version: 66.03
glider: 142
mission: 5
dive: 178
start: 5 12 108 13 21 21
data:
$ID,142
$MISSION,5
$DIVE,178
$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,-16460.137
$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,18
$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
$GPS1,130301,6127.985,-2548.597,37,1.0,42,-18.3
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-48.7
$GPS2,132103,6127.914,-2548.660,13,1.2,13,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6120.972,-2544.694
$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,148.3,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.86,-194.7,0.0,0.0,0,152,0.00,0.00,-120.80,0.000,2,0.000,0.000,1438,2288,3491
$GC,155,-0.86,-194.7,3.1,-3.7,22,184,11.88,0.00,-10.85,0.000,6,0.255,0.000,2724,2287,3866
$GC,323,-0.79,-194.7,27.6,-13.8,51,329,0.12,0.00,0.00,0.000,6,0.160,0.000,2740,2287,3866
$GC,464,-0.79,-194.7,46.0,-12.0,76,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2287,3867
$GC,606,-0.79,-194.7,63.5,-12.6,101,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2287,3866
$GC,950,-0.79,-194.7,105.3,-12.5,162,956,0.00,2.80,0.00,0.000,4,0.000,0.048,2740,883,3867
$GC,1009,-0.79,-194.7,113.0,-12.9,172,1016,0.00,2.72,0.00,0.000,6,0.000,0.028,2740,2311,3867
$GC,1353,-0.79,-194.7,157.6,-12.8,233,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2312,3867
$GC,1696,-0.79,-194.7,196.1,-10.2,294,1703,0.00,2.85,0.00,0.000,4,0.000,0.048,2740,887,3867
$GC,1749,-0.79,-194.7,201.5,-9.9,303,1755,0.00,2.72,0.00,0.000,6,0.000,0.029,2740,2305,3867
$GC,2094,-0.79,-194.7,236.3,-10.2,364,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2305,3867
$GC,2438,-0.79,-194.7,273.4,-11.3,425,2444,0.00,2.85,0.00,0.000,4,0.000,0.048,2740,880,3867
$GC,2490,-0.79,-194.7,279.2,-11.3,434,2496,0.00,2.72,0.00,0.000,6,0.000,0.030,2740,2298,3867
$GC,2834,-0.79,-194.7,316.9,-10.6,495,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2298,3867
$GC,3180,-0.79,-194.7,353.6,-10.4,554,3185,0.00,2.83,0.00,0.000,4,0.000,0.048,2740,883,3867
$GC,3224,-0.79,-194.7,358.4,-10.6,557,3231,0.00,2.70,0.00,0.000,6,0.000,0.029,2740,2292,3867
$GC,3550,-0.79,-194.7,391.2,-10.3,588,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2292,3867
$GC,3868,-0.79,-194.7,424.7,-10.4,618,3872,0.00,2.83,0.00,0.000,4,0.000,0.048,2740,882,3867
$GC,3907,-0.79,-194.7,428.9,-10.9,621,3911,0.00,2.70,0.00,0.000,6,0.000,0.031,2740,2285,3867
$GC,4233,-0.79,-194.7,464.4,-11.1,651,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2286,3866
$GC,4550,-0.79,-194.7,500.4,-11.3,681,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2286,3866
$GC,4869,-0.79,-194.7,535.3,-10.8,711,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2286,3866
$GC,5187,-0.79,-194.7,570.6,-11.5,741,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2286,3866
$GC,5514,-0.79,-194.7,607.0,-11.0,769,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2286,3866
$GC,5823,-0.79,-194.7,640.4,-10.6,784,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2286,3865
$GC,6133,-0.79,-194.7,674.0,-10.8,799,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2286,3865
