version: 66.03
glider: 142
mission: 5
dive: 137
start: 5 3 108 13 57 21
data:
$ID,142
$MISSION,5
$DIVE,137
$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,230
$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,-15470.168
$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,20
$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
$GPS1,134538,6109.760,-2535.032,33,1.3,33,-18.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-46.8
$GPS2,135703,6109.647,-2535.291,9,1.1,9,-18.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6102.706,-2539.296
$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,248.0,20000,-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,-0.86,-194.7,0.0,0.0,0,161,0.00,0.00,-129.30,0.000,2,0.000,0.000,1433,2286,3617
$GC,164,-0.86,-194.7,3.4,-4.6,18,188,11.38,2.83,-6.65,0.000,4,0.245,0.056,2724,884,3864
$GC,425,-0.81,-194.7,44.1,-14.5,66,433,0.00,2.78,0.00,0.000,6,0.000,0.031,2724,2302,3866
$GC,564,-0.74,-194.7,63.6,-14.1,91,571,0.17,2.85,0.00,0.000,4,0.131,0.047,2753,887,3866
$GC,773,-0.74,-194.7,89.1,-11.8,129,780,0.00,2.70,0.00,0.000,6,0.000,0.030,2753,2293,3866
$GC,1103,-0.74,-194.7,131.2,-12.9,190,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2293,3866
$GC,1438,-0.74,-194.7,175.0,-13.0,251,1444,0.00,2.80,0.00,0.000,4,0.000,0.048,2753,889,3866
$GC,1498,-0.74,-194.7,182.3,-12.7,261,1504,0.00,2.67,0.00,0.000,6,0.000,0.031,2753,2281,3866
$GC,1838,-0.74,-194.7,223.5,-11.9,322,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2282,3865
$GC,2174,-0.74,-194.7,260.0,-10.6,383,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2282,3866
$GC,2513,-0.74,-194.7,292.7,-8.8,444,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2282,3866
$GC,2857,-0.74,-194.7,323.1,-8.8,505,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2282,3866
$GC,3201,-0.74,-194.7,352.1,-8.3,565,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2283,3866
$GC,3520,-0.74,-194.7,378.5,-8.3,595,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2283,3866
$GC,3839,-0.74,-194.7,409.6,-10.9,625,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2283,3866
$GC,4156,-0.74,-194.7,448.2,-12.8,655,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2282,3866
$GC,4475,-0.74,-194.7,490.5,-13.4,685,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2283,3866
$GC,4793,-0.74,-194.7,529.2,-10.9,715,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2283,3865
$GC,5114,-0.74,-194.7,562.1,-9.9,745,5118,0.00,2.83,0.00,0.000,4,0.000,0.048,2753,3700,3866
$GC,5146,-0.74,-194.7,565.6,-9.7,747,5152,0.00,2.78,0.00,0.000,6,0.000,0.034,2753,2276,3865
$GC,5473,-0.74,-194.7,594.5,-8.6,778,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2274,3865
$GC,5793,-0.74,-194.7,622.9,-9.0,797,5797,0.00,2.90,0.00,0.000,4,0.000,0.051,2753,3704,3865
$GC,5826,-0.74,-194.7,625.9,-9.3,798,5833,0.00,2.80,0.00,0.000,6,0.000,0.037,2753,2279,3865
$GC,6142,-0.74,-194.7,653.1,-8.3,814,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2278,3865
