version: 66.03
glider: 142
mission: 5
dive: 177
start: 5 12 108 7 45 16
data:
$ID,142
$MISSION,5
$DIVE,177
$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,130
$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,-16444.924
$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,29
$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
$GPS1,073432,6129.845,-2554.581,39,1.4,39,-18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-46.8
$GPS2,074457,6129.843,-2554.419,13,1.5,13,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6122.901,-2550.457
$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,148.4,20000,-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,26,-0.86,-194.7,0.0,0.0,0,156,0.00,0.00,-126.53,0.000,2,0.000,0.000,1430,2277,3424
$GC,159,-0.86,-194.7,3.1,-4.8,23,190,11.60,2.88,-12.95,0.000,4,0.247,0.050,2727,3709,3866
$GC,197,-0.47,-194.7,9.9,-15.9,29,204,0.60,2.75,0.00,0.000,6,0.166,0.034,2810,2307,3866
$GC,343,-0.61,-194.7,21.4,-6.9,54,349,0.12,0.00,0.00,0.000,6,0.059,0.000,2783,2306,3867
$GC,486,-0.69,-194.7,32.9,-8.2,79,492,0.00,2.83,0.00,0.000,4,0.000,0.045,2783,3715,3867
$GC,499,-0.76,-194.7,34.1,-8.6,81,506,0.15,2.78,0.00,0.000,6,0.058,0.034,2753,2293,3867
$GC,642,-0.76,-194.7,49.5,-11.7,106,648,0.00,2.83,0.00,0.000,4,0.000,0.044,2753,3709,3867
$GC,654,-0.76,-194.7,50.9,-11.1,108,660,0.00,2.75,0.00,0.000,6,0.000,0.034,2753,2297,3867
$GC,1000,-0.76,-194.7,87.8,-11.1,169,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2297,3867
$GC,1342,-0.76,-194.7,123.5,-9.8,230,1349,0.00,2.80,0.00,0.000,4,0.000,0.051,2753,892,3867
$GC,1401,-0.80,-194.7,129.2,-9.3,240,1407,0.00,2.70,0.00,0.000,6,0.000,0.028,2753,2305,3867
$GC,1745,-0.80,-194.7,160.6,-9.7,301,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2305,3867
$GC,2087,-0.80,-194.7,196.5,-10.6,362,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2305,3867
$GC,2431,-0.80,-194.7,229.9,-9.7,423,2437,0.00,2.83,0.00,0.000,4,0.000,0.048,2753,891,3867
$GC,2459,-0.80,-194.7,232.8,-10.3,428,2466,0.00,2.67,0.00,0.000,6,0.000,0.030,2753,2288,3867
$GC,2804,-0.80,-194.7,267.2,-9.7,489,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2287,3867
$GC,3146,-0.80,-194.7,302.0,-10.1,550,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2287,3867
$GC,3489,-0.80,-194.7,336.6,-9.8,611,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2288,3867
$GC,3826,-0.80,-194.7,369.3,-9.1,654,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2287,3867
$GC,4144,-0.80,-194.7,400.3,-9.3,684,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2287,3867
$GC,4463,-0.80,-194.7,430.0,-9.3,714,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2288,3867
$GC,4781,-0.80,-194.7,460.2,-9.7,744,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2288,3867
$GC,5100,-0.80,-194.7,491.1,-10.0,774,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2287,3867
$GC,5418,-0.80,-194.7,524.2,-10.4,804,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2288,3867
$GC,5737,-0.80,-194.7,557.3,-10.2,834,5741,0.00,2.83,0.00,0.000,4,0.000,0.048,2753,3699,3866
$GC,5754,-0.80,-194.7,558.9,-9.9,835,5758,0.00,2.75,0.00,0.000,6,0.000,0.035,2753,2292,3866
$GC,6080,-0.80,-194.7,590.3,-9.4,865,6085,0.00,2.85,0.00,0.000,4,0.000,0.050,2753,3697,3866
$GC,6102,-0.80,-194.7,592.6,-9.2,866,6109,0.00,2.78,0.00,0.000,6,0.000,0.035,2753,2287,3866
