version: 66.03
glider: 142
mission: 5
dive: 176
start: 5 12 108 2 25 45
data:
$ID,142
$MISSION,5
$DIVE,176
$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,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,-16428.928
$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,26
$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
$GPS1,021801,6131.366,-2602.660,36,1.3,41,-18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-54.1
$GPS2,022527,6131.396,-2602.499,12,1.7,12,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6124.455,-2558.540
$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,148.5,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,139,0.00,0.00,-110.12,0.000,2,0.000,0.000,1432,2288,3431
$GC,142,-0.86,-194.7,3.1,-4.7,20,178,12.02,2.92,-13.18,0.000,4,0.257,0.051,2724,3710,3867
$GC,185,-0.65,-194.7,10.0,-13.7,27,192,0.32,2.78,0.00,0.000,6,0.135,0.033,2772,2298,3867
$GC,331,-0.65,-194.7,26.6,-9.4,52,337,0.00,2.83,0.00,0.000,4,0.000,0.044,2772,3706,3867
$GC,349,-0.65,-194.7,28.7,-9.8,55,356,0.00,2.72,0.00,0.000,6,0.000,0.034,2772,2319,3867
$GC,494,-0.69,-194.7,43.3,-10.6,80,500,0.00,2.78,0.00,0.000,4,0.000,0.044,2772,3706,3867
$GC,507,-0.74,-194.7,44.8,-9.9,82,514,0.00,2.70,0.00,0.000,6,0.000,0.034,2772,2326,3867
$GC,650,-0.78,-194.7,60.7,-11.7,107,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2325,3867
$GC,993,-0.84,-194.7,96.5,-10.0,168,1001,0.15,2.78,0.00,0.000,4,0.062,0.044,2739,3706,3867
$GC,1013,-0.84,-194.7,98.5,-10.3,171,1019,0.00,2.72,0.00,0.000,6,0.000,0.034,2739,2314,3868
$GC,1356,-0.84,-194.7,139.0,-11.8,232,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2314,3867
$GC,1700,-0.84,-194.7,182.0,-12.8,293,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2314,3868
$GC,2042,-0.84,-194.7,227.1,-12.0,354,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2313,3868
$GC,2384,-0.84,-194.7,265.1,-10.4,415,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2314,3868
$GC,2726,-0.84,-194.7,299.3,-10.3,476,2732,0.00,2.85,0.00,0.000,4,0.000,0.051,2739,883,3868
$GC,2772,-0.84,-194.7,304.3,-10.7,484,2778,0.00,2.78,0.00,0.000,6,0.000,0.029,2738,2326,3868
$GC,3116,-0.84,-194.7,341.0,-11.2,545,3122,0.00,2.90,0.00,0.000,4,0.000,0.048,2738,883,3868
$GC,3151,-0.84,-194.7,345.3,-12.3,551,3158,0.00,2.75,0.00,0.000,6,0.000,0.030,2739,2316,3868
$GC,3478,-0.84,-194.7,385.2,-11.3,585,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2316,3868
$GC,3799,-0.84,-194.7,418.5,-9.9,615,3803,0.00,2.88,0.00,0.000,4,0.000,0.048,2739,883,3868
$GC,3853,-0.84,-194.7,424.4,-10.1,619,3860,0.00,2.75,0.00,0.000,6,0.000,0.030,2738,2310,3868
$GC,4182,-0.84,-194.7,456.6,-9.9,650,4186,0.00,2.85,0.00,0.000,4,0.000,0.048,2738,887,3868
$GC,4209,-0.84,-194.7,459.9,-11.2,652,4213,0.00,2.75,0.00,0.000,6,0.000,0.031,2738,2313,3868
$GC,4536,-0.84,-194.7,493.6,-10.6,682,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2313,3868
$GC,4861,-0.84,-194.7,529.6,-11.4,713,4865,0.00,2.85,0.00,0.000,4,0.000,0.049,2739,892,3868
$GC,4888,-0.84,-194.7,532.8,-12.1,715,4893,0.00,2.72,0.00,0.000,6,0.000,0.031,2739,2304,3868
$GC,5214,-0.84,-194.7,570.0,-11.9,745,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2306,3868
$GC,5530,-0.84,-194.7,605.5,-11.1,773,5531,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2305,3867
