version: 66.03
glider: 142
mission: 5
dive: 63
start: 4 16 108 19 17 14
data:
$ID,142
$MISSION,5
$DIVE,63
$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,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,215
$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,-13896.944
$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,35
$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
$GPS1,190701,5928.390,-2147.510,36,1.7,36,-15.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-41.2
$GPS2,191657,5928.537,-2147.989,31,1.6,37,-15.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5919.690,-2151.148
$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,230.1,20000,-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,-194.7,0.0,0.0,0,144,0.00,0.00,-115.03,0.000,2,0.000,0.000,1438,2279,3677
$GC,147,-0.86,-194.7,3.8,-6.5,16,171,11.07,2.75,-4.70,0.000,4,0.245,0.054,2724,897,3865
$GC,241,-0.76,-194.7,25.0,-16.0,32,248,0.12,2.75,0.00,0.000,6,0.127,0.028,2745,2310,3866
$GC,377,-0.72,-194.7,41.3,-11.6,57,385,0.00,2.85,0.00,0.000,4,0.000,0.048,2745,907,3866
$GC,424,-0.72,-194.7,46.6,-9.7,65,431,0.00,2.70,0.00,0.000,6,0.000,0.028,2745,2298,3866
$GC,559,-0.68,-194.7,60.5,-10.1,90,567,0.15,0.00,0.00,0.000,6,0.140,0.000,2769,2298,3866
$GC,698,-0.68,-194.7,73.7,-12.8,115,704,0.00,2.78,0.00,0.000,4,0.000,0.047,2769,905,3866
$GC,765,-0.68,-194.7,83.0,-17.4,127,771,0.00,2.65,0.00,0.000,6,0.000,0.029,2769,2286,3866
$GC,901,-0.68,-194.7,101.6,-12.4,152,908,0.00,2.80,0.00,0.000,4,0.000,0.042,2769,3700,3866
$GC,922,-0.68,-194.7,103.5,-10.5,155,928,0.00,2.75,0.00,0.000,6,0.000,0.034,2769,2290,3866
$GC,1057,-0.68,-194.7,116.7,-9.6,180,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2289,3866
$GC,1196,-0.68,-194.7,131.2,-10.2,205,1202,0.00,2.78,0.00,0.000,4,0.000,0.050,2769,885,3866
$GC,1246,-0.72,-194.7,136.6,-10.6,214,1254,0.00,2.70,0.00,0.000,6,0.000,0.029,2769,2282,3866
$GC,1386,-0.72,-194.7,151.1,-10.2,239,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2282,3866
$GC,1715,-0.72,-194.7,187.0,-10.2,300,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2282,3866
$GC,2047,-0.72,-194.7,219.8,-10.1,361,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2283,3866
$GC,2376,-0.72,-194.7,252.6,-10.2,422,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2283,3866
$GC,2709,-0.72,-194.7,286.4,-10.0,483,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2283,3866
$GC,3039,-0.72,-194.7,321.2,-10.3,544,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2283,3866
$GC,3371,-0.72,-194.7,355.1,-9.9,605,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2283,3866
$GC,3712,-0.72,-194.7,388.5,-9.6,666,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2283,3866
$GC,4054,-0.72,-194.7,421.8,-9.6,727,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2283,3866
$GC,4394,-0.72,-194.7,455.9,-10.1,788,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2283,3866
$GC,4733,-0.72,-194.7,489.7,-10.5,849,4740,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2283,3866
$GC,5075,-0.72,-194.7,522.1,-9.1,910,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2283,3866
$GC,5416,-0.72,-194.7,554.7,-9.8,971,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2283,3866
$GC,5757,-0.72,-194.7,586.4,-8.7,1032,5765,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2283,3866
