version: 66.03
glider: 142
mission: 5
dive: 170
start: 5 10 108 17 20 33
data:
$ID,142
$MISSION,5
$DIVE,170
$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,60
$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,-16316.021
$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,15
$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
$GPS1,170838,6129.165,-2637.609,29,1.8,29,-18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-54.9
$GPS2,172015,6129.247,-2637.698,13,1.4,13,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6134.646,-2633.247
$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,78.8,20000,-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,-122.72,0.000,2,0.000,0.000,1434,2303,3520
$GC,155,-0.86,-194.7,3.3,-6.0,17,186,11.90,2.90,-9.62,0.000,4,0.254,0.054,2726,3716,3867
$GC,261,-0.86,-194.7,21.2,-13.9,35,269,0.00,2.83,0.00,0.000,6,0.000,0.035,2726,2302,3868
$GC,396,-0.81,-194.7,39.4,-13.4,60,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2302,3868
$GC,533,-0.76,-194.7,56.6,-12.8,85,539,0.15,0.00,0.00,0.000,6,0.146,0.000,2749,2302,3868
$GC,861,-0.76,-194.7,93.1,-10.8,146,869,0.00,2.85,0.00,0.000,4,0.000,0.051,2749,892,3868
$GC,926,-0.76,-194.7,99.7,-10.6,157,932,0.00,2.72,0.00,0.000,6,0.000,0.031,2749,2303,3868
$GC,1256,-0.76,-194.7,134.3,-10.7,218,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2304,3869
$GC,1594,-0.76,-194.7,168.3,-9.4,279,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2304,3869
$GC,1933,-0.76,-194.7,201.4,-10.7,340,1942,0.00,2.88,0.00,0.000,4,0.000,0.049,2749,885,3869
$GC,1988,-0.76,-194.7,207.1,-10.2,349,1994,0.00,2.70,0.00,0.000,6,0.000,0.031,2749,2289,3869
$GC,2326,-0.76,-194.7,241.4,-9.8,410,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2291,3869
$GC,2666,-0.76,-194.7,274.1,-9.7,471,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2292,3869
$GC,3006,-0.76,-194.7,307.7,-10.0,532,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2295,3869
$GC,3350,-0.76,-194.7,343.0,-10.2,593,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2295,3869
$GC,3684,-0.76,-194.7,378.2,-11.2,630,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2295,3869
$GC,4001,-0.76,-194.7,413.6,-10.9,660,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2295,3869
$GC,4319,-0.76,-194.7,448.6,-11.3,690,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2295,3869
$GC,4639,-0.76,-194.7,482.5,-9.8,720,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2295,3869
$GC,4957,-0.76,-194.7,510.7,-9.0,750,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2295,3869
$GC,5277,-0.76,-194.7,540.2,-9.2,780,5282,0.00,2.83,0.00,0.000,4,0.000,0.051,2749,891,3869
$GC,5310,-0.76,-194.7,543.5,-9.4,782,5316,0.00,2.67,0.00,0.000,6,0.000,0.031,2749,2275,3868
$GC,5636,-0.76,-194.7,571.8,-8.6,813,5637,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2276,3868
$GC,5954,-0.76,-194.7,599.2,-8.5,843,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2276,3868
$GC,6274,-0.76,-194.7,628.5,-9.5,859,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2276,3868
$GC,6582,-0.76,-194.7,660.0,-10.2,874,6587,0.00,2.92,0.00,0.000,4,0.000,0.058,2749,3704,3868
$GC,6609,-0.76,-194.7,662.8,-10.7,875,6613,0.00,2.88,0.00,0.000,6,0.000,0.045,2749,2275,3867
$GC,6924,-0.76,-194.7,694.4,-10.1,890,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2275,3867
