version: 66.03
glider: 142
mission: 5
dive: 66
start: 4 17 108 11 38 38
data:
$ID,142
$MISSION,5
$DIVE,66
$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,-13983.429
$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
$GPS1,112922,5922.464,-2218.076,35,2.9,54,-15.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-53.0
$GPS2,113820,5922.365,-2218.231,10,1.1,15,-15.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5913.519,-2221.401
$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,230.3,20000,-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,26,-0.86,-194.7,0.0,0.0,0,159,0.00,0.00,-129.75,0.000,2,0.000,0.000,1431,2284,3572
$GC,162,-0.86,-194.7,3.2,-4.9,18,193,10.82,2.85,-8.18,0.000,4,0.239,0.058,2723,895,3866
$GC,429,-0.80,-194.7,45.6,-13.9,67,437,0.10,2.75,0.00,0.000,6,0.123,0.030,2740,2304,3867
$GC,567,-0.76,-194.7,63.2,-12.9,92,575,0.00,2.85,0.00,0.000,4,0.000,0.047,2740,894,3867
$GC,646,-0.76,-194.7,73.7,-13.0,106,654,0.00,2.72,0.00,0.000,6,0.000,0.030,2740,2288,3867
$GC,787,-0.71,-194.7,91.2,-12.5,131,793,0.12,0.00,0.00,0.000,6,0.137,0.000,2756,2288,3868
$GC,922,-0.71,-194.7,107.6,-11.3,156,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2288,3867
$GC,1061,-0.71,-194.7,122.6,-10.6,181,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2288,3867
$GC,1195,-0.71,-194.7,138.0,-12.1,206,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2288,3867
$GC,1334,-0.71,-194.7,153.6,-10.8,231,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2288,3868
$GC,1664,-0.71,-194.7,191.9,-11.3,292,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2288,3868
$GC,1997,-0.71,-194.7,228.4,-10.9,353,2003,0.00,2.78,0.00,0.000,4,0.000,0.048,2757,889,3867
$GC,2057,-0.71,-194.7,235.4,-11.4,364,2065,0.00,2.70,0.00,0.000,6,0.000,0.031,2757,2286,3867
$GC,2391,-0.71,-194.7,271.4,-11.1,425,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2286,3868
$GC,2720,-0.71,-194.7,307.5,-11.0,486,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2286,3868
$GC,3053,-0.71,-194.7,342.9,-10.7,547,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2286,3868
$GC,3390,-0.71,-194.7,379.6,-10.6,608,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2286,3868
$GC,3729,-0.71,-194.7,415.4,-10.2,669,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2286,3868
$GC,4071,-0.71,-194.7,450.0,-9.9,730,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2286,3868
$GC,4414,-0.71,-194.7,483.7,-9.5,791,4420,0.00,2.78,0.00,0.000,4,0.000,0.049,2757,884,3867
$GC,4472,-0.75,-194.7,489.6,-10.2,801,4479,0.00,2.65,0.00,0.000,6,0.000,0.030,2757,2282,3867
$GC,4814,-0.75,-194.7,523.2,-9.4,862,4820,0.00,2.80,0.00,0.000,4,0.000,0.048,2756,3703,3867
$GC,4839,-0.75,-194.7,525.5,-9.8,866,4845,0.00,2.75,0.00,0.000,6,0.000,0.034,2757,2280,3867
$GC,5180,-0.75,-194.7,558.5,-9.7,927,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2280,3867
$GC,5521,-0.75,-194.7,592.4,-10.1,988,5527,0.00,2.85,0.00,0.000,4,0.000,0.051,2757,3701,3867
$GC,5549,-0.75,-194.7,595.4,-10.5,993,5556,0.00,2.75,0.00,0.000,6,0.000,0.036,2757,2280,3867
$GC,5877,-0.75,-194.7,628.5,-10.1,1028,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2280,3867
$GC,6196,-0.75,-194.7,660.4,-10.2,1058,6200,0.00,2.90,0.00,0.000,4,0.000,0.058,2757,3702,3867
$GC,6227,-0.75,-194.7,663.8,-10.4,1060,6234,0.00,2.80,0.00,0.000,6,0.000,0.042,2757,2286,3866