$GC,6430,-0.80,-194.7,623.1,-9.2,886,6435,0.00,2.90,0.00,0.000,4,0.000,0.053,2753,3705,3867
$GC,6447,-0.80,-194.7,624.7,-9.1,887,6452,0.00,2.78,0.00,0.000,6,0.000,0.038,2753,2302,3866
$GC,6774,-0.80,-194.7,654.0,-9.2,903,6779,0.00,2.88,0.00,0.000,4,0.000,0.056,2753,3697,3866
$GC,6791,-0.80,-194.7,655.6,-9.4,904,6796,0.00,2.78,0.00,0.000,6,0.000,0.040,2753,2304,3866
$GC,7118,-0.80,-194.7,686.5,-9.8,920,7122,0.00,2.90,0.00,0.000,4,0.000,0.061,2753,3697,3866
$GC,7156,-0.80,-194.7,690.4,-10.3,922,7161,0.00,2.78,0.00,0.000,6,0.000,0.045,2753,2322,3866
$GC,7482,-0.80,-194.7,719.3,-8.5,938,7487,0.00,2.90,0.00,0.000,4,0.000,0.064,2753,3698,3865
$GC,7499,-0.80,-194.7,720.7,-8.1,939,7504,0.00,2.80,0.00,0.000,6,0.000,0.048,2753,2322,3866
$GC,7825,-0.80,-194.7,746.6,-8.0,955,7830,0.00,2.95,0.00,0.000,4,0.000,0.071,2753,3701,3865
$GC,7835,-0.80,-194.7,747.4,-7.9,955,7841,0.00,2.85,0.00,0.000,6,0.000,0.053,2753,2315,3865
$GC,8152,-0.80,-194.7,777.4,-9.9,971,8157,0.00,3.03,0.00,0.000,4,0.000,0.079,2753,3699,3865
$GC,8161,-0.80,-194.7,778.5,-9.8,971,8168,0.00,2.90,0.00,0.000,6,0.000,0.065,2753,2325,3865
$GC,8478,-0.80,-194.7,806.8,-8.5,987,8482,0.00,3.08,0.00,0.000,4,0.000,0.090,2753,3694,3864
$GC,8499,-0.80,-194.7,808.7,-8.5,988,8504,0.00,2.97,0.00,0.000,6,0.000,0.077,2753,2332,3864
$GC,8820,-0.85,-194.7,837.6,-9.1,1004,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2331,3865
$GC,9129,-0.89,-194.7,864.3,-8.0,1019,9131,0.15,0.00,0.00,0.000,6,0.058,0.000,2721,2331,3864
$GC,9438,-0.89,-194.7,897.5,-10.6,1034,9439,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2327,3863
$GC,9747,-0.89,-194.7,932.6,-12.0,1049,9748,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2326,3864
$GC,10056,-0.89,-194.7,967.8,-11.3,1064,10061,0.00,2.95,0.00,0.000,4,0.000,0.058,2720,882,3863
$GC,10099,-0.89,-194.7,973.1,-12.2,1066,10104,0.00,2.83,0.00,0.000,6,0.000,0.034,2720,2325,3863
$STATE,10253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10253,begin apogee
$GC,10259,-0.21,0.0,990.7,11.4,1074,10470,0.95,0.00,207.50,1.623,6,0.133,0.000,2868,2749,3071
$STATE,10470,end apogee,CONTROL_FINISHED_OK
$STATE,10471,begin climb
$GC,10473,0.86,194.7,998.0,0.0,1084,10699,1.40,2.62,215.50,1.581,4,0.079,0.059,3100,3891,2277
$GC,10926,0.69,194.7,943.7,15.2,1105,10931,0.17,2.35,0.00,0.000,6,0.130,0.035,3076,2736,2274
$GC,11252,0.57,194.7,902.0,12.0,1121,11257,0.17,2.40,0.00,0.000,4,0.120,0.052,3047,3894,2274
$GC,11330,0.57,194.7,893.9,10.5,1124,11336,0.00,2.25,0.00,0.000,6,0.000,0.034,3047,2766,2273
$GC,11646,0.57,222.6,865.6,9.0,1140,11681,0.00,2.97,28.77,1.463,4,0.000,0.049,3047,1346,2163
$GC,11720,0.58,232.1,858.5,9.7,1143,11739,0.00,2.88,11.48,1.339,6,0.000,0.033,3047,2776,2124
$GC,12061,0.61,258.8,827.2,9.1,1160,12092,0.00,0.00,28.42,1.450,6,0.000,0.000,3047,2776,2016
$GC,12390,0.65,289.3,797.8,8.9,1176,12425,0.00,0.00,33.03,1.444,6,0.000,0.000,3047,2776,1891
$GC,12720,0.65,289.3,766.3,10.0,1192,12721,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2776,1886
$GC,13029,0.66,300.8,735.6,9.6,1207,13044,0.00,0.00,12.52,1.280,6,0.000,0.000,3047,2776,1844
$GC,13338,0.72,351.4,709.3,8.2,1222,13402,0.15,3.08,54.00,1.424,4,0.059,0.048,3080,1345,1637
$GC,13441,0.72,351.4,697.7,11.6,1226,13447,0.00,2.90,0.00,0.000,6,0.000,0.034,3080,2769,1634
$GC,13756,0.66,351.4,658.1,13.2,1242,13760,0.00,2.28,0.00,0.000,4,0.000,0.053,3080,3897,1632
