version: 66.03
glider: 142
mission: 5
dive: 160
start: 5 8 108 10 42 39
data:
$ID,142
$MISSION,5
$DIVE,160
$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,636.79877
$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,-16088.146
$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,25
$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
$GPS1,102732,6108.792,-2630.648,42,0.9,42,-18.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-53.1
$GPS2,104221,6108.899,-2630.613,12,1.8,12,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6101.958,-2626.606
$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,148.5,20000,-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,-194.7,0.0,0.0,0,152,0.00,0.00,-122.93,0.000,2,0.000,0.000,1437,2290,3496
$GC,155,-0.86,-194.7,3.1,-5.3,17,185,11.77,0.00,-10.70,0.000,6,0.255,0.000,2727,2291,3866
$GC,314,-0.80,-194.7,26.2,-12.1,45,321,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2291,3866
$GC,448,-0.74,-194.7,44.7,-14.6,70,457,0.15,2.83,0.00,0.000,4,0.149,0.048,2751,896,3867
$GC,485,-0.74,-194.7,49.5,-11.5,76,493,0.00,2.72,0.00,0.000,6,0.000,0.028,2751,2301,3867
$GC,627,-0.74,-194.7,65.2,-11.4,101,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2301,3867
$GC,955,-0.74,-194.7,101.3,-11.5,162,964,0.00,2.85,0.00,0.000,4,0.000,0.048,2751,891,3867
$GC,1002,-0.74,-194.7,106.9,-11.2,170,1010,0.00,2.75,0.00,0.000,6,0.000,0.029,2751,2306,3867
$GC,1336,-0.74,-194.7,142.5,-9.8,231,1343,0.00,2.83,0.00,0.000,4,0.000,0.047,2751,891,3867
$GC,1386,-0.74,-194.7,147.7,-9.9,240,1394,0.00,2.72,0.00,0.000,6,0.000,0.030,2751,2294,3867
$GC,1727,-0.74,-194.7,182.1,-10.4,301,1733,0.00,2.80,0.00,0.000,4,0.000,0.047,2751,889,3867
$GC,1774,-0.74,-194.7,187.1,-10.5,309,1781,0.00,2.67,0.00,0.000,6,0.000,0.030,2751,2291,3867
$GC,2115,-0.74,-194.7,225.2,-11.7,370,2121,0.00,2.80,0.00,0.000,4,0.000,0.047,2751,886,3867
$GC,2192,-0.74,-194.7,234.5,-11.8,384,2200,0.00,2.67,0.00,0.000,6,0.000,0.030,2751,2268,3867
$GC,2536,-0.74,-194.7,273.4,-11.3,445,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2268,3867
$GC,2874,-0.74,-194.7,309.9,-10.1,506,2880,0.00,2.85,0.00,0.000,4,0.000,0.045,2751,3706,3867
$GC,2888,-0.74,-194.7,311.1,-10.0,508,2896,0.00,2.83,0.00,0.000,6,0.000,0.034,2751,2269,3866
$GC,3232,-0.74,-194.7,347.2,-10.4,569,3238,0.00,2.85,0.00,0.000,4,0.000,0.044,2751,3699,3866
$GC,3244,-0.74,-194.7,348.7,-10.4,571,3250,0.00,2.78,0.00,0.000,6,0.000,0.034,2751,2272,3867
$GC,3571,-0.74,-194.7,381.8,-10.2,603,3575,0.00,2.85,0.00,0.000,4,0.000,0.044,2751,3701,3867
$GC,3581,-0.74,-194.7,382.9,-9.9,603,3587,0.00,2.78,0.00,0.000,6,0.000,0.034,2751,2276,3866
