version: 66.03
glider: 142
mission: 5
dive: 145
start: 5 5 108 8 13 21
data:
$ID,142
$MISSION,5
$DIVE,145
$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,636.79877
$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,-15660.111
$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,24
$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
$GPS1,075256,6048.105,-2700.035,37,1.6,37,-18.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-41.7
$GPS2,081303,6048.201,-2700.789,13,1.8,19,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6041.260,-2704.839
$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,248.6,20000,-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,-194.7,0.0,0.0,0,174,0.00,0.00,-144.45,0.000,2,0.000,0.000,1433,2287,3814
$GC,176,-0.86,-194.7,4.0,-6.3,20,201,11.68,2.83,-1.27,0.000,4,0.252,0.052,2724,897,3867
$GC,437,-0.79,-194.7,47.1,-16.0,68,445,0.08,2.75,0.00,0.000,6,0.125,0.030,2738,2302,3868
$GC,578,-0.75,-194.7,65.3,-13.3,93,584,0.00,2.83,0.00,0.000,4,0.000,0.046,2738,884,3868
$GC,732,-0.75,-194.7,83.5,-10.7,121,738,0.00,2.75,0.00,0.000,6,0.000,0.030,2738,2309,3868
$GC,1061,-0.75,-194.7,123.1,-12.3,182,1069,0.00,2.85,0.00,0.000,4,0.000,0.047,2738,897,3868
$GC,1168,-0.75,-194.7,136.5,-12.7,201,1175,0.00,2.70,0.00,0.000,6,0.000,0.030,2738,2301,3868
$GC,1504,-0.75,-194.7,178.7,-12.5,262,1510,0.00,2.83,0.00,0.000,4,0.000,0.047,2738,885,3868
$GC,1569,-0.75,-194.7,186.7,-12.5,273,1575,0.00,2.70,0.00,0.000,6,0.000,0.030,2738,2291,3868
$GC,1908,-0.75,-194.7,229.5,-12.2,334,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2291,3868
$GC,2244,-0.75,-194.7,270.1,-12.2,395,2250,0.00,2.80,0.00,0.000,4,0.000,0.047,2738,885,3868
$GC,2304,-0.75,-194.7,276.9,-12.1,405,2310,0.00,2.67,0.00,0.000,6,0.000,0.030,2738,2280,3868
$GC,2642,-0.75,-194.7,318.7,-12.5,466,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2280,3868
$GC,2983,-0.75,-194.7,358.9,-11.5,521,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2281,3868
$GC,3301,-0.75,-194.7,393.4,-10.0,551,3306,0.00,2.78,0.00,0.000,4,0.000,0.047,2738,885,3868
$GC,3356,-0.75,-194.7,399.0,-9.5,555,3363,0.00,2.67,0.00,0.000,6,0.000,0.029,2738,2282,3868
$GC,3682,-0.75,-194.7,424.2,-6.5,586,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2283,3868
$GC,4003,-0.75,-194.7,442.2,-5.3,616,4008,0.00,2.78,0.00,0.000,4,0.000,0.047,2738,890,3868
$GC,4054,-0.75,-194.7,445.2,-5.9,620,4058,0.00,2.65,0.00,0.000,6,0.000,0.031,2738,2269,3868
$GC,4380,-0.75,-194.7,470.5,-9.8,650,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2270,3868
$GC,4697,-0.75,-194.7,509.7,-14.6,680,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2270,3868
$GC,5017,-0.75,-194.7,562.2,-17.5,710,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2270,3868
$GC,5341,-0.75,-194.7,614.9,-14.0,736,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2270,3867
$GC,5650,-0.75,-194.7,644.9,-7.5,751,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2271,3867
