version: 66.03
glider: 142
mission: 5
dive: 152
start: 5 6 108 15 11 52
data:
$ID,142
$MISSION,5
$DIVE,152
$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,-15945.877
$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,21
$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
$GPS1,145907,6057.514,-2721.498,38,1.3,49,-18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-54.8
$GPS2,151135,6057.550,-2721.325,13,2.4,32,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6106.902,-2718.717
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.86,-194.7,0.0,0.0,0,145,0.00,0.00,-115.20,0.000,2,0.000,0.000,1438,2286,3572
$GC,148,-0.86,-194.7,3.1,-3.7,16,179,11.62,2.88,-8.23,0.000,4,0.251,0.057,2727,890,3867
$GC,416,-0.82,-194.7,43.8,-14.2,65,424,0.00,2.78,0.00,0.000,6,0.000,0.031,2727,2305,3868
$GC,553,-0.76,-194.7,63.2,-14.0,90,561,0.15,2.88,0.00,0.000,4,0.133,0.046,2751,891,3868
$GC,708,-0.76,-194.7,82.0,-12.1,118,716,0.00,2.75,0.00,0.000,6,0.000,0.031,2751,2297,3868
$GC,1041,-0.76,-194.7,123.2,-12.9,179,1047,0.00,2.83,0.00,0.000,4,0.000,0.048,2751,886,3868
$GC,1089,-0.76,-194.7,129.4,-13.1,187,1095,0.00,2.70,0.00,0.000,6,0.000,0.030,2751,2290,3868
$GC,1421,-0.76,-194.7,173.1,-13.0,248,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2291,3868
$GC,1762,-0.76,-194.7,213.5,-11.9,309,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2291,3868
$GC,2099,-0.76,-194.7,253.4,-12.3,370,2105,0.00,2.80,0.00,0.000,4,0.000,0.048,2751,888,3868
$GC,2171,-0.76,-194.7,262.3,-12.3,383,2177,0.00,2.67,0.00,0.000,6,0.000,0.030,2751,2283,3868
$GC,2510,-0.76,-194.7,299.5,-10.5,444,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2285,3868
$GC,2853,-0.76,-194.7,333.9,-9.4,505,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2284,3868
$GC,3191,-0.76,-194.7,365.8,-9.3,551,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2284,3868
$GC,3508,-0.76,-194.7,394.2,-8.9,581,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2285,3868
$GC,3826,-0.76,-194.7,423.7,-9.6,611,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2285,3868
$GC,4147,-0.76,-194.7,454.4,-9.7,641,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2285,3868
$GC,4463,-0.76,-194.7,485.5,-9.9,671,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2285,3868
$GC,4782,-0.76,-194.7,517.0,-10.0,701,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2285,3868
$GC,5100,-0.76,-194.7,549.1,-10.1,731,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2285,3868
$GC,5421,-0.76,-194.7,579.4,-9.0,761,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2285,3868
$GC,5733,-0.76,-194.7,612.1,-10.9,786,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2286,3868
$GC,6043,-0.76,-194.7,647.1,-11.3,801,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2286,3868
$GC,6352,-0.76,-194.7,680.2,-10.4,816,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2286,3868
$GC,6661,-0.76,-194.7,710.7,-9.8,831,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2286,3868
$GC,6971,-0.76,-194.7,739.2,-9.5,846,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2286,3868
