version: 66.03
glider: 142
mission: 5
dive: 254
start: 5 28 108 22 57 28
data:
$ID,142
$MISSION,5
$DIVE,254
$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,-17803.27
$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,24
$R_STBD_OVSHOOT,23
$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
$GPS1,223940,6200.925,-2642.323,33,1.2,35,-19.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-53.1
$GPS2,225709,6201.011,-2642.429,14,1.5,14,-19.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6159.136,-2637.434
$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,119.1,20000,-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,-194.7,0.0,0.0,0,161,0.00,0.00,-131.18,0.000,2,0.000,0.000,1436,2283,3491
$GC,165,-0.86,-194.7,3.6,-5.8,24,189,11.70,0.00,-10.07,0.000,6,0.248,0.000,2726,2283,3866
$GC,328,-0.77,-194.7,29.1,-13.9,52,334,0.15,0.00,0.00,0.000,6,0.159,0.000,2749,2282,3867
$GC,470,-0.77,-194.7,46.5,-12.0,77,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2282,3867
$GC,611,-0.77,-194.7,63.4,-11.5,102,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2282,3867
$GC,956,-0.77,-194.7,101.1,-10.6,163,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2282,3868
$GC,1299,-0.77,-194.7,137.8,-10.6,224,1305,0.00,2.83,0.00,0.000,4,0.000,0.044,2749,3709,3868
$GC,1311,-0.77,-194.7,139.2,-10.7,226,1317,0.00,2.72,0.00,0.000,6,0.000,0.032,2749,2297,3868
$GC,1655,-0.77,-194.7,176.5,-10.3,287,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2296,3868
$GC,1997,-0.77,-194.7,213.4,-11.0,348,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2296,3868
$GC,2340,-0.77,-194.7,254.1,-12.0,409,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2296,3868
$GC,2682,-0.77,-194.7,295.9,-12.1,470,2688,0.00,2.83,0.00,0.000,4,0.000,0.044,2749,3712,3868
$GC,2711,-0.77,-194.7,299.3,-11.8,475,2717,0.00,2.75,0.00,0.000,6,0.000,0.032,2749,2295,3868
$GC,3054,-0.77,-194.7,337.9,-11.3,536,3061,0.00,2.83,0.00,0.000,4,0.000,0.045,2749,3706,3867
$GC,3078,-0.77,-194.7,340.6,-11.4,540,3084,0.00,2.72,0.00,0.000,6,0.000,0.032,2749,2302,3868
$GC,3413,-0.77,-194.7,377.6,-11.0,579,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2302,3867
$GC,3732,-0.77,-194.7,414.9,-12.3,609,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2301,3867
$GC,4051,-0.77,-194.7,452.4,-12.0,639,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2301,3867
$GC,4369,-0.77,-194.7,488.6,-10.8,669,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2301,3867
$GC,4688,-0.77,-194.7,522.4,-10.3,699,4693,0.00,2.83,0.00,0.000,4,0.000,0.048,2749,3705,3867
$GC,4698,-0.77,-194.7,523.6,-10.0,699,4705,0.00,2.70,0.00,0.000,6,0.000,0.033,2749,2315,3866
$GC,5026,-0.77,-194.7,558.0,-10.5,730,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2315,3867
$GC,5351,-0.77,-194.7,592.4,-10.4,761,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2315,3866
$GC,5673,-0.77,-194.7,627.7,-11.3,780,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2315,3866
$GC,5982,-0.77,-194.7,663.2,-11.7,795,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2315,3866
