version: 66.03
glider: 142
mission: 5
dive: 166
start: 5 9 108 19 35 40
data:
$ID,142
$MISSION,5
$DIVE,166
$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,325
$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,-16232.212
$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
$GPS1,192808,6113.469,-2626.337,37,1.0,37,-18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-51.2
$GPS2,193520,6113.518,-2626.295,9,1.1,13,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6122.364,-2629.263
$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,343.5,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,158,0.00,0.00,-129.60,0.000,2,0.000,0.000,1433,2316,3665
$GC,161,-0.86,-194.7,3.5,-5.2,18,185,12.02,2.78,-5.07,0.000,4,0.258,0.051,2726,3706,3866
$GC,355,-0.81,-194.7,35.8,-13.5,53,363,0.00,2.80,0.00,0.000,6,0.000,0.034,2726,2295,3866
$GC,489,-0.75,-194.7,53.3,-12.1,78,497,0.15,2.83,0.00,0.000,4,0.143,0.048,2749,897,3866
$GC,632,-0.75,-194.7,68.8,-10.8,104,640,0.00,2.70,0.00,0.000,6,0.000,0.030,2750,2279,3866
$GC,966,-0.75,-194.7,104.0,-11.1,165,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2279,3866
$GC,1297,-0.75,-194.7,140.5,-11.4,226,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2279,3866
$GC,1632,-0.75,-194.7,181.8,-12.6,287,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2280,3866
$GC,1972,-0.75,-194.7,222.8,-11.4,348,1979,0.00,2.80,0.00,0.000,4,0.000,0.048,2750,897,3867
$GC,2034,-0.75,-194.7,230.0,-11.3,359,2040,0.00,2.65,0.00,0.000,6,0.000,0.031,2749,2275,3866
$GC,2373,-0.75,-194.7,266.2,-10.6,420,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2276,3866
$GC,2715,-0.75,-194.7,301.8,-10.4,481,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2276,3866
$GC,3053,-0.75,-194.7,338.0,-10.8,542,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2276,3866
$GC,3382,-0.75,-194.7,373.0,-10.3,583,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2276,3866
$GC,3701,-0.75,-194.7,406.4,-10.3,613,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2276,3866
$GC,4019,-0.75,-194.7,438.0,-9.5,643,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2276,3866
$GC,4342,-0.75,-194.7,468.6,-9.3,673,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2276,3866
$GC,4667,-0.75,-194.7,498.8,-9.4,704,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2276,3866
$GC,4986,-0.75,-194.7,528.5,-9.0,734,4990,0.00,2.85,0.00,0.000,4,0.000,0.048,2749,3703,3866
$GC,5058,-0.75,-194.7,535.2,-9.4,740,5062,0.00,2.83,0.00,0.000,6,0.000,0.034,2749,2259,3866
$GC,5384,-0.75,-194.7,565.6,-9.7,770,5389,0.00,2.75,0.00,0.000,4,0.000,0.053,2750,885,3866
$GC,5450,-0.75,-194.7,572.7,-10.3,775,5457,0.00,2.67,0.00,0.000,6,0.000,0.030,2750,2261,3866
$GC,5785,-0.75,-194.7,607.0,-10.8,804,5789,0.00,2.90,0.00,0.000,4,0.000,0.051,2750,3700,3866
$GC,5856,-0.75,-194.7,615.2,-11.2,807,5860,0.00,2.83,0.00,0.000,6,0.000,0.038,2749,2268,3866
$GC,6177,-0.75,-194.7,649.8,-10.8,823,6182,0.00,2.80,0.00,0.000,4,0.000,0.059,2750,890,3866
$GC,6217,-0.75,-194.7,654.1,-11.6,825,6221,0.00,2.70,0.00,0.000,6,0.000,0.034,2750,2277,3866
$GC,6542,-0.75,-194.7,689.9,-11.3,841,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2277,3866
