version: 66.03
glider: 142
mission: 5
dive: 123
start: 4 30 108 10 8 44
data:
$ID,142
$MISSION,5
$DIVE,123
$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,360
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,240
$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,51804
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,240
$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,-15166.903
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1435
$PITCH_MAX,3965
$C_PITCH,2920
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,220
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2750
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,475
$VBD_MAX,3964
$C_VBD,3071
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PRESSURE_YINT,-2.876246
$PRESSURE_SLOPE,9.1518581e-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,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.65
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$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
$GPS1,100107,6058.063,-2411.893,32,1.6,32,-17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-36.3
$GPS2,100826,6057.976,-2412.031,13,1.8,30,-17.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6052.576,-2416.583
$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,257.2,20000,-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,26,-0.86,-194.7,0.0,0.0,0,180,0.00,0.00,-151.12,0.000,2,0.000,0.000,1434,2290,3564
$GC,183,-0.86,-194.7,3.7,-6.7,21,215,11.55,2.90,-8.00,0.000,4,0.252,0.054,2728,3703,3866
$GC,306,-0.77,-194.7,24.8,-19.1,42,315,0.10,2.80,0.00,0.000,6,0.134,0.034,2744,2296,3867
$GC,441,-0.77,-194.7,41.0,-11.5,67,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2296,3867
$GC,575,-0.77,-194.7,58.8,-12.8,92,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2296,3867
$GC,908,-0.77,-194.7,101.3,-13.1,153,915,0.00,2.80,0.00,0.000,4,0.000,0.049,2744,887,3867
$GC,1009,-0.77,-194.7,114.3,-12.0,171,1015,0.00,2.70,0.00,0.000,6,0.000,0.031,2744,2289,3867
$GC,1341,-0.77,-194.7,153.0,-11.6,232,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2289,3867
$GC,1683,-0.77,-194.7,191.6,-11.4,293,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2289,3867
$GC,2022,-0.77,-194.7,229.8,-11.3,354,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2289,3867
$GC,2362,-0.77,-194.7,269.2,-11.7,415,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2289,3867
$GC,2702,-0.77,-194.7,310.1,-12.0,476,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2289,3867
$GC,3049,-0.77,-194.7,351.7,-12.1,537,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2289,3867
$GC,3364,-0.77,-194.7,388.9,-11.6,567,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2289,3867
$GC,3683,-0.77,-194.7,424.2,-10.5,597,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2290,3867
$GC,4001,-0.77,-194.7,457.0,-10.1,627,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2290,3867
$GC,4324,-0.77,-194.7,489.1,-10.2,657,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2290,3867
$GC,4648,-0.77,-194.7,525.4,-11.8,688,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2290,3867
$GC,4967,-0.77,-194.7,562.5,-11.4,718,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2290,3867
