version: 66.03
glider: 142
mission: 5
dive: 201
start: 5 17 108 16 17 35
data:
$ID,142
$MISSION,5
$DIVE,201
$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,100
$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,170
$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,-16866.779
$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,18
$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
$GPS1,160937,6130.357,-2619.331,25,1.4,25,-18.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-58.2
$GPS2,161715,6130.435,-2619.371,11,1.7,11,-18.6
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6119.800,-2618.471
$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,188.6,20000,-21.7,-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,-1.03,-97.3,0.0,0.0,0,94,0.00,0.00,-65.82,0.000,2,0.000,0.000,1438,2289,3449
$GC,97,-1.03,-97.3,3.4,-6.5,12,117,11.35,2.83,-0.52,0.000,4,0.248,0.051,2690,884,3468
$GC,221,-0.97,-97.3,23.2,-12.7,33,227,0.00,2.75,0.00,0.000,6,0.000,0.028,2690,2314,3469
$GC,363,-0.93,-97.3,41.7,-13.2,58,370,0.15,0.00,0.00,0.000,6,0.155,0.000,2713,2314,3469
$GC,505,-0.93,-97.3,59.1,-12.0,83,511,0.00,2.88,0.00,0.000,4,0.000,0.046,2713,883,3470
$GC,630,-0.93,-97.3,75.1,-13.0,105,636,0.00,2.70,0.00,0.000,6,0.000,0.028,2713,2285,3470
$GC,974,-0.93,-97.3,115.7,-11.6,166,980,0.00,2.80,0.00,0.000,4,0.000,0.046,2713,883,3470
$GC,1037,-0.93,-97.3,123.4,-12.1,177,1043,0.00,2.67,0.00,0.000,6,0.000,0.029,2713,2275,3470
$GC,1380,-0.93,-97.3,160.8,-10.8,238,1387,0.00,2.78,0.00,0.000,4,0.000,0.047,2713,886,3471
$GC,1460,-0.93,-97.3,170.0,-11.5,252,1466,0.00,2.65,0.00,0.000,6,0.000,0.029,2713,2270,3471
$GC,1804,-0.93,-97.3,206.6,-10.8,313,1810,0.00,2.78,0.00,0.000,4,0.000,0.047,2713,884,3471
$GC,1934,-0.93,-97.3,221.4,-11.7,336,1941,0.00,2.62,0.00,0.000,6,0.000,0.030,2713,2254,3470
$GC,2279,-0.93,-97.3,257.2,-10.3,397,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2256,3470
$GC,2621,-0.93,-97.3,292.0,-10.3,458,2627,0.00,2.75,0.00,0.000,4,0.000,0.047,2713,883,3470
$GC,2707,-0.93,-97.3,301.4,-11.2,473,2713,0.00,2.65,0.00,0.000,6,0.000,0.030,2713,2263,3471
$GC,3050,-0.93,-97.3,336.6,-10.1,534,3056,0.00,2.75,0.00,0.000,4,0.000,0.047,2713,887,3471
$GC,3152,-0.93,-97.3,347.7,-10.8,552,3159,0.00,2.62,0.00,0.000,6,0.000,0.031,2713,2252,3471
$GC,3485,-0.93,-97.3,381.4,-10.6,585,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2253,3470
$GC,3803,-0.93,-97.3,414.8,-10.5,615,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2253,3470
$GC,4122,-0.93,-97.3,447.4,-9.8,645,4126,0.00,2.75,0.00,0.000,4,0.000,0.048,2712,883,3470
$GC,4212,-0.93,-97.3,457.0,-10.6,652,4219,0.00,2.62,0.00,0.000,6,0.000,0.031,2713,2247,3470
$GC,4539,-0.93,-97.3,490.3,-10.2,683,4544,0.00,2.75,0.00,0.000,4,0.000,0.048,2713,880,3470
$GC,4601,-0.93,-97.3,497.3,-10.8,688,4606,0.00,2.60,0.00,0.000,6,0.000,0.030,2713,2236,3470
$GC,4927,-0.93,-97.3,528.9,-9.2,718,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2237,3470
$GC,5245,-0.93,-97.3,558.7,-9.4,748,5249,0.00,2.72,0.00,0.000,4,0.000,0.049,2713,885,3470
$GC,5306,-0.93,-97.3,565.0,-10.1,753,5311,0.00,2.60,0.00,0.000,6,0.000,0.031,2713,2231,3471
$GC,5633,-0.93,-97.3,596.8,-9.5,783,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2232,3470
$GC,5941,-0.93,-97.3,624.9,-9.1,800,5945,0.00,2.97,0.00,0.000,4,0.000,0.052,2713,3703,3470
