version: 66.03
glider: 142
mission: 5
dive: 225
start: 5 23 108 0 26 16
data:
$ID,142
$MISSION,5
$DIVE,225
$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,25
$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,-17255.375
$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,27
$R_STBD_OVSHOOT,30
$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
$GPS1,001832,6120.013,-2606.359,39,1.1,39,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-42.6
$GPS2,002556,6119.978,-2606.340,10,1.3,15,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6129.765,-2604.162
$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,43.4,20000,-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,23,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,171,0.00,0.00,-142.15,0.000,2,0.000,0.000,1435,2315,3443
$GC,174,-0.86,-194.7,3.3,-5.7,26,205,12.02,2.78,-12.23,0.000,4,0.255,0.052,2725,3697,3866
$GC,340,-0.82,-194.7,27.2,-13.1,55,347,0.00,2.72,0.00,0.000,6,0.000,0.033,2725,2297,3867
$GC,483,-0.75,-194.7,47.5,-14.6,80,490,0.15,2.80,0.00,0.000,4,0.140,0.049,2748,895,3866
$GC,549,-0.75,-194.7,56.0,-12.7,91,555,0.00,2.70,0.00,0.000,6,0.000,0.031,2748,2290,3867
$GC,892,-0.75,-194.7,99.0,-12.6,152,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2290,3867
$GC,1236,-0.75,-194.7,142.3,-12.4,213,1242,0.00,2.83,0.00,0.000,4,0.000,0.050,2748,885,3867
$GC,1275,-0.75,-194.7,147.2,-12.3,220,1282,0.00,2.70,0.00,0.000,6,0.000,0.031,2748,2291,3867
$GC,1619,-0.75,-194.7,187.5,-11.5,281,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2292,3867
$GC,1961,-0.75,-194.7,228.5,-12.3,342,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2292,3867
$GC,2304,-0.75,-194.7,269.1,-11.3,403,2310,0.00,2.83,0.00,0.000,4,0.000,0.049,2748,884,3867
$GC,2361,-0.75,-194.7,275.8,-11.8,413,2367,0.00,2.70,0.00,0.000,6,0.000,0.031,2748,2290,3867
$GC,2704,-0.75,-194.7,314.7,-11.1,474,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2290,3867
$GC,3050,-0.75,-194.7,353.8,-11.2,533,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2290,3867
$GC,3369,-0.75,-194.7,390.0,-11.7,563,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2291,3867
$GC,3688,-0.75,-194.7,428.5,-12.7,593,3692,0.00,2.83,0.00,0.000,4,0.000,0.049,2748,885,3867
$GC,3726,-0.75,-194.7,433.5,-13.2,596,3731,0.00,2.70,0.00,0.000,6,0.000,0.031,2748,2289,3867
$GC,4052,-0.75,-194.7,475.7,-13.6,626,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2289,3866
$GC,4369,-0.75,-194.7,516.5,-12.4,656,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2290,3867
$GC,4688,-0.75,-194.7,555.2,-11.7,686,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2290,3867
$GC,5006,-0.75,-194.7,589.0,-10.1,716,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2290,3867
$GC,5331,-0.75,-194.7,619.5,-9.2,737,5335,0.00,2.85,0.00,0.000,4,0.000,0.053,2748,3698,3867
$GC,5380,-0.75,-194.7,624.3,-9.6,739,5385,0.00,2.83,0.00,0.000,6,0.000,0.039,2748,2271,3866
$GC,5695,-0.75,-194.7,653.6,-9.1,754,5700,0.00,2.83,0.00,0.000,4,0.000,0.060,2748,891,3866
