version: 66.03
glider: 142
mission: 5
dive: 162
start: 5 8 108 22 0 27
data:
$ID,142
$MISSION,5
$DIVE,162
$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,70
$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,-16135.884
$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,26
$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
$GPS1,214555,6104.860,-2620.879,27,1.5,44,-18.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-33.3
$GPS2,220009,6104.831,-2621.102,13,1.5,13,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6108.524,-2616.204
$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,88.4,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,208,0.00,0.00,-179.00,0.000,2,0.000,0.000,1434,2286,3582
$GC,211,-0.86,-194.7,3.3,-5.1,25,243,11.85,2.92,-7.55,0.000,4,0.255,0.051,2727,3712,3867
$GC,267,-0.81,-194.7,15.5,-15.7,33,274,0.00,2.80,0.00,0.000,6,0.000,0.033,2727,2307,3867
$GC,401,-0.76,-194.7,34.2,-14.0,58,409,0.15,0.00,0.00,0.000,6,0.144,0.000,2750,2307,3867
$GC,536,-0.76,-194.7,49.4,-10.9,83,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2307,3867
$GC,672,-0.76,-194.7,64.8,-11.5,108,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2307,3867
$GC,1004,-0.76,-194.7,100.1,-10.4,169,1010,0.00,2.83,0.00,0.000,4,0.000,0.050,2750,887,3867
$GC,1071,-0.76,-194.7,106.9,-10.6,181,1077,0.00,2.75,0.00,0.000,6,0.000,0.030,2750,2315,3867
$GC,1399,-0.76,-194.7,139.2,-9.4,242,1408,0.00,2.88,0.00,0.000,4,0.000,0.048,2750,892,3868
$GC,1434,-0.76,-194.7,142.3,-10.2,247,1440,0.00,2.72,0.00,0.000,6,0.000,0.029,2750,2310,3868
$GC,1772,-0.76,-194.7,174.5,-9.6,308,1780,0.00,2.88,0.00,0.000,4,0.000,0.048,2750,885,3868
$GC,1820,-0.76,-194.7,179.2,-9.8,316,1828,0.00,2.72,0.00,0.000,6,0.000,0.030,2750,2292,3868
$GC,2164,-0.76,-194.7,214.3,-11.1,377,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2292,3867
$GC,2502,-0.76,-194.7,250.1,-10.4,438,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2293,3867
$GC,2842,-0.76,-194.7,286.3,-11.1,499,2848,0.00,2.80,0.00,0.000,4,0.000,0.047,2750,887,3868
$GC,2878,-0.76,-194.7,290.2,-12.3,505,2884,0.00,2.70,0.00,0.000,6,0.000,0.030,2750,2295,3868
$GC,3216,-0.76,-194.7,327.8,-11.2,566,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2296,3867
$GC,3554,-0.76,-194.7,365.8,-11.4,615,3559,0.00,2.80,0.00,0.000,4,0.000,0.048,2750,885,3868
$GC,3585,-0.76,-194.7,369.1,-12.1,617,3589,0.00,2.67,0.00,0.000,6,0.000,0.030,2750,2282,3867
$GC,3910,-0.76,-194.7,405.4,-10.8,647,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2282,3867
$GC,4227,-0.76,-194.7,438.6,-10.2,677,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2282,3867
$GC,4546,-0.76,-194.7,470.2,-9.7,707,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2282,3867
$GC,4867,-0.76,-194.7,500.3,-9.0,737,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2282,3867
$GC,5184,-0.76,-194.7,528.5,-8.4,767,5188,0.00,2.78,0.00,0.000,4,0.000,0.048,2750,887,3867
$GC,5214,-0.76,-194.7,531.0,-9.4,769,5218,0.00,2.70,0.00,0.000,6,0.000,0.031,2750,2289,3866
$GC,5540,-0.76,-194.7,561.4,-9.4,799,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2289,3867
