version: 66.03
glider: 142
mission: 5
dive: 133
start: 5 2 108 16 10 20
data:
$ID,142
$MISSION,5
$DIVE,133
$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,230
$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,-15413.669
$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,21
$R_STBD_OVSHOOT,21
$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
$GPS1,160252,6117.354,-2458.746,41,99.0,60,-17.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-48.3
$GPS2,161002,6117.346,-2458.808,15,1.2,32,-17.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6110.404,-2502.797
$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,247.8,20000,-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,-194.7,0.0,0.0,0,174,0.00,0.00,-144.23,0.000,2,0.000,0.000,1436,2288,3573
$GC,176,-0.86,-194.7,3.2,-4.2,20,207,11.18,2.88,-8.10,0.000,4,0.244,0.055,2726,887,3867
$GC,444,-0.81,-194.7,43.8,-14.5,69,452,0.00,2.78,0.00,0.000,6,0.000,0.031,2726,2307,3868
$GC,581,-0.73,-194.7,62.6,-13.4,94,590,0.15,2.88,0.00,0.000,4,0.140,0.046,2750,887,3868
$GC,796,-0.73,-194.7,87.6,-11.7,133,802,0.00,2.70,0.00,0.000,6,0.000,0.029,2751,2292,3868
$GC,1125,-0.73,-194.7,126.5,-12.1,194,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2292,3868
$GC,1458,-0.73,-194.7,164.5,-11.4,255,1464,0.00,2.78,0.00,0.000,4,0.000,0.048,2751,891,3868
$GC,1518,-0.73,-194.7,171.1,-11.7,265,1524,0.00,2.67,0.00,0.000,6,0.000,0.030,2750,2289,3868
$GC,1855,-0.73,-194.7,210.5,-11.1,326,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2289,3868
$GC,2194,-0.73,-194.7,247.4,-10.3,387,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2289,3868
$GC,2536,-0.73,-194.7,284.2,-10.5,448,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2289,3868
$GC,2880,-0.73,-194.7,319.8,-10.5,509,2886,0.00,2.78,0.00,0.000,4,0.000,0.048,2750,891,3868
$GC,2927,-0.73,-194.7,324.8,-10.6,517,2933,0.00,2.67,0.00,0.000,6,0.000,0.030,2750,2289,3868
$GC,3269,-0.73,-194.7,361.3,-10.3,569,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2289,3868
$GC,3587,-0.73,-194.7,394.7,-10.7,599,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2290,3868
$GC,3904,-0.73,-194.7,428.8,-10.6,629,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2290,3868
$GC,4223,-0.73,-194.7,462.0,-10.3,659,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2290,3867
$GC,4543,-0.73,-194.7,494.6,-10.2,689,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2290,3868
$GC,4862,-0.73,-194.7,527.1,-10.0,719,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2290,3868
$GC,5178,-0.73,-194.7,559.4,-10.8,749,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2290,3867
$GC,5496,-0.73,-194.7,592.8,-10.1,779,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2290,3868
$GC,5818,-0.73,-194.7,624.5,-9.5,798,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2290,3867
$GC,6128,-0.73,-194.7,653.6,-9.4,813,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2290,3867
$GC,6437,-0.73,-194.7,683.0,-9.4,828,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2291,3867
$GC,6746,-0.73,-194.7,714.1,-10.4,843,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2291,3867