$GC,6097,-0.72,-194.7,616.4,-9.0,1077,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2283,3866
$GC,6417,-0.72,-194.7,644.9,-8.9,1107,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2283,3866
$GC,6736,-0.76,-194.7,673.7,-8.9,1137,6740,0.00,2.88,0.00,0.000,4,0.000,0.060,2769,3704,3866
$GC,6764,-0.81,-194.7,676.4,-9.6,1139,6769,0.15,2.83,0.00,0.000,6,0.067,0.045,2740,2283,3866
$GC,7088,-0.81,-194.7,712.7,-11.0,1169,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2282,3866
$GC,7406,-0.81,-194.7,749.2,-11.5,1199,7411,0.00,2.95,0.00,0.000,4,0.000,0.082,2740,886,3866
$GC,7490,-0.81,-194.7,759.1,-11.9,1206,7494,0.00,2.80,0.00,0.000,6,0.000,0.055,2740,2268,3865
$GC,7815,-0.81,-194.7,796.2,-11.1,1236,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2268,3865
$GC,8132,-0.81,-194.7,831.1,-10.9,1266,8134,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2269,3865
$GC,8451,-0.81,-194.7,865.3,-10.6,1296,8452,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2268,3865
$GC,8769,-0.81,-194.7,898.7,-10.3,1326,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2268,3864
$GC,9088,-0.81,-194.7,931.5,-10.1,1356,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2273,3863
$GC,9407,-0.81,-194.7,964.7,-10.5,1386,9408,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2273,3863
$STATE,9649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9649,begin apogee
$GC,9655,-0.21,0.0,990.4,10.5,1409,9862,0.75,0.00,200.38,1.565,6,0.121,0.000,2867,2762,3070
$STATE,9863,end apogee,CONTROL_FINISHED_OK
$STATE,9863,begin climb
$GC,9865,0.86,194.7,997.9,0.0,1430,10083,1.38,2.60,207.20,1.507,4,0.084,0.058,3099,3888,2277
$GC,10262,0.69,194.7,951.0,15.1,1467,10269,0.20,2.35,0.00,0.000,6,0.133,0.035,3073,2743,2274
$GC,10587,0.57,194.7,912.3,12.0,1498,10592,0.17,2.40,0.00,0.000,4,0.131,0.053,3046,3893,2274
$GC,10631,0.53,194.7,907.5,10.5,1501,10637,0.00,2.25,0.00,0.000,6,0.000,0.034,3046,2763,2274
$GC,10957,0.51,215.1,876.9,9.3,1532,10985,0.00,0.00,21.30,1.388,6,0.000,0.000,3046,2761,2193
$GC,11303,0.54,237.5,845.0,9.2,1565,11333,0.00,0.00,23.92,1.398,6,0.000,0.000,3046,2760,2102
$GC,11651,0.55,242.3,811.4,9.8,1598,11663,0.00,2.33,6.03,1.072,4,0.000,0.051,3046,3893,2083
$GC,11697,0.55,242.3,806.8,10.3,1602,11701,0.00,2.22,0.00,0.000,6,0.000,0.033,3046,2767,2083
$GC,12021,0.56,250.4,775.2,9.7,1632,12037,0.00,2.92,9.90,1.218,4,0.000,0.049,3046,1337,2050
$GC,12064,0.58,270.2,770.8,9.3,1635,12091,0.00,2.88,21.65,1.364,6,0.000,0.032,3046,2776,1969
$GC,12409,0.58,270.2,735.4,10.5,1668,12413,0.00,2.28,0.00,0.000,4,0.000,0.053,3046,3902,1966
$GC,12448,0.58,270.2,731.1,10.3,1671,12452,0.00,2.22,0.00,0.000,6,0.000,0.032,3046,2769,1966
$GC,12772,0.59,277.9,698.5,9.7,1701,12786,0.00,2.90,8.62,1.146,4,0.000,0.052,3046,1339,1938
$GC,12832,0.61,292.9,692.5,9.5,1706,12858,0.00,2.83,17.30,1.293,6,0.000,0.032,3046,2767,1875
$GC,13177,0.63,310.6,659.6,9.4,1739,13201,0.00,2.35,19.08,1.281,4,0.000,0.052,3046,3892,1804
$GC,13234,0.63,310.6,653.9,10.2,1744,13241,0.00,2.25,0.00,0.000,6,0.000,0.031,3046,2767,1802
$GC,13559,0.65,329.7,623.6,9.3,1775,13585,0.00,2.92,20.45,1.262,4,0.000,0.047,3046,1342,1727
$GC,13631,0.72,351.6,617.0,9.2,1781,13664,0.17,2.85,24.35,1.273,6,0.051,0.032,3081,2761,1636
$GC,13994,0.66,351.6,566.6,14.0,1834,14000,0.00,2.28,0.00,0.000,4,0.000,0.051,3081,3890,1632
