version: 66.03
glider: 142
mission: 5
dive: 131
start: 5 2 108 5 7 58
data:
$ID,142
$MISSION,5
$DIVE,131
$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,-15347.68
$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,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
$GPS1,050032,6117.309,-2451.566,39,1.3,39,-17.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-41.3
$GPS2,050739,6117.273,-2451.575,11,1.7,11,-17.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6127.705,-2450.240
$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,32.7,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.86,-194.7,0.0,0.0,0,181,0.00,0.00,-151.02,0.000,2,0.000,0.000,1437,2282,3606
$GC,183,-0.86,-194.7,3.3,-4.1,21,208,11.48,2.88,-6.82,0.000,4,0.250,0.051,2727,3710,3865
$GC,242,-0.79,-194.7,16.4,-16.3,30,250,0.00,2.80,0.00,0.000,6,0.000,0.034,2727,2304,3866
$GC,377,-0.71,-194.7,35.6,-14.3,55,386,0.20,2.88,0.00,0.000,4,0.146,0.050,2756,887,3866
$GC,450,-0.71,-194.7,44.4,-10.3,68,458,0.00,2.72,0.00,0.000,6,0.000,0.029,2756,2284,3866
$GC,589,-0.71,-194.7,58.8,-9.5,93,595,0.00,2.80,0.00,0.000,4,0.000,0.048,2757,882,3866
$GC,635,-0.71,-194.7,63.8,-11.2,101,641,0.00,2.62,0.00,0.000,6,0.000,0.029,2757,2242,3866
$GC,963,-0.71,-194.7,99.6,-10.3,162,971,0.00,2.92,0.00,0.000,4,0.000,0.044,2757,3703,3866
$GC,1017,-0.71,-194.7,104.9,-10.2,171,1024,0.00,2.88,0.00,0.000,6,0.000,0.034,2756,2232,3866
$GC,1347,-0.71,-194.7,137.5,-10.6,232,1355,0.00,2.67,0.00,0.000,4,0.000,0.049,2757,894,3866
$GC,1393,-0.71,-194.7,142.6,-10.7,240,1401,0.00,2.62,0.00,0.000,6,0.000,0.030,2756,2247,3866
$GC,1732,-0.71,-194.7,176.7,-9.6,301,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2247,3866
$GC,2071,-0.71,-194.7,212.2,-10.1,362,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2247,3866
$GC,2411,-0.71,-194.7,249.6,-11.6,423,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2248,3866
$GC,2751,-0.71,-194.7,288.3,-11.2,484,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2248,3866
$GC,3095,-0.71,-194.7,325.9,-10.7,545,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2249,3866
$GC,3434,-0.71,-194.7,361.2,-10.2,597,3438,0.00,2.88,0.00,0.000,4,0.000,0.045,2756,3706,3866
$GC,3488,-0.71,-194.7,366.8,-10.2,601,3494,0.00,2.85,0.00,0.000,6,0.000,0.035,2756,2238,3866
$GC,3816,-0.71,-194.7,399.6,-10.0,632,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2238,3866
$GC,4131,-0.71,-194.7,432.2,-10.1,662,4135,0.00,2.90,0.00,0.000,4,0.000,0.046,2756,3701,3866
$GC,4185,-0.71,-194.7,437.9,-10.2,666,4191,0.00,2.85,0.00,0.000,6,0.000,0.035,2756,2238,3866
$GC,4513,-0.71,-194.7,469.9,-9.9,697,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2238,3866
$GC,4838,-0.71,-194.7,502.3,-10.2,728,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2238,3866
$GC,5156,-0.71,-194.7,533.9,-9.4,758,5161,0.00,2.92,0.00,0.000,4,0.000,0.048,2756,3703,3866
$GC,5228,-0.71,-194.7,540.8,-9.4,764,5233,0.00,2.83,0.00,0.000,6,0.000,0.034,2757,2253,3866
$GC,5554,-0.71,-194.7,571.8,-9.5,794,5559,0.00,2.72,0.00,0.000,4,0.000,0.053,2756,885,3866
$GC,5587,-0.71,-194.7,575.2,-9.8,796,5593,0.00,2.65,0.00,0.000,6,0.000,0.030,2757,2267,3866
$GC,5922,-0.71,-194.7,605.5,-8.9,825,5927,0.00,2.88,0.00,0.000,4,0.000,0.051,2757,3706,3865
$GC,5990,-0.71,-194.7,611.6,-8.7,828,5994,0.00,2.83,0.00,0.000,6,0.000,0.036,2756,2265,3865
$GC,6310,-0.71,-194.7,640.0,-8.8,844,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2265,3865
