version: 66.03
glider: 142
mission: 5
dive: 147
start: 5 5 108 18 43 33
data:
$ID,142
$MISSION,5
$DIVE,147
$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,20
$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,-15726.346
$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
$GPS1,183046,6044.532,-2721.067,40,4.3,59,-18.7
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-51.7
$GPS2,184316,6044.625,-2721.350,11,3.4,30,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6054.773,-2719.554
$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,38.7,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.86,-194.7,0.0,0.0,0,159,0.00,0.00,-128.95,0.000,2,0.000,0.000,1431,2293,3620
$GC,162,-0.86,-194.7,3.7,-5.6,18,186,11.70,2.85,-6.45,0.000,4,0.252,0.052,2726,3709,3865
$GC,346,-0.80,-194.7,33.8,-14.1,51,353,0.00,2.80,0.00,0.000,6,0.000,0.034,2726,2300,3866
$GC,479,-0.74,-194.7,53.3,-14.0,76,488,0.15,2.85,0.00,0.000,4,0.134,0.048,2750,894,3867
$GC,621,-0.74,-194.7,70.2,-11.4,101,627,0.00,2.70,0.00,0.000,6,0.000,0.030,2750,2290,3867
$GC,951,-0.74,-194.7,107.3,-10.6,162,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2290,3867
$GC,1285,-0.74,-194.7,141.7,-10.3,223,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2290,3867
$GC,1619,-0.74,-194.7,174.3,-9.2,284,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2290,3867
$GC,1961,-0.74,-194.7,205.4,-9.2,345,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2290,3867
$GC,2299,-0.74,-194.7,236.1,-9.0,406,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2290,3867
$GC,2638,-0.74,-194.7,266.7,-9.1,467,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2290,3867
$GC,2976,-0.74,-194.7,297.5,-8.8,528,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2290,3867
$GC,3318,-0.74,-194.7,326.7,-8.6,589,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2291,3867
$GC,3659,-0.74,-194.7,355.2,-7.9,645,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2290,3867
$GC,3978,-0.74,-194.7,380.3,-7.9,675,3982,0.00,2.80,0.00,0.000,4,0.000,0.045,2750,3703,3867
$GC,4028,-0.74,-194.7,384.4,-8.3,679,4032,0.00,2.80,0.00,0.000,6,0.000,0.034,2750,2265,3867
$GC,4354,-0.74,-194.7,410.4,-7.8,709,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2265,3866
$GC,4671,-0.74,-194.7,436.2,-8.2,739,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2265,3866
$GC,4992,-0.74,-194.7,463.8,-8.9,769,4996,0.00,2.88,0.00,0.000,4,0.000,0.046,2750,3700,3866
$GC,5042,-0.74,-194.7,468.7,-9.2,773,5047,0.00,2.78,0.00,0.000,6,0.000,0.034,2750,2277,3866
$GC,5368,-0.74,-194.7,499.1,-9.5,803,5373,0.00,2.78,0.00,0.000,4,0.000,0.051,2750,885,3867
$GC,5400,-0.74,-194.7,502.5,-10.0,805,5407,0.00,2.70,0.00,0.000,6,0.000,0.029,2750,2293,3866
$GC,5727,-0.74,-194.7,534.1,-9.8,836,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2294,3867
$GC,6043,-0.74,-194.7,564.9,-9.5,866,6048,0.00,2.83,0.00,0.000,4,0.000,0.049,2750,3706,3867
$GC,6098,-0.74,-194.7,570.4,-9.9,870,6105,0.00,2.78,0.00,0.000,6,0.000,0.035,2750,2289,3867
$GC,6433,-0.74,-194.7,604.6,-10.7,900,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2288,3866