$GC,5950,-0.93,-97.3,625.9,-8.9,800,5957,0.00,2.92,0.00,0.000,6,0.000,0.038,2713,2228,3470
$GC,6266,-0.93,-97.3,653.5,-8.7,816,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2227,3470
$GC,6576,-0.93,-97.3,680.2,-8.9,831,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2227,3470
$GC,6885,-0.93,-97.3,708.2,-9.0,846,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2227,3470
$GC,7195,-0.93,-97.3,738.8,-9.6,861,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2227,3470
$GC,7503,-0.93,-97.3,768.9,-9.2,876,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2227,3470
$GC,7813,-0.93,-97.3,796.6,-9.0,891,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2227,3469
$GC,8122,-0.93,-97.3,824.5,-9.2,906,8123,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2227,3469
$GC,8431,-0.93,-97.3,853.4,-9.2,921,8436,0.00,3.28,0.00,0.000,4,0.000,0.129,2713,896,3469
$GC,8519,-0.93,-97.3,862.3,-10.4,925,8524,0.00,2.92,0.00,0.000,6,0.000,0.080,2713,2239,3469
$GC,8841,-0.93,-97.3,891.4,-8.8,941,8846,0.00,2.97,0.00,0.000,4,0.000,0.055,2713,3700,3468
$GC,8851,-0.93,-97.3,892.4,-8.7,941,8857,0.00,2.90,0.00,0.000,6,0.000,0.039,2713,2241,3468
$GC,9167,-0.93,-97.3,920.4,-8.7,957,9171,0.00,3.03,0.00,0.000,4,0.000,0.057,2713,3699,3467
$GC,9199,-0.93,-97.3,923.2,-8.8,958,9205,0.00,2.90,0.00,0.000,6,0.000,0.041,2713,2249,3467
$GC,9515,-0.93,-97.3,949.6,-8.5,974,9519,0.00,3.03,0.00,0.000,4,0.000,0.058,2713,3703,3467
$GC,9541,-0.93,-97.3,952.0,-9.4,975,9546,0.00,2.90,0.00,0.000,6,0.000,0.042,2713,2259,3467
$GC,9857,-0.93,-97.3,978.0,-8.4,990,9858,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2258,3467
$STATE,9998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9999,begin apogee
$GC,10005,-0.21,0.0,990.6,8.8,997,10112,1.05,0.00,103.43,1.628,6,0.153,0.000,2867,2739,3071
$STATE,10112,end apogee,CONTROL_FINISHED_OK
$STATE,10112,begin climb
$GC,10115,1.03,97.3,993.1,0.0,1002,10230,1.60,2.65,107.10,1.602,4,0.088,0.058,3137,3888,2674
$GC,10314,0.88,97.3,974.0,13.2,1011,10319,0.15,2.40,0.00,0.000,6,0.133,0.036,3118,2743,2673
$GC,10630,0.79,97.3,936.3,11.9,1026,10635,0.15,2.42,0.00,0.000,4,0.137,0.054,3098,3899,2673
$GC,10754,0.72,97.3,922.0,11.3,1031,10760,0.00,2.25,0.00,0.000,6,0.000,0.034,3098,2761,2672
$GC,11069,0.67,97.3,887.3,10.8,1047,11071,0.20,0.00,0.00,0.000,6,0.133,0.000,3070,2760,2672
$GC,11378,0.69,111.3,858.4,9.0,1062,11401,0.00,2.40,14.93,1.393,4,0.000,0.057,3069,3915,2617
$GC,11513,0.69,111.3,845.3,10.3,1068,11517,0.00,2.22,0.00,0.000,6,0.000,0.033,3069,2783,2616
$GC,11840,0.70,118.7,814.9,9.5,1084,11854,0.00,2.92,9.15,1.279,4,0.000,0.052,3069,1345,2587
$GC,11921,0.70,121.4,806.7,9.8,1087,11930,0.00,2.88,4.60,0.991,6,0.000,0.034,3069,2788,2576
$GC,12259,0.71,128.0,774.2,9.5,1104,12273,0.00,2.28,8.57,1.233,4,0.000,0.053,3069,3893,2549
$GC,12318,0.71,128.4,768.0,10.0,1106,12324,0.00,2.22,0.00,0.000,6,0.000,0.033,3069,2777,2549
$GC,12633,0.71,128.4,736.4,10.2,1122,12634,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2775,2548
$GC,12944,0.71,128.4,704.3,10.1,1137,12948,0.00,2.28,0.00,0.000,4,0.000,0.052,3069,3894,2548
$GC,13066,0.71,128.4,691.4,10.3,1142,13073,0.00,2.17,0.00,0.000,6,0.000,0.033,3069,2789,2548
$GC,13382,0.72,136.5,661.9,9.4,1158,13394,0.00,0.00,10.02,1.219,6,0.000,0.000,3069,2788,2514
$GC,13692,0.76,136.5,630.9,10.3,1173,13696,0.00,2.25,0.00,0.000,4,0.000,0.051,3069,3897,2514