$GC,5286,-0.77,-194.7,597.4,-10.5,748,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2290,3867
$GC,5606,-0.77,-194.7,631.2,-10.7,765,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2290,3867
$GC,5915,-0.77,-194.7,663.5,-10.3,780,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2290,3867
$GC,6224,-0.77,-194.7,695.9,-10.6,795,6229,0.00,2.90,0.00,0.000,4,0.000,0.064,2744,886,3867
$GC,6279,-0.77,-194.7,702.1,-10.8,797,6285,0.00,2.70,0.00,0.000,6,0.000,0.037,2744,2265,3867
$GC,6594,-0.77,-194.7,735.1,-10.5,813,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2266,3867
$GC,6904,-0.77,-194.7,766.5,-10.0,828,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2266,3866
$GC,7213,-0.77,-194.7,796.7,-9.8,843,7218,0.00,3.15,0.00,0.000,4,0.000,0.091,2744,3703,3866
$GC,7245,-0.77,-194.7,800.0,-10.7,844,7252,0.00,3.05,0.00,0.000,6,0.000,0.075,2744,2283,3866
$GC,7561,-0.77,-194.7,831.3,-9.8,860,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2282,3866
$GC,7870,-0.77,-194.7,860.1,-9.3,875,7875,0.00,3.35,0.00,0.000,4,0.000,0.115,2744,3704,3866
$GC,7914,-0.77,-194.7,864.4,-9.8,877,7919,0.00,3.20,0.00,0.000,6,0.000,0.094,2744,2264,3865
$GC,8234,-0.77,-194.7,895.0,-9.7,893,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2264,3865
$GC,8544,-0.77,-194.7,924.5,-9.2,908,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2264,3864
$GC,8853,-0.77,-194.7,952.8,-9.3,923,8858,0.00,2.97,0.00,0.000,4,0.000,0.058,2744,3709,3864
$GC,8908,-0.77,-194.7,958.3,-9.7,925,8914,0.00,2.83,0.00,0.000,6,0.000,0.041,2744,2290,3864
$STATE,9221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9221,begin apogee
$GC,9227,-0.21,0.0,990.2,10.3,941,9434,0.75,0.00,202.77,1.592,6,0.117,0.000,2868,2759,3071
$STATE,9434,end apogee,CONTROL_FINISHED_OK
$STATE,9434,begin climb
$GC,9437,0.86,194.7,997.9,0.0,951,9662,1.40,2.62,210.75,1.542,4,0.083,0.057,3100,3891,2277
$GC,9831,0.69,194.7,953.0,14.7,969,9836,0.20,2.33,0.00,0.000,6,0.128,0.035,3073,2745,2274
$GC,10146,0.58,194.7,915.0,11.9,984,10151,0.15,2.40,0.00,0.000,4,0.124,0.053,3048,3899,2274
$GC,10202,0.54,194.7,909.0,10.7,986,10208,0.00,2.25,0.00,0.000,6,0.000,0.034,3048,2762,2274
$GC,10517,0.49,194.7,877.6,10.2,1002,10518,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2761,2273
$GC,10827,0.44,194.7,845.2,10.3,1017,10828,0.17,0.00,0.00,0.000,6,0.114,0.000,3021,2761,2273
$GC,11135,0.55,283.7,821.7,6.9,1032,11228,0.00,0.00,90.85,1.474,6,0.000,0.000,3021,2760,1914
$GC,11525,0.71,360.2,794.4,7.3,1051,11609,0.28,0.00,81.15,1.437,6,0.048,0.000,3075,2760,1602
$GC,11915,0.65,360.2,740.2,14.3,1070,11919,0.00,2.38,0.00,0.000,4,0.000,0.052,3076,3904,1594
$GC,11969,0.65,360.2,732.2,13.9,1072,11976,0.00,2.28,0.00,0.000,6,0.000,0.032,3075,2767,1593
$GC,12286,0.60,360.2,689.5,13.2,1088,12290,0.15,2.33,0.00,0.000,4,0.112,0.051,3050,3903,1592
$GC,12317,0.60,360.2,685.4,11.1,1089,12324,0.00,2.17,0.00,0.000,6,0.000,0.032,3050,2788,1592
$GC,12633,0.60,361.4,654.1,10.0,1105,12638,0.00,2.90,0.00,0.000,4,0.000,0.048,3050,1341,1591
$GC,12683,0.65,365.6,649.2,9.9,1107,12695,0.00,2.83,4.65,0.874,6,0.000,0.031,3050,2785,1580
$GC,13003,0.65,365.6,616.4,10.2,1123,13004,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2785,1579
$GC,13319,0.65,365.6,583.6,10.4,1145,13323,0.00,2.88,0.00,0.000,4,0.000,0.045,3050,1346,1579