$GC,5857,-0.76,-194.7,590.0,-8.9,829,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2290,3866
$GC,6169,-0.76,-194.7,617.5,-9.3,850,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2290,3866
$GC,6479,-0.76,-194.7,649.7,-10.9,865,6483,0.00,2.85,0.00,0.000,4,0.000,0.054,2750,885,3866
$GC,6517,-0.76,-194.7,654.2,-11.8,867,6522,0.00,2.72,0.00,0.000,6,0.000,0.034,2750,2283,3866
$GC,6843,-0.76,-194.7,689.8,-10.9,883,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2284,3866
$GC,7153,-0.76,-194.7,724.2,-11.0,898,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2284,3866
$GC,7462,-0.76,-194.7,755.6,-9.8,913,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2284,3866
$GC,7771,-0.76,-194.7,786.1,-9.7,928,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2284,3866
$GC,8081,-0.76,-194.7,812.1,-7.7,943,8086,0.00,3.17,0.00,0.000,4,0.000,0.097,2750,3702,3865
$GC,8102,-0.76,-194.7,813.8,-7.6,944,8107,0.00,3.10,0.00,0.000,6,0.000,0.081,2750,2294,3865
$GC,8423,-0.76,-194.7,838.9,-8.0,960,8424,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2292,3865
$GC,8733,-0.76,-194.7,866.3,-9.4,975,8734,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2292,3865
$GC,9041,-0.76,-194.7,895.8,-9.7,990,9046,0.00,2.90,0.00,0.000,4,0.000,0.054,2750,3709,3864
$GC,9068,-0.76,-194.7,898.5,-10.4,991,9072,0.00,2.85,0.00,0.000,6,0.000,0.041,2750,2271,3864
$GC,9389,-0.76,-194.7,930.5,-10.2,1007,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2270,3864
$GC,9698,-0.76,-194.7,963.3,-10.4,1022,9703,0.00,2.97,0.00,0.000,4,0.000,0.057,2750,3712,3864
$GC,9724,-0.76,-194.7,966.3,-11.9,1023,9729,0.00,2.85,0.00,0.000,6,0.000,0.044,2749,2286,3864
$STATE,9961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9961,begin apogee
$GC,9967,-0.21,0.0,990.9,10.0,1035,10177,0.75,0.00,205.62,1.621,6,0.130,0.000,2869,2753,3071
$STATE,10177,end apogee,CONTROL_FINISHED_OK
$STATE,10177,begin climb
$GC,10180,0.86,194.7,1000.3,0.0,1045,10405,1.40,2.53,214.25,1.583,4,0.081,0.061,3100,3890,2277
$GC,10535,0.70,194.7,964.6,14.0,1061,10542,0.17,2.35,0.00,0.000,6,0.130,0.034,3077,2747,2274
$GC,10851,0.59,194.7,928.6,11.2,1077,10855,0.15,2.40,0.00,0.000,4,0.124,0.053,3053,3899,2274
$GC,10923,0.54,196.1,921.1,9.9,1080,10927,0.00,2.25,0.00,0.000,6,0.000,0.034,3052,2762,2273
$GC,11238,0.50,210.0,891.5,9.5,1095,11258,0.12,0.00,16.00,1.390,6,0.117,0.000,3034,2761,2215
$GC,11567,0.55,245.6,863.6,8.8,1111,11608,0.00,0.00,37.83,1.493,6,0.000,0.000,3035,2761,2069
$GC,11916,0.59,276.8,832.6,8.9,1128,11955,0.00,0.00,33.17,1.460,6,0.000,0.000,3034,2760,1942
$GC,12265,0.68,353.2,806.3,7.3,1145,12350,0.17,0.00,81.70,1.478,6,0.058,0.000,3068,2760,1631
$GC,12654,0.68,353.2,762.8,11.4,1164,12658,0.00,2.35,0.00,0.000,4,0.000,0.051,3068,3897,1623
$GC,12692,0.68,353.2,758.3,12.6,1166,12696,0.00,2.22,0.00,0.000,6,0.000,0.032,3069,2767,1622
$GC,13019,0.68,353.2,718.9,12.5,1182,13023,0.00,2.33,0.00,0.000,4,0.000,0.052,3068,3900,1621
$GC,13062,0.68,353.2,713.2,12.9,1184,13066,0.00,2.20,0.00,0.000,6,0.000,0.031,3068,2783,1620
$GC,13389,0.68,353.2,671.0,12.4,1200,13393,0.00,2.90,0.00,0.000,4,0.000,0.048,3068,1338,1620
