version: 66.03
glider: 142
mission: 5
dive: 136
start: 5 3 108 8 25 33
data:
$ID,142
$MISSION,5
$DIVE,136
$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,230
$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,-15458.25
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,081719,6113.320,-2524.517,41,1.8,58,-18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-41.7
$GPS2,082515,6113.282,-2524.736,12,1.5,12,-18.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6106.340,-2528.734
$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,248.0,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.86,-194.7,0.0,0.0,0,167,0.00,0.00,-136.77,0.000,2,0.000,0.000,1436,2285,3462
$GC,170,-0.86,-194.7,3.0,-5.2,19,201,11.45,2.85,-11.57,0.000,4,0.250,0.053,2725,3706,3865
$GC,412,-0.81,-194.7,38.5,-13.2,63,420,0.00,2.80,0.00,0.000,6,0.000,0.035,2725,2299,3866
$GC,548,-0.73,-194.7,57.5,-13.6,88,555,0.17,0.00,0.00,0.000,6,0.149,0.000,2752,2299,3866
$GC,881,-0.73,-194.7,95.9,-10.5,149,887,0.00,2.80,0.00,0.000,4,0.000,0.050,2752,890,3866
$GC,930,-0.73,-194.7,101.4,-10.8,158,938,0.00,2.72,0.00,0.000,6,0.000,0.030,2752,2290,3866
$GC,1265,-0.73,-194.7,136.4,-10.8,219,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2291,3866
$GC,1601,-0.73,-194.7,171.5,-10.0,280,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2291,3866
$GC,1944,-0.73,-194.7,209.8,-11.5,341,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2291,3866
$GC,2283,-0.73,-194.7,248.5,-10.9,402,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2291,3866
$GC,2623,-0.73,-194.7,288.9,-12.4,463,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2291,3866
$GC,2962,-0.73,-194.7,328.4,-11.0,524,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2292,3866
$GC,3301,-0.73,-194.7,365.8,-11.0,573,3306,0.00,2.80,0.00,0.000,4,0.000,0.048,2752,885,3866
$GC,3345,-0.73,-194.7,370.6,-10.6,576,3353,0.00,2.70,0.00,0.000,6,0.000,0.030,2752,2281,3866
$GC,3671,-0.73,-194.7,403.7,-10.3,607,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2282,3866
$GC,3988,-0.73,-194.7,436.7,-10.0,637,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2282,3866
$GC,4306,-0.73,-194.7,469.1,-10.4,667,4311,0.00,2.80,0.00,0.000,4,0.000,0.046,2752,3699,3866
$GC,4334,-0.73,-194.7,472.0,-10.9,669,4338,0.00,2.75,0.00,0.000,6,0.000,0.034,2752,2286,3866
$GC,4659,-0.73,-194.7,505.7,-11.0,699,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2284,3866
$GC,4979,-0.73,-194.7,537.4,-10.0,729,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2284,3866
$GC,5295,-0.73,-194.7,566.7,-8.6,759,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2284,3866
$GC,5614,-0.73,-194.7,596.1,-10.0,789,5619,0.00,2.88,0.00,0.000,4,0.000,0.051,2752,3706,3866
$GC,5646,-0.73,-194.7,599.6,-10.3,791,5653,0.00,2.78,0.00,0.000,6,0.000,0.035,2752,2290,3866
$GC,5962,-0.73,-194.7,629.8,-9.6,807,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2289,3866
$GC,6271,-0.73,-194.7,659.1,-9.5,822,6276,0.00,2.90,0.00,0.000,4,0.000,0.057,2752,3699,3866
$GC,6298,-0.73,-194.7,662.1,-11.1,823,6303,0.00,2.78,0.00,0.000,6,0.000,0.041,2752,2297,3866
$GC,6620,-0.73,-194.7,693.0,-9.2,839,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2295,3866
