version: 66.03
glider: 142
mission: 5
dive: 135
start: 5 3 108 2 59 5
data:
$ID,142
$MISSION,5
$DIVE,135
$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,-15443.33
$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,34
$R_STBD_OVSHOOT,22
$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
$GPS1,025138,6114.944,-2514.950,24,1.9,24,-17.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-49.3
$GPS2,025845,6114.996,-2515.097,12,2.0,12,-17.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6108.054,-2519.090
$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,247.9,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,158,0.00,0.00,-129.32,0.000,2,0.000,0.000,1438,2276,3618
$GC,161,-0.86,-194.7,3.5,-5.4,18,185,11.60,2.78,-6.53,0.000,4,0.253,0.057,2726,900,3865
$GC,422,-0.80,-194.7,46.1,-16.0,66,429,0.00,2.75,0.00,0.000,6,0.000,0.031,2726,2304,3866
$GC,561,-0.73,-194.7,66.5,-14.0,91,567,0.17,2.83,0.00,0.000,4,0.142,0.046,2753,900,3866
$GC,715,-0.73,-194.7,85.8,-13.9,119,721,0.00,2.70,0.00,0.000,6,0.000,0.031,2753,2295,3866
$GC,1044,-0.73,-194.7,121.9,-11.7,180,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2301,3866
$GC,1379,-0.73,-194.7,158.7,-11.5,241,1385,0.00,2.78,0.00,0.000,4,0.000,0.048,2753,902,3866
$GC,1441,-0.73,-194.7,166.4,-11.7,252,1449,0.00,2.70,0.00,0.000,6,0.000,0.031,2753,2292,3866
$GC,1785,-0.73,-194.7,204.7,-11.4,313,1791,0.00,2.78,0.00,0.000,4,0.000,0.048,2753,900,3866
$GC,1832,-0.73,-194.7,210.4,-11.6,321,1838,0.00,2.65,0.00,0.000,6,0.000,0.030,2753,2290,3866
$GC,2174,-0.73,-194.7,246.4,-10.5,382,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2290,3866
$GC,2510,-0.73,-194.7,283.0,-10.8,443,2516,0.00,2.78,0.00,0.000,4,0.000,0.048,2753,897,3866
$GC,2559,-0.73,-194.7,288.6,-11.4,452,2567,0.00,2.67,0.00,0.000,6,0.000,0.030,2753,2277,3866
$GC,2904,-0.73,-194.7,323.4,-10.1,513,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2277,3866
$GC,3244,-0.73,-194.7,357.7,-10.0,568,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2277,3866
$GC,3563,-0.73,-194.7,389.5,-10.2,598,3567,0.00,2.75,0.00,0.000,4,0.000,0.048,2753,895,3866
$GC,3604,-0.73,-194.7,393.5,-10.7,601,3608,0.00,2.65,0.00,0.000,6,0.000,0.030,2753,2279,3866
$GC,3930,-0.73,-194.7,426.6,-10.5,631,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2279,3866
$GC,4247,-0.73,-194.7,460.0,-11.1,661,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2279,3866
$GC,4566,-0.73,-194.7,493.7,-9.8,691,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2279,3866
$GC,4888,-0.73,-194.7,524.2,-9.6,721,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2279,3866
$GC,5214,-0.73,-194.7,554.4,-9.1,752,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2279,3866
$GC,5532,-0.73,-194.7,585.3,-9.8,782,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2279,3866
$GC,5844,-0.73,-194.7,617.2,-10.2,804,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2280,3866
$GC,6153,-0.73,-194.7,649.2,-10.5,819,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2280,3866
$GC,6462,-0.73,-194.7,682.3,-11.0,834,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2280,3866
