version: 66.03
glider: 142
mission: 5
dive: 146
start: 5 5 108 13 18 37
data:
$ID,142
$MISSION,5
$DIVE,146
$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,-15692.927
$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,22
$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
$GPS1,130916,6046.057,-2709.751,40,99.0,59,-18.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-34.8
$GPS2,131820,6046.114,-2710.040,13,1.3,30,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6039.173,-2714.095
$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,248.6,20000,-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,-194.7,0.0,0.0,0,215,0.00,0.00,-186.45,0.000,2,0.000,0.000,1433,2291,3628
$GC,219,-0.86,-194.7,3.7,-6.0,26,243,11.75,2.83,-6.18,0.000,4,0.255,0.056,2725,889,3866
$GC,480,-0.81,-194.7,45.8,-14.0,74,487,0.00,2.78,0.00,0.000,6,0.000,0.031,2725,2302,3867
$GC,619,-0.74,-194.7,65.0,-13.6,99,626,0.15,2.83,0.00,0.000,4,0.143,0.045,2748,889,3867
$GC,753,-0.74,-194.7,80.0,-10.4,123,759,0.00,2.72,0.00,0.000,6,0.000,0.031,2748,2304,3867
$GC,1082,-0.74,-194.7,114.8,-10.3,184,1090,0.00,2.85,0.00,0.000,4,0.000,0.047,2748,893,3867
$GC,1138,-0.74,-194.7,120.9,-10.9,194,1147,0.00,2.72,0.00,0.000,6,0.000,0.031,2748,2289,3866
$GC,1471,-0.74,-194.7,157.5,-11.3,255,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2289,3867
$GC,1813,-0.74,-194.7,196.6,-11.7,316,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2289,3867
$GC,2156,-0.74,-194.7,236.6,-11.7,377,2162,0.00,2.80,0.00,0.000,4,0.000,0.048,2748,885,3867
$GC,2212,-0.74,-194.7,243.5,-11.9,387,2218,0.00,2.70,0.00,0.000,6,0.000,0.030,2748,2292,3867
$GC,2551,-0.74,-194.7,281.8,-11.1,448,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2292,3866
$GC,2895,-0.74,-194.7,318.8,-11.0,509,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2292,3867
$GC,3237,-0.74,-194.7,354.4,-10.3,567,3242,0.00,2.80,0.00,0.000,4,0.000,0.048,2748,885,3867
$GC,3291,-0.74,-194.7,360.4,-10.8,571,3297,0.00,2.67,0.00,0.000,6,0.000,0.030,2748,2282,3867
$GC,3617,-0.74,-194.7,395.6,-10.9,602,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2283,3866
$GC,3934,-0.74,-194.7,430.2,-11.2,632,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2284,3866
$GC,4253,-0.74,-194.7,465.1,-10.6,662,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2284,3867
$GC,4571,-0.74,-194.7,498.3,-10.6,692,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2284,3867
$GC,4892,-0.74,-194.7,533.7,-11.0,722,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2284,3867
$GC,5208,-0.74,-194.7,567.5,-10.7,752,5213,0.00,2.80,0.00,0.000,4,0.000,0.049,2748,885,3866
$GC,5269,-0.74,-194.7,574.1,-10.8,757,5274,0.00,2.67,0.00,0.000,6,0.000,0.031,2748,2274,3866
$GC,5603,-0.74,-194.7,609.6,-10.9,784,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2275,3866
$GC,5911,-0.74,-194.7,640.5,-9.6,799,5916,0.00,2.90,0.00,0.000,4,0.000,0.055,2748,3706,3866
$GC,5938,-0.74,-194.7,643.2,-10.8,800,5942,0.00,2.83,0.00,0.000,6,0.000,0.038,2748,2277,3866
$GC,6253,-0.74,-194.7,673.3,-10.0,815,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2276,3866
$GC,6562,-0.74,-194.7,707.8,-11.3,830,6567,0.00,2.97,0.00,0.000,4,0.000,0.064,2748,3702,3866
