version: 66.03
glider: 142
mission: 5
dive: 228
start: 5 23 108 16 30 41
data:
$ID,142
$MISSION,5
$DIVE,228
$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,5
$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,-17299.713
$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,21
$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
$GPS1,162307,6126.357,-2604.221,35,1.2,40,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-59.1
$GPS2,163021,6126.359,-2604.209,11,1.3,11,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6137.118,-2603.761
$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,23.4,20000,-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,-194.7,0.0,0.0,0,138,0.00,0.00,-109.43,0.000,2,0.000,0.000,1430,2287,3414
$GC,141,-0.86,-194.7,3.3,-5.5,20,172,11.88,2.92,-13.35,0.000,4,0.251,0.052,2724,3710,3867
$GC,352,-0.81,-194.7,32.7,-13.0,57,359,0.00,2.75,0.00,0.000,6,0.000,0.033,2724,2297,3868
$GC,495,-0.75,-194.7,51.8,-13.0,82,502,0.17,2.83,0.00,0.000,4,0.133,0.048,2751,883,3868
$GC,554,-0.75,-194.7,58.7,-11.0,92,561,0.00,2.75,0.00,0.000,6,0.000,0.029,2751,2309,3868
$GC,898,-0.75,-194.7,96.8,-11.4,153,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2309,3868
$GC,1240,-0.75,-194.7,134.4,-10.5,214,1246,0.00,2.85,0.00,0.000,4,0.000,0.048,2751,886,3868
$GC,1280,-0.75,-194.7,138.7,-11.0,221,1287,0.00,2.70,0.00,0.000,6,0.000,0.030,2751,2292,3869
$GC,1624,-0.75,-194.7,174.1,-10.0,282,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2294,3868
$GC,1967,-0.75,-194.7,208.4,-9.8,343,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2294,3869
$GC,2311,-0.75,-194.7,242.3,-9.6,404,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2295,3868
$GC,2654,-0.75,-194.7,275.1,-9.3,465,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2296,3869
$GC,2998,-0.75,-194.7,309.1,-9.9,526,3005,0.00,2.83,0.00,0.000,4,0.000,0.048,2751,883,3869
$GC,3039,-0.75,-194.7,313.4,-10.4,533,3045,0.00,2.70,0.00,0.000,6,0.000,0.031,2750,2288,3868
$GC,3383,-0.75,-194.7,348.3,-10.3,594,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2290,3868
$GC,3709,-0.75,-194.7,380.5,-10.0,626,3714,0.00,2.80,0.00,0.000,4,0.000,0.045,2751,3700,3868
$GC,3772,-0.75,-194.7,386.8,-10.0,631,3776,0.00,2.78,0.00,0.000,6,0.000,0.033,2751,2275,3868
$GC,4097,-0.75,-194.7,419.8,-10.5,661,4102,0.00,2.75,0.00,0.000,4,0.000,0.049,2751,891,3868
$GC,4148,-0.79,-194.7,425.3,-10.7,665,4153,0.00,2.70,0.00,0.000,6,0.000,0.031,2751,2293,3868
$GC,4475,-0.79,-194.7,459.8,-11.1,695,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2293,3868
$GC,4791,-0.79,-194.7,495.8,-11.0,725,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2294,3868
$GC,5111,-0.79,-194.7,527.7,-9.3,755,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2294,3868
$GC,5429,-0.79,-194.7,556.1,-9.0,785,5433,0.00,2.83,0.00,0.000,4,0.000,0.048,2751,3703,3868
$GC,5491,-0.83,-194.7,561.9,-9.2,790,5496,0.00,2.78,0.00,0.000,6,0.000,0.035,2751,2288,3868
$GC,5817,-0.83,-194.7,592.2,-9.5,820,5821,0.00,2.83,0.00,0.000,4,0.000,0.053,2751,885,3867
$GC,5872,-0.88,-194.7,597.7,-9.7,824,5879,0.12,2.72,0.00,0.000,6,0.060,0.031,2724,2296,3867
$GC,6188,-0.88,-194.7,632.9,-11.1,841,6193,0.00,2.85,0.00,0.000,4,0.000,0.054,2724,3702,3867
$GC,6243,-0.88,-194.7,639.0,-10.6,843,6249,0.00,2.80,0.00,0.000,6,0.000,0.041,2724,2297,3867