$GC,5960,-0.75,-194.7,658.9,-4.6,766,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2270,3867
$GC,6269,-0.75,-194.7,687.3,-12.6,781,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2270,3867
$GC,6578,-0.75,-194.7,739.4,-18.0,796,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2271,3867
$GC,6887,-0.75,-194.7,783.5,-11.6,811,6892,0.00,3.05,0.00,0.000,4,0.000,0.092,2738,899,3867
$GC,6936,-0.75,-194.7,788.9,-10.8,813,6941,0.00,2.88,0.00,0.000,6,0.000,0.066,2738,2265,3866
$GC,7252,-0.75,-194.7,812.8,-6.9,828,7257,0.00,3.22,0.00,0.000,4,0.000,0.097,2738,3711,3866
$GC,7279,-0.75,-194.7,814.8,-7.5,829,7284,0.00,3.12,0.00,0.000,6,0.000,0.081,2738,2283,3866
$GC,7595,-0.75,-194.7,842.5,-9.8,844,7600,0.00,3.28,0.00,0.000,4,0.000,0.117,2738,885,3866
$GC,7649,-0.75,-194.7,848.3,-10.6,846,7656,0.00,2.70,0.00,0.000,6,0.000,0.031,2738,2279,3866
$GC,7965,-0.75,-194.7,882.5,-11.6,862,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2282,3865
$GC,8274,-0.75,-194.7,915.9,-10.3,877,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2281,3865
$GC,8583,-0.75,-194.7,946.6,-9.6,892,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2281,3865
$GC,8893,-0.75,-194.7,979.2,-10.5,907,8894,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2282,3864
$STATE,9014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9014,begin apogee
$GC,9020,-0.21,0.0,992.1,10.3,913,9229,0.80,0.00,205.02,1.615,6,0.117,0.000,2870,2750,3071
$STATE,9229,end apogee,CONTROL_FINISHED_OK
$STATE,9229,begin climb
$GC,9232,0.86,194.7,1000.6,0.0,923,9457,1.38,2.62,212.62,1.559,4,0.078,0.058,3099,3897,2276
$GC,9580,0.69,194.7,966.6,13.4,939,9585,0.17,2.40,0.00,0.000,6,0.130,0.035,3076,2740,2274
$GC,9896,0.58,194.7,924.2,14.5,954,9901,0.15,2.40,0.00,0.000,4,0.125,0.053,3051,3895,2273
$GC,9962,0.53,194.7,914.9,13.1,957,9966,0.00,2.25,0.00,0.000,6,0.000,0.033,3051,2760,2273
$GC,10289,0.47,194.7,874.5,12.1,973,10291,0.17,0.00,0.00,0.000,6,0.117,0.000,3025,2757,2272
$GC,10598,0.59,294.9,849.7,6.5,988,10704,0.12,0.00,103.53,1.503,6,0.064,0.000,3048,2754,1869
$GC,11008,0.59,294.9,809.3,10.9,1008,11009,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2753,1861
$GC,11317,0.59,294.9,766.1,15.6,1023,11318,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2752,1860
$GC,11626,0.59,294.9,722.7,12.6,1038,11631,0.00,2.88,0.00,0.000,4,0.000,0.049,3048,1334,1859
$GC,11652,0.59,294.9,719.5,10.7,1039,11657,0.00,2.85,0.00,0.000,6,0.000,0.038,3048,2772,1858
$GC,11974,0.65,343.2,689.3,8.3,1055,12025,0.00,0.00,49.10,1.401,6,0.000,0.000,3048,2772,1671
$GC,12325,0.75,427.6,666.5,7.1,1072,12421,0.17,3.08,89.90,1.387,4,0.055,0.047,3086,1340,1326
$GC,12448,0.71,427.6,650.7,14.1,1077,12453,0.00,2.90,0.00,0.000,6,0.000,0.032,3086,2747,1323
$GC,12769,0.64,427.6,600.3,17.4,1093,12774,0.15,2.33,0.00,0.000,4,0.107,0.050,3064,3893,1318
$GC,12808,0.64,427.6,594.4,13.5,1096,12812,0.00,2.25,0.00,0.000,6,0.000,0.031,3064,2749,1317
