version: 66.03
glider: 142
mission: 5
dive: 213
start: 5 20 108 8 26 23
data:
$ID,142
$MISSION,5
$DIVE,213
$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,35
$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,-17041.998
$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,30
$R_STBD_OVSHOOT,17
$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
$GPS1,080707,6112.527,-2534.914,33,1.3,33,-18.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-56.3
$GPS2,082603,6112.568,-2534.778,15,1.4,15,-18.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6121.414,-2531.809
$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,53.1,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.03,-97.3,0.0,0.0,0,95,0.00,0.00,-66.20,0.000,2,0.000,0.000,1431,2285,3430
$GC,98,-1.03,-97.3,3.0,-5.6,12,117,11.60,2.90,-1.17,0.000,4,0.251,0.051,2685,3718,3468
$GC,309,-0.97,-97.3,31.9,-12.8,49,316,0.12,2.78,0.00,0.000,6,0.165,0.033,2701,2302,3470
$GC,451,-0.97,-97.3,50.9,-14.2,74,458,0.00,2.83,0.00,0.000,4,0.000,0.048,2701,884,3470
$GC,537,-0.97,-97.3,63.6,-15.0,89,543,0.00,2.83,0.00,0.000,6,0.000,0.029,2701,2342,3470
$GC,880,-0.97,-97.3,107.8,-12.3,150,887,0.00,2.92,0.00,0.000,4,0.000,0.046,2701,885,3470
$GC,1112,-0.97,-97.3,138.7,-12.9,191,1118,0.00,2.75,0.00,0.000,6,0.000,0.029,2701,2312,3471
$GC,1457,-0.97,-97.3,181.1,-11.6,252,1463,0.00,2.85,0.00,0.000,4,0.000,0.047,2701,885,3470
$GC,1716,-0.97,-97.3,212.8,-11.7,298,1722,0.00,2.70,0.00,0.000,6,0.000,0.031,2701,2290,3471
$GC,2060,-0.97,-97.3,248.5,-10.0,359,2066,0.00,2.83,0.00,0.000,4,0.000,0.047,2701,883,3471
$GC,2173,-0.97,-97.3,261.5,-11.3,379,2179,0.00,2.67,0.00,0.000,6,0.000,0.030,2701,2274,3471
$GC,2516,-0.97,-97.3,299.7,-11.3,440,2523,0.00,2.78,0.00,0.000,4,0.000,0.048,2701,891,3471
$GC,2652,-0.97,-97.3,316.1,-12.5,464,2659,0.00,2.62,0.00,0.000,6,0.000,0.031,2701,2255,3471
$GC,2999,-0.97,-97.3,355.0,-11.0,522,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2255,3471
$GC,3318,-0.97,-97.3,388.8,-10.3,552,3323,0.00,2.75,0.00,0.000,4,0.000,0.048,2701,886,3471
$GC,3403,-0.97,-97.3,398.2,-11.5,559,3408,0.00,2.60,0.00,0.000,6,0.000,0.031,2701,2236,3471
$GC,3731,-0.97,-97.3,431.7,-10.5,589,3736,0.00,2.72,0.00,0.000,4,0.000,0.048,2701,883,3470
$GC,3842,-0.97,-97.3,444.4,-11.0,598,3849,0.00,2.60,0.00,0.000,6,0.000,0.030,2701,2214,3471
$GC,4169,-0.97,-97.3,478.0,-10.0,629,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2216,3471
$GC,4486,-0.97,-97.3,512.8,-11.6,659,4490,0.00,2.67,0.00,0.000,4,0.000,0.049,2701,886,3470
$GC,4529,-0.97,-97.3,518.3,-12.9,662,4536,0.00,2.58,0.00,0.000,6,0.000,0.031,2701,2220,3470
$GC,4856,-0.97,-97.3,555.6,-11.3,693,4860,0.00,2.97,0.00,0.000,4,0.000,0.048,2701,3703,3470
$GC,4899,-0.97,-97.3,561.0,-11.8,696,4906,0.00,2.95,0.00,0.000,6,0.000,0.035,2701,2220,3470
$GC,5226,-0.97,-97.3,598.7,-11.7,727,5230,0.00,2.70,0.00,0.000,4,0.000,0.054,2701,883,3470
$GC,5274,-0.97,-97.3,605.2,-12.9,729,5279,0.00,2.62,0.00,0.000,6,0.000,0.031,2701,2219,3470
$GC,5596,-0.97,-97.3,640.0,-10.2,745,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2219,3470
$GC,5905,-0.97,-97.3,672.7,-10.8,760,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2219,3470
$GC,6214,-0.97,-97.3,705.6,-10.1,775,6219,0.00,2.80,0.00,0.000,4,0.000,0.064,2701,889,3469
$GC,6376,-0.97,-97.3,722.7,-11.1,782,6380,0.00,2.67,0.00,0.000,6,0.000,0.043,2701,2225,3469
