version: 66.03
glider: 142
mission: 5
dive: 157
start: 5 7 108 18 7 24
data:
$ID,142
$MISSION,5
$DIVE,157
$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,110
$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,-16032.994
$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,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
$GPS1,175938,6110.157,-2654.712,31,1.6,31,-18.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-49.4
$GPS2,180707,6110.201,-2654.647,8,1.4,24,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6106.508,-2649.744
$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,128.7,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,158,0.00,0.00,-129.15,0.000,2,0.000,0.000,1434,2286,3569
$GC,161,-0.86,-194.7,3.2,-4.0,18,192,11.80,2.90,-8.18,0.000,4,0.255,0.053,2727,3705,3868
$GC,263,-0.81,-194.7,20.5,-12.8,35,271,0.00,2.78,0.00,0.000,6,0.000,0.034,2727,2310,3868
$GC,398,-0.76,-194.7,37.7,-12.4,60,406,0.15,2.85,0.00,0.000,4,0.146,0.043,2750,3708,3868
$GC,415,-0.71,-194.7,39.8,-12.6,62,423,0.00,2.83,0.00,0.000,6,0.000,0.034,2750,2289,3868
$GC,551,-0.71,-194.7,54.4,-10.5,87,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2289,3868
$GC,881,-0.71,-194.7,88.7,-10.3,148,889,0.00,2.83,0.00,0.000,4,0.000,0.050,2750,887,3868
$GC,923,-0.71,-194.7,93.2,-10.6,155,929,0.00,2.72,0.00,0.000,6,0.000,0.030,2750,2303,3869
$GC,1255,-0.71,-194.7,125.6,-9.3,216,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2303,3869
$GC,1591,-0.71,-194.7,158.0,-9.7,277,1597,0.00,2.83,0.00,0.000,4,0.000,0.048,2750,889,3869
$GC,1643,-0.71,-194.7,163.3,-10.5,286,1649,0.00,2.70,0.00,0.000,6,0.000,0.031,2750,2293,3869
$GC,1984,-0.71,-194.7,197.5,-9.9,347,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2294,3869
$GC,2323,-0.71,-194.7,231.5,-10.0,408,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2294,3868
$GC,2665,-0.71,-194.7,266.3,-10.0,469,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2295,3868
$GC,3004,-0.71,-194.7,301.6,-10.1,530,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2295,3868
$GC,3342,-0.71,-194.7,336.2,-10.0,591,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2295,3868
$GC,3673,-0.71,-194.7,369.2,-9.4,634,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2295,3868
$GC,3990,-0.71,-194.7,400.2,-10.1,664,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2296,3869
$GC,4311,-0.71,-194.7,433.5,-10.4,694,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2296,3869
$GC,4627,-0.71,-194.7,466.9,-10.6,724,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2296,3869
$GC,4946,-0.71,-194.7,499.6,-10.3,754,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2296,3869
$GC,5264,-0.71,-194.7,532.0,-10.1,784,5269,0.00,2.80,0.00,0.000,4,0.000,0.048,2750,3699,3869
$GC,5283,-0.71,-194.7,533.6,-10.0,785,5288,0.00,2.75,0.00,0.000,6,0.000,0.034,2750,2291,3869
$GC,5609,-0.71,-194.7,566.4,-10.3,815,5613,0.00,2.85,0.00,0.000,4,0.000,0.048,2750,3703,3868
$GC,5618,-0.71,-194.7,567.5,-9.9,815,5625,0.00,2.75,0.00,0.000,6,0.000,0.035,2750,2296,3868
$GC,5945,-0.71,-194.7,600.3,-10.4,846,5949,0.00,2.85,0.00,0.000,4,0.000,0.051,2750,3699,3868
$GC,5954,-0.71,-194.7,601.6,-10.1,846,5961,0.00,2.75,0.00,0.000,6,0.000,0.035,2750,2301,3868
