version: 66.03
glider: 142
mission: 5
dive: 153
start: 5 6 108 20 23 56
data:
$ID,142
$MISSION,5
$DIVE,153
$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,30
$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,-15962.504
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,201555,6101.013,-2719.607,39,1.1,39,-18.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-53.0
$GPS2,202338,6101.068,-2719.496,9,1.1,14,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6110.420,-2716.893
$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,48.9,20000,-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,-194.7,0.0,0.0,0,174,0.00,0.00,-144.45,0.000,2,0.000,0.000,1436,2288,3654
$GC,176,-0.86,-194.7,3.5,-5.0,20,201,11.68,2.83,-5.50,0.000,4,0.252,0.055,2727,889,3865
$GC,209,-0.12,-194.7,13.1,-27.2,24,217,0.95,2.78,0.00,0.000,6,0.131,0.031,2887,2299,3866
$GC,346,-0.51,-194.7,21.4,-8.0,49,355,0.40,2.88,0.00,0.000,4,0.064,0.046,2809,888,3866
$GC,509,-0.70,-194.7,33.0,-6.8,79,518,0.17,2.83,0.00,0.000,6,0.038,0.030,2764,2330,3866
$GC,647,-0.74,-194.7,44.8,-8.9,104,655,0.00,2.75,0.00,0.000,4,0.000,0.045,2764,3700,3866
$GC,753,-0.80,-194.7,54.9,-9.3,123,760,0.00,2.70,0.00,0.000,6,0.000,0.035,2764,2319,3866
$GC,1085,-0.84,-194.7,87.2,-10.0,184,1094,0.15,2.88,0.00,0.000,4,0.058,0.051,2732,895,3866
$GC,1140,-0.84,-194.7,93.7,-13.1,193,1146,0.00,2.75,0.00,0.000,6,0.000,0.031,2731,2317,3866
$GC,1470,-0.80,-194.7,136.7,-13.4,254,1479,0.00,2.90,0.00,0.000,4,0.000,0.048,2731,884,3867
$GC,1558,-0.80,-194.7,147.6,-12.9,269,1564,0.00,2.72,0.00,0.000,6,0.000,0.030,2731,2301,3866
$GC,1896,-0.80,-194.7,190.1,-12.4,330,1903,0.00,2.83,0.00,0.000,4,0.000,0.048,2731,890,3866
$GC,1986,-0.80,-194.7,200.9,-11.4,346,1992,0.00,2.67,0.00,0.000,6,0.000,0.030,2731,2282,3867
$GC,2324,-0.76,-194.7,242.1,-11.6,407,2330,0.15,0.00,0.00,0.000,6,0.130,0.000,2752,2283,3866
$GC,2660,-0.76,-194.7,274.8,-9.4,468,2668,0.00,2.83,0.00,0.000,4,0.000,0.048,2752,885,3866
$GC,2693,-0.76,-194.7,277.8,-9.8,473,2699,0.00,2.65,0.00,0.000,6,0.000,0.030,2752,2270,3866
$GC,3033,-0.76,-194.7,310.9,-9.5,534,3040,0.00,2.83,0.00,0.000,4,0.000,0.045,2752,3700,3866
$GC,3112,-0.76,-194.7,318.5,-9.3,548,3121,0.00,2.83,0.00,0.000,6,0.000,0.034,2752,2265,3866
$GC,3458,-0.76,-194.7,349.8,-8.5,609,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2264,3866
$GC,3782,-0.76,-194.7,378.8,-8.7,640,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2264,3866
$GC,4101,-0.76,-194.7,407.0,-9.0,670,4105,0.00,2.88,0.00,0.000,4,0.000,0.045,2752,3700,3866
$GC,4167,-0.76,-194.7,413.0,-8.9,675,4173,0.00,2.78,0.00,0.000,6,0.000,0.035,2752,2277,3867
$GC,4493,-0.76,-194.7,441.8,-8.8,706,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2276,3866
$GC,4810,-0.76,-194.7,469.3,-8.5,736,4815,0.00,2.85,0.00,0.000,4,0.000,0.046,2752,3700,3866
$GC,4853,-0.76,-194.7,473.1,-8.4,739,4859,0.00,2.78,0.00,0.000,6,0.000,0.034,2752,2279,3866
$GC,5180,-0.76,-194.7,500.4,-8.7,770,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2278,3866
$GC,5496,-0.76,-194.7,529.0,-9.2,800,5501,0.00,2.85,0.00,0.000,4,0.000,0.048,2752,3699,3866
$GC,5558,-0.76,-194.7,534.8,-9.8,805,5563,0.00,2.75,0.00,0.000,6,0.000,0.035,2752,2295,3866
$GC,5884,-0.76,-194.7,565.5,-9.5,835,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2294,3866