$GC,7055,-0.73,-194.7,746.6,-10.6,858,7056,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2291,3867
$GC,7365,-0.73,-194.7,778.4,-10.0,873,7366,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2290,3866
$GC,7674,-0.73,-194.7,808.8,-10.0,888,7675,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2291,3866
$GC,7983,-0.73,-194.7,839.8,-10.2,903,7984,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2291,3866
$GC,8292,-0.73,-194.7,871.5,-10.0,918,8297,0.00,3.45,0.00,0.000,4,0.000,0.137,2750,897,3865
$GC,8342,-0.77,-194.7,876.6,-10.3,920,8347,0.00,3.12,0.00,0.000,6,0.000,0.100,2751,2282,3865
$GC,8657,-0.77,-194.7,906.5,-9.3,935,8658,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3865
$GC,8967,-0.77,-194.7,933.3,-8.6,950,8968,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3865
$GC,9276,-0.77,-194.7,958.6,-8.2,965,9277,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3865
$GC,9585,-0.77,-194.7,984.4,-8.4,980,9586,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3865
$STATE,9665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9665,begin apogee
$GC,9672,-0.21,0.0,991.3,8.3,984,9878,0.73,0.00,203.15,1.593,6,0.117,0.000,2870,2747,3071
$STATE,9879,end apogee,CONTROL_FINISHED_OK
$STATE,9879,begin climb
$GC,9881,0.86,194.7,996.9,0.0,994,10106,1.38,2.67,210.50,1.541,4,0.079,0.058,3101,3896,2275
$GC,10309,0.68,194.7,943.5,16.2,1014,10314,0.22,2.33,0.00,0.000,6,0.130,0.034,3070,2750,2273
$GC,10635,0.57,194.7,900.4,13.5,1030,10640,0.15,2.38,0.00,0.000,4,0.125,0.052,3045,3896,2273
$GC,10684,0.57,194.7,894.2,11.9,1032,10688,0.00,2.28,0.00,0.000,6,0.000,0.032,3045,2759,2272
$GC,11006,0.54,205.8,861.8,9.6,1048,11020,0.00,0.00,11.55,1.288,6,0.000,0.000,3045,2758,2232
$GC,11315,0.54,240.7,833.9,8.8,1063,11355,0.00,0.00,36.62,1.453,6,0.000,0.000,3045,2757,2089
$GC,11664,0.54,244.2,800.7,9.9,1080,11670,0.00,0.00,4.68,0.938,6,0.000,0.000,3045,2757,2075
$GC,11973,0.54,244.2,768.0,10.5,1095,11977,0.00,2.33,0.00,0.000,4,0.000,0.052,3045,3897,2074
$GC,12011,0.54,244.2,763.9,10.8,1097,12016,0.00,2.22,0.00,0.000,6,0.000,0.031,3045,2755,2074
$GC,12337,0.54,244.2,730.5,10.4,1113,12342,0.00,2.83,0.00,0.000,4,0.000,0.048,3045,1339,2073
$GC,12369,0.54,244.2,727.0,10.2,1114,12376,0.00,2.80,0.00,0.000,6,0.000,0.032,3045,2768,2073
$GC,12685,0.54,244.2,694.6,10.2,1130,12689,0.00,2.25,0.00,0.000,4,0.000,0.052,3045,3899,2073
$GC,12724,0.54,244.2,690.5,11.2,1132,12728,0.00,2.20,0.00,0.000,6,0.000,0.031,3045,2759,2073
$GC,13050,0.55,251.2,657.7,9.8,1148,13061,0.00,0.00,8.60,1.134,6,0.000,0.000,3045,2758,2046
$GC,13359,0.56,263.6,628.1,9.6,1163,13379,0.00,0.00,13.90,1.241,6,0.000,0.000,3045,2758,1995
$GC,13689,0.58,280.0,596.8,9.4,1180,13712,0.00,2.40,17.77,1.260,4,0.000,0.050,3045,3899,1928
$GC,13735,0.58,280.0,592.3,10.1,1184,13739,0.00,2.22,0.00,0.000,6,0.000,0.031,3045,2764,1926
$GC,14059,0.61,298.3,561.8,9.4,1214,14084,0.00,2.90,19.67,1.243,4,0.000,0.047,3045,1344,1853
$GC,14107,0.65,332.7,557.2,8.8,1218,14150,0.00,2.88,36.35,1.283,6,0.000,0.031,3045,2785,1714
$GC,14467,0.69,363.8,523.8,8.9,1252,14509,0.12,3.05,32.38,1.244,4,0.059,0.044,3070,1346,1586
