version: 66.03
glider: 142
mission: 5
dive: 163
start: 5 9 108 3 26 1
data:
$ID,142
$MISSION,5
$DIVE,163
$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,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,-16166.482
$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,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
$GPS1,031751,6105.594,-2616.639,36,2.2,55,-18.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-41.2
$GPS2,032544,6105.534,-2616.770,11,1.4,28,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6115.682,-2618.546
$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,358.4,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.86,-194.7,0.0,0.0,0,159,0.00,0.00,-129.62,0.000,2,0.000,0.000,1434,2291,3586
$GC,162,-0.86,-194.7,3.5,-5.2,18,193,11.93,2.92,-7.40,0.000,4,0.256,0.051,2727,3715,3867
$GC,357,-0.86,-194.7,33.7,-14.4,53,365,0.00,2.83,0.00,0.000,6,0.000,0.034,2727,2298,3868
$GC,490,-0.80,-194.7,51.8,-14.1,78,498,0.00,2.85,0.00,0.000,4,0.000,0.049,2726,885,3868
$GC,576,-0.80,-194.7,63.4,-13.5,93,583,0.00,2.75,0.00,0.000,6,0.000,0.030,2727,2305,3868
$GC,908,-0.75,-194.7,106.1,-13.3,154,917,0.15,2.88,0.00,0.000,4,0.132,0.047,2751,887,3868
$GC,952,-0.75,-194.7,111.5,-11.6,161,958,0.00,2.70,0.00,0.000,6,0.000,0.030,2751,2289,3868
$GC,1282,-0.75,-194.7,150.3,-12.4,222,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2289,3869
$GC,1621,-0.75,-194.7,189.8,-11.1,283,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2289,3869
$GC,1960,-0.75,-194.7,225.8,-10.5,344,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2289,3868
$GC,2301,-0.75,-194.7,261.1,-10.0,405,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2290,3868
$GC,2638,-0.75,-194.7,294.1,-9.6,466,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2290,3868
$GC,2974,-0.75,-194.7,327.5,-9.5,527,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2291,3868
$GC,3309,-0.75,-194.7,360.4,-9.5,578,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2291,3868
$GC,3627,-0.75,-194.7,390.0,-9.2,608,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2290,3868
$GC,3946,-0.75,-194.7,417.8,-8.6,638,3950,0.00,2.80,0.00,0.000,4,0.000,0.046,2752,3702,3868
$GC,4007,-0.75,-194.7,423.3,-9.1,643,4011,0.00,2.78,0.00,0.000,6,0.000,0.034,2751,2277,3868
$GC,4334,-0.75,-194.7,455.0,-10.1,673,4339,0.00,2.75,0.00,0.000,4,0.000,0.050,2751,890,3868
$GC,4373,-0.75,-194.7,459.4,-10.6,676,4378,0.00,2.70,0.00,0.000,6,0.000,0.031,2751,2293,3868
$GC,4699,-0.75,-194.7,493.7,-10.7,706,4704,0.00,2.80,0.00,0.000,4,0.000,0.046,2751,3702,3868
$GC,4772,-0.75,-194.7,501.8,-10.8,712,4776,0.00,2.75,0.00,0.000,6,0.000,0.034,2751,2292,3868
$GC,5097,-0.75,-194.7,536.9,-10.9,742,5102,0.00,2.80,0.00,0.000,4,0.000,0.052,2751,887,3868
$GC,5140,-0.75,-194.7,542.0,-11.4,745,5147,0.00,2.72,0.00,0.000,6,0.000,0.031,2751,2303,3868
$GC,5468,-0.75,-194.7,579.8,-11.8,776,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2303,3868
$GC,5788,-0.75,-194.7,616.2,-10.9,800,5793,0.00,2.83,0.00,0.000,4,0.000,0.051,2751,3708,3868
$GC,5849,-0.75,-194.7,623.1,-11.7,803,5854,0.00,2.78,0.00,0.000,6,0.000,0.037,2751,2301,3868
$GC,6175,-0.75,-194.7,657.7,-10.1,819,6180,0.00,2.88,0.00,0.000,4,0.000,0.059,2751,887,3868
$GC,6219,-0.79,-194.7,662.4,-10.6,821,6223,0.00,2.78,0.00,0.000,6,0.000,0.034,2751,2312,3867