$GC,5734,-0.80,-194.7,657.3,-9.4,756,5739,0.00,2.70,0.00,0.000,6,0.000,0.034,2748,2274,3866
$GC,6061,-0.80,-194.7,687.8,-9.4,772,6065,0.00,2.95,0.00,0.000,4,0.000,0.061,2748,3705,3865
$GC,6115,-0.80,-194.7,693.0,-9.4,774,6122,0.00,2.88,0.00,0.000,6,0.000,0.046,2748,2285,3866
$GC,6431,-0.80,-194.7,723.2,-9.6,790,6436,0.00,2.95,0.00,0.000,4,0.000,0.074,2748,890,3866
$GC,6471,-0.85,-194.7,726.8,-9.0,792,6475,0.00,2.80,0.00,0.000,6,0.000,0.044,2749,2285,3865
$GC,6796,-0.85,-194.7,758.2,-9.8,808,6801,0.00,3.05,0.00,0.000,4,0.000,0.077,2748,3707,3865
$GC,6846,-0.90,-194.7,763.1,-9.7,810,6851,0.00,2.95,0.00,0.000,6,0.000,0.059,2748,2293,3865
$GC,7162,-0.90,-194.7,791.9,-9.3,825,7167,0.12,3.17,0.00,0.000,4,0.066,0.097,2725,888,3865
$GC,7202,-0.90,-194.7,796.3,-11.9,827,7207,0.00,3.00,0.00,0.000,6,0.000,0.068,2725,2298,3865
$GC,7528,-0.90,-194.7,830.6,-10.8,843,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2298,3865
$GC,7836,-0.90,-194.7,864.8,-11.0,858,7842,0.00,3.35,0.00,0.000,4,0.000,0.113,2725,882,3865
$GC,7908,-0.90,-194.7,873.0,-11.2,861,7912,0.00,2.78,0.00,0.000,6,0.000,0.038,2725,2301,3864
$GC,8229,-0.90,-194.7,911.2,-12.3,877,8234,0.00,2.92,0.00,0.000,4,0.000,0.056,2725,880,3864
$GC,8261,-0.90,-194.7,915.3,-13.1,878,8268,0.00,2.78,0.00,0.000,6,0.000,0.035,2725,2296,3864
$GC,8577,-0.90,-194.7,951.2,-11.3,894,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2298,3864
$GC,8886,-0.90,-194.7,985.8,-11.1,909,8891,0.00,2.90,0.00,0.000,4,0.000,0.060,2725,3706,3863
$STATE,8929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8929,begin apogee
$GC,8936,-0.21,0.0,990.6,11.3,911,9153,0.90,0.00,208.90,1.609,6,0.140,0.000,2865,2732,3071
$STATE,9154,end apogee,CONTROL_FINISHED_OK
$STATE,9154,begin climb
$GC,9156,0.86,194.7,1000.1,0.0,922,9384,1.45,2.72,216.38,1.558,4,0.087,0.056,3100,3890,2277
$GC,9564,0.70,194.7,960.4,13.5,941,9569,0.17,2.33,0.00,0.000,6,0.130,0.035,3077,2742,2274
$GC,9885,0.59,194.7,925.4,10.8,957,9889,0.15,2.40,0.00,0.000,4,0.124,0.054,3051,3901,2273
$GC,9975,0.57,226.6,916.9,8.9,961,10014,0.00,2.20,33.53,1.472,6,0.000,0.034,3051,2778,2147
$GC,10344,0.61,261.1,883.9,8.8,979,10383,0.00,0.00,37.15,1.476,6,0.000,0.000,3052,2777,2006
$GC,10692,0.66,301.9,853.1,8.6,996,10737,0.00,0.00,43.72,1.474,6,0.000,0.000,3051,2775,1840
$GC,11042,0.68,314.0,821.1,9.6,1013,11061,0.00,0.00,13.88,1.328,6,0.000,0.000,3052,2775,1789
$GC,11371,0.69,327.3,788.6,9.5,1029,11390,0.00,0.00,15.07,1.335,6,0.000,0.000,3051,2775,1737
$GC,11700,0.72,349.4,757.7,9.2,1045,11731,0.12,2.33,25.02,1.394,4,0.062,0.051,3076,3893,1645
$GC,11775,0.72,349.4,748.3,12.3,1048,11782,0.00,2.25,0.00,0.000,6,0.000,0.033,3076,2773,1642
$GC,12091,0.72,349.4,708.5,12.2,1064,12095,0.00,2.28,0.00,0.000,4,0.000,0.051,3076,3892,1641
$GC,12108,0.72,349.4,706.3,12.3,1065,12112,0.00,2.15,0.00,0.000,6,0.000,0.034,3076,2781,1641
$GC,12440,0.72,349.4,665.4,12.2,1081,12444,0.00,2.28,0.00,0.000,4,0.000,0.052,3076,3903,1640
$GC,12472,0.72,349.4,661.2,12.4,1082,12479,0.00,2.17,0.00,0.000,6,0.000,0.034,3076,2796,1640