$GC,6929,-0.73,-194.7,719.0,-8.4,854,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2295,3866
$GC,7239,-0.73,-194.7,744.2,-7.8,869,7243,0.00,2.95,0.00,0.000,4,0.000,0.070,2752,3697,3865
$GC,7271,-0.73,-194.7,746.7,-7.9,870,7277,0.00,2.88,0.00,0.000,6,0.000,0.055,2751,2298,3866
$GC,7586,-0.73,-194.7,768.7,-7.2,886,7591,0.00,3.00,0.00,0.000,4,0.000,0.075,2752,3694,3865
$GC,7608,-0.73,-194.7,770.3,-7.5,887,7612,0.00,2.90,0.00,0.000,6,0.000,0.063,2752,2309,3865
$GC,7928,-0.73,-194.7,796.1,-8.3,903,7929,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2309,3865
$GC,8237,-0.73,-194.7,824.3,-9.1,918,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2309,3865
$GC,8546,-0.73,-194.7,853.8,-10.2,933,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2308,3864
$GC,8855,-0.73,-194.7,886.2,-10.2,948,8856,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2308,3864
$GC,9165,-0.73,-194.7,916.0,-9.3,963,9169,0.00,2.85,0.00,0.000,4,0.000,0.053,2752,3705,3864
$GC,9191,-0.73,-194.7,918.6,-10.2,964,9196,0.00,2.80,0.00,0.000,6,0.000,0.038,2752,2289,3864
$GC,9507,-0.73,-194.7,946.2,-8.9,979,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2288,3864
$GC,9816,-0.73,-194.7,971.5,-7.7,994,9821,0.00,2.90,0.00,0.000,4,0.000,0.057,2752,3706,3863
$GC,9855,-0.73,-194.7,974.7,-8.7,996,9860,0.00,2.80,0.00,0.000,6,0.000,0.041,2753,2301,3863
$STATE,10035,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10035,begin apogee
$GC,10041,-0.21,0.0,990.1,8.6,1005,10248,0.73,0.00,203.85,1.605,6,0.130,0.000,2868,2746,3071
$STATE,10249,end apogee,CONTROL_FINISHED_OK
$STATE,10249,begin climb
$GC,10251,0.86,194.7,996.3,0.0,1015,10476,1.42,2.62,212.07,1.553,4,0.087,0.057,3100,3886,2276
$GC,10639,0.69,194.7,949.1,16.3,1033,10644,0.20,2.35,0.00,0.000,6,0.127,0.035,3073,2741,2274
$GC,10960,0.58,194.7,908.9,11.9,1049,10964,0.17,2.40,0.00,0.000,4,0.127,0.053,3046,3891,2273
$GC,11021,0.60,213.0,902.6,9.4,1052,11045,0.00,2.22,19.23,1.390,6,0.000,0.034,3046,2759,2202
$GC,11374,0.66,256.9,874.2,8.5,1069,11422,0.00,0.00,46.25,1.480,6,0.000,0.000,3046,2757,2023
$GC,11721,0.66,256.9,839.4,11.2,1086,11725,0.00,2.35,0.00,0.000,4,0.000,0.053,3046,3897,2019
$GC,11765,0.66,256.9,834.1,11.2,1088,11769,0.00,2.20,0.00,0.000,6,0.000,0.033,3047,2780,2019
$GC,12092,0.66,256.9,796.8,11.1,1104,12097,0.00,2.90,0.00,0.000,4,0.000,0.049,3046,1341,2018
$GC,12118,0.66,256.9,793.8,10.8,1105,12123,0.00,2.90,0.00,0.000,6,0.000,0.039,3046,2801,2018
$GC,12434,0.68,276.8,762.7,9.3,1120,12457,0.10,0.00,20.40,1.364,6,0.070,0.000,3065,2801,1942
$GC,12763,0.63,276.8,728.3,10.4,1136,12764,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2801,1940
$GC,13073,0.57,276.8,695.3,10.9,1151,13078,0.12,2.20,0.00,0.000,4,0.114,0.052,3047,3898,1940
$GC,13105,0.58,283.8,691.8,9.8,1152,13120,0.00,2.17,8.23,1.147,6,0.000,0.032,3047,2777,1913
$GC,13442,0.58,283.8,658.4,10.5,1169,13446,0.00,2.88,0.00,0.000,4,0.000,0.048,3047,1341,1913
$GC,13474,0.58,283.8,654.7,11.0,1170,13480,0.00,2.85,0.00,0.000,6,0.000,0.032,3047,2792,1912
$GC,13789,0.58,283.8,621.1,10.5,1186,13790,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2792,1912
$GC,14104,0.58,283.8,586.6,11.3,1206,14108,0.00,2.92,0.00,0.000,4,0.000,0.046,3047,1338,1912