$GC,6601,-0.74,-194.7,712.2,-11.4,832,6606,0.00,2.88,0.00,0.000,6,0.000,0.048,2748,2281,3866
$GC,6927,-0.74,-194.7,744.6,-9.5,848,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2279,3865
$GC,7235,-0.74,-194.7,774.1,-10.1,863,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2279,3865
$GC,7545,-0.74,-194.7,808.1,-11.3,878,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2279,3865
$GC,7854,-0.74,-194.7,842.2,-10.5,893,7859,0.00,3.30,0.00,0.000,4,0.000,0.123,2748,892,3865
$GC,7897,-0.74,-194.7,846.9,-10.3,895,7902,0.00,3.08,0.00,0.000,6,0.000,0.091,2748,2268,3864
$GC,8219,-0.74,-194.7,876.4,-9.0,911,8224,0.00,3.45,0.00,0.000,4,0.000,0.123,2748,3712,3864
$GC,8262,-0.74,-194.7,880.5,-9.7,913,8267,0.00,2.85,0.00,0.000,6,0.000,0.040,2748,2270,3864
$GC,8583,-0.74,-194.7,910.5,-10.0,929,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2270,3864
$GC,8892,-0.74,-194.7,942.3,-10.4,944,8897,0.00,2.97,0.00,0.000,4,0.000,0.056,2748,3718,3864
$GC,8918,-0.74,-194.7,945.2,-11.2,945,8923,0.00,2.83,0.00,0.000,6,0.000,0.040,2748,2296,3863
$GC,9240,-0.74,-194.7,978.4,-10.7,961,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2296,3863
$STATE,9361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9361,begin apogee
$GC,9368,-0.21,0.0,991.3,10.5,967,9576,0.75,0.00,204.65,1.619,6,0.121,0.000,2870,2764,3071
$STATE,9577,end apogee,CONTROL_FINISHED_OK
$STATE,9577,begin climb
$GC,9579,0.86,194.7,1001.9,0.0,977,9804,1.38,2.58,212.98,1.568,4,0.081,0.058,3098,3892,2277
$GC,9951,0.69,194.7,965.0,13.8,994,9956,0.17,2.35,0.00,0.000,6,0.128,0.035,3075,2750,2274
$GC,10266,0.57,194.7,928.3,11.8,1009,10271,0.17,2.40,0.00,0.000,4,0.124,0.053,3047,3898,2273
$GC,10338,0.53,194.7,920.9,10.3,1012,10342,0.00,2.22,0.00,0.000,6,0.000,0.034,3048,2775,2273
$GC,10654,0.54,247.8,894.0,8.2,1027,10716,0.00,3.05,54.50,1.508,4,0.000,0.050,3048,1341,2059
$GC,10755,0.55,253.0,884.3,9.8,1031,10769,0.00,2.92,6.85,1.156,6,0.000,0.033,3047,2774,2039
$GC,11091,0.57,267.0,851.2,9.5,1048,11112,0.00,2.30,15.40,1.363,4,0.000,0.062,3048,3890,1982
$GC,11185,0.57,267.0,841.9,10.4,1052,11189,0.00,2.20,0.00,0.000,6,0.000,0.033,3047,2782,1980
$GC,11511,0.62,309.8,812.8,8.5,1068,11563,0.00,3.03,45.42,1.463,4,0.000,0.049,3047,1345,1806
$GC,11601,0.65,331.6,804.5,9.2,1072,11633,0.00,2.90,24.02,1.407,6,0.000,0.033,3048,2771,1718
$GC,11942,0.65,335.8,772.0,9.9,1089,11949,0.00,0.00,5.07,0.976,6,0.000,0.000,3047,2771,1701
$GC,12251,0.69,366.9,743.4,8.9,1104,12291,0.00,0.00,34.25,1.406,6,0.000,0.000,3047,2771,1574
$GC,12601,0.71,383.4,712.2,9.4,1121,12626,0.15,3.00,18.05,1.323,4,0.058,0.048,3077,1347,1507
$GC,12659,0.71,383.4,704.9,13.5,1123,12666,0.00,2.85,0.00,0.000,6,0.000,0.034,3077,2764,1506
$GC,12976,0.65,383.4,660.0,13.8,1139,12980,0.00,2.28,0.00,0.000,4,0.000,0.052,3077,3893,1504
$GC,13025,0.65,383.4,653.3,12.6,1141,13029,0.00,2.22,0.00,0.000,6,0.000,0.034,3077,2772,1503
$GC,13347,0.60,383.4,614.5,12.2,1157,13349,0.15,0.00,0.00,0.000,6,0.109,0.000,3054,2772,1503
$GC,13660,0.60,383.4,583.2,10.4,1179,13665,0.00,2.85,0.00,0.000,4,0.000,0.048,3054,1345,1502
$GC,13699,0.65,383.4,579.0,10.6,1182,13704,0.00,2.83,0.00,0.000,6,0.000,0.031,3054,2787,1502