$GC,6451,-0.74,-194.7,677.6,-8.0,829,6455,0.00,2.92,0.00,0.000,4,0.000,0.058,2753,3698,3865
$GC,6483,-0.74,-194.7,680.3,-8.4,830,6490,0.00,2.80,0.00,0.000,6,0.000,0.042,2753,2294,3865
$GC,6799,-0.74,-194.7,708.0,-9.4,846,6800,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2293,3865
$GC,7108,-0.74,-194.7,738.2,-10.0,861,7112,0.00,2.95,0.00,0.000,4,0.000,0.067,2753,3695,3865
$GC,7147,-0.74,-194.7,742.2,-10.4,863,7151,0.00,2.85,0.00,0.000,6,0.000,0.054,2753,2301,3865
$GC,7473,-0.74,-194.7,773.3,-9.3,879,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2301,3865
$GC,7781,-0.74,-194.7,803.1,-10.1,894,7782,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2300,3865
$GC,8091,-0.74,-194.7,835.7,-10.7,909,8096,0.00,3.22,0.00,0.000,4,0.000,0.106,2753,3696,3864
$GC,8130,-0.74,-194.7,839.7,-10.6,911,8135,0.00,3.15,0.00,0.000,6,0.000,0.094,2753,2301,3864
$GC,8456,-0.74,-194.7,868.7,-8.8,927,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2300,3864
$GC,8765,-0.74,-194.7,898.9,-10.3,942,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2295,3863
$GC,9074,-0.74,-194.7,929.9,-9.7,957,9079,0.00,2.88,0.00,0.000,4,0.000,0.055,2753,3700,3863
$GC,9106,-0.74,-194.7,933.2,-10.3,958,9113,0.00,2.80,0.00,0.000,6,0.000,0.039,2753,2285,3863
$GC,9422,-0.74,-194.7,962.1,-8.9,974,9423,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2284,3863
$GC,9731,-0.74,-194.7,989.1,-8.8,989,9732,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2284,3863
$STATE,9749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9749,begin apogee
$GC,9755,-0.21,0.0,991.1,9.1,990,9962,0.70,0.00,203.20,1.605,6,0.117,0.000,2868,2743,3071
$STATE,9963,end apogee,CONTROL_FINISHED_OK
$STATE,9963,begin climb
$GC,9965,0.86,194.7,997.5,0.0,1000,10191,1.40,2.65,211.68,1.555,4,0.083,0.058,3100,3890,2277
$GC,10321,0.69,194.7,958.4,14.1,1016,10328,0.20,2.35,0.00,0.000,6,0.127,0.035,3073,2748,2274
$GC,10636,0.58,194.7,921.6,11.8,1032,10641,0.15,2.40,0.00,0.000,4,0.120,0.053,3047,3897,2274
$GC,10680,0.54,194.7,916.4,11.1,1034,10684,0.00,2.28,0.00,0.000,6,0.000,0.034,3048,2752,2273
$GC,11007,0.55,247.2,885.2,8.2,1050,11066,0.00,0.00,54.15,1.493,6,0.000,0.000,3047,2752,2062
$GC,11376,0.62,300.8,855.7,8.1,1068,11438,0.00,2.53,56.35,1.476,4,0.000,0.053,3047,3894,1842
$GC,11466,0.66,339.9,847.6,8.6,1072,11515,0.00,2.30,42.40,1.446,6,0.000,0.032,3047,2765,1685
$GC,11833,0.72,383.6,813.9,8.5,1090,11886,0.15,3.05,47.20,1.437,4,0.060,0.051,3076,1339,1506
$GC,11903,0.67,383.6,805.8,12.0,1092,11909,0.00,2.95,0.00,0.000,6,0.000,0.032,3076,2768,1504
$GC,12218,0.62,383.6,762.6,15.3,1108,12222,0.00,2.30,0.00,0.000,4,0.000,0.054,3076,3897,1500
$GC,12257,0.62,383.6,756.1,17.3,1110,12261,0.00,2.25,0.00,0.000,6,0.000,0.032,3076,2756,1500
$GC,12584,0.57,383.6,694.9,19.5,1126,12586,0.20,0.00,0.00,0.000,6,0.104,0.000,3045,2755,1498
$GC,12893,0.62,383.6,655.9,10.5,1141,12894,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2755,1497
