version: 66.03
glider: 142
mission: 5
dive: 169
start: 5 10 108 11 37 17
data:
$ID,142
$MISSION,5
$DIVE,169
$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,325
$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,-16300.689
$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,23
$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
$GPS1,112932,6125.851,-2633.781,37,1.7,37,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-48.0
$GPS2,113657,6125.922,-2633.836,14,1.8,14,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6134.768,-2636.784
$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,343.7,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,165,0.00,0.00,-136.52,0.000,2,0.000,0.000,1438,2282,3573
$GC,168,-0.86,-194.7,3.2,-4.5,19,199,11.82,2.85,-7.95,0.000,4,0.255,0.058,2726,897,3867
$GC,436,-0.81,-194.7,44.1,-13.4,68,444,0.00,2.78,0.00,0.000,6,0.000,0.031,2726,2307,3867
$GC,575,-0.75,-194.7,62.3,-13.0,93,582,0.15,2.85,0.00,0.000,4,0.133,0.047,2750,890,3868
$GC,778,-0.75,-194.7,86.2,-11.2,130,786,0.00,2.75,0.00,0.000,6,0.000,0.030,2750,2294,3868
$GC,1111,-0.75,-194.7,120.5,-10.4,191,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2295,3868
$GC,1442,-0.75,-194.7,152.2,-9.3,252,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2295,3868
$GC,1786,-0.75,-194.7,185.6,-9.8,313,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2295,3868
$GC,2125,-0.75,-194.7,220.3,-10.4,374,2131,0.00,2.83,0.00,0.000,4,0.000,0.048,2750,885,3868
$GC,2175,-0.75,-194.7,225.8,-11.0,383,2181,0.00,2.70,0.00,0.000,6,0.000,0.030,2750,2288,3868
$GC,2515,-0.75,-194.7,262.6,-11.3,444,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2289,3868
$GC,2858,-0.75,-194.7,299.3,-10.4,505,2864,0.00,2.83,0.00,0.000,4,0.000,0.046,2750,3710,3868
$GC,2920,-0.75,-194.7,306.1,-10.4,516,2927,0.00,2.83,0.00,0.000,6,0.000,0.035,2751,2280,3868
$GC,3264,-0.75,-194.7,341.7,-10.2,577,3270,0.00,2.78,0.00,0.000,4,0.000,0.050,2750,887,3868
$GC,3335,-0.75,-194.7,349.0,-10.3,589,3341,0.00,2.67,0.00,0.000,6,0.000,0.031,2750,2304,3868
$GC,3667,-0.75,-194.7,382.6,-10.2,621,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2304,3868
$GC,3986,-0.75,-194.7,414.5,-9.8,651,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2304,3868
$GC,4305,-0.75,-194.7,447.3,-10.4,681,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2304,3868
$GC,4622,-0.75,-194.7,479.8,-10.1,711,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2304,3868
$GC,4940,-0.75,-194.7,512.3,-10.3,741,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2304,3868
$GC,5261,-0.75,-194.7,545.3,-10.5,771,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2304,3868
$GC,5579,-0.75,-194.7,578.3,-10.3,801,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2304,3868
$GC,5903,-0.75,-194.7,610.6,-9.9,827,5908,0.00,2.88,0.00,0.000,4,0.000,0.053,2750,889,3868
$GC,5952,-0.75,-194.7,615.8,-10.7,829,5956,0.00,2.70,0.00,0.000,6,0.000,0.033,2750,2274,3867
$GC,6273,-0.75,-194.7,648.7,-10.7,845,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2274,3867
$GC,6583,-0.75,-194.7,681.8,-10.6,860,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2274,3867
$GC,6892,-0.75,-194.7,712.4,-9.4,875,6897,0.00,2.97,0.00,0.000,4,0.000,0.066,2750,3701,3867
