version: 66.03
glider: 142
mission: 5
dive: 159
start: 5 8 108 5 4 55
data:
$ID,142
$MISSION,5
$DIVE,159
$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,130
$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,-16073.285
$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,22
$R_STBD_OVSHOOT,20
$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
$GPS1,045708,6109.465,-2637.237,38,1.3,38,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-55.0
$GPS2,050437,6109.503,-2637.115,14,1.9,24,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6102.562,-2633.110
$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,148.6,20000,-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,24,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,-129.12,0.000,2,0.000,0.000,1436,2285,3604
$GC,161,-0.86,-194.7,3.6,-5.4,18,186,11.80,2.90,-6.82,0.000,4,0.254,0.057,2725,883,3867
$GC,210,-0.74,-194.7,14.9,-17.6,25,218,0.15,2.80,0.00,0.000,6,0.119,0.030,2751,2302,3867
$GC,344,-0.74,-194.7,30.8,-11.0,50,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2303,3868
$GC,478,-0.74,-194.7,46.1,-11.7,75,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2303,3868
$GC,616,-0.74,-194.7,62.0,-11.8,100,624,0.00,2.88,0.00,0.000,4,0.000,0.048,2751,892,3868
$GC,658,-0.74,-194.7,67.2,-12.4,107,664,0.00,2.72,0.00,0.000,6,0.000,0.030,2751,2298,3868
$GC,990,-0.74,-194.7,106.2,-11.5,168,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2300,3869
$GC,1322,-0.74,-194.7,145.3,-11.3,229,1329,0.00,2.83,0.00,0.000,4,0.000,0.048,2751,891,3868
$GC,1369,-0.74,-194.7,151.0,-11.9,237,1375,0.00,2.70,0.00,0.000,6,0.000,0.031,2751,2301,3868
$GC,1711,-0.74,-194.7,189.3,-10.4,298,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2301,3868
$GC,2047,-0.74,-194.7,224.1,-10.0,359,2053,0.00,2.83,0.00,0.000,4,0.000,0.048,2751,885,3868
$GC,2092,-0.74,-194.7,228.8,-10.6,367,2098,0.00,2.70,0.00,0.000,6,0.000,0.030,2751,2291,3868
$GC,2432,-0.74,-194.7,262.4,-10.0,428,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2292,3868
$GC,2774,-0.74,-194.7,296.4,-9.8,489,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2292,3868
$GC,3111,-0.74,-194.7,332.4,-10.3,550,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2292,3868
$GC,3442,-0.74,-194.7,367.6,-10.5,596,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2292,3868
$GC,3762,-0.74,-194.7,401.7,-11.1,626,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2292,3868
$GC,4080,-0.74,-194.7,436.6,-10.6,656,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2292,3868
$GC,4399,-0.74,-194.7,469.3,-9.8,686,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2292,3868
$GC,4717,-0.74,-194.7,500.3,-9.7,716,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2292,3868
$GC,5036,-0.74,-194.7,529.7,-8.9,746,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2292,3868
$GC,5356,-0.74,-194.7,559.8,-9.4,776,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2292,3868
$GC,5672,-0.74,-194.7,590.5,-10.0,806,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2293,3868
$GC,5984,-0.74,-194.7,620.7,-9.6,826,5985,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2293,3868
$GC,6293,-0.74,-194.7,650.6,-9.6,841,6298,0.00,2.85,0.00,0.000,4,0.000,0.054,2751,3698,3868
$GC,6303,-0.74,-194.7,651.6,-9.5,841,6309,0.00,2.80,0.00,0.000,6,0.000,0.038,2751,2286,3867
$GC,6619,-0.74,-194.7,682.6,-9.7,857,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2285,3867
