version: 66.03
glider: 142
mission: 5
dive: 217
start: 5 21 108 5 52 17
data:
$ID,142
$MISSION,5
$DIVE,217
$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,330
$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,-17105.518
$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,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
$GPS1,054026,6117.241,-2545.746,37,1.2,37,-18.2
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-59.1
$GPS2,055157,6117.242,-2545.922,14,1.0,14,-18.2
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6126.594,-2548.503
$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,348.2,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.03,-97.3,0.0,0.0,0,97,0.00,0.00,-66.32,0.000,2,0.000,0.000,1432,2287,3421
$GC,100,-1.03,-97.3,3.0,-4.7,12,120,11.57,2.88,-1.52,0.000,4,0.251,0.049,2688,3713,3469
$GC,374,-0.98,-97.3,38.4,-12.3,60,380,0.00,2.75,0.00,0.000,6,0.000,0.032,2688,2304,3470
$GC,516,-0.98,-97.3,55.2,-10.1,85,522,0.00,2.83,0.00,0.000,4,0.000,0.048,2688,889,3470
$GC,647,-0.93,-97.3,70.0,-11.7,108,654,0.17,2.75,0.00,0.000,6,0.146,0.030,2712,2313,3471
$GC,993,-0.93,-97.3,104.4,-10.6,169,999,0.00,2.85,0.00,0.000,4,0.000,0.048,2712,895,3471
$GC,1152,-0.93,-97.3,122.6,-11.7,197,1158,0.00,2.70,0.00,0.000,6,0.000,0.031,2712,2292,3471
$GC,1495,-0.93,-97.3,160.9,-11.0,258,1502,0.00,2.83,0.00,0.000,4,0.000,0.048,2712,886,3471
$GC,1684,-0.93,-97.3,183.2,-12.2,291,1690,0.00,2.67,0.00,0.000,6,0.000,0.030,2712,2276,3471
$GC,2027,-0.93,-97.3,221.4,-11.7,352,2034,0.00,2.78,0.00,0.000,4,0.000,0.048,2712,888,3471
$GC,2264,-0.93,-97.3,250.2,-12.0,394,2270,0.00,2.62,0.00,0.000,6,0.000,0.031,2712,2253,3471
$GC,2608,-0.93,-97.3,288.8,-11.1,455,2614,0.00,2.75,0.00,0.000,4,0.000,0.048,2712,884,3471
$GC,2721,-0.93,-97.3,302.2,-11.9,475,2727,0.00,2.60,0.00,0.000,6,0.000,0.030,2712,2235,3471
$GC,3064,-0.93,-97.3,339.3,-11.0,536,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2240,3471
$GC,3394,-0.93,-97.3,373.9,-10.3,576,3398,0.00,2.70,0.00,0.000,4,0.000,0.048,2712,893,3471
$GC,3500,-0.93,-97.3,385.5,-11.0,585,3504,0.00,2.58,0.00,0.000,6,0.000,0.031,2712,2230,3471
$GC,3828,-0.93,-97.3,416.6,-9.1,615,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2234,3471
$GC,4153,-0.93,-97.3,447.2,-9.2,646,4157,0.00,2.70,0.00,0.000,4,0.000,0.048,2712,890,3471
$GC,4328,-0.93,-97.3,464.8,-10.5,661,4332,0.00,2.58,0.00,0.000,6,0.000,0.031,2712,2223,3471
$GC,4654,-0.93,-97.3,496.9,-10.2,691,4658,0.00,2.70,0.00,0.000,4,0.000,0.048,2712,884,3471
$GC,4726,-0.93,-97.3,505.2,-10.9,697,4731,0.00,2.58,0.00,0.000,6,0.000,0.031,2712,2219,3471
$GC,5053,-0.93,-97.3,538.4,-10.5,727,5057,0.00,2.67,0.00,0.000,4,0.000,0.048,2712,893,3471