$GC,3907,-0.74,-194.7,414.2,-9.6,634,3912,0.00,2.85,0.00,0.000,4,0.000,0.046,2750,3699,3866
$GC,3917,-0.74,-194.7,415.4,-9.7,634,3923,0.00,2.75,0.00,0.000,6,0.000,0.033,2751,2286,3867
$GC,4245,-0.74,-194.7,448.2,-10.5,665,4249,0.00,2.83,0.00,0.000,4,0.000,0.045,2751,3698,3866
$GC,4261,-0.74,-194.7,450.3,-10.3,666,4266,0.00,2.75,0.00,0.000,6,0.000,0.034,2751,2288,3866
$GC,4589,-0.74,-194.7,483.2,-9.8,696,4593,0.00,2.83,0.00,0.000,4,0.000,0.046,2751,3698,3866
$GC,4599,-0.74,-194.7,484.5,-9.6,696,4607,0.00,2.78,0.00,0.000,6,0.000,0.033,2751,2289,3866
$GC,4925,-0.74,-194.7,514.1,-8.8,727,4929,0.00,2.85,0.00,0.000,4,0.000,0.048,2751,3706,3866
$GC,4941,-0.74,-194.7,515.6,-8.6,728,4945,0.00,2.78,0.00,0.000,6,0.000,0.034,2751,2285,3866
$GC,5267,-0.74,-194.7,545.8,-9.2,758,5271,0.00,2.85,0.00,0.000,4,0.000,0.048,2751,3698,3866
$GC,5277,-0.74,-194.7,546.9,-9.4,758,5283,0.00,2.75,0.00,0.000,6,0.000,0.034,2751,2289,3866
$GC,5603,-0.74,-194.7,578.3,-10.0,789,5607,0.00,2.85,0.00,0.000,4,0.000,0.049,2751,3703,3866
$GC,5612,-0.74,-194.7,579.5,-10.1,789,5619,0.00,2.78,0.00,0.000,6,0.000,0.035,2751,2288,3866
$GC,5944,-0.74,-194.7,613.2,-10.2,815,5948,0.00,2.88,0.00,0.000,4,0.000,0.051,2751,3699,3866
$GC,5960,-0.74,-194.7,614.8,-10.2,816,5965,0.00,2.78,0.00,0.000,6,0.000,0.038,2751,2294,3866
$GC,6286,-0.74,-194.7,648.1,-10.0,832,6290,0.00,2.90,0.00,0.000,4,0.000,0.056,2751,3702,3866
$GC,6302,-0.74,-194.7,649.8,-10.1,833,6306,0.00,2.80,0.00,0.000,6,0.000,0.040,2751,2295,3866
$GC,6628,-0.74,-194.7,682.5,-9.9,849,6633,0.00,2.92,0.00,0.000,4,0.000,0.059,2751,3703,3865
$GC,6644,-0.74,-194.7,684.2,-9.8,850,6649,0.00,2.80,0.00,0.000,6,0.000,0.043,2751,2307,3865
$GC,6970,-0.74,-194.7,715.5,-9.8,866,6975,0.00,2.92,0.00,0.000,4,0.000,0.064,2751,3698,3865
$GC,6980,-0.74,-194.7,716.5,-9.9,866,6986,0.00,2.83,0.00,0.000,6,0.000,0.047,2751,2298,3865
$GC,7295,-0.74,-194.7,745.9,-9.0,882,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2298,3865
$GC,7605,-0.74,-194.7,773.0,-8.8,897,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2298,3864
$GC,7914,-0.74,-194.7,801.3,-9.3,912,7919,0.00,3.12,0.00,0.000,4,0.000,0.091,2751,3691,3865
$GC,7931,-0.74,-194.7,802.9,-9.2,913,7935,0.00,2.97,0.00,0.000,6,0.000,0.076,2751,2321,3864
$GC,8256,-0.74,-194.7,833.9,-9.7,929,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2320,3864
$GC,8566,-0.74,-194.7,863.8,-9.7,944,8567,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2319,3864
$GC,8875,-0.74,-194.7,892.8,-9.9,959,8880,0.00,2.83,0.00,0.000,4,0.000,0.054,2751,3703,3863
$GC,8901,-0.74,-194.7,895.7,-10.8,960,8906,0.00,2.75,0.00,0.000,6,0.000,0.038,2751,2313,3863
$GC,9223,-0.74,-194.7,926.2,-9.2,976,9228,0.00,2.85,0.00,0.000,4,0.000,0.055,2751,3697,3863
