version: 66.03
glider: 142
mission: 5
dive: 168
start: 5 10 108 6 13 2
data:
$ID,142
$MISSION,5
$DIVE,168
$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,-16283.592
$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,19
$R_STBD_OVSHOOT,23
$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
$GPS1,060503,6121.703,-2630.608,39,1.7,40,-18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-48.3
$GPS2,061245,6121.801,-2630.433,15,1.5,15,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6130.647,-2633.388
$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,343.6,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,173,0.00,0.00,-143.95,0.000,2,0.000,0.000,1436,2293,3627
$GC,175,-0.86,-194.7,3.4,-4.5,20,200,11.88,2.83,-6.32,0.000,4,0.255,0.053,2725,883,3865
$GC,437,-0.80,-194.7,45.3,-14.6,68,445,0.08,2.78,0.00,0.000,6,0.133,0.030,2737,2302,3867
$GC,575,-0.80,-194.7,62.9,-11.1,93,582,0.00,2.85,0.00,0.000,4,0.000,0.047,2737,881,3866
$GC,656,-0.80,-194.7,72.1,-11.4,107,662,0.00,2.75,0.00,0.000,6,0.000,0.030,2737,2307,3867
$GC,985,-0.80,-194.7,110.7,-11.0,168,993,0.00,2.88,0.00,0.000,4,0.000,0.048,2738,887,3866
$GC,1038,-0.80,-194.7,116.6,-11.7,177,1045,0.00,2.70,0.00,0.000,6,0.000,0.031,2737,2290,3867
$GC,1371,-0.80,-194.7,153.7,-11.4,238,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2291,3867
$GC,1709,-0.80,-194.7,194.4,-12.5,299,1715,0.00,2.83,0.00,0.000,4,0.000,0.048,2737,883,3867
$GC,1797,-0.80,-194.7,205.7,-12.8,315,1804,0.00,2.70,0.00,0.000,6,0.000,0.031,2737,2285,3866
$GC,2139,-0.80,-194.7,246.6,-11.7,376,2147,0.00,2.83,0.00,0.000,4,0.000,0.048,2738,887,3866
$GC,2225,-0.80,-194.7,257.7,-12.6,391,2231,0.00,2.62,0.00,0.000,6,0.000,0.031,2737,2253,3866
$GC,2565,-0.80,-194.7,300.0,-11.6,452,2573,0.00,2.78,0.00,0.000,4,0.000,0.048,2737,885,3866
$GC,2613,-0.80,-194.7,305.7,-12.0,460,2621,0.00,2.62,0.00,0.000,6,0.000,0.031,2737,2235,3867
$GC,2958,-0.80,-194.7,344.4,-10.9,521,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2236,3866
$GC,3291,-0.80,-194.7,379.2,-10.3,557,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2235,3866
$GC,3608,-0.80,-194.7,412.4,-10.3,587,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2236,3867
$GC,3930,-0.80,-194.7,445.0,-10.3,617,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2236,3866
$GC,4254,-0.80,-194.7,480.3,-11.1,648,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2236,3866
$GC,4574,-0.80,-194.7,516.2,-11.5,678,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2236,3866
$GC,4891,-0.80,-194.7,553.4,-11.6,708,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2236,3866
$GC,5210,-0.80,-194.7,588.7,-10.7,738,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2236,3867
$GC,5523,-0.80,-194.7,620.5,-9.5,758,5527,0.00,2.95,0.00,0.000,4,0.000,0.053,2737,3700,3866
$GC,5589,-0.80,-194.7,626.9,-9.4,761,5593,0.00,2.90,0.00,0.000,6,0.000,0.038,2737,2233,3866
$GC,5910,-0.80,-194.7,656.5,-9.0,777,5914,0.00,2.75,0.00,0.000,4,0.000,0.061,2737,885,3866
$GC,5959,-0.80,-194.7,661.4,-9.7,779,5963,0.00,2.62,0.00,0.000,6,0.000,0.033,2738,2232,3865
$GC,6274,-0.80,-194.7,692.4,-10.6,794,6279,0.00,3.03,0.00,0.000,4,0.000,0.061,2737,3702,3865
$GC,6358,-0.80,-194.7,701.5,-11.2,798,6363,0.00,2.95,0.00,0.000,6,0.000,0.048,2737,2246,3865
$GC,6683,-0.80,-194.7,738.5,-11.4,814,6688,0.00,2.90,0.00,0.000,4,0.000,0.078,2738,887,3865
