version: 66.03
glider: 142
mission: 5
dive: 209
start: 5 19 108 11 16 52
data:
$ID,142
$MISSION,5
$DIVE,209
$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,100
$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,130
$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,-16985.447
$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,18
$R_STBD_OVSHOOT,18
$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
$GPS1,110856,6115.311,-2543.482,39,1.3,39,-18.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-54.4
$GPS2,111632,6115.218,-2543.451,9,1.3,9,-18.2
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6108.276,-2539.458
$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,148.2,20000,-21.7,-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,-1.03,-97.3,0.0,0.0,0,99,0.00,0.00,-67.90,0.000,6,0.000,0.000,1434,2294,3467
$GC,102,-1.03,-97.3,3.5,-6.1,13,120,11.80,2.80,0.00,0.000,4,0.258,0.041,2685,883,3469
$GC,324,-0.97,-97.3,41.5,-12.6,52,332,0.12,2.75,0.00,0.000,6,0.144,0.028,2701,2314,3470
$GC,467,-0.97,-97.3,58.5,-11.9,77,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2314,3470
$GC,809,-0.97,-97.3,99.1,-11.9,138,816,0.00,2.88,0.00,0.000,4,0.000,0.047,2702,883,3471
$GC,923,-0.97,-97.3,113.5,-12.3,158,929,0.00,2.72,0.00,0.000,6,0.000,0.028,2702,2296,3471
$GC,1267,-0.97,-97.3,153.6,-11.7,219,1273,0.00,2.83,0.00,0.000,4,0.000,0.047,2702,888,3471
$GC,1487,-0.97,-97.3,180.9,-12.2,258,1493,0.00,2.65,0.00,0.000,6,0.000,0.030,2701,2269,3471
$GC,1831,-0.97,-97.3,220.0,-11.0,319,1837,0.00,2.78,0.00,0.000,4,0.000,0.048,2702,886,3471
$GC,2018,-0.97,-97.3,241.5,-11.3,352,2025,0.00,2.62,0.00,0.000,6,0.000,0.029,2702,2259,3471
$GC,2362,-0.97,-97.3,277.4,-10.5,413,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2260,3471
$GC,2704,-0.97,-97.3,313.5,-10.3,474,2710,0.00,2.75,0.00,0.000,4,0.000,0.048,2702,888,3471
$GC,2936,-0.97,-97.3,340.4,-12.0,515,2942,0.00,2.60,0.00,0.000,6,0.000,0.030,2701,2241,3471
$GC,3270,-0.97,-97.3,377.1,-10.8,554,3275,0.00,2.72,0.00,0.000,4,0.000,0.048,2701,884,3471
$GC,3404,-0.97,-97.3,392.5,-11.3,565,3410,0.00,2.60,0.00,0.000,6,0.000,0.030,2701,2235,3471
$GC,3730,-0.97,-97.3,427.4,-10.8,596,3734,0.00,2.70,0.00,0.000,4,0.000,0.048,2702,888,3471
$GC,3831,-0.97,-97.3,439.2,-11.7,604,3838,0.00,2.55,0.00,0.000,6,0.000,0.031,2701,2216,3471
$GC,4159,-0.97,-97.3,474.5,-10.7,635,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2217,3471
$GC,4474,-0.97,-97.3,507.4,-10.6,665,4479,0.00,2.67,0.00,0.000,4,0.000,0.048,2702,885,3471
$GC,4513,-0.97,-97.3,511.9,-11.7,668,4518,0.00,2.58,0.00,0.000,6,0.000,0.031,2701,2220,3471
$GC,4840,-0.97,-97.3,545.3,-10.0,698,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2220,3471
$GC,5156,-0.97,-97.3,577.3,-10.3,728,5161,0.00,2.70,0.00,0.000,4,0.000,0.051,2702,889,3471
$GC,5258,-0.97,-97.3,588.4,-10.9,736,5264,0.00,2.58,0.00,0.000,6,0.000,0.031,2702,2220,3471
$GC,5587,-0.97,-97.3,621.2,-9.8,758,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2220,3471
$GC,5896,-0.97,-97.3,651.8,-9.8,773,5901,0.00,2.72,0.00,0.000,4,0.000,0.055,2701,890,3471
