version: 66.03
glider: 142
mission: 5
dive: 142
start: 5 4 108 16 21 32
data:
$ID,142
$MISSION,5
$DIVE,142
$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,-15570.052
$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,20
$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
$GPS1,161301,6053.435,-2628.350,36,1.4,42,-18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-47.7
$GPS2,162114,6053.448,-2628.555,13,1.4,13,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6046.506,-2632.594
$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,248.3,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.86,-194.7,0.0,0.0,0,182,0.00,0.00,-151.40,0.000,2,0.000,0.000,1434,2288,3733
$GC,185,-0.86,-194.7,3.7,-5.9,21,209,11.50,2.83,-3.30,0.000,4,0.249,0.052,2726,889,3867
$GC,446,-0.81,-194.7,45.6,-13.1,69,453,0.00,2.75,0.00,0.000,6,0.000,0.031,2726,2297,3868
$GC,585,-0.74,-194.7,63.8,-12.6,94,593,0.15,2.85,0.00,0.000,4,0.138,0.045,2750,889,3868
$GC,650,-0.74,-194.7,71.6,-11.5,105,656,0.00,2.70,0.00,0.000,6,0.000,0.030,2750,2296,3868
$GC,981,-0.74,-194.7,108.2,-10.8,166,990,0.00,2.85,0.00,0.000,4,0.000,0.048,2750,884,3868
$GC,1059,-0.74,-194.7,116.5,-11.0,179,1065,0.00,2.70,0.00,0.000,6,0.000,0.030,2750,2289,3868
$GC,1390,-0.74,-194.7,154.5,-11.6,240,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2290,3867
$GC,1734,-0.74,-194.7,194.1,-10.9,301,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2290,3867
$GC,2072,-0.74,-194.7,230.7,-10.3,362,2078,0.00,2.80,0.00,0.000,4,0.000,0.048,2750,884,3868
$GC,2122,-0.74,-194.7,236.1,-10.6,371,2128,0.00,2.67,0.00,0.000,6,0.000,0.029,2750,2282,3868
$GC,2462,-0.74,-194.7,270.9,-10.5,432,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2282,3867
$GC,2805,-0.74,-194.7,307.3,-11.2,493,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2282,3868
$GC,3143,-0.74,-194.7,342.6,-10.0,554,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2282,3868
$GC,3472,-0.74,-194.7,376.3,-10.3,591,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2282,3868
$GC,3789,-0.74,-194.7,408.5,-9.8,621,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2282,3868
$GC,4108,-0.74,-194.7,440.5,-9.4,651,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3868
$GC,4428,-0.74,-194.7,470.5,-9.7,681,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3868
$GC,4744,-0.74,-194.7,504.1,-11.3,711,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3868
$GC,5062,-0.74,-194.7,541.1,-11.1,741,5067,0.00,2.83,0.00,0.000,4,0.000,0.048,2750,3703,3868
$GC,5095,-0.74,-194.7,544.7,-11.4,743,5101,0.00,2.80,0.00,0.000,6,0.000,0.034,2750,2264,3867
$GC,5420,-0.74,-194.7,579.7,-10.3,774,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2264,3868
$GC,5735,-0.74,-194.7,611.1,-9.8,799,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2264,3867
$GC,6044,-0.74,-194.7,643.2,-10.8,814,6048,0.00,2.92,0.00,0.000,4,0.000,0.054,2750,3699,3867
$GC,6082,-0.74,-194.7,647.5,-11.6,816,6087,0.00,2.80,0.00,0.000,6,0.000,0.039,2750,2284,3867
$GC,6408,-0.74,-194.7,686.8,-12.7,832,6409,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2282,3867
$GC,6717,-0.74,-194.7,721.4,-9.9,847,6722,0.00,2.95,0.00,0.000,4,0.000,0.064,2750,3697,3867
