version: 66.03
glider: 142
mission: 5
dive: 127
start: 5 1 108 7 39 39
data:
$ID,142
$MISSION,5
$DIVE,127
$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,15
$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,-15243.47
$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,29
$R_STBD_OVSHOOT,20
$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
$GPS1,073126,6102.108,-2445.708,44,1.5,44,-17.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-39.8
$GPS2,073921,6102.115,-2445.878,12,1.5,12,-17.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6112.546,-2444.532
$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,32.5,20000,-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,-194.7,0.0,0.0,0,173,0.00,0.00,-143.88,0.000,2,0.000,0.000,1432,2276,3766
$GC,176,-0.86,-194.7,3.3,-3.3,20,192,11.68,0.00,-2.65,0.000,6,0.255,0.000,2724,2276,3866
$GC,320,-0.78,-194.7,27.6,-16.1,46,328,0.15,2.80,0.00,0.000,4,0.154,0.048,2747,901,3867
$GC,367,-0.78,-194.7,31.9,-7.1,54,375,0.00,2.75,0.00,0.000,6,0.000,0.030,2747,2307,3867
$GC,502,-0.78,-194.7,40.1,-6.7,79,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2307,3867
$GC,635,-0.78,-194.7,53.2,-8.9,104,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2307,3867
$GC,966,-0.78,-194.7,83.6,-9.6,165,973,0.00,2.83,0.00,0.000,4,0.000,0.048,2748,895,3867
$GC,1035,-0.78,-194.7,91.6,-14.1,177,1041,0.00,2.70,0.00,0.000,6,0.000,0.031,2748,2296,3868
$GC,1363,-0.78,-194.7,133.3,-14.5,238,1371,0.00,2.80,0.00,0.000,4,0.000,0.047,2748,900,3867
$GC,1395,-0.78,-194.7,138.1,-16.7,243,1402,0.00,2.67,0.00,0.000,6,0.000,0.031,2748,2292,3867
$GC,1731,-0.78,-194.7,176.0,-12.7,304,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2292,3867
$GC,2074,-0.78,-194.7,217.8,-12.2,365,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2292,3867
$GC,2413,-0.78,-194.7,257.5,-11.2,426,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2292,3867
$GC,2753,-0.78,-194.7,295.9,-11.3,487,2759,0.00,2.78,0.00,0.000,4,0.000,0.048,2748,897,3867
$GC,2789,-0.78,-194.7,299.7,-11.3,493,2795,0.00,2.65,0.00,0.000,6,0.000,0.031,2747,2279,3867
$GC,3128,-0.78,-194.7,333.9,-9.9,554,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2279,3868
$GC,3465,-0.78,-194.7,366.7,-9.6,600,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2279,3867
$GC,3785,-0.78,-194.7,396.6,-9.4,630,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2279,3868
$GC,4103,-0.78,-194.7,428.0,-10.2,660,4107,0.00,2.83,0.00,0.000,4,0.000,0.046,2748,3708,3867
$GC,4146,-0.78,-194.7,432.8,-10.4,663,4153,0.00,2.80,0.00,0.000,6,0.000,0.034,2748,2265,3867
$GC,4472,-0.78,-194.7,466.5,-10.9,694,4477,0.00,2.72,0.00,0.000,4,0.000,0.051,2747,887,3867
$GC,4516,-0.78,-194.7,471.7,-11.4,697,4522,0.00,2.65,0.00,0.000,6,0.000,0.031,2748,2274,3867
$GC,4842,-0.78,-194.7,506.9,-10.3,728,4847,0.00,2.83,0.00,0.000,4,0.000,0.049,2748,3702,3867
$GC,4891,-0.78,-194.7,512.2,-10.3,732,4896,0.00,2.78,0.00,0.000,6,0.000,0.034,2748,2276,3867
$GC,5217,-0.78,-194.7,544.8,-10.3,762,5221,0.00,2.75,0.00,0.000,4,0.000,0.052,2748,894,3868
$GC,5249,-0.78,-194.7,548.4,-10.4,764,5255,0.00,2.67,0.00,0.000,6,0.000,0.030,2747,2287,3867
$GC,5575,-0.78,-194.7,580.8,-9.8,795,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2288,3867
$GC,5889,-0.78,-194.7,613.0,-10.5,819,5893,0.00,2.85,0.00,0.000,4,0.000,0.052,2748,3709,3867
$GC,5937,-0.78,-194.7,618.4,-10.6,821,5942,0.00,2.80,0.00,0.000,6,0.000,0.038,2748,2284,3867