$GC,5953,-0.97,-97.3,658.1,-11.9,775,5959,0.00,2.62,0.00,0.000,6,0.000,0.035,2702,2234,3471
$GC,6269,-0.97,-97.3,689.4,-9.5,791,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2235,3470
$GC,6577,-0.97,-97.3,718.8,-9.1,806,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2235,3470
$GC,6887,-0.97,-97.3,750.8,-10.3,821,6891,0.00,2.92,0.00,0.000,4,0.000,0.078,2702,895,3470
$GC,6948,-0.97,-97.3,757.7,-11.4,824,6953,0.00,2.75,0.00,0.000,6,0.000,0.054,2702,2229,3470
$GC,7274,-0.97,-97.3,790.3,-9.7,840,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2229,3470
$GC,7583,-0.97,-97.3,822.5,-10.8,855,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2229,3470
$GC,7892,-0.97,-97.3,855.1,-10.5,870,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2229,3469
$GC,8202,-0.97,-97.3,886.2,-10.2,885,8203,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2229,3469
$GC,8511,-0.97,-97.3,917.1,-9.9,900,8516,0.00,2.97,0.00,0.000,4,0.000,0.051,2702,3700,3468
$GC,8521,-0.97,-97.3,918.1,-9.7,900,8527,0.00,2.90,0.00,0.000,6,0.000,0.038,2702,2238,3468
$GC,8837,-0.97,-97.3,948.6,-9.6,916,8841,0.00,3.00,0.00,0.000,4,0.000,0.054,2702,3697,3468
$GC,8846,-0.97,-97.3,949.7,-9.5,916,8853,0.00,2.90,0.00,0.000,6,0.000,0.040,2701,2244,3468
$GC,9162,-0.97,-97.3,980.4,-9.7,932,9167,0.00,3.03,0.00,0.000,4,0.000,0.055,2702,3706,3468
$GC,9172,-0.97,-97.3,981.5,-9.5,932,9178,0.00,2.92,0.00,0.000,6,0.000,0.041,2702,2247,3467
$STATE,9258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9258,begin apogee
$GC,9265,-0.21,0.0,990.2,10.1,937,9372,1.12,0.00,103.78,1.623,6,0.150,0.000,2869,2742,3071
$STATE,9373,end apogee,CONTROL_FINISHED_OK
$STATE,9373,begin climb
$GC,9375,1.03,97.3,992.7,0.0,942,9491,1.55,2.65,107.30,1.597,4,0.081,0.061,3135,3889,2674
$GC,9591,0.88,97.3,970.0,14.6,952,9596,0.15,2.38,0.00,0.000,6,0.133,0.034,3117,2745,2673
$GC,9913,0.80,97.3,931.6,12.1,968,9914,0.12,0.00,0.00,0.000,6,0.127,0.000,3100,2744,2673
$GC,10222,0.75,97.3,897.1,11.0,983,10226,0.00,2.38,0.00,0.000,4,0.000,0.054,3100,3897,2672
$GC,10379,0.69,97.3,879.4,11.7,990,10384,0.17,2.25,0.00,0.000,6,0.141,0.034,3075,2743,2672
$GC,10705,0.71,113.1,849.6,8.9,1006,10726,0.00,0.00,17.33,1.404,6,0.000,0.000,3076,2741,2609
$GC,11034,0.73,125.9,818.9,9.1,1022,11056,0.00,2.42,14.48,1.376,4,0.000,0.054,3075,3903,2557
$GC,11151,0.73,125.9,807.1,10.0,1027,11155,0.00,2.25,0.00,0.000,6,0.000,0.033,3075,2762,2556
$GC,11478,0.73,127.2,775.2,9.9,1043,11479,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2760,2556
$GC,11787,0.73,127.4,745.5,10.0,1058,11791,0.00,2.33,0.00,0.000,4,0.000,0.053,3075,3899,2555
$GC,11849,0.73,127.4,739.0,10.6,1061,11853,0.00,2.20,0.00,0.000,6,0.000,0.033,3075,2768,2555
$GC,12176,0.73,127.4,706.4,10.2,1077,12177,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2766,2555
$GC,12485,0.75,140.5,677.3,9.1,1092,12507,0.00,2.33,15.90,1.309,4,0.000,0.052,3075,3898,2497
$GC,12568,0.75,140.5,668.6,10.8,1095,12575,0.00,2.22,0.00,0.000,6,0.000,0.033,3075,2775,2497
$GC,12885,0.75,146.4,637.1,9.6,1111,12894,0.00,0.00,7.35,1.111,6,0.000,0.000,3076,2774,2474
$GC,13194,0.76,153.3,607.4,9.5,1126,13204,0.00,0.00,8.62,1.146,6,0.000,0.000,3076,2773,2446