$GC,6738,-0.80,-194.7,745.1,-11.8,816,6744,0.00,2.72,0.00,0.000,6,0.000,0.048,2738,2234,3865
$GC,7054,-0.80,-194.7,779.2,-10.4,832,7059,0.00,3.17,0.00,0.000,4,0.000,0.084,2737,3693,3865
$GC,7115,-0.80,-194.7,785.3,-10.2,835,7120,0.00,3.05,0.00,0.000,6,0.000,0.067,2737,2255,3865
$GC,7441,-0.80,-194.7,817.5,-9.7,851,7446,0.00,3.10,0.00,0.000,4,0.000,0.106,2737,890,3865
$GC,7530,-0.80,-194.7,826.5,-9.8,855,7534,0.00,2.95,0.00,0.000,6,0.000,0.081,2737,2238,3864
$GC,7850,-0.80,-194.7,856.6,-9.3,871,7855,0.00,2.97,0.00,0.000,4,0.000,0.054,2737,3707,3864
$GC,7934,-0.80,-194.7,864.6,-9.9,875,7939,0.00,2.90,0.00,0.000,6,0.000,0.040,2737,2248,3864
$GC,8260,-0.80,-194.7,894.6,-9.1,891,8264,0.00,2.80,0.00,0.000,4,0.000,0.059,2737,874,3864
$GC,8371,-0.80,-194.7,905.4,-9.9,896,8375,0.00,2.67,0.00,0.000,6,0.000,0.033,2737,2242,3863
$GC,8692,-0.80,-194.7,934.1,-8.8,912,8697,0.00,2.97,0.00,0.000,4,0.000,0.058,2737,3698,3863
$GC,8755,-0.80,-194.7,939.6,-9.1,915,8759,0.00,2.90,0.00,0.000,6,0.000,0.042,2737,2247,3863
$GC,9081,-0.80,-194.7,969.4,-9.1,931,9086,0.00,2.80,0.00,0.000,4,0.000,0.061,2737,881,3863
$GC,9130,-0.80,-194.7,974.3,-9.7,933,9135,0.00,2.67,0.00,0.000,6,0.000,0.033,2737,2249,3863
$STATE,9319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9320,begin apogee
$GC,9326,-0.21,0.0,991.6,9.1,942,9536,0.82,0.00,207.00,1.634,6,0.122,0.000,2871,2748,3071
$STATE,9537,end apogee,CONTROL_FINISHED_OK
$STATE,9537,begin climb
$GC,9539,0.86,194.7,997.1,0.0,952,9765,1.40,2.67,215.10,1.592,4,0.081,0.058,3100,3891,2276
$GC,9849,0.70,194.7,963.5,15.1,966,9856,0.17,2.40,0.00,0.000,6,0.133,0.035,3077,2743,2274
$GC,10165,0.58,194.7,925.6,11.9,982,10169,0.15,2.42,0.00,0.000,4,0.127,0.055,3053,3894,2274
$GC,10237,0.53,194.7,917.7,10.8,985,10241,0.00,2.22,0.00,0.000,6,0.000,0.032,3053,2771,2273
$GC,10557,0.47,194.7,884.6,10.3,1001,10559,0.17,0.00,0.00,0.000,6,0.111,0.000,3026,2770,2273
$GC,10867,0.54,253.5,859.2,8.0,1016,10929,0.00,0.00,60.38,1.527,6,0.000,0.000,3026,2769,2037
$GC,11237,0.63,323.5,830.8,7.6,1034,11318,0.15,0.00,74.10,1.508,6,0.058,0.000,3055,2768,1752
$GC,11628,0.63,323.5,789.9,10.6,1053,11629,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2768,1745
$GC,11936,0.63,323.5,757.9,10.4,1068,11938,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2768,1744
$GC,12245,0.63,323.5,726.5,10.5,1083,12246,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2767,1743
$GC,12555,0.63,323.5,694.1,10.5,1098,12559,0.00,2.88,0.00,0.000,4,0.000,0.048,3055,1338,1743
$GC,12564,0.63,323.5,692.9,10.7,1098,12571,0.00,2.83,0.00,0.000,6,0.000,0.031,3055,2777,1742
$GC,12879,0.63,323.5,660.0,10.5,1114,12884,0.00,2.92,0.00,0.000,4,0.000,0.045,3055,1332,1742
$GC,12889,0.63,323.5,658.8,10.5,1114,12895,0.00,2.85,0.00,0.000,6,0.000,0.032,3055,2780,1742
$GC,13204,0.63,323.5,625.1,10.9,1130,13209,0.00,2.92,0.00,0.000,4,0.000,0.046,3055,1333,1742
$GC,13214,0.63,323.5,623.9,11.0,1130,13220,0.00,2.80,0.00,0.000,6,0.000,0.032,3055,2762,1742
$GC,13532,0.63,323.5,589.3,11.2,1150,13533,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2762,1742
$GC,13850,0.63,323.5,554.8,10.4,1180,13855,0.00,2.88,0.00,0.000,4,0.000,0.046,3056,1333,1742
$GC,13860,0.63,323.5,553.6,10.1,1180,13867,0.00,2.80,0.00,0.000,6,0.000,0.032,3055,2765,1742
$GC,14186,0.64,332.6,521.6,9.7,1211,14197,0.00,0.00,8.52,1.089,6,0.000,0.000,3055,2765,1715
