version: 66.03
glider: 142
mission: 5
dive: 143
start: 5 4 108 21 29 28
data:
$ID,142
$MISSION,5
$DIVE,143
$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,-15600.853
$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,22
$R_STBD_OVSHOOT,26
$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
$GPS1,212107,6051.062,-2638.931,39,1.4,50,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-47.6
$GPS2,212911,6051.082,-2639.082,8,2.9,27,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6044.141,-2643.126
$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,248.4,20000,-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,27,-0.86,-194.7,0.0,0.0,0,181,0.00,0.00,-150.85,0.000,2,0.000,0.000,1435,2286,3672
$GC,184,-0.86,-194.7,3.8,-6.1,21,208,11.52,2.80,-4.85,0.000,4,0.250,0.055,2726,891,3866
$GC,445,-0.81,-194.7,48.6,-14.0,69,453,0.00,2.75,0.00,0.000,6,0.000,0.030,2726,2298,3866
$GC,585,-0.74,-194.7,68.4,-14.2,94,593,0.15,2.85,0.00,0.000,4,0.136,0.047,2750,895,3867
$GC,662,-0.74,-194.7,78.1,-11.8,107,668,0.00,2.72,0.00,0.000,6,0.000,0.031,2750,2304,3867
$GC,992,-0.74,-194.7,118.2,-13.3,168,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2304,3866
$GC,1326,-0.74,-194.7,157.5,-10.1,229,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2304,3866
$GC,1665,-0.74,-194.7,195.2,-12.2,290,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2304,3866
$GC,2003,-0.74,-194.7,238.4,-13.3,351,2010,0.00,2.83,0.00,0.000,4,0.000,0.048,2750,886,3867
$GC,2048,-0.74,-194.7,244.6,-13.8,359,2054,0.00,2.72,0.00,0.000,6,0.000,0.030,2749,2307,3866
$GC,2389,-0.74,-194.7,290.1,-13.2,420,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2307,3866
$GC,2732,-0.74,-194.7,333.2,-12.1,481,2738,0.00,2.75,0.00,0.000,4,0.000,0.045,2750,3703,3866
$GC,2757,-0.74,-194.7,336.2,-12.1,485,2763,0.00,2.75,0.00,0.000,6,0.000,0.033,2749,2286,3867
$GC,3091,-0.74,-194.7,374.0,-11.1,527,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2285,3866
$GC,3410,-0.74,-194.7,408.2,-10.7,557,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2285,3867
$GC,3729,-0.74,-194.7,443.8,-11.4,587,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2285,3867
$GC,4050,-0.74,-194.7,478.4,-10.5,617,4054,0.00,2.85,0.00,0.000,4,0.000,0.046,2750,3709,3867
$GC,4081,-0.74,-194.7,482.1,-10.5,619,4088,0.00,2.75,0.00,0.000,6,0.000,0.034,2750,2295,3867
$GC,4408,-0.74,-194.7,512.7,-8.9,650,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2294,3866
$GC,4727,-0.74,-194.7,540.0,-8.6,680,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2294,3867
$GC,5044,-0.74,-194.7,569.7,-9.7,710,5048,0.00,2.85,0.00,0.000,4,0.000,0.049,2750,3709,3866
$GC,5071,-0.74,-194.7,572.5,-10.4,712,5076,0.00,2.75,0.00,0.000,6,0.000,0.035,2750,2302,3866
$GC,5395,-0.74,-194.7,604.8,-9.9,740,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2302,3866
$GC,5703,-0.74,-194.7,637.7,-11.0,755,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2301,3866
$GC,6013,-0.74,-194.7,670.7,-10.6,770,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2302,3866
