version: 66.03
glider: 140
mission: 5
dive: 115
start: 4 30 108 14 27 3
data:
$ID,140
$MISSION,5
$DIVE,115
$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,340
$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,-15324.165
$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,10
$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
$GPS1,141452,6102.459,-2444.157,38,99.0,57,-17.5
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-52.2
$GPS2,142645,6102.472,-2444.370,14,1.7,14,-17.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6112.620,-2446.149
$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,357.5,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.29,-194.7,0.0,0.0,0,122,0.00,0.00,-90.95,0.000,2,0.000,0.000,594,2229,3548
$GC,125,-1.29,-194.7,3.2,-5.6,17,155,12.73,2.80,-7.20,0.000,4,0.199,0.114,2668,3642,3882
$GC,409,-1.29,-194.7,43.9,-10.9,67,415,0.00,2.62,0.00,0.000,6,0.000,0.081,2668,2226,3882
$GC,550,-1.29,-194.7,60.3,-12.2,92,557,0.00,2.67,0.00,0.000,4,0.000,0.099,2668,825,3882
$GC,809,-1.29,-194.7,87.7,-10.9,138,816,0.00,2.65,0.00,0.000,6,0.000,0.088,2668,2238,3882
$GC,1153,-1.29,-194.7,118.5,-9.5,199,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3882
$GC,1496,-1.29,-194.7,154.0,-10.5,260,1502,0.00,2.72,0.00,0.000,4,0.000,0.106,2668,3645,3882
$GC,1526,-1.29,-194.7,157.1,-11.0,265,1532,0.00,2.65,0.00,0.000,6,0.000,0.084,2669,2230,3882
$GC,1869,-1.29,-194.7,192.1,-9.7,326,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3882
$GC,2211,-1.29,-194.7,223.4,-8.7,387,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3882
$GC,2555,-1.29,-194.7,254.3,-9.2,448,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2230,3882
$GC,2898,-1.29,-194.7,285.2,-8.5,509,2905,0.00,2.78,0.00,0.000,4,0.000,0.111,2668,3645,3882
$GC,2928,-1.29,-194.7,287.9,-9.4,514,2934,0.00,2.65,0.00,0.000,6,0.000,0.087,2668,2234,3882
$GC,3271,-1.29,-194.7,316.6,-8.7,575,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2235,3882
$GC,3613,-1.29,-194.7,347.1,-8.7,636,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3882
$GC,3946,-1.29,-194.7,376.9,-9.0,670,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2233,3882
$GC,4264,-1.29,-194.7,406.2,-9.4,700,4268,0.00,2.78,0.00,0.000,4,0.000,0.113,2668,3643,3882
$GC,4296,-1.29,-194.7,409.6,-10.3,702,4302,0.00,2.65,0.00,0.000,6,0.000,0.091,2668,2241,3882
$GC,4623,-1.29,-194.7,441.6,-10.2,733,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2241,3882
$GC,4939,-1.29,-194.7,472.6,-9.6,763,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2242,3881
$GC,5258,-1.29,-194.7,501.0,-8.4,793,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2242,3881
$GC,5576,-1.29,-194.7,528.1,-8.8,823,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2242,3881
$GC,5898,-1.29,-194.7,556.6,-9.1,853,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2242,3881
$GC,6222,-1.29,-194.7,586.4,-8.8,884,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2242,3881
$GC,6547,-1.29,-194.7,615.2,-9.0,907,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2242,3881
$GC,6856,-1.29,-194.7,643.0,-9.0,922,6860,0.00,2.80,0.00,0.000,4,0.000,0.120,2669,3648,3881
$GC,6882,-1.29,-194.7,645.6,-9.9,923,6887,0.00,2.67,0.00,0.000,6,0.000,0.095,2668,2245,3880
$GC,7198,-1.29,-194.7,673.5,-8.8,938,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3880
$GC,7507,-1.29,-194.7,700.1,-8.5,953,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3880
$GC,7817,-1.29,-194.7,726.9,-8.6,968,7821,0.00,2.83,0.00,0.000,4,0.000,0.123,2669,3648,3880
$GC,7860,-1.29,-194.7,731.0,-9.3,970,7865,0.00,2.67,0.00,0.000,6,0.000,0.100,2668,2253,3880
$GC,8181,-1.29,-194.7,760.1,-9.1,986,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2254,3880
$GC,8490,-1.29,-194.7,786.3,-8.1,1001,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2254,3880
$GC,8800,-1.29,-194.7,811.0,-8.0,1016,8804,0.00,2.90,0.00,0.000,4,0.000,0.132,2668,827,3879
$GC,8826,-1.29,-194.7,813.4,-9.1,1017,8831,0.00,2.78,0.00,0.000,6,0.000,0.109,2668,2250,3879
$GC,9142,-1.29,-194.7,839.3,-8.3,1032,9146,0.00,2.83,0.00,0.000,4,0.000,0.132,2667,3647,3879
$GC,9169,-1.29,-194.7,841.6,-9.1,1033,9173,0.00,2.67,0.00,0.000,6,0.000,0.102,2668,2257,3879
$GC,9484,-1.29,-194.7,867.5,-8.0,1048,9485,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2258,3879
$GC,9793,-1.29,-194.7,891.1,-7.7,1063,9794,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2258,3878
$GC,10103,-1.29,-194.7,914.9,-7.9,1078,10104,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2258,3878
$GC,10412,-1.29,-194.7,941.1,-8.7,1093,10413,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2258,3878
