version: 66.03
glider: 142
mission: 5
dive: 165
start: 5 9 108 14 15 51
data:
$ID,142
$MISSION,5
$DIVE,165
$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,-16216.677
$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,22
$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
$GPS1,140055,6110.062,-2624.150,24,1.0,41,-18.5
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-45.9
$GPS2,141533,6110.105,-2624.306,13,1.4,13,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6120.253,-2626.078
$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,358.5,20000,-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,-194.7,0.0,0.0,0,167,0.00,0.00,-137.38,0.000,2,0.000,0.000,1437,2287,3615
$GC,169,-0.86,-194.7,3.3,-4.7,19,194,11.82,2.92,-6.50,0.000,4,0.253,0.050,2726,3714,3867
$GC,285,-0.80,-194.7,24.1,-13.3,39,293,0.00,2.80,0.00,0.000,6,0.000,0.033,2726,2305,3868
$GC,420,-0.74,-194.7,40.9,-12.7,64,429,0.15,2.85,0.00,0.000,4,0.152,0.048,2750,894,3868
$GC,551,-0.74,-194.7,56.0,-11.8,88,559,0.00,2.72,0.00,0.000,6,0.000,0.030,2750,2286,3867
$GC,884,-0.74,-194.7,92.5,-11.3,149,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2286,3868
$GC,1211,-0.74,-194.7,129.8,-11.6,210,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2286,3868
$GC,1546,-0.74,-194.7,168.3,-11.6,271,1552,0.00,2.80,0.00,0.000,4,0.000,0.047,2750,883,3868
$GC,1597,-0.74,-194.7,174.2,-11.6,280,1605,0.00,2.70,0.00,0.000,6,0.000,0.030,2750,2276,3868
$GC,1943,-0.74,-194.7,212.7,-10.6,341,1949,0.00,2.83,0.00,0.000,4,0.000,0.044,2750,3703,3867
$GC,2013,-0.74,-194.7,220.3,-10.8,353,2019,0.00,2.80,0.00,0.000,6,0.000,0.034,2749,2267,3868
$GC,2352,-0.74,-194.7,257.5,-11.7,414,2358,0.00,2.72,0.00,0.000,4,0.000,0.049,2750,890,3868
$GC,2409,-0.74,-194.7,264.2,-11.6,424,2416,0.00,2.70,0.00,0.000,6,0.000,0.030,2750,2282,3868
$GC,2752,-0.74,-194.7,302.5,-11.2,485,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2282,3868
$GC,3091,-0.74,-194.7,340.5,-10.8,546,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2283,3867
$GC,3428,-0.74,-194.7,377.3,-10.9,585,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2283,3868
$GC,3752,-0.74,-194.7,412.4,-10.3,616,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3868
$GC,4071,-0.74,-194.7,445.1,-10.3,646,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3868
$GC,4390,-0.74,-194.7,477.7,-9.8,676,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3868
$GC,4709,-0.74,-194.7,508.5,-9.7,706,4713,0.00,2.83,0.00,0.000,4,0.000,0.046,2750,3703,3867
$GC,4763,-0.74,-194.7,514.0,-9.6,710,4770,0.00,2.80,0.00,0.000,6,0.000,0.035,2749,2267,3867
$GC,5090,-0.74,-194.7,544.8,-9.7,741,5095,0.00,2.72,0.00,0.000,4,0.000,0.051,2749,890,3868
$GC,5129,-0.74,-194.7,548.8,-9.9,744,5134,0.00,2.70,0.00,0.000,6,0.000,0.031,2750,2295,3867
$GC,5456,-0.74,-194.7,579.2,-9.3,774,5461,0.00,2.83,0.00,0.000,4,0.000,0.049,2749,3707,3867
$GC,5523,-0.74,-194.7,585.8,-9.3,779,5529,0.00,2.78,0.00,0.000,6,0.000,0.036,2749,2295,3867
$GC,5853,-0.74,-194.7,616.8,-9.6,803,5857,0.00,2.85,0.00,0.000,4,0.000,0.056,2750,886,3867
$GC,5907,-0.74,-194.7,622.4,-10.3,805,5914,0.00,2.72,0.00,0.000,6,0.000,0.031,2749,2293,3867
$GC,6223,-0.74,-194.7,652.8,-10.0,821,6228,0.00,2.88,0.00,0.000,4,0.000,0.055,2750,3710,3867