$GC,6851,-0.75,-194.7,723.7,-10.9,856,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2277,3866
$GC,7161,-0.75,-194.7,755.0,-9.8,871,7166,0.00,3.05,0.00,0.000,4,0.000,0.076,2749,3702,3866
$GC,7233,-0.75,-194.7,762.5,-9.7,874,7238,0.00,2.97,0.00,0.000,6,0.000,0.060,2750,2276,3865
$GC,7549,-0.75,-194.7,793.2,-9.6,889,7553,0.00,3.12,0.00,0.000,4,0.000,0.100,2749,891,3866
$GC,7593,-0.79,-194.7,797.4,-9.2,891,7598,0.00,2.95,0.00,0.000,6,0.000,0.068,2749,2282,3865
$GC,7913,-0.79,-194.7,826.5,-8.8,907,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3865
$GC,8223,-0.79,-194.7,854.4,-8.9,922,8228,0.00,3.35,0.00,0.000,4,0.000,0.113,2749,3709,3865
$GC,8295,-0.79,-194.7,861.0,-9.0,925,8300,0.00,2.95,0.00,0.000,6,0.000,0.054,2749,2277,3865
$GC,8610,-0.79,-194.7,888.0,-8.5,940,8611,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2277,3865
$GC,8919,-0.79,-194.7,914.6,-8.5,955,8921,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2277,3865
$GC,9229,-0.79,-194.7,940.7,-8.2,970,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2276,3864
$GC,9538,-0.79,-194.7,964.7,-7.6,985,9543,0.00,3.00,0.00,0.000,4,0.000,0.058,2750,3724,3863
$GC,9604,-0.79,-194.7,970.2,-8.4,988,9609,0.00,2.85,0.00,0.000,6,0.000,0.041,2749,2299,3864
$STATE,9840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9840,begin apogee
$GC,9846,-0.21,0.0,991.8,9.2,1000,10056,0.77,0.00,206.48,1.630,6,0.136,0.000,2870,2765,3071
$STATE,10057,end apogee,CONTROL_FINISHED_OK
$STATE,10057,begin climb
$GC,10059,0.86,194.7,999.4,0.0,1010,10284,1.40,2.50,214.52,1.587,4,0.082,0.063,3101,3898,2277
$GC,10447,0.69,194.7,955.3,14.7,1028,10452,0.20,2.35,0.00,0.000,6,0.128,0.034,3074,2748,2275
$GC,10768,0.58,194.7,915.2,13.6,1044,10773,0.15,2.40,0.00,0.000,4,0.127,0.053,3049,3900,2274
$GC,10823,0.53,194.7,908.0,12.5,1046,10830,0.00,2.20,0.00,0.000,6,0.000,0.032,3048,2778,2274
$GC,11139,0.48,194.7,869.9,11.4,1062,11144,0.15,2.30,0.00,0.000,4,0.114,0.052,3022,3898,2274
$GC,11182,0.52,228.3,865.1,8.8,1064,11223,0.00,2.17,34.45,1.483,6,0.000,0.032,3022,2783,2141
$GC,11552,0.67,350.1,840.3,5.8,1082,11689,0.20,3.15,129.52,1.512,4,0.053,0.052,3064,1344,1642
$GC,11700,0.67,350.1,824.8,11.9,1088,11705,0.00,3.05,0.00,0.000,6,0.000,0.032,3064,2783,1640
$GC,12016,0.67,350.1,786.7,11.8,1103,12020,0.00,2.28,0.00,0.000,4,0.000,0.052,3064,3896,1635
$GC,12039,0.67,350.1,783.9,12.6,1104,12043,0.00,2.20,0.00,0.000,6,0.000,0.031,3064,2783,1634
$GC,12364,0.67,350.1,744.7,12.6,1120,12365,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2783,1633
$GC,12674,0.67,350.1,706.4,11.9,1135,12675,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2782,1632
$GC,12983,0.67,350.1,669.9,12.0,1150,12984,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2781,1631
$GC,13292,0.67,350.1,632.1,12.1,1165,13296,0.00,2.88,0.00,0.000,4,0.000,0.048,3064,1346,1631
$GC,13308,0.67,350.1,630.1,12.2,1166,13313,0.00,2.83,0.00,0.000,6,0.000,0.032,3064,2790,1630
$GC,13625,0.67,350.1,592.2,11.6,1184,13630,0.00,2.92,0.00,0.000,4,0.000,0.045,3064,1339,1630
$GC,13634,0.67,350.1,590.8,11.9,1184,13643,0.00,2.83,0.00,0.000,6,0.000,0.032,3064,2771,1630
$GC,13961,0.67,350.1,553.0,11.7,1215,13962,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2771,1630