$GC,6270,-0.71,-194.7,633.4,-10.1,862,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2300,3868
$GC,6579,-0.71,-194.7,661.9,-8.5,877,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2300,3868
$GC,6888,-0.71,-194.7,686.3,-8.0,892,6893,0.00,2.92,0.00,0.000,4,0.000,0.062,2750,3700,3868
$GC,6905,-0.71,-194.7,687.6,-7.8,893,6909,0.00,2.83,0.00,0.000,6,0.000,0.044,2750,2295,3868
$GC,7231,-0.71,-194.7,716.4,-9.2,909,7232,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2295,3867
$GC,7540,-0.71,-194.7,743.8,-9.0,924,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2295,3867
$GC,7849,-0.71,-194.7,771.0,-9.3,939,7854,0.00,3.05,0.00,0.000,4,0.000,0.079,2750,3700,3867
$GC,7870,-0.71,-194.7,773.2,-9.4,940,7875,0.00,2.92,0.00,0.000,6,0.000,0.062,2750,2309,3867
$GC,8191,-0.71,-194.7,800.5,-8.0,956,8196,0.00,3.08,0.00,0.000,4,0.000,0.087,2750,3693,3867
$GC,8218,-0.71,-194.7,802.8,-8.9,957,8223,0.00,3.00,0.00,0.000,6,0.000,0.074,2750,2306,3867
$GC,8533,-0.71,-194.7,829.9,-9.4,972,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2305,3867
$GC,8842,-0.71,-194.7,862.0,-10.3,987,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2305,3866
$GC,9152,-0.71,-194.7,890.3,-8.7,1002,9157,0.00,3.45,0.00,0.000,4,0.000,0.130,2750,3693,3866
$GC,9179,-0.71,-194.7,892.8,-8.9,1003,9183,0.00,2.75,0.00,0.000,6,0.000,0.038,2750,2303,3866
$GC,9495,-0.71,-194.7,919.4,-8.7,1018,9499,0.00,2.88,0.00,0.000,4,0.000,0.054,2750,3701,3866
$GC,9511,-0.71,-194.7,920.8,-8.3,1019,9516,0.00,2.75,0.00,0.000,6,0.000,0.039,2750,2318,3866
$GC,9837,-0.71,-194.7,951.0,-9.6,1035,9838,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2317,3866
$GC,10146,-0.71,-194.7,980.6,-9.3,1050,10151,0.00,2.88,0.00,0.000,4,0.000,0.058,2750,3703,3865
$GC,10162,-0.71,-194.7,982.1,-9.0,1051,10167,0.00,2.78,0.00,0.000,6,0.000,0.041,2750,2316,3865
$STATE,10260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10260,begin apogee
$GC,10266,-0.21,0.0,990.9,9.0,1056,10476,0.75,0.00,206.65,1.628,6,0.127,0.000,2870,2748,3071
$STATE,10477,end apogee,CONTROL_FINISHED_OK
$STATE,10477,begin climb
$GC,10479,0.86,194.7,997.8,0.0,1066,10704,1.40,2.62,214.57,1.585,4,0.079,0.057,3101,3896,2277
$GC,10895,0.70,194.7,949.6,14.7,1085,10900,0.17,2.35,0.00,0.000,6,0.129,0.035,3077,2748,2274
$GC,11211,0.58,194.7,911.2,12.2,1100,11213,0.20,0.00,0.00,0.000,6,0.120,0.000,3047,2746,2274
$GC,11520,0.57,224.8,881.9,9.0,1115,11556,0.00,2.45,31.25,1.475,4,0.000,0.054,3047,3902,2153
$GC,11606,0.57,224.8,873.6,10.0,1118,11611,0.00,2.33,0.00,0.000,6,0.000,0.033,3047,2742,2151
$GC,11934,0.57,225.6,840.3,10.0,1134,11935,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2740,2151
$GC,12243,0.60,250.5,811.1,9.1,1149,12276,0.00,2.47,26.77,1.440,4,0.000,0.053,3047,3894,2049
$GC,12311,0.60,250.5,804.5,10.4,1152,12315,0.00,2.25,0.00,0.000,6,0.000,0.032,3047,2761,2048
$GC,12637,0.60,250.5,772.5,10.3,1168,12638,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2760,2047
$GC,12947,0.60,253.2,742.7,9.9,1183,12948,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2760,2046
$GC,13256,0.61,257.5,711.7,9.9,1198,13266,0.00,0.00,7.97,1.164,6,0.000,0.000,3048,2760,2021
$GC,13565,0.61,259.9,680.7,9.9,1213,13571,0.00,0.00,4.43,0.889,6,0.000,0.000,3047,2760,2011
$GC,13874,0.61,259.9,648.9,10.6,1228,13879,0.00,2.85,0.00,0.000,4,0.000,0.048,3047,1338,2010