$GC,7234,-0.76,-194.7,724.6,-9.6,905,7239,0.00,3.03,0.00,0.000,4,0.000,0.067,2749,3705,3867
$GC,7306,-0.76,-194.7,731.5,-9.4,908,7311,0.00,2.92,0.00,0.000,6,0.000,0.051,2749,2278,3867
$GC,7621,-0.76,-194.7,759.2,-8.7,923,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2278,3867
$GC,7931,-0.76,-194.7,785.7,-8.6,938,7936,0.00,3.15,0.00,0.000,4,0.000,0.084,2749,3700,3867
$GC,7980,-0.76,-194.7,790.1,-8.5,940,7985,0.00,3.05,0.00,0.000,6,0.000,0.070,2749,2281,3867
$GC,8296,-0.76,-194.7,816.4,-8.2,955,8301,0.00,3.22,0.00,0.000,4,0.000,0.094,2749,3700,3866
$GC,8329,-0.76,-194.7,819.2,-8.7,956,8335,0.00,3.12,0.00,0.000,6,0.000,0.084,2749,2293,3866
$GC,8643,-0.76,-194.7,849.7,-10.3,972,8648,0.00,3.33,0.00,0.000,4,0.000,0.110,2749,3696,3866
$GC,8676,-0.80,-194.7,853.1,-10.6,973,8682,0.00,3.25,0.00,0.000,6,0.000,0.102,2749,2299,3866
$GC,8992,-0.80,-194.7,882.3,-9.0,989,8993,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2294,3866
$GC,9301,-0.80,-194.7,909.8,-9.1,1004,9302,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2294,3866
$GC,9610,-0.80,-194.7,937.9,-8.7,1019,9611,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2294,3865
$GC,9920,-0.84,-194.7,967.6,-9.0,1034,9924,0.00,2.92,0.00,0.000,4,0.000,0.057,2749,3707,3864
$GC,9952,-0.84,-194.7,970.6,-9.4,1035,9958,0.00,2.85,0.00,0.000,6,0.000,0.041,2749,2281,3864
$STATE,10183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10183,begin apogee
$GC,10189,-0.21,0.0,991.0,8.7,1047,10401,0.77,0.00,208.38,1.636,6,0.133,0.000,2871,2749,3071
$STATE,10401,end apogee,CONTROL_FINISHED_OK
$STATE,10401,begin climb
$GC,10404,0.86,194.7,997.8,0.0,1057,10630,1.40,2.62,216.38,1.595,4,0.081,0.058,3101,3896,2276
$GC,10767,0.69,194.7,956.4,15.6,1074,10772,0.20,2.38,0.00,0.000,6,0.127,0.035,3074,2744,2273
$GC,11093,0.59,194.7,918.2,11.6,1090,11098,0.15,2.42,0.00,0.000,4,0.127,0.054,3049,3902,2273
$GC,11143,0.55,202.2,912.6,9.7,1092,11157,0.00,2.28,8.77,1.236,6,0.000,0.035,3049,2756,2246
$GC,11484,0.59,235.0,882.1,8.9,1109,11524,0.00,0.00,34.85,1.498,6,0.000,0.000,3049,2756,2111
$GC,11834,0.64,272.3,849.9,8.7,1126,11878,0.00,2.47,39.28,1.496,4,0.000,0.059,3049,3893,1961
$GC,11912,0.66,293.3,842.5,9.3,1129,11942,0.00,2.28,23.62,1.445,6,0.000,0.033,3049,2760,1875
$GC,12271,0.66,293.3,806.5,10.5,1147,12275,0.00,2.35,0.00,0.000,4,0.000,0.054,3049,3898,1870
$GC,12303,0.67,300.7,802.9,9.7,1148,12317,0.00,2.22,8.70,1.224,6,0.000,0.033,3049,2769,1844
$GC,12640,0.67,300.7,768.9,10.1,1165,12644,0.00,2.33,0.00,0.000,4,0.000,0.054,3049,3900,1841
$GC,12683,0.67,300.7,764.4,10.4,1167,12688,0.00,2.17,0.00,0.000,6,0.000,0.033,3050,2784,1841
$GC,13010,0.68,311.2,733.1,9.6,1183,13024,0.00,0.00,11.95,1.289,6,0.000,0.000,3049,2783,1802
$GC,13319,0.68,311.2,702.2,10.1,1198,13320,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2781,1800
$GC,13628,0.68,311.2,668.9,10.9,1213,13630,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2777,1800
$GC,13937,0.68,311.2,636.0,10.7,1228,13938,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2777,1799
$GC,14246,0.68,311.2,602.1,10.5,1243,14250,0.00,2.25,0.00,0.000,4,0.000,0.051,3049,3896,1799
$GC,14275,0.68,311.2,599.2,10.2,1244,14279,0.00,2.12,0.00,0.000,6,0.000,0.031,3049,2790,1798
$GC,14600,0.72,338.0,569.2,9.1,1274,14635,0.15,2.95,28.42,1.324,4,0.059,0.047,3083,1347,1692