$GC,6619,-0.71,-194.7,668.3,-9.4,859,6624,0.00,2.95,0.00,0.000,4,0.000,0.058,2756,3700,3865
$GC,6680,-0.71,-194.7,674.2,-9.4,862,6685,0.00,2.83,0.00,0.000,6,0.000,0.042,2756,2279,3865
$GC,7007,-0.71,-194.7,705.2,-9.1,878,7008,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2278,3865
$GC,7315,-0.71,-194.7,735.1,-9.4,893,7320,0.00,3.00,0.00,0.000,4,0.000,0.067,2756,3706,3865
$GC,7370,-0.71,-194.7,740.3,-9.0,895,7376,0.00,2.90,0.00,0.000,6,0.000,0.052,2756,2286,3865
$GC,7686,-0.71,-194.7,770.0,-9.3,911,7691,0.00,3.03,0.00,0.000,4,0.000,0.087,2757,885,3865
$GC,7718,-0.75,-194.7,773.2,-9.9,912,7725,0.00,2.85,0.00,0.000,6,0.000,0.057,2756,2279,3864
$GC,8034,-0.75,-194.7,802.7,-9.6,928,8039,0.00,3.12,0.00,0.000,4,0.000,0.089,2756,3709,3864
$GC,8111,-0.75,-194.7,810.2,-9.8,931,8117,0.00,3.03,0.00,0.000,6,0.000,0.077,2756,2307,3864
$GC,8427,-0.75,-194.7,840.3,-9.4,947,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2306,3864
$GC,8736,-0.75,-194.7,869.1,-9.1,962,8741,0.00,3.33,0.00,0.000,4,0.000,0.117,2756,3710,3864
$GC,8786,-0.79,-194.7,873.8,-9.9,964,8791,0.00,3.00,0.00,0.000,6,0.000,0.073,2757,2299,3864
$GC,9101,-0.79,-194.7,900.7,-8.3,979,9102,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2299,3864
$GC,9410,-0.79,-194.7,926.8,-8.7,994,9411,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2299,3864
$GC,9719,-0.79,-194.7,954.5,-8.8,1009,9724,0.00,2.92,0.00,0.000,4,0.000,0.058,2756,3720,3864
$GC,9792,-0.84,-194.7,961.0,-8.9,1012,9796,0.00,2.78,0.00,0.000,6,0.000,0.040,2756,2320,3863
$GC,10108,-0.88,-194.7,988.6,-9.0,1027,10113,0.15,2.92,0.00,0.000,4,0.063,0.061,2722,884,3863
$STATE,10122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10122,begin apogee
$GC,10131,-0.21,0.0,990.3,9.2,1028,10338,0.93,0.00,203.00,1.593,6,0.131,0.000,2870,2755,3071
$STATE,10339,end apogee,CONTROL_FINISHED_OK
$STATE,10339,begin climb
$GC,10341,0.86,194.7,997.9,0.0,1038,10566,1.38,2.65,210.40,1.539,4,0.079,0.058,3100,3899,2277
$GC,10703,0.69,194.7,956.3,14.9,1055,10708,0.20,2.38,0.00,0.000,6,0.127,0.035,3073,2747,2275
$GC,11029,0.57,194.7,914.9,12.5,1071,11034,0.15,2.42,0.00,0.000,4,0.121,0.053,3048,3908,2274
$GC,11068,0.52,194.7,910.4,10.6,1073,11073,0.00,2.28,0.00,0.000,6,0.000,0.034,3048,2761,2274
$GC,11395,0.46,197.6,877.1,9.9,1089,11397,0.15,0.00,0.00,0.000,6,0.113,0.000,3025,2760,2273
$GC,11704,0.53,254.2,851.4,8.0,1104,11770,0.00,2.45,60.47,1.477,4,0.000,0.053,3025,3900,2033
$GC,11792,0.61,318.2,844.0,7.8,1108,11868,0.15,2.28,67.90,1.459,6,0.058,0.034,3053,2774,1772
$GC,12194,0.61,318.2,800.5,10.2,1128,12195,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2774,1766
$GC,12503,0.61,318.2,767.8,10.8,1143,12505,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2774,1765
$GC,12812,0.61,318.2,734.3,11.0,1158,12814,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2774,1764
$GC,13122,0.61,318.2,701.1,10.4,1173,13123,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2774,1763
$GC,13431,0.61,318.2,668.3,10.8,1188,13432,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2774,1763
$GC,13740,0.61,318.2,634.3,11.0,1203,13741,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2774,1763
$GC,14050,0.61,318.2,600.5,10.9,1218,14051,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2774,1763
$GC,14369,0.61,318.2,565.6,11.0,1247,14374,0.00,2.85,0.00,0.000,4,0.000,0.048,3054,1342,1762
$GC,14379,0.61,318.2,564.2,10.9,1247,14385,0.00,2.83,0.00,0.000,6,0.000,0.031,3053,2795,1762