$GC,13913,0.62,263.5,644.8,9.9,1230,13924,0.00,2.83,5.30,0.973,6,0.000,0.031,3047,2777,1996
$GC,14239,0.62,263.5,611.4,10.1,1246,14240,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2778,1996
$GC,14554,0.63,274.8,581.0,9.6,1270,14573,0.00,0.00,13.00,1.217,6,0.000,0.000,3047,2778,1950
$GC,14893,0.67,303.6,548.4,9.0,1302,14925,0.00,0.00,30.35,1.306,6,0.000,0.000,3048,2778,1833
$GC,15240,0.69,321.9,517.3,9.4,1335,15263,0.12,0.00,20.05,1.237,6,0.061,0.000,3072,2778,1758
$GC,15578,0.64,321.9,475.8,12.9,1367,15579,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2778,1754
$GC,15898,0.60,321.9,434.7,13.2,1397,15900,0.12,0.00,0.00,0.000,6,0.110,0.000,3054,2777,1754
$GC,16216,0.60,324.4,400.6,9.9,1427,16221,0.00,2.90,0.00,0.000,4,0.000,0.045,3054,1339,1753
$GC,16255,0.60,324.4,396.5,10.3,1430,16260,0.00,2.80,0.00,0.000,6,0.000,0.031,3054,2771,1753
$GC,16579,0.60,324.4,365.9,10.3,1460,16581,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2771,1752
$GC,16905,0.60,324.4,333.4,10.1,1504,16913,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2771,1752
$GC,17249,0.63,350.1,299.1,9.1,1565,17284,0.00,2.92,28.58,1.137,4,0.000,0.044,3054,1339,1642
$GC,17322,0.72,385.4,292.3,8.8,1577,17369,0.12,2.83,36.95,1.148,6,0.056,0.030,3080,2766,1499
$GC,17707,0.72,385.4,247.1,13.9,1645,17713,0.00,2.25,0.00,0.000,4,0.000,0.048,3080,3891,1494
$GC,17754,0.72,385.4,241.4,12.6,1653,17761,0.00,2.22,0.00,0.000,6,0.000,0.031,3080,2749,1493
$GC,18094,0.72,385.4,199.3,14.4,1714,18099,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2746,1493
$GC,18432,0.72,385.4,154.1,12.7,1775,18438,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2744,1492
$GC,18760,0.72,385.4,111.1,13.9,1836,18768,0.00,2.33,0.00,0.000,4,0.000,0.048,3081,3887,1491
$GC,18795,0.72,385.4,106.5,13.1,1842,18803,0.00,2.20,0.00,0.000,6,0.000,0.032,3080,2768,1491
$GC,19129,0.72,385.4,65.0,13.4,1903,19134,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2767,1491
$GC,19453,0.72,385.4,24.5,12.4,1964,19460,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2767,1490
$GC,19588,0.72,385.4,7.6,11.8,1989,19595,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2766,1490
$STATE,19632,end climb,SURFACE_DEPTH_REACHED
$STATE,19632,begin surface coast
$FINISH,0.3,1.026272
$STATE,19650,end surface coast,CONTROL_FINISHED_OK
$STATE,19650,begin surface
$SM_CCo,19728,0.00,0.000,0,0,1489,388.06
$SM_GC,0.73,8.32,0.00,0.00,0.046,0.000,0.000,1432,2290,1489,-6.79,-0.28,388.06
$IRIDIUM_FIX,6041.65,-2707.76,010897,121257
$TT8_MAMPS,0.026845
$HUMID,1767
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,11.50
$XPDR_PINGS,991
$24V_AH,19.4,54.227
$10V_AH,9.8,40.764
$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,23.175,116.925,625.875,0.000,0.000,26.204,27.143,246.074,247.750,0.000,0.000,27.759,3131.075,11238.087,732.675,4429.086,625.419,0.000,2389.175,0.000,4420.451,0.000,0.466
$DEVICE_MAMPS,254.644,130.390,1627.574,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1404.298,1418.355,729.813,990.160,1826.394,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145616,2000
$CAP_FILE_SIZE,175427,0
$CFSIZE,260165632,241418240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070508,233731,6110.228,-2646.852,38,1.2,43,-18.7