version: 66.03
glider: 142
mission: 5
dive: 189
start: 5 14 108 23 52 23
data:
$ID,142
$MISSION,5
$DIVE,189
$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,100
$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,340
$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,-16652.352
$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,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
$GPS1,234431,6105.223,-2616.028,39,1.5,44,-18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-60.1
$GPS2,235203,6105.196,-2616.124,10,1.1,10,-18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6115.344,-2617.900
$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,358.3,20000,-21.7,-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,-1.03,-97.3,0.0,0.0,0,94,0.00,0.00,-65.90,0.000,2,0.000,0.000,1431,2282,3455
$GC,97,-1.03,-97.3,3.2,-4.7,12,117,11.62,2.88,-0.35,0.000,4,0.253,0.050,2690,3718,3468
$GC,260,-0.98,-97.3,28.4,-13.3,40,266,0.00,2.78,0.00,0.000,6,0.000,0.034,2690,2304,3469
$GC,404,-0.93,-97.3,46.4,-12.7,65,411,0.15,2.83,0.00,0.000,4,0.166,0.048,2712,891,3469
$GC,663,-0.93,-97.3,75.1,-10.3,111,670,0.00,2.70,0.00,0.000,6,0.000,0.029,2711,2287,3470
$GC,1008,-0.93,-97.3,109.6,-9.9,172,1015,0.00,2.80,0.00,0.000,4,0.000,0.047,2711,888,3470
$GC,1105,-0.93,-97.3,121.0,-11.6,189,1111,0.00,2.67,0.00,0.000,6,0.000,0.031,2712,2281,3470
$GC,1450,-0.93,-97.3,159.8,-10.9,250,1456,0.00,2.80,0.00,0.000,4,0.000,0.046,2712,883,3471
$GC,1597,-0.93,-97.3,177.4,-12.1,276,1604,0.00,2.62,0.00,0.000,6,0.000,0.030,2711,2252,3470
$GC,1941,-0.93,-97.3,215.1,-10.9,337,1947,0.00,2.72,0.00,0.000,4,0.000,0.047,2712,891,3470
$GC,2032,-0.93,-97.3,225.7,-11.7,353,2038,0.00,2.60,0.00,0.000,6,0.000,0.030,2712,2243,3471
$GC,2376,-0.93,-97.3,263.2,-10.7,414,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2244,3470
$GC,2719,-0.93,-97.3,300.2,-11.0,475,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2245,3471
$GC,3060,-0.93,-97.3,336.8,-10.5,536,3067,0.00,2.70,0.00,0.000,4,0.000,0.048,2712,891,3471
$GC,3137,-0.93,-97.3,345.2,-11.1,549,3143,0.00,2.60,0.00,0.000,6,0.000,0.031,2712,2240,3470
$GC,3469,-0.93,-97.3,380.3,-10.3,584,3473,0.00,2.72,0.00,0.000,4,0.000,0.048,2711,883,3470
$GC,3523,-0.93,-97.3,386.2,-11.0,588,3530,0.00,2.62,0.00,0.000,6,0.000,0.031,2712,2232,3471
$GC,3850,-0.93,-97.3,419.4,-10.2,619,3854,0.00,2.70,0.00,0.000,4,0.000,0.048,2712,888,3470
$GC,3911,-0.93,-97.3,426.2,-10.7,624,3915,0.00,2.58,0.00,0.000,6,0.000,0.031,2711,2226,3471
$GC,4238,-0.93,-97.3,458.8,-10.1,654,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2227,3470