$GC,14525,0.69,363.8,517.2,11.8,1257,14532,0.00,2.88,0.00,0.000,6,0.000,0.031,3070,2769,1585
$GC,14851,0.69,363.8,477.6,12.1,1288,14855,0.00,2.25,0.00,0.000,4,0.000,0.049,3070,3894,1582
$GC,14890,0.69,363.8,472.7,11.6,1291,14894,0.00,2.22,0.00,0.000,6,0.000,0.031,3070,2752,1581
$GC,15217,0.69,363.8,433.8,12.7,1321,15218,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2751,1580
$GC,15535,0.69,363.8,394.4,11.9,1351,15536,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2751,1580
$GC,15852,0.69,363.8,357.0,12.1,1381,15856,0.00,2.30,0.00,0.000,4,0.000,0.048,3070,3903,1580
$GC,15878,0.69,363.8,353.5,12.1,1383,15885,0.00,2.22,0.00,0.000,6,0.000,0.031,3070,2762,1580
$GC,16217,0.69,363.8,314.3,11.2,1441,16223,0.00,2.83,0.00,0.000,4,0.000,0.047,3070,1337,1580
$GC,16246,0.69,363.8,310.7,12.2,1446,16253,0.00,2.78,0.00,0.000,6,0.000,0.031,3070,2774,1579
$GC,16588,0.69,363.8,270.9,11.6,1507,16594,0.00,2.20,0.00,0.000,4,0.000,0.048,3070,3888,1579
$GC,16624,0.69,363.8,266.9,11.9,1513,16630,0.00,2.15,0.00,0.000,6,0.000,0.031,3070,2766,1579
$GC,16964,0.69,363.8,228.6,11.4,1574,16970,0.00,2.83,0.00,0.000,4,0.000,0.045,3070,1338,1578
$GC,17005,0.69,363.8,224.2,10.2,1581,17012,0.00,2.78,0.00,0.000,6,0.000,0.030,3071,2774,1579
$GC,17349,0.69,363.8,186.0,11.2,1642,17355,0.00,2.20,0.00,0.000,4,0.000,0.048,3070,3893,1579
$GC,17383,0.69,363.8,182.1,11.8,1648,17391,0.00,2.17,0.00,0.000,6,0.000,0.030,3070,2769,1578
$GC,17725,0.69,363.8,142.6,11.2,1709,17731,0.00,2.83,0.00,0.000,4,0.000,0.044,3070,1337,1578
$GC,17763,0.69,363.8,137.6,11.3,1716,17771,0.00,2.80,0.00,0.000,6,0.000,0.031,3070,2766,1578
$GC,18098,0.69,363.8,98.9,10.9,1777,18104,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2766,1578
$GC,18427,0.69,363.8,61.5,11.1,1838,18435,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2766,1578
$GC,18754,0.69,363.8,26.9,11.9,1899,18761,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2766,1578
$GC,18888,0.69,368.5,12.3,9.8,1924,18904,0.00,2.90,4.38,0.611,4,0.000,0.044,3070,1338,1568
$GC,18922,0.69,368.5,8.5,11.7,1929,18930,0.00,2.78,0.00,0.000,6,0.000,0.031,3070,2756,1568
$STATE,18987,end climb,SURFACE_DEPTH_REACHED
$STATE,18987,begin surface coast
$FINISH,-0.0,1.014096
$STATE,19010,end surface coast,CONTROL_FINISHED_OK
$STATE,19010,begin surface
$SM_CCo,19088,0.00,0.000,0,0,1565,368.93
$SM_GC,0.73,8.25,0.00,0.00,0.047,0.000,0.000,1435,2298,1565,-6.79,-0.06,368.93
$IRIDIUM_FIX,6054.92,-2449.64,270797,101028
$TT8_MAMPS,0.026078
$HUMID,1756
$INTERNAL_PRESSURE,8.91681
$TCM_TEMP,11.50
$XPDR_PINGS,902
$24V_AH,19.6,46.301
$10V_AH,9.7,36.054
$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,22.175,111.425,599.550,0.000,0.000,25.380,27.678,224.316,225.500,0.000,0.000,33.502,3038.747,10813.671,730.178,4321.463,595.101,0.000,2326.373,0.000,4314.072,0.000,0.466
$DEVICE_MAMPS,243.906,137.293,1593.059,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1350.358,1402.275,718.821,980.764,1810.788,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142406,1945
$CAP_FILE_SIZE,167155,0
$CFSIZE,260165632,243630080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020508,212957,6116.187,-2507.002,34,99.0,53,-17.8