$GC,6291,-0.77,-194.7,697.4,-10.3,810,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2315,3865
$GC,6601,-0.77,-194.7,726.3,-8.9,825,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2315,3865
$GC,6910,-0.77,-194.7,752.2,-9.3,840,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2315,3865
$GC,7219,-0.77,-194.7,780.0,-9.6,855,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2315,3865
$GC,7528,-0.77,-194.7,808.8,-9.3,870,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2315,3864
$GC,7838,-0.77,-194.7,837.9,-9.0,885,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2315,3864
$GC,8147,-0.77,-194.7,866.2,-9.0,900,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2315,3864
$GC,8457,-0.77,-194.7,896.2,-9.6,915,8458,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2315,3863
$GC,8765,-0.77,-194.7,928.2,-10.7,930,8771,0.00,3.70,0.00,0.000,4,0.000,0.156,2749,3699,3863
$GC,8787,-0.77,-194.7,930.7,-10.7,931,8792,0.00,3.53,0.00,0.000,6,0.000,0.142,2749,2333,3863
$GC,9108,-0.77,-194.7,963.3,-10.5,947,9109,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2333,3863
$STATE,9394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9394,begin apogee
$GC,9401,-0.21,0.0,991.3,8.7,961,9617,0.77,0.00,210.00,1.599,6,0.132,0.000,2871,2735,3071
$STATE,9618,end apogee,CONTROL_FINISHED_OK
$STATE,9618,begin climb
$GC,9620,0.86,194.7,996.2,0.0,972,9849,1.40,3.72,215.38,1.532,4,0.084,0.179,3101,3896,2277
$GC,9967,0.72,194.7,961.4,12.2,988,9972,0.15,2.38,0.00,0.000,6,0.120,0.035,3080,2733,2274
$GC,10283,0.62,194.7,923.9,12.3,1003,10287,0.15,2.42,0.00,0.000,4,0.113,0.052,3058,3908,2274
$GC,10337,0.62,194.7,917.7,11.4,1005,10344,0.00,2.25,0.00,0.000,6,0.000,0.033,3058,2760,2274
$GC,10653,0.62,196.1,886.9,9.9,1021,10655,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2759,2273
$GC,10963,0.58,198.9,856.9,9.9,1036,10970,0.00,0.00,5.22,1.000,6,0.000,0.000,3058,2759,2260
$GC,11272,0.59,199.6,824.3,10.0,1051,11276,0.00,2.35,0.00,0.000,4,0.000,0.054,3058,3916,2260
$GC,11316,0.54,199.6,819.5,11.0,1053,11320,0.00,2.20,0.00,0.000,6,0.000,0.033,3058,2768,2259
$GC,11642,0.55,203.0,786.4,9.9,1069,11650,0.00,0.00,5.97,1.059,6,0.000,0.000,3058,2766,2243
$GC,11951,0.58,227.3,756.3,9.2,1084,11979,0.00,0.00,26.20,1.403,6,0.000,0.000,3058,2766,2144
$GC,12281,0.62,262.6,727.1,8.8,1100,12323,0.00,2.45,37.42,1.411,4,0.000,0.052,3058,3908,1999
$GC,12369,0.62,262.6,718.1,10.2,1104,12373,0.00,2.22,0.00,0.000,6,0.000,0.031,3058,2772,1997
$GC,12701,0.62,262.6,683.5,10.6,1120,12705,0.00,2.85,0.00,0.000,4,0.000,0.048,3057,1350,1996
$GC,12739,0.62,262.6,679.3,10.7,1122,12744,0.00,2.85,0.00,0.000,6,0.000,0.032,3058,2800,1996
$GC,13066,0.68,308.8,649.6,8.4,1138,13116,0.00,0.00,48.12,1.374,6,0.000,0.000,3058,2800,1812
$GC,13416,0.71,333.4,620.6,9.1,1155,13444,0.00,0.00,26.42,1.312,6,0.000,0.000,3058,2800,1711
$GC,13747,0.73,350.8,590.3,9.4,1175,13772,0.00,3.00,19.10,1.258,4,0.000,0.045,3058,1346,1640
$GC,13818,0.79,365.5,583.5,9.5,1181,13845,0.17,2.83,16.95,1.243,6,0.050,0.031,3094,2773,1581
$GC,14164,0.73,365.5,536.1,13.4,1214,14168,0.00,2.25,0.00,0.000,4,0.000,0.051,3094,3900,1577
