version: 66.03
glider: 142
mission: 5
dive: 138
start: 5 3 108 19 7 8
data:
$ID,142
$MISSION,5
$DIVE,138
$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,-15486.333
$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,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
$GPS1,185126,6106.450,-2545.627,38,1.8,39,-18.1
$_CALLS,3
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-33.5
$GPS2,190650,6106.279,-2546.215,9,1.5,14,-18.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6059.338,-2550.228
$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,248.1,20000,-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,26,-0.86,-194.7,0.0,0.0,0,201,0.00,0.00,-172.05,0.000,2,0.000,0.000,1436,2291,3726
$GC,204,-0.86,-194.7,3.8,-7.0,24,228,11.73,2.88,-3.45,0.000,4,0.255,0.050,2725,3709,3865
$GC,372,-0.80,-194.7,36.8,-13.9,54,380,0.00,2.80,0.00,0.000,6,0.000,0.035,2725,2307,3866
$GC,508,-0.74,-194.7,55.4,-13.5,79,515,0.15,2.85,0.00,0.000,4,0.146,0.048,2749,882,3866
$GC,577,-0.74,-194.7,63.9,-11.7,91,583,0.00,2.72,0.00,0.000,6,0.000,0.029,2749,2290,3866
$GC,904,-0.74,-194.7,100.6,-11.7,152,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2291,3866
$GC,1239,-0.74,-194.7,141.6,-13.0,213,1245,0.00,2.80,0.00,0.000,4,0.000,0.048,2749,884,3866
$GC,1296,-0.74,-194.7,149.0,-12.6,223,1302,0.00,2.70,0.00,0.000,6,0.000,0.030,2749,2288,3866
$GC,1636,-0.74,-194.7,191.7,-11.8,284,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2287,3866
$GC,1977,-0.74,-194.7,232.8,-11.5,345,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2288,3866
$GC,2314,-0.74,-194.7,272.6,-11.4,406,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2288,3866
$GC,2649,-0.74,-194.7,308.6,-10.6,467,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2288,3866
$GC,2989,-0.74,-194.7,342.9,-9.6,528,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2289,3866
$GC,3319,-0.74,-194.7,375.1,-9.6,565,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2288,3866
$GC,3637,-0.74,-194.7,402.8,-8.1,595,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2288,3866
$GC,3958,-0.74,-194.7,427.4,-7.9,625,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2289,3866
$GC,4273,-0.74,-194.7,455.3,-9.4,655,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2289,3866
$GC,4592,-0.74,-194.7,488.1,-11.1,685,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2289,3866
$GC,4910,-0.74,-194.7,523.2,-10.7,715,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2289,3866
$GC,5231,-0.74,-194.7,557.4,-10.9,745,5232,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2289,3866
$GC,5546,-0.74,-194.7,594.0,-12.6,775,5547,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2289,3865
$GC,5867,-0.74,-194.7,636.9,-13.6,793,5872,0.00,2.85,0.00,0.000,4,0.000,0.054,2749,3700,3865
$GC,5894,-0.74,-194.7,640.7,-14.2,794,5899,0.00,2.85,0.00,0.000,6,0.000,0.039,2749,2260,3865
$GC,6209,-0.74,-194.7,681.6,-12.2,809,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2259,3865