$GC,6554,-0.75,-194.7,694.0,-9.3,1091,6559,0.00,2.92,0.00,0.000,4,0.000,0.061,2757,3708,3866
$GC,6571,-0.75,-194.7,695.7,-9.4,1092,6575,0.00,2.83,0.00,0.000,6,0.000,0.047,2757,2289,3866
$GC,6896,-0.75,-194.7,725.8,-9.1,1122,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2289,3866
$GC,7215,-0.75,-194.7,754.4,-8.6,1152,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2288,3866
$GC,7533,-0.75,-194.7,782.8,-9.2,1182,7538,0.00,3.08,0.00,0.000,4,0.000,0.087,2757,3700,3865
$GC,7566,-0.75,-194.7,786.1,-9.9,1184,7572,0.00,2.95,0.00,0.000,6,0.000,0.071,2757,2301,3865
$GC,7892,-0.75,-194.7,817.0,-9.5,1215,7896,0.00,3.12,0.00,0.000,4,0.000,0.099,2757,3697,3865
$GC,7919,-0.75,-194.7,819.9,-10.4,1217,7924,0.00,3.03,0.00,0.000,6,0.000,0.087,2757,2312,3865
$GC,8245,-0.75,-194.7,851.7,-10.0,1247,8250,0.00,3.22,0.00,0.000,4,0.000,0.116,2757,3698,3865
$GC,8265,-0.75,-194.7,854.2,-10.4,1248,8272,0.00,3.15,0.00,0.000,6,0.000,0.104,2757,2315,3864
$GC,8592,-0.75,-194.7,885.5,-9.3,1279,8593,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2308,3864
$GC,8910,-0.75,-194.7,914.9,-9.2,1309,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2308,3863
$GC,9229,-0.75,-194.7,944.4,-9.1,1339,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2307,3863
$GC,9548,-0.75,-194.7,972.6,-8.6,1369,9552,0.00,2.85,0.00,0.000,4,0.000,0.058,2757,3703,3863
$GC,9564,-0.75,-194.7,974.2,-8.8,1370,9569,0.00,2.78,0.00,0.000,6,0.000,0.041,2756,2307,3863
$STATE,9748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9748,begin apogee
$GC,9754,-0.21,0.0,990.8,9.0,1387,9962,0.65,0.00,200.95,1.582,6,0.117,0.000,2868,2743,3070
$STATE,9963,end apogee,CONTROL_FINISHED_OK
$STATE,9963,begin climb
$GC,9965,0.86,194.7,998.0,0.0,1408,10183,1.38,2.65,208.12,1.521,4,0.084,0.058,3100,3893,2277
$GC,10351,0.70,194.7,952.0,15.4,1444,10358,0.17,2.38,0.00,0.000,6,0.128,0.035,3076,2746,2274
$GC,10676,0.59,194.7,911.0,12.2,1475,10678,0.17,0.00,0.00,0.000,6,0.122,0.000,3050,2744,2274
$GC,10996,0.54,194.7,878.7,10.0,1505,10997,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2744,2273
$GC,11315,0.52,213.7,847.9,9.3,1535,11339,0.00,2.42,19.55,1.385,4,0.000,0.056,3051,3893,2199
$GC,11373,0.52,213.7,842.1,10.4,1540,11379,0.00,2.28,0.00,0.000,6,0.000,0.034,3051,2753,2198
$GC,11699,0.49,227.1,811.5,9.5,1571,11718,0.15,0.00,14.75,1.336,6,0.115,0.000,3028,2753,2145
$GC,12036,0.59,310.5,786.4,7.1,1603,12130,0.00,3.05,87.32,1.441,4,0.000,0.049,3028,1348,1804
$GC,12153,0.74,384.8,777.7,7.4,1614,12241,0.28,2.95,80.05,1.401,6,0.045,0.031,3082,2772,1502
$GC,12559,0.68,384.8,720.1,15.3,1653,12563,0.00,2.33,0.00,0.000,4,0.000,0.054,3082,3894,1492
$GC,12602,0.68,384.8,713.3,14.2,1656,12609,0.00,2.25,0.00,0.000,6,0.000,0.033,3082,2769,1491
$GC,12929,0.63,384.8,664.9,15.0,1687,12931,0.15,0.00,0.00,0.000,6,0.116,0.000,3060,2768,1489
$GC,13247,0.63,384.8,624.6,12.8,1717,13252,0.00,2.90,0.00,0.000,4,0.000,0.049,3060,1336,1489
$GC,13297,0.63,384.8,618.3,11.5,1721,13301,0.00,2.85,0.00,0.000,6,0.000,0.032,3060,2776,1488
$GC,13629,0.63,384.8,577.8,12.5,1767,13635,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2778,1488
$GC,13971,0.63,384.8,537.6,11.6,1828,13977,0.00,2.92,0.00,0.000,4,0.000,0.047,3060,1333,1487
$GC,14011,0.63,384.8,533.0,10.8,1835,14017,0.00,2.83,0.00,0.000,6,0.000,0.033,3060,2772,1487
