version: 66.03
glider: 140
mission: 5
dive: 116
start: 4 30 108 20 20 46
data:
$ID,140
$MISSION,5
$DIVE,116
$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,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,320
$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,-15340.566
$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,9
$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
$GPS1,201307,6106.954,-2447.102,62,1.2,62,-17.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-56.8
$GPS2,202028,6106.981,-2447.227,14,1.9,15,-17.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6115.254,-2450.565
$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,337.6,20000,-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,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,-81.45,0.000,2,0.000,0.000,590,2227,3419
$GC,114,-1.29,-194.7,3.4,-9.8,15,144,12.85,2.78,-10.12,0.000,4,0.202,0.112,2669,3649,3880
$GC,224,-1.29,-194.7,19.4,-14.5,34,230,0.00,2.65,0.00,0.000,6,0.000,0.081,2669,2235,3881
$GC,366,-1.29,-194.7,32.9,-6.5,59,372,0.00,2.75,0.00,0.000,4,0.000,0.100,2669,3657,3881
$GC,402,-1.29,-194.7,35.7,-8.1,65,408,0.00,2.65,0.00,0.000,6,0.000,0.084,2669,2245,3881
$GC,544,-1.29,-194.7,50.4,-12.0,90,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3881
$GC,887,-1.29,-194.7,85.6,-8.6,151,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3881
$GC,1230,-1.29,-194.7,116.9,-9.8,212,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3880
$GC,1574,-1.29,-194.7,151.0,-9.5,273,1580,0.00,2.75,0.00,0.000,4,0.000,0.104,2669,825,3881
$GC,1608,-1.29,-194.7,154.4,-9.9,279,1615,0.00,2.67,0.00,0.000,6,0.000,0.089,2669,2240,3881
$GC,1952,-1.29,-194.7,186.8,-9.2,340,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3881
$GC,2295,-1.29,-194.7,217.3,-8.7,401,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3880
$GC,2638,-1.29,-194.7,247.1,-8.9,462,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3881
$GC,2980,-1.29,-194.7,279.0,-9.4,523,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3881
$GC,3322,-1.29,-194.7,310.6,-9.2,584,3329,0.00,2.72,0.00,0.000,4,0.000,0.110,2669,3643,3881
$GC,3346,-1.29,-194.7,312.9,-9.3,588,3353,0.00,2.65,0.00,0.000,6,0.000,0.089,2669,2236,3881
$GC,3691,-1.29,-194.7,343.8,-8.8,649,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3881
$GC,4020,-1.29,-194.7,371.9,-8.5,686,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3881
$GC,4338,-1.29,-194.7,398.5,-8.5,716,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3881
$GC,4657,-1.29,-194.7,427.1,-9.0,746,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2233,3881
$GC,4975,-1.29,-194.7,456.7,-8.9,776,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3881
$GC,5293,-1.29,-194.7,485.9,-9.1,806,5297,0.00,2.78,0.00,0.000,4,0.000,0.113,2669,3643,3881
$GC,5321,-1.29,-194.7,488.5,-9.8,808,5325,0.00,2.67,0.00,0.000,6,0.000,0.091,2669,2230,3881
$GC,5647,-1.29,-194.7,518.0,-8.7,838,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2232,3881
$GC,5964,-1.29,-194.7,546.8,-9.4,868,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2232,3880
$GC,6283,-1.29,-194.7,576.5,-9.4,898,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2232,3880
$GC,6600,-1.29,-194.7,605.4,-8.7,925,6601,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2232,3880
$GC,6909,-1.29,-194.7,630.4,-7.7,940,6913,0.00,2.83,0.00,0.000,4,0.000,0.118,2669,3649,3880
$GC,6941,-1.29,-194.7,633.2,-8.7,941,6948,0.00,2.67,0.00,0.000,6,0.000,0.095,2669,2237,3880
$GC,7257,-1.29,-194.7,658.0,-7.6,957,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3880
$GC,7566,-1.29,-194.7,682.5,-8.2,972,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3880
$GC,7875,-1.29,-194.7,708.7,-8.7,987,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3880
$GC,8184,-1.29,-194.7,736.4,-9.0,1002,8189,0.00,2.83,0.00,0.000,4,0.000,0.123,2669,3641,3879
$GC,8216,-1.29,-194.7,739.6,-10.1,1003,8223,0.00,2.72,0.00,0.000,6,0.000,0.100,2669,2226,3879
$GC,8532,-1.29,-194.7,768.1,-8.9,1019,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3879
$GC,8842,-1.29,-194.7,794.7,-8.6,1034,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3879
$GC,9151,-1.29,-194.7,821.6,-8.9,1049,9155,0.00,2.88,0.00,0.000,4,0.000,0.128,2669,3643,3879
$GC,9178,-1.29,-194.7,824.2,-10.0,1050,9182,0.00,2.72,0.00,0.000,6,0.000,0.102,2669,2229,3879
$GC,9493,-1.29,-194.7,853.3,-9.4,1065,9498,0.00,2.85,0.00,0.000,4,0.000,0.127,2669,3641,3879
$GC,9525,-1.29,-194.7,856.5,-10.1,1066,9532,0.00,2.72,0.00,0.000,6,0.000,0.103,2669,2234,3879
$GC,9841,-1.29,-194.7,885.2,-9.1,1082,9842,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3878
$GC,10151,-1.29,-194.7,911.8,-8.5,1097,10152,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3877