$GC,6741,-0.74,-194.7,639.0,-11.0,915,6746,0.00,2.90,0.00,0.000,4,0.000,0.054,2750,3707,3866
$GC,6802,-0.74,-194.7,645.9,-11.5,918,6807,0.00,2.80,0.00,0.000,6,0.000,0.040,2750,2298,3866
$GC,7128,-0.74,-194.7,678.4,-9.5,934,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2298,3866
$GC,7438,-0.74,-194.7,706.3,-8.9,949,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2298,3866
$GC,7747,-0.74,-194.7,731.0,-7.6,964,7751,0.00,2.97,0.00,0.000,4,0.000,0.069,2750,3701,3866
$GC,7796,-0.74,-194.7,735.1,-8.4,966,7801,0.00,2.85,0.00,0.000,6,0.000,0.052,2750,2308,3866
$GC,8112,-0.74,-194.7,763.1,-9.9,981,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2307,3865
$GC,8420,-0.74,-194.7,796.1,-10.8,996,8425,0.00,3.10,0.00,0.000,4,0.000,0.088,2750,3699,3866
$GC,8475,-0.78,-194.7,802.2,-10.5,998,8482,0.00,2.97,0.00,0.000,6,0.000,0.075,2750,2319,3865
$GC,8790,-0.78,-194.7,835.2,-10.1,1014,8795,0.00,3.35,0.00,0.000,4,0.000,0.117,2750,887,3865
$GC,8852,-0.82,-194.7,841.9,-10.9,1017,8857,0.00,3.15,0.00,0.000,6,0.000,0.089,2750,2303,3865
$GC,9179,-0.82,-194.7,875.3,-9.7,1033,9183,0.00,2.88,0.00,0.000,4,0.000,0.054,2751,3724,3865
$GC,9241,-0.82,-194.7,881.2,-9.5,1036,9245,0.00,2.80,0.00,0.000,6,0.000,0.038,2750,2309,3865
$GC,9567,-0.82,-194.7,909.1,-8.3,1052,9568,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2309,3864
$GC,9876,-0.82,-194.7,933.6,-8.0,1067,9881,0.00,2.92,0.00,0.000,4,0.000,0.058,2751,3721,3864
$GC,9953,-0.82,-194.7,940.5,-9.5,1070,9959,0.00,2.75,0.00,0.000,6,0.000,0.040,2750,2339,3864
$GC,10269,-0.82,-194.7,966.8,-8.4,1086,10273,0.00,2.97,0.00,0.000,4,0.000,0.061,2750,885,3863
$GC,10313,-0.89,-194.7,970.7,-9.0,1088,10318,0.12,2.88,0.00,0.000,6,0.061,0.035,2726,2353,3863
$STATE,10507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10508,begin apogee
$GC,10514,-0.21,0.0,990.4,10.0,1098,10723,0.90,0.00,205.50,1.619,6,0.131,0.000,2868,2765,3071
$STATE,10723,end apogee,CONTROL_FINISHED_OK
$STATE,10724,begin climb
$GC,10726,0.86,194.7,994.5,0.0,1108,10951,1.40,2.55,213.32,1.569,4,0.078,0.061,3100,3905,2277
$GC,11030,0.69,194.7,958.1,16.4,1122,11035,0.20,2.42,0.00,0.000,6,0.128,0.034,3073,2743,2275
$GC,11345,0.57,194.7,915.2,13.5,1137,11350,0.15,2.42,0.00,0.000,4,0.126,0.051,3049,3900,2274
$GC,11400,0.52,194.7,908.2,11.8,1139,11406,0.00,2.28,0.00,0.000,6,0.000,0.033,3049,2757,2274
$GC,11716,0.47,194.7,871.3,11.8,1155,11721,0.15,2.35,0.00,0.000,4,0.118,0.051,3027,3897,2273
$GC,11759,0.47,194.7,866.3,10.0,1157,11763,0.00,2.20,0.00,0.000,6,0.000,0.033,3027,2790,2273
$GC,12086,0.49,205.9,835.1,9.6,1173,12100,0.00,0.00,12.05,1.307,6,0.000,0.000,3027,2789,2231
$GC,12395,0.56,269.3,808.2,7.8,1188,12469,0.00,3.08,65.82,1.490,4,0.000,0.048,3027,1339,1972
$GC,12481,0.72,362.9,801.6,6.8,1192,12591,0.28,3.00,100.65,1.464,6,0.047,0.032,3080,2797,1590
$GC,12907,0.65,362.9,742.0,14.5,1213,12908,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2797,1582
$GC,13216,0.58,362.9,695.5,15.2,1228,13218,0.20,0.00,0.00,0.000,6,0.108,0.000,3049,2797,1581
$GC,13524,0.59,368.5,664.1,9.8,1243,13535,0.00,2.97,4.88,0.910,4,0.000,0.052,3049,1341,1568
$GC,13556,0.65,415.5,661.1,8.4,1244,13614,0.00,2.90,51.35,1.383,6,0.000,0.033,3049,2805,1377
