version: 66.03
glider: 142
mission: 5
dive: 140
start: 5 4 108 5 56 45
data:
$ID,142
$MISSION,5
$DIVE,140
$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,-15536.981
$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,30
$R_STBD_OVSHOOT,19
$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
$GPS1,054832,6059.973,-2608.727,41,1.3,41,-18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-41.9
$GPS2,055627,6059.967,-2608.894,12,1.9,12,-18.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6053.025,-2612.920
$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,248.2,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.86,-194.7,0.0,0.0,0,175,0.00,0.00,-144.12,0.000,2,0.000,0.000,1438,2276,3617
$GC,177,-0.86,-194.7,3.6,-6.9,20,202,11.38,2.80,-6.47,0.000,4,0.247,0.057,2724,891,3866
$GC,436,-0.86,-194.7,52.8,-14.9,68,444,0.00,2.78,0.00,0.000,6,0.000,0.030,2725,2308,3866
$GC,769,-0.79,-194.7,93.3,-12.2,129,776,0.12,2.83,0.00,0.000,4,0.136,0.046,2741,897,3867
$GC,913,-0.79,-194.7,109.5,-10.1,155,919,0.00,2.70,0.00,0.000,6,0.000,0.030,2741,2296,3866
$GC,1240,-0.79,-194.7,146.6,-11.9,216,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2296,3866
$GC,1583,-0.79,-194.7,186.9,-11.4,277,1589,0.00,2.80,0.00,0.000,4,0.000,0.048,2741,891,3866
$GC,1622,-0.79,-194.7,191.7,-11.4,284,1630,0.00,2.72,0.00,0.000,6,0.000,0.031,2742,2292,3866
$GC,1967,-0.79,-194.7,230.7,-11.1,345,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2293,3866
$GC,2304,-0.79,-194.7,268.1,-10.8,406,2310,0.00,2.78,0.00,0.000,4,0.000,0.048,2742,899,3866
$GC,2370,-0.79,-194.7,275.7,-11.3,418,2376,0.00,2.67,0.00,0.000,6,0.000,0.030,2742,2293,3866
$GC,2709,-0.79,-194.7,310.6,-10.1,479,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2294,3866
$GC,3049,-0.79,-194.7,347.0,-10.1,540,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2293,3866
$GC,3378,-0.79,-194.7,382.0,-11.1,573,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2294,3866
$GC,3694,-0.79,-194.7,419.8,-12.4,603,3699,0.00,2.78,0.00,0.000,4,0.000,0.048,2742,899,3866
$GC,3744,-0.79,-194.7,426.2,-13.3,607,3749,0.00,2.65,0.00,0.000,6,0.000,0.030,2742,2282,3866
$GC,4070,-0.79,-194.7,470.9,-14.6,637,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2283,3866
$GC,4387,-0.79,-194.7,516.2,-14.0,667,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2283,3866
$GC,4708,-0.79,-194.7,557.9,-12.3,697,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2283,3866
$GC,5024,-0.79,-194.7,594.6,-11.1,727,5028,0.00,2.83,0.00,0.000,4,0.000,0.051,2742,3699,3866
$GC,5054,-0.79,-194.7,597.7,-11.5,729,5059,0.00,2.75,0.00,0.000,6,0.000,0.035,2742,2293,3866
$GC,5369,-0.79,-194.7,631.0,-10.1,745,5374,0.00,2.88,0.00,0.000,4,0.000,0.052,2742,3706,3866
$GC,5396,-0.79,-194.7,633.5,-9.7,746,5401,0.00,2.78,0.00,0.000,6,0.000,0.038,2742,2297,3866
$GC,5712,-0.79,-194.7,660.5,-8.3,761,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2297,3866
$GC,6021,-0.79,-194.7,688.1,-9.7,776,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2297,3866
$GC,6330,-0.79,-194.7,723.3,-12.5,791,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2297,3866
$GC,6639,-0.79,-194.7,761.9,-12.2,806,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2297,3866
$GC,6948,-0.79,-194.7,798.6,-11.8,821,6949,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2297,3866
$GC,7257,-0.79,-194.7,833.1,-10.2,836,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2297,3866
$GC,7567,-0.79,-194.7,861.4,-9.0,851,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2298,3866
$GC,7876,-0.79,-194.7,890.6,-9.6,866,7881,0.00,3.30,0.00,0.000,4,0.000,0.116,2742,3702,3865
$GC,7903,-0.79,-194.7,893.2,-9.9,867,7907,0.00,2.78,0.00,0.000,6,0.000,0.039,2742,2297,3865
$GC,8224,-0.79,-194.7,922.5,-9.2,883,8226,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2296,3865
$GC,8533,-0.79,-194.7,952.6,-10.4,898,8534,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2296,3865
$GC,8842,-0.79,-194.7,987.8,-11.6,913,8847,0.00,2.90,0.00,0.000,4,0.000,0.058,2741,3703,3864
$STATE,8861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8861,begin apogee
$GC,8869,-0.21,0.0,990.4,11.7,914,9076,0.75,0.00,203.85,1.607,6,0.122,0.000,2866,2746,3071
$STATE,9077,end apogee,CONTROL_FINISHED_OK
$STATE,9077,begin climb
$GC,9079,0.86,194.7,999.1,0.0,924,9304,1.40,2.65,211.32,1.552,4,0.078,0.054,3099,3882,2277