$GC,14023,0.65,383.4,541.9,11.4,1212,14028,0.00,2.92,0.00,0.000,4,0.000,0.046,3054,1336,1502
$GC,14050,0.65,383.4,538.8,10.7,1214,14055,0.00,2.80,0.00,0.000,6,0.000,0.031,3054,2768,1502
$GC,14375,0.65,384.2,505.3,10.0,1244,14376,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2769,1502
$GC,14694,0.65,386.1,474.0,9.9,1274,14699,0.00,2.85,0.00,0.000,4,0.000,0.045,3054,1346,1502
$GC,14738,0.71,386.1,469.2,10.2,1277,14744,0.00,2.75,0.00,0.000,6,0.000,0.031,3054,2757,1501
$GC,15064,0.71,386.1,433.8,11.4,1308,15065,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2757,1501
$GC,15381,0.71,386.1,398.2,10.8,1338,15382,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2757,1501
$GC,15701,0.73,406.0,367.0,9.3,1368,15736,0.12,2.88,23.67,1.150,4,0.058,0.044,3080,1343,1414
$GC,15763,0.73,406.0,359.6,11.9,1373,15769,0.00,2.78,0.00,0.000,6,0.000,0.031,3081,2748,1412
$GC,16101,0.73,406.0,316.0,13.4,1427,16107,0.00,2.30,0.00,0.000,4,0.000,0.048,3080,3902,1411
$GC,16141,0.73,406.0,310.8,13.5,1434,16147,0.00,2.25,0.00,0.000,6,0.000,0.031,3080,2739,1410
$GC,16482,0.73,406.0,265.4,14.8,1495,16487,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2738,1410
$GC,16821,0.73,406.0,218.9,12.6,1556,16829,0.00,2.35,0.00,0.000,4,0.000,0.048,3080,3896,1409
$GC,16846,0.73,406.0,215.4,13.9,1560,16853,0.00,2.22,0.00,0.000,6,0.000,0.031,3080,2753,1410
$GC,17188,0.73,406.0,170.4,14.4,1621,17193,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2744,1409
$GC,17521,0.73,406.0,124.4,13.4,1682,17529,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2744,1410
$GC,17855,0.73,406.0,81.3,12.5,1743,17861,0.00,2.78,0.00,0.000,4,0.000,0.045,3080,1341,1409
$GC,17883,0.73,406.0,77.4,12.6,1748,17891,0.00,2.78,0.00,0.000,6,0.000,0.030,3080,2759,1409
$GC,18216,0.73,406.0,37.8,11.3,1809,18224,0.00,2.25,0.00,0.000,4,0.000,0.047,3080,3891,1409
$GC,18257,0.73,406.0,33.1,10.8,1816,18265,0.00,2.20,0.00,0.000,6,0.000,0.032,3080,2765,1409
$GC,18393,0.73,406.0,17.9,11.2,1841,18401,0.00,2.85,0.00,0.000,4,0.000,0.047,3080,1342,1409
$GC,18429,0.73,406.0,13.7,11.0,1847,18437,0.00,2.75,0.00,0.000,6,0.000,0.030,3081,2750,1409
$STATE,18536,end climb,SURFACE_DEPTH_REACHED
$STATE,18536,begin surface coast
$FINISH,0.1,1.026335
$STATE,18555,end surface coast,CONTROL_FINISHED_OK
$STATE,18555,begin surface
$SM_CCo,18633,0.00,0.000,0,0,1407,408.18
$SM_GC,0.84,8.35,0.00,0.00,0.048,0.000,0.000,1431,2301,1407,-6.79,0.06,408.18
$IRIDIUM_FIX,6024.11,-2701.53,300797,080827
$TT8_MAMPS,0.026845
$HUMID,1765
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,10.90
$XPDR_PINGS,914
$24V_AH,19.5,50.776
$10V_AH,9.8,38.630
$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,23.150,148.825,644.875,0.000,0.000,30.771,28.495,331.405,228.500,0.000,0.000,32.185,2949.376,10443.884,790.730,4266.141,709.489,0.000,2435.791,0.000,4251.822,0.000,0.465
$DEVICE_MAMPS,254.644,123.487,1619.137,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1303.605,1341.874,690.105,936.193,1728.814,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135953,1870
$CAP_FILE_SIZE,173763,0
$CFSIZE,260165632,242397184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050508,183046,6044.532,-2721.067,40,4.3,59,-18.7