$GC,6928,-0.74,-194.7,712.4,-9.2,872,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2285,3868
$GC,7238,-0.74,-194.7,740.2,-9.3,887,7242,0.00,3.00,0.00,0.000,4,0.000,0.070,2751,3696,3868
$GC,7247,-0.74,-194.7,741.1,-9.0,887,7254,0.00,2.88,0.00,0.000,6,0.000,0.051,2751,2285,3867
$GC,7563,-0.74,-194.7,768.1,-8.3,903,7568,0.00,3.05,0.00,0.000,4,0.000,0.075,2751,3697,3867
$GC,7589,-0.74,-194.7,770.5,-8.8,904,7594,0.00,2.92,0.00,0.000,6,0.000,0.061,2751,2298,3867
$GC,7905,-0.74,-194.7,798.3,-9.1,919,7910,0.00,3.10,0.00,0.000,4,0.000,0.087,2751,3694,3867
$GC,7927,-0.74,-194.7,800.4,-9.3,920,7932,0.00,2.97,0.00,0.000,6,0.000,0.074,2751,2313,3867
$GC,8248,-0.74,-194.7,830.5,-9.4,936,8252,0.00,3.17,0.00,0.000,4,0.000,0.100,2751,3693,3866
$GC,8264,-0.74,-194.7,832.1,-9.3,937,8269,0.00,3.10,0.00,0.000,6,0.000,0.090,2751,2313,3867
$GC,8590,-0.74,-194.7,862.7,-9.0,953,8595,0.00,3.30,0.00,0.000,4,0.000,0.114,2751,3694,3867
$GC,8600,-0.74,-194.7,863.5,-8.6,953,8606,0.00,2.75,0.00,0.000,6,0.000,0.037,2751,2298,3866
$GC,8916,-0.74,-194.7,890.9,-8.6,969,8921,0.00,2.88,0.00,0.000,4,0.000,0.054,2751,3699,3866
$GC,8926,-0.74,-194.7,891.9,-8.6,969,8932,0.00,2.72,0.00,0.000,6,0.000,0.038,2751,2322,3866
$GC,9241,-0.74,-194.7,921.2,-9.1,985,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2322,3866
$GC,9551,-0.74,-194.7,949.1,-9.3,1000,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2322,3866
$GC,9860,-0.74,-194.7,976.5,-8.7,1015,9864,0.00,2.85,0.00,0.000,4,0.000,0.058,2751,3698,3866
$GC,9899,-0.79,-194.7,980.0,-9.0,1017,9904,0.00,2.75,0.00,0.000,6,0.000,0.041,2751,2325,3866
$STATE,10017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10017,begin apogee
$GC,10023,-0.21,0.0,990.7,9.0,1023,10233,0.73,0.00,206.80,1.618,6,0.123,0.000,2868,2743,3071
$STATE,10234,end apogee,CONTROL_FINISHED_OK
$STATE,10234,begin climb
$GC,10236,0.86,194.7,998.2,0.0,1033,10462,1.38,2.62,214.23,1.575,4,0.080,0.057,3095,3893,2276
$GC,10647,0.70,194.7,953.5,13.7,1052,10652,0.15,2.35,0.00,0.000,6,0.132,0.035,3076,2745,2274
$GC,10968,0.58,194.7,916.1,12.2,1068,10973,0.17,2.40,0.00,0.000,4,0.124,0.053,3048,3897,2273
$GC,11023,0.53,194.7,909.9,10.2,1070,11029,0.00,2.28,0.00,0.000,6,0.000,0.034,3049,2749,2273
$GC,11339,0.50,209.9,879.6,9.5,1086,11361,0.00,2.90,15.95,1.374,4,0.000,0.049,3048,1332,2214
$GC,11400,0.51,214.4,873.4,9.8,1088,11411,0.00,2.85,6.12,1.134,6,0.000,0.033,3048,2757,2197
$GC,11734,0.48,226.6,841.7,9.6,1105,11756,0.15,2.35,14.10,1.356,4,0.120,0.054,3023,3899,2146
$GC,11802,0.53,267.5,835.7,8.6,1108,11851,0.00,2.28,43.78,1.485,6,0.000,0.032,3023,2748,1979
$GC,12175,0.65,319.2,806.4,8.2,1126,12237,0.17,2.97,54.53,1.467,4,0.054,0.051,3061,1344,1768
$GC,12270,0.65,319.2,794.9,12.6,1130,12275,0.00,2.90,0.00,0.000,6,0.000,0.032,3061,2763,1766
$GC,12585,0.65,319.2,756.9,11.7,1145,12589,0.00,2.30,0.00,0.000,4,0.000,0.052,3061,3900,1763
$GC,12641,0.65,319.2,750.0,11.8,1147,12647,0.00,2.25,0.00,0.000,6,0.000,0.032,3061,2751,1762
$GC,12956,0.65,319.2,711.4,12.1,1163,12960,0.00,2.85,0.00,0.000,4,0.000,0.048,3062,1338,1761
$GC,12999,0.65,319.2,706.1,10.9,1165,13003,0.00,2.80,0.00,0.000,6,0.000,0.032,3061,2759,1761
$GC,13326,0.65,319.2,668.5,11.3,1181,13330,0.00,2.28,0.00,0.000,4,0.000,0.051,3061,3894,1760
$GC,13369,0.65,319.2,663.3,11.4,1183,13373,0.00,2.25,0.00,0.000,6,0.000,0.032,3061,2753,1760
$GC,13696,0.65,319.2,626.3,11.4,1199,13700,0.00,2.83,0.00,0.000,4,0.000,0.048,3062,1340,1760