$GC,13416,0.68,353.2,667.6,11.7,1201,13420,0.00,2.88,0.00,0.000,6,0.000,0.032,3068,2800,1619
$GC,13731,0.68,353.2,628.4,12.6,1216,13732,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2801,1619
$GC,14042,0.68,353.2,589.3,13.1,1234,14043,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2800,1618
$GC,14360,0.68,353.2,549.8,11.8,1264,14362,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2800,1619
$GC,14679,0.68,353.2,512.8,11.7,1294,14683,0.00,2.92,0.00,0.000,4,0.000,0.044,3068,1343,1619
$GC,14707,0.68,353.2,509.5,11.7,1296,14711,0.00,2.83,0.00,0.000,6,0.000,0.031,3068,2792,1618
$GC,15032,0.68,353.2,471.7,11.2,1326,15034,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2792,1618
$GC,15350,0.68,353.2,434.4,11.9,1356,15352,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2792,1618
$GC,15670,0.68,353.2,397.3,11.5,1386,15671,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2792,1618
$GC,15987,0.68,353.2,358.7,12.0,1416,15992,0.00,2.92,0.00,0.000,4,0.000,0.044,3068,1333,1618
$GC,16018,0.68,353.2,354.8,11.7,1418,16025,0.00,2.83,0.00,0.000,6,0.000,0.031,3068,2783,1618
$GC,16354,0.68,353.2,314.9,12.7,1475,16359,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2783,1618
$GC,16690,0.68,353.2,272.6,12.1,1536,16697,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2783,1618
$GC,17032,0.68,353.2,227.3,12.7,1597,17037,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2783,1618
$GC,17372,0.68,353.2,183.8,12.3,1658,17378,0.00,2.90,0.00,0.000,4,0.000,0.044,3068,1334,1618
$GC,17406,0.68,353.2,179.6,13.0,1664,17414,0.00,2.83,0.00,0.000,6,0.000,0.031,3068,2772,1618
$GC,17747,0.68,353.2,138.6,11.3,1725,17753,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2772,1618
$GC,18078,0.71,379.2,99.4,9.1,1786,18110,0.00,0.00,24.60,0.981,6,0.000,0.000,3068,2772,1524
$GC,18435,0.72,389.0,60.0,9.7,1851,18454,0.00,2.92,10.62,0.887,4,0.000,0.044,3068,1346,1484
$GC,18485,0.82,423.6,55.4,8.8,1859,18529,0.15,2.80,36.05,0.993,6,0.049,0.030,3101,2772,1343
$GC,18845,0.73,423.6,3.2,19.1,1926,18854,0.12,2.28,0.00,0.000,4,0.114,0.051,3084,3888,1336
$STATE,18860,end climb,SURFACE_DEPTH_REACHED
$STATE,18860,begin surface coast
$FINISH,0.3,1.026266
$STATE,18872,end surface coast,CONTROL_FINISHED_OK
$STATE,18872,begin surface
$SM_CCo,18953,0.00,0.000,0,0,1334,425.84
$SM_GC,0.62,8.50,0.00,0.00,0.049,0.000,0.000,1434,2293,1334,-6.80,-0.20,425.84
$IRIDIUM_FIX,6041.65,-2621.96,020897,161634
$TT8_MAMPS,0.026845
$HUMID,1762
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,11.30
$XPDR_PINGS,912
$24V_AH,19.4,55.962
$10V_AH,9.7,41.815
$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,23.550,116.200,659.850,0.000,0.000,23.751,31.104,660.383,228.000,0.000,0.000,15.213,2996.612,10713.277,797.792,4247.712,1031.401,0.000,2409.291,0.000,4254.808,0.000,0.465
$DEVICE_MAMPS,255.411,96.642,1620.671,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1342.586,1390.322,717.594,955.475,1774.145,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142392,1930
$CAP_FILE_SIZE,175927,0
$CFSIZE,260165632,240939008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090508,031751,6105.594,-2616.639,36,2.2,55,-18.4