00,2.78,0.00,0.000,4,0.000,0.109,3200,3743,1828
$GC,13575,1.09,306.6,218.4,13.1,2120,13582,0.00,2.67,0.00,0.000,6,0.000,0.094,3200,2337,1828
$GC,13919,1.09,306.6,175.6,12.4,2181,13924,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2337,1828
$GC,14262,1.09,306.6,131.8,12.2,2242,14268,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2337,1828
$GC,14404,1.09,306.6,114.2,12.4,2267,14409,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2337,1827
$GC,14545,1.09,306.6,96.6,11.8,2292,14551,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2337,1827
$GC,14687,1.09,306.6,79.0,12.2,2317,14693,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2337,1827
$GC,14828,1.09,306.6,61.4,12.0,2342,14835,0.00,2.75,0.00,0.000,4,0.000,0.109,3200,911,1827
$GC,14853,1.09,306.6,58.4,12.7,2346,14859,0.00,2.70,0.00,0.000,6,0.000,0.095,3200,2342,1827
$GC,14996,1.09,306.6,41.3,11.8,2371,15002,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2342,1827
$GC,15137,1.09,306.6,23.6,11.3,2396,15143,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2342,1827
$GC,15279,1.09,306.6,6.5,11.8,2421,15285,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2342,1827
$STATE,15317,end climb,SURFACE_DEPTH_REACHED
$STATE,15317,begin surface coast
$FINISH,0.1,1.014234
$STATE,15335,end surface coast,CONTROL_FINISHED_OK
$STATE,15336,begin surface
$SM_CCo,15416,0.00,0.000,0,0,1823,309.57
$SM_GC,0.85,11.50,0.00,0.00,0.049,0.000,0.000,592,2234,1823,-10.85,-0.03,309.57
$IRIDIUM_FIX,5846.12,-1815.49,050797,101054
$TT8_MAMPS,0.02301
$HUMID,1574
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,18.20
$XPDR_PINGS,115
$24V_AH,23.5,14.182
$10V_AH,10.7,7.231
$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,27.375,60.450,420.400,0.000,0.000,29.253,32.900,249.578,28.750,0.000,0.000,16.833,3618.114,6976.231,547.166,4065.467,641.516,0.000,2299.952,0.000,4065.848,0.000,0.468
$DEVICE_MAMPS,198.653,134.992,1249.443,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1680.809,1816.455,1842.295,1140.473,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135828,2431
$CAP_FILE_SIZE,174915,0
$CFSIZE,260165632,254054400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100408,193258,5903.759,-1823.724,36,3.5,55,-13.2