$GC,14136,0.58,283.8,582.7,10.4,1208,14144,0.00,2.83,0.00,0.000,6,0.000,0.033,3047,2766,1912
$GC,14463,0.58,283.8,545.8,11.6,1239,14467,0.00,2.25,0.00,0.000,4,0.000,0.057,3047,3897,1912
$GC,14493,0.58,283.8,542.1,12.1,1241,14496,0.00,2.17,0.00,0.000,6,0.000,0.032,3047,2768,1911
$GC,14817,0.58,283.8,506.7,10.1,1271,14821,0.00,2.83,0.00,0.000,4,0.000,0.047,3047,1343,1911
$GC,14846,0.58,283.8,503.9,10.2,1273,14851,0.00,2.80,0.00,0.000,6,0.000,0.032,3047,2779,1911
$GC,15171,0.60,299.6,472.1,9.5,1303,15193,0.00,0.00,17.27,1.174,6,0.000,0.000,3046,2778,1848
$GC,15511,0.63,330.0,441.2,8.9,1335,15544,0.00,0.00,31.58,1.219,6,0.000,0.000,3047,2778,1725
$GC,15863,0.67,360.3,409.7,8.9,1368,15900,0.00,3.03,31.35,1.185,4,0.000,0.046,3047,1343,1601
$GC,15935,0.79,407.3,403.5,8.4,1374,15995,0.25,2.85,50.12,1.190,6,0.044,0.031,3097,2765,1409
$GC,16314,0.71,407.3,346.2,15.8,1412,16322,0.15,2.30,0.00,0.000,4,0.112,0.048,3076,3894,1401
$GC,16379,0.71,407.3,337.5,12.3,1423,16385,0.00,2.20,0.00,0.000,6,0.000,0.031,3076,2766,1400
$GC,16717,0.71,407.3,295.0,14.8,1484,16725,0.00,2.88,0.00,0.000,4,0.000,0.047,3076,1346,1398
$GC,16750,0.71,407.3,290.9,13.0,1489,16756,0.00,2.83,0.00,0.000,6,0.000,0.031,3076,2786,1397
$GC,17091,0.71,407.3,243.0,15.3,1550,17096,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2786,1397
$GC,17432,0.71,407.3,194.6,14.7,1611,17438,0.00,2.90,0.00,0.000,4,0.000,0.044,3076,1344,1397
$GC,17476,0.71,407.3,188.7,11.8,1619,17483,0.00,2.78,0.00,0.000,6,0.000,0.031,3076,2768,1396
$GC,17817,0.71,407.3,147.2,13.0,1680,17824,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2768,1396
$GC,18151,0.72,413.9,109.1,9.8,1741,18164,0.00,2.88,5.40,0.726,4,0.000,0.044,3076,1345,1382
$GC,18189,0.72,413.9,104.8,11.3,1747,18195,0.00,2.75,0.00,0.000,6,0.000,0.031,3076,2756,1381
$GC,18519,0.72,413.9,65.8,12.3,1808,18526,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2756,1381
$GC,18846,0.72,413.9,24.3,12.9,1869,18854,0.00,2.85,0.00,0.000,4,0.000,0.045,3076,1344,1381
$GC,18872,0.72,413.9,20.9,12.8,1873,18880,0.00,2.75,0.00,0.000,6,0.000,0.031,3076,2747,1380
$GC,19007,0.72,413.9,5.7,11.6,1898,19014,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2747,1381
$STATE,19041,end climb,SURFACE_DEPTH_REACHED
$STATE,19041,begin surface coast
$FINISH,0.1,1.026260
$STATE,19058,end surface coast,CONTROL_FINISHED_OK
$STATE,19058,begin surface
$SM_CCo,19136,0.00,0.000,0,0,1377,415.54
$SM_GC,0.68,8.35,0.00,0.00,0.050,0.000,0.000,1434,2294,1377,-6.80,-0.17,415.54
$IRIDIUM_FIX,6050.49,-2518.01,280797,030324
$TT8_MAMPS,0.026078
$HUMID,1768
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,12.00
$XPDR_PINGS,903
$24V_AH,19.5,47.254
$10V_AH,9.7,36.661
$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,23.125,137.350,645.750,0.000,0.000,25.670,30.835,285.745,225.750,0.000,0.000,14.291,3000.827,10908.739,765.255,4260.806,657.666,0.000,2398.055,0.000,4257.430,0.000,0.465
$DEVICE_MAMPS,250.042,75.166,1604.564,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1327.080,1365.425,699.131,937.216,1739.596,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139063,1907
$CAP_FILE_SIZE,173733,0
$CFSIZE,260165632,243339264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030508,134538,6109.760,-2535.032,33,1.3,33,-18.0