$GC,6992,-0.79,-194.7,721.5,-8.5,879,6998,0.00,2.92,0.00,0.000,6,0.000,0.050,2750,2266,3867
$GC,7308,-0.79,-194.7,748.5,-8.5,895,7312,0.00,2.97,0.00,0.000,4,0.000,0.082,2750,888,3866
$GC,7374,-0.84,-194.7,754.7,-9.1,898,7379,0.00,2.80,0.00,0.000,6,0.000,0.051,2750,2260,3866
$GC,7695,-0.84,-194.7,781.7,-8.6,914,7700,0.00,3.15,0.00,0.000,4,0.000,0.084,2750,3708,3866
$GC,7795,-0.84,-194.7,791.0,-9.4,918,7801,0.00,3.08,0.00,0.000,6,0.000,0.070,2750,2274,3866
$GC,8110,-0.84,-194.7,818.2,-8.5,934,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2273,3866
$GC,8420,-0.84,-194.7,843.0,-8.1,949,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2271,3866
$GC,8729,-0.84,-194.7,869.9,-9.1,964,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2271,3865
$GC,9038,-0.84,-194.7,899.0,-9.5,979,9043,0.00,2.97,0.00,0.000,4,0.000,0.055,2750,3716,3865
$GC,9122,-0.84,-194.7,907.1,-9.9,983,9127,0.00,2.85,0.00,0.000,6,0.000,0.040,2750,2282,3865
$GC,9448,-0.84,-194.7,937.5,-9.3,999,9450,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2281,3865
$GC,9758,-0.84,-194.7,963.3,-7.6,1014,9763,0.00,2.97,0.00,0.000,4,0.000,0.057,2750,3717,3864
$GC,9820,-0.88,-194.7,968.0,-7.7,1017,9824,0.00,2.85,0.00,0.000,6,0.000,0.041,2750,2290,3864
$STATE,10102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10102,begin apogee
$GC,10108,-0.21,0.0,990.1,8.0,1031,10320,0.73,0.00,208.10,1.638,6,0.120,0.000,2867,2757,3071
$STATE,10320,end apogee,CONTROL_FINISHED_OK
$STATE,10320,begin climb
$GC,10323,0.86,194.7,996.3,0.0,1041,10548,1.42,2.60,215.68,1.593,4,0.082,0.058,3101,3896,2277
$GC,10678,0.69,194.7,955.8,15.9,1057,10685,0.20,2.38,0.00,0.000,6,0.131,0.034,3074,2743,2275
$GC,10994,0.59,194.7,914.8,12.7,1073,10999,0.15,2.42,0.00,0.000,4,0.129,0.054,3053,3901,2274
$GC,11027,0.52,194.7,910.7,10.9,1074,11033,0.00,2.28,0.00,0.000,6,0.000,0.033,3053,2751,2274
$GC,11342,0.47,194.7,877.4,10.5,1090,11347,0.17,2.35,0.00,0.000,4,0.118,0.052,3025,3900,2273
$GC,11385,0.51,229.8,873.3,8.8,1092,11427,0.00,2.22,36.10,1.495,6,0.000,0.033,3025,2777,2134
$GC,11749,0.61,305.7,845.8,7.4,1110,11833,0.15,0.00,80.85,1.516,6,0.061,0.000,3054,2775,1824
$GC,12137,0.61,305.7,805.4,10.5,1129,12138,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2775,1818
$GC,12446,0.61,305.7,771.9,10.9,1144,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2775,1816
$GC,12755,0.61,305.7,738.1,10.6,1159,12759,0.00,2.30,0.00,0.000,4,0.000,0.053,3054,3900,1815
$GC,12765,0.61,305.7,736.9,10.5,1159,12771,0.00,2.17,0.00,0.000,6,0.000,0.031,3054,2778,1815
$GC,13080,0.61,305.7,704.5,10.6,1175,13085,0.00,2.90,0.00,0.000,4,0.000,0.048,3054,1337,1814
$GC,13090,0.61,305.7,703.3,10.8,1175,13096,0.00,2.83,0.00,0.000,6,0.000,0.032,3054,2776,1814
$GC,13405,0.61,305.7,669.9,10.5,1191,13409,0.00,2.25,0.00,0.000,4,0.000,0.052,3054,3899,1814
$GC,13415,0.61,305.7,668.7,10.4,1191,13422,0.00,2.20,0.00,0.000,6,0.000,0.032,3054,2775,1813
$GC,13731,0.61,305.7,636.2,10.2,1207,13732,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2774,1813
$GC,14040,0.61,309.3,605.1,9.9,1222,14041,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2774,1813
$GC,14359,0.61,309.3,573.6,10.3,1249,14360,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2772,1813