$GC,6692,-0.97,-97.3,751.5,-8.6,797,6693,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2225,3469
$GC,7000,-0.97,-97.3,782.1,-9.4,812,7005,0.00,3.25,0.00,0.000,4,0.000,0.086,2701,3699,3469
$GC,7055,-0.97,-97.3,787.5,-10.1,814,7062,0.00,3.15,0.00,0.000,6,0.000,0.071,2701,2230,3469
$GC,7371,-0.97,-97.3,816.2,-9.1,830,7372,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2230,3469
$GC,7681,-0.97,-97.3,845.1,-9.8,845,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2229,3468
$GC,7990,-0.97,-97.3,874.8,-9.3,860,7991,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2229,3468
$GC,8299,-0.97,-97.3,903.9,-9.4,875,8303,0.00,3.03,0.00,0.000,4,0.000,0.053,2701,3700,3468
$GC,8347,-0.97,-97.3,908.8,-10.0,877,8352,0.00,2.97,0.00,0.000,6,0.000,0.044,2701,2218,3468
$GC,8663,-0.97,-97.3,939.9,-10.1,892,8668,0.00,2.72,0.00,0.000,4,0.000,0.060,2701,888,3468
$GC,8706,-0.97,-97.3,944.5,-10.8,894,8711,0.00,2.60,0.00,0.000,6,0.000,0.033,2701,2221,3468
$GC,9034,-0.97,-97.3,975.9,-10.0,910,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2221,3468
$STATE,9175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9176,begin apogee
$GC,9182,-0.21,0.0,990.0,9.8,917,9289,1.12,0.00,103.75,1.620,6,0.148,0.000,2869,2741,3071
$STATE,9290,end apogee,CONTROL_FINISHED_OK
$STATE,9290,begin climb
$GC,9292,1.03,97.3,993.1,0.0,922,9408,1.55,2.65,107.30,1.596,4,0.079,0.060,3137,3902,2674
$GC,9448,0.89,97.3,979.5,14.0,929,9453,0.15,2.42,0.00,0.000,6,0.136,0.035,3118,2753,2674
$GC,9763,0.80,97.3,942.8,11.4,944,9768,0.15,2.40,0.00,0.000,4,0.133,0.053,3098,3900,2673
$GC,9802,0.75,97.3,938.3,11.4,946,9806,0.00,2.30,0.00,0.000,6,0.000,0.035,3098,2750,2673
$GC,10129,0.70,97.3,904.2,10.5,962,10133,0.15,2.38,0.00,0.000,4,0.133,0.053,3074,3901,2672
$GC,10178,0.71,102.0,899.2,9.7,964,10190,0.00,2.25,6.00,1.101,6,0.000,0.035,3074,2762,2655
$GC,10499,0.73,118.1,870.9,8.9,980,10523,0.00,2.42,18.05,1.422,4,0.000,0.054,3074,3899,2588
$GC,10552,0.74,128.6,865.8,9.3,982,10571,0.00,2.25,12.65,1.383,6,0.000,0.035,3074,2767,2546
$GC,10894,0.75,137.2,833.8,9.4,999,10906,0.00,0.00,10.48,1.302,6,0.000,0.000,3074,2767,2511
$GC,11203,0.76,141.4,804.1,9.7,1014,11214,0.00,2.35,6.20,1.114,4,0.000,0.054,3074,3905,2493
$GC,11276,0.76,141.4,796.5,10.6,1017,11280,0.00,2.25,0.00,0.000,6,0.000,0.034,3074,2772,2493
$GC,11598,0.77,149.4,765.9,9.4,1033,11609,0.00,0.00,9.68,1.251,6,0.000,0.000,3074,2772,2461
$GC,11906,0.77,152.0,735.5,9.8,1048,11915,0.00,2.33,4.32,0.899,4,0.000,0.059,3074,3902,2451
$GC,11944,0.77,152.0,731.4,10.1,1049,11950,0.00,2.22,0.00,0.000,6,0.000,0.039,3074,2779,2451
$GC,12260,0.77,152.0,699.6,10.6,1065,12261,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2777,2451
$GC,12569,0.81,152.0,666.0,10.7,1080,12574,0.12,2.30,0.00,0.000,4,0.069,0.053,3097,3905,2451
$GC,12595,0.81,152.0,662.6,12.5,1081,12599,0.00,2.20,0.00,0.000,6,0.000,0.040,3098,2786,2451
$GC,12917,0.81,152.0,625.9,11.2,1097,12919,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2784,2451
$GC,13228,0.81,152.0,591.6,11.2,1115,13232,0.00,2.25,0.00,0.000,4,0.000,0.051,3097,3896,2450
$GC,13280,0.81,152.0,585.6,11.7,1119,13284,0.00,2.17,0.00,0.000,6,0.000,0.032,3097,2772,2451
$GC,13607,0.81,152.0,548.0,11.5,1149,13611,0.00,2.28,0.00,0.000,4,0.000,0.051,3097,3899,2451
$GC,13639,0.81,152.0,543.7,11.7,1151,13646,0.00,2.17,0.00,0.000,6,0.000,0.031,3097,2785,2450
