version: 66.03
glider: 142
mission: 5
dive: 151
start: 5 6 108 9 39 31
data:
$ID,142
$MISSION,5
$DIVE,151
$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,30
$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,-15910.685
$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,27
$R_STBD_OVSHOOT,25
$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
$GPS1,093508,6054.423,-2725.054,11,1.4,11,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-62.6
$GPS2,093914,6054.432,-2725.029,12,1.4,29,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6103.785,-2722.416
$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,48.8,20000,-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,25,-0.86,-194.7,0.0,0.0,0,122,0.00,0.00,-94.15,0.000,2,0.000,0.000,1432,2282,3568
$GC,125,-0.86,-194.7,3.3,-5.0,13,148,11.60,0.00,-8.25,0.000,6,0.253,0.000,2727,2281,3866
$GC,277,-0.79,-194.7,27.4,-14.2,40,284,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2281,3867
$GC,411,-0.72,-194.7,46.5,-14.6,65,419,0.17,2.80,0.00,0.000,4,0.148,0.048,2755,900,3867
$GC,491,-0.72,-194.7,56.0,-11.1,79,497,0.00,2.70,0.00,0.000,6,0.000,0.029,2755,2304,3867
$GC,821,-0.72,-194.7,92.4,-11.5,140,829,0.00,2.85,0.00,0.000,4,0.000,0.048,2755,897,3867
$GC,888,-0.72,-194.7,100.0,-11.8,152,897,0.00,2.72,0.00,0.000,6,0.000,0.030,2755,2293,3867
$GC,1222,-0.72,-194.7,138.9,-12.0,213,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2293,3867
$GC,1556,-0.72,-194.7,176.7,-11.3,274,1562,0.00,2.80,0.00,0.000,4,0.000,0.048,2755,890,3867
$GC,1603,-0.72,-194.7,181.6,-10.5,282,1609,0.00,2.67,0.00,0.000,6,0.000,0.030,2755,2288,3867
$GC,1943,-0.72,-194.7,217.7,-10.7,343,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2289,3867
$GC,2280,-0.72,-194.7,253.3,-10.1,404,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2289,3867
$GC,2620,-0.72,-194.7,288.1,-11.2,465,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2289,3866
$GC,2957,-0.72,-194.7,325.2,-10.8,526,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2289,3867
$GC,3295,-0.72,-194.7,361.5,-10.4,577,3300,0.00,2.78,0.00,0.000,4,0.000,0.048,2755,897,3867
$GC,3338,-0.72,-194.7,366.5,-10.4,580,3345,0.00,2.67,0.00,0.000,6,0.000,0.030,2755,2276,3867
$GC,3665,-0.72,-194.7,399.7,-9.9,611,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2276,3867
$GC,3984,-0.72,-194.7,430.7,-9.7,641,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2276,3867
$GC,4300,-0.72,-194.7,460.5,-9.2,671,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2276,3867
$GC,4619,-0.72,-194.7,490.9,-9.7,701,4624,0.00,2.83,0.00,0.000,4,0.000,0.047,2755,3700,3866
$GC,4662,-0.72,-194.7,495.3,-10.0,704,4671,0.00,2.80,0.00,0.000,6,0.000,0.033,2755,2271,3866
$GC,4989,-0.72,-194.7,527.0,-10.0,735,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2271,3866
$GC,5306,-0.72,-194.7,558.9,-9.9,765,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2271,3866
$GC,5624,-0.72,-194.7,589.3,-9.5,795,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2271,3865
$GC,5947,-0.72,-194.7,620.1,-9.4,816,5952,0.00,2.90,0.00,0.000,4,0.000,0.052,2755,3697,3865
$GC,6002,-0.72,-194.7,625.4,-9.7,818,6008,0.00,2.80,0.00,0.000,6,0.000,0.038,2755,2279,3865