$GC,6258,-0.78,-194.7,652.0,-10.9,837,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2283,3867
$GC,6568,-0.78,-194.7,685.8,-10.7,852,6573,0.00,2.95,0.00,0.000,4,0.000,0.061,2748,3708,3867
$GC,6629,-0.78,-194.7,692.1,-10.3,855,6634,0.00,2.85,0.00,0.000,6,0.000,0.045,2748,2288,3866
$GC,6955,-0.78,-194.7,723.8,-9.4,871,6960,0.00,2.92,0.00,0.000,4,0.000,0.073,2747,889,3866
$GC,7004,-0.78,-194.7,728.6,-9.6,873,7009,0.00,2.80,0.00,0.000,6,0.000,0.043,2747,2297,3865
$GC,7320,-0.78,-194.7,756.9,-8.9,888,7325,0.00,3.00,0.00,0.000,4,0.000,0.076,2747,3712,3865
$GC,7369,-0.78,-194.7,761.5,-8.9,890,7374,0.00,2.90,0.00,0.000,6,0.000,0.059,2748,2313,3865
$GC,7684,-0.78,-194.7,790.0,-8.9,905,7689,0.00,3.15,0.00,0.000,4,0.000,0.094,2747,882,3865
$GC,7728,-0.78,-194.7,794.2,-9.6,907,7733,0.00,3.03,0.00,0.000,6,0.000,0.068,2747,2315,3865
$GC,8050,-0.78,-194.7,823.3,-9.2,923,8054,0.00,3.15,0.00,0.000,4,0.000,0.100,2748,3715,3865
$GC,8104,-0.78,-194.7,828.6,-9.8,925,8111,0.00,3.10,0.00,0.000,6,0.000,0.088,2747,2318,3864
$GC,8420,-0.78,-194.7,857.7,-9.6,941,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2317,3865
$GC,8729,-0.78,-194.7,888.4,-10.1,956,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2313,3864
$GC,9038,-0.78,-194.7,920.2,-10.1,971,9043,0.00,2.88,0.00,0.000,4,0.000,0.056,2748,3720,3864
$GC,9087,-0.78,-194.7,925.5,-10.6,973,9091,0.00,2.80,0.00,0.000,6,0.000,0.041,2748,2313,3864
$GC,9403,-0.78,-194.7,958.4,-10.4,988,9404,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2313,3864
$GC,9712,-0.78,-194.7,989.9,-9.9,1003,9713,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2312,3863
$STATE,9730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9730,begin apogee
$GC,9736,-0.21,0.0,992.0,9.8,1004,9943,0.75,0.00,203.48,1.601,6,0.124,0.000,2869,2759,3072
$STATE,9944,end apogee,CONTROL_FINISHED_OK
$STATE,9944,begin climb
$GC,9947,0.86,194.7,999.4,0.0,1014,10172,1.38,2.62,211.48,1.547,4,0.081,0.058,3098,3894,2276
$GC,10292,0.70,194.7,962.9,14.1,1030,10297,0.17,2.38,0.00,0.000,6,0.125,0.035,3074,2747,2274
$GC,10613,0.59,194.7,923.1,12.5,1046,10618,0.15,2.40,0.00,0.000,4,0.127,0.053,3050,3894,2274
$GC,10662,0.54,194.7,917.3,11.2,1048,10666,0.00,2.28,0.00,0.000,6,0.000,0.034,3050,2753,2273
$GC,10984,0.48,194.7,883.7,10.2,1064,10988,0.15,2.35,0.00,0.000,4,0.126,0.052,3028,3893,2273
$GC,11000,0.44,194.7,882.0,10.3,1065,11004,0.00,2.20,0.00,0.000,6,0.000,0.033,3028,2772,2272
$GC,11332,0.51,255.5,855.0,7.9,1081,11396,0.00,0.00,62.15,1.486,6,0.000,0.000,3028,2770,2029
$GC,11701,0.59,317.2,825.5,7.9,1099,11772,0.00,3.08,64.68,1.460,4,0.000,0.051,3028,1337,1776
$GC,11779,0.75,401.7,819.4,7.1,1103,11881,0.28,2.97,92.47,1.437,6,0.043,0.032,3083,2772,1432
$GC,12190,0.68,401.7,759.1,15.3,1123,12191,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2772,1423
$GC,12499,0.61,401.7,712.1,14.8,1138,12501,0.20,0.00,0.00,0.000,6,0.114,0.000,3054,2772,1422
$GC,12808,0.61,404.8,681.0,9.9,1153,12813,0.00,2.92,0.00,0.000,4,0.000,0.047,3054,1334,1420
$GC,12848,0.67,406.1,677.1,10.0,1155,12852,0.00,2.80,0.00,0.000,6,0.000,0.032,3054,2751,1419
$GC,13173,0.67,406.1,643.4,10.8,1171,13178,0.00,2.85,0.00,0.000,4,0.000,0.047,3054,1342,1419
$GC,13189,0.67,406.1,641.5,11.1,1172,13194,0.00,2.75,0.00,0.000,6,0.000,0.033,3054,2740,1419
$GC,13515,0.67,406.1,605.4,11.1,1188,13520,0.00,2.83,0.00,0.000,4,0.000,0.047,3054,1335,1419