$GC,14515,0.64,335.9,489.9,9.9,1242,14527,0.00,2.88,5.38,0.923,4,0.000,0.050,3055,1341,1700
$GC,14532,0.65,343.2,487.9,9.7,1243,14549,0.00,2.80,9.23,1.118,6,0.000,0.033,3055,2763,1671
$GC,14868,0.65,343.2,453.1,10.6,1275,14869,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2764,1670
$GC,15187,0.65,343.2,419.4,10.3,1305,15192,0.00,2.88,0.00,0.000,4,0.000,0.045,3055,1335,1669
$GC,15204,0.65,343.2,417.4,10.5,1306,15209,0.00,2.78,0.00,0.000,6,0.000,0.031,3055,2757,1669
$GC,15530,0.67,359.4,384.8,9.4,1336,15555,0.00,2.83,18.02,1.161,4,0.000,0.045,3055,1338,1604
$GC,15560,0.67,359.4,381.6,10.1,1338,15566,0.00,2.78,0.00,0.000,6,0.000,0.031,3055,2746,1603
$GC,15889,0.68,366.2,350.2,9.8,1369,15905,0.00,2.88,8.25,1.002,4,0.000,0.044,3056,1345,1577
$GC,15912,0.68,366.8,347.5,10.0,1372,15919,0.00,2.75,0.00,0.000,6,0.000,0.031,3055,2731,1576
$GC,16255,0.68,366.8,314.1,10.2,1433,16261,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2730,1575
$GC,16594,0.68,366.8,278.9,10.5,1494,16600,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2730,1575
$GC,16936,0.76,401.1,243.5,8.8,1555,16979,0.15,2.92,36.60,1.125,4,0.054,0.044,3092,1334,1434
$GC,16985,0.71,401.1,237.1,15.2,1563,16992,0.00,2.78,0.00,0.000,6,0.000,0.031,3092,2726,1433
$GC,17325,0.65,401.1,186.7,15.0,1624,17334,0.17,2.35,0.00,0.000,4,0.109,0.048,3063,3885,1430
$GC,17374,0.70,401.1,180.8,10.8,1632,17382,0.00,2.25,0.00,0.000,6,0.000,0.031,3063,2742,1430
$GC,17718,0.75,401.1,146.7,10.4,1693,17724,0.00,2.78,0.00,0.000,4,0.000,0.045,3063,1348,1429
$GC,17732,0.80,401.1,145.2,10.3,1695,17739,0.15,2.72,0.00,0.000,6,0.051,0.031,3093,2748,1428
$GC,18066,0.73,401.1,97.1,15.0,1756,18073,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2749,1429
$GC,18398,0.67,401.1,48.0,16.3,1817,18407,0.15,2.30,0.00,0.000,4,0.110,0.048,3068,3893,1428
$GC,18425,0.67,401.1,44.2,14.1,1821,18434,0.00,2.22,0.00,0.000,6,0.000,0.032,3068,2758,1429
$GC,18561,0.67,401.1,29.5,10.3,1846,18569,0.00,2.85,0.00,0.000,4,0.000,0.047,3068,1342,1428
$GC,18579,0.67,401.1,27.7,11.2,1848,18587,0.00,2.75,0.00,0.000,6,0.000,0.031,3068,2742,1428
$GC,18716,0.71,401.5,14.7,10.0,1873,18724,0.00,2.30,0.00,0.000,4,0.000,0.048,3068,3889,1428
$GC,18733,0.81,440.5,13.0,8.6,1875,18778,0.10,2.22,39.33,0.976,6,0.048,0.033,3094,2757,1275
$STATE,18826,end climb,SURFACE_DEPTH_REACHED
$STATE,18826,begin surface coast
$FINISH,0.2,1.026265
$STATE,18839,end surface coast,CONTROL_FINISHED_OK
$STATE,18839,begin surface
$SM_CCo,18917,0.00,0.000,0,0,1268,442.03
$SM_GC,0.76,8.60,0.00,0.00,0.048,0.000,0.000,1438,2290,1268,-6.79,-0.25,442.03
$IRIDIUM_FIX,6050.49,-2619.90,040897,010135
$TT8_MAMPS,0.026845
$HUMID,1754
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,11.20
$XPDR_PINGS,992
$24V_AH,19.4,57.993
$10V_AH,9.7,43.038
$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,24.150,178.525,681.900,0.000,0.000,29.270,34.768,258.014,248.000,0.000,0.000,17.732,2994.103,10641.692,809.981,4260.215,652.107,0.000,2488.883,0.000,4260.044,0.000,0.465
$DEVICE_MAMPS,255.411,105.846,1633.710,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1323.593,1353.510,671.379,927.307,1699.555,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139104,1892
$CAP_FILE_SIZE,179395,0
$CFSIZE,260165632,240353280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100508,112932,6125.851,-2633.781,37,1.7,37,-18.7