$GC,4553,-0.93,-97.3,491.9,-10.1,684,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2229,3470
$GC,4872,-0.93,-97.3,525.2,-10.5,714,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2229,3470
$GC,5190,-0.93,-97.3,559.2,-9.9,744,5195,0.00,2.70,0.00,0.000,4,0.000,0.050,2711,889,3470
$GC,5267,-0.93,-97.3,567.4,-10.6,750,5274,0.00,2.62,0.00,0.000,6,0.000,0.031,2712,2231,3470
$GC,5594,-0.93,-97.3,597.5,-9.1,781,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2232,3470
$GC,5913,-0.93,-97.3,627.0,-9.1,798,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2231,3470
$GC,6223,-0.93,-97.3,656.4,-9.7,813,6228,0.00,2.75,0.00,0.000,4,0.000,0.057,2711,894,3469
$GC,6413,-0.93,-97.3,676.0,-10.7,821,6419,0.00,2.62,0.00,0.000,6,0.000,0.037,2712,2226,3469
$GC,6730,-0.93,-97.3,706.3,-9.7,837,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2226,3469
$GC,7038,-0.93,-97.3,736.9,-9.7,852,7039,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2226,3469
$GC,7348,-0.93,-97.3,764.6,-9.0,867,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2226,3469
$GC,7657,-0.93,-97.3,791.4,-8.5,882,7658,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2226,3469
$GC,7966,-0.93,-97.3,820.5,-10.3,897,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2226,3469
$GC,8275,-0.93,-97.3,849.6,-9.1,912,8280,0.00,3.25,0.00,0.000,4,0.000,0.122,2712,899,3468
$GC,8347,-0.93,-97.3,856.8,-9.5,915,8352,0.00,3.00,0.00,0.000,6,0.000,0.097,2711,2205,3468
$GC,8663,-0.93,-97.3,883.5,-8.6,930,8668,0.00,3.67,0.00,0.000,4,0.000,0.129,2711,3696,3468
$GC,8725,-0.93,-97.3,889.4,-9.9,933,8730,0.00,2.95,0.00,0.000,6,0.000,0.042,2712,2222,3468
$GC,9051,-0.93,-97.3,921.2,-10.2,949,9055,0.00,2.72,0.00,0.000,4,0.000,0.061,2711,894,3468
$GC,9195,-0.93,-97.3,936.9,-10.9,955,9202,0.00,2.60,0.00,0.000,6,0.000,0.034,2711,2221,3468
$GC,9512,-0.93,-97.3,967.0,-9.7,971,9516,0.00,3.03,0.00,0.000,4,0.000,0.057,2711,3698,3468
$GC,9605,-0.93,-97.3,976.6,-10.4,975,9610,0.00,2.95,0.00,0.000,6,0.000,0.043,2711,2233,3468
$STATE,9754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9754,begin apogee
$GC,9760,-0.21,0.0,990.5,9.1,982,9867,1.05,0.00,103.50,1.625,6,0.146,0.000,2869,2741,3071
$STATE,9867,end apogee,CONTROL_FINISHED_OK
$STATE,9868,begin climb
$GC,9870,1.03,97.3,992.6,0.0,987,9986,1.55,2.65,106.57,1.599,4,0.077,0.058,3139,3890,2674
$GC,10048,0.88,97.3,974.4,14.5,995,10053,0.20,2.40,0.00,0.000,6,0.133,0.041,3113,2751,2674
$GC,10364,0.79,97.3,935.8,12.4,1010,10368,0.00,2.38,0.00,0.000,4,0.000,0.054,3113,3893,2673
$GC,10492,0.69,97.3,919.4,12.6,1015,10498,0.28,2.25,0.00,0.000,6,0.138,0.035,3074,2762,2673