$GC,14705,0.61,318.2,529.3,10.9,1278,14706,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2796,1762
$GC,15023,0.61,318.2,495.3,10.6,1308,15028,0.00,2.92,0.00,0.000,4,0.000,0.045,3054,1338,1762
$GC,15039,0.61,318.2,493.4,10.7,1309,15044,0.00,2.83,0.00,0.000,6,0.000,0.031,3054,2785,1762
$GC,15363,0.61,318.2,459.0,10.8,1339,15368,0.00,2.90,0.00,0.000,4,0.000,0.044,3054,1339,1762
$GC,15373,0.61,318.2,457.9,10.8,1339,15379,0.00,2.80,0.00,0.000,6,0.000,0.031,3054,2777,1762
$GC,15699,0.61,318.2,424.0,10.3,1370,15700,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2777,1762
$GC,16018,0.63,331.5,392.9,9.5,1400,16035,0.00,2.90,12.20,1.062,4,0.000,0.046,3053,1341,1719
$GC,16047,0.63,334.8,389.9,9.9,1402,16058,0.00,2.80,5.05,0.843,6,0.000,0.031,3053,2771,1706
$GC,16378,0.65,352.3,359.1,9.4,1433,16403,0.00,2.92,19.25,1.131,4,0.000,0.044,3053,1337,1633
$GC,16415,0.65,354.9,355.4,9.9,1436,16420,0.00,2.80,0.00,0.000,6,0.000,0.031,3054,2750,1632
$GC,16753,0.71,403.6,324.6,8.3,1491,16812,0.00,0.00,52.83,1.151,6,0.000,0.000,3053,2750,1424
$GC,17149,0.78,415.8,291.7,9.6,1561,17167,0.17,2.95,12.35,1.001,4,0.049,0.044,3094,1334,1376
$GC,17178,0.78,415.8,288.1,11.5,1566,17185,0.00,2.80,0.00,0.000,6,0.000,0.031,3094,2748,1374
$GC,17521,0.69,415.8,232.8,15.3,1627,17528,0.15,2.28,0.00,0.000,4,0.111,0.046,3068,3893,1372
$GC,17546,0.64,415.8,229.0,16.5,1631,17552,0.00,2.22,0.00,0.000,6,0.000,0.031,3068,2744,1372
$GC,17887,0.64,415.8,192.9,10.7,1692,17895,0.00,2.80,0.00,0.000,4,0.000,0.046,3068,1350,1371
$GC,17912,0.64,415.8,190.2,10.1,1696,17920,0.00,2.75,0.00,0.000,6,0.000,0.031,3068,2744,1371
$GC,18255,0.69,453.0,154.8,8.7,1757,18302,0.00,2.90,38.17,1.029,4,0.000,0.045,3068,1349,1223
$GC,18308,0.74,453.0,149.1,10.0,1766,18316,0.00,2.78,0.00,0.000,6,0.000,0.030,3068,2730,1222
$GC,18642,0.86,506.6,117.9,8.1,1827,18705,0.15,0.00,54.47,1.004,6,0.052,0.000,3103,2730,1005
$GC,19031,0.77,506.6,46.9,17.8,1897,19039,0.00,2.35,0.00,0.000,4,0.000,0.046,3103,3896,1000
$GC,19052,0.68,506.6,42.7,17.5,1900,19061,0.17,2.33,0.00,0.000,6,0.101,0.031,3073,2721,999
$GC,19190,0.75,514.2,27.1,9.7,1925,19206,0.00,0.00,8.10,0.775,6,0.000,0.000,3073,2721,973
$GC,19334,0.86,538.9,13.3,9.1,1951,19373,0.15,2.85,26.00,0.911,4,0.051,0.048,3109,1342,873
$GC,19386,0.86,538.9,6.9,15.2,1958,19394,0.00,2.70,0.00,0.000,6,0.000,0.030,3109,2691,872
$STATE,19415,end climb,SURFACE_DEPTH_REACHED
$STATE,19415,begin surface coast
$FINISH,0.1,1.012295
$STATE,19427,end surface coast,CONTROL_FINISHED_OK
$STATE,19427,begin surface
$SM_CCo,19506,0.00,0.000,0,0,869,540.15
$SM_GC,0.59,8.65,0.00,0.00,0.048,0.000,0.000,1437,2294,869,-6.79,-0.17,540.15
$IRIDIUM_FIX,6050.49,-2444.01,260797,232323
$TT8_MAMPS,0.026845
$HUMID,1734
$INTERNAL_PRESSURE,8.85822
$TCM_TEMP,11.90
$XPDR_PINGS,931
$24V_AH,19.6,45.686
$10V_AH,9.7,35.648
$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,24.225,174.050,770.200,0.000,0.000,28.050,30.280,235.111,232.750,0.000,0.000,13.366,3075.262,10953.282,851.621,4406.205,628.040,0.000,2621.214,0.000,4404.493,0.000,0.465
$DEVICE_MAMPS,250.042,117.351,1593.059,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1368.959,1400.884,698.150,965.416,1755.977,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142316,1965
$CAP_FILE_SIZE,185161,0
$CFSIZE,260165632,243802112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020508,103428,6119.413,-2451.592,28,2.5,47,-17.7