$GC,6772,-0.73,-194.7,714.6,-10.0,849,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2280,3866
$GC,7081,-0.73,-194.7,746.0,-9.6,864,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2280,3866
$GC,7391,-0.73,-194.7,775.2,-9.3,879,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2280,3866
$GC,7700,-0.73,-194.7,804.0,-9.4,894,7701,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2280,3866
$GC,8009,-0.73,-194.7,834.6,-9.8,909,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2280,3866
$GC,8318,-0.73,-194.7,863.3,-9.0,924,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2280,3865
$GC,8628,-0.73,-194.7,891.3,-9.2,939,8629,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2280,3865
$GC,8937,-0.73,-194.7,919.8,-9.1,954,8942,0.00,3.62,0.00,0.000,4,0.000,0.151,2753,3693,3864
$GC,8970,-0.73,-194.7,922.9,-9.6,955,8976,0.00,2.95,0.00,0.000,6,0.000,0.063,2753,2271,3864
$GC,9286,-0.73,-194.7,950.5,-8.7,971,9290,0.00,2.92,0.00,0.000,4,0.000,0.054,2753,3703,3864
$GC,9312,-0.73,-194.7,952.9,-9.3,972,9317,0.00,2.85,0.00,0.000,6,0.000,0.040,2753,2268,3864
$GC,9628,-0.73,-194.7,979.1,-8.3,987,9629,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2268,3864
$STATE,9770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9770,begin apogee
$GC,9776,-0.21,0.0,990.6,7.9,994,9983,0.70,0.00,203.45,1.599,6,0.117,0.000,2868,2741,3071
$STATE,9984,end apogee,CONTROL_FINISHED_OK
$STATE,9984,begin climb
$GC,9986,0.86,194.7,994.6,0.0,1004,10211,1.38,2.65,211.02,1.547,4,0.081,0.055,3097,3888,2277
$GC,10358,0.69,194.7,946.6,16.1,1021,10363,0.17,2.35,0.00,0.000,6,0.125,0.033,3074,2740,2274
$GC,10673,0.58,194.7,905.8,12.6,1036,10678,0.17,2.40,0.00,0.000,4,0.120,0.051,3046,3893,2274
$GC,10741,0.53,194.7,898.3,11.1,1039,10745,0.00,2.22,0.00,0.000,6,0.000,0.032,3046,2763,2273
$GC,11062,0.53,227.0,868.6,8.9,1055,11101,0.00,0.00,33.28,1.455,6,0.000,0.000,3046,2762,2145
$GC,11410,0.58,267.9,837.6,8.6,1072,11460,0.00,2.45,42.55,1.459,4,0.000,0.052,3046,3891,1978
$GC,11495,0.62,297.2,830.0,9.0,1076,11536,0.00,2.25,31.80,1.427,6,0.000,0.031,3046,2772,1859
$GC,11846,0.64,315.7,798.0,9.4,1093,11868,0.00,0.00,20.05,1.365,6,0.000,0.000,3046,2772,1783
$GC,12174,0.66,334.7,767.0,9.3,1109,12196,0.00,0.00,20.77,1.358,6,0.000,0.000,3046,2772,1706
$GC,12503,0.73,386.8,738.2,8.2,1125,12567,0.15,3.03,56.22,1.408,4,0.058,0.053,3079,1340,1493
$GC,12590,0.69,386.8,728.2,11.5,1129,12595,0.00,2.97,0.00,0.000,6,0.000,0.031,3079,2794,1490
$GC,12916,0.63,386.8,685.7,13.6,1145,12921,0.12,2.22,0.00,0.000,4,0.109,0.051,3061,3894,1486
$GC,12971,0.63,386.8,678.6,11.5,1147,12977,0.00,2.17,0.00,0.000,6,0.000,0.031,3061,2792,1485
$GC,13286,0.63,386.8,644.0,10.8,1163,13291,0.00,2.92,0.00,0.000,4,0.000,0.048,3061,1336,1484
$GC,13318,0.63,386.8,640.5,11.1,1164,13325,0.00,2.88,0.00,0.000,6,0.000,0.032,3061,2797,1484
$GC,13634,0.63,386.8,606.2,11.1,1180,13635,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2796,1484
$GC,13950,0.63,386.8,569.1,11.7,1207,13955,0.00,2.92,0.00,0.000,4,0.000,0.045,3061,1340,1483
$GC,13982,0.63,386.8,565.3,11.0,1209,13988,0.00,2.85,0.00,0.000,6,0.000,0.034,3061,2792,1483