$GC,6518,-0.74,-194.7,717.4,-11.3,824,6523,0.00,3.00,0.00,0.000,4,0.000,0.064,2749,3696,3865
$GC,6567,-0.74,-194.7,723.0,-11.1,826,6572,0.00,2.88,0.00,0.000,6,0.000,0.049,2749,2273,3865
$GC,6883,-0.74,-194.7,754.0,-8.9,841,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2271,3865
$GC,7192,-0.74,-194.7,780.0,-7.7,856,7194,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2271,3864
$GC,7502,-0.74,-194.7,806.7,-9.5,871,7506,0.00,3.20,0.00,0.000,4,0.000,0.094,2749,3700,3864
$GC,7545,-0.74,-194.7,811.5,-10.6,873,7550,0.00,3.08,0.00,0.000,6,0.000,0.080,2749,2289,3865
$GC,7866,-0.74,-194.7,847.5,-11.1,889,7867,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2288,3865
$GC,8175,-0.74,-194.7,880.3,-10.3,904,8177,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2284,3864
$GC,8485,-0.74,-194.7,910.6,-9.5,919,8489,0.00,2.90,0.00,0.000,4,0.000,0.054,2749,3708,3864
$GC,8540,-0.74,-194.7,916.1,-9.9,921,8546,0.00,2.83,0.00,0.000,6,0.000,0.039,2749,2281,3864
$GC,8855,-0.74,-194.7,946.7,-9.5,937,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2281,3863
$GC,9164,-0.74,-194.7,979.0,-10.3,952,9165,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2281,3863
$STATE,9286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9286,begin apogee
$GC,9292,-0.21,0.0,991.7,10.3,958,9498,0.73,0.00,203.25,1.604,6,0.119,0.000,2868,2742,3071
$STATE,9499,end apogee,CONTROL_FINISHED_OK
$STATE,9499,begin climb
$GC,9502,0.86,194.7,999.4,0.0,968,9727,1.40,2.65,211.43,1.556,4,0.083,0.057,3101,3887,2276
$GC,9886,0.70,194.7,958.5,13.1,986,9891,0.17,2.35,0.00,0.000,6,0.127,0.035,3077,2741,2274
$GC,10213,0.60,203.1,924.0,9.7,1002,10225,0.17,0.00,9.68,1.242,6,0.121,0.000,3051,2741,2242
$GC,10522,0.61,252.9,899.3,8.3,1017,10583,0.00,2.55,51.72,1.496,4,0.000,0.052,3051,3902,2038
$GC,10610,0.62,262.8,890.7,9.7,1021,10628,0.00,2.35,11.60,1.308,6,0.000,0.032,3051,2743,1999
$GC,10936,0.62,262.8,859.0,10.1,1037,10937,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2742,1996
$GC,11245,0.62,262.8,826.5,11.3,1052,11246,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2742,1995
$GC,11554,0.62,262.8,791.2,11.0,1067,11556,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2742,1995
$GC,11864,0.62,262.8,756.9,10.7,1082,11868,0.00,2.35,0.00,0.000,4,0.000,0.052,3051,3900,1994
$GC,11913,0.62,262.8,751.5,10.7,1084,11917,0.00,2.25,0.00,0.000,6,0.000,0.033,3051,2757,1993
$GC,12234,0.66,295.2,721.7,8.9,1100,12273,0.00,0.00,33.17,1.395,6,0.000,0.000,3051,2756,1866
$GC,12582,0.66,295.2,681.9,12.8,1117,12584,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2756,1863
$GC,12891,0.66,295.2,641.2,13.0,1132,12892,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2756,1863
$GC,13201,0.66,295.2,603.6,11.7,1147,13202,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2756,1862
$GC,13520,0.67,302.2,570.5,9.8,1175,13529,0.00,0.00,7.53,1.050,6,0.000,0.000,3051,2756,1839
$GC,13848,0.74,360.5,542.2,8.0,1206,13917,0.15,2.97,60.72,1.302,4,0.059,0.047,3084,1346,1600