$GC,14278,0.67,350.1,517.1,11.2,1245,14279,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2771,1630
$GC,14596,0.67,350.1,482.7,10.8,1275,14601,0.00,2.88,0.00,0.000,4,0.000,0.045,3064,1339,1630
$GC,14606,0.67,350.1,481.5,10.7,1275,14613,0.00,2.80,0.00,0.000,6,0.000,0.031,3064,2772,1630
$GC,14933,0.67,350.1,446.7,10.7,1306,14938,0.00,2.88,0.00,0.000,4,0.000,0.044,3064,1343,1630
$GC,14942,0.67,350.1,445.2,10.7,1306,14949,0.00,2.78,0.00,0.000,6,0.000,0.031,3064,2769,1630
$GC,15271,0.67,350.1,410.5,11.0,1337,15276,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2770,1630
$GC,15597,0.68,358.1,377.0,9.7,1368,15611,0.00,2.85,6.97,0.944,4,0.000,0.045,3064,1344,1610
$GC,15616,0.69,365.0,374.8,9.8,1369,15633,0.00,2.75,8.73,1.021,6,0.000,0.031,3064,2753,1583
$GC,15953,0.72,394.9,342.3,9.0,1408,15990,0.00,0.00,32.08,1.177,6,0.000,0.000,3064,2754,1460
$GC,16322,0.74,410.1,306.2,9.5,1474,16346,0.00,2.90,16.60,1.085,4,0.000,0.044,3064,1338,1398
$GC,16352,0.75,414.2,303.2,9.9,1479,16367,0.00,2.83,5.93,0.867,6,0.000,0.031,3064,2761,1381
$GC,16703,0.78,437.3,268.8,9.2,1541,16738,0.12,2.95,25.00,1.095,4,0.055,0.044,3090,1344,1287
$GC,16752,0.78,437.3,262.9,13.9,1549,16758,0.00,2.78,0.00,0.000,6,0.000,0.031,3091,2737,1286
$GC,17093,0.72,437.3,212.8,13.8,1610,17099,0.00,2.30,0.00,0.000,4,0.000,0.048,3090,3893,1283
$GC,17124,0.72,437.3,208.6,14.6,1615,17130,0.00,2.22,0.00,0.000,6,0.000,0.031,3090,2744,1282
$GC,17464,0.68,437.3,159.4,15.2,1676,17472,0.15,2.33,0.00,0.000,4,0.107,0.046,3064,3887,1282
$GC,17478,0.68,437.3,157.4,13.3,1678,17484,0.00,2.17,0.00,0.000,6,0.000,0.030,3064,2759,1282
$GC,17814,0.80,492.6,127.7,8.1,1739,17877,0.15,2.90,56.33,1.044,4,0.053,0.046,3100,1344,1063
$GC,17891,0.76,492.6,117.9,14.3,1751,17898,0.00,2.80,0.00,0.000,6,0.000,0.029,3100,2743,1061
$GC,18222,0.71,492.6,66.2,14.0,1812,18231,0.15,2.33,0.00,0.000,4,0.110,0.047,3074,3892,1057
$GC,18237,0.71,492.6,63.9,14.1,1814,18245,0.00,2.25,0.00,0.000,6,0.000,0.032,3074,2756,1057
$GC,18565,0.77,492.6,33.4,11.3,1875,18573,0.00,2.85,0.00,0.000,4,0.000,0.048,3074,1345,1055
$GC,18587,0.95,571.5,31.9,7.3,1878,18675,0.22,2.75,78.45,0.973,6,0.035,0.030,3138,2744,740
$STATE,18740,end climb,SURFACE_DEPTH_REACHED
$STATE,18740,begin surface coast
$FINISH,0.1,1.026233
$STATE,18747,end surface coast,CONTROL_FINISHED_OK
$STATE,18747,begin surface
$SM_CCo,18825,0.00,0.000,0,0,735,573.02
$SM_GC,0.28,8.77,0.00,0.00,0.041,0.000,0.000,1433,2297,735,-6.79,-0.08,573.02
$IRIDIUM_FIX,6046.07,-2629.92,030897,141427
$TT8_MAMPS,0.026845
$HUMID,1778
$INTERNAL_PRESSURE,8.83869
$TCM_TEMP,11.70
$XPDR_PINGS,894
$24V_AH,19.4,57.318
$10V_AH,9.7,42.635
$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,24.625,154.425,815.050,0.000,0.000,25.302,32.096,234.656,223.500,0.000,0.000,14.908,2974.036,10523.556,844.568,4284.288,612.808,0.000,2561.096,0.000,4275.292,0.000,0.465
$DEVICE_MAMPS,257.712,112.749,1629.875,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1327.727,1352.043,687.301,927.632,1700.195,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139133,1903
$CAP_FILE_SIZE,176842,0
$CFSIZE,260165632,240545792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,100508,005039,6117.732,-2629.306,38,1.6,38,-18.6