$GC,6203,-0.76,-194.7,596.6,-10.2,865,6208,0.00,2.85,0.00,0.000,4,0.000,0.051,2752,3698,3866
$GC,6246,-0.76,-194.7,601.4,-10.5,868,6251,0.00,2.75,0.00,0.000,6,0.000,0.037,2752,2305,3866
$GC,6573,-0.76,-194.7,635.4,-10.5,884,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2305,3866
$GC,6883,-0.76,-194.7,665.4,-9.5,899,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2305,3866
$GC,7192,-0.76,-194.7,693.8,-9.2,914,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2305,3865
$GC,7501,-0.76,-194.7,722.5,-9.5,929,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2305,3866
$GC,7811,-0.76,-194.7,751.4,-9.3,944,7815,0.00,3.00,0.00,0.000,4,0.000,0.075,2752,3697,3865
$GC,7866,-0.81,-194.7,757.1,-9.8,946,7872,0.00,2.85,0.00,0.000,6,0.000,0.058,2752,2319,3865
$GC,8181,-0.81,-194.7,786.9,-9.4,962,8186,0.00,3.17,0.00,0.000,4,0.000,0.095,2752,890,3865
$GC,8214,-0.87,-194.7,790.0,-9.8,963,8220,0.00,2.97,0.00,0.000,6,0.000,0.067,2752,2303,3865
$GC,8529,-0.91,-194.7,817.4,-8.5,979,8535,0.17,3.17,0.00,0.000,4,0.056,0.096,2714,3716,3865
$GC,8614,-0.87,-194.7,826.7,-11.5,983,8619,0.00,3.08,0.00,0.000,6,0.000,0.087,2714,2335,3865
$GC,8941,-0.82,-194.7,864.8,-11.6,999,8946,0.15,2.92,0.00,0.000,4,0.133,0.052,2738,880,3865
$GC,9002,-0.82,-194.7,871.6,-10.3,1002,9007,0.00,2.83,0.00,0.000,6,0.000,0.031,2738,2337,3864
$GC,9329,-0.82,-194.7,903.9,-9.9,1018,9333,0.00,2.97,0.00,0.000,4,0.000,0.055,2738,879,3864
$GC,9360,-0.82,-194.7,907.4,-11.0,1019,9367,0.00,2.80,0.00,0.000,6,0.000,0.034,2738,2317,3864
$GC,9676,-0.82,-194.7,939.4,-10.0,1035,9677,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2317,3864
$GC,9986,-0.82,-194.7,970.9,-10.3,1050,9990,0.00,2.85,0.00,0.000,4,0.000,0.059,2738,3707,3864
$GC,10040,-0.82,-194.7,977.0,-10.8,1052,10047,0.00,2.80,0.00,0.000,6,0.000,0.041,2738,2307,3863
$STATE,10168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10168,begin apogee
$GC,10174,-0.21,0.0,990.4,10.3,1059,10384,0.80,0.00,206.68,1.634,6,0.123,0.000,2867,2749,3071
$STATE,10385,end apogee,CONTROL_FINISHED_OK
$STATE,10385,begin climb
$GC,10387,0.86,194.7,999.0,0.0,1069,10613,1.38,2.53,214.38,1.592,4,0.080,0.058,3094,3887,2276
$GC,10750,0.71,194.7,961.0,14.9,1086,10754,0.00,2.38,0.00,0.000,6,0.000,0.035,3094,2740,2274
$GC,11076,0.55,194.7,915.9,14.0,1102,11081,0.32,2.42,0.00,0.000,4,0.122,0.053,3044,3899,2273
$GC,11125,0.55,194.7,910.1,10.2,1104,11129,0.00,2.25,0.00,0.000,6,0.000,0.033,3043,2763,2273
$GC,11447,0.57,213.0,879.8,9.4,1120,11467,0.00,0.00,19.02,1.419,6,0.000,0.000,3043,2761,2202
$GC,11776,0.60,233.8,849.3,9.3,1136,11800,0.00,0.00,22.70,1.443,6,0.000,0.000,3043,2761,2116
$GC,12105,0.60,238.4,817.6,9.8,1152,12113,0.00,0.00,5.72,1.075,6,0.000,0.000,3043,2761,2099
$GC,12414,0.63,256.2,788.1,9.4,1167,12439,0.00,2.38,19.85,1.399,4,0.000,0.056,3044,3894,2026
$GC,12451,0.66,280.6,784.6,9.2,1169,12485,0.00,2.25,27.02,1.434,6,0.000,0.032,3043,2761,1925
$GC,12802,0.66,280.6,750.4,10.3,1186,12804,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2761,1921
$GC,13110,0.66,280.7,720.2,10.0,1201,13115,0.00,2.85,0.00,0.000,4,0.000,0.049,3043,1346,1921
$GC,13133,0.66,280.7,718.0,10.4,1202,13137,0.00,2.80,0.00,0.000,6,0.000,0.031,3043,2768,1920
$GC,13453,0.66,286.2,686.2,9.8,1218,13460,0.00,0.00,5.93,1.032,6,0.000,0.000,3043,2770,1904
