version: 66.03
glider: 142
mission: 5
dive: 251
start: 5 28 108 7 46 25
data:
$ID,142
$MISSION,5
$DIVE,251
$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,100
$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,-17755.969
$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,28
$R_STBD_OVSHOOT,45
$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
$GPS1,073833,6159.501,-2700.442,39,1.5,40,-19.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-42.6
$GPS2,074607,6159.510,-2700.479,13,1.1,29,-19.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6157.635,-2655.480
$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,119.3,20000,-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,27,-0.86,-194.7,0.0,0.0,0,167,0.00,0.00,-136.43,0.000,2,0.000,0.000,1431,2329,3380
$GC,170,-0.86,-194.7,3.1,-5.4,25,205,11.52,2.75,-14.68,0.000,4,0.247,0.054,2724,3679,3867
$GC,259,-0.79,-194.7,16.4,-14.2,40,266,0.15,2.67,0.00,0.000,6,0.139,0.033,2744,2302,3867
$GC,403,-0.74,-194.7,35.8,-12.6,65,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2302,3868
$GC,546,-0.74,-194.7,54.5,-12.7,90,553,0.00,2.80,0.00,0.000,4,0.000,0.049,2745,886,3868
$GC,581,-0.74,-194.7,59.1,-12.1,96,587,0.00,2.67,0.00,0.000,6,0.000,0.029,2745,2283,3868
$GC,925,-0.74,-194.7,97.3,-11.1,157,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2284,3868
$GC,1267,-0.74,-194.7,136.6,-11.6,218,1274,0.00,2.78,0.00,0.000,4,0.000,0.048,2745,893,3867
$GC,1294,-0.74,-194.7,139.5,-11.5,222,1301,0.00,2.70,0.00,0.000,6,0.000,0.031,2745,2299,3868
$GC,1638,-0.74,-194.7,178.8,-11.7,283,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2299,3868
$GC,1980,-0.74,-194.7,219.7,-12.1,344,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2299,3868
$GC,2323,-0.74,-194.7,261.4,-12.0,405,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2299,3868
$GC,2667,-0.74,-194.7,302.1,-12.2,466,2673,0.00,2.83,0.00,0.000,4,0.000,0.048,2745,887,3868
$GC,2709,-0.74,-194.7,307.2,-12.5,473,2715,0.00,2.70,0.00,0.000,6,0.000,0.031,2745,2292,3868
$GC,3052,-0.74,-194.7,347.4,-11.7,534,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2292,3868
$GC,3384,-0.74,-194.7,385.4,-11.2,567,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2292,3868
$GC,3702,-0.74,-194.7,421.8,-11.5,597,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2292,3868
$GC,4021,-0.74,-194.7,457.5,-11.0,627,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2292,3868
$GC,4339,-0.74,-194.7,492.1,-10.5,657,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2292,3867
$GC,4657,-0.74,-194.7,525.5,-10.3,687,4662,0.00,2.83,0.00,0.000,4,0.000,0.049,2745,885,3868
$GC,4697,-0.74,-194.7,529.7,-10.4,690,4701,0.00,2.72,0.00,0.000,6,0.000,0.031,2745,2294,3867
$GC,5022,-0.74,-194.7,563.5,-11.0,720,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2295,3867
$GC,5340,-0.74,-194.7,597.8,-10.8,750,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2295,3867
$GC,5660,-0.74,-194.7,633.0,-11.4,767,5665,0.00,2.85,0.00,0.000,4,0.000,0.054,2745,893,3867
$GC,5687,-0.74,-194.7,636.2,-11.7,768,5691,0.00,2.70,0.00,0.000,6,0.000,0.034,2745,2278,3866