$GC,14674,0.61,309.3,539.3,10.1,1279,14679,0.00,2.88,0.00,0.000,4,0.000,0.048,3054,1336,1813
$GC,14684,0.61,312.6,538.3,9.9,1279,14696,0.00,2.80,6.25,1.001,6,0.000,0.031,3054,2771,1796
$GC,15014,0.61,312.6,505.0,10.4,1310,15015,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2772,1795
$GC,15332,0.61,312.6,471.6,10.6,1340,15337,0.00,2.88,0.00,0.000,4,0.000,0.045,3054,1343,1796
$GC,15342,0.61,312.6,470.4,10.5,1340,15349,0.00,2.80,0.00,0.000,6,0.000,0.032,3054,2772,1795
$GC,15669,0.61,312.6,436.9,10.2,1371,15670,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2772,1795
$GC,15989,0.62,315.1,405.0,9.9,1401,16000,0.00,2.90,4.30,0.782,4,0.000,0.046,3054,1337,1786
$GC,16006,0.62,317.1,402.9,9.9,1402,16012,0.00,2.78,0.00,0.000,6,0.000,0.031,3054,2758,1786
$GC,16334,0.63,325.9,371.1,9.7,1433,16350,0.00,0.00,12.85,1.107,6,0.000,0.000,3054,2759,1742
$GC,16676,0.64,336.3,338.0,9.6,1476,16694,0.00,0.00,11.98,1.081,6,0.000,0.000,3054,2759,1699
$GC,17027,0.64,336.3,304.7,10.3,1539,17034,0.00,2.88,0.00,0.000,4,0.000,0.044,3054,1335,1697
$GC,17045,0.65,344.1,303.0,9.7,1542,17064,0.00,2.78,8.88,0.996,6,0.000,0.031,3054,2750,1669
$GC,17399,0.65,344.1,268.1,10.2,1605,17406,0.00,2.85,0.00,0.000,4,0.000,0.044,3054,1337,1668
$GC,17412,0.65,344.1,266.6,10.1,1607,17418,0.00,2.75,0.00,0.000,6,0.000,0.031,3054,2748,1667
$GC,17752,0.65,344.1,232.7,10.9,1668,17759,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2748,1668
$GC,18094,0.67,355.9,198.8,9.6,1729,18118,0.00,2.88,13.77,1.012,4,0.000,0.044,3054,1340,1620
$GC,18254,0.75,370.0,183.0,9.5,1757,18279,0.15,2.75,15.95,1.035,6,0.051,0.031,3086,2747,1561
$GC,18616,0.69,370.0,132.8,14.8,1821,18623,0.00,2.83,0.00,0.000,4,0.000,0.044,3086,1341,1559
$GC,18709,0.69,370.0,120.0,11.8,1838,18717,0.00,2.78,0.00,0.000,6,0.000,0.032,3087,2745,1559
$GC,19044,0.64,370.0,75.4,12.7,1899,19051,0.15,0.00,0.00,0.000,6,0.107,0.000,3060,2745,1559
$GC,19376,0.69,370.0,43.7,10.4,1960,19384,0.00,2.85,0.00,0.000,4,0.000,0.045,3060,1338,1558
$GC,19523,0.79,394.8,29.0,9.1,1987,19561,0.12,2.75,25.73,0.966,6,0.044,0.031,3091,2739,1459
$GC,19690,0.75,394.8,6.9,16.2,2016,19698,0.00,2.88,0.00,0.000,4,0.000,0.046,3092,1339,1456
$STATE,19725,end climb,SURFACE_DEPTH_REACHED
$STATE,19725,begin surface coast
$FINISH,0.3,1.026265
$STATE,19737,end surface coast,CONTROL_FINISHED_OK
$STATE,19737,begin surface
$SM_CCo,19816,0.00,0.000,0,0,1453,396.90
$SM_GC,0.70,8.32,0.00,0.00,0.038,0.000,0.000,1435,2303,1453,-6.79,0.08,396.90
$IRIDIUM_FIX,6059.36,-2635.91,040897,060659
$TT8_MAMPS,0.026845
$HUMID,1784
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,11.20
$XPDR_PINGS,1045
$24V_AH,19.3,58.311
$10V_AH,9.7,43.250
$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,23.550,142.800,640.425,0.000,0.000,29.310,31.916,242.279,261.250,0.000,0.000,16.469,3164.835,11186.620,772.415,4476.717,642.447,0.000,2463.358,0.000,4481.770,0.000,0.465
$DEVICE_MAMPS,254.644,83.603,1637.545,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1419.749,1443.930,726.590,997.591,1824.125,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,148756,2024
$CAP_FILE_SIZE,179154,0
$CFSIZE,260165632,240238592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100508,170838,6129.165,-2637.609,29,1.8,29,-18.8