$GC,13763,0.76,136.5,622.7,11.4,1176,13767,0.00,2.17,0.00,0.000,6,0.000,0.034,3069,2793,2513
$GC,14088,0.81,136.5,590.3,10.1,1196,14089,0.15,0.00,0.00,0.000,6,0.064,0.000,3098,2791,2513
$GC,14407,0.81,136.5,551.7,12.2,1226,14411,0.00,2.25,0.00,0.000,4,0.000,0.051,3098,3903,2514
$GC,14492,0.81,136.5,540.8,12.9,1233,14495,0.00,2.12,0.00,0.000,6,0.000,0.031,3098,2802,2513
$GC,14816,0.81,136.5,502.6,11.4,1263,14817,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2798,2513
$GC,15135,0.81,136.5,466.7,11.2,1293,15139,0.00,2.20,0.00,0.000,4,0.000,0.050,3098,3900,2514
$GC,15204,0.81,136.5,458.8,11.7,1299,15208,0.00,2.10,0.00,0.000,6,0.000,0.031,3098,2810,2514
$GC,15535,0.81,136.5,422.1,11.0,1330,15537,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2806,2513
$GC,15852,0.81,136.5,388.2,10.3,1360,15853,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2803,2514
$GC,16171,0.81,136.5,354.8,10.4,1390,16175,0.00,2.17,0.00,0.000,4,0.000,0.049,3098,3894,2514
$GC,16328,0.81,136.5,336.8,11.1,1414,16334,0.00,2.08,0.00,0.000,6,0.000,0.031,3098,2816,2514
$GC,16672,0.81,136.5,300.7,10.8,1475,16677,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2812,2515
$GC,17016,0.81,136.5,264.9,10.3,1536,17022,0.00,2.17,0.00,0.000,4,0.000,0.049,3098,3899,2514
$GC,17108,0.81,136.5,254.3,11.7,1552,17115,0.00,2.05,0.00,0.000,6,0.000,0.031,3098,2825,2515
$GC,17452,0.81,136.5,216.8,10.6,1613,17457,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2822,2514
$GC,17794,0.81,136.5,180.2,10.9,1674,17800,0.00,2.15,0.00,0.000,4,0.000,0.048,3098,3900,2515
$GC,17902,0.81,136.5,167.8,11.8,1693,17908,0.00,2.03,0.00,0.000,6,0.000,0.031,3098,2839,2515
$GC,18245,0.81,136.5,131.0,10.9,1754,18251,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2831,2516
$GC,18589,0.81,136.8,94.2,10.0,1815,18595,0.00,2.12,0.00,0.000,4,0.000,0.048,3098,3900,2516
$GC,18648,0.81,136.8,87.7,11.2,1825,18654,0.00,2.03,0.00,0.000,6,0.000,0.031,3098,2844,2516
$GC,18991,0.81,136.8,48.8,11.0,1886,18998,0.00,2.95,0.00,0.000,4,0.000,0.044,3098,1345,2516
$GC,19049,0.81,136.8,42.3,12.3,1896,19056,0.00,2.92,0.00,0.000,6,0.000,0.031,3098,2854,2516
$GC,19191,0.81,136.8,26.6,11.7,1921,19198,0.00,2.05,0.00,0.000,4,0.000,0.048,3098,3903,2516
$GC,19389,0.81,137.8,3.4,9.9,1956,19395,0.00,1.98,0.00,0.000,6,0.000,0.032,3098,2895,2517
$STATE,19405,end climb,SURFACE_DEPTH_REACHED
$STATE,19405,begin surface coast
$FINISH,0.2,1.024288
$STATE,19431,end surface coast,CONTROL_FINISHED_OK
$STATE,19431,begin surface
$SM_CCo,19449,57.30,0.964,0,0,2255,200.16
$SM_GC,1.08,0.00,0.00,57.30,0.000,0.000,0.964,1433,2292,2255,-6.84,-0.20,200.16
$IRIDIUM_FIX,6108.28,-2617.78,110897,101006
$TT8_MAMPS,0.026078
$HUMID,1785
$INTERNAL_PRESSURE,8.97541
$TCM_TEMP,16.40
$XPDR_PINGS,1082
$24V_AH,19.4,66.060
$10V_AH,9.9,48.594
$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,23.375,155.200,257.800,57.300,0.000,28.527,31.007,260.361,270.500,0.000,0.000,12.820,3166.930,12041.375,499.523,3580.036,660.891,0.000,2061.820,0.000,3576.561,0.000,0.465
$DEVICE_MAMPS,247.741,128.856,1628.341,964.119,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1379.006,1437.264,707.653,1732.268,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142238,1963
$CAP_FILE_SIZE,180182,0
$CFSIZE,260165632,237158400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170508,214401,6129.032,-2619.396,41,1.0,41,-18.6