$GC,13362,0.70,365.6,578.6,10.4,1148,13369,0.12,2.78,0.00,0.000,6,0.058,0.031,3075,2765,1579
$GC,13687,0.65,365.6,534.3,13.8,1179,13691,0.00,2.25,0.00,0.000,4,0.000,0.050,3075,3902,1579
$GC,13741,0.65,365.6,526.7,13.3,1183,13748,0.00,2.17,0.00,0.000,6,0.000,0.031,3075,2772,1578
$GC,14068,0.61,365.6,485.2,12.3,1214,14070,0.15,0.00,0.00,0.000,6,0.110,0.000,3053,2770,1578
$GC,14386,0.63,383.6,454.7,9.4,1244,14411,0.00,2.90,19.80,1.166,4,0.000,0.047,3053,1337,1506
$GC,14428,0.68,388.7,450.5,9.8,1247,14447,0.00,2.85,6.75,0.986,6,0.000,0.031,3053,2784,1486
$GC,14763,0.76,418.8,419.8,9.0,1279,14802,0.15,3.00,32.62,1.182,4,0.054,0.045,3089,1340,1362
$GC,14825,0.72,418.8,411.7,13.4,1284,14829,0.00,2.85,0.00,0.000,6,0.000,0.031,3089,2762,1359
$GC,15149,0.66,418.8,364.1,14.7,1314,15154,0.15,2.28,0.00,0.000,4,0.107,0.047,3063,3902,1357
$GC,15211,0.72,418.8,356.6,10.8,1319,15214,0.00,2.20,0.00,0.000,6,0.000,0.031,3063,2764,1356
$GC,15548,0.72,418.8,321.0,11.6,1373,15554,0.00,2.83,0.00,0.000,4,0.000,0.047,3063,1345,1356
$GC,15600,0.77,418.8,315.3,10.9,1382,15607,0.12,2.78,0.00,0.000,6,0.055,0.029,3089,2769,1355
$GC,15942,0.72,418.8,266.6,15.0,1443,15949,0.00,2.22,0.00,0.000,4,0.000,0.048,3090,3896,1355
$GC,15993,0.72,418.8,258.8,14.7,1452,16001,0.00,2.20,0.00,0.000,6,0.000,0.031,3089,2766,1355
$GC,16337,0.66,418.8,205.4,15.0,1513,16343,0.15,0.00,0.00,0.000,6,0.107,0.000,3063,2764,1355
$GC,16676,0.73,442.9,168.8,9.2,1574,16707,0.00,2.85,24.05,1.002,4,0.000,0.046,3063,1349,1265
$GC,16726,0.82,466.4,164.2,9.2,1582,16761,0.17,2.83,25.75,1.011,6,0.048,0.030,3100,2787,1168
$GC,17088,0.75,466.4,105.5,14.7,1648,17096,0.00,2.22,0.00,0.000,4,0.000,0.048,3100,3889,1163
$GC,17142,0.75,466.4,98.0,12.5,1657,17148,0.00,2.12,0.00,0.000,6,0.000,0.031,3100,2795,1162
$GC,17473,0.68,466.4,45.7,19.3,1718,17481,0.17,0.00,0.00,0.000,6,0.114,0.000,3071,2793,1162
$GC,17608,0.68,466.4,29.6,12.6,1743,17615,0.00,2.92,0.00,0.000,4,0.000,0.048,3071,1349,1161
$GC,17634,0.73,466.4,26.2,12.6,1747,17642,0.00,2.85,0.00,0.000,6,0.000,0.031,3071,2798,1161
$GC,17771,0.77,466.4,10.1,13.5,1772,17779,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2798,1160
$STATE,17862,end climb,SURFACE_DEPTH_REACHED
$STATE,17862,begin surface coast
$FINISH,0.1,1.025502
$STATE,17889,end surface coast,CONTROL_FINISHED_OK
$STATE,17890,begin surface
$SM_CCo,17967,0.00,0.000,0,0,1158,469.26
$SM_GC,0.52,8.23,0.00,0.00,0.044,0.000,0.000,1434,2297,1158,-6.79,-0.08,469.26
$IRIDIUM_FIX,6032.86,-2357.30,250797,040428
$TT8_MAMPS,0.026845
$HUMID,1746
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,11.80
$XPDR_PINGS,829
$24V_AH,19.6,43.017
$10V_AH,9.8,33.998
$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,24.175,113.825,699.150,0.000,0.000,30.678,33.688,226.146,207.250,0.000,0.000,31.540,2814.249,10151.040,827.612,4014.637,580.853,0.000,2361.002,0.000,3999.082,0.000,0.466
$DEVICE_MAMPS,251.576,115.050,1592.292,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1244.111,1290.656,642.624,901.630,1645.475,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129794,1794
$CAP_FILE_SIZE,163605,0
$CFSIZE,260165632,244617216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300408,150945,6056.407,-2423.216,39,4.3,58,-17.3