$GC,6749,-0.74,-194.7,724.6,-10.1,848,6756,0.00,2.85,0.00,0.000,6,0.000,0.048,2750,2284,3867
$GC,7065,-0.74,-194.7,754.1,-9.5,864,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2284,3867
$GC,7374,-0.74,-194.7,784.0,-9.8,879,7379,0.00,3.10,0.00,0.000,4,0.000,0.083,2750,3700,3867
$GC,7406,-0.74,-194.7,787.5,-10.8,880,7413,0.00,3.00,0.00,0.000,6,0.000,0.069,2750,2292,3867
$GC,7722,-0.74,-194.7,815.7,-8.2,896,7727,0.00,3.20,0.00,0.000,4,0.000,0.107,2750,884,3867
$GC,7772,-0.79,-194.7,819.7,-8.0,898,7777,0.00,3.00,0.00,0.000,6,0.000,0.077,2750,2274,3867
$GC,8087,-0.79,-194.7,838.7,-5.1,913,8092,0.00,3.28,0.00,0.000,4,0.000,0.105,2750,3710,3866
$GC,8127,-0.79,-194.7,840.6,-5.0,915,8132,0.00,3.17,0.00,0.000,6,0.000,0.093,2750,2302,3866
$GC,8453,-0.79,-194.7,863.2,-8.6,931,8458,0.00,3.35,0.00,0.000,4,0.000,0.114,2750,3714,3866
$GC,8480,-0.79,-194.7,865.7,-8.9,932,8484,0.00,2.83,0.00,0.000,6,0.000,0.039,2750,2284,3866
$GC,8795,-0.79,-194.7,893.7,-9.2,947,8797,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3865
$GC,9105,-0.79,-194.7,922.4,-9.2,962,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2284,3865
$GC,9414,-0.79,-194.7,947.2,-7.3,977,9418,0.00,2.97,0.00,0.000,4,0.000,0.058,2750,3722,3865
$GC,9475,-0.79,-194.7,952.3,-8.3,980,9480,0.00,2.85,0.00,0.000,6,0.000,0.041,2750,2294,3865
$GC,9801,-0.79,-194.7,987.4,-11.6,996,9802,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2293,3865
$STATE,9840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9840,begin apogee
$GC,9846,-0.21,0.0,992.0,11.1,998,10054,0.75,0.00,204.12,1.607,6,0.125,0.000,2871,2761,3072
$STATE,10055,end apogee,CONTROL_FINISHED_OK
$STATE,10055,begin climb
$GC,10057,0.86,194.7,1001.6,0.0,1008,10280,1.38,2.55,211.70,1.553,4,0.080,0.058,3100,3896,2276
$GC,10417,0.69,194.7,961.7,15.5,1025,10422,0.20,2.38,0.00,0.000,6,0.124,0.035,3073,2745,2274
$GC,10744,0.58,194.7,923.2,11.3,1041,10749,0.15,2.40,0.00,0.000,4,0.128,0.052,3052,3897,2273
$GC,10816,0.55,214.2,916.0,9.3,1044,10841,0.00,2.22,20.27,1.406,6,0.000,0.033,3052,2770,2197
$GC,11153,0.52,233.3,887.0,9.3,1060,11176,0.00,0.00,20.77,1.423,6,0.000,0.000,3052,2768,2119
$GC,11481,0.47,233.3,849.9,12.6,1076,11483,0.17,0.00,0.00,0.000,6,0.117,0.000,3026,2767,2117
$GC,11790,0.51,271.6,819.4,8.7,1091,11835,0.00,2.40,39.62,1.459,4,0.000,0.053,3026,3896,1962
$GC,11870,0.60,296.5,812.3,9.1,1095,11905,0.12,2.22,27.17,1.422,6,0.063,0.031,3048,2778,1862
$GC,12222,0.61,307.3,778.1,9.6,1112,12243,0.00,3.00,11.73,1.272,4,0.000,0.048,3048,1343,1817
$GC,12266,0.70,384.9,774.4,7.3,1114,12357,0.12,2.90,83.45,1.444,6,0.059,0.031,3074,2793,1502
$GC,12678,0.65,384.9,720.0,17.9,1134,12683,0.00,2.97,0.00,0.000,4,0.000,0.045,3074,1342,1494
$GC,12710,0.65,384.9,714.0,17.5,1135,12717,0.00,2.85,0.00,0.000,6,0.000,0.031,3074,2770,1492
$GC,13026,0.59,384.9,656.3,18.7,1151,13030,0.15,2.25,0.00,0.000,4,0.107,0.050,3048,3891,1491
$GC,13065,0.64,384.9,650.0,14.4,1153,13069,0.00,2.17,0.00,0.000,6,0.000,0.031,3048,2773,1490
$GC,13392,0.71,405.9,615.0,9.3,1169,13421,0.15,2.90,20.90,1.273,4,0.056,0.047,3083,1346,1415
$GC,13455,0.71,405.9,607.3,12.4,1172,13459,0.00,2.83,0.00,0.000,6,0.000,0.031,3082,2768,1414