$GC,10808,0.71,109.4,889.9,9.2,1031,10829,0.00,2.40,13.48,1.369,4,0.000,0.055,3074,3894,2624
$GC,10853,0.73,124.7,885.5,8.9,1033,10875,0.00,2.25,17.45,1.447,6,0.000,0.033,3074,2754,2562
$GC,11183,0.73,124.7,851.8,10.3,1049,11187,0.00,2.35,0.00,0.000,4,0.000,0.053,3074,3896,2561
$GC,11216,0.73,124.7,848.1,10.6,1050,11223,0.00,2.20,0.00,0.000,6,0.000,0.032,3074,2788,2561
$GC,11531,0.73,124.7,814.2,11.1,1066,11533,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2786,2560
$GC,11841,0.73,124.7,779.3,10.8,1081,11845,0.00,2.28,0.00,0.000,4,0.000,0.054,3074,3900,2560
$GC,11896,0.73,124.7,773.2,11.1,1083,11902,0.00,2.15,0.00,0.000,6,0.000,0.033,3073,2789,2560
$GC,12212,0.74,136.0,741.8,9.2,1099,12230,0.00,0.00,12.55,1.308,6,0.000,0.000,3074,2787,2516
$GC,12540,0.75,142.8,710.7,9.5,1115,12554,0.00,2.30,8.65,1.205,4,0.000,0.058,3074,3887,2488
$GC,12584,0.76,148.2,706.2,9.6,1117,12598,0.00,2.15,7.22,1.166,6,0.000,0.034,3074,2791,2466
$GC,12915,0.76,150.2,673.1,9.9,1133,12919,0.00,2.25,0.00,0.000,4,0.000,0.052,3074,3894,2465
$GC,12961,0.76,152.7,668.5,9.8,1135,12971,0.00,2.12,6.15,1.058,6,0.000,0.032,3074,2804,2448
$GC,13287,0.76,152.7,636.9,10.1,1151,13291,0.00,2.20,0.00,0.000,4,0.000,0.051,3074,3892,2447
$GC,13302,0.76,152.7,635.2,10.4,1151,13308,0.00,2.12,0.00,0.000,6,0.000,0.032,3074,2814,2447
$GC,13618,0.76,152.7,602.0,10.4,1167,13620,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2813,2447
$GC,13937,0.77,155.2,569.8,9.8,1196,13947,0.00,0.00,4.22,0.819,6,0.000,0.000,3074,2809,2438
$GC,14266,0.78,163.8,538.3,9.4,1227,14279,0.00,0.00,10.30,1.148,6,0.000,0.000,3074,2806,2403
$GC,14592,0.78,168.7,507.7,9.7,1258,14605,0.00,2.20,6.40,0.999,4,0.000,0.058,3074,3898,2384
$GC,14632,0.78,168.7,503.4,10.1,1261,14638,0.00,2.10,0.00,0.000,6,0.000,0.031,3074,2811,2384
$GC,14958,0.78,170.3,471.4,9.9,1292,14962,0.00,2.20,0.00,0.000,4,0.000,0.051,3074,3895,2383
$GC,14979,0.78,170.3,469.0,10.2,1293,14985,0.00,2.12,0.00,0.000,6,0.000,0.031,3074,2808,2383
$GC,15306,0.79,171.4,436.1,9.9,1324,15314,0.00,0.00,4.88,0.844,6,0.000,0.000,3074,2804,2372
$GC,15634,0.79,171.4,403.4,10.0,1355,15638,0.00,2.20,0.00,0.000,4,0.000,0.051,3074,3894,2372
$GC,15678,0.83,171.4,398.5,10.4,1358,15686,0.10,2.10,0.00,0.000,6,0.061,0.031,3097,2814,2372
$GC,16003,0.83,171.4,360.6,11.8,1389,16007,0.00,2.17,0.00,0.000,4,0.000,0.050,3097,3893,2372
$GC,16069,0.83,171.4,352.0,12.5,1394,16075,0.00,2.08,0.00,0.000,6,0.000,0.031,3097,2827,2372
$GC,16413,0.83,171.4,311.9,12.0,1453,16419,0.00,2.15,0.00,0.000,4,0.000,0.049,3097,3895,2372