$GC,10721,-1.29,-194.7,967.6,-8.5,1108,10722,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2258,3878
$STATE,10987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10987,begin apogee
$GC,10992,-0.35,0.0,990.4,8.6,1121,11162,1.05,0.00,166.12,1.440,6,0.107,0.000,2878,2329,3085
$STATE,11163,end apogee,CONTROL_FINISHED_OK
$STATE,11163,begin climb
$GC,11165,1.29,194.7,996.9,0.0,1129,11339,1.65,3.05,162.82,1.406,4,0.064,0.136,3238,914,2290
$GC,11378,1.22,194.7,981.1,13.2,1139,11383,0.00,2.88,0.00,0.000,6,0.000,0.117,3238,2329,2289
$GC,11694,1.13,194.7,941.8,12.6,1154,11699,0.17,2.97,0.00,0.000,4,0.112,0.137,3204,3738,2288
$GC,11738,1.06,194.7,935.8,12.9,1156,11743,0.00,2.83,0.00,0.000,6,0.000,0.107,3204,2330,2288
$GC,12059,1.06,194.7,899.2,11.3,1172,12060,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2331,2288
$GC,12368,1.06,194.7,864.5,11.3,1187,12369,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2331,2287
$GC,12678,1.02,194.7,830.8,10.7,1202,12680,0.10,0.00,0.00,0.000,6,0.122,0.000,3186,2331,2287
$GC,12987,1.02,196.3,800.1,9.9,1217,12988,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2331,2286
$GC,13296,1.02,196.3,768.8,10.3,1232,13297,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2331,2285
$GC,13605,1.02,196.3,736.9,10.1,1247,13607,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2331,2285
$GC,13914,1.02,196.3,705.8,10.0,1262,13916,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2331,2285
$GC,14224,1.03,202.2,675.2,9.8,1277,14233,0.00,0.00,7.28,1.084,6,0.000,0.000,3186,2331,2260
$GC,14534,1.05,219.1,645.1,9.4,1292,14553,0.00,0.00,15.95,1.182,6,0.000,0.000,3186,2331,2190
$GC,14862,1.05,219.1,611.6,10.3,1308,14867,0.00,2.85,0.00,0.000,4,0.000,0.117,3187,3738,2190
$GC,14895,1.05,219.1,607.8,10.7,1309,14901,0.00,2.72,0.00,0.000,6,0.000,0.094,3186,2328,2190
$GC,15218,1.05,219.1,573.2,10.8,1336,15219,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2328,2190
$GC,15537,1.05,219.1,538.1,10.9,1366,15538,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2328,2190
$GC,15855,1.05,219.1,504.8,10.1,1396,15856,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2328,2190
$GC,16174,1.06,228.1,473.4,9.7,1426,16185,0.00,0.00,9.00,1.027,6,0.000,0.000,3186,2328,2155
$GC,16502,1.06,228.1,440.7,10.2,1457,16503,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2328,2154
$GC,16820,1.06,228.1,406.9,10.6,1487,16825,0.00,2.80,0.00,0.000,4,0.000,0.110,3186,3738,2154
$GC,16870,1.06,228.1,401.2,11.3,1491,16875,0.00,2.67,0.00,0.000,6,0.000,0.088,3187,2341,2154
$GC,17198,1.06,228.1,365.8,10.8,1521,17203,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2341,2155
$GC,17533,1.06,228.1,328.2,11.3,1569,17538,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2341,2155
$GC,17875,1.06,228.1,290.1,12.0,1630,17880,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2341,2155
$GC,18217,1.06,228.1,251.8,10.2,1691,18223,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2341,2155
$GC,18562,1.06,228.1,215.7,10.3,1752,18567,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2341,2156
$GC,18905,1.06,228.1,182.2,10.8,1813,18910,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2341,2156
$GC,19247,1.12,272.0,148.4,8.5,1874,19290,0.00,0.00,37.10,0.868,6,0.000,0.000,3186,2341,1975
$GC,19628,1.14,289.0,110.8,9.4,1942,19645,0.00,0.00,15.10,0.828,6,0.000,0.000,3186,2341,1906
$GC,19983,1.14,289.0,76.2,11.4,2005,19988,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2341,1903
$GC,20327,1.25,377.0,37.9,6.9,2066,20406,0.17,2.83,71.97,0.782,4,0.060,0.104,3234,3739,1547
$GC,20448,1.25,377.0,24.1,11.8,2087,20455,0.00,2.67,0.00,0.000,6,0.000,0.084,3235,2339,1542
$STATE,20577,end climb,SURFACE_DEPTH_REACHED
$STATE,20577,begin surface coast
$FINISH,0.3,1.027841
$STATE,20586,end surface coast,CONTROL_FINISHED_OK
$STATE,20586,begin surface
$SM_CCo,20667,0.00,0.000,0,0,1535,379.97
$SM_GC,0.93,11.62,0.00,0.00,0.043,0.000,0.000,590,2229,1535,-10.85,-0.17,379.97
$IRIDIUM_FIX,6041.65,-2444.65,250797,141450
$TT8_MAMPS,0.02301
$HUMID,1589
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,17.90
$XPDR_PINGS,67
$24V_AH,23.4,29.398
$10V_AH,10.7,22.767
$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,27.500,77.800,485.350,0.000,0.000,55.959,71.207,372.993,16.750,0.000,0.000,14.766,3220.574,13283.567,593.319,3443.022,820.817,0.000,2183.064,0.000,3421.972,0.000,0.468
$DEVICE_MAMPS,199.420,152.633,1439.659,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1463.910,1558.320,960.543,582.171,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119804,2111
$CAP_FILE_SIZE,172085,0
$CFSIZE,260165632,244973568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300408,201307,6106.954,-2447.102,62,1.2,62,-17.6