$GC,13827,0.66,351.4,648.6,12.8,1245,13831,0.00,2.22,0.00,0.000,6,0.000,0.032,3080,2757,1631
$GC,14149,0.59,351.4,604.3,13.9,1261,14151,0.20,0.00,0.00,0.000,6,0.107,0.000,3049,2757,1630
$GC,14470,0.59,352.3,571.9,10.0,1289,14475,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2757,1630
$GC,14795,0.63,383.5,541.4,8.9,1320,14834,0.00,0.00,33.45,1.294,6,0.000,0.000,3049,2757,1506
$GC,15153,0.71,402.7,508.1,9.3,1354,15180,0.15,2.90,20.70,1.230,4,0.054,0.048,3083,1340,1428
$GC,15216,0.71,402.7,500.3,13.1,1359,15220,0.00,2.85,0.00,0.000,6,0.000,0.031,3084,2770,1426
$GC,15541,0.66,402.7,451.4,15.2,1389,15545,0.00,2.25,0.00,0.000,4,0.000,0.050,3083,3896,1425
$GC,15602,0.66,402.7,442.0,14.8,1394,15606,0.00,2.20,0.00,0.000,6,0.000,0.032,3083,2765,1424
$GC,15926,0.62,402.7,395.0,14.0,1424,15932,0.15,2.85,0.00,0.000,4,0.105,0.047,3057,1342,1424
$GC,15971,0.69,413.0,390.0,9.6,1427,15988,0.00,2.80,11.25,1.065,6,0.000,0.030,3057,2773,1387
$GC,16306,0.75,413.0,356.1,10.4,1459,16308,0.15,0.00,0.00,0.000,6,0.054,0.000,3088,2773,1384
$GC,16642,0.70,413.0,304.4,16.4,1514,16647,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2773,1384
$GC,16985,0.64,413.0,251.7,14.3,1575,16991,0.15,0.00,0.00,0.000,6,0.103,0.000,3062,2773,1384
$GC,17328,0.69,413.0,216.1,10.0,1636,17334,0.00,2.88,0.00,0.000,4,0.000,0.044,3062,1341,1384
$GC,17375,0.77,418.1,211.5,9.8,1644,17388,0.12,2.75,6.32,0.838,6,0.055,0.031,3089,2762,1366
$GC,17727,0.72,418.1,161.2,13.6,1706,17733,0.00,2.25,0.00,0.000,4,0.000,0.048,3089,3886,1365
$GC,17780,0.72,418.1,153.1,13.6,1715,17786,0.00,2.17,0.00,0.000,6,0.000,0.031,3089,2759,1365
$GC,18123,0.68,418.1,105.5,13.3,1776,18130,0.00,2.80,0.00,0.000,4,0.000,0.047,3089,1343,1364
$GC,18164,0.68,418.1,100.4,11.2,1783,18171,0.00,2.75,0.00,0.000,6,0.000,0.030,3089,2765,1364
$GC,18508,0.68,418.1,54.1,13.4,1844,18514,0.00,2.20,0.00,0.000,4,0.000,0.048,3089,3890,1364
$GC,18556,0.68,418.1,47.7,13.4,1852,18563,0.00,2.17,0.00,0.000,6,0.000,0.033,3089,2758,1364
$GC,18698,0.68,418.1,27.8,15.0,1877,18705,0.00,2.80,0.00,0.000,4,0.000,0.048,3089,1343,1364
$GC,18739,0.68,418.1,22.4,13.2,1884,18745,0.00,2.75,0.00,0.000,6,0.000,0.031,3089,2768,1363
$GC,18883,0.64,418.1,3.5,13.2,1909,18890,0.15,2.20,0.00,0.000,4,0.094,0.048,3061,3890,1364
$STATE,18895,end climb,SURFACE_DEPTH_REACHED
$STATE,18895,begin surface coast
$FINISH,0.2,1.026168
$STATE,18907,end surface coast,CONTROL_FINISHED_OK
$STATE,18907,begin surface
$SM_CCo,18987,0.00,0.000,0,0,1360,419.71
$SM_GC,0.89,8.40,0.00,0.00,0.056,0.000,0.000,1438,2288,1360,-6.79,-0.34,419.71
$IRIDIUM_FIX,6103.81,-2551.61,060897,070722
$TT8_MAMPS,0.026078
$HUMID,1789
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,16.50
$XPDR_PINGS,994
$24V_AH,19.3,60.976
$10V_AH,9.8,44.746
$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,24.950,158.850,662.950,0.000,0.000,54.425,66.747,301.263,248.500,0.000,0.000,15.368,3042.520,11475.254,826.430,3496.208,753.814,0.000,2427.900,0.000,3476.266,0.000,0.465
$DEVICE_MAMPS,246.974,89.739,1622.972,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1353.216,1377.522,707.779,1716.170,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139366,1913
$CAP_FILE_SIZE,183920,0
$CFSIZE,260165632,239456256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120508,130301,6127.985,-2548.597,37,1.0,42,-18.3