version: 66.03
glider: 142
mission: 5
dive: 181
start: 5 13 108 5 21 3
data:
$ID,142
$MISSION,5
$DIVE,181
$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,235
$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,-16538.314
$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,23
$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
$GPS1,051008,6117.351,-2558.014,29,1.0,29,-18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-52.2
$GPS2,052044,6117.273,-2558.149,10,1.3,15,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6111.079,-2602.412
$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,253.3,20000,-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,27,-0.86,-194.7,0.0,0.0,0,150,0.00,0.00,-120.70,0.000,2,0.000,0.000,1432,2292,3476
$GC,153,-0.86,-194.7,3.2,-3.9,22,184,12.15,2.83,-11.05,0.000,4,0.259,0.057,2724,892,3866
$GC,309,-0.86,-194.7,26.9,-13.1,49,316,0.00,2.72,0.00,0.000,6,0.000,0.030,2724,2302,3866
$GC,453,-0.80,-194.7,45.4,-12.4,74,460,0.12,0.00,0.00,0.000,6,0.140,0.000,2740,2302,3867
$GC,595,-0.80,-194.7,62.4,-12.4,99,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2302,3867
$GC,937,-0.80,-194.7,103.8,-12.0,160,944,0.00,2.83,0.00,0.000,4,0.000,0.048,2740,892,3866
$GC,1039,-0.80,-194.7,116.3,-12.2,178,1046,0.00,2.72,0.00,0.000,6,0.000,0.030,2740,2309,3867
$GC,1383,-0.80,-194.7,157.6,-12.7,239,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2310,3867
$GC,1725,-0.80,-194.7,199.7,-11.9,300,1731,0.00,2.83,0.00,0.000,4,0.000,0.047,2740,891,3867
$GC,1777,-0.80,-194.7,205.8,-11.9,309,1783,0.00,2.72,0.00,0.000,6,0.000,0.031,2740,2306,3867
$GC,2119,-0.80,-194.7,244.4,-11.1,370,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2306,3867
$GC,2463,-0.80,-194.7,282.9,-11.6,431,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2307,3866
$GC,2805,-0.80,-194.7,322.6,-11.7,492,2812,0.00,2.83,0.00,0.000,4,0.000,0.048,2740,891,3867
$GC,2868,-0.80,-194.7,330.2,-12.1,503,2874,0.00,2.72,0.00,0.000,6,0.000,0.030,2740,2307,3866
$GC,3203,-0.80,-194.7,368.9,-11.4,549,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2307,3867
$GC,3521,-0.80,-194.7,404.8,-10.8,579,3526,0.00,2.83,0.00,0.000,4,0.000,0.047,2740,892,3867
$GC,3572,-0.80,-194.7,410.4,-11.1,583,3576,0.00,2.70,0.00,0.000,6,0.000,0.031,2740,2296,3866
$GC,3898,-0.80,-194.7,444.6,-10.4,613,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2296,3866
$GC,4215,-0.80,-194.7,478.6,-10.7,643,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2296,3866
$GC,4534,-0.80,-194.7,511.7,-10.1,673,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2296,3867
$GC,4852,-0.80,-194.7,544.9,-10.7,703,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2297,3866
$GC,5171,-0.80,-194.7,578.7,-10.3,733,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2297,3866
$GC,5485,-0.80,-194.7,611.3,-10.2,758,5490,0.00,2.85,0.00,0.000,4,0.000,0.051,2740,887,3866
$GC,5535,-0.80,-194.7,616.6,-10.7,760,5539,0.00,2.72,0.00,0.000,6,0.000,0.033,2740,2294,3866
