version: 66.03
glider: 142
mission: 5
dive: 278
start: 6 2 108 13 5 5
data:
$ID,142
$MISSION,5
$DIVE,278
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-18268.07
$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,31
$R_STBD_OVSHOOT,25
$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
$GPS1,125308,6144.120,-2611.235,24,1.7,24,-18.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-51.1
$GPS2,130447,6144.049,-2611.290,11,2.3,30,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SE
$TGT_LATLONG,6145.370,-2600.200
$TGT_RADIUS,2000.000
$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,73.8,10023,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.86,-194.7,0.0,0.0,0,167,0.00,0.00,-143.20,0.000,2,0.000,0.000,1434,2280,3480
$GC,171,-0.86,-194.7,3.3,-4.4,19,198,11.88,0.00,-10.52,0.000,6,0.251,0.000,2717,2281,3866
$GC,334,-0.74,-194.7,30.7,-15.3,47,342,0.22,2.85,0.00,0.000,4,0.159,0.043,2750,3711,3868
$GC,367,-0.69,-194.7,35.3,-12.7,52,375,0.00,2.72,0.00,0.000,6,0.000,0.033,2750,2309,3868
$GC,510,-0.69,-194.7,53.0,-12.3,77,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2309,3868
$GC,853,-0.69,-194.7,92.2,-11.4,138,861,0.00,2.83,0.00,0.000,4,0.000,0.050,2750,886,3868
$GC,923,-0.69,-194.7,100.0,-10.5,150,931,0.00,2.72,0.00,0.000,6,0.000,0.029,2751,2307,3868
$GC,1270,-0.69,-194.7,138.2,-11.0,211,1277,0.00,2.83,0.00,0.000,4,0.000,0.047,2750,891,3868
$GC,1302,-0.69,-194.7,141.6,-10.9,216,1310,0.00,2.70,0.00,0.000,6,0.000,0.030,2750,2302,3868
$GC,1648,-0.69,-194.7,179.8,-10.9,277,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2302,3868
$GC,1992,-0.69,-194.7,219.0,-11.8,338,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2302,3868
$GC,2336,-0.69,-194.7,258.7,-11.5,399,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2302,3868
$GC,2680,-0.69,-194.7,300.0,-11.8,460,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2303,3868
$GC,3024,-0.69,-194.7,343.3,-13.0,521,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2303,3868
$GC,3354,-0.69,-194.7,385.6,-12.6,556,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2304,3868
$GC,3670,-0.69,-194.7,426.3,-12.4,586,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2303,3867
$GC,3989,-0.69,-194.7,464.5,-11.5,616,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2303,3867
$GC,4307,-0.69,-194.7,501.0,-11.1,646,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2303,3867
$GC,4626,-0.69,-194.7,537.2,-11.6,676,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2303,3867
$GC,4945,-0.69,-194.7,573.3,-11.0,706,4949,0.00,2.80,0.00,0.000,4,0.000,0.048,2750,3701,3866
$GC,4976,-0.69,-194.7,577.2,-11.8,708,4985,0.00,2.78,0.00,0.000,6,0.000,0.035,2750,2288,3866
$GC,5301,-0.69,-194.7,614.6,-11.5,733,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2288,3866
$GC,5609,-0.69,-194.7,647.2,-10.0,748,5614,0.00,2.90,0.00,0.000,4,0.000,0.054,2750,3702,3866
$GC,5658,-0.69,-194.7,652.4,-9.4,750,5663,0.00,2.80,0.00,0.000,6,0.000,0.040,2750,2296,3865
$GC,5975,-0.69,-194.7,682.1,-9.8,765,5980,0.00,2.90,0.00,0.000,4,0.000,0.058,2750,3699,3865