$GC,6559,-0.88,-194.7,671.7,-10.0,859,6564,0.00,2.90,0.00,0.000,4,0.000,0.062,2724,890,3867
$GC,6625,-0.88,-194.7,678.8,-10.8,862,6629,0.00,2.78,0.00,0.000,6,0.000,0.037,2724,2303,3867
$GC,6952,-0.88,-194.7,712.3,-10.3,878,6957,0.00,2.95,0.00,0.000,4,0.000,0.064,2724,890,3867
$GC,7036,-0.88,-194.7,721.5,-10.9,882,7041,0.00,2.80,0.00,0.000,6,0.000,0.044,2724,2288,3866
$GC,7361,-0.88,-194.7,757.2,-11.6,898,7366,0.00,3.03,0.00,0.000,4,0.000,0.076,2724,886,3867
$GC,7400,-0.88,-194.7,761.9,-12.4,900,7405,0.00,2.90,0.00,0.000,6,0.000,0.058,2724,2286,3866
$GC,7727,-0.88,-194.7,800.2,-11.5,916,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2287,3866
$GC,8036,-0.88,-194.7,835.8,-11.6,931,8041,0.00,3.28,0.00,0.000,4,0.000,0.110,2724,898,3866
$GC,8085,-0.88,-194.7,841.9,-12.1,933,8090,0.00,3.10,0.00,0.000,6,0.000,0.091,2724,2267,3865
$GC,8401,-0.88,-194.7,876.9,-11.5,948,8402,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2267,3865
$GC,8710,-0.88,-194.7,912.4,-11.4,963,8715,0.00,3.50,0.00,0.000,4,0.000,0.120,2724,3727,3865
$GC,8764,-0.88,-194.7,918.8,-11.3,965,8771,0.00,2.90,0.00,0.000,6,0.000,0.039,2724,2267,3864
$GC,9080,-0.88,-194.7,955.3,-11.8,981,9085,0.00,2.83,0.00,0.000,4,0.000,0.059,2724,885,3864
$GC,9141,-0.88,-194.7,962.7,-12.5,984,9146,0.00,2.72,0.00,0.000,6,0.000,0.033,2724,2288,3864
$STATE,9382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9382,begin apogee
$GC,9389,-0.21,0.0,990.6,11.5,996,9605,0.95,0.00,209.48,1.614,6,0.143,0.000,2867,2750,3071
$STATE,9606,end apogee,CONTROL_FINISHED_OK
$STATE,9606,begin climb
$GC,9608,0.86,194.7,999.9,0.0,1007,9837,1.42,2.62,216.23,1.554,4,0.086,0.056,3099,3885,2277
$GC,9909,0.69,194.7,972.0,14.0,1021,9914,0.20,2.38,0.00,0.000,6,0.127,0.034,3074,2746,2276
$GC,10225,0.59,194.7,934.9,12.6,1036,10230,0.15,2.40,0.00,0.000,4,0.120,0.051,3047,3902,2274
$GC,10265,0.55,194.7,930.5,11.2,1038,10269,0.00,2.28,0.00,0.000,6,0.000,0.034,3048,2750,2274
$GC,10591,0.56,199.0,897.3,9.8,1054,10598,0.00,0.00,5.62,1.048,6,0.000,0.000,3048,2749,2259
$GC,10901,0.56,205.2,867.2,9.8,1069,10915,0.00,2.38,7.93,1.197,4,0.000,0.052,3048,3887,2234
$GC,10922,0.57,213.5,865.1,9.7,1070,10938,0.00,2.22,10.27,1.304,6,0.000,0.033,3048,2749,2200
$GC,11248,0.58,215.7,832.9,9.9,1085,11252,0.00,2.35,0.00,0.000,4,0.000,0.052,3048,3899,2199
$GC,11269,0.58,215.7,830.5,10.6,1086,11273,0.00,2.20,0.00,0.000,6,0.000,0.032,3048,2768,2198
$GC,11596,0.60,231.6,798.5,9.4,1102,11618,0.00,0.00,19.95,1.398,6,0.000,0.000,3048,2766,2126
$GC,11925,0.65,273.4,770.1,8.5,1118,11975,0.00,2.97,44.58,1.451,4,0.000,0.053,3048,1341,1955
$GC,11982,0.69,310.7,765.2,8.7,1121,12029,0.12,2.90,40.92,1.423,6,0.064,0.032,3072,2766,1804
$GC,12352,0.64,310.7,722.1,11.5,1139,12354,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2767,1797
$GC,12660,0.59,310.7,688.0,10.3,1154,12665,0.15,2.28,0.00,0.000,4,0.112,0.051,3049,3900,1796
$GC,12677,0.59,310.7,686.2,10.5,1155,12681,0.00,2.22,0.00,0.000,6,0.000,0.032,3049,2756,1795
$GC,13003,0.68,377.4,660.3,7.7,1171,13076,0.00,0.00,70.43,1.394,6,0.000,0.000,3049,2755,1532
$GC,13374,0.77,408.4,629.7,8.9,1189,13413,0.20,0.00,33.35,1.332,6,0.050,0.000,3089,2755,1405
$GC,13728,0.70,408.4,578.4,14.9,1212,13732,0.00,2.33,0.00,0.000,4,0.000,0.051,3089,3896,1398
$GC,13750,0.64,408.4,574.3,16.6,1213,13758,0.17,2.20,0.00,0.000,6,0.110,0.031,3064,2763,1398
$GC,14074,0.64,408.4,537.7,11.2,1244,14075,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2761,1397
