version: 66.03
glider: 142
mission: 5
dive: 115
start: 4 28 108 14 32 2
data:
$ID,142
$MISSION,5
$DIVE,115
$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,320
$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,-14991.125
$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,35
$R_STBD_OVSHOOT,24
$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
$GPS1,142356,6046.653,-2300.902,38,1.5,38,-16.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-46.2
$GPS2,143144,6046.662,-2301.128,9,1.1,14,-16.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6054.935,-2304.502
$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,336.4,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,158,0.00,0.00,-128.95,0.000,2,0.000,0.000,1435,2273,3450
$GC,161,-0.86,-194.7,3.1,-6.7,18,192,11.35,2.88,-12.32,0.000,4,0.249,0.054,2724,3703,3866
$GC,278,-0.79,-194.7,20.5,-13.4,38,286,0.00,2.78,0.00,0.000,6,0.000,0.034,2724,2307,3866
$GC,413,-0.71,-194.7,39.3,-13.2,63,421,0.17,2.88,0.00,0.000,4,0.141,0.050,2752,886,3866
$GC,524,-0.71,-194.7,52.5,-11.8,83,530,0.00,2.72,0.00,0.000,6,0.000,0.029,2752,2298,3866
$GC,853,-0.71,-194.7,91.7,-11.5,144,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2299,3866
$GC,1186,-0.71,-194.7,130.1,-11.6,205,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2299,3866
$GC,1519,-0.71,-194.7,169.2,-11.7,266,1525,0.00,2.80,0.00,0.000,4,0.000,0.048,2752,890,3866
$GC,1575,-0.71,-194.7,175.8,-11.5,276,1582,0.00,2.72,0.00,0.000,6,0.000,0.030,2752,2295,3866
$GC,1918,-0.71,-194.7,214.0,-10.9,337,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2296,3866
$GC,2255,-0.71,-194.7,252.6,-11.6,398,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2296,3866
$GC,2593,-0.71,-194.7,290.2,-10.9,459,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2296,3866
$GC,2934,-0.71,-194.7,327.3,-11.2,520,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2296,3866
$GC,3276,-0.71,-194.7,363.9,-10.7,570,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2296,3866
$GC,3593,-0.71,-194.7,398.7,-11.0,600,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2296,3866
$GC,3912,-0.71,-194.7,434.2,-11.1,630,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2296,3866
$GC,4230,-0.71,-194.7,469.1,-10.9,660,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2296,3866
$GC,4549,-0.71,-194.7,504.2,-11.1,690,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2296,3866
$GC,4868,-0.71,-194.7,540.1,-11.4,720,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2296,3866
$GC,5186,-0.71,-194.7,574.4,-10.5,750,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2296,3866
$GC,5513,-0.71,-194.7,609.5,-10.8,777,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2296,3866
$GC,5822,-0.71,-194.7,643.2,-10.8,792,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2296,3866
$GC,6131,-0.71,-194.7,675.1,-10.0,807,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2297,3866
$GC,6441,-0.71,-194.7,705.0,-9.4,822,6445,0.00,2.90,0.00,0.000,4,0.000,0.064,2752,3707,3866
$GC,6495,-0.71,-194.7,710.4,-9.9,824,6502,0.00,2.85,0.00,0.000,6,0.000,0.048,2752,2292,3865