$GC,6007,-0.69,-194.7,685.6,-10.4,766,6016,0.00,2.80,0.00,0.000,6,0.000,0.043,2750,2302,3865
$GC,6324,-0.69,-194.7,716.7,-9.8,782,6328,0.00,2.95,0.00,0.000,4,0.000,0.063,2750,3706,3865
$GC,6364,-0.69,-194.7,720.8,-10.5,784,6368,0.00,2.83,0.00,0.000,6,0.000,0.048,2750,2314,3865
$GC,6690,-0.69,-194.7,752.5,-9.7,800,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2313,3865
$GC,7000,-0.69,-194.7,781.4,-9.1,815,7005,0.00,3.05,0.00,0.000,4,0.000,0.082,2750,3697,3864
$GC,7050,-0.69,-194.7,786.1,-9.3,817,7055,0.00,2.90,0.00,0.000,6,0.000,0.065,2750,2327,3864
$GC,7366,-0.69,-194.7,814.8,-9.4,832,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2327,3864
$GC,7675,-0.69,-194.7,845.9,-10.3,847,7680,0.00,3.22,0.00,0.000,4,0.000,0.107,2750,3699,3864
$GC,7716,-0.69,-194.7,849.9,-10.1,849,7721,0.00,3.12,0.00,0.000,6,0.000,0.096,2751,2337,3864
$GC,8043,-0.69,-194.7,883.6,-10.4,865,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2336,3863
$GC,8352,-0.69,-194.7,914.6,-9.8,880,8353,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2335,3863
$GC,8662,-0.69,-194.7,943.4,-9.0,895,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2336,3863
$GC,8970,-0.69,-194.7,971.5,-9.2,910,8975,0.00,2.83,0.00,0.000,4,0.000,0.054,2750,3706,3863
$GC,9003,-0.69,-194.7,974.7,-9.9,911,9010,0.00,2.72,0.00,0.000,6,0.000,0.038,2750,2329,3862
$STATE,9172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9172,begin apogee
$GC,9179,-0.21,0.0,990.8,9.6,920,9395,0.75,0.00,210.62,1.602,6,0.129,0.000,2869,2750,3071
$STATE,9396,end apogee,CONTROL_FINISHED_OK
$STATE,9396,begin climb
$GC,9398,0.86,194.7,999.7,0.0,931,9627,1.42,2.62,216.50,1.540,4,0.086,0.057,3100,3887,2277
$GC,9779,0.72,194.7,961.4,14.8,948,9784,0.15,2.33,0.00,0.000,6,0.122,0.034,3079,2738,2274
$GC,10100,0.64,194.7,925.3,11.1,964,10101,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2736,2274
$GC,10410,0.57,199.1,893.6,9.8,979,10418,0.20,0.00,5.60,1.043,6,0.111,0.000,3048,2736,2259
$GC,10718,0.63,248.3,869.3,8.3,994,10778,0.00,0.00,52.55,1.496,6,0.000,0.000,3048,2736,2057
$GC,11087,0.72,319.1,840.0,7.5,1012,11168,0.15,0.00,75.55,1.480,6,0.059,0.000,3077,2736,1770
$GC,11476,0.72,319.1,797.1,11.6,1031,11480,0.00,2.38,0.00,0.000,4,0.000,0.053,3077,3893,1764
$GC,11504,0.72,319.1,793.5,13.0,1032,11508,0.00,2.25,0.00,0.000,6,0.000,0.033,3077,2743,1763
$GC,11820,0.72,319.1,757.0,11.4,1047,11821,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2742,1762
$GC,12129,0.72,319.1,719.2,12.1,1062,12130,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2742,1761
$GC,12439,0.72,319.1,683.7,10.9,1077,12440,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2742,1760
$GC,12747,0.72,319.1,650.8,10.3,1092,12748,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2742,1760
$GC,13057,0.72,319.1,617.4,11.2,1107,13058,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2742,1760
$GC,13371,0.72,319.1,584.0,10.8,1129,13372,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2742,1760
$GC,13691,0.72,319.5,551.4,10.0,1159,13692,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2742,1760
$GC,14008,0.72,319.5,518.4,10.8,1189,14009,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2742,1760