$GC,6008,-0.74,-194.7,670.3,-10.3,784,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2278,3866
$GC,6317,-0.74,-194.7,702.7,-11.1,799,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2278,3866
$GC,6626,-0.74,-194.7,737.8,-11.9,814,6631,0.00,2.95,0.00,0.000,4,0.000,0.073,2744,893,3866
$GC,6659,-0.74,-194.7,741.9,-12.6,815,6665,0.00,2.80,0.00,0.000,6,0.000,0.048,2745,2280,3866
$GC,6974,-0.74,-194.7,777.4,-11.3,831,6976,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2280,3866
$GC,7283,-0.74,-194.7,810.4,-10.7,846,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2281,3865
$GC,7593,-0.74,-194.7,842.0,-10.2,861,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2281,3865
$GC,7902,-0.74,-194.7,873.4,-10.0,876,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2281,3864
$GC,8211,-0.74,-194.7,903.4,-9.4,891,8212,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2281,3864
$GC,8521,-0.74,-194.7,932.8,-10.0,906,8522,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2281,3864
$GC,8829,-0.74,-194.7,965.0,-10.1,921,8831,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2281,3864
$STATE,9095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9095,begin apogee
$GC,9102,-0.21,0.0,990.7,9.9,934,9318,0.80,0.00,209.48,1.605,6,0.141,0.000,2867,2739,3070
$STATE,9319,end apogee,CONTROL_FINISHED_OK
$STATE,9319,begin climb
$GC,9322,0.86,194.7,1000.0,0.0,945,9550,1.45,3.75,215.12,1.539,4,0.094,0.183,3099,3894,2277
$GC,9691,0.72,194.7,962.2,14.4,962,9697,0.15,3.10,0.00,0.000,6,0.121,0.153,3079,2766,2274
$GC,10007,0.63,194.7,927.8,10.3,977,10012,0.12,2.38,0.00,0.000,4,0.117,0.054,3061,3915,2274
$GC,10057,0.68,241.2,923.3,8.4,979,10111,0.00,2.30,48.78,1.486,6,0.000,0.035,3060,2747,2087
$GC,10439,0.67,263.1,887.6,9.2,998,10468,0.00,2.47,23.48,1.426,4,0.000,0.054,3061,3907,1997
$GC,10505,0.69,278.2,881.3,9.5,1001,10527,0.00,2.28,17.33,1.387,6,0.000,0.033,3061,2763,1936
$GC,10835,0.69,278.2,848.6,10.1,1017,10837,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2762,1933
$GC,11144,0.72,299.4,819.5,9.3,1032,11169,0.00,0.00,22.95,1.401,6,0.000,0.000,3061,2762,1850
$GC,11474,0.72,299.4,785.3,10.7,1048,11478,0.00,2.35,0.00,0.000,4,0.000,0.052,3060,3915,1847
$GC,11518,0.72,299.4,780.2,10.9,1050,11522,0.00,2.22,0.00,0.000,6,0.000,0.033,3061,2772,1846
$GC,11845,0.72,301.5,746.8,9.9,1066,11846,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2770,1846
$GC,12155,0.74,318.9,717.1,9.4,1081,12179,0.00,0.00,21.33,1.354,6,0.000,0.000,3061,2770,1770
$GC,12484,0.74,318.9,684.0,10.4,1097,12485,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2770,1768
$GC,12792,0.74,318.9,652.2,10.2,1112,12794,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2770,1767
$GC,13103,0.74,318.9,621.3,10.2,1127,13104,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2770,1766
$GC,13414,0.75,327.4,590.0,9.7,1146,13426,0.12,0.00,9.75,1.151,6,0.061,0.000,3086,2770,1736
$GC,13743,0.69,327.4,548.1,12.5,1177,13747,0.00,2.30,0.00,0.000,4,0.000,0.051,3086,3911,1735
$GC,13787,0.64,327.4,542.3,12.6,1180,13794,0.12,2.17,0.00,0.000,6,0.100,0.031,3063,2793,1734
$GC,14112,0.65,334.4,509.4,9.8,1211,14126,0.00,2.90,8.75,1.078,4,0.000,0.047,3064,1347,1707