$GC,14073,0.62,351.6,555.2,13.1,1848,14081,0.15,2.25,0.00,0.000,6,0.104,0.032,3055,2758,1631
$GC,14419,0.63,365.8,518.6,9.5,1909,14443,0.00,2.92,14.82,1.157,4,0.000,0.048,3055,1338,1578
$GC,14491,0.69,376.2,511.3,9.6,1921,14509,0.00,2.80,12.10,1.140,6,0.000,0.031,3055,2751,1537
$GC,14845,0.69,376.2,475.1,10.1,1984,14850,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2751,1534
$GC,15185,0.69,380.6,441.0,9.8,2045,15198,0.00,2.85,5.70,0.895,4,0.000,0.045,3055,1335,1518
$GC,15250,0.79,416.8,434.7,8.7,2056,15295,0.20,2.75,38.85,1.191,6,0.047,0.031,3095,2738,1371
$GC,15630,0.71,416.8,376.6,15.7,2124,15638,0.00,2.35,0.00,0.000,4,0.000,0.049,3096,3894,1365
$GC,15711,0.67,416.8,364.1,14.1,2138,15718,0.20,2.25,0.00,0.000,6,0.105,0.031,3065,2739,1364
$GC,16047,0.67,416.8,327.4,11.0,2199,16054,0.00,2.80,0.00,0.000,4,0.000,0.047,3065,1339,1363
$GC,16097,0.72,416.8,321.8,10.5,2208,16105,0.00,2.75,0.00,0.000,6,0.000,0.031,3065,2734,1363
$GC,16432,0.72,416.8,287.1,11.6,2269,16437,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2734,1362
$GC,16760,0.74,437.3,252.7,9.3,2330,16786,0.00,2.83,20.08,1.034,4,0.000,0.045,3065,1337,1289
$GC,16827,0.81,437.3,246.2,10.1,2341,16834,0.15,2.75,0.00,0.000,6,0.048,0.031,3098,2736,1287
$GC,17160,0.73,437.3,194.6,16.1,2402,17168,0.00,2.33,0.00,0.000,4,0.000,0.048,3099,3893,1285
$GC,17235,0.73,437.3,183.1,13.5,2415,17241,0.00,2.25,0.00,0.000,6,0.000,0.031,3099,2728,1285
$GC,17567,0.66,437.3,130.4,17.5,2476,17575,0.20,2.35,0.00,0.000,4,0.108,0.046,3064,3887,1285
$GC,17599,0.66,437.3,125.8,13.8,2481,17605,0.00,2.20,0.00,0.000,6,0.000,0.032,3064,2747,1285
$GC,17738,0.71,437.3,111.9,10.7,2506,17747,0.00,2.83,0.00,0.000,4,0.000,0.048,3064,1339,1285
$GC,17793,0.82,463.9,106.3,9.1,2515,17833,0.17,2.70,28.12,0.967,6,0.047,0.030,3102,2737,1177
$GC,17965,0.75,463.9,81.9,15.0,2545,17971,0.00,2.30,0.00,0.000,4,0.000,0.048,3103,3886,1175
$GC,18033,0.75,463.9,70.4,16.9,2557,18039,0.00,2.20,0.00,0.000,6,0.000,0.032,3103,2760,1174
$GC,18172,0.68,463.9,45.6,20.4,2582,18180,0.17,2.88,0.00,0.000,4,0.108,0.046,3073,1338,1173
$GC,18204,0.68,463.9,40.0,16.3,2587,18212,0.00,2.83,0.00,0.000,6,0.000,0.031,3072,2764,1173
$GC,18341,0.86,573.0,26.0,6.2,2612,18458,0.15,3.05,107.93,0.920,4,0.056,0.047,3107,1327,735
$STATE,18475,end climb,SURFACE_DEPTH_REACHED
$STATE,18475,begin surface coast
$FINISH,0.5,1.026241
$STATE,18488,end surface coast,CONTROL_FINISHED_OK
$STATE,18488,begin surface
$SM_CCo,18567,0.00,0.000,0,0,731,574.00
$SM_GC,0.44,8.65,0.00,0.00,0.039,0.000,0.000,1437,2328,731,-6.79,0.82,574.00
$IRIDIUM_FIX,5858.64,-2146.52,110797,131329
$TT8_MAMPS,0.026845
$HUMID,1726
$INTERNAL_PRESSURE,8.83869
$TCM_TEMP,11.80
$XPDR_PINGS,877
$24V_AH,19.6,23.268
$10V_AH,9.6,19.552
$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,24.225,141.975,807.775,0.000,0.000,28.905,38.373,353.527,219.250,0.000,0.000,39.146,3967.549,7761.562,866.053,5741.686,795.525,0.000,2994.276,0.000,5724.633,0.000,0.466
$DEVICE_MAMPS,245.440,82.069,1565.447,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1819.844,1929.630,1144.781,1042.252,2715.111,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,199233,2633
$CAP_FILE_SIZE,213139,0
$CFSIZE,260165632,251129856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170408,002801,5927.594,-2158.637,39,1.9,44,-15.2