$GC,5159,-0.93,-97.3,550.3,-10.4,736,5163,0.00,2.55,0.00,0.000,6,0.000,0.031,2712,2210,3471
$GC,5485,-0.93,-97.3,581.0,-9.6,766,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2211,3471
$GC,5799,-0.93,-97.3,609.6,-9.0,791,5803,0.00,2.67,0.00,0.000,4,0.000,0.051,2712,894,3471
$GC,5944,-0.93,-97.3,623.9,-10.0,797,5950,0.00,2.53,0.00,0.000,6,0.000,0.032,2712,2190,3471
$GC,6260,-0.93,-97.3,654.3,-10.2,813,6264,0.00,3.08,0.00,0.000,4,0.000,0.055,2712,3696,3471
$GC,6354,-0.93,-97.3,665.1,-11.6,817,6359,0.00,3.00,0.00,0.000,6,0.000,0.043,2712,2206,3470
$GC,6669,-0.93,-97.3,700.2,-11.1,832,6673,0.00,2.75,0.00,0.000,4,0.000,0.068,2712,891,3471
$GC,6740,-0.93,-97.3,708.8,-12.6,835,6744,0.00,2.60,0.00,0.000,6,0.000,0.039,2712,2201,3471
$GC,7062,-0.93,-97.3,744.3,-10.5,851,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2201,3470
$GC,7371,-0.93,-97.3,774.4,-9.3,866,7376,0.00,3.25,0.00,0.000,4,0.000,0.082,2712,3691,3470
$GC,7442,-0.93,-97.3,781.3,-9.5,869,7447,0.00,3.17,0.00,0.000,6,0.000,0.068,2712,2212,3470
$GC,7758,-0.93,-97.3,808.0,-8.3,884,7763,0.00,3.03,0.00,0.000,4,0.000,0.104,2712,898,3470
$GC,7887,-0.93,-97.3,820.2,-9.5,890,7892,0.00,2.83,0.00,0.000,6,0.000,0.078,2712,2181,3470
$GC,8214,-0.98,-97.3,848.9,-8.8,906,8215,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2182,3469
$GC,8524,-1.02,-97.3,875.0,-8.2,921,8529,0.00,3.45,0.00,0.000,4,0.000,0.097,2712,3703,3469
$GC,8630,-1.02,-97.3,884.6,-8.9,926,8635,0.00,2.97,0.00,0.000,6,0.000,0.039,2711,2212,3469
$GC,8957,-1.06,-97.3,913.8,-9.5,942,8962,0.12,2.70,0.00,0.000,4,0.081,0.057,2690,894,3469
$GC,9214,-1.06,-97.3,943.4,-11.6,953,9221,0.00,2.55,0.00,0.000,6,0.000,0.033,2690,2198,3469
$GC,9530,-1.06,-97.3,974.3,-9.6,969,9531,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2200,3468
$STATE,9692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9692,begin apogee
$GC,9699,-0.21,0.0,990.2,9.7,977,9806,1.20,0.00,104.20,1.620,6,0.149,0.000,2868,2747,3071
$STATE,9807,end apogee,CONTROL_FINISHED_OK
$STATE,9807,begin climb
$GC,9810,1.03,97.3,992.3,0.0,982,9922,1.58,0.00,108.07,1.592,6,0.084,0.000,3137,2747,2675
$GC,10227,0.91,97.3,944.4,12.9,1003,10231,0.00,2.40,0.00,0.000,4,0.000,0.057,3137,3900,2673
$GC,10350,0.77,97.3,927.8,13.1,1008,10356,0.32,2.30,0.00,0.000,6,0.133,0.035,3090,2741,2673
$GC,10665,0.78,102.4,896.7,9.6,1024,10678,0.00,2.40,6.78,1.159,4,0.000,0.052,3090,3904,2653
$GC,10713,0.73,102.4,891.7,10.7,1026,10716,0.00,2.28,0.00,0.000,6,0.000,0.034,3090,2749,2652
$GC,11040,0.73,102.4,858.1,10.7,1042,11044,0.00,2.38,0.00,0.000,4,0.000,0.054,3090,3905,2652
$GC,11105,0.73,102.4,850.4,11.2,1045,11110,0.00,2.25,0.00,0.000,6,0.000,0.034,3090,2765,2651
$GC,11433,0.73,102.4,815.2,10.5,1061,11437,0.00,2.33,0.00,0.000,4,0.000,0.054,3090,3902,2652