$GC,6540,-0.79,-194.7,692.7,-9.4,837,6544,0.00,2.88,0.00,0.000,4,0.000,0.061,2751,3710,3867
$GC,6601,-0.79,-194.7,698.6,-9.8,840,6606,0.00,2.80,0.00,0.000,6,0.000,0.044,2751,2313,3867
$GC,6927,-0.79,-194.7,727.0,-8.6,856,6932,0.00,2.97,0.00,0.000,4,0.000,0.073,2751,889,3867
$GC,7016,-0.83,-194.7,735.4,-9.6,860,7021,0.00,2.83,0.00,0.000,6,0.000,0.045,2751,2300,3867
$GC,7336,-0.83,-194.7,766.7,-10.0,876,7341,0.00,3.03,0.00,0.000,4,0.000,0.077,2751,3712,3867
$GC,7425,-0.83,-194.7,775.9,-10.8,880,7430,0.00,2.92,0.00,0.000,6,0.000,0.062,2751,2316,3867
$GC,7746,-0.83,-194.7,808.1,-9.6,896,7751,0.00,3.22,0.00,0.000,4,0.000,0.100,2751,885,3867
$GC,7795,-0.88,-194.7,813.0,-10.1,898,7801,0.00,3.12,0.00,0.000,6,0.000,0.074,2751,2332,3867
$GC,8111,-0.88,-194.7,843.6,-9.9,913,8116,0.00,3.17,0.00,0.000,4,0.000,0.107,2751,3710,3867
$GC,8183,-0.88,-194.7,850.9,-9.9,916,8188,0.00,2.88,0.00,0.000,6,0.000,0.058,2751,2319,3867
$GC,8499,-0.88,-194.7,879.7,-9.2,931,8504,0.00,2.90,0.00,0.000,4,0.000,0.058,2751,889,3867
$GC,8543,-0.94,-194.7,884.0,-9.9,933,8549,0.20,2.85,0.00,0.000,6,0.050,0.033,2708,2353,3866
$GC,8864,-0.88,-194.7,921.8,-11.9,949,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2354,3866
$GC,9174,-0.82,-194.7,956.3,-10.5,964,9179,0.15,3.00,0.00,0.000,4,0.129,0.055,2733,885,3866
$GC,9303,-0.82,-194.7,968.5,-9.3,970,9308,0.00,2.85,0.00,0.000,6,0.000,0.035,2734,2338,3866
$STATE,9544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9544,begin apogee
$GC,9551,-0.21,0.0,990.9,9.3,982,9761,0.88,0.00,206.73,1.619,6,0.135,0.000,2871,2751,3071
$STATE,9762,end apogee,CONTROL_FINISHED_OK
$STATE,9762,begin climb
$GC,9764,0.86,194.7,995.9,0.0,992,9990,1.40,2.60,214.25,1.575,4,0.083,0.056,3100,3894,2276
$GC,10068,0.69,194.7,963.7,14.4,1006,10073,0.20,2.40,0.00,0.000,6,0.130,0.034,3074,2747,2274
$GC,10384,0.59,194.7,926.3,11.7,1021,10388,0.15,2.40,0.00,0.000,4,0.127,0.053,3053,3893,2274
$GC,10428,0.53,194.7,921.2,10.9,1023,10432,0.00,2.28,0.00,0.000,6,0.000,0.033,3053,2747,2273
$GC,10748,0.48,194.7,889.4,10.1,1039,10753,0.15,2.38,0.00,0.000,4,0.114,0.052,3027,3897,2272
$GC,10788,0.52,227.4,886.0,8.9,1041,10829,0.00,2.22,33.55,1.476,6,0.000,0.032,3027,2760,2144
$GC,11139,0.58,278.1,857.7,8.2,1058,11201,0.00,2.47,53.15,1.494,4,0.000,0.052,3027,3893,1936
$GC,11213,0.69,334.2,851.4,8.1,1061,11280,0.22,2.28,61.03,1.483,6,0.052,0.031,3069,2769,1708
$GC,11589,0.65,334.2,804.4,12.1,1079,11593,0.00,2.35,0.00,0.000,4,0.000,0.052,3069,3902,1700
$GC,11599,0.61,334.2,802.9,12.3,1079,11605,0.00,2.22,0.00,0.000,6,0.000,0.031,3069,2776,1700
$GC,11915,0.56,334.2,764.4,12.3,1095,11920,0.15,2.30,0.00,0.000,4,0.110,0.051,3043,3897,1699
$GC,11941,0.56,334.2,761.3,10.4,1096,11945,0.00,2.15,0.00,0.000,6,0.000,0.031,3043,2807,1698
$GC,12263,0.56,334.2,729.5,10.0,1112,12267,0.00,2.95,0.00,0.000,4,0.000,0.048,3043,1342,1697
$GC,12295,0.62,344.6,726.1,9.6,1113,12311,0.00,2.85,9.90,1.212,6,0.000,0.032,3043,2792,1666
$GC,12626,0.62,347.0,692.7,9.9,1130,12631,0.00,2.92,0.00,0.000,4,0.000,0.046,3043,1344,1664
$GC,12666,0.70,364.4,689.0,9.4,1132,12695,0.15,2.80,22.40,1.349,6,0.055,0.032,3073,2765,1585
$GC,13018,0.66,364.4,641.4,13.8,1149,13022,0.00,2.28,0.00,0.000,4,0.000,0.051,3073,3899,1581
$GC,13028,0.62,364.4,639.7,13.8,1149,13034,0.00,2.20,0.00,0.000,6,0.000,0.031,3073,2765,1581
