version: 66.03
glider: 142
mission: 5
dive: 130
start: 5 1 108 23 42 49
data:
$ID,142
$MISSION,5
$DIVE,130
$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,15
$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,-15333.684
$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,30
$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
$GPS1,233426,6114.315,-2449.560,37,1.5,37,-17.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-48.5
$GPS2,234232,6114.317,-2449.601,13,1.3,31,-17.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6124.749,-2448.264
$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,32.7,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,144,0.00,0.00,-115.00,0.000,2,0.000,0.000,1432,2277,3432
$GC,146,-0.86,-194.7,3.1,-6.5,16,177,11.55,2.88,-12.82,0.000,4,0.251,0.051,2725,3714,3862
$GC,274,-0.80,-194.7,19.0,-10.2,38,282,0.00,2.80,0.00,0.000,6,0.000,0.035,2725,2307,3863
$GC,410,-0.73,-194.7,39.8,-16.2,63,418,0.20,2.88,0.00,0.000,4,0.147,0.049,2755,885,3863
$GC,483,-0.73,-194.7,50.0,-12.8,76,491,0.00,2.70,0.00,0.000,6,0.000,0.029,2755,2270,3863
$GC,624,-0.73,-194.7,64.9,-10.4,101,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2277,3863
$GC,953,-0.73,-194.7,100.6,-10.9,162,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2277,3863
$GC,1286,-0.73,-194.7,135.1,-10.4,223,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2277,3863
$GC,1618,-0.73,-194.7,169.9,-10.8,284,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2277,3863
$GC,1960,-0.73,-194.7,204.6,-9.7,345,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2277,3864
$GC,2297,-0.73,-194.7,239.4,-10.4,406,2303,0.00,2.75,0.00,0.000,4,0.000,0.048,2755,887,3863
$GC,2347,-0.73,-194.7,244.8,-10.6,415,2353,0.00,2.62,0.00,0.000,6,0.000,0.030,2755,2263,3863
$GC,2686,-0.73,-194.7,279.8,-9.9,476,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2263,3863
$GC,3028,-0.73,-194.7,315.0,-10.4,537,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2263,3864
$GC,3364,-0.73,-194.7,350.3,-10.6,598,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2263,3863
$GC,3682,-0.73,-194.7,383.1,-10.3,628,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2263,3863
$GC,4002,-0.73,-194.7,414.0,-9.6,658,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2263,3863
$GC,4320,-0.73,-194.7,446.1,-10.2,688,4324,0.00,2.83,0.00,0.000,4,0.000,0.045,2755,3703,3864
$GC,4373,-0.73,-194.7,451.6,-10.1,692,4380,0.00,2.78,0.00,0.000,6,0.000,0.034,2755,2263,3863
$GC,4700,-0.73,-194.7,481.7,-8.8,723,4705,0.00,2.72,0.00,0.000,4,0.000,0.050,2755,885,3863
$GC,4752,-0.73,-194.7,486.5,-9.3,727,4756,0.00,2.65,0.00,0.000,6,0.000,0.029,2755,2273,3863
$GC,5078,-0.73,-194.7,518.5,-9.9,757,5082,0.00,2.83,0.00,0.000,4,0.000,0.047,2755,3700,3863
$GC,5130,-0.73,-194.7,523.8,-10.3,761,5134,0.00,2.80,0.00,0.000,6,0.000,0.034,2755,2261,3863
$GC,5456,-0.73,-194.7,557.5,-10.6,791,5460,0.00,2.70,0.00,0.000,4,0.000,0.052,2755,893,3863
$GC,5494,-0.73,-194.7,561.9,-11.1,794,5498,0.00,2.65,0.00,0.000,6,0.000,0.030,2755,2276,3863
$GC,5820,-0.73,-194.7,594.3,-9.1,824,5824,0.00,2.85,0.00,0.000,4,0.000,0.051,2755,3704,3862
$GC,5874,-0.73,-194.7,599.5,-9.4,828,5880,0.00,2.83,0.00,0.000,6,0.000,0.035,2755,2262,3862
$GC,6200,-0.73,-194.7,629.1,-9.3,845,6201,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2261,3862