$GC,5840,-0.84,-194.7,637.6,-9.6,788,5844,0.00,2.88,0.00,0.000,4,0.000,0.054,2738,891,3867
$GC,5866,-0.84,-194.7,640.3,-10.1,789,5870,0.00,2.75,0.00,0.000,6,0.000,0.034,2738,2298,3867
$GC,6188,-0.84,-194.7,671.5,-10.1,805,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2299,3867
$GC,6497,-0.84,-194.7,704.8,-11.1,820,6501,0.00,2.92,0.00,0.000,4,0.000,0.064,2738,3706,3867
$GC,6506,-0.84,-194.7,705.9,-10.9,820,6513,0.00,2.85,0.00,0.000,6,0.000,0.046,2738,2311,3867
$GC,6822,-0.84,-194.7,739.8,-10.6,836,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2311,3867
$GC,7132,-0.84,-194.7,773.6,-10.7,851,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2310,3866
$GC,7440,-0.84,-194.7,806.9,-10.9,866,7445,0.00,3.17,0.00,0.000,4,0.000,0.095,2739,3705,3866
$GC,7450,-0.84,-194.7,808.1,-10.9,866,7457,0.00,3.08,0.00,0.000,6,0.000,0.078,2738,2303,3866
$GC,7765,-0.84,-194.7,842.4,-10.9,882,7766,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2302,3866
$GC,8075,-0.84,-194.7,875.8,-10.8,897,8080,0.00,3.42,0.00,0.000,4,0.000,0.124,2738,3700,3866
$GC,8085,-0.84,-194.7,876.8,-10.4,897,8091,0.00,3.35,0.00,0.000,6,0.000,0.114,2739,2301,3866
$GC,8400,-0.84,-194.7,908.6,-9.9,913,8405,0.00,2.90,0.00,0.000,4,0.000,0.055,2739,3709,3865
$GC,8410,-0.84,-194.7,909.6,-9.7,913,8417,0.00,2.80,0.00,0.000,6,0.000,0.041,2739,2295,3866
$GC,8726,-0.84,-194.7,940.6,-9.5,929,8730,0.00,2.92,0.00,0.000,4,0.000,0.057,2739,3709,3865
$GC,8737,-0.84,-194.7,941.6,-9.4,929,8743,0.00,2.80,0.00,0.000,6,0.000,0.041,2739,2307,3865
$GC,9052,-0.84,-194.7,972.7,-10.4,945,9053,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2306,3865
$STATE,9235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9235,begin apogee
$GC,9241,-0.21,0.0,991.4,10.1,954,9453,0.82,0.00,207.98,1.629,6,0.124,0.000,2871,2749,3071
$STATE,9453,end apogee,CONTROL_FINISHED_OK
$STATE,9453,begin climb
$GC,9456,0.86,194.7,999.2,0.0,964,9682,1.38,2.67,215.60,1.587,4,0.078,0.058,3098,3890,2277
$GC,9823,0.70,194.7,959.9,14.6,981,9828,0.17,2.35,0.00,0.000,6,0.128,0.035,3075,2748,2275
$GC,10144,0.58,194.7,920.5,12.0,997,10149,0.15,2.40,0.00,0.000,4,0.120,0.053,3049,3900,2274
$GC,10205,0.53,194.7,913.6,10.9,1000,10209,0.00,2.28,0.00,0.000,6,0.000,0.034,3050,2750,2274
$GC,10538,0.50,212.1,881.5,9.4,1016,10558,0.00,0.00,18.48,1.414,6,0.000,0.000,3049,2749,2206
$GC,10867,0.46,218.2,849.0,9.8,1032,10877,0.17,0.00,7.70,1.207,6,0.115,0.000,3023,2748,2180
$GC,11176,0.55,289.4,825.7,7.5,1047,11259,0.00,2.47,75.00,1.506,4,0.000,0.059,3023,3891,1890
$GC,11307,0.67,328.9,815.8,8.6,1053,11357,0.22,2.25,43.38,1.463,6,0.051,0.038,3065,2772,1729
$GC,11680,0.67,328.9,771.7,12.0,1071,11685,0.00,2.92,0.00,0.000,4,0.000,0.048,3065,1340,1723
$GC,11734,0.67,328.9,764.8,11.6,1073,11741,0.00,2.88,0.00,0.000,6,0.000,0.033,3065,2780,1721
$GC,12050,0.67,328.9,726.6,12.4,1089,12054,0.00,2.25,0.00,0.000,4,0.000,0.053,3065,3894,1720
$GC,12112,0.67,328.9,719.0,11.9,1092,12116,0.00,2.20,0.00,0.000,6,0.000,0.032,3065,2768,1719
$GC,12438,0.67,328.9,680.3,11.8,1108,12439,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2766,1720
$GC,12748,0.67,328.9,642.3,12.6,1123,12749,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2765,1719
$GC,13057,0.67,328.9,603.4,12.5,1138,13058,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2765,1719
$GC,13374,0.67,328.9,564.6,11.4,1166,13375,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2764,1718