$GC,14230,0.68,365.5,526.8,13.8,1219,14237,0.15,2.15,0.00,0.000,6,0.107,0.030,3072,2780,1576
$GC,14555,0.68,370.1,492.6,9.8,1250,14567,0.00,2.85,5.28,0.880,4,0.000,0.051,3071,1346,1562
$GC,14606,0.68,370.1,487.2,10.3,1254,14614,0.00,2.80,0.00,0.000,6,0.000,0.031,3071,2778,1562
$GC,14933,0.73,408.1,456.0,8.7,1285,14981,0.00,0.00,41.95,1.241,6,0.000,0.000,3071,2778,1406
$GC,15300,0.76,431.6,422.7,9.2,1320,15332,0.00,2.97,25.20,1.181,4,0.000,0.045,3072,1339,1310
$GC,15367,0.85,457.6,416.7,9.1,1326,15403,0.17,2.85,28.98,1.174,6,0.048,0.031,3108,2772,1204
$GC,15728,0.78,457.6,360.7,15.9,1360,15732,0.00,2.22,0.00,0.000,4,0.000,0.048,3108,3893,1199
$GC,15790,0.74,457.6,351.2,14.7,1365,15795,0.15,2.17,0.00,0.000,6,0.107,0.031,3086,2766,1198
$GC,16133,0.74,457.6,311.1,11.0,1424,16140,0.00,2.83,0.00,0.000,4,0.000,0.046,3086,1343,1197
$GC,16179,0.74,457.6,305.9,10.5,1432,16186,0.00,2.78,0.00,0.000,6,0.000,0.031,3086,2770,1196
$GC,16523,0.74,457.6,268.7,10.9,1493,16529,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2771,1195
$GC,16865,0.74,457.6,231.2,11.4,1554,16871,0.00,2.85,0.00,0.000,4,0.000,0.044,3086,1343,1195
$GC,16918,0.78,457.6,225.5,10.2,1563,16924,0.00,2.75,0.00,0.000,6,0.000,0.031,3086,2763,1195
$GC,17263,0.78,457.6,187.2,11.1,1624,17269,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2763,1195
$GC,17606,0.78,457.6,148.9,10.1,1685,17612,0.00,2.85,0.00,0.000,4,0.000,0.045,3086,1342,1195
$GC,17647,0.83,457.6,144.4,11.1,1692,17653,0.00,2.72,0.00,0.000,6,0.000,0.031,3086,2750,1195
$GC,17992,0.83,461.8,106.4,9.9,1753,17997,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2751,1194
$GC,18334,0.83,461.8,71.4,10.8,1814,18341,0.00,2.80,0.00,0.000,4,0.000,0.046,3086,1349,1194
$GC,18384,0.89,469.8,66.4,9.7,1822,18403,0.15,2.70,12.00,0.884,6,0.050,0.031,3120,2748,1155
$GC,18741,0.89,469.8,11.1,13.7,1885,18748,0.00,2.25,0.00,0.000,4,0.000,0.047,3119,3898,1153
$GC,18804,0.89,469.8,2.2,14.1,1896,18811,0.00,2.25,0.00,0.000,6,0.000,0.032,3119,2741,1153
$STATE,18815,end climb,SURFACE_DEPTH_REACHED
$STATE,18815,begin surface coast
$FINISH,0.3,1.026079
$STATE,18828,end surface coast,CONTROL_FINISHED_OK
$STATE,18828,begin surface
$SM_CCo,18907,0.00,0.000,0,0,1151,470.98
$SM_GC,0.64,8.50,0.00,0.00,0.044,0.000,0.000,1435,2293,1151,-6.79,-0.14,470.98
$IRIDIUM_FIX,6139.81,-2714.95,220897,232300
$TT8_MAMPS,0.026078
$HUMID,1821
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,16.40
$XPDR_PINGS,975
$24V_AH,19.1,80.081
$10V_AH,9.8,56.992
$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,23.625,110.125,724.200,0.000,0.000,115.169,212.130,389.734,243.750,0.000,0.000,16.379,2955.660,11660.452,848.716,3400.979,1072.737,0.000,2396.253,0.000,3391.967,0.000,0.465
$DEVICE_MAMPS,247.741,178.711,1599.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1328.560,1382.576,694.752,1670.003,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139124,1900
$CAP_FILE_SIZE,172756,0
$CFSIZE,260165632,232173568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290508,041338,6202.207,-2635.838,27,1.7,27,-19.1