$GC,6509,-0.73,-194.7,657.4,-9.1,860,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2261,3862
$GC,6818,-0.73,-194.7,687.0,-10.1,875,6819,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2261,3862
$GC,7128,-0.73,-194.7,716.6,-9.4,890,7132,0.00,3.00,0.00,0.000,4,0.000,0.065,2755,3696,3862
$GC,7199,-0.73,-194.7,723.7,-10.1,893,7204,0.00,2.88,0.00,0.000,6,0.000,0.049,2755,2280,3862
$GC,7520,-0.73,-194.7,754.8,-9.6,909,7522,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2279,3862
$GC,7829,-0.73,-194.7,785.0,-9.4,924,7834,0.00,3.10,0.00,0.000,4,0.000,0.083,2755,3701,3861
$GC,7897,-0.73,-194.7,791.1,-9.3,927,7902,0.00,3.00,0.00,0.000,6,0.000,0.070,2755,2289,3861
$GC,8218,-0.73,-194.7,819.4,-9.2,943,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2288,3861
$GC,8527,-0.73,-194.7,844.2,-7.7,958,8532,0.00,3.25,0.00,0.000,4,0.000,0.106,2755,3694,3861
$GC,8582,-0.77,-194.7,848.6,-8.4,960,8588,0.00,3.15,0.00,0.000,6,0.000,0.097,2755,2306,3861
$GC,8897,-0.77,-194.7,877.2,-9.1,976,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2305,3861
$GC,9207,-0.77,-194.7,905.1,-8.9,991,9211,0.00,2.85,0.00,0.000,4,0.000,0.052,2755,3707,3860
$GC,9268,-0.77,-194.7,910.7,-9.1,994,9273,0.00,2.78,0.00,0.000,6,0.000,0.038,2755,2303,3860
$GC,9595,-0.77,-194.7,940.4,-9.1,1010,9596,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2302,3860
$GC,9904,-0.77,-194.7,968.3,-9.0,1025,9909,0.00,2.88,0.00,0.000,4,0.000,0.057,2755,3699,3860
$GC,9977,-0.81,-194.7,974.9,-8.9,1028,9981,0.00,2.72,0.00,0.000,6,0.000,0.041,2755,2329,3860
$STATE,10165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10166,begin apogee
$GC,10172,-0.21,0.0,991.5,8.7,1037,10377,0.70,0.00,202.23,1.598,6,0.125,0.000,2868,2750,3071
$STATE,10378,end apogee,CONTROL_FINISHED_OK
$STATE,10378,begin climb
$GC,10380,0.86,194.7,998.3,0.0,1047,10606,1.40,2.62,211.10,1.546,4,0.081,0.056,3100,3890,2277
$GC,10757,0.69,194.7,956.9,13.9,1064,10764,0.17,2.35,0.00,0.000,6,0.132,0.035,3077,2747,2275
$GC,11072,0.57,194.7,918.0,12.9,1080,11077,0.17,2.40,0.00,0.000,4,0.127,0.052,3049,3897,2274
$GC,11161,0.53,194.7,908.0,10.7,1084,11165,0.00,2.22,0.00,0.000,6,0.000,0.033,3049,2773,2274
$GC,11482,0.47,194.7,876.1,10.0,1100,11484,0.17,0.00,0.00,0.000,6,0.127,0.000,3023,2773,2273
$GC,11792,0.56,269.9,852.2,7.4,1115,11874,0.00,2.50,76.65,1.491,4,0.000,0.053,3022,3903,1969
$GC,11898,0.71,350.1,844.5,7.2,1120,11990,0.28,2.28,85.95,1.464,6,0.051,0.032,3075,2781,1643
$GC,12306,0.65,350.1,788.8,14.2,1140,12307,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2780,1635
$GC,12615,0.58,350.1,745.3,13.5,1155,12620,0.15,2.30,0.00,0.000,4,0.111,0.051,3049,3900,1633
$GC,12631,0.54,350.1,743.1,13.3,1156,12635,0.00,2.20,0.00,0.000,6,0.000,0.032,3049,2777,1633
$GC,12958,0.55,357.6,710.5,9.7,1172,12967,0.00,0.00,6.82,1.065,6,0.000,0.000,3049,2776,1613
$GC,13267,0.55,357.6,677.5,10.8,1187,13271,0.00,2.88,0.00,0.000,4,0.000,0.048,3049,1343,1612
$GC,13284,0.55,357.6,675.8,10.7,1188,13289,0.00,2.85,0.00,0.000,6,0.000,0.031,3049,2793,1611
$GC,13610,0.55,364.0,641.8,9.8,1204,13624,0.00,2.97,8.20,1.107,4,0.000,0.046,3049,1345,1587
$GC,13636,0.55,364.0,639.1,10.1,1205,13640,0.00,2.80,0.00,0.000,6,0.000,0.031,3049,2765,1586
$GC,13963,0.58,383.3,609.0,9.3,1221,13993,0.00,2.97,21.77,1.283,4,0.000,0.045,3049,1342,1507
$GC,14006,0.66,409.9,605.0,9.1,1223,14041,0.00,2.83,29.83,1.304,6,0.000,0.031,3049,2761,1399