$GC,14326,0.72,319.5,484.2,10.8,1219,14327,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2739,1760
$GC,14645,0.72,319.5,448.5,11.7,1249,14646,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2736,1760
$GC,14965,0.72,323.4,414.0,9.9,1279,14966,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2735,1760
$GC,15284,0.74,336.1,382.6,9.6,1309,15303,0.00,0.00,16.98,1.108,6,0.000,0.000,3077,2735,1700
$GC,15620,0.74,336.1,348.1,10.4,1342,15627,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2735,1699
$GC,15965,0.75,344.5,313.2,9.7,1403,15980,0.00,2.40,9.93,0.998,4,0.000,0.049,3077,3898,1666
$GC,15997,0.75,344.5,309.7,10.5,1408,16005,0.00,2.22,0.00,0.000,6,0.000,0.031,3077,2748,1665
$GC,16342,0.75,344.5,274.6,10.4,1469,16349,0.00,2.80,0.00,0.000,4,0.000,0.045,3077,1340,1664
$GC,16384,0.75,344.5,270.2,10.9,1476,16392,0.00,2.75,0.00,0.000,6,0.000,0.029,3077,2755,1664
$GC,16730,0.75,344.5,237.0,10.6,1537,16737,0.00,2.83,0.00,0.000,4,0.000,0.044,3078,1342,1664
$GC,16756,0.76,354.6,234.6,9.6,1541,16777,0.00,2.72,11.88,0.986,6,0.000,0.031,3077,2746,1624
$GC,17115,0.77,364.7,200.5,9.7,1604,17129,0.00,0.00,11.70,0.971,6,0.000,0.000,3077,2746,1584
$GC,17468,0.78,372.0,165.9,9.7,1666,17483,0.00,2.90,8.93,0.900,4,0.000,0.044,3077,1336,1554
$GC,17513,0.83,376.9,161.2,9.8,1673,17529,0.12,2.72,6.90,0.858,6,0.053,0.031,3106,2730,1533
$GC,17868,0.78,376.9,113.5,15.1,1735,17875,0.00,2.30,0.00,0.000,4,0.000,0.048,3106,3890,1533
$GC,17909,0.78,376.9,106.9,13.7,1742,17917,0.00,2.25,0.00,0.000,6,0.000,0.032,3106,2727,1532
$GC,18257,0.74,376.9,61.0,14.5,1803,18264,0.15,0.00,0.00,0.000,6,0.104,0.000,3080,2726,1532
$GC,18602,0.86,426.7,30.2,8.3,1864,18659,0.12,2.88,51.35,0.973,4,0.054,0.047,3107,1347,1330
$GC,18695,0.88,444.1,21.8,9.4,1878,18723,0.00,2.75,19.00,0.906,6,0.000,0.030,3107,2741,1259
$GC,18860,0.88,444.1,5.9,10.6,1906,18867,0.00,2.30,0.00,0.000,4,0.000,0.048,3107,3894,1255
$GC,18886,0.92,444.1,3.1,10.4,1910,18893,0.00,2.25,0.00,0.000,6,0.000,0.036,3107,2751,1254
$STATE,18898,end climb,SURFACE_DEPTH_REACHED
$STATE,18898,begin surface coast
$FINISH,0.2,1.026129
$STATE,18916,end surface coast,CONTROL_FINISHED_OK
$STATE,18916,begin surface
$SM_CCo,18995,0.00,0.000,0,0,1252,446.20
$SM_GC,0.68,8.60,0.00,0.00,0.048,0.000,0.000,1436,2297,1252,-6.79,-0.06,446.20
$IRIDIUM_FIX,6117.23,-2613.62,270897,131313
$TT8_MAMPS,0.026078
$HUMID,1808
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,16.20
$XPDR_PINGS,1006
$24V_AH,19.0,87.289
$10V_AH,9.8,60.694
$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,23.775,104.725,697.475,0.000,0.000,56.979,71.622,337.840,251.500,0.000,0.000,33.116,3811.044,10747.306,890.653,3396.967,828.375,0.000,2396.036,0.000,3374.465,0.000,0.465
$DEVICE_MAMPS,250.809,106.613,1602.263,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1350.299,1406.496,695.343,1699.405,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139161,1915
$CAP_FILE_SIZE,165847,0
$CFSIZE,260165632,230080512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,216.7,1
$GPS,020608,182255,6145.183,-2607.566,39,1.3,39,-18.7