$GC,13931,0.77,468.3,629.2,8.2,1263,13996,0.17,3.15,57.38,1.355,4,0.052,0.047,3089,1346,1160
$GC,14024,0.77,468.3,616.7,13.4,1267,14028,0.00,2.95,0.00,0.000,6,0.000,0.032,3089,2783,1157
$GC,14347,0.70,468.3,567.8,15.1,1291,14348,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2783,1153
$GC,14667,0.63,468.3,524.1,13.5,1321,14672,0.15,2.92,0.00,0.000,4,0.108,0.045,3063,1343,1151
$GC,14685,0.58,468.3,521.4,13.2,1322,14689,0.00,2.85,0.00,0.000,6,0.000,0.032,3063,2786,1151
$GC,15012,0.69,518.8,495.9,8.2,1352,15071,0.00,3.03,52.50,1.276,4,0.000,0.051,3063,1346,955
$GC,15106,0.87,587.3,488.1,7.6,1360,15190,0.25,2.88,73.43,1.259,6,0.042,0.032,3115,2767,675
$GC,15508,0.74,587.3,401.7,23.5,1398,15510,0.20,0.00,0.00,0.000,6,0.112,0.000,3085,2766,669
$GC,15828,0.74,587.3,352.3,14.0,1428,15832,0.00,2.90,0.00,0.000,4,0.000,0.047,3085,1344,668
$GC,15869,0.79,587.3,347.0,13.0,1433,15875,0.00,2.75,0.00,0.000,6,0.000,0.031,3085,2743,667
$GC,16209,0.79,587.3,303.3,13.6,1494,16216,0.00,2.83,0.00,0.000,4,0.000,0.047,3085,1346,666
$GC,16244,0.85,587.3,298.9,13.1,1500,16252,0.00,2.72,0.00,0.000,6,0.000,0.031,3085,2726,666
$GC,16589,0.89,587.3,254.5,12.0,1561,16596,0.15,2.80,0.00,0.000,4,0.054,0.045,3117,1335,665
$GC,16618,0.89,587.3,249.7,15.7,1566,16625,0.00,2.65,0.00,0.000,6,0.000,0.031,3117,2705,665
$GC,16959,0.78,587.3,172.4,23.9,1627,16965,0.15,0.00,0.00,0.000,6,0.108,0.000,3092,2706,665
$GC,17293,0.78,587.3,121.3,13.6,1688,17301,0.00,2.78,0.00,0.000,4,0.000,0.047,3091,1340,665
$GC,17314,0.78,587.3,118.6,13.2,1691,17320,0.00,2.62,0.00,0.000,6,0.000,0.031,3091,2695,665
$GC,17644,0.78,587.3,75.3,11.3,1752,17651,0.00,2.72,0.00,0.000,4,0.000,0.047,3091,1351,664
$GC,17657,0.78,587.3,73.5,13.1,1754,17665,0.00,2.60,0.00,0.000,6,0.000,0.031,3091,2680,664
$GC,17987,0.78,587.3,32.6,11.6,1815,17995,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2680,664
$GC,18121,0.78,587.3,15.9,11.4,1840,18129,0.00,2.70,0.00,0.000,4,0.000,0.048,3091,1346,664
$GC,18137,0.78,587.3,13.9,11.2,1842,18145,0.00,2.60,0.00,0.000,6,0.000,0.031,3091,2676,664
$STATE,18234,end climb,SURFACE_DEPTH_REACHED
$STATE,18234,begin surface coast
$FINISH,0.2,1.026330
$STATE,18251,end surface coast,CONTROL_FINISHED_OK
$STATE,18252,begin surface
$SM_CCo,18330,0.00,0.000,0,0,664,590.44
$SM_GC,0.49,8.32,0.00,0.00,0.044,0.000,0.000,1436,2287,664,-6.79,-0.40,590.44
$IRIDIUM_FIX,6019.75,-2725.03,300797,181841
$TT8_MAMPS,0.026845
$HUMID,1768
$INTERNAL_PRESSURE,8.81915
$TCM_TEMP,11.40
$XPDR_PINGS,880
$24V_AH,19.5,51.179
$10V_AH,9.8,38.835
$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,24.650,153.075,836.875,0.000,0.000,59.095,64.695,404.366,220.000,0.000,0.000,32.790,2939.987,10086.368,886.880,4285.950,861.162,0.000,2568.296,0.000,4269.146,0.000,0.465
$DEVICE_MAMPS,251.576,116.584,1619.137,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1304.294,1337.352,684.488,925.771,1709.280,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135954,1863
$CAP_FILE_SIZE,179272,0
$CFSIZE,260165632,242294784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050508,235008,6047.853,-2723.737,29,1.2,29,-18.8