$GC,6284,-0.74,-194.7,659.0,-9.9,824,6289,0.00,2.80,0.00,0.000,6,0.000,0.041,2750,2300,3867
$GC,6610,-0.74,-194.7,691.9,-10.4,840,6615,0.00,2.90,0.00,0.000,4,0.000,0.065,2749,891,3867
$GC,6672,-0.78,-194.7,698.5,-11.3,843,6676,0.00,2.78,0.00,0.000,6,0.000,0.038,2750,2298,3867
$GC,6997,-0.78,-194.7,733.6,-10.7,859,7002,0.00,2.95,0.00,0.000,4,0.000,0.067,2749,3707,3867
$GC,7081,-0.78,-194.7,742.5,-10.7,863,7086,0.00,2.88,0.00,0.000,6,0.000,0.051,2750,2304,3867
$GC,7407,-0.78,-194.7,774.7,-9.6,879,7412,0.00,3.12,0.00,0.000,4,0.000,0.091,2749,885,3867
$GC,7462,-0.83,-194.7,780.4,-10.5,881,7468,0.00,2.95,0.00,0.000,6,0.000,0.061,2750,2303,3866
$GC,7777,-0.83,-194.7,809.8,-9.2,897,7782,0.00,3.12,0.00,0.000,4,0.000,0.092,2750,3710,3866
$GC,7861,-0.83,-194.7,817.4,-8.8,901,7866,0.00,3.05,0.00,0.000,6,0.000,0.081,2750,2323,3866
$GC,8187,-0.83,-194.7,845.5,-8.7,917,8192,0.00,3.03,0.00,0.000,4,0.000,0.071,2749,877,3866
$GC,8272,-0.87,-194.7,853.5,-9.4,921,8276,0.00,2.83,0.00,0.000,6,0.000,0.031,2749,2332,3866
$GC,8598,-0.87,-194.7,883.0,-8.9,937,8602,0.00,2.80,0.00,0.000,4,0.000,0.055,2749,3712,3866
$GC,8652,-0.87,-194.7,888.0,-9.0,939,8659,0.00,2.80,0.00,0.000,6,0.000,0.041,2750,2307,3866
$GC,8968,-0.87,-194.7,916.5,-8.9,955,8973,0.00,2.90,0.00,0.000,4,0.000,0.061,2749,888,3866
$GC,9012,-0.92,-194.7,920.7,-9.5,957,9018,0.15,2.80,0.00,0.000,6,0.058,0.033,2720,2323,3865
$GC,9333,-0.87,-194.7,956.6,-11.4,973,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2324,3865
$STATE,9619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9619,begin apogee
$GC,9625,-0.21,0.0,990.7,12.2,987,9836,0.95,0.00,206.75,1.623,6,0.128,0.000,2870,2760,3071
$STATE,9836,end apogee,CONTROL_FINISHED_OK
$STATE,9836,begin climb
$GC,9839,0.86,194.7,998.9,0.0,997,10064,1.38,2.58,214.02,1.581,4,0.076,0.057,3101,3897,2278
$GC,10206,0.70,194.7,958.0,15.6,1014,10211,0.17,2.38,0.00,0.000,6,0.126,0.034,3077,2740,2276
$GC,10526,0.58,194.7,917.5,12.5,1030,10531,0.17,2.42,0.00,0.000,4,0.118,0.054,3049,3900,2275
$GC,10553,0.51,194.7,914.2,11.8,1031,10558,0.00,2.28,0.00,0.000,6,0.000,0.033,3049,2748,2275
$GC,10869,0.47,194.7,882.1,10.0,1046,10874,0.15,2.38,0.00,0.000,4,0.119,0.052,3023,3901,2275
$GC,10890,0.51,234.2,880.0,8.6,1047,10936,0.00,2.22,40.92,1.495,6,0.000,0.031,3023,2762,2116
$GC,11253,0.57,278.4,849.7,8.5,1065,11302,0.00,0.00,46.62,1.488,6,0.000,0.000,3023,2761,1936
$GC,11601,0.67,316.6,819.9,8.7,1082,11645,0.22,0.00,41.00,1.459,6,0.050,0.000,3068,2761,1780
$GC,11951,0.63,316.6,773.2,13.1,1099,11955,0.00,2.35,0.00,0.000,4,0.000,0.051,3068,3904,1775
$GC,11977,0.63,316.6,769.3,13.6,1100,11981,0.00,2.28,0.00,0.000,6,0.000,0.033,3068,2762,1774
$GC,12299,0.58,316.6,729.8,11.8,1116,12303,0.00,2.33,0.00,0.000,4,0.000,0.051,3068,3903,1773
$GC,12339,0.58,316.6,724.9,11.6,1118,12343,0.00,2.17,0.00,0.000,6,0.000,0.031,3068,2783,1772
$GC,12665,0.54,316.6,686.6,12.1,1134,12667,0.17,0.00,0.00,0.000,6,0.106,0.000,3040,2781,1772
$GC,12975,0.58,343.5,657.8,9.1,1149,13009,0.00,2.97,27.62,1.351,4,0.000,0.048,3040,1349,1669
$GC,13016,0.68,392.2,654.0,8.3,1151,13078,0.15,2.88,53.10,1.386,6,0.050,0.031,3071,2789,1472
$GC,13386,0.68,392.2,608.6,12.2,1169,13387,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2789,1465
