version: 66.03
glider: 142
mission: 5
dive: 161
start: 5 8 108 16 25 10
data:
$ID,142
$MISSION,5
$DIVE,161
$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,-16120.044
$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,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
$GPS1,160931,6106.969,-2624.405,39,1.4,44,-18.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-34.5
$GPS2,162453,6106.940,-2624.557,9,4.1,28,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6059.999,-2620.547
$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,148.4,20000,-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,26,-0.86,-194.7,0.0,0.0,0,201,0.00,0.00,-172.27,0.000,2,0.000,0.000,1433,2297,3523
$GC,204,-0.86,-194.7,3.2,-4.9,24,235,11.70,2.88,-9.65,0.000,4,0.252,0.056,2725,887,3866
$GC,264,-0.82,-194.7,13.8,-13.0,33,272,0.00,2.78,0.00,0.000,6,0.000,0.029,2725,2301,3867
$GC,400,-0.75,-194.7,30.9,-12.8,58,408,0.15,0.00,0.00,0.000,6,0.141,0.000,2749,2306,3867
$GC,535,-0.75,-194.7,46.8,-11.1,83,543,0.00,2.85,0.00,0.000,4,0.000,0.047,2749,895,3867
$GC,593,-0.75,-194.7,53.6,-11.2,93,600,0.00,2.70,0.00,0.000,6,0.000,0.029,2749,2301,3867
$GC,922,-0.75,-194.7,89.3,-10.6,154,930,0.00,2.85,0.00,0.000,4,0.000,0.047,2749,891,3867
$GC,965,-0.75,-194.7,93.9,-11.7,161,971,0.00,2.70,0.00,0.000,6,0.000,0.028,2749,2295,3867
$GC,1294,-0.75,-194.7,129.1,-10.5,222,1302,0.00,2.85,0.00,0.000,4,0.000,0.048,2749,885,3867
$GC,1352,-0.75,-194.7,135.2,-11.2,232,1360,0.00,2.70,0.00,0.000,6,0.000,0.028,2749,2277,3867
$GC,1690,-0.75,-194.7,169.8,-10.3,293,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2279,3867
$GC,2030,-0.75,-194.7,204.4,-9.6,354,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2279,3867
$GC,2371,-0.75,-194.7,236.8,-9.8,415,2377,0.00,2.78,0.00,0.000,4,0.000,0.047,2749,884,3867
$GC,2416,-0.75,-194.7,241.4,-9.8,423,2422,0.00,2.67,0.00,0.000,6,0.000,0.030,2749,2280,3867
$GC,2756,-0.75,-194.7,274.7,-10.0,484,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2280,3867
$GC,3101,-0.75,-194.7,307.1,-9.4,545,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2280,3867
$GC,3440,-0.75,-194.7,342.0,-10.6,606,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2280,3867
$GC,3774,-0.75,-194.7,376.9,-10.4,644,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2281,3866
$GC,4091,-0.75,-194.7,410.8,-10.8,674,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2281,3866
$GC,4409,-0.75,-194.7,446.6,-11.6,704,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2281,3866
$GC,4728,-0.75,-194.7,482.5,-10.7,734,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2281,3866
$GC,5047,-0.75,-194.7,516.6,-10.6,764,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2281,3866
$GC,5365,-0.75,-194.7,549.5,-9.8,794,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2282,3865
$GC,5684,-0.75,-194.7,581.7,-10.4,824,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2282,3865
$GC,6009,-0.75,-194.7,615.1,-10.2,848,6013,0.00,2.85,0.00,0.000,4,0.000,0.051,2749,3703,3864
$GC,6018,-0.75,-194.7,616.1,-10.1,848,6025,0.00,2.83,0.00,0.000,6,0.000,0.036,2749,2265,3864
$GC,6334,-0.75,-194.7,648.1,-10.3,864,6338,0.00,2.95,0.00,0.000,4,0.000,0.054,2749,3706,3864
$GC,6343,-0.75,-194.7,649.2,-10.3,864,6350,0.00,2.83,0.00,0.000,6,0.000,0.038,2749,2278,3864