$GC,13133,0.64,427.6,556.1,11.4,1126,13137,0.00,2.85,0.00,0.000,4,0.000,0.048,3064,1334,1315
$GC,13183,0.69,427.6,550.6,10.7,1130,13188,0.00,2.78,0.00,0.000,6,0.000,0.031,3064,2745,1314
$GC,13507,0.69,427.6,516.3,10.3,1160,13508,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2745,1314
$GC,13826,0.69,427.6,483.9,10.2,1190,13830,0.00,2.85,0.00,0.000,4,0.000,0.046,3064,1332,1314
$GC,13853,0.73,427.6,481.1,10.1,1192,13858,0.00,2.75,0.00,0.000,6,0.000,0.031,3064,2740,1313
$GC,14178,0.73,427.6,448.0,10.5,1222,14179,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2741,1313
$GC,14496,0.73,427.6,412.8,11.5,1252,14500,0.00,2.83,0.00,0.000,4,0.000,0.045,3064,1336,1313
$GC,14535,0.78,427.6,408.2,11.6,1255,14540,0.12,2.70,0.00,0.000,6,0.056,0.031,3091,2724,1312
$GC,14859,0.72,427.6,352.1,17.6,1285,14863,0.00,2.33,0.00,0.000,4,0.000,0.048,3091,3899,1312
$GC,14897,0.72,427.6,345.3,17.8,1290,14904,0.00,2.30,0.00,0.000,6,0.000,0.031,3091,2708,1312
$GC,15237,0.65,427.6,288.6,16.9,1351,15243,0.15,0.00,0.00,0.000,6,0.107,0.000,3065,2708,1312
$GC,15577,0.69,427.6,250.4,10.5,1412,15584,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2708,1312
$GC,15920,0.74,427.6,214.8,10.4,1473,15926,0.00,2.70,0.00,0.000,4,0.000,0.045,3065,1342,1312
$GC,15956,0.80,427.6,211.2,10.4,1479,15963,0.15,2.67,0.00,0.000,6,0.050,0.029,3097,2728,1312
$GC,16297,0.72,427.6,160.4,14.3,1540,16305,0.00,2.33,0.00,0.000,4,0.000,0.048,3097,3888,1311
$GC,16344,0.72,427.6,152.9,14.2,1548,16352,0.00,2.28,0.00,0.000,6,0.000,0.032,3098,2724,1311
$GC,16679,0.65,427.6,102.0,14.4,1609,16685,0.17,0.00,0.00,0.000,6,0.107,0.000,3067,2722,1311
$GC,17010,0.79,502.0,69.2,7.4,1670,17093,0.12,2.90,72.88,1.001,4,0.058,0.047,3092,1339,1023
$GC,17128,0.79,502.0,54.4,11.7,1689,17135,0.00,2.80,0.00,0.000,6,0.000,0.029,3092,2741,1020
$GC,17451,0.79,502.0,8.2,15.7,1750,17459,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2741,1017
$STATE,17490,end climb,SURFACE_DEPTH_REACHED
$STATE,17491,begin surface coast
$FINISH,0.0,1.026325
$STATE,17508,end surface coast,CONTROL_FINISHED_OK
$STATE,17508,begin surface
$SM_CCo,17526,130.55,0.940,0,0,474,636.80
$SM_GC,0.53,0.00,0.00,130.55,0.000,0.000,0.940,1433,2291,474,-6.84,-0.28,636.80
$IRIDIUM_FIX,6024.11,-2705.46,300797,080824
$TT8_MAMPS,0.026845
$HUMID,1726
$INTERNAL_PRESSURE,8.81915
$TCM_TEMP,11.20
$XPDR_PINGS,854
$24V_AH,19.5,50.452
$10V_AH,9.7,38.427
$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,24.125,121.725,733.050,130.550,0.000,150.352,302.868,354.259,213.500,0.000,0.000,22.639,2767.720,10096.169,935.862,3928.099,1120.051,0.000,2448.554,0.000,3923.931,0.000,0.466
$DEVICE_MAMPS,252.343,117.351,1614.535,939.575,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1228.749,1262.597,642.205,865.929,1595.222,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129488,1760
$CAP_FILE_SIZE,164621,0
$CFSIZE,260165632,242507776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050508,130916,6046.057,-2709.751,40,99.0,59,-18.6