$GC,10460,-1.29,-194.7,937.0,-8.1,1112,10464,0.00,2.88,0.00,0.000,4,0.000,0.130,2669,3644,3877
$GC,10509,-1.29,-194.7,941.2,-8.3,1114,10513,0.00,2.72,0.00,0.000,6,0.000,0.107,2669,2244,3877
$GC,10825,-1.29,-194.7,964.5,-7.2,1129,10826,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2244,3877
$GC,11134,-1.29,-194.7,987.7,-7.9,1144,11138,0.00,2.88,0.00,0.000,4,0.000,0.133,2669,3645,3876
$STATE,11158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11158,begin apogee
$GC,11166,-0.35,0.0,990.0,9.1,1145,11338,1.02,0.00,165.88,1.437,6,0.107,0.000,2876,2330,3085
$STATE,11339,end apogee,CONTROL_FINISHED_OK
$STATE,11339,begin climb
$GC,11341,1.29,194.7,996.3,0.0,1154,11509,1.67,0.00,163.77,1.401,6,0.062,0.000,3240,2329,2291
$GC,11809,1.20,194.7,945.3,13.6,1177,11810,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2330,2289
$GC,12117,1.11,194.7,902.2,13.9,1192,12122,0.17,2.95,0.00,0.000,4,0.113,0.132,3205,3733,2288
$GC,12179,1.03,194.7,894.0,13.0,1195,12184,0.00,2.83,0.00,0.000,6,0.000,0.107,3205,2323,2288
$GC,12506,0.99,194.7,856.4,11.1,1211,12508,0.15,0.00,0.00,0.000,6,0.113,0.000,3177,2324,2288
$GC,12814,1.01,216.3,826.8,9.2,1226,12836,0.00,0.00,19.45,1.298,6,0.000,0.000,3177,2324,2203
$GC,13144,1.01,216.3,793.8,10.2,1242,13145,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2324,2201
$GC,13453,1.01,216.3,762.6,10.0,1257,13455,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2324,2201
$GC,13762,1.01,216.3,731.1,10.3,1272,13767,0.00,2.88,0.00,0.000,4,0.000,0.121,3177,3734,2201
$GC,13788,1.01,216.3,728.1,10.5,1273,13793,0.00,2.75,0.00,0.000,6,0.000,0.101,3177,2330,2201
$GC,14105,1.04,238.4,697.0,9.2,1288,14127,0.00,0.00,20.17,1.230,6,0.000,0.000,3177,2331,2113
$GC,14433,1.07,261.2,666.9,9.2,1304,14460,0.00,2.92,20.85,1.191,4,0.000,0.117,3177,3734,2019
$GC,14494,1.07,261.2,660.8,10.2,1307,14499,0.00,2.78,0.00,0.000,6,0.000,0.097,3177,2327,2017
$GC,14820,1.07,261.2,627.9,10.5,1323,14822,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2327,2016
$GC,15131,1.07,261.2,593.3,11.1,1340,15132,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2327,2015
$GC,15451,1.07,261.2,557.0,11.7,1370,15453,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2326,2015
$GC,15768,1.07,261.2,522.1,10.4,1400,15769,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2326,2015
$GC,16087,1.07,261.2,488.5,10.7,1430,16088,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2325,2015
$GC,16405,1.07,261.2,454.8,10.4,1460,16406,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2325,2016
$GC,16724,1.07,261.2,421.9,10.3,1490,16725,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2326,2016
$GC,17042,1.07,261.2,389.1,10.3,1520,17043,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2325,2016
$GC,17361,1.07,261.2,356.0,10.4,1550,17362,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2325,2016
$GC,17694,1.07,261.2,322.5,10.6,1604,17700,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2325,2016
$GC,18038,1.07,261.2,287.8,10.0,1665,18043,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2326,2016
$GC,18381,1.14,317.6,253.3,8.0,1726,18433,0.15,0.00,47.75,0.936,6,0.062,0.000,3219,2325,1789
$GC,18772,1.14,317.6,206.4,14.4,1796,18777,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2326,1784
$GC,19115,1.14,317.6,158.3,14.2,1857,19120,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2326,1783
$GC,19457,1.14,317.6,108.8,14.4,1918,19462,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2325,1783
$GC,19800,1.14,317.6,59.6,14.6,1979,19805,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2326,1783
$GC,20142,1.14,317.6,7.6,16.5,2040,20148,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2326,1782
$STATE,20181,end climb,SURFACE_DEPTH_REACHED
$STATE,20181,begin surface coast
$FINISH,0.3,1.027865
$STATE,20192,end surface coast,CONTROL_FINISHED_OK
$STATE,20192,begin surface
$SM_CCo,20273,0.00,0.000,0,0,1778,320.61
$SM_GC,1.09,11.52,0.00,0.00,0.044,0.000,0.000,590,2228,1778,-10.85,-0.20,320.61
$IRIDIUM_FIX,6041.65,-2440.61,250797,141456
$TT8_MAMPS,0.02301
$HUMID,1631
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.90
$XPDR_PINGS,58
$24V_AH,23.4,29.584
$10V_AH,10.7,22.906
$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,27.550,77.700,437.875,0.000,0.000,25.265,27.298,246.330,14.500,0.000,0.000,15.772,3153.331,13009.034,603.012,3318.770,612.102,0.000,2104.540,0.000,3305.881,0.000,0.467
$DEVICE_MAMPS,202.488,132.691,1437.358,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1423.158,1521.291,926.363,561.196,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116823,2049
$CAP_FILE_SIZE,167579,0
$CFSIZE,260165632,244891648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,1,0,0
$GPS,010508,015958,6111.207,-2454.012,24,99.0,43,-17.7