$GC,6318,-0.72,-194.7,654.8,-9.1,834,6322,0.00,2.85,0.00,0.000,4,0.000,0.061,2755,883,3865
$GC,6379,-0.77,-194.7,660.5,-8.9,837,6384,0.00,2.67,0.00,0.000,6,0.000,0.033,2755,2261,3865
$GC,6706,-0.77,-194.7,688.3,-8.3,853,6710,0.00,2.95,0.00,0.000,4,0.000,0.062,2755,3704,3865
$GC,6777,-0.81,-194.7,694.5,-8.5,856,6782,0.00,2.88,0.00,0.000,6,0.000,0.045,2755,2276,3864
$GC,7093,-0.81,-194.7,720.5,-8.3,871,7094,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2275,3864
$GC,7402,-0.81,-194.7,748.5,-9.0,886,7403,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2275,3864
$GC,7711,-0.81,-194.7,777.6,-9.2,901,7712,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2275,3864
$GC,8020,-0.81,-194.7,806.0,-9.4,916,8025,0.00,3.22,0.00,0.000,4,0.000,0.096,2754,3700,3864
$GC,8092,-0.81,-194.7,812.8,-9.6,919,8097,0.00,3.10,0.00,0.000,6,0.000,0.082,2755,2292,3864
$GC,8408,-0.85,-194.7,843.2,-9.5,934,8413,0.00,3.33,0.00,0.000,4,0.000,0.122,2755,885,3863
$GC,8448,-0.91,-194.7,847.2,-9.8,936,8453,0.17,3.10,0.00,0.000,6,0.056,0.092,2720,2269,3863
$GC,8774,-0.91,-194.7,887.2,-12.4,952,8775,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2269,3863
$GC,9083,-0.91,-194.7,925.7,-12.3,967,9088,0.00,3.30,0.00,0.000,4,0.000,0.102,2720,3726,3863
$GC,9132,-0.91,-194.7,931.9,-12.2,969,9137,0.00,2.90,0.00,0.000,6,0.000,0.039,2720,2265,3863
$GC,9448,-0.91,-194.7,968.4,-11.1,984,9453,0.00,2.80,0.00,0.000,4,0.000,0.060,2720,890,3862
$GC,9491,-0.91,-194.7,973.4,-11.2,986,9496,0.00,2.75,0.00,0.000,6,0.000,0.033,2720,2303,3862
$STATE,9651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9651,begin apogee
$GC,9657,-0.21,0.0,990.4,10.6,994,9867,0.93,0.00,205.82,1.637,6,0.123,0.000,2870,2753,3071
$STATE,9868,end apogee,CONTROL_FINISHED_OK
$STATE,9868,begin climb
$GC,9870,0.86,194.7,996.3,0.0,1004,10095,1.38,2.60,214.02,1.593,4,0.077,0.057,3098,3895,2277
$GC,10232,0.70,194.7,953.2,15.4,1021,10237,0.17,2.38,0.00,0.000,6,0.127,0.035,3075,2746,2274
$GC,10558,0.58,194.7,912.2,12.0,1037,10563,0.17,2.40,0.00,0.000,4,0.120,0.053,3047,3896,2273
$GC,10591,0.53,194.7,908.4,10.8,1038,10597,0.00,2.28,0.00,0.000,6,0.000,0.034,3048,2754,2273
$GC,10906,0.51,215.7,879.6,9.3,1054,10930,0.00,0.00,21.67,1.437,6,0.000,0.000,3047,2753,2191
$GC,11236,0.54,235.2,848.6,9.3,1070,11262,0.00,2.40,21.17,1.440,4,0.000,0.052,3047,3897,2111
$GC,11289,0.54,235.2,843.2,10.1,1072,11295,0.00,2.28,0.00,0.000,6,0.000,0.033,3047,2770,2110
$GC,11605,0.55,242.8,813.1,9.7,1088,11616,0.00,0.00,9.12,1.258,6,0.000,0.000,3048,2768,2081
$GC,11914,0.55,242.8,782.2,10.2,1103,11915,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2768,2080
$GC,12223,0.55,245.6,750.3,9.9,1118,12232,0.00,2.33,4.40,0.909,4,0.000,0.054,3047,3900,2069
$GC,12249,0.57,257.4,747.6,9.6,1119,12269,0.00,2.20,14.15,1.341,6,0.000,0.032,3047,2772,2020
$GC,12596,0.57,259.8,713.0,9.9,1136,12597,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2771,2019
$GC,12905,0.57,263.7,683.8,9.9,1151,12914,0.00,0.00,7.28,1.130,6,0.000,0.000,3047,2770,1996
$GC,13215,0.57,263.7,651.3,11.1,1166,13216,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2769,1995
$GC,13523,0.57,263.7,618.0,10.5,1181,13525,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2769,1995