$GC,6322,-0.74,-194.7,700.2,-9.2,785,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2302,3866
$GC,6631,-0.74,-194.7,729.6,-10.1,800,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2302,3866
$GC,6941,-0.74,-194.7,762.5,-10.5,815,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2302,3866
$GC,7250,-0.74,-194.7,793.5,-9.8,830,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2302,3866
$GC,7559,-0.74,-194.7,821.3,-8.7,845,7560,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2302,3866
$GC,7869,-0.74,-194.7,846.1,-8.9,860,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2302,3866
$GC,8178,-0.74,-194.7,878.8,-9.3,875,8183,0.00,3.45,0.00,0.000,4,0.000,0.133,2750,3693,3866
$GC,8239,-0.74,-194.7,883.7,-7.7,878,8244,0.00,3.28,0.00,0.000,6,0.000,0.115,2750,2301,3866
$GC,8566,-0.74,-194.7,907.6,-7.0,894,8567,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2300,3866
$GC,8875,-0.74,-194.7,927.4,-6.6,909,8879,0.00,2.88,0.00,0.000,4,0.000,0.056,2750,3700,3865
$GC,8901,-0.74,-194.7,929.4,-7.8,910,8906,0.00,2.75,0.00,0.000,6,0.000,0.038,2750,2311,3866
$GC,9217,-0.74,-194.7,953.1,-8.3,925,9222,0.00,2.88,0.00,0.000,4,0.000,0.057,2750,3706,3865
$GC,9244,-0.74,-194.7,955.5,-8.9,926,9248,0.00,2.78,0.00,0.000,6,0.000,0.041,2750,2310,3865
$GC,9559,-0.74,-194.7,982.1,-7.9,941,9560,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2308,3864
$STATE,9660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9660,begin apogee
$GC,9666,-0.21,0.0,991.5,9.5,946,9874,0.75,0.00,204.27,1.611,6,0.123,0.000,2871,2742,3071
$STATE,9875,end apogee,CONTROL_FINISHED_OK
$STATE,9875,begin climb
$GC,9877,0.86,194.7,999.7,0.0,956,10103,1.38,2.65,211.50,1.555,4,0.081,0.058,3100,3890,2277
$GC,10171,0.69,194.7,969.0,13.9,970,10176,0.20,2.40,0.00,0.000,6,0.127,0.035,3073,2748,2275
$GC,10497,0.58,194.7,931.4,12.0,986,10502,0.15,2.40,0.00,0.000,4,0.126,0.054,3049,3892,2274
$GC,10563,0.53,194.7,923.9,11.7,989,10567,0.00,2.25,0.00,0.000,6,0.000,0.035,3048,2765,2273
$GC,10890,0.48,194.7,889.2,10.3,1005,10892,0.15,0.00,0.00,0.000,6,0.117,0.000,3026,2763,2273
$GC,11200,0.58,281.1,866.1,7.0,1020,11293,0.00,2.47,88.60,1.510,4,0.000,0.054,3026,3903,1924
$GC,11323,0.76,377.7,857.6,6.6,1026,11434,0.30,2.28,104.65,1.480,6,0.050,0.032,3083,2784,1531
$GC,11750,0.67,377.7,797.7,16.3,1047,11751,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2784,1522
$GC,12059,0.59,377.7,742.8,18.4,1062,12061,0.20,0.00,0.00,0.000,6,0.109,0.000,3053,2784,1521
$GC,12368,0.59,377.7,704.2,11.0,1077,12373,0.00,2.92,0.00,0.000,4,0.000,0.049,3054,1337,1520
$GC,12407,0.65,386.1,700.3,9.7,1079,12421,0.00,2.88,7.57,1.102,6,0.000,0.032,3053,2799,1497
$GC,12738,0.65,386.1,668.1,10.0,1095,12743,0.00,2.95,0.00,0.000,4,0.000,0.047,3053,1346,1496
$GC,12764,0.67,405.4,665.3,9.3,1096,12796,0.00,2.83,21.83,1.321,6,0.000,0.033,3053,2778,1418
$GC,13104,0.67,405.4,631.1,10.4,1113,13109,0.00,2.92,0.00,0.000,4,0.000,0.046,3053,1341,1414
$GC,13137,0.73,405.4,627.8,10.1,1114,13144,0.12,2.83,0.00,0.000,6,0.055,0.034,3080,2766,1413
$GC,13455,0.67,405.4,583.8,13.4,1135,13459,0.00,2.25,0.00,0.000,4,0.000,0.051,3080,3897,1413