$GC,13531,0.67,406.1,603.5,11.3,1189,13536,0.00,2.72,0.00,0.000,6,0.000,0.032,3054,2735,1418
$GC,13857,0.67,406.1,569.1,10.1,1218,13861,0.00,2.80,0.00,0.000,4,0.000,0.047,3054,1339,1418
$GC,13873,0.67,406.1,567.3,10.3,1219,13877,0.00,2.70,0.00,0.000,6,0.000,0.032,3054,2721,1418
$GC,14201,0.69,429.2,537.4,9.2,1249,14234,0.00,2.85,26.73,1.253,4,0.000,0.047,3054,1333,1320
$GC,14240,0.81,482.7,533.6,8.1,1252,14309,0.22,2.72,58.78,1.282,6,0.043,0.032,3101,2707,1102
$GC,14629,0.71,482.7,469.7,17.4,1289,14634,0.15,2.40,0.00,0.000,4,0.118,0.048,3077,3894,1096
$GC,14657,0.67,482.7,464.7,15.5,1291,14662,0.00,2.33,0.00,0.000,6,0.000,0.031,3077,2710,1095
$GC,14983,0.67,482.7,423.7,13.0,1321,14985,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2709,1093
$GC,15300,0.67,482.7,383.1,12.5,1351,15305,0.00,2.75,0.00,0.000,4,0.000,0.048,3077,1334,1093
$GC,15317,0.67,482.7,380.9,12.5,1352,15322,0.00,2.70,0.00,0.000,6,0.000,0.030,3077,2720,1092
$GC,15644,0.67,482.7,342.0,11.9,1388,15652,0.00,2.83,0.00,0.000,4,0.000,0.046,3077,1333,1092
$GC,15659,0.67,482.7,340.3,11.3,1390,15665,0.00,2.67,0.00,0.000,6,0.000,0.030,3077,2710,1092
$GC,15997,0.67,482.7,301.4,10.8,1451,16003,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2710,1091
$GC,16334,0.67,482.7,263.5,11.2,1512,16342,0.00,2.78,0.00,0.000,4,0.000,0.046,3077,1341,1091
$GC,16353,0.67,482.7,261.3,11.9,1515,16360,0.00,2.65,0.00,0.000,6,0.000,0.030,3077,2710,1091
$GC,16692,0.67,482.7,223.1,11.9,1576,16700,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2710,1091
$GC,17035,0.67,482.7,185.4,11.5,1637,17041,0.00,2.72,0.00,0.000,4,0.000,0.045,3077,1343,1090
$GC,17054,0.68,494.5,183.4,9.6,1640,17072,0.00,2.62,10.95,0.923,6,0.000,0.030,3077,2693,1054
$GC,17406,0.68,494.5,146.5,11.3,1703,17411,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2692,1052
$GC,17735,0.68,494.5,105.8,12.7,1764,17743,0.00,2.72,0.00,0.000,4,0.000,0.046,3077,1346,1052
$GC,17749,0.68,494.5,104.0,13.0,1766,17756,0.00,2.62,0.00,0.000,6,0.000,0.030,3077,2690,1052
$GC,18083,0.73,494.5,67.4,11.9,1827,18089,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2690,1052
$GC,18409,0.73,494.5,32.3,11.7,1888,18416,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2690,1051
$GC,18544,0.88,582.2,15.4,7.0,1913,18633,0.15,0.00,85.82,0.943,2,0.054,0.000,3114,2697,706
$STATE,18634,end climb,SURFACE_DEPTH_REACHED
$STATE,18634,begin surface coast
$FINISH,0.1,1.022758
$STATE,18641,end surface coast,CONTROL_FINISHED_OK
$STATE,18641,begin surface
$SM_CCo,18719,0.00,0.000,0,0,703,580.87
$SM_GC,0.53,8.77,0.00,0.00,0.045,0.000,0.000,1435,2290,703,-6.79,-0.28,580.87
$IRIDIUM_FIX,6032.86,-2436.91,260797,020226
$TT8_MAMPS,0.026078
$HUMID,1730
$INTERNAL_PRESSURE,8.83869
$TCM_TEMP,11.70
$XPDR_PINGS,859
$24V_AH,19.5,44.377
$10V_AH,9.7,34.829
$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,24.200,166.975,816.525,0.000,0.000,30.951,29.750,276.808,214.750,0.000,0.000,13.634,3025.137,10197.070,884.841,4401.766,664.685,0.000,2617.101,0.000,4401.576,0.000,0.466
$DEVICE_MAMPS,254.644,100.477,1600.729,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1334.192,1389.863,728.417,984.314,1829.936,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142438,1926
$CAP_FILE_SIZE,180001,0
$CFSIZE,260165632,244195328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010508,125256,6106.294,-2447.360,42,1.3,42,-17.6