$GC,13510,0.77,163.9,577.0,9.3,1152,13532,0.00,2.35,12.43,1.212,4,0.000,0.051,3076,3893,2401
$GC,13600,0.77,163.9,567.3,11.3,1160,13604,0.00,2.17,0.00,0.000,6,0.000,0.032,3075,2782,2401
$GC,13924,0.82,163.9,532.2,10.5,1190,13926,0.12,0.00,0.00,0.000,6,0.070,0.000,3099,2780,2401
$GC,14244,0.82,163.9,494.4,11.5,1220,14248,0.00,2.28,0.00,0.000,4,0.000,0.051,3099,3903,2400
$GC,14328,0.82,163.9,483.6,12.2,1227,14332,0.00,2.15,0.00,0.000,6,0.000,0.032,3099,2792,2401
$GC,14653,0.82,163.9,443.7,12.6,1257,14654,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2784,2401
$GC,14971,0.82,163.9,401.8,13.4,1287,14975,0.00,2.22,0.00,0.000,4,0.000,0.051,3099,3894,2401
$GC,15067,0.82,163.9,388.8,13.3,1295,15070,0.00,2.10,0.00,0.000,6,0.000,0.031,3099,2802,2401
$GC,15393,0.82,163.9,348.9,11.8,1326,15399,0.00,2.20,0.00,0.000,4,0.000,0.049,3099,3894,2401
$GC,15461,0.82,163.9,340.2,12.5,1338,15468,0.00,2.08,0.00,0.000,6,0.000,0.031,3098,2815,2401
$GC,15806,0.82,163.9,298.4,12.5,1399,15811,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2808,2401
$GC,16149,0.82,163.9,255.9,13.4,1460,16155,0.00,2.17,0.00,0.000,4,0.000,0.049,3099,3896,2401
$GC,16212,0.82,163.9,247.8,12.5,1471,16218,0.00,2.08,0.00,0.000,6,0.000,0.031,3099,2813,2402
$GC,16555,0.82,163.9,205.3,12.0,1532,16561,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2806,2402
$GC,16899,0.82,169.1,166.1,9.6,1593,16910,0.00,0.00,6.60,0.821,6,0.000,0.000,3099,2806,2382
$GC,17248,0.82,169.1,128.3,11.4,1655,17253,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2806,2382
$GC,17590,0.82,169.1,87.1,12.3,1716,17596,0.00,2.17,0.00,0.000,4,0.000,0.048,3099,3903,2382
$GC,17676,0.82,169.1,76.5,11.9,1731,17682,0.00,2.08,0.00,0.000,6,0.000,0.031,3099,2821,2382
$GC,18020,0.82,169.1,41.5,11.1,1792,18025,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2818,2382
$GC,18161,0.82,171.1,25.9,9.9,1817,18168,0.00,0.00,4.15,0.611,6,0.000,0.000,3099,2813,2373
$GC,18305,0.82,171.1,10.4,11.6,1842,18311,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2813,2373
$STATE,18371,end climb,SURFACE_DEPTH_REACHED
$STATE,18371,begin surface coast
$FINISH,0.3,1.026219
$STATE,18389,end surface coast,CONTROL_FINISHED_OK
$STATE,18389,begin surface
$SM_CCo,18407,25.58,0.943,0,0,2255,200.16
$SM_GC,0.86,0.00,0.00,25.58,0.000,0.000,0.943,1430,2295,2255,-6.85,-0.14,200.16
$IRIDIUM_FIX,6054.92,-2551.86,130897,050522
$TT8_MAMPS,0.026845
$HUMID,1792
$INTERNAL_PRESSURE,8.96564
$TCM_TEMP,16.30
$XPDR_PINGS,981
$24V_AH,19.3,67.509
$10V_AH,9.8,49.867
$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,23.775,128.775,297.925,25.575,0.000,29.000,38.828,252.437,245.250,0.000,0.000,12.412,2979.882,11367.672,487.087,3408.419,629.446,0.000,1967.290,0.000,3391.141,0.000,0.466
$DEVICE_MAMPS,257.712,78.234,1622.972,943.410,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1311.249,1341.512,679.481,1642.830,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136047,1857
$CAP_FILE_SIZE,167292,0
$CFSIZE,260165632,236417024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190508,162533,6111.650,-2538.405,43,2.0,50,-18.1