$GC,7280,-0.76,-194.7,768.3,-9.9,861,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2286,3868
$GC,7589,-0.76,-194.7,799.6,-9.9,876,7594,0.00,3.12,0.00,0.000,4,0.000,0.092,2751,3694,3867
$GC,7651,-0.76,-194.7,805.6,-9.6,879,7656,0.00,3.10,0.00,0.000,6,0.000,0.076,2751,2263,3867
$GC,7977,-0.76,-194.7,839.6,-10.2,895,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2263,3867
$GC,8286,-0.76,-194.7,872.2,-10.8,910,8291,0.00,2.92,0.00,0.000,4,0.000,0.051,2751,3701,3866
$GC,8352,-0.76,-194.7,879.6,-10.9,913,8356,0.00,2.83,0.00,0.000,6,0.000,0.037,2751,2265,3866
$GC,8673,-0.76,-194.7,913.9,-10.6,929,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2265,3866
$GC,8982,-0.76,-194.7,944.8,-9.9,944,8983,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2265,3866
$GC,9292,-0.76,-194.7,973.5,-8.8,959,9297,0.00,2.95,0.00,0.000,4,0.000,0.056,2751,3700,3865
$GC,9358,-0.76,-194.7,979.4,-9.1,962,9363,0.00,2.80,0.00,0.000,6,0.000,0.041,2751,2295,3865
$STATE,9491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9491,begin apogee
$GC,9497,-0.21,0.0,990.7,8.4,969,9708,0.73,0.00,206.93,1.634,6,0.119,0.000,2869,2743,3071
$STATE,9708,end apogee,CONTROL_FINISHED_OK
$STATE,9709,begin climb
$GC,9711,0.86,194.7,996.9,0.0,979,9936,1.40,2.62,214.57,1.588,4,0.081,0.056,3100,3894,2276
$GC,10100,0.70,194.7,949.5,15.2,997,10105,0.17,2.35,0.00,0.000,6,0.130,0.034,3077,2747,2273
$GC,10421,0.59,194.7,908.1,12.5,1013,10426,0.15,2.40,0.00,0.000,4,0.123,0.052,3052,3900,2273
$GC,10470,0.55,194.7,902.4,10.4,1015,10475,0.00,2.25,0.00,0.000,6,0.000,0.032,3053,2760,2272
$GC,10786,0.51,208.9,871.8,9.5,1030,10806,0.00,0.00,14.93,1.367,6,0.000,0.000,3052,2760,2218
$GC,11116,0.49,231.8,840.5,9.2,1046,11144,0.15,0.00,24.85,1.453,6,0.117,0.000,3030,2759,2125
$GC,11444,0.59,318.6,817.1,7.0,1062,11541,0.00,2.47,91.07,1.503,4,0.000,0.051,3030,3896,1773
$GC,11559,0.78,416.5,809.0,6.6,1066,11675,0.30,2.30,108.50,1.474,6,0.049,0.031,3086,2770,1373
$GC,11996,0.71,416.5,745.6,14.8,1088,12000,0.00,2.35,0.00,0.000,4,0.000,0.052,3086,3893,1363
$GC,12039,0.71,416.5,739.2,13.5,1090,12043,0.00,2.22,0.00,0.000,6,0.000,0.031,3086,2774,1362
$GC,12366,0.65,416.5,691.9,14.6,1106,12371,0.15,2.30,0.00,0.000,4,0.110,0.049,3061,3896,1361
$GC,12393,0.65,416.5,688.1,13.2,1107,12397,0.00,2.17,0.00,0.000,6,0.000,0.036,3061,2800,1360
$GC,12714,0.65,416.5,652.9,11.1,1123,12719,0.00,2.95,0.00,0.000,4,0.000,0.048,3061,1337,1360
$GC,12753,0.69,416.5,648.5,10.6,1125,12758,0.00,2.88,0.00,0.000,6,0.000,0.031,3061,2798,1359
$GC,13079,0.69,416.5,609.3,12.1,1141,13084,0.00,2.95,0.00,0.000,4,0.000,0.047,3061,1342,1359
$GC,13111,0.69,416.5,605.3,11.3,1142,13118,0.00,2.80,0.00,0.000,6,0.000,0.032,3061,2771,1358
$GC,13436,0.69,416.5,566.8,11.3,1171,13441,0.00,2.90,0.00,0.000,4,0.000,0.046,3061,1339,1358
$GC,13453,0.69,416.5,564.5,11.8,1172,13458,0.00,2.80,0.00,0.000,6,0.000,0.032,3061,2765,1358
$GC,13777,0.69,416.5,527.6,11.0,1202,13782,0.00,2.88,0.00,0.000,4,0.000,0.047,3061,1340,1357
$GC,13793,0.69,416.5,525.8,11.2,1203,13798,0.00,2.78,0.00,0.000,6,0.000,0.032,3061,2759,1357
$GC,14123,0.69,417.2,492.1,10.0,1233,14127,0.00,2.85,0.00,0.000,4,0.000,0.046,3061,1345,1357