$GC,6811,-0.71,-194.7,741.2,-10.1,840,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2291,3865
$GC,7120,-0.71,-194.7,772.1,-9.7,855,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2291,3865
$GC,7429,-0.71,-194.7,801.2,-9.2,870,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2291,3864
$GC,7739,-0.71,-194.7,829.0,-8.8,885,7744,0.00,3.22,0.00,0.000,4,0.000,0.105,2752,3701,3864
$GC,7811,-0.71,-194.7,835.6,-9.4,888,7816,0.00,3.12,0.00,0.000,6,0.000,0.094,2752,2304,3864
$GC,8126,-0.71,-194.7,863.9,-9.1,903,8131,0.00,3.15,0.00,0.000,4,0.000,0.097,2752,870,3864
$GC,8175,-0.71,-194.7,868.7,-9.7,905,8180,0.00,2.78,0.00,0.000,6,0.000,0.031,2752,2307,3863
$GC,8491,-0.71,-194.7,897.0,-9.2,920,8496,0.00,2.83,0.00,0.000,4,0.000,0.057,2752,3705,3863
$GC,8563,-0.71,-194.7,903.9,-9.9,923,8568,0.00,2.78,0.00,0.000,6,0.000,0.040,2752,2302,3863
$GC,8879,-0.71,-194.7,933.4,-9.4,938,8883,0.00,2.88,0.00,0.000,4,0.000,0.062,2752,885,3863
$GC,8918,-0.75,-194.7,937.3,-10.0,940,8923,0.00,2.80,0.00,0.000,6,0.000,0.035,2752,2321,3863
$GC,9244,-0.75,-194.7,967.1,-9.1,956,9248,0.00,2.83,0.00,0.000,4,0.000,0.060,2752,3717,3862
$GC,9310,-0.75,-194.7,973.2,-9.1,959,9315,0.00,2.75,0.00,0.000,6,0.000,0.041,2752,2329,3862
$STATE,9504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9504,begin apogee
$GC,9510,-0.21,0.0,990.6,8.9,969,9716,0.75,0.00,202.88,1.608,6,0.136,0.000,2871,2750,3071
$STATE,9717,end apogee,CONTROL_FINISHED_OK
$STATE,9717,begin climb
$GC,9719,0.86,194.7,997.2,0.0,979,9944,1.38,2.65,211.23,1.553,4,0.084,0.057,3099,3894,2276
$GC,10108,0.69,194.7,951.8,15.4,997,10113,0.17,2.38,0.00,0.000,6,0.130,0.035,3076,2738,2274
$GC,10429,0.58,194.7,911.8,12.3,1013,10434,0.15,2.42,0.00,0.000,4,0.123,0.053,3051,3900,2273
$GC,10478,0.53,194.7,906.2,10.8,1015,10482,0.00,2.28,0.00,0.000,6,0.000,0.033,3051,2753,2273
$GC,10800,0.48,202.7,874.9,9.7,1031,10811,0.15,0.00,8.90,1.240,6,0.118,0.000,3028,2753,2244
$GC,11108,0.54,256.0,849.7,8.1,1046,11169,0.00,0.00,55.40,1.492,6,0.000,0.000,3028,2753,2027
$GC,11479,0.62,313.6,820.0,8.0,1064,11542,0.12,0.00,60.83,1.471,6,0.064,0.000,3052,2752,1792
$GC,11848,0.62,313.6,779.9,11.3,1082,11852,0.00,2.38,0.00,0.000,4,0.000,0.053,3052,3900,1786
$GC,11869,0.62,313.6,777.2,11.7,1083,11873,0.00,2.25,0.00,0.000,6,0.000,0.040,3052,2762,1785
$GC,12196,0.62,313.6,738.6,11.7,1099,12200,0.00,2.88,0.00,0.000,4,0.000,0.049,3052,1338,1785
$GC,12205,0.62,313.6,737.3,11.7,1099,12212,0.00,2.85,0.00,0.000,6,0.000,0.032,3053,2778,1784
$GC,12521,0.62,313.6,702.0,11.3,1115,12525,0.00,2.92,0.00,0.000,4,0.000,0.046,3053,1338,1784
$GC,12530,0.62,313.6,700.6,11.4,1115,12537,0.00,2.83,0.00,0.000,6,0.000,0.033,3052,2767,1784
$GC,12846,0.62,313.6,664.8,11.4,1131,12850,0.00,2.90,0.00,0.000,4,0.000,0.047,3052,1336,1783
$GC,12855,0.62,313.6,663.6,11.3,1131,12862,0.00,2.80,0.00,0.000,6,0.000,0.032,3052,2763,1783
$GC,13171,0.62,313.6,629.6,10.6,1147,13172,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2764,1783
$GC,13480,0.62,313.9,598.1,10.0,1162,13481,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2764,1782
$GC,13801,0.62,313.9,564.8,10.9,1192,13806,0.00,2.88,0.00,0.000,4,0.000,0.051,3052,1335,1782