$GC,13344,0.57,364.4,598.4,13.1,1165,13346,0.17,0.00,0.00,0.000,6,0.104,0.000,3046,2765,1581
$GC,13664,0.63,366.9,565.7,9.9,1195,13665,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2762,1580
$GC,13984,0.68,366.9,533.8,10.0,1225,13989,0.00,2.83,0.00,0.000,4,0.000,0.047,3046,1343,1580
$GC,14001,0.73,367.1,531.7,10.0,1226,14007,0.17,2.80,0.00,0.000,6,0.049,0.031,3084,2776,1580
$GC,14327,0.66,367.1,482.1,15.7,1256,14328,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2776,1580
$GC,14646,0.60,367.1,432.4,15.8,1286,14650,0.17,2.22,0.00,0.000,4,0.107,0.048,3054,3903,1580
$GC,14668,0.60,367.1,429.0,14.2,1288,14672,0.00,2.17,0.00,0.000,6,0.000,0.031,3054,2774,1579
$GC,14992,0.60,367.1,393.2,10.8,1318,14997,0.00,2.85,0.00,0.000,4,0.000,0.046,3053,1336,1579
$GC,15008,0.60,367.1,391.4,10.5,1319,15013,0.00,2.83,0.00,0.000,6,0.000,0.031,3054,2782,1579
$GC,15334,0.60,367.1,357.1,10.1,1349,15338,0.00,2.90,0.00,0.000,4,0.000,0.045,3053,1338,1579
$GC,15362,0.65,367.1,354.1,10.5,1351,15367,0.00,2.78,0.00,0.000,6,0.000,0.031,3054,2762,1579
$GC,15697,0.68,394.6,321.4,9.0,1407,15734,0.00,2.90,31.17,1.154,4,0.000,0.044,3054,1344,1461
$GC,15747,0.78,428.0,316.9,8.8,1415,15790,0.17,2.78,36.05,1.156,6,0.048,0.031,3091,2744,1326
$GC,16124,0.72,428.0,262.7,15.7,1482,16130,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2743,1319
$GC,16466,0.67,428.0,206.9,16.8,1543,16472,0.15,2.30,0.00,0.000,4,0.108,0.048,3065,3897,1318
$GC,16490,0.67,428.0,202.9,16.6,1547,16496,0.00,2.22,0.00,0.000,6,0.000,0.031,3065,2748,1317
$GC,16831,0.72,428.0,161.1,11.5,1608,16839,0.00,2.83,0.00,0.000,4,0.000,0.046,3065,1345,1316
$GC,16850,0.78,428.0,158.8,11.3,1611,16857,0.12,2.72,0.00,0.000,6,0.053,0.030,3092,2750,1316
$GC,17184,0.73,428.0,107.6,14.5,1672,17191,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2750,1316
$GC,17520,0.68,428.0,56.3,16.1,1733,17526,0.15,0.00,0.00,0.000,6,0.106,0.000,3066,2750,1316
$GC,17844,0.74,428.0,22.5,11.4,1794,17852,0.00,2.85,0.00,0.000,4,0.000,0.047,3066,1349,1315
$GC,17860,0.80,428.0,20.5,12.8,1796,17868,0.10,2.70,0.00,0.000,6,0.041,0.031,3094,2727,1315
$GC,17996,0.80,428.0,2.7,10.2,1821,18004,0.00,2.30,0.00,0.000,4,0.000,0.043,3094,3890,1314
$STATE,18012,end climb,SURFACE_DEPTH_REACHED
$STATE,18012,begin surface coast
$FINISH,0.1,1.026255
$STATE,18019,end surface coast,CONTROL_FINISHED_OK
$STATE,18019,begin surface
$SM_CCo,18099,0.00,0.000,0,0,1313,431.24
$SM_GC,0.62,8.35,0.00,0.00,0.044,0.000,0.000,1436,2294,1313,-6.79,-0.17,431.24
$IRIDIUM_FIX,6041.65,-2617.97,020897,212146
$TT8_MAMPS,0.026845
$HUMID,1754
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,11.70
$XPDR_PINGS,861
$24V_AH,19.4,56.289
$10V_AH,9.8,42.013
$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,25.300,184.750,668.225,0.000,0.000,28.116,32.249,258.706,215.250,0.000,0.000,29.969,2934.390,9952.286,776.065,4227.583,661.302,0.000,2437.303,0.000,4208.751,0.000,0.465
$DEVICE_MAMPS,256.178,106.613,1619.137,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1273.370,1313.226,652.132,919.148,1672.530,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,133012,1824
$CAP_FILE_SIZE,182790,0
$CFSIZE,260165632,240840704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090508,082856,6107.412,-2621.007,40,1.2,40,-18.4