$GC,14646,0.65,338.0,563.7,12.6,1278,14653,0.00,2.92,0.00,0.000,6,0.000,0.033,3083,2811,1692
$GC,14972,0.59,338.0,523.8,11.8,1309,14977,0.17,2.17,0.00,0.000,4,0.107,0.050,3053,3894,1690
$GC,15025,0.62,365.1,518.7,9.1,1313,15059,0.00,2.10,29.50,1.289,6,0.000,0.032,3053,2814,1581
$GC,15385,0.64,378.2,483.8,9.5,1347,15407,0.00,3.00,14.25,1.179,4,0.000,0.048,3053,1345,1528
$GC,15447,0.70,383.1,477.7,9.8,1352,15459,0.00,2.92,6.95,1.024,6,0.000,0.031,3053,2808,1509
$GC,15778,0.75,389.6,446.0,9.8,1383,15793,0.15,3.03,8.12,1.030,4,0.056,0.044,3088,1340,1482
$GC,15815,0.75,389.6,441.3,12.5,1386,15822,0.00,2.90,0.00,0.000,6,0.000,0.033,3088,2800,1481
$GC,16145,0.70,389.6,396.5,14.3,1417,16149,0.00,2.17,0.00,0.000,4,0.000,0.051,3088,3890,1480
$GC,16206,0.70,389.6,386.9,14.1,1422,16210,0.00,2.12,0.00,0.000,6,0.000,0.031,3088,2794,1479
$GC,16533,0.65,389.6,339.8,13.3,1458,16540,0.15,2.22,0.00,0.000,4,0.104,0.049,3062,3895,1479
$GC,16563,0.65,389.6,335.9,14.5,1463,16568,0.00,2.10,0.00,0.000,6,0.000,0.031,3062,2806,1479
$GC,16901,0.65,389.6,299.1,10.7,1524,16909,0.00,2.95,0.00,0.000,4,0.000,0.048,3062,1344,1478
$GC,16944,0.73,417.6,294.8,9.0,1531,16981,0.00,2.85,29.55,1.143,6,0.000,0.031,3062,2807,1368
$GC,17318,0.78,417.6,257.3,10.7,1597,17324,0.15,2.97,0.00,0.000,4,0.053,0.044,3093,1337,1363
$GC,17353,0.78,417.6,252.6,15.0,1603,17359,0.00,2.85,0.00,0.000,6,0.000,0.031,3093,2786,1363
$GC,17692,0.73,417.6,202.8,13.8,1664,17701,0.00,2.22,0.00,0.000,4,0.000,0.051,3093,3890,1363
$GC,17747,0.73,417.6,195.0,14.0,1673,17753,0.00,2.12,0.00,0.000,6,0.000,0.031,3094,2787,1363
$GC,18085,0.67,417.6,146.3,15.5,1734,18093,0.15,2.25,0.00,0.000,4,0.107,0.049,3068,3888,1362
$GC,18118,0.67,417.6,142.5,12.2,1739,18124,0.00,2.10,0.00,0.000,6,0.000,0.031,3067,2800,1362
$GC,18446,0.70,442.9,110.2,9.1,1800,18481,0.00,2.92,26.00,1.016,4,0.000,0.046,3067,1347,1265
$GC,18530,0.77,444.8,102.3,9.9,1814,18539,0.00,2.90,0.00,0.000,6,0.000,0.031,3067,2800,1263
$GC,18865,0.83,444.8,69.7,10.1,1875,18872,0.15,2.95,0.00,0.000,4,0.052,0.044,3103,1340,1261
$GC,18894,0.83,444.8,66.0,10.8,1880,18902,0.00,2.85,0.00,0.000,6,0.000,0.031,3103,2775,1261
$GC,19221,0.77,444.8,17.3,13.5,1941,19228,0.00,2.22,0.00,0.000,4,0.000,0.048,3103,3887,1261
$GC,19252,0.73,444.8,12.8,16.8,1946,19261,0.10,2.17,0.00,0.000,6,0.098,0.033,3084,2782,1260
$STATE,19338,end climb,SURFACE_DEPTH_REACHED
$STATE,19339,begin surface coast
$FINISH,0.2,1.018731
$STATE,19358,end surface coast,CONTROL_FINISHED_OK
$STATE,19358,begin surface
$SM_CCo,19436,0.00,0.000,0,0,1257,444.73
$SM_GC,0.74,8.48,0.00,0.00,0.051,0.000,0.000,1434,2290,1257,-6.80,-0.28,444.73
$IRIDIUM_FIX,6108.28,-2639.96,040897,171739
$TT8_MAMPS,0.026078
$HUMID,1788
$INTERNAL_PRESSURE,8.85822
$TCM_TEMP,11.10
$XPDR_PINGS,968
$24V_AH,19.3,58.657
$10V_AH,9.7,43.459
$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,24.225,155.850,694.725,0.000,0.000,54.105,69.045,360.474,242.000,0.000,0.000,14.703,3094.365,10987.725,797.862,4399.470,832.519,0.000,2495.475,0.000,4396.122,0.000,0.465
$DEVICE_MAMPS,253.877,110.448,1636.011,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1373.393,1401.054,722.482,959.719,1776.035,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142162,1965
$CAP_FILE_SIZE,186713,0
$CFSIZE,260165632,240136192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100508,224538,6131.839,-2634.871,33,1.0,33,-18.8