$GC,6659,-0.75,-194.7,682.9,-10.3,880,6663,0.00,2.95,0.00,0.000,4,0.000,0.058,2749,3704,3864
$GC,6668,-0.75,-194.7,684.0,-10.3,880,6675,0.00,2.85,0.00,0.000,6,0.000,0.042,2749,2280,3864
$GC,6984,-0.75,-194.7,719.2,-11.3,896,6988,0.00,2.97,0.00,0.000,4,0.000,0.064,2749,3697,3864
$GC,7000,-0.75,-194.7,721.0,-11.0,897,7004,0.00,2.85,0.00,0.000,6,0.000,0.047,2749,2289,3864
$GC,7326,-0.75,-194.7,755.2,-10.0,913,7330,0.00,3.00,0.00,0.000,4,0.000,0.071,2749,3694,3864
$GC,7346,-0.75,-194.7,757.5,-10.3,914,7351,0.00,2.88,0.00,0.000,6,0.000,0.054,2749,2296,3864
$GC,7667,-0.75,-194.7,788.2,-9.4,930,7672,0.00,3.08,0.00,0.000,4,0.000,0.082,2749,3697,3864
$GC,7684,-0.75,-194.7,789.7,-9.2,931,7689,0.00,2.97,0.00,0.000,6,0.000,0.068,2749,2301,3864
$GC,8010,-0.75,-194.7,819.1,-9.1,947,8011,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2300,3864
$GC,8319,-0.75,-194.7,847.1,-8.9,962,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2301,3864
$GC,8629,-0.75,-194.7,876.5,-9.5,977,8634,0.00,3.33,0.00,0.000,4,0.000,0.117,2749,3702,3863
$GC,8655,-0.75,-194.7,879.2,-10.1,978,8660,0.00,2.80,0.00,0.000,6,0.000,0.041,2749,2286,3863
$GC,8977,-0.75,-194.7,907.5,-8.8,994,8981,0.00,2.90,0.00,0.000,4,0.000,0.054,2749,3698,3863
$GC,8987,-0.75,-194.7,908.4,-8.6,994,8993,0.00,2.78,0.00,0.000,6,0.000,0.038,2749,2295,3863
$GC,9302,-0.75,-194.7,935.4,-8.5,1010,9307,0.00,2.90,0.00,0.000,4,0.000,0.056,2749,3700,3862
$GC,9341,-0.75,-194.7,938.8,-9.1,1012,9346,0.00,2.78,0.00,0.000,6,0.000,0.040,2749,2307,3862
$GC,9667,-0.75,-194.7,967.4,-8.6,1028,9672,0.00,2.88,0.00,0.000,4,0.000,0.056,2749,3700,3862
$GC,9677,-0.75,-194.7,968.3,-8.5,1028,9683,0.00,2.78,0.00,0.000,6,0.000,0.040,2748,2306,3862
$STATE,9928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9928,begin apogee
$GC,9934,-0.21,0.0,991.1,8.8,1041,10142,0.75,0.00,205.02,1.617,6,0.125,0.000,2869,2750,3071
$STATE,10143,end apogee,CONTROL_FINISHED_OK
$STATE,10143,begin climb
$GC,10146,0.86,194.7,998.0,0.0,1051,10371,1.38,2.60,213.95,1.578,4,0.078,0.057,3098,3890,2277
$GC,10512,0.70,194.7,957.6,15.0,1068,10517,0.17,2.35,0.00,0.000,6,0.127,0.035,3075,2746,2274
$GC,10833,0.58,194.7,916.5,13.0,1084,10835,0.17,0.00,0.00,0.000,6,0.117,0.000,3049,2746,2273
$GC,11143,0.56,218.8,885.4,9.2,1099,11172,0.00,2.45,24.58,1.446,4,0.000,0.060,3049,3900,2179
$GC,11217,0.58,232.1,878.2,9.5,1102,11237,0.00,2.28,15.57,1.402,6,0.000,0.032,3048,2756,2124
$GC,11555,0.56,248.7,847.1,9.4,1119,11579,0.00,2.42,17.92,1.394,4,0.000,0.054,3048,3891,2056
$GC,11624,0.56,251.2,839.7,9.9,1122,11628,0.00,2.22,0.00,0.000,6,0.000,0.032,3048,2771,2056
$GC,11950,0.56,251.2,804.5,11.0,1138,11955,0.00,2.88,0.00,0.000,4,0.000,0.048,3048,1342,2054
$GC,12000,0.57,257.9,799.1,9.8,1140,12016,0.00,2.85,10.68,1.272,6,0.000,0.033,3048,2780,2019
$GC,12336,0.57,257.9,765.7,10.2,1157,12337,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2780,2019
$GC,12646,0.57,258.0,735.1,10.0,1172,12647,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2780,2018
$GC,12955,0.57,258.8,703.5,10.0,1187,12956,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2780,2018
$GC,13264,0.59,276.9,674.2,9.4,1202,13286,0.00,0.00,20.27,1.331,6,0.000,0.000,3048,2780,1942
$GC,13594,0.63,310.1,643.8,8.8,1218,13636,0.00,3.00,35.40,1.363,4,0.000,0.051,3048,1343,1805