$GC,13487,0.62,405.4,580.1,13.2,1137,13491,0.15,2.20,0.00,0.000,6,0.108,0.031,3058,2761,1413
$GC,13811,0.62,405.4,547.9,10.7,1167,13815,0.00,2.83,0.00,0.000,4,0.000,0.048,3057,1339,1412
$GC,13849,0.67,405.4,543.8,10.7,1170,13854,0.00,2.78,0.00,0.000,6,0.000,0.031,3058,2760,1412
$GC,14173,0.67,405.4,506.6,12.1,1200,14174,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2760,1412
$GC,14492,0.67,405.4,466.1,12.6,1230,14496,0.00,2.85,0.00,0.000,4,0.000,0.045,3057,1337,1412
$GC,14524,0.72,405.4,461.9,12.3,1232,14533,0.00,2.78,0.00,0.000,6,0.000,0.032,3058,2748,1412
$GC,14850,0.72,405.4,425.6,10.2,1263,14851,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2748,1412
$GC,15169,0.77,440.6,397.4,8.8,1293,15214,0.15,2.90,36.88,1.196,4,0.055,0.045,3093,1340,1274
$GC,15241,0.77,440.6,388.4,12.7,1299,15248,0.00,2.78,0.00,0.000,6,0.000,0.031,3093,2733,1272
$GC,15567,0.69,440.6,346.0,13.0,1332,15575,0.15,2.35,0.00,0.000,4,0.110,0.047,3067,3896,1269
$GC,15624,0.81,493.6,340.6,8.2,1341,15688,0.15,2.25,55.95,1.162,6,0.055,0.031,3097,2736,1057
$GC,16022,0.75,493.6,283.6,14.7,1412,16029,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2735,1051
$GC,16364,0.68,493.6,228.3,18.9,1473,16371,0.17,2.33,0.00,0.000,4,0.104,0.046,3067,3890,1050
$GC,16406,0.74,493.6,221.5,14.7,1480,16414,0.00,2.22,0.00,0.000,6,0.000,0.031,3068,2754,1050
$GC,16750,0.81,493.6,182.3,10.5,1541,16757,0.15,2.80,0.00,0.000,4,0.053,0.044,3104,1341,1049
$GC,16812,0.81,493.6,173.3,13.7,1552,16820,0.00,2.75,0.00,0.000,6,0.000,0.031,3104,2739,1048
$GC,17152,0.73,493.6,114.4,18.0,1613,17159,0.15,2.28,0.00,0.000,4,0.107,0.045,3078,3894,1048
$GC,17211,0.80,493.6,105.9,12.7,1623,17217,0.00,2.20,0.00,0.000,6,0.000,0.031,3078,2745,1048
$GC,17542,0.85,493.6,69.3,10.6,1684,17551,0.12,2.83,0.00,0.000,4,0.057,0.048,3105,1340,1047
$GC,17596,0.85,493.6,61.8,14.8,1693,17602,0.00,2.70,0.00,0.000,6,0.000,0.030,3105,2737,1046
$GC,17920,0.79,493.6,3.1,16.8,1754,17928,0.00,2.30,0.00,0.000,4,0.000,0.047,3105,3890,1046
$STATE,17936,end climb,SURFACE_DEPTH_REACHED
$STATE,17936,begin surface coast
$FINISH,0.1,1.014276
$STATE,17948,end surface coast,CONTROL_FINISHED_OK
$STATE,17948,begin surface
$SM_CCo,18028,0.00,0.000,0,0,1044,496.98
$SM_GC,0.46,8.48,0.00,0.00,0.048,0.000,0.000,1432,2299,1044,-6.79,0.00,496.98
$IRIDIUM_FIX,6032.86,-2627.96,290797,161601
$TT8_MAMPS,0.026078
$HUMID,1764
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,11.80
$XPDR_PINGS,881
$24V_AH,19.5,49.728
$10V_AH,9.8,38.030
$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,24.600,135.625,731.250,0.000,0.000,26.209,27.683,280.059,220.250,0.000,0.000,30.171,2771.180,10382.841,808.234,3896.969,633.499,0.000,2352.673,0.000,3877.020,0.000,0.465
$DEVICE_MAMPS,250.042,133.458,1610.700,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1219.775,1261.429,609.845,827.810,1514.502,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126769,1758
$CAP_FILE_SIZE,165742,0
$CFSIZE,260165632,242704384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050508,023107,6049.387,-2648.743,36,1.8,36,-18.5