$GC,13693,0.67,328.9,529.1,10.9,1196,13694,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2763,1719
$GC,14011,0.67,328.9,494.9,10.5,1226,14015,0.00,2.28,0.00,0.000,4,0.000,0.050,3065,3893,1718
$GC,14052,0.67,328.9,490.8,10.4,1229,14056,0.00,2.15,0.00,0.000,6,0.000,0.032,3064,2778,1718
$GC,14376,0.67,328.9,456.4,10.6,1259,14381,0.00,2.88,0.00,0.000,4,0.000,0.047,3065,1337,1718
$GC,14427,0.67,328.9,451.0,11.0,1263,14432,0.00,2.83,0.00,0.000,6,0.000,0.031,3065,2788,1718
$GC,14751,0.67,328.9,415.1,11.2,1293,14755,0.00,2.20,0.00,0.000,4,0.000,0.049,3065,3897,1717
$GC,14790,0.67,328.9,410.4,12.1,1296,14794,0.00,2.17,0.00,0.000,6,0.000,0.031,3065,2768,1718
$GC,15114,0.67,328.9,373.0,11.2,1326,15119,0.00,2.85,0.00,0.000,4,0.000,0.048,3065,1340,1717
$GC,15164,0.67,328.9,367.2,11.9,1330,15169,0.00,2.80,0.00,0.000,6,0.000,0.031,3065,2775,1718
$GC,15498,0.67,328.9,328.8,11.1,1376,15504,0.00,2.25,0.00,0.000,4,0.000,0.050,3065,3893,1717
$GC,15538,0.67,328.9,324.1,11.4,1383,15544,0.00,2.17,0.00,0.000,6,0.000,0.031,3065,2764,1717
$GC,15881,0.67,328.9,286.1,10.5,1444,15887,0.00,2.83,0.00,0.000,4,0.000,0.047,3065,1339,1717
$GC,15933,0.67,328.9,280.3,11.6,1453,15939,0.00,2.80,0.00,0.000,6,0.000,0.031,3065,2779,1718
$GC,16276,0.67,328.9,242.5,11.1,1514,16282,0.00,2.20,0.00,0.000,4,0.000,0.048,3065,3894,1717
$GC,16322,0.67,328.9,237.2,11.1,1522,16328,0.00,2.17,0.00,0.000,6,0.000,0.031,3066,2760,1717
$GC,16666,0.67,328.9,200.7,12.0,1583,16672,0.00,2.80,0.00,0.000,4,0.000,0.046,3065,1346,1717
$GC,16706,0.67,328.9,196.2,11.0,1590,16712,0.00,2.75,0.00,0.000,6,0.000,0.031,3065,2771,1718
$GC,17050,0.67,328.9,156.9,11.5,1651,17056,0.00,2.22,0.00,0.000,4,0.000,0.049,3065,3892,1717
$GC,17090,0.67,328.9,152.9,10.1,1658,17096,0.00,2.17,0.00,0.000,6,0.000,0.032,3065,2759,1717
$GC,17435,0.70,352.4,122.1,9.2,1719,17463,0.00,2.90,22.35,0.989,4,0.000,0.046,3065,1340,1633
$GC,17510,0.76,400.5,115.6,8.3,1732,17565,0.00,2.78,49.33,1.048,6,0.000,0.031,3065,2760,1438
$GC,17905,0.87,450.3,78.3,8.3,1802,17959,0.20,0.00,49.92,0.998,6,0.048,0.000,3110,2760,1235
$GC,18297,0.78,450.3,12.1,18.4,1872,18304,0.00,2.25,0.00,0.000,4,0.000,0.048,3110,3894,1228
$GC,18350,0.73,450.3,2.2,17.9,1881,18357,0.12,2.25,0.00,0.000,6,0.104,0.032,3081,2756,1227
$STATE,18362,end climb,SURFACE_DEPTH_REACHED
$STATE,18362,begin surface coast
$FINISH,0.2,1.026231
$STATE,18374,end surface coast,CONTROL_FINISHED_OK
$STATE,18374,begin surface
$SM_CCo,18452,0.00,0.000,0,0,1225,452.82
$SM_GC,0.76,8.38,0.00,0.00,0.044,0.000,0.000,1431,2286,1225,-6.79,-0.40,452.82
$IRIDIUM_FIX,6112.75,-2607.63,050897,212151
$TT8_MAMPS,0.026078
$HUMID,1791
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,16.50
$XPDR_PINGS,969
$24V_AH,19.3,60.642
$10V_AH,9.8,44.579
$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,24.125,167.400,689.725,0.000,0.000,25.592,33.984,247.770,242.250,0.000,0.000,15.433,2959.900,11045.476,814.653,3426.387,631.176,0.000,2402.836,0.000,3407.885,0.000,0.465
$DEVICE_MAMPS,256.945,124.254,1629.108,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1336.692,1341.621,703.851,1658.685,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136088,1885
$CAP_FILE_SIZE,175409,0
$CFSIZE,260165632,239562752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120508,073432,6129.845,-2554.581,39,1.4,39,-18.4