$GC,14395,0.66,422.2,505.0,9.5,1274,14417,0.00,2.88,14.02,1.162,4,0.000,0.048,3063,1339,1348
$GC,14429,0.73,443.4,501.7,9.3,1277,14461,0.00,2.83,24.38,1.252,6,0.000,0.031,3063,2771,1263
$GC,14780,0.81,460.3,468.2,9.4,1310,14805,0.15,2.97,18.65,1.185,4,0.054,0.045,3097,1344,1194
$GC,14811,0.81,460.3,464.4,12.8,1313,14816,0.00,2.83,0.00,0.000,6,0.000,0.031,3097,2759,1193
$GC,15138,0.74,460.3,410.9,16.7,1343,15142,0.00,2.28,0.00,0.000,4,0.000,0.048,3098,3899,1190
$GC,15167,0.69,460.3,405.7,16.6,1345,15171,0.17,2.20,0.00,0.000,6,0.105,0.031,3071,2763,1190
$GC,15494,0.73,460.3,369.1,10.3,1375,15498,0.00,2.83,0.00,0.000,4,0.000,0.047,3072,1345,1188
$GC,15510,0.78,461.4,367.1,10.0,1376,15515,0.00,2.78,0.00,0.000,6,0.000,0.031,3071,2767,1188
$GC,15843,0.82,461.4,333.2,10.8,1420,15850,0.15,2.88,0.00,0.000,4,0.053,0.045,3102,1338,1187
$GC,15862,0.82,461.4,331.0,11.0,1423,15869,0.00,2.72,0.00,0.000,6,0.000,0.031,3101,2745,1187
$GC,16207,0.75,461.4,278.3,15.0,1484,16213,0.00,2.28,0.00,0.000,4,0.000,0.048,3102,3896,1187
$GC,16230,0.68,461.4,274.5,15.1,1488,16237,0.20,2.20,0.00,0.000,6,0.107,0.031,3071,2752,1187
$GC,16574,0.74,461.4,239.5,10.5,1549,16580,0.00,2.80,0.00,0.000,4,0.000,0.046,3071,1341,1187
$GC,16587,0.79,461.4,238.1,10.6,1551,16593,0.00,2.70,0.00,0.000,6,0.000,0.031,3071,2757,1187
$GC,16931,0.86,473.4,202.8,9.6,1612,16954,0.17,2.88,13.50,0.983,4,0.051,0.044,3112,1347,1141
$GC,16966,0.86,473.4,198.0,14.9,1618,16972,0.00,2.72,0.00,0.000,6,0.000,0.031,3112,2739,1140
$GC,17313,0.76,473.4,133.9,17.1,1679,17319,0.15,2.30,0.00,0.000,4,0.110,0.047,3086,3900,1139
$GC,17359,0.76,473.4,125.9,14.6,1687,17365,0.00,2.22,0.00,0.000,6,0.000,0.032,3086,2749,1138
$GC,17702,0.76,473.4,83.3,12.4,1748,17708,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2748,1139
$GC,18045,0.76,473.4,41.0,11.8,1809,18052,0.00,2.78,0.00,0.000,4,0.000,0.047,3086,1339,1138
$GC,18066,0.76,473.4,38.6,12.3,1812,18072,0.00,2.72,0.00,0.000,6,0.000,0.031,3086,2750,1138
$GC,18208,0.76,473.4,22.5,10.2,1837,18214,0.00,2.80,0.00,0.000,4,0.000,0.044,3086,1343,1138
$GC,18220,0.76,473.4,21.1,10.0,1839,18227,0.00,2.70,0.00,0.000,6,0.000,0.031,3086,2739,1138
$GC,18363,0.81,473.4,6.3,10.5,1864,18369,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2739,1138
$STATE,18407,end climb,SURFACE_DEPTH_REACHED
$STATE,18407,begin surface coast
$FINISH,0.3,1.025688
$STATE,18425,end surface coast,CONTROL_FINISHED_OK
$STATE,18425,begin surface
$SM_CCo,18503,0.00,0.000,0,0,1137,474.41
$SM_GC,0.77,8.32,0.00,0.00,0.043,0.000,0.000,1431,2277,1137,-6.80,-0.65,474.41
$IRIDIUM_FIX,6059.36,-2603.75,170897,111132
$TT8_MAMPS,0.026078
$HUMID,1797
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,16.30
$XPDR_PINGS,1002
$24V_AH,19.1,71.747
$10V_AH,9.8,52.917
$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,24.875,179.675,729.300,0.000,0.000,30.392,29.841,236.254,250.500,0.000,0.000,12.621,2983.607,10975.870,884.364,3450.310,626.349,0.000,2479.295,0.000,3427.069,0.000,0.466
$DEVICE_MAMPS,250.809,120.419,1613.768,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1319.360,1355.066,686.129,1664.895,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136519,1875
$CAP_FILE_SIZE,180451,0
$CFSIZE,260165632,234565632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230508,214008,6129.861,-2606.013,28,1.6,28,-18.5