$GC,9234,-0.74,-194.7,927.3,-9.0,976,9240,0.00,2.72,0.00,0.000,6,0.000,0.039,2751,2328,3863
$GC,9549,-0.74,-194.7,957.0,-9.3,992,9554,0.00,2.85,0.00,0.000,4,0.000,0.057,2751,3703,3863
$GC,9559,-0.74,-194.7,957.9,-9.1,992,9565,0.00,2.75,0.00,0.000,6,0.000,0.040,2751,2324,3863
$GC,9875,-0.74,-194.7,987.1,-9.1,1008,9876,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2324,3862
$STATE,9913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9913,begin apogee
$GC,9919,-0.21,0.0,990.8,9.1,1010,10128,0.75,0.00,205.38,1.615,6,0.130,0.000,2870,2743,3071
$STATE,10129,end apogee,CONTROL_FINISHED_OK
$STATE,10129,begin climb
$GC,10131,0.86,194.7,996.6,0.0,1020,10357,1.40,2.62,213.48,1.575,4,0.081,0.058,3101,3893,2276
$GC,10546,0.70,194.7,945.5,15.2,1039,10552,0.20,2.35,0.00,0.000,6,0.128,0.035,3073,2740,2274
$GC,10862,0.59,194.7,905.7,12.5,1054,10867,0.15,2.42,0.00,0.000,4,0.124,0.053,3048,3903,2273
$GC,10924,0.54,194.7,898.6,11.2,1057,10928,0.00,2.28,0.00,0.000,6,0.000,0.034,3048,2751,2273
$GC,11250,0.49,194.7,864.7,10.7,1073,11252,0.12,0.00,0.00,0.000,6,0.119,0.000,3031,2751,2273
$GC,11559,0.58,265.0,839.2,7.6,1088,11633,0.00,0.00,72.07,1.500,6,0.000,0.000,3030,2751,1990
$GC,11929,0.66,333.3,811.5,7.6,1106,12004,0.17,0.00,72.38,1.473,6,0.056,0.000,3064,2751,1712
$GC,12298,0.66,333.3,769.6,11.5,1124,12302,0.00,2.38,0.00,0.000,4,0.000,0.052,3064,3900,1705
$GC,12337,0.66,333.3,765.1,11.4,1126,12341,0.00,2.25,0.00,0.000,6,0.000,0.032,3064,2760,1705
$GC,12663,0.66,333.3,727.1,12.0,1142,12664,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2760,1703
$GC,12972,0.66,333.3,691.0,11.7,1157,12974,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2760,1703
$GC,13282,0.66,333.3,654.8,11.8,1172,13283,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2760,1702
$GC,13591,0.66,333.3,617.5,11.9,1187,13595,0.00,2.30,0.00,0.000,4,0.000,0.051,3064,3894,1702
$GC,13640,0.66,333.3,611.7,10.9,1189,13644,0.00,2.22,0.00,0.000,6,0.000,0.038,3064,2761,1701
$GC,13968,0.66,333.3,574.9,11.4,1215,13969,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2760,1701
$GC,14285,0.66,333.3,536.9,11.4,1245,14287,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2760,1701
$GC,14604,0.66,333.3,500.3,11.5,1275,14605,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2758,1701
$GC,14925,0.66,333.3,463.6,11.6,1305,14926,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2758,1701
$GC,15241,0.66,333.3,425.1,11.9,1335,15245,0.00,2.30,0.00,0.000,4,0.000,0.049,3064,3903,1701
$GC,15279,0.66,333.3,420.4,12.0,1338,15283,0.00,2.20,0.00,0.000,6,0.000,0.031,3064,2759,1701
$GC,15603,0.66,333.3,382.0,11.2,1368,15608,0.00,2.83,0.00,0.000,4,0.000,0.048,3064,1333,1701