$GC,13762,0.67,295.1,656.0,9.7,1233,13776,0.12,0.00,11.07,1.228,6,0.063,0.000,3068,2769,1867
$GC,14072,0.62,295.1,615.8,13.1,1248,14073,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2770,1865
$GC,14386,0.56,295.1,575.4,12.1,1272,14388,0.15,0.00,0.00,0.000,6,0.108,0.000,3045,2769,1865
$GC,14706,0.60,324.6,544.9,9.0,1302,14739,0.00,0.00,31.15,1.304,6,0.000,0.000,3045,2770,1747
$GC,15053,0.65,369.3,514.4,8.4,1335,15108,0.00,3.00,46.65,1.298,4,0.000,0.045,3045,1347,1564
$GC,15124,0.79,435.3,508.6,7.7,1341,15205,0.25,2.85,70.95,1.293,6,0.043,0.031,3095,2759,1294
$GC,15523,0.71,435.3,446.5,15.5,1379,15527,0.00,2.28,0.00,0.000,4,0.000,0.048,3095,3891,1286
$GC,15546,0.63,435.3,442.8,16.0,1381,15551,0.22,2.22,0.00,0.000,6,0.109,0.031,3061,2760,1285
$GC,15874,0.73,475.3,412.3,8.6,1411,15920,0.00,2.95,40.72,1.214,4,0.000,0.047,3061,1338,1132
$GC,15937,0.87,529.7,406.7,8.1,1416,16006,0.20,2.88,58.97,1.214,6,0.037,0.030,3118,2751,909
$GC,16330,0.73,529.7,330.1,21.3,1461,16337,0.22,2.30,0.00,0.000,4,0.120,0.046,3082,3895,903
$GC,16370,0.73,529.7,322.7,14.3,1468,16378,0.00,2.22,0.00,0.000,6,0.000,0.031,3082,2777,902
$GC,16713,0.73,529.7,279.4,13.8,1529,16719,0.00,2.90,0.00,0.000,4,0.000,0.048,3082,1335,900
$GC,16753,0.78,529.7,274.1,12.5,1536,16761,0.00,2.83,0.00,0.000,6,0.000,0.030,3082,2762,899
$GC,17097,0.78,529.7,231.0,13.2,1597,17103,0.00,2.88,0.00,0.000,4,0.000,0.046,3082,1337,899
$GC,17125,0.82,529.7,227.0,11.9,1602,17132,0.00,2.75,0.00,0.000,6,0.000,0.031,3082,2746,898
$GC,17468,0.82,529.7,187.0,10.8,1663,17474,0.00,2.85,0.00,0.000,4,0.000,0.046,3082,1331,898
$GC,17504,0.87,529.7,183.2,11.7,1669,17511,0.15,2.72,0.00,0.000,6,0.051,0.031,3115,2730,898
$GC,17839,0.77,529.7,121.0,17.1,1730,17848,0.15,2.33,0.00,0.000,4,0.111,0.047,3090,3892,898
$GC,17865,0.70,529.7,116.4,18.2,1734,17873,0.00,2.28,0.00,0.000,6,0.000,0.033,3090,2733,897
$GC,18200,0.70,529.7,72.5,13.2,1795,18206,0.00,2.78,0.00,0.000,4,0.000,0.048,3090,1336,897
$GC,18218,0.70,529.7,70.0,12.0,1798,18225,0.00,2.72,0.00,0.000,6,0.000,0.030,3090,2728,897
$GC,18545,0.70,529.7,27.1,14.3,1859,18552,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2729,897
$GC,18679,0.70,529.7,10.2,12.7,1884,18687,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2729,897
$STATE,18739,end climb,SURFACE_DEPTH_REACHED
$STATE,18739,begin surface coast
$FINISH,0.1,1.013333
$STATE,18756,end surface coast,CONTROL_FINISHED_OK
$STATE,18756,begin surface
$SM_CCo,18834,0.00,0.000,0,0,896,533.53
$SM_GC,0.70,8.38,0.00,0.00,0.047,0.000,0.000,1434,2291,896,-6.80,-0.25,533.53
$IRIDIUM_FIX,6037.25,-2721.54,310797,151550
$TT8_MAMPS,0.026078
$HUMID,1769
$INTERNAL_PRESSURE,8.82892
$TCM_TEMP,11.20
$XPDR_PINGS,872
$24V_AH,19.4,52.941
$10V_AH,9.8,39.939
$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,26.175,171.925,780.825,0.000,0.000,27.453,32.784,263.241,218.000,0.000,0.000,15.999,2995.466,10440.234,887.138,4311.372,644.460,0.000,2564.399,0.000,4302.626,0.000,0.465
$DEVICE_MAMPS,251.576,95.875,1634.477,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1332.274,1347.812,695.261,978.651,1794.209,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139171,1898
$CAP_FILE_SIZE,182939,0
$CFSIZE,260165632,241803264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070508,013902,6104.506,-2715.250,36,1.6,36,-18.9