$GC,9472,0.70,194.7,952.8,15.5,942,9477,0.17,2.30,0.00,0.000,6,0.128,0.041,3076,2751,2274
$GC,9793,0.58,194.7,911.3,12.7,958,9795,0.17,0.00,0.00,0.000,6,0.119,0.000,3050,2749,2274
$GC,10102,0.57,234.5,882.1,8.6,973,10148,0.00,2.42,40.40,1.471,4,0.000,0.055,3050,3887,2115
$GC,10198,0.59,246.1,873.5,9.6,977,10218,0.00,2.33,13.38,1.347,6,0.000,0.041,3050,2728,2067
$GC,10535,0.61,266.4,844.1,9.3,994,10563,0.00,2.50,21.83,1.403,4,0.000,0.053,3050,3887,1984
$GC,10609,0.61,266.4,836.7,10.1,997,10613,0.00,2.25,0.00,0.000,6,0.000,0.033,3050,2775,1983
$GC,10930,0.62,269.8,805.6,9.9,1013,10940,0.00,2.92,4.75,0.950,4,0.000,0.050,3049,1339,1971
$GC,10969,0.62,269.8,801.6,10.1,1015,10973,0.00,2.83,0.00,0.000,6,0.000,0.032,3050,2762,1970
$GC,11294,0.63,278.0,768.2,9.7,1031,11309,0.00,2.30,9.90,1.226,4,0.000,0.058,3049,3896,1937
$GC,11348,0.63,281.9,762.7,9.9,1033,11360,0.00,2.22,5.90,1.072,6,0.000,0.032,3049,2760,1921
$GC,11668,0.63,281.9,730.7,10.2,1049,11669,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2758,1920
$GC,11978,0.64,291.6,699.6,9.7,1064,11991,0.00,0.00,11.25,1.228,6,0.000,0.000,3050,2758,1882
$GC,12286,0.64,291.6,666.7,11.0,1079,12287,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2758,1881
$GC,12595,0.64,291.6,633.7,10.4,1094,12596,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2758,1880
$GC,12905,0.66,307.5,603.4,9.4,1109,12925,0.00,0.00,17.35,1.256,6,0.000,0.000,3049,2758,1817
$GC,13244,0.75,378.9,575.1,7.5,1139,13324,0.17,0.00,74.82,1.323,6,0.056,0.000,3084,2758,1526
$GC,13644,0.68,378.9,526.4,12.7,1177,13648,0.00,2.33,0.00,0.000,4,0.000,0.049,3084,3894,1518
$GC,13688,0.64,378.9,520.4,11.8,1180,13696,0.12,2.22,0.00,0.000,6,0.099,0.031,3062,2770,1518
$GC,14013,0.64,378.9,482.9,13.1,1211,14018,0.00,2.88,0.00,0.000,4,0.000,0.046,3063,1335,1517
$GC,14041,0.64,378.9,479.2,13.1,1213,14045,0.00,2.83,0.00,0.000,6,0.000,0.031,3063,2774,1516
$GC,14365,0.64,378.9,432.8,15.8,1243,14366,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2775,1516
$GC,14685,0.64,378.9,382.7,15.0,1273,14690,0.00,2.90,0.00,0.000,4,0.000,0.045,3063,1334,1516
$GC,14717,0.64,378.9,377.7,14.3,1275,14724,0.00,2.78,0.00,0.000,6,0.000,0.031,3063,2762,1515
$GC,15049,0.64,378.9,333.5,13.4,1317,15055,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2762,1516
$GC,15387,0.64,378.9,293.8,10.9,1378,15392,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2762,1515
$GC,15725,0.64,378.9,256.8,11.2,1439,15731,0.00,2.85,0.00,0.000,4,0.000,0.044,3063,1336,1515
$GC,15770,0.68,378.9,251.8,11.4,1447,15776,0.00,2.75,0.00,0.000,6,0.000,0.031,3063,2754,1515
$GC,16110,0.68,378.9,214.0,10.9,1508,16118,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2755,1515
$GC,16452,0.68,378.9,167.1,14.3,1569,16459,0.00,2.80,0.00,0.000,4,0.000,0.044,3062,1344,1515
$GC,16488,0.72,378.9,161.9,14.7,1575,16495,0.00,2.72,0.00,0.000,6,0.000,0.030,3063,2755,1515
$GC,16824,0.72,378.9,121.3,10.2,1636,16831,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2755,1515
$GC,17158,0.82,460.1,91.9,7.2,1697,17245,0.15,0.00,79.18,1.012,6,0.055,0.000,3098,2755,1194
$GC,17570,0.75,460.1,31.3,16.9,1771,17577,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2756,1187
$GC,17705,0.69,460.1,9.3,14.6,1796,17713,0.15,0.00,0.00,0.000,6,0.105,0.000,3072,2755,1186
$STATE,17766,end climb,SURFACE_DEPTH_REACHED
$STATE,17766,begin surface coast
$FINISH,0.3,1.026296
$STATE,17783,end surface coast,CONTROL_FINISHED_OK
$STATE,17783,begin surface
$SM_CCo,17861,0.00,0.000,0,0,1183,462.88
$SM_GC,0.50,8.32,0.00,0.00,0.045,0.000,0.000,1435,2285,1183,-6.79,-0.42,462.88
$IRIDIUM_FIX,6041.65,-2600.10,290797,000022
$TT8_MAMPS,0.026845
$HUMID,1766
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,11.80
$XPDR_PINGS,803
$24V_AH,19.5,48.695
$10V_AH,9.7,37.453
$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,22.925,102.325,693.925,0.000,0.000,23.091,28.315,286.972,200.750,0.000,0.000,14.315,2816.497,10094.617,759.832,4014.393,630.588,0.000,2305.221,0.000,4015.602,0.000,0.465
$DEVICE_MAMPS,246.974,115.817,1606.865,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1257.163,1302.016,663.761,881.663,1633.400,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132924,1810
$CAP_FILE_SIZE,158595,0
$CFSIZE,260165632,242987008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040508,105537,6056.601,-2618.215,36,1.1,36,-18.3