$GC,16448,0.83,171.4,307.3,13.8,1459,16454,0.00,2.05,0.00,0.000,6,0.000,0.031,3097,2829,2372
$GC,16791,0.83,171.4,266.7,12.6,1520,16797,0.00,2.15,0.00,0.000,4,0.000,0.049,3097,3898,2372
$GC,16831,0.83,171.4,261.6,12.4,1527,16837,0.00,2.00,0.00,0.000,6,0.000,0.030,3097,2852,2372
$GC,17174,0.83,171.4,220.3,11.5,1588,17181,0.00,2.10,0.00,0.000,4,0.000,0.050,3097,3897,2372
$GC,17220,0.83,171.4,214.5,12.3,1596,17226,0.00,2.00,0.00,0.000,6,0.000,0.030,3097,2865,2372
$GC,17564,0.83,171.4,174.3,11.2,1657,17569,0.00,2.08,0.00,0.000,4,0.000,0.048,3097,3899,2372
$GC,17587,0.83,171.4,171.5,12.4,1661,17593,0.00,1.98,0.00,0.000,6,0.000,0.030,3097,2865,2373
$GC,17929,0.83,171.4,131.4,11.5,1722,17936,0.00,2.08,0.00,0.000,4,0.000,0.049,3097,3902,2372
$GC,17941,0.83,171.4,129.9,11.3,1724,17948,0.00,2.00,0.00,0.000,6,0.000,0.030,3097,2871,2372
$GC,18285,0.83,171.4,89.1,12.9,1785,18291,0.00,2.08,0.00,0.000,4,0.000,0.049,3097,3903,2373
$GC,18315,0.83,171.4,85.4,12.6,1790,18322,0.00,1.98,0.00,0.000,6,0.000,0.031,3097,2886,2373
$GC,18660,0.83,171.4,45.2,10.9,1851,18666,0.00,2.03,0.00,0.000,4,0.000,0.049,3097,3897,2373
$GC,18673,0.83,171.4,43.6,10.6,1853,18679,0.00,1.95,0.00,0.000,6,0.000,0.031,3097,2892,2373
$GC,18815,0.83,171.4,28.2,11.3,1878,18821,0.00,2.05,0.00,0.000,4,0.000,0.049,3097,3898,2373
$GC,18839,0.83,171.4,25.2,12.6,1882,18845,0.00,1.92,0.00,0.000,6,0.000,0.031,3097,2905,2373
$GC,18983,0.83,171.4,8.8,10.9,1907,18989,0.00,2.00,0.00,0.000,4,0.000,0.050,3096,3905,2373
$GC,19012,0.83,171.4,5.3,10.4,1912,19018,0.00,1.95,0.00,0.000,6,0.000,0.032,3097,2905,2373
$STATE,19045,end climb,SURFACE_DEPTH_REACHED
$STATE,19045,begin surface coast
$FINISH,0.2,1.026214
$STATE,19063,end surface coast,CONTROL_FINISHED_OK
$STATE,19064,begin surface
$SM_CCo,19082,25.65,0.937,0,0,2255,200.16
$SM_GC,0.83,0.00,0.00,25.65,0.000,0.000,0.937,1430,2285,2255,-6.85,-0.42,200.16
$IRIDIUM_FIX,6041.65,-2616.00,080897,181832
$TT8_MAMPS,0.026845
$HUMID,1774
$INTERNAL_PRESSURE,8.96564
$TCM_TEMP,16.40
$XPDR_PINGS,1072
$24V_AH,19.4,63.832
$10V_AH,9.8,46.659
$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,23.375,170.625,301.375,25.650,0.000,22.951,37.308,254.733,268.000,0.000,0.000,12.344,3103.294,11703.294,533.137,3542.460,663.672,0.000,2102.918,0.000,3536.786,0.000,0.466
$DEVICE_MAMPS,253.110,128.856,1625.273,936.507,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1342.596,1409.124,699.721,1702.704,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139089,1921
$CAP_FILE_SIZE,181881,0
$CFSIZE,260165632,238325760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150508,051208,6106.827,-2619.616,38,1.0,38,-18.4