$GC,5856,-0.80,-194.7,648.0,-9.5,776,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2295,3866
$GC,6166,-0.80,-194.7,677.1,-9.3,791,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2296,3866
$GC,6474,-0.80,-194.7,708.0,-10.2,806,6479,0.00,2.92,0.00,0.000,4,0.000,0.064,2740,3705,3866
$GC,6500,-0.80,-194.7,710.9,-11.5,807,6505,0.00,2.85,0.00,0.000,6,0.000,0.052,2740,2301,3865
$GC,6822,-0.80,-194.7,744.2,-10.4,823,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2300,3865
$GC,7131,-0.80,-194.7,775.5,-10.3,838,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2300,3865
$GC,7441,-0.80,-194.7,805.9,-9.6,853,7446,0.00,3.17,0.00,0.000,4,0.000,0.092,2740,3706,3865
$GC,7480,-0.80,-194.7,809.6,-9.7,855,7485,0.00,3.08,0.00,0.000,6,0.000,0.078,2740,2302,3865
$GC,7807,-0.80,-194.7,838.8,-9.2,871,7812,0.00,3.35,0.00,0.000,4,0.000,0.119,2740,886,3865
$GC,7856,-0.80,-194.7,843.7,-9.8,873,7861,0.00,3.15,0.00,0.000,6,0.000,0.090,2740,2290,3864
$GC,8172,-0.80,-194.7,871.9,-9.2,888,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2293,3864
$GC,8482,-0.80,-194.7,900.9,-9.1,903,8487,0.00,2.92,0.00,0.000,4,0.000,0.056,2740,3725,3864
$GC,8509,-0.80,-194.7,903.7,-9.8,904,8514,0.00,2.85,0.00,0.000,6,0.000,0.039,2740,2293,3864
$GC,8825,-0.80,-194.7,932.6,-9.6,919,8826,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2293,3864
$GC,9135,-0.80,-194.7,961.8,-9.5,934,9139,0.00,2.97,0.00,0.000,4,0.000,0.058,2740,3727,3864
$GC,9166,-0.80,-194.7,965.0,-10.3,935,9173,0.00,2.85,0.00,0.000,6,0.000,0.041,2740,2305,3864
$STATE,9439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9439,begin apogee
$GC,9445,-0.21,0.0,991.7,10.0,949,9656,0.82,0.00,207.45,1.626,6,0.136,0.000,2869,2760,3071
$STATE,9657,end apogee,CONTROL_FINISHED_OK
$STATE,9657,begin climb
$GC,9659,0.86,194.7,999.7,0.0,959,9885,1.40,2.65,216.05,1.585,4,0.081,0.057,3099,3896,2277
$GC,10070,0.70,194.7,952.4,14.6,978,10075,0.17,2.35,0.00,0.000,6,0.127,0.035,3075,2747,2274
$GC,10391,0.58,194.7,913.1,12.0,994,10396,0.17,2.40,0.00,0.000,4,0.123,0.053,3047,3902,2273
$GC,10453,0.55,201.3,906.8,9.8,997,10468,0.00,2.25,7.65,1.183,6,0.000,0.034,3047,2760,2250
$GC,10786,0.55,238.5,877.7,8.7,1013,10828,0.00,0.00,39.60,1.500,6,0.000,0.000,3047,2759,2098
$GC,11133,0.55,238.5,844.3,10.3,1030,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2757,2096
$GC,11443,0.55,238.5,811.9,10.2,1045,11444,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2755,2095
$GC,11752,0.58,264.1,782.2,9.1,1060,11781,0.00,0.00,26.98,1.427,6,0.000,0.000,3047,2754,1994
$GC,12082,0.59,269.3,751.4,9.8,1076,12090,0.00,0.00,6.57,1.110,6,0.000,0.000,3047,2753,1973
$GC,12391,0.59,269.3,719.5,10.4,1091,12395,0.00,2.33,0.00,0.000,4,0.000,0.051,3047,3901,1972
$GC,12430,0.59,269.3,715.3,11.0,1093,12434,0.00,2.20,0.00,0.000,6,0.000,0.033,3047,2772,1971
$GC,12757,0.60,277.4,683.5,9.7,1109,12772,0.00,2.90,9.75,1.201,4,0.000,0.051,3047,1335,1940
$GC,12799,0.63,300.3,679.1,9.2,1110,12830,0.00,2.85,25.38,1.376,6,0.000,0.031,3046,2778,1846