$GC,13675,0.66,333.8,636.3,9.2,1221,13706,0.00,2.88,25.58,1.328,6,0.000,0.031,3048,2773,1710
$GC,14028,0.66,333.8,601.1,10.8,1239,14029,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2772,1705
$GC,14344,0.66,333.8,567.7,10.3,1268,14345,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2772,1704
$GC,14665,0.68,350.4,536.0,9.4,1298,14689,0.00,2.97,17.15,1.212,4,0.000,0.044,3048,1340,1642
$GC,14730,0.75,364.8,529.9,9.5,1304,14754,0.17,2.83,16.77,1.227,6,0.051,0.031,3084,2769,1582
$GC,15072,0.69,364.8,484.7,13.2,1336,15076,0.00,2.25,0.00,0.000,4,0.000,0.050,3084,3895,1579
$GC,15135,0.69,364.8,476.6,13.2,1341,15139,0.00,2.22,0.00,0.000,6,0.000,0.032,3084,2754,1578
$GC,15460,0.62,364.8,433.8,13.5,1371,15462,0.17,0.00,0.00,0.000,6,0.107,0.000,3057,2753,1577
$GC,15780,0.62,364.8,400.7,10.6,1401,15785,0.00,2.80,0.00,0.000,4,0.000,0.047,3057,1338,1578
$GC,15820,0.67,364.8,396.2,10.0,1404,15824,0.00,2.80,0.00,0.000,6,0.000,0.031,3057,2782,1577
$GC,16144,0.67,364.8,361.6,10.7,1434,16145,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2782,1577
$GC,16472,0.67,364.8,326.9,10.1,1483,16478,0.00,2.90,0.00,0.000,4,0.000,0.044,3057,1335,1576
$GC,16532,0.76,398.9,321.4,8.8,1493,16579,0.15,2.78,34.90,1.150,6,0.053,0.031,3089,2765,1443
$GC,16916,0.71,398.9,266.7,13.1,1561,16922,0.00,2.25,0.00,0.000,4,0.000,0.048,3089,3893,1439
$GC,16986,0.71,398.9,257.2,12.7,1573,16992,0.00,2.20,0.00,0.000,6,0.000,0.031,3089,2757,1438
$GC,17326,0.65,398.9,209.9,13.8,1634,17332,0.15,2.83,0.00,0.000,4,0.106,0.044,3062,1335,1437
$GC,17373,0.71,401.2,204.5,9.9,1642,17379,0.00,2.78,0.00,0.000,6,0.000,0.030,3063,2761,1437
$GC,17714,0.75,439.1,171.1,8.7,1703,17760,0.00,0.00,40.88,1.058,6,0.000,0.000,3063,2762,1279
$GC,18093,0.84,450.5,136.4,9.6,1771,18112,0.17,2.90,11.70,0.923,4,0.048,0.045,3104,1337,1234
$GC,18154,0.84,450.5,128.3,13.9,1781,18161,0.00,2.80,0.00,0.000,6,0.000,0.030,3104,2756,1232
$GC,18484,0.76,450.5,74.4,15.9,1842,18492,0.00,2.28,0.00,0.000,4,0.000,0.047,3104,3891,1231
$GC,18560,0.76,450.5,63.3,14.6,1855,18566,0.00,2.20,0.00,0.000,6,0.000,0.032,3104,2760,1231
$GC,18884,0.76,450.5,12.5,14.6,1916,18891,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2759,1230
$STATE,18949,end climb,SURFACE_DEPTH_REACHED
$STATE,18949,begin surface coast
$FINISH,0.4,1.026251
$STATE,18961,end surface coast,CONTROL_FINISHED_OK
$STATE,18962,begin surface
$SM_CCo,18980,182.45,0.950,0,0,475,636.80
$SM_GC,0.55,0.00,0.00,182.45,0.000,0.000,0.950,1434,2286,475,-6.83,-0.40,636.80
$IRIDIUM_FIX,6046.07,-2743.65,020897,161642
$TT8_MAMPS,0.026845
$HUMID,1732
$INTERNAL_PRESSURE,8.82892
$TCM_TEMP,11.70
$XPDR_PINGS,915
$24V_AH,19.4,55.615
$10V_AH,9.8,41.606
$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,23.525,155.450,690.375,182.450,0.000,144.339,375.798,0.000,228.750,0.000,0.000,31.268,3026.506,10884.602,991.795,4312.862,848.935,0.000,2670.367,0.000,4290.320,0.000,0.466
$DEVICE_MAMPS,252.343,116.584,1616.836,949.546,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1346.782,1376.518,687.682,948.490,1731.358,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142408,1930
$CAP_FILE_SIZE,175806,0
$CFSIZE,260165632,240947200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080508,214555,6104.860,-2620.879,27,1.5,44,-18.4