version: 66.03
glider: 142
mission: 5
dive: 172
start: 5 11 108 4 29 29
data:
$ID,142
$MISSION,5
$DIVE,172
$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,90
$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,-16348.481
$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,40
$R_STBD_OVSHOOT,18
$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
$GPS1,042155,6133.040,-2629.645,24,1.0,41,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-52.3
$GPS2,042909,6133.057,-2629.591,14,1.0,14,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6133.057,-2624.447
$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,108.7,20000,-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,-194.7,0.0,0.0,0,144,0.00,0.00,-115.20,0.000,2,0.000,0.000,1433,2278,3530
$GC,147,-0.86,-194.7,3.3,-4.5,16,176,12.02,2.92,-9.27,0.000,4,0.257,0.054,2725,3705,3866
$GC,242,-0.81,-194.7,19.4,-12.7,32,250,0.00,2.78,0.00,0.000,6,0.000,0.034,2725,2317,3868
$GC,377,-0.75,-194.7,36.5,-12.3,57,385,0.17,0.00,0.00,0.000,6,0.144,0.000,2752,2316,3868
$GC,512,-0.75,-194.7,49.3,-8.6,82,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2316,3868
$GC,651,-0.75,-194.7,60.3,-7.7,107,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2316,3868
$GC,978,-0.75,-194.7,91.9,-10.5,168,986,0.00,2.88,0.00,0.000,4,0.000,0.051,2752,896,3868
$GC,1042,-0.75,-194.7,98.6,-10.7,179,1048,0.00,2.70,0.00,0.000,6,0.000,0.029,2752,2298,3868
$GC,1371,-0.75,-194.7,132.9,-9.8,240,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2298,3868
$GC,1708,-0.75,-194.7,167.9,-10.6,301,1714,0.00,2.83,0.00,0.000,4,0.000,0.048,2752,886,3868
$GC,1736,-0.75,-194.7,171.2,-10.8,306,1743,0.00,2.70,0.00,0.000,6,0.000,0.030,2752,2293,3868
$GC,2076,-0.75,-194.7,206.1,-9.5,367,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2293,3868
$GC,2415,-0.75,-194.7,238.5,-9.3,428,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2293,3868
$GC,2757,-0.75,-194.7,269.2,-9.0,489,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2293,3868
$GC,3094,-0.75,-194.7,299.7,-9.1,550,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2293,3868
$GC,3431,-0.75,-194.7,330.5,-9.4,611,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2294,3868
$GC,3769,-0.75,-194.7,362.7,-10.0,661,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2294,3868
$GC,4088,-0.75,-194.7,394.0,-9.6,691,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2294,3868
$GC,4409,-0.75,-194.7,423.3,-9.2,721,4414,0.00,2.83,0.00,0.000,4,0.000,0.049,2752,886,3868
$GC,4448,-0.75,-194.7,427.3,-9.5,724,4453,0.00,2.70,0.00,0.000,6,0.000,0.031,2752,2290,3867
$GC,4774,-0.75,-194.7,456.2,-8.8,754,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2290,3868
$GC,5091,-0.75,-194.7,484.1,-9.0,784,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2291,3868
$GC,5412,-0.75,-194.7,513.0,-9.1,814,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2290,3868
$GC,5728,-0.75,-194.7,541.6,-8.9,844,5732,0.00,2.83,0.00,0.000,4,0.000,0.049,2752,3700,3868
$GC,5737,-0.75,-194.7,542.5,-8.6,844,5744,0.00,2.80,0.00,0.000,6,0.000,0.035,2752,2274,3867
$GC,6064,-0.75,-194.7,570.9,-8.6,875,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2274,3868
$GC,6383,-0.75,-194.7,598.6,-9.2,905,6388,0.00,2.92,0.00,0.000,4,0.000,0.052,2752,3708,3867
$GC,6405,-0.75,-194.7,600.9,-9.3,906,6409,0.00,2.83,0.00,0.000,6,0.000,0.037,2752,2277,3868
$GC,6725,-0.75,-194.7,630.8,-9.4,922,6730,0.00,2.92,0.00,0.000,4,0.000,0.054,2752,3701,3867