$GC,14308,0.63,386.8,527.0,12.1,1240,14309,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2792,1483
$GC,14625,0.63,386.8,489.2,11.3,1270,14630,0.00,2.92,0.00,0.000,4,0.000,0.044,3061,1335,1482
$GC,14668,0.63,386.8,484.2,11.0,1273,14675,0.00,2.80,0.00,0.000,6,0.000,0.032,3061,2772,1483
$GC,14994,0.63,386.8,448.7,10.9,1304,14995,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2772,1482
$GC,15311,0.63,386.8,413.8,10.7,1334,15316,0.00,2.88,0.00,0.000,4,0.000,0.045,3061,1340,1482
$GC,15354,0.63,386.8,409.1,10.5,1337,15361,0.00,2.78,0.00,0.000,6,0.000,0.031,3061,2768,1482
$GC,15682,0.63,386.8,375.3,10.6,1368,15683,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2769,1482
$GC,16003,0.65,403.9,341.8,9.4,1405,16027,0.00,2.90,16.50,1.085,4,0.000,0.044,3061,1333,1423
$GC,16062,0.71,411.0,335.7,9.8,1415,16076,0.00,2.80,8.98,1.022,6,0.000,0.031,3061,2757,1395
$GC,16414,0.71,411.0,299.3,10.6,1477,16419,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2758,1392
$GC,16751,0.71,411.0,262.5,10.3,1538,16757,0.00,2.85,0.00,0.000,4,0.000,0.044,3061,1334,1392
$GC,16802,0.76,411.0,257.2,10.0,1547,16809,0.12,2.75,0.00,0.000,6,0.054,0.031,3088,2745,1391
$GC,17142,0.70,411.0,209.0,13.5,1608,17150,0.00,2.28,0.00,0.000,4,0.000,0.048,3088,3887,1391
$GC,17175,0.66,411.0,204.6,13.8,1613,17182,0.15,2.22,0.00,0.000,6,0.100,0.030,3065,2729,1391
$GC,17516,0.71,450.8,172.4,8.6,1674,17564,0.00,2.83,40.80,1.053,4,0.000,0.045,3065,1342,1232
$GC,17593,0.80,467.4,165.8,9.4,1687,17619,0.15,2.75,18.70,0.999,6,0.051,0.030,3098,2730,1165
$GC,17949,0.72,467.4,112.5,13.8,1751,17956,0.12,2.33,0.00,0.000,4,0.110,0.046,3080,3894,1159
$GC,17998,0.72,467.4,105.8,11.2,1759,18004,0.00,2.28,0.00,0.000,6,0.000,0.031,3080,2727,1159
$GC,18325,0.72,467.4,67.8,12.4,1820,18333,0.00,2.78,0.00,0.000,4,0.000,0.047,3080,1349,1157
$GC,18359,0.72,467.4,64.0,13.3,1825,18365,0.00,2.72,0.00,0.000,6,0.000,0.031,3080,2747,1157
$GC,18684,0.72,467.4,27.8,11.8,1886,18692,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2747,1157
$GC,18819,0.72,467.4,11.9,10.2,1911,18826,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2747,1156
$STATE,18909,end climb,SURFACE_DEPTH_REACHED
$STATE,18909,begin surface coast
$FINISH,0.8,1.026340
$STATE,18922,end surface coast,CONTROL_FINISHED_OK
$STATE,18922,begin surface
$SM_CCo,19000,0.00,0.000,0,0,1154,470.24
$SM_GC,0.55,8.30,0.00,0.00,0.045,0.000,0.000,1436,2287,1154,-6.79,-0.37,470.24
$IRIDIUM_FIX,6050.49,-2509.93,270797,212149
$TT8_MAMPS,0.026845
$HUMID,1753
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,11.20
$XPDR_PINGS,912
$24V_AH,19.5,46.941
$10V_AH,9.8,36.458
$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,23.325,126.225,704.125,0.000,0.000,22.795,29.099,240.866,228.000,0.000,0.000,14.476,3019.099,10720.073,798.519,4268.395,604.668,0.000,2412.366,0.000,4271.402,0.000,0.465
$DEVICE_MAMPS,253.110,151.099,1599.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1345.950,1381.402,692.507,957.948,1753.266,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142519,1930
$CAP_FILE_SIZE,171363,0
$CFSIZE,260165632,243437568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030508,081719,6113.320,-2524.517,41,1.8,58,-18.0