$GC,13148,0.65,322.0,647.3,9.2,1127,13174,0.00,0.00,23.70,1.331,6,0.000,0.000,3047,2779,1758
$GC,13476,0.70,362.7,618.2,8.6,1143,13526,0.15,3.05,43.45,1.348,4,0.056,0.047,3077,1347,1591
$GC,13548,0.70,362.7,609.4,12.6,1146,13553,0.00,2.88,0.00,0.000,6,0.000,0.032,3077,2763,1589
$GC,13872,0.65,362.7,567.1,13.3,1172,13876,0.00,2.28,0.00,0.000,4,0.000,0.050,3077,3899,1587
$GC,13911,0.65,362.7,561.7,12.9,1175,13915,0.00,2.25,0.00,0.000,6,0.000,0.032,3077,2749,1586
$GC,14236,0.60,362.7,520.6,12.8,1205,14238,0.15,0.00,0.00,0.000,6,0.106,0.000,3054,2747,1585
$GC,14558,0.66,409.6,491.5,8.4,1235,14613,0.00,2.42,49.10,1.276,4,0.000,0.049,3054,3888,1400
$GC,14637,0.78,454.7,484.5,8.4,1242,14696,0.20,2.25,49.33,1.262,6,0.051,0.031,3093,2760,1215
$GC,15014,0.71,454.7,426.5,16.1,1278,15015,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2759,1208
$GC,15335,0.64,454.7,375.6,15.7,1308,15341,0.20,0.00,0.00,0.000,6,0.105,0.000,3062,2758,1207
$GC,15663,0.79,513.5,345.4,8.0,1343,15733,0.15,2.97,60.67,1.183,4,0.053,0.048,3098,1346,976
$GC,15762,0.79,513.5,332.4,14.2,1361,15768,0.00,2.88,0.00,0.000,6,0.000,0.030,3098,2777,974
$GC,16105,0.71,513.5,276.4,17.0,1422,16111,0.15,0.00,0.00,0.000,6,0.107,0.000,3072,2777,970
$GC,16448,0.80,523.2,240.9,9.7,1483,16465,0.12,2.92,9.62,0.939,4,0.056,0.045,3099,1337,938
$GC,16500,0.80,523.2,234.8,12.8,1492,16506,0.00,2.80,0.00,0.000,6,0.000,0.030,3099,2769,937
$GC,16844,0.75,523.2,181.4,15.6,1553,16850,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2769,935
$GC,17188,0.70,523.2,126.1,16.6,1614,17195,0.15,2.88,0.00,0.000,4,0.105,0.044,3072,1335,935
$GC,17229,0.77,523.2,120.3,10.9,1621,17236,0.00,2.75,0.00,0.000,6,0.000,0.030,3072,2750,935
$GC,17574,0.92,561.5,85.9,8.7,1682,17621,0.20,2.90,39.65,1.010,4,0.045,0.045,3119,1341,781
$GC,17650,0.87,561.5,74.0,16.8,1695,17656,0.00,2.75,0.00,0.000,6,0.000,0.030,3118,2728,779
$STATE,17992,end climb,SURFACE_DEPTH_REACHED
$STATE,17992,begin surface coast
$FINISH,0.2,1.026166
$STATE,17998,end surface coast,CONTROL_FINISHED_OK
$STATE,18000,begin surface
$SM_CCo,18077,0.00,0.000,0,0,775,563.21
$SM_GC,0.81,8.62,0.00,0.00,0.048,0.000,0.000,1434,2298,775,-6.80,-0.06,563.21
$IRIDIUM_FIX,6050.49,-2559.91,070897,050556
$TT8_MAMPS,0.026845
$HUMID,1791
$INTERNAL_PRESSURE,8.83869
$TCM_TEMP,16.50
$XPDR_PINGS,923
$24V_AH,19.3,62.377
$10V_AH,9.8,45.382
$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,24.950,123.200,814.950,0.000,0.000,51.380,77.299,303.328,230.750,0.000,0.000,16.659,2741.937,11124.305,878.104,3212.707,739.370,0.000,2373.118,0.000,3194.748,0.000,0.466
$DEVICE_MAMPS,259.246,118.885,1626.040,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1223.737,1272.987,612.261,1529.690,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126837,1757
$CAP_FILE_SIZE,164073,0
$CFSIZE,260165632,239112192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130508,102337,6114.688,-2604.283,36,1.0,41,-18.3