$GC,6746,-0.75,-194.7,632.9,-9.5,923,6751,0.00,2.80,0.00,0.000,6,0.000,0.039,2752,2290,3868
$GC,7068,-0.75,-194.7,664.2,-10.0,939,7072,0.00,2.92,0.00,0.000,4,0.000,0.058,2752,3703,3868
$GC,7084,-0.75,-194.7,666.0,-9.9,940,7089,0.00,2.83,0.00,0.000,6,0.000,0.042,2752,2293,3867
$GC,7409,-0.75,-194.7,700.8,-11.1,956,7414,0.00,2.95,0.00,0.000,4,0.000,0.063,2752,3699,3867
$GC,7426,-0.75,-194.7,702.6,-11.3,957,7430,0.00,2.85,0.00,0.000,6,0.000,0.048,2752,2290,3867
$GC,7751,-0.75,-194.7,736.9,-10.6,973,7756,0.00,3.00,0.00,0.000,4,0.000,0.067,2752,3704,3867
$GC,7772,-0.75,-194.7,739.2,-10.6,974,7776,0.00,2.88,0.00,0.000,6,0.000,0.051,2752,2302,3867
$GC,8094,-0.75,-194.7,768.5,-8.3,990,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2302,3867
$GC,8403,-0.75,-194.7,793.5,-8.2,1005,8408,0.00,3.10,0.00,0.000,4,0.000,0.086,2752,3697,3866
$GC,8435,-0.79,-194.7,796.4,-9.2,1006,8442,0.00,2.97,0.00,0.000,6,0.000,0.071,2752,2317,3866
$GC,8751,-0.79,-194.7,823.4,-8.4,1022,8752,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2317,3866
$GC,9060,-0.79,-194.7,850.9,-9.0,1037,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2316,3866
$GC,9369,-0.79,-194.7,877.6,-8.4,1052,9374,0.00,3.38,0.00,0.000,4,0.000,0.123,2752,3693,3866
$GC,9386,-0.79,-194.7,879.1,-8.3,1053,9391,0.00,2.80,0.00,0.000,6,0.000,0.047,2752,2310,3865
$GC,9712,-0.83,-194.7,905.2,-7.9,1069,9717,0.00,2.88,0.00,0.000,4,0.000,0.054,2752,3706,3866
$GC,9745,-0.87,-194.7,907.9,-8.3,1070,9752,0.00,2.75,0.00,0.000,6,0.000,0.039,2752,2320,3865
$GC,10060,-0.87,-194.7,931.5,-7.3,1086,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2319,3865
$GC,10370,-0.91,-194.7,954.6,-7.5,1101,10376,0.15,2.88,0.00,0.000,4,0.065,0.057,2720,3703,3865
$GC,10388,-0.91,-194.7,956.2,-8.0,1102,10392,0.00,2.75,0.00,0.000,6,0.000,0.041,2720,2328,3865
$STATE,10711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10712,begin apogee
$GC,10718,-0.21,0.0,991.2,11.1,1118,10934,0.98,0.00,208.62,1.633,6,0.140,0.000,2869,2748,3071
$STATE,10935,end apogee,CONTROL_FINISHED_OK
$STATE,10935,begin climb
$GC,10937,0.86,194.7,998.4,0.0,1129,11163,1.40,2.50,215.32,1.588,4,0.081,0.058,3099,3890,2278
$GC,11348,0.70,194.7,948.9,15.3,1148,11353,0.17,2.35,0.00,0.000,6,0.131,0.035,3075,2739,2277
$GC,11669,0.58,194.7,909.8,12.0,1164,11674,0.15,2.42,0.00,0.000,4,0.123,0.054,3050,3900,2276
$GC,11731,0.54,194.7,902.9,11.1,1167,11735,0.00,2.28,0.00,0.000,6,0.000,0.034,3050,2749,2275
$GC,12057,0.53,229.8,873.0,8.8,1183,12099,0.00,2.50,36.60,1.495,4,0.000,0.054,3050,3897,2134
$GC,12138,0.55,243.8,865.3,9.5,1186,12159,0.00,2.25,16.35,1.411,6,0.000,0.033,3051,2773,2076
$GC,12469,0.56,251.6,833.4,9.7,1202,12483,0.00,2.35,9.12,1.251,4,0.000,0.056,3050,3893,2045
$GC,12517,0.56,251.6,828.3,10.4,1204,12522,0.00,2.22,0.00,0.000,6,0.000,0.033,3050,2784,2044
$GC,12845,0.56,251.6,795.1,10.2,1220,12849,0.00,2.90,0.00,0.000,4,0.000,0.048,3050,1345,2043
$GC,12876,0.56,251.6,791.6,10.2,1221,12883,0.00,2.85,0.00,0.000,6,0.000,0.033,3050,2783,2043
$GC,13192,0.56,251.6,756.8,11.1,1237,13196,0.00,2.22,0.00,0.000,4,0.000,0.054,3050,3893,2042
$GC,13236,0.56,251.6,751.7,11.6,1239,13240,0.00,2.17,0.00,0.000,6,0.000,0.033,3050,2772,2042
$GC,13563,0.56,253.4,718.1,9.9,1255,13564,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2771,2042
$GC,13872,0.57,265.0,688.3,9.6,1270,13892,0.00,0.00,14.73,1.305,6,0.000,0.000,3050,2772,1989
$GC,14201,0.57,265.0,655.4,10.0,1286,14205,0.00,2.30,0.00,0.000,4,0.000,0.052,3050,3901,1988