$GC,14361,0.76,432.2,572.4,9.2,1253,14393,0.15,2.97,23.65,1.251,4,0.053,0.046,3086,1346,1309
$GC,14398,0.76,432.2,567.8,12.5,1256,14407,0.00,2.85,0.00,0.000,6,0.000,0.031,3086,2748,1307
$GC,14725,0.69,432.2,518.1,14.6,1287,14726,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2748,1305
$GC,15043,0.62,432.2,470.4,14.6,1317,15045,0.17,0.00,0.00,0.000,6,0.105,0.000,3059,2748,1304
$GC,15363,0.69,436.9,438.6,9.8,1347,15371,0.00,0.00,5.47,0.867,6,0.000,0.000,3059,2748,1289
$GC,15690,0.77,454.8,406.7,9.4,1378,15716,0.15,2.88,20.27,1.145,4,0.054,0.044,3095,1338,1215
$GC,15739,0.77,454.8,400.1,14.6,1382,15744,0.00,2.80,0.00,0.000,6,0.000,0.031,3095,2750,1213
$GC,16065,0.69,454.8,345.9,15.3,1414,16071,0.15,0.00,0.00,0.000,6,0.109,0.000,3070,2751,1211
$GC,16403,0.69,454.8,307.4,11.2,1475,16409,0.00,2.83,0.00,0.000,4,0.000,0.045,3070,1344,1211
$GC,16417,0.69,454.8,306.0,11.8,1477,16423,0.00,2.72,0.00,0.000,6,0.000,0.031,3070,2743,1210
$GC,16757,0.69,454.8,271.7,10.3,1538,16763,0.00,2.83,0.00,0.000,4,0.000,0.045,3070,1334,1210
$GC,16780,0.74,454.8,269.4,10.2,1542,16787,0.00,2.72,0.00,0.000,6,0.000,0.030,3070,2736,1210
$GC,17123,0.78,454.8,233.7,10.6,1603,17129,0.00,2.80,0.00,0.000,4,0.000,0.044,3070,1334,1209
$GC,17140,0.83,454.8,231.7,11.2,1606,17147,0.17,2.70,0.00,0.000,6,0.048,0.030,3108,2729,1209
$GC,17481,0.72,454.8,169.6,20.9,1667,17487,0.17,2.30,0.00,0.000,4,0.110,0.046,3077,3899,1210
$GC,17517,0.72,454.8,163.7,14.8,1673,17523,0.00,2.25,0.00,0.000,6,0.000,0.031,3078,2730,1209
$GC,17851,0.72,454.8,122.3,11.8,1734,17859,0.00,2.78,0.00,0.000,4,0.000,0.046,3077,1338,1209
$GC,17864,0.72,454.8,120.6,11.6,1736,17872,0.00,2.72,0.00,0.000,6,0.000,0.031,3077,2733,1209
$GC,18196,0.72,454.8,81.8,11.1,1797,18203,0.00,2.78,0.00,0.000,4,0.000,0.045,3078,1334,1209
$GC,18211,0.72,454.8,80.3,10.2,1799,18217,0.00,2.70,0.00,0.000,6,0.000,0.030,3077,2731,1209
$GC,18540,0.72,454.8,43.1,12.6,1860,18548,0.00,2.80,0.00,0.000,4,0.000,0.046,3077,1342,1209
$GC,18555,0.72,454.8,41.2,13.0,1862,18563,0.00,2.67,0.00,0.000,6,0.000,0.030,3077,2712,1209
$GC,18691,0.78,508.4,26.5,8.1,1887,18750,0.00,0.00,53.70,0.957,6,0.000,0.000,3077,2712,998
$GC,18878,0.83,508.4,4.2,10.5,1919,18886,0.12,0.00,0.00,0.000,6,0.056,0.000,3103,2712,994
$STATE,18892,end climb,SURFACE_DEPTH_REACHED
$STATE,18892,begin surface coast
$FINISH,0.2,1.026293
$STATE,18909,end surface coast,CONTROL_FINISHED_OK
$STATE,18909,begin surface
$SM_CCo,18988,0.00,0.000,0,0,992,509.98
$SM_GC,0.61,8.45,0.00,0.00,0.040,0.000,0.000,1437,2284,992,-6.79,-0.45,509.98
$IRIDIUM_FIX,6046.07,-2452.12,260797,181819
$TT8_MAMPS,0.026845
$HUMID,1755
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,12.00
$XPDR_PINGS,829
$24V_AH,19.5,45.341
$10V_AH,9.7,35.441
$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,24.350,160.900,745.650,0.000,0.000,29.269,34.044,268.800,207.250,0.000,0.000,32.946,3047.344,10536.621,817.293,4398.044,655.984,0.000,2527.015,0.000,4369.987,0.000,0.465
$DEVICE_MAMPS,250.809,105.846,1598.428,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1341.665,1379.241,716.211,957.072,1773.609,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142505,1924
$CAP_FILE_SIZE,182218,0
$CFSIZE,260165632,243904512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020508,050032,6117.309,-2451.566,39,1.3,39,-17.7