$GC,6442,-0.79,-194.7,706.0,-10.2,814,6446,0.00,2.92,0.00,0.000,4,0.000,0.063,2740,3698,3865
$GC,6451,-0.79,-194.7,707.1,-10.1,814,6458,0.00,2.88,0.00,0.000,6,0.000,0.046,2740,2273,3865
$GC,6767,-0.79,-194.7,738.9,-10.0,830,6771,0.00,3.03,0.00,0.000,4,0.000,0.067,2740,3699,3865
$GC,6777,-0.79,-194.7,739.9,-9.7,830,6783,0.00,2.90,0.00,0.000,6,0.000,0.051,2741,2281,3864
$GC,7092,-0.79,-194.7,771.6,-10.0,846,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2281,3864
$GC,7402,-0.79,-194.7,802.4,-9.9,861,7403,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2281,3864
$GC,7710,-0.79,-194.7,833.6,-10.1,876,7715,0.00,3.30,0.00,0.000,4,0.000,0.105,2740,3694,3864
$GC,7737,-0.79,-194.7,836.3,-10.3,877,7742,0.00,3.22,0.00,0.000,6,0.000,0.094,2740,2277,3864
$GC,8052,-0.79,-194.7,865.8,-9.1,892,8058,0.00,3.42,0.00,0.000,4,0.000,0.118,2740,3694,3864
$GC,8074,-0.79,-194.7,867.9,-9.6,893,8079,0.00,3.12,0.00,0.000,6,0.000,0.077,2740,2250,3864
$GC,8395,-0.79,-194.7,898.2,-9.8,909,8400,0.00,2.97,0.00,0.000,4,0.000,0.054,2740,3704,3864
$GC,8405,-0.79,-194.7,899.3,-9.8,909,8411,0.00,2.85,0.00,0.000,6,0.000,0.039,2740,2272,3863
$GC,8720,-0.79,-194.7,931.1,-10.2,925,8725,0.00,2.95,0.00,0.000,4,0.000,0.057,2740,3699,3863
$GC,8746,-0.79,-194.7,933.9,-10.7,926,8751,0.00,2.85,0.00,0.000,6,0.000,0.041,2740,2275,3863
$GC,9062,-0.79,-194.7,965.8,-9.8,941,9067,0.00,2.95,0.00,0.000,4,0.000,0.058,2740,3698,3862
$GC,9096,-0.79,-194.7,969.1,-10.2,942,9102,0.00,2.83,0.00,0.000,6,0.000,0.041,2740,2285,3863
$STATE,9326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9326,begin apogee
$GC,9332,-0.21,0.0,991.1,9.5,954,9543,0.80,0.00,207.35,1.630,6,0.127,0.000,2867,2742,3071
$STATE,9544,end apogee,CONTROL_FINISHED_OK
$STATE,9544,begin climb
$GC,9546,0.86,194.7,999.8,0.0,964,9772,1.42,2.67,215.68,1.585,4,0.081,0.058,3102,3888,2277
$GC,9931,0.69,194.7,958.2,15.4,982,9936,0.20,2.35,0.00,0.000,6,0.127,0.035,3075,2745,2274
$GC,10258,0.58,194.7,919.5,11.5,998,10262,0.15,2.40,0.00,0.000,4,0.124,0.053,3050,3899,2274
$GC,10307,0.53,194.7,914.2,10.3,1000,10311,0.00,2.25,0.00,0.000,6,0.000,0.033,3049,2757,2274
$GC,10623,0.49,203.5,884.1,9.7,1015,10636,0.15,0.00,9.95,1.276,6,0.114,0.000,3027,2755,2241
$GC,10932,0.59,284.7,860.1,7.2,1030,11019,0.00,0.00,85.65,1.527,6,0.000,0.000,3027,2754,1910
$GC,11322,0.72,346.8,830.0,7.8,1049,11391,0.25,0.00,66.60,1.489,6,0.050,0.000,3076,2754,1657
$GC,11691,0.66,346.8,782.2,13.1,1067,11695,0.00,2.38,0.00,0.000,4,0.000,0.054,3075,3902,1650
$GC,11757,0.66,346.8,773.0,12.7,1070,11761,0.00,2.25,0.00,0.000,6,0.000,0.032,3076,2774,1650
$GC,12084,0.61,346.8,729.5,13.0,1086,12086,0.15,0.00,0.00,0.000,6,0.114,0.000,3054,2771,1649
$GC,12393,0.61,346.8,697.1,10.2,1101,12398,0.00,2.88,0.00,0.000,4,0.000,0.048,3054,1342,1648
$GC,12433,0.63,366.6,693.1,9.3,1103,12458,0.00,2.83,20.30,1.341,6,0.000,0.031,3054,2781,1576
$GC,12781,0.63,366.6,657.5,10.1,1120,12785,0.00,2.25,0.00,0.000,4,0.000,0.059,3054,3900,1573
$GC,12813,0.63,366.6,653.7,10.6,1121,12818,0.00,2.25,0.00,0.000,6,0.000,0.036,3054,2764,1572
$GC,13135,0.63,366.6,621.0,10.2,1137,13140,0.00,2.85,0.00,0.000,4,0.000,0.048,3054,1339,1572