$GC,14244,0.57,267.5,650.8,9.9,1288,14248,0.00,2.17,0.00,0.000,6,0.000,0.031,3050,2780,1988
$GC,14571,0.59,280.4,619.3,9.6,1304,14591,0.00,0.00,17.15,1.294,6,0.000,0.000,3050,2778,1927
$GC,14904,0.64,316.9,588.7,8.7,1325,14949,0.00,2.97,38.65,1.346,4,0.000,0.048,3050,1346,1778
$GC,14983,0.67,345.1,581.5,9.0,1332,15019,0.00,2.92,30.67,1.317,6,0.000,0.031,3050,2796,1665
$GC,15338,0.70,367.6,548.8,9.2,1365,15368,0.10,0.00,24.15,1.266,6,0.065,0.000,3070,2796,1572
$GC,15686,0.70,367.6,510.3,11.4,1398,15687,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2796,1568
$GC,16004,0.70,367.6,474.0,11.5,1428,16006,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2796,1567
$GC,16323,0.70,367.6,435.8,12.1,1458,16328,0.00,2.95,0.00,0.000,4,0.000,0.045,3070,1336,1566
$GC,16355,0.70,367.6,431.7,12.7,1460,16362,0.00,2.83,0.00,0.000,6,0.000,0.032,3070,2774,1566
$GC,16682,0.70,367.6,391.7,12.8,1491,16686,0.00,2.22,0.00,0.000,4,0.000,0.051,3070,3895,1565
$GC,16726,0.70,367.6,385.7,13.4,1494,16732,0.00,2.17,0.00,0.000,6,0.000,0.032,3070,2770,1565
$GC,17054,0.70,367.6,343.9,11.8,1529,17060,0.00,2.85,0.00,0.000,4,0.000,0.048,3070,1341,1565
$GC,17083,0.70,367.6,339.9,12.6,1534,17089,0.00,2.83,0.00,0.000,6,0.000,0.031,3071,2788,1564
$GC,17422,0.70,367.6,297.6,12.8,1595,17427,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2789,1564
$GC,17758,0.70,367.6,255.8,12.9,1656,17765,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2789,1564
$GC,18100,0.70,367.6,214.5,12.8,1717,18105,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2789,1564
$GC,18437,0.70,367.6,174.7,10.9,1778,18443,0.00,2.90,0.00,0.000,4,0.000,0.044,3070,1340,1564
$GC,18471,0.70,367.6,170.8,13.2,1784,18478,0.00,2.83,0.00,0.000,6,0.000,0.032,3070,2772,1564
$GC,18809,0.72,388.1,134.4,9.3,1845,18834,0.00,0.00,20.48,1.003,6,0.000,0.000,3070,2772,1489
$GC,19160,0.73,389.9,98.3,9.9,1909,19165,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2772,1486
$GC,19489,0.73,389.9,65.8,10.9,1970,19497,0.00,2.90,0.00,0.000,4,0.000,0.045,3070,1348,1486
$GC,19526,0.74,401.9,62.4,9.6,1976,19547,0.00,2.80,15.00,0.933,6,0.000,0.031,3070,2766,1432
$GC,19867,0.74,401.9,29.3,10.8,2039,19874,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2767,1430
$GC,20001,0.74,401.9,14.9,10.2,2064,20009,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2767,1429
$STATE,20123,end climb,SURFACE_DEPTH_REACHED
$STATE,20124,begin surface coast
$FINISH,0.3,1.026257
$STATE,20141,end surface coast,CONTROL_FINISHED_OK
$STATE,20142,begin surface
$SM_CCo,20220,0.00,0.000,0,0,1426,403.52
$SM_GC,0.66,8.32,0.00,0.00,0.047,0.000,0.000,1431,2285,1426,-6.80,-0.42,403.52
$IRIDIUM_FIX,6108.28,-2633.90,040897,232302
$TT8_MAMPS,0.026845
$HUMID,1757
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,11.40
$XPDR_PINGS,1004
$24V_AH,19.3,59.311
$10V_AH,9.7,43.889
$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,23.475,148.875,646.850,0.000,0.000,28.457,38.192,229.482,251.000,0.000,0.000,15.763,3291.840,11227.649,769.609,4702.746,644.832,0.000,2528.094,0.000,4706.994,0.000,0.465
$DEVICE_MAMPS,256.945,122.720,1632.943,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1470.789,1498.327,798.943,1062.366,1977.286,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,151796,2090
$CAP_FILE_SIZE,187920,0
$CFSIZE,260165632,239927296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110508,100738,6133.102,-2623.143,33,1.1,33,-18.7