$GC,12788,0.68,349.4,622.5,13.1,1098,12790,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2794,1640
$GC,13101,0.68,349.4,582.6,11.9,1119,13105,0.00,2.22,0.00,0.000,4,0.000,0.051,3076,3899,1639
$GC,13129,0.68,349.4,579.1,11.8,1121,13133,0.00,2.12,0.00,0.000,6,0.000,0.032,3076,2796,1639
$GC,13454,0.64,349.4,538.2,13.0,1151,13458,0.00,2.22,0.00,0.000,4,0.000,0.051,3076,3900,1639
$GC,13482,0.64,349.4,534.3,13.6,1153,13485,0.00,2.10,0.00,0.000,6,0.000,0.032,3076,2809,1638
$GC,13813,0.64,349.4,489.8,14.0,1184,13814,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2804,1639
$GC,14130,0.64,349.4,445.5,13.7,1214,14131,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2802,1639
$GC,14449,0.64,349.4,399.7,14.8,1244,14450,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2801,1638
$GC,14767,0.64,349.4,354.0,14.1,1274,14768,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2801,1638
$GC,15102,0.64,349.4,305.3,13.9,1331,15108,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2802,1638
$GC,15444,0.64,349.4,258.8,13.2,1392,15450,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2802,1638
$GC,15787,0.64,349.4,217.6,11.9,1453,15793,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2801,1638
$GC,16129,0.64,349.4,179.1,10.7,1514,16135,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2802,1638
$GC,16473,0.64,349.4,142.3,11.0,1575,16479,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2801,1638
$GC,16815,0.64,349.4,104.8,10.3,1636,16821,0.00,2.90,0.00,0.000,4,0.000,0.046,3076,1344,1638
$GC,16827,0.64,349.4,103.4,10.7,1638,16834,0.00,2.88,0.00,0.000,6,0.000,0.031,3076,2828,1638
$GC,17172,0.64,349.4,67.8,10.8,1699,17178,0.00,2.97,0.00,0.000,4,0.000,0.044,3076,1344,1639
$GC,17190,0.64,349.4,65.7,10.1,1702,17196,0.00,2.85,0.00,0.000,6,0.000,0.031,3075,2817,1638
$GC,17534,0.64,349.4,27.5,10.9,1763,17540,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2817,1638
$GC,17676,0.64,349.4,11.6,11.6,1788,17681,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2817,1638
$STATE,17759,end climb,SURFACE_DEPTH_REACHED
$STATE,17759,begin surface coast
$FINISH,0.1,1.026188
$STATE,17777,end surface coast,CONTROL_FINISHED_OK
$STATE,17777,begin surface
$SM_CCo,17855,0.00,0.000,0,0,1636,351.76
$SM_GC,0.81,8.35,0.00,0.00,0.047,0.000,0.000,1433,2293,1636,-6.80,-0.17,351.76
$IRIDIUM_FIX,6054.92,-2601.87,160897,191925
$TT8_MAMPS,0.026078
$HUMID,1786
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,16.40
$XPDR_PINGS,927
$24V_AH,19.2,70.776
$10V_AH,9.8,52.419
$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,23.450,123.625,593.650,0.000,0.000,29.288,34.494,239.793,231.750,0.000,0.000,16.825,2841.185,10755.961,752.894,3333.101,600.856,0.000,2254.347,0.000,3306.088,0.000,0.465
$DEVICE_MAMPS,255.411,112.749,1609.166,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1263.841,1310.301,684.744,1605.527,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132837,1806
$CAP_FILE_SIZE,160006,0
$CFSIZE,260165632,234885120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230508,052507,6121.526,-2604.914,35,1.5,40,-18.4