$GC,13811,0.62,313.9,563.3,10.9,1192,13820,0.00,2.80,0.00,0.000,6,0.000,0.036,3052,2750,1782
$GC,14137,0.62,313.9,526.2,11.8,1223,14138,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2750,1782
$GC,14454,0.62,313.9,489.1,11.2,1253,14456,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2750,1782
$GC,14774,0.62,313.9,455.0,10.3,1283,14779,0.00,2.83,0.00,0.000,4,0.000,0.046,3052,1342,1782
$GC,14783,0.62,313.9,453.7,10.4,1283,14790,0.00,2.72,0.00,0.000,6,0.000,0.031,3053,2747,1782
$GC,15110,0.62,313.9,420.1,10.4,1314,15111,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2746,1782
$GC,15429,0.62,320.1,388.1,9.8,1344,15442,0.00,2.83,6.00,0.906,4,0.000,0.045,3052,1333,1765
$GC,15447,0.64,332.6,385.9,9.6,1345,15467,0.00,2.72,14.18,1.112,6,0.000,0.031,3053,2736,1714
$GC,15792,0.65,341.0,352.1,9.7,1378,15804,0.00,0.00,9.80,1.025,6,0.000,0.000,3053,2736,1680
$GC,16134,0.65,341.0,316.8,10.0,1438,16139,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2736,1679
$GC,16472,0.65,341.0,281.8,11.4,1499,16477,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2735,1678
$GC,16807,0.65,341.0,249.0,10.4,1560,16815,0.00,2.83,0.00,0.000,4,0.000,0.044,3052,1336,1678
$GC,16821,0.66,347.4,247.6,9.8,1562,16834,0.00,2.70,7.93,0.920,6,0.000,0.031,3053,2732,1654
$GC,17167,0.70,384.0,214.6,8.7,1624,17209,0.00,0.00,37.70,1.079,6,0.000,0.000,3052,2732,1505
$GC,17542,0.83,442.4,180.4,8.0,1691,17608,0.22,2.97,59.20,1.048,4,0.044,0.044,3103,1337,1266
$GC,17614,0.74,442.4,169.7,16.2,1703,17621,0.15,2.80,0.00,0.000,6,0.109,0.029,3082,2726,1264
$GC,17948,0.74,442.4,123.7,11.5,1764,17956,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2727,1259
$GC,18282,0.74,442.4,79.1,15.4,1825,18287,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2727,1257
$GC,18609,0.74,442.4,35.3,12.4,1886,18618,0.00,2.80,0.00,0.000,4,0.000,0.044,3082,1344,1256
$GC,18627,0.74,442.4,33.1,13.5,1888,18635,0.00,2.70,0.00,0.000,6,0.000,0.031,3082,2721,1256
$GC,18762,0.74,442.4,15.7,14.7,1913,18769,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2721,1256
$STATE,18868,end climb,SURFACE_DEPTH_REACHED
$STATE,18868,begin surface coast
$FINISH,0.2,1.026245
$STATE,18881,end surface coast,CONTROL_FINISHED_OK
$STATE,18881,begin surface
$SM_CCo,18959,0.00,0.000,0,0,1254,445.96
$SM_GC,0.62,8.20,0.00,0.00,0.039,0.000,0.000,1432,2268,1254,-6.79,-0.90,445.96
$IRIDIUM_FIX,6019.75,-2257.48,230797,090918
$TT8_MAMPS,0.026845
$HUMID,1753
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,11.50
$XPDR_PINGS,875
$24V_AH,19.5,40.386
$10V_AH,9.8,32.355
$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,22.825,118.525,674.025,0.000,0.000,28.556,41.631,257.907,218.750,0.000,0.000,15.558,3022.299,10702.058,773.113,4280.979,627.059,0.000,2391.053,0.000,4276.691,0.000,0.465
$DEVICE_MAMPS,248.508,105.079,1607.632,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1341.115,1393.854,689.663,959.721,1750.013,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142582,1935
$CAP_FILE_SIZE,169627,0
$CFSIZE,260165632,245379072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280408,194907,6049.917,-2309.276,31,1.1,31,-16.5