$GC,13203,0.74,444.8,630.1,7.9,1156,13270,0.20,0.00,64.62,1.358,6,0.053,0.000,3086,2755,1257
$GC,13578,0.68,444.8,573.8,16.1,1181,13579,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2755,1250
$GC,13897,0.63,444.8,525.8,13.7,1211,13901,0.15,2.33,0.00,0.000,4,0.107,0.048,3060,3901,1248
$GC,13936,0.68,444.8,521.1,10.5,1214,13940,0.00,2.20,0.00,0.000,6,0.000,0.031,3060,2765,1247
$GC,14260,0.80,505.9,495.5,7.9,1244,14335,0.15,3.03,63.92,1.267,4,0.056,0.047,3096,1347,1006
$GC,14388,0.80,505.9,479.3,12.5,1255,14395,0.00,2.85,0.00,0.000,6,0.000,0.030,3096,2767,1004
$GC,14714,0.73,505.9,428.8,16.1,1286,14718,0.00,2.25,0.00,0.000,4,0.000,0.048,3096,3896,1001
$GC,14757,0.73,505.9,421.3,15.6,1289,14764,0.00,2.25,0.00,0.000,6,0.000,0.031,3096,2758,1001
$GC,15084,0.66,505.9,367.1,17.2,1320,15086,0.20,0.00,0.00,0.000,6,0.103,0.000,3064,2756,1000
$GC,15409,0.74,505.9,330.6,10.0,1366,15415,0.00,2.83,0.00,0.000,4,0.000,0.047,3064,1338,999
$GC,15455,0.83,505.9,325.7,10.5,1374,15463,0.20,2.78,0.00,0.000,6,0.045,0.028,3108,2771,998
$GC,15798,0.74,505.9,258.8,21.3,1435,15804,0.17,2.20,0.00,0.000,4,0.106,0.045,3078,3888,998
$GC,15849,0.78,505.9,249.8,13.9,1444,15857,0.00,2.20,0.00,0.000,6,0.000,0.031,3078,2760,998
$GC,16193,0.78,505.9,201.1,13.8,1505,16200,0.00,2.83,0.00,0.000,4,0.000,0.046,3078,1338,997
$GC,16256,0.84,505.9,193.0,12.4,1516,16263,0.08,2.75,0.00,0.000,6,0.048,0.029,3100,2748,997
$GC,16597,0.77,505.9,133.0,19.0,1577,16603,0.00,2.25,0.00,0.000,4,0.000,0.047,3100,3890,997
$GC,16632,0.77,505.9,126.4,17.1,1583,16638,0.00,2.20,0.00,0.000,6,0.000,0.032,3100,2749,997
$GC,16963,0.70,505.9,66.7,16.4,1644,16971,0.15,0.00,0.00,0.000,6,0.108,0.000,3074,2749,997
$GC,17291,0.85,551.8,33.8,8.4,1705,17344,0.15,2.85,44.40,0.965,4,0.055,0.047,3110,1341,822
$GC,17383,0.85,551.8,19.3,10.3,1719,17391,0.00,2.83,0.00,0.000,6,0.000,0.030,3111,2754,820
$STATE,17485,end climb,SURFACE_DEPTH_REACHED
$STATE,17485,begin surface coast
$FINISH,1.1,1.026274
$STATE,17492,end surface coast,CONTROL_FINISHED_OK
$STATE,17493,begin surface
$SM_CCo,17571,0.00,0.000,0,0,817,552.91
$SM_GC,0.47,8.50,0.00,0.00,0.041,0.000,0.000,1436,2300,817,-6.79,0.00,552.91
$IRIDIUM_FIX,6046.07,-2534.12,280797,131333
$TT8_MAMPS,0.026845
$HUMID,1773
$INTERNAL_PRESSURE,8.83869
$TCM_TEMP,11.70
$XPDR_PINGS,838
$24V_AH,19.5,47.630
$10V_AH,9.7,36.848
$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,24.300,119.075,787.925,0.000,0.000,59.342,61.914,363.950,209.500,0.000,0.000,11.290,2735.736,9991.338,851.132,3862.629,796.206,0.000,2359.560,0.000,3868.852,0.000,0.465
$DEVICE_MAMPS,245.440,105.846,1605.331,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1209.808,1250.353,610.334,851.550,1554.116,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126526,1739
$CAP_FILE_SIZE,164734,0
$CFSIZE,260165632,243269632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030508,185126,6106.450,-2545.627,38,1.8,39,-18.1