$GC,13735,0.65,319.2,621.9,11.3,1201,13739,0.00,2.78,0.00,0.000,6,0.000,0.032,3061,2757,1760
$GC,14054,0.65,319.2,585.7,11.4,1222,14058,0.00,2.28,0.00,0.000,4,0.000,0.050,3061,3900,1760
$GC,14115,0.65,319.2,578.5,11.4,1227,14119,0.00,2.22,0.00,0.000,6,0.000,0.032,3061,2749,1759
$GC,14441,0.65,319.2,541.2,11.7,1257,14445,0.00,2.80,0.00,0.000,4,0.000,0.048,3061,1345,1759
$GC,14479,0.65,319.2,536.4,11.6,1260,14484,0.00,2.75,0.00,0.000,6,0.000,0.031,3062,2755,1759
$GC,14803,0.65,319.2,498.7,11.4,1290,14807,0.00,2.28,0.00,0.000,4,0.000,0.049,3062,3900,1759
$GC,14865,0.65,319.2,491.6,10.9,1295,14869,0.00,2.22,0.00,0.000,6,0.000,0.031,3061,2745,1759
$GC,15189,0.65,319.2,456.1,10.7,1325,15190,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2746,1759
$GC,15508,0.65,319.2,421.8,10.8,1355,15509,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2745,1759
$GC,15828,0.65,319.2,388.0,10.3,1385,15830,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2744,1759
$GC,16145,0.65,319.2,355.2,10.1,1415,16149,0.00,2.33,0.00,0.000,4,0.000,0.048,3061,3901,1759
$GC,16188,0.65,319.2,350.6,10.5,1418,16194,0.00,2.20,0.00,0.000,6,0.000,0.038,3061,2760,1759
$GC,16527,0.65,319.2,315.0,11.2,1478,16534,0.00,2.80,0.00,0.000,4,0.000,0.048,3061,1346,1759
$GC,16574,0.67,331.7,310.1,9.6,1486,16594,0.00,2.75,11.95,1.019,6,0.000,0.030,3062,2765,1718
$GC,16932,0.67,331.7,271.0,10.1,1549,16938,0.00,2.22,0.00,0.000,4,0.000,0.048,3062,3890,1717
$GC,16984,0.67,331.7,265.0,11.7,1558,16990,0.00,2.17,0.00,0.000,6,0.000,0.031,3062,2760,1716
$GC,17323,0.67,331.7,228.0,10.4,1619,17329,0.00,2.83,0.00,0.000,4,0.000,0.045,3061,1335,1716
$GC,17373,0.67,331.7,222.9,10.5,1628,17381,0.00,2.80,0.00,0.000,6,0.000,0.031,3061,2760,1717
$GC,17717,0.74,384.6,190.8,8.2,1689,17780,0.00,2.35,54.00,1.088,4,0.000,0.048,3061,3890,1502
$GC,17815,0.82,417.3,181.9,8.9,1706,17858,0.20,2.25,34.45,1.054,6,0.050,0.030,3102,2750,1367
$GC,18188,0.72,417.3,122.7,15.2,1773,18195,0.15,0.00,0.00,0.000,6,0.112,0.000,3077,2750,1360
$GC,18520,0.72,417.3,79.9,10.9,1834,18528,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2749,1359
$GC,18850,0.72,417.3,40.4,11.2,1895,18857,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2749,1359
$GC,18984,0.72,417.3,24.9,10.3,1920,18992,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2749,1358
$GC,19119,0.72,417.3,9.6,12.1,1945,19126,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2749,1358
$STATE,19184,end climb,SURFACE_DEPTH_REACHED
$STATE,19184,begin surface coast
$FINISH,0.2,1.026051
$STATE,19201,end surface coast,CONTROL_FINISHED_OK
$STATE,19201,begin surface
$SM_CCo,19279,0.00,0.000,0,0,1356,420.69
$SM_GC,0.70,8.32,0.00,0.00,0.047,0.000,0.000,1437,2298,1356,-6.79,-0.06,420.69
$IRIDIUM_FIX,6046.07,-2649.86,010897,232332
$TT8_MAMPS,0.026845
$HUMID,1751
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,11.20
$XPDR_PINGS,975
$24V_AH,19.4,54.863
$10V_AH,9.8,41.178
$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,23.375,156.725,655.900,0.000,0.000,25.078,32.337,242.394,243.750,0.000,0.000,25.819,3099.091,10782.420,768.693,4419.756,638.224,0.000,2472.405,0.000,4415.956,0.000,0.466
$DEVICE_MAMPS,253.877,114.283,1618.370,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1372.090,1407.860,702.236,977.288,1784.377,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142355,1960
$CAP_FILE_SIZE,182202,0
$CFSIZE,260165632,241229824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080508,102732,6108.792,-2630.648,42,0.9,42,-18.5