$GC,13190,0.68,366.6,615.2,10.4,1139,13196,0.00,2.80,0.00,0.000,6,0.000,0.031,3054,2769,1571
$GC,13510,0.71,392.7,585.2,9.1,1162,13540,0.00,0.00,28.27,1.315,6,0.000,0.000,3054,2770,1470
$GC,13859,0.73,414.4,554.5,9.2,1195,13891,0.12,2.97,24.15,1.276,4,0.060,0.046,3079,1337,1380
$GC,13927,0.73,414.4,546.6,11.9,1201,13932,0.00,2.85,0.00,0.000,6,0.000,0.031,3079,2760,1379
$GC,14251,0.73,414.4,503.5,13.0,1231,14255,0.00,2.28,0.00,0.000,4,0.000,0.050,3079,3898,1376
$GC,14306,0.73,414.4,496.3,12.2,1235,14313,0.00,2.25,0.00,0.000,6,0.000,0.033,3079,2756,1375
$GC,14633,0.73,414.4,454.6,12.7,1266,14634,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2755,1375
$GC,14950,0.73,414.4,413.5,12.6,1296,14951,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2756,1374
$GC,15268,0.73,414.4,373.7,12.8,1326,15270,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2755,1374
$GC,15594,0.73,414.4,329.9,13.3,1368,15600,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2755,1374
$GC,15937,0.73,414.4,282.3,13.8,1429,15943,0.00,2.30,0.00,0.000,4,0.000,0.048,3079,3900,1374
$GC,15976,0.73,414.4,276.4,14.2,1436,15983,0.00,2.20,0.00,0.000,6,0.000,0.031,3079,2756,1374
$GC,16320,0.73,414.4,226.7,13.8,1497,16326,0.00,2.80,0.00,0.000,4,0.000,0.046,3079,1344,1374
$GC,16366,0.73,414.4,220.6,12.5,1505,16372,0.00,2.75,0.00,0.000,6,0.000,0.030,3079,2786,1373
$GC,16710,0.73,414.4,174.8,13.2,1566,16716,0.00,2.17,0.00,0.000,4,0.000,0.048,3079,3893,1373
$GC,16751,0.73,414.4,169.2,13.8,1573,16757,0.00,2.20,0.00,0.000,6,0.000,0.032,3079,2750,1373
$GC,17095,0.73,414.4,121.2,13.8,1634,17101,0.00,2.80,0.00,0.000,4,0.000,0.048,3079,1344,1373
$GC,17147,0.73,414.4,114.2,12.9,1643,17153,0.00,2.72,0.00,0.000,6,0.000,0.030,3079,2751,1373
$GC,17491,0.73,414.4,66.3,14.3,1704,17497,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2751,1372
$GC,17834,0.73,414.4,23.7,11.8,1765,17840,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2750,1372
$GC,17975,0.73,414.4,7.2,11.5,1790,17981,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2750,1373
$STATE,18019,end climb,SURFACE_DEPTH_REACHED
$STATE,18019,begin surface coast
$FINISH,0.3,1.026196
$STATE,18037,end surface coast,CONTROL_FINISHED_OK
$STATE,18037,begin surface
$SM_CCo,18115,0.00,0.000,0,0,1371,417.01
$SM_GC,0.81,8.30,0.00,0.00,0.045,0.000,0.000,1429,2290,1371,-6.79,-0.31,417.01
$IRIDIUM_FIX,6103.81,-2551.61,060897,131317
$TT8_MAMPS,0.026845
$HUMID,1779
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,16.40
$XPDR_PINGS,940
$24V_AH,19.3,61.327
$10V_AH,9.8,44.906
$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,23.550,132.275,657.950,0.000,0.000,117.382,241.094,395.270,235.000,0.000,0.000,14.586,2837.149,11193.899,815.474,3269.604,1061.189,0.000,2292.406,0.000,3251.943,0.000,0.465
$DEVICE_MAMPS,254.644,118.118,1629.875,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1269.667,1289.825,646.630,1600.372,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129254,1801
$CAP_FILE_SIZE,168452,0
$CFSIZE,260165632,239386624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120508,182431,6124.855,-2543.858,39,1.7,39,-18.3