$GC,13837,0.59,279.8,587.4,9.4,1202,13857,0.00,0.00,17.85,1.278,6,0.000,0.000,3047,2769,1930
$GC,14177,0.62,302.1,555.9,9.2,1234,14205,0.00,0.00,24.02,1.294,6,0.000,0.000,3047,2763,1838
$GC,14524,0.65,322.4,524.0,9.3,1267,14555,0.00,2.97,21.67,1.257,4,0.000,0.046,3047,1341,1756
$GC,14561,0.69,358.0,520.5,8.8,1270,14610,0.12,2.90,38.60,1.291,6,0.057,0.031,3072,2794,1610
$GC,14929,0.69,358.0,475.1,12.4,1305,14930,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2794,1604
$GC,15245,0.69,358.0,436.4,12.4,1335,15246,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2794,1603
$GC,15564,0.69,358.0,399.8,11.1,1365,15569,0.00,2.92,0.00,0.000,4,0.000,0.044,3072,1345,1602
$GC,15581,0.69,358.0,397.9,11.3,1366,15586,0.00,2.83,0.00,0.000,6,0.000,0.031,3072,2788,1601
$GC,15905,0.69,358.0,361.5,11.1,1396,15906,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2788,1601
$GC,16233,0.69,358.0,324.5,10.9,1446,16238,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2788,1601
$GC,16571,0.69,358.0,284.0,11.7,1507,16577,0.00,2.90,0.00,0.000,4,0.000,0.044,3072,1340,1601
$GC,16585,0.69,358.0,282.5,12.7,1509,16592,0.00,2.80,0.00,0.000,6,0.000,0.031,3072,2778,1600
$GC,16928,0.69,358.0,241.9,10.7,1570,16933,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2778,1600
$GC,17264,0.69,358.0,202.5,10.5,1631,17270,0.00,2.88,0.00,0.000,4,0.000,0.044,3072,1343,1600
$GC,17277,0.69,358.0,201.1,11.5,1633,17283,0.00,2.78,0.00,0.000,6,0.000,0.031,3072,2771,1600
$GC,17618,0.69,358.0,160.4,12.7,1694,17623,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2771,1600
$GC,17950,0.69,358.0,121.9,11.7,1755,17956,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2771,1600
$GC,18281,0.69,358.0,83.0,13.2,1816,18289,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2771,1600
$GC,18614,0.69,358.0,44.2,12.4,1877,18621,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2771,1600
$GC,18748,0.69,358.0,29.0,10.7,1902,18756,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2771,1600
$GC,18883,0.69,358.0,14.0,10.9,1927,18891,0.00,2.88,0.00,0.000,4,0.000,0.044,3072,1343,1600
$GC,18899,0.69,358.0,12.2,10.7,1929,18906,0.00,2.78,0.00,0.000,6,0.000,0.031,3072,2761,1600
$STATE,18995,end climb,SURFACE_DEPTH_REACHED
$STATE,18995,begin surface coast
$FINISH,0.1,1.026308
$STATE,19012,end surface coast,CONTROL_FINISHED_OK
$STATE,19013,begin surface
$SM_CCo,19091,0.00,0.000,0,0,1598,361.33
$SM_GC,0.77,8.38,0.00,0.00,0.053,0.000,0.000,1439,2293,1598,-6.79,-0.20,361.33
$IRIDIUM_FIX,6032.86,-2741.18,310797,090924
$TT8_MAMPS,0.026078
$HUMID,1778
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,11.50
$XPDR_PINGS,1062
$24V_AH,19.5,52.216
$10V_AH,9.8,39.534
$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,23.100,118.550,599.800,0.000,0.000,0.000,0.000,0.000,265.500,0.000,0.000,31.394,3061.662,10774.552,712.503,4365.738,259.595,0.000,2320.192,0.000,4346.304,0.000,0.465
$DEVICE_MAMPS,253.110,121.953,1636.778,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1375.468,1385.221,711.822,970.028,1785.413,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142281,1950
$CAP_FILE_SIZE,179240,0
$CFSIZE,260165632,241983488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060508,145907,6057.514,-2721.498,38,1.3,49,-18.8