$GC,14139,0.69,419.9,489.9,9.9,1234,14144,0.00,2.75,0.00,0.000,6,0.000,0.032,3061,2751,1357
$GC,14465,0.71,438.3,457.7,9.4,1264,14494,0.00,2.90,20.80,1.199,4,0.000,0.046,3061,1349,1283
$GC,14500,0.73,451.5,454.2,9.5,1267,14521,0.00,2.75,15.75,1.203,6,0.000,0.031,3061,2739,1230
$GC,14840,0.80,463.8,423.0,9.6,1299,14863,0.15,2.88,13.98,1.138,4,0.054,0.046,3097,1340,1180
$GC,14874,0.80,463.8,418.7,13.7,1302,14879,0.00,2.75,0.00,0.000,6,0.000,0.031,3097,2726,1178
$GC,15200,0.72,463.8,364.8,16.9,1332,15204,0.00,2.33,0.00,0.000,4,0.000,0.048,3097,3891,1177
$GC,15233,0.68,463.8,358.9,17.4,1334,15239,0.17,2.25,0.00,0.000,6,0.100,0.031,3070,2738,1176
$GC,15571,0.68,463.8,319.1,10.8,1388,15579,0.00,2.83,0.00,0.000,4,0.000,0.048,3070,1340,1176
$GC,15591,0.68,463.8,317.0,10.3,1391,15597,0.00,2.72,0.00,0.000,6,0.000,0.031,3070,2737,1176
$GC,15930,0.68,463.8,279.3,12.2,1452,15937,0.00,2.83,0.00,0.000,4,0.000,0.046,3070,1346,1175
$GC,15943,0.68,463.8,277.7,12.0,1454,15949,0.00,2.67,0.00,0.000,6,0.000,0.031,3070,2723,1175
$GC,16281,0.72,463.8,239.5,10.9,1515,16287,0.00,2.78,0.00,0.000,4,0.000,0.045,3070,1337,1175
$GC,16296,0.76,463.8,238.0,11.0,1517,16302,0.00,2.67,0.00,0.000,6,0.000,0.031,3070,2716,1175
$GC,16635,0.81,463.8,199.2,12.7,1578,16642,0.12,2.78,0.00,0.000,4,0.058,0.044,3096,1331,1175
$GC,16655,0.81,463.8,196.7,12.9,1581,16662,0.00,2.65,0.00,0.000,6,0.000,0.031,3096,2702,1175
$GC,16996,0.75,463.8,138.8,15.8,1642,17004,0.00,2.38,0.00,0.000,4,0.000,0.048,3097,3890,1175
$GC,17010,0.69,463.8,136.3,16.4,1644,17019,0.12,2.33,0.00,0.000,6,0.097,0.033,3073,2701,1174
$GC,17347,0.73,463.9,98.4,10.0,1705,17352,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2700,1175
$GC,17674,0.78,463.9,63.8,10.2,1766,17682,0.00,2.72,0.00,0.000,4,0.000,0.048,3073,1342,1174
$GC,17689,0.83,463.9,62.3,10.8,1768,17698,0.10,2.65,0.00,0.000,6,0.039,0.031,3102,2698,1174
$GC,18017,0.76,463.9,11.0,18.2,1829,18025,0.00,2.38,0.00,0.000,4,0.000,0.048,3102,3886,1174
$GC,18064,0.76,463.9,3.2,17.3,1837,18071,0.00,2.28,0.00,0.000,6,0.000,0.033,3102,2725,1174
$STATE,18077,end climb,SURFACE_DEPTH_REACHED
$STATE,18077,begin surface coast
$FINISH,0.1,1.025777
$STATE,18090,end surface coast,CONTROL_FINISHED_OK
$STATE,18090,begin surface
$SM_CCo,18168,0.00,0.000,0,0,1173,465.58
$SM_GC,0.69,8.48,0.00,0.00,0.049,0.000,0.000,1436,2296,1173,-6.79,-0.11,465.58
$IRIDIUM_FIX,6032.86,-2727.37,310797,090932
$TT8_MAMPS,0.026845
$HUMID,1771
$INTERNAL_PRESSURE,8.85822
$TCM_TEMP,11.40
$XPDR_PINGS,871
$24V_AH,19.4,52.576
$10V_AH,9.8,39.732
$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,23.975,146.275,711.375,0.000,0.000,58.977,54.443,386.108,217.750,0.000,0.000,34.564,2911.026,10207.802,793.838,4138.613,844.486,0.000,2391.849,0.000,4114.922,0.000,0.466
$DEVICE_MAMPS,250.809,92.040,1634.477,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1297.799,1307.627,657.809,897.517,1636.728,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,133103,1841
$CAP_FILE_SIZE,176173,0
$CFSIZE,260165632,241909760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060508,201555,6101.013,-2719.607,39,1.1,39,-18.9