$GC,15646,0.66,333.3,377.2,10.7,1371,15653,0.00,2.80,0.00,0.000,6,0.000,0.030,3064,2775,1700
$GC,15974,0.66,333.3,341.7,11.4,1408,15982,0.00,2.22,0.00,0.000,4,0.000,0.049,3064,3888,1700
$GC,16016,0.66,333.3,336.9,10.7,1415,16021,0.00,2.17,0.00,0.000,6,0.000,0.031,3064,2760,1700
$GC,16354,0.66,333.3,298.7,12.2,1476,16362,0.00,2.85,0.00,0.000,4,0.000,0.048,3064,1344,1700
$GC,16410,0.66,333.3,292.6,11.5,1485,16417,0.00,2.78,0.00,0.000,6,0.000,0.030,3064,2775,1700
$GC,16750,0.66,333.3,254.6,11.4,1546,16756,0.00,2.20,0.00,0.000,4,0.000,0.048,3064,3888,1700
$GC,16791,0.66,333.3,250.3,10.1,1553,16797,0.00,2.17,0.00,0.000,6,0.000,0.031,3064,2754,1700
$GC,17129,0.66,333.3,213.7,10.5,1614,17135,0.00,2.80,0.00,0.000,4,0.000,0.045,3064,1335,1700
$GC,17175,0.66,333.3,208.9,10.2,1622,17181,0.00,2.78,0.00,0.000,6,0.000,0.031,3064,2768,1700
$GC,17515,0.66,333.3,172.8,11.0,1683,17522,0.00,2.22,0.00,0.000,4,0.000,0.048,3064,3896,1700
$GC,17557,0.66,333.3,168.5,11.1,1690,17563,0.00,2.20,0.00,0.000,6,0.000,0.031,3064,2750,1700
$GC,17895,0.66,333.3,136.1,10.1,1751,17901,0.00,2.80,0.00,0.000,4,0.000,0.046,3064,1335,1700
$GC,17942,0.67,344.0,131.6,9.6,1759,17961,0.00,2.75,9.88,0.882,6,0.000,0.030,3064,2758,1667
$GC,18287,0.67,344.0,96.6,11.3,1822,18294,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2757,1667
$GC,18619,0.67,344.0,60.5,12.3,1883,18624,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2757,1667
$GC,18943,0.67,344.0,28.5,10.0,1944,18950,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2757,1667
$GC,19078,0.69,355.1,15.9,9.6,1969,19094,0.00,0.00,12.40,0.874,6,0.000,0.000,3064,2757,1623
$STATE,19218,end climb,SURFACE_DEPTH_REACHED
$STATE,19219,begin surface coast
$FINISH,0.4,1.026155
$STATE,19237,end surface coast,CONTROL_FINISHED_OK
$STATE,19237,begin surface
$SM_CCo,19255,274.23,0.947,0,0,475,636.80
$SM_GC,0.52,0.00,0.00,274.23,0.000,0.000,0.947,1433,2297,475,-6.84,-0.08,636.80
$IRIDIUM_FIX,6046.07,-2629.92,020897,101036
$TT8_MAMPS,0.027612
$HUMID,1693
$INTERNAL_PRESSURE,8.83869
$TCM_TEMP,11.30
$XPDR_PINGS,904
$24V_AH,19.4,55.235
$10V_AH,9.7,41.398
$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,23.025,184.625,585.575,274.225,0.000,130.725,375.795,0.000,226.000,0.000,0.000,14.233,3172.621,10858.082,1048.814,4468.122,853.024,0.000,2716.220,0.000,4471.689,0.000,0.465
$DEVICE_MAMPS,254.644,90.506,1614.535,947.245,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1395.168,1429.576,764.199,1024.555,1905.925,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145810,1998
$CAP_FILE_SIZE,182586,0
$CFSIZE,260165632,241082368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080508,160931,6106.969,-2624.405,39,1.4,44,-18.4