$GC,14353,0.63,384.8,493.4,11.5,1896,14360,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2772,1488
$GC,14699,0.63,384.8,456.2,10.3,1957,14705,0.00,2.88,0.00,0.000,4,0.000,0.047,3060,1343,1487
$GC,14744,0.63,386.2,451.2,10.0,1965,14752,0.00,2.78,0.00,0.000,6,0.000,0.032,3060,2752,1487
$GC,15087,0.63,386.2,415.7,10.3,2026,15092,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2752,1487
$GC,15427,0.63,386.2,379.4,10.5,2087,15433,0.00,2.83,0.00,0.000,4,0.000,0.046,3060,1342,1487
$GC,15474,0.68,389.0,374.7,9.9,2095,15480,0.00,2.72,0.00,0.000,6,0.000,0.032,3060,2747,1487
$GC,15810,0.68,389.0,339.4,10.3,2156,15817,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2747,1487
$GC,16145,0.68,389.0,304.5,11.3,2217,16151,0.00,2.80,0.00,0.000,4,0.000,0.046,3060,1342,1487
$GC,16181,0.72,391.8,300.6,9.9,2223,16196,0.00,2.70,5.50,0.821,6,0.000,0.031,3060,2738,1472
$GC,16523,0.72,391.8,261.8,12.1,2285,16528,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2738,1472
$GC,16851,0.72,391.8,224.7,12.4,2346,16858,0.00,2.80,0.00,0.000,4,0.000,0.045,3060,1342,1472
$GC,16886,0.77,391.8,220.9,10.2,2352,16894,0.10,2.70,0.00,0.000,6,0.044,0.031,3088,2725,1472
$GC,17223,0.72,391.8,173.1,13.5,2413,17229,0.00,2.30,0.00,0.000,4,0.000,0.048,3088,3896,1471
$GC,17290,0.72,391.8,163.6,15.0,2425,17296,0.00,2.22,0.00,0.000,6,0.000,0.031,3087,2734,1471
$GC,17621,0.67,391.8,118.0,12.4,2486,17629,0.12,0.00,0.00,0.000,6,0.110,0.000,3070,2733,1471
$GC,17761,0.69,407.6,102.9,9.5,2511,17780,0.00,0.00,16.88,0.933,6,0.000,0.000,3070,2733,1409
$GC,17911,0.69,408.6,86.5,10.0,2538,17919,0.00,2.78,0.00,0.000,4,0.000,0.046,3070,1346,1406
$GC,17955,0.73,408.6,82.2,10.2,2545,17961,0.00,2.75,0.00,0.000,6,0.000,0.030,3070,2761,1406
$GC,18091,0.73,408.6,67.6,11.1,2570,18098,0.00,2.25,0.00,0.000,4,0.000,0.048,3069,3889,1406
$GC,18123,0.73,408.6,64.4,11.3,2575,18129,0.00,2.25,0.00,0.000,6,0.000,0.032,3069,2728,1406
$GC,18260,0.73,408.6,48.8,11.5,2600,18268,0.00,2.78,0.00,0.000,4,0.000,0.048,3070,1340,1406
$GC,18297,0.73,408.6,44.8,10.5,2606,18305,0.00,2.78,0.00,0.000,6,0.000,0.031,3069,2752,1406
$GC,18433,0.79,452.3,32.1,8.5,2631,18484,0.00,0.00,45.20,0.939,6,0.000,0.000,3070,2752,1226
$GC,18613,0.84,452.3,11.8,10.8,2662,18621,0.15,0.00,0.00,0.000,6,0.054,0.000,3104,2752,1221
$STATE,18684,end climb,SURFACE_DEPTH_REACHED
$STATE,18684,begin surface coast
$FINISH,0.2,1.026248
$STATE,18701,end surface coast,CONTROL_FINISHED_OK
$STATE,18701,begin surface
$SM_CCo,18779,0.00,0.000,0,0,1217,454.79
$SM_GC,0.54,8.60,0.00,0.00,0.048,0.000,0.000,1430,2299,1217,-6.80,-0.03,454.79
$IRIDIUM_FIX,5858.64,-2205.34,120797,060629
$TT8_MAMPS,0.026078
$HUMID,1748
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,11.50
$XPDR_PINGS,896
$24V_AH,19.6,24.271
$10V_AH,9.6,20.395
$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,22.975,144.850,678.325,0.000,0.000,28.032,39.108,307.893,224.000,0.000,0.000,17.707,4056.205,7812.862,813.148,5833.123,768.869,0.000,2924.030,0.000,5843.534,0.000,0.465
$DEVICE_MAMPS,238.537,115.817,1581.554,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1852.392,1966.512,1188.410,1095.225,2821.776,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,199236,2678
$CAP_FILE_SIZE,211464,0
$CFSIZE,260165632,250761216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170408,165258,5918.183,-2226.831,26,2.7,45,-15.4