$GC,13965,0.81,152.0,506.8,11.0,1182,13969,0.00,2.25,0.00,0.000,4,0.000,0.051,3097,3899,2451
$GC,13993,0.81,152.0,503.4,11.4,1184,13997,0.00,2.15,0.00,0.000,6,0.000,0.031,3097,2781,2451
$GC,14318,0.81,152.0,468.9,10.6,1214,14322,0.00,2.25,0.00,0.000,4,0.000,0.051,3097,3895,2451
$GC,14350,0.81,152.0,465.3,10.9,1216,14357,0.00,2.15,0.00,0.000,6,0.000,0.031,3097,2793,2451
$GC,14677,0.81,152.0,429.6,11.3,1247,14681,0.00,2.22,0.00,0.000,4,0.000,0.051,3097,3895,2451
$GC,14728,0.81,152.0,423.4,12.2,1251,14732,0.00,2.10,0.00,0.000,6,0.000,0.031,3097,2801,2451
$GC,15059,0.81,152.0,385.7,12.2,1282,15060,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2793,2450
$GC,15379,0.81,152.0,346.3,12.1,1314,15385,0.00,2.22,0.00,0.000,4,0.000,0.050,3097,3905,2451
$GC,15425,0.81,152.0,340.3,12.3,1322,15431,0.00,2.12,0.00,0.000,6,0.000,0.031,3097,2800,2451
$GC,15769,0.81,152.0,299.4,11.3,1383,15775,0.00,2.22,0.00,0.000,4,0.000,0.050,3097,3901,2451
$GC,15815,0.81,152.0,293.7,12.4,1391,15821,0.00,2.10,0.00,0.000,6,0.000,0.031,3097,2807,2451
$GC,16158,0.81,152.0,254.0,10.9,1452,16164,0.00,2.22,0.00,0.000,4,0.000,0.050,3097,3894,2451
$GC,16188,0.81,152.0,250.5,12.1,1457,16194,0.00,2.08,0.00,0.000,6,0.000,0.031,3097,2811,2451
$GC,16531,0.81,152.0,211.8,11.8,1518,16537,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2803,2451
$GC,16875,0.81,152.0,172.4,11.4,1579,16881,0.00,2.20,0.00,0.000,4,0.000,0.049,3097,3903,2451
$GC,16915,0.81,152.0,167.4,11.7,1586,16921,0.00,2.08,0.00,0.000,6,0.000,0.031,3097,2817,2451
$GC,17259,0.81,152.0,128.9,10.7,1647,17265,0.00,2.17,0.00,0.000,4,0.000,0.048,3097,3900,2452
$GC,17321,0.81,152.0,121.6,12.4,1658,17327,0.00,2.05,0.00,0.000,6,0.000,0.031,3097,2825,2452
$GC,17666,0.81,152.0,83.7,10.7,1719,17671,0.00,2.17,0.00,0.000,4,0.000,0.050,3097,3905,2452
$GC,17712,0.81,152.0,78.4,11.7,1727,17718,0.00,2.03,0.00,0.000,6,0.000,0.032,3097,2852,2452
$GC,18055,0.81,152.0,43.3,10.2,1788,18061,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2848,2452
$GC,18197,0.81,152.0,28.5,11.2,1813,18203,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2844,2452
$GC,18338,0.81,152.0,12.4,11.0,1838,18345,0.00,2.10,0.00,0.000,4,0.000,0.050,3097,3902,2452
$GC,18396,0.81,152.0,5.8,11.2,1848,18402,0.00,2.03,0.00,0.000,6,0.000,0.033,3097,2867,2452
$STATE,18430,end climb,SURFACE_DEPTH_REACHED
$STATE,18430,begin surface coast
$FINISH,0.1,1.002312
$STATE,18441,end surface coast,CONTROL_FINISHED_OK
$STATE,18442,begin surface
$SM_CCo,18460,43.65,0.950,0,0,2255,200.16
$SM_GC,1.39,0.00,0.00,43.65,0.000,0.000,0.950,1438,2285,2255,-6.82,-0.42,200.16
$IRIDIUM_FIX,6046.07,-2542.00,140897,080854
$TT8_MAMPS,0.026845
$HUMID,1769
$INTERNAL_PRESSURE,8.96564
$TCM_TEMP,16.40
$XPDR_PINGS,1011
$24V_AH,19.3,68.272
$10V_AH,9.8,50.503
$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,23.575,170.550,278.425,43.650,0.000,143.886,375.820,234.848,252.750,0.000,0.000,16.692,2992.855,11626.091,509.841,3404.678,1092.662,0.000,2012.718,0.000,3394.246,0.000,0.466
$DEVICE_MAMPS,250.809,85.904,1619.904,950.313,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1310.648,1345.661,680.427,1646.644,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136283,1856
$CAP_FILE_SIZE,175720,0
$CFSIZE,260165632,236023808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200508,133626,6114.485,-2532.583,61,1.4,61,-18.1