$GC,13704,0.68,392.2,569.6,12.9,1195,13705,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2788,1464
$GC,14023,0.68,392.2,529.7,12.2,1225,14028,0.00,2.92,0.00,0.000,4,0.000,0.045,3071,1341,1463
$GC,14033,0.68,392.2,528.0,12.3,1225,14040,0.00,2.80,0.00,0.000,6,0.000,0.031,3072,2772,1462
$GC,14359,0.68,392.2,487.0,13.1,1256,14361,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2772,1463
$GC,14678,0.68,392.2,446.8,13.0,1286,14679,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2772,1462
$GC,14995,0.68,392.2,406.2,12.5,1316,14996,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2772,1462
$GC,15314,0.68,392.2,366.3,12.5,1346,15315,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2772,1462
$GC,15644,0.68,392.2,326.3,11.8,1393,15650,0.00,2.88,0.00,0.000,4,0.000,0.045,3071,1340,1462
$GC,15656,0.68,392.2,324.5,11.9,1395,15663,0.00,2.78,0.00,0.000,6,0.000,0.031,3071,2770,1461
$GC,15995,0.68,392.2,284.7,11.4,1456,16004,0.00,2.88,0.00,0.000,4,0.000,0.044,3072,1349,1461
$GC,16009,0.68,392.2,282.9,11.7,1458,16016,0.00,2.75,0.00,0.000,6,0.000,0.031,3072,2764,1461
$GC,16350,0.68,392.2,243.4,11.6,1519,16356,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2765,1461
$GC,16690,0.68,392.2,203.4,10.4,1580,16699,0.00,2.88,0.00,0.000,4,0.000,0.044,3071,1343,1461
$GC,16705,0.68,392.2,201.8,10.7,1582,16711,0.00,2.75,0.00,0.000,6,0.000,0.031,3071,2760,1461
$GC,17044,0.68,392.2,165.2,11.3,1643,17050,0.00,2.85,0.00,0.000,4,0.000,0.044,3071,1335,1461
$GC,17058,0.68,392.2,163.8,11.0,1645,17064,0.00,2.75,0.00,0.000,6,0.000,0.031,3071,2753,1461
$GC,17393,0.68,392.2,129.5,12.0,1706,17400,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2753,1461
$GC,17728,0.68,392.2,91.9,12.1,1767,17735,0.00,2.83,0.00,0.000,4,0.000,0.044,3072,1339,1461
$GC,17743,0.68,392.2,90.2,11.5,1769,17749,0.00,2.72,0.00,0.000,6,0.000,0.031,3072,2747,1461
$GC,18072,0.68,392.2,53.5,11.1,1830,18079,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2747,1461
$GC,18396,0.68,392.2,19.7,10.1,1891,18404,0.00,2.83,0.00,0.000,4,0.000,0.045,3072,1351,1461
$GC,18417,0.68,392.2,17.7,10.5,1894,18425,0.00,2.70,0.00,0.000,6,0.000,0.031,3071,2730,1461
$GC,18551,0.68,392.2,3.3,10.7,1919,18560,0.00,2.80,0.00,0.000,4,0.000,0.046,3072,1349,1461
$STATE,18567,end climb,SURFACE_DEPTH_REACHED
$STATE,18567,begin surface coast
$FINISH,-0.0,1.026262
$STATE,18584,end surface coast,CONTROL_FINISHED_OK
$STATE,18585,begin surface
$SM_CCo,18664,0.00,0.000,0,0,1458,395.67
$SM_GC,0.54,8.32,0.00,0.00,0.048,0.000,0.000,1434,2315,1458,-6.80,0.42,395.67
$IRIDIUM_FIX,6046.07,-2615.95,030897,141414
$TT8_MAMPS,0.026845
$HUMID,1761
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,11.20
$XPDR_PINGS,894
$24V_AH,19.4,56.949
$10V_AH,9.8,42.434
$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,23.825,170.775,630.050,0.000,0.000,94.009,180.970,337.588,223.500,0.000,0.000,15.426,3052.656,10331.121,779.618,4408.158,950.854,0.000,2446.008,0.000,4410.966,0.000,0.465
$DEVICE_MAMPS,253.110,92.040,1622.972,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1344.402,1377.999,732.343,981.580,1829.144,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142437,1924
$CAP_FILE_SIZE,181490,0
$CFSIZE,260165632,240640000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090508,192808,6113.469,-2626.337,37,1.0,37,-18.5