$GC,13779,0.64,405.9,565.9,12.9,1199,13783,0.15,2.25,0.00,0.000,4,0.109,0.048,3056,3893,1411
$GC,13817,0.64,410.1,561.6,9.9,1202,13828,0.00,2.20,5.12,0.898,6,0.000,0.031,3057,2759,1399
$GC,14148,0.68,444.1,532.9,8.8,1233,14191,0.00,2.97,37.60,1.275,4,0.000,0.047,3057,1343,1259
$GC,14231,0.80,480.5,525.4,8.7,1240,14280,0.15,2.85,40.35,1.266,6,0.039,0.030,3093,2753,1111
$GC,14599,0.71,480.5,463.8,18.2,1275,14603,0.00,2.30,0.00,0.000,4,0.000,0.049,3093,3901,1105
$GC,14643,0.67,480.5,455.5,17.0,1278,14650,0.17,2.22,0.00,0.000,6,0.105,0.031,3066,2756,1104
$GC,14968,0.72,480.5,418.4,10.8,1309,14973,0.00,2.83,0.00,0.000,4,0.000,0.046,3066,1344,1103
$GC,15021,0.79,480.5,412.8,10.8,1313,15026,0.12,2.75,0.00,0.000,6,0.054,0.030,3093,2752,1102
$GC,15345,0.71,480.5,357.0,18.2,1343,15349,0.00,2.28,0.00,0.000,4,0.000,0.048,3092,3901,1102
$GC,15375,0.65,480.5,351.8,19.2,1345,15380,0.20,2.25,0.00,0.000,6,0.105,0.031,3062,2735,1101
$GC,15713,0.72,480.5,312.8,10.6,1404,15721,0.00,2.80,0.00,0.000,4,0.000,0.047,3062,1345,1101
$GC,15761,0.81,480.5,307.7,10.3,1412,15769,0.12,2.72,0.00,0.000,6,0.041,0.029,3095,2739,1100
$GC,16105,0.72,480.5,251.6,16.9,1473,16111,0.00,2.28,0.00,0.000,4,0.000,0.048,3095,3894,1101
$GC,16152,0.72,480.5,243.3,15.5,1481,16159,0.00,2.25,0.00,0.000,6,0.000,0.031,3095,2724,1100
$GC,16491,0.65,480.5,185.3,17.2,1542,16498,0.17,2.72,0.00,0.000,4,0.114,0.045,3065,1346,1100
$GC,16515,0.65,480.5,181.4,16.7,1546,16521,0.00,2.70,0.00,0.000,6,0.000,0.030,3065,2744,1100
$GC,16857,0.73,480.5,143.4,11.2,1607,16863,0.00,2.80,0.00,0.000,4,0.000,0.044,3065,1341,1100
$GC,16886,0.82,481.1,139.9,10.0,1612,16894,0.12,2.70,0.00,0.000,6,0.041,0.030,3098,2726,1100
$GC,17220,0.74,481.1,84.9,15.8,1673,17226,0.00,2.30,0.00,0.000,4,0.000,0.047,3098,3893,1100
$GC,17259,0.74,481.1,77.9,16.3,1680,17267,0.00,2.28,0.00,0.000,6,0.000,0.033,3098,2728,1100
$GC,17588,0.68,481.1,23.3,16.1,1741,17596,0.15,0.00,0.00,0.000,6,0.114,0.000,3073,2727,1099
$GC,17724,0.75,481.1,7.0,10.5,1766,17732,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2726,1100
$STATE,17784,end climb,SURFACE_DEPTH_REACHED
$STATE,17784,begin surface coast
$FINISH,0.1,1.026291
$STATE,17812,end surface coast,CONTROL_FINISHED_OK
$STATE,17812,begin surface
$SM_CCo,17889,0.00,0.000,0,0,1098,483.98
$SM_GC,0.44,8.27,0.00,0.00,0.048,0.000,0.000,1436,2294,1098,-6.79,-0.17,483.98
$IRIDIUM_FIX,6032.86,-2616.10,290797,111127
$TT8_MAMPS,0.026078
$HUMID,1768
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,11.60
$XPDR_PINGS,766
$24V_AH,19.5,49.377
$10V_AH,9.8,37.846
$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,24.500,158.425,722.825,0.000,0.000,29.873,36.055,292.332,191.500,0.000,0.000,14.964,2846.563,9963.404,823.646,4074.141,656.214,0.000,2427.096,0.000,4058.050,0.000,0.465
$DEVICE_MAMPS,249.275,114.283,1606.865,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1239.223,1268.239,637.832,877.994,1611.135,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129583,1782
$CAP_FILE_SIZE,176518,0
$CFSIZE,260165632,242778112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040508,212107,6051.062,-2638.931,39,1.4,50,-18.4