$GC,13939,0.69,360.5,531.9,11.6,1214,13945,0.00,2.85,0.00,0.000,6,0.000,0.030,3085,2760,1598
$GC,14266,0.63,360.5,493.5,12.0,1245,14270,0.15,2.28,0.00,0.000,4,0.108,0.048,3059,3894,1594
$GC,14326,0.68,404.6,487.4,8.5,1250,14378,0.00,2.22,45.42,1.240,6,0.000,0.031,3059,2751,1420
$GC,14697,0.71,432.3,454.9,9.0,1285,14731,0.00,2.92,29.02,1.190,4,0.000,0.047,3058,1338,1307
$GC,14766,0.82,464.7,448.4,8.9,1291,14807,0.20,2.85,35.28,1.197,6,0.044,0.029,3100,2768,1176
$GC,15126,0.74,464.7,392.3,15.5,1325,15130,0.00,2.25,0.00,0.000,4,0.000,0.048,3100,3893,1169
$GC,15187,0.74,464.7,383.1,13.5,1330,15191,0.00,2.20,0.00,0.000,6,0.000,0.031,3100,2764,1169
$GC,15515,0.67,464.7,331.6,15.5,1370,15522,0.17,2.28,0.00,0.000,4,0.109,0.048,3071,3891,1167
$GC,15549,0.67,464.7,326.7,11.9,1376,15557,0.00,2.15,0.00,0.000,6,0.000,0.031,3071,2790,1167
$GC,15894,0.67,464.7,288.7,10.8,1437,15901,0.00,2.88,0.00,0.000,4,0.000,0.045,3071,1346,1166
$GC,15951,0.73,464.7,282.2,10.7,1447,15958,0.00,2.75,0.00,0.000,6,0.000,0.029,3071,2764,1165
$GC,16292,0.73,464.7,243.5,11.4,1508,16300,0.00,2.88,0.00,0.000,4,0.000,0.045,3071,1343,1165
$GC,16326,0.79,464.7,240.0,11.1,1513,16332,0.00,2.72,0.00,0.000,6,0.000,0.030,3071,2748,1165
$GC,16667,0.83,464.7,202.4,11.1,1574,16673,0.15,0.00,0.00,0.000,6,0.054,0.000,3106,2748,1164
$GC,17006,0.74,464.7,143.6,17.6,1635,17013,0.15,2.25,0.00,0.000,4,0.108,0.047,3080,3891,1165
$GC,17042,0.74,464.7,137.7,14.0,1641,17049,0.00,2.22,0.00,0.000,6,0.000,0.032,3080,2727,1164
$GC,17375,0.74,464.7,89.6,16.5,1702,17383,0.00,2.78,0.00,0.000,4,0.000,0.047,3080,1341,1164
$GC,17407,0.74,464.7,84.2,16.5,1707,17414,0.00,2.67,0.00,0.000,6,0.000,0.029,3080,2735,1164
$GC,17736,0.74,464.7,35.7,13.8,1768,17744,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2735,1164
$GC,17871,0.83,532.9,19.2,7.6,1793,17944,0.00,0.00,67.25,0.962,6,0.000,0.000,3080,2735,897
$GC,18073,1.03,660.6,9.1,5.6,1827,18133,0.30,0.00,56.85,0.932,2,0.054,0.000,3139,2735,663
$STATE,18134,end climb,SURFACE_DEPTH_REACHED
$STATE,18134,begin surface coast
$FINISH,0.1,1.026290
$STATE,18146,end surface coast,CONTROL_FINISHED_OK
$STATE,18146,begin surface
$SM_CCo,18225,0.00,0.000,0,0,661,591.17
$SM_GC,0.31,8.90,0.00,0.00,0.044,0.000,0.000,1436,2304,661,-6.79,0.11,591.17
$IRIDIUM_FIX,6046.07,-2548.10,280797,191929
$TT8_MAMPS,0.026845
$HUMID,1736
$INTERNAL_PRESSURE,8.82892
$TCM_TEMP,11.90
$XPDR_PINGS,801
$24V_AH,19.5,48.010
$10V_AH,9.7,37.049
$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,24.525,102.875,822.925,0.000,0.000,82.339,108.071,470.869,200.250,0.000,0.000,15.536,2836.148,10375.976,852.552,4092.233,975.862,0.000,2474.782,0.000,4097.739,0.000,0.465
$DEVICE_MAMPS,254.644,93.574,1603.797,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1275.688,1320.375,661.599,923.009,1687.505,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,133143,1837
$CAP_FILE_SIZE,168499,0
$CFSIZE,260165632,243167232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040508,001207,6103.284,-2556.930,39,1.9,39,-18.2