$GC,14166,0.66,340.2,503.8,9.8,1216,14181,0.00,2.88,7.85,1.071,6,0.000,0.031,3063,2814,1683
$GC,14506,0.69,363.0,471.7,9.2,1248,14537,0.00,0.00,25.10,1.231,6,0.000,0.000,3064,2814,1591
$GC,14855,0.72,387.3,439.7,9.2,1281,14888,0.00,3.03,26.83,1.206,4,0.000,0.044,3064,1343,1490
$GC,14946,0.79,407.7,431.6,9.3,1289,14979,0.15,2.90,22.90,1.187,6,0.050,0.031,3095,2803,1408
$GC,15297,0.74,407.7,381.8,14.7,1322,15301,0.00,2.20,0.00,0.000,4,0.000,0.049,3095,3909,1403
$GC,15337,0.69,407.7,376.0,15.3,1325,15341,0.15,2.17,0.00,0.000,6,0.107,0.031,3073,2782,1403
$GC,15668,0.69,407.7,339.2,10.7,1363,15674,0.00,2.85,0.00,0.000,4,0.000,0.046,3073,1347,1401
$GC,15725,0.74,407.7,332.4,12.0,1373,15732,0.00,2.83,0.00,0.000,6,0.000,0.031,3073,2795,1400
$GC,16069,0.74,407.7,294.3,11.5,1434,16076,0.00,2.90,0.00,0.000,4,0.000,0.044,3073,1347,1400
$GC,16105,0.78,407.7,290.4,10.2,1440,16111,0.00,2.75,0.00,0.000,6,0.000,0.031,3073,2762,1400
$GC,16448,0.78,407.7,254.4,10.0,1501,16454,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2762,1400
$GC,16791,0.79,415.3,220.3,9.7,1562,16804,0.00,2.90,7.47,0.874,4,0.000,0.044,3073,1342,1378
$GC,16850,0.89,447.5,214.6,8.9,1572,16894,0.20,2.72,35.55,1.099,6,0.044,0.031,3117,2746,1245
$GC,17231,0.79,447.5,150.5,18.6,1640,17239,0.15,2.28,0.00,0.000,4,0.115,0.054,3092,3892,1240
$GC,17320,0.79,447.5,137.5,12.9,1655,17326,0.00,2.20,0.00,0.000,6,0.000,0.032,3092,2754,1239
$GC,17664,0.79,447.5,92.2,13.1,1716,17671,0.00,2.80,0.00,0.000,4,0.000,0.045,3092,1339,1238
$GC,17712,0.79,447.5,86.0,12.7,1724,17718,0.00,2.78,0.00,0.000,6,0.000,0.031,3092,2766,1237
$GC,18057,0.79,449.3,46.2,9.9,1785,18063,0.00,2.20,0.00,0.000,4,0.000,0.048,3092,3892,1237
$GC,18092,0.80,450.4,42.5,10.0,1791,18098,0.00,2.17,0.00,0.000,6,0.000,0.032,3092,2757,1237
$GC,18235,0.80,457.9,29.9,9.7,1816,18253,0.00,2.83,10.27,0.841,4,0.000,0.047,3092,1335,1204
$GC,18290,0.87,471.7,24.6,9.5,1825,18313,0.00,2.78,15.80,0.928,6,0.000,0.031,3092,2763,1148
$GC,18453,0.92,471.7,8.2,10.0,1853,18460,0.15,0.00,0.00,0.000,6,0.052,0.000,3128,2764,1145
$STATE,18499,end climb,SURFACE_DEPTH_REACHED
$STATE,18499,begin surface coast
$FINISH,0.5,1.026112
$STATE,18510,end surface coast,CONTROL_FINISHED_OK
$STATE,18510,begin surface
$SM_CCo,18589,0.00,0.000,0,0,1143,472.94
$SM_GC,0.63,8.65,0.00,0.00,0.047,0.000,0.000,1435,2290,1143,-6.79,-0.28,472.94
$IRIDIUM_FIX,6135.28,-2658.44,220897,030332
$TT8_MAMPS,0.026845
$HUMID,1808
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,16.50
$XPDR_PINGS,1007
$24V_AH,19.1,79.059
$10V_AH,9.8,56.511
$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,23.900,119.425,728.725,0.000,0.000,25.792,37.489,229.831,251.750,0.000,0.000,31.070,2898.285,11270.850,841.609,3366.210,648.313,0.000,2388.445,0.000,3347.628,0.000,0.465
$DEVICE_MAMPS,246.974,182.546,1605.331,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1303.836,1346.184,689.194,1658.274,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135914,1863
$CAP_FILE_SIZE,166797,0
$CFSIZE,260165632,232456192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280508,125731,6200.179,-2654.406,36,0.9,41,-19.2