$GC,11499,0.73,102.4,807.9,10.9,1064,11504,0.00,2.22,0.00,0.000,6,0.000,0.033,3090,2772,2651
$GC,11826,0.74,107.1,777.1,9.7,1080,11837,0.00,2.30,6.20,1.101,4,0.000,0.051,3090,3900,2634
$GC,11870,0.74,107.1,772.5,10.1,1082,11874,0.00,2.15,0.00,0.000,6,0.000,0.033,3090,2794,2633
$GC,12197,0.74,110.8,741.3,9.7,1098,12207,0.00,2.25,5.60,1.045,4,0.000,0.052,3090,3895,2618
$GC,12240,0.75,115.0,736.7,9.7,1100,12250,0.00,2.12,5.80,1.071,6,0.000,0.032,3090,2805,2602
$GC,12561,0.75,115.0,703.6,10.7,1115,12565,0.00,2.22,0.00,0.000,4,0.000,0.052,3090,3895,2602
$GC,12633,0.75,115.0,695.1,11.9,1118,12637,0.00,2.10,0.00,0.000,6,0.000,0.032,3090,2829,2602
$GC,12955,0.75,115.0,659.1,11.6,1134,12959,0.00,2.17,0.00,0.000,4,0.000,0.052,3090,3898,2602
$GC,12972,0.75,115.0,657.0,11.5,1135,12975,0.00,2.05,0.00,0.000,6,0.000,0.032,3090,2838,2602
$GC,13304,0.75,115.0,619.0,11.4,1151,13305,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2834,2602
$GC,13617,0.75,116.6,586.2,9.9,1172,13621,0.00,2.15,0.00,0.000,4,0.000,0.053,3090,3894,2602
$GC,13662,0.75,117.6,581.5,9.9,1176,13674,0.00,2.03,4.50,0.867,6,0.000,0.031,3090,2843,2591
$GC,13992,0.75,120.6,549.0,9.8,1207,14001,0.00,0.00,5.05,0.914,6,0.000,0.000,3090,2835,2578
$GC,14321,0.75,120.6,514.3,11.0,1238,14324,0.00,2.15,0.00,0.000,4,0.000,0.051,3091,3903,2578
$GC,14336,0.75,120.6,512.3,11.6,1239,14343,0.00,2.08,0.00,0.000,6,0.000,0.031,3090,2842,2578
$GC,14663,0.75,120.6,476.8,10.7,1270,14667,0.00,2.15,0.00,0.000,4,0.000,0.051,3090,3903,2578
$GC,14674,0.75,120.6,475.4,10.4,1271,14678,0.00,2.05,0.00,0.000,6,0.000,0.031,3090,2836,2579
$GC,15006,0.76,128.5,441.8,9.5,1302,15021,0.00,2.17,9.43,1.069,4,0.000,0.051,3090,3890,2547
$GC,15055,0.77,138.1,436.9,9.3,1306,15072,0.00,2.03,11.32,1.135,6,0.000,0.031,3090,2857,2507
$GC,15391,0.77,138.2,404.4,10.0,1338,15392,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2848,2506
$GC,15710,0.78,139.8,373.2,9.9,1368,15711,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2848,2506
$GC,16032,0.78,140.1,341.6,10.0,1405,16037,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2848,2506
$GC,16374,0.80,156.5,308.9,8.9,1466,16402,0.00,2.17,19.05,1.108,4,0.000,0.050,3090,3900,2433
$GC,16414,0.80,156.5,305.1,10.7,1473,16420,0.00,2.03,0.00,0.000,6,0.000,0.030,3090,2856,2433
$GC,16756,0.80,156.5,269.7,10.4,1534,16762,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2848,2433
$GC,17100,0.80,156.5,230.8,11.8,1595,17105,0.00,2.10,0.00,0.000,4,0.000,0.049,3090,3894,2433
$GC,17128,0.80,156.5,227.1,13.2,1600,17134,0.00,2.03,0.00,0.000,6,0.000,0.031,3090,2841,2433
$GC,17472,0.80,156.5,185.5,12.6,1661,17478,0.00,2.12,0.00,0.000,4,0.000,0.048,3090,3900,2432
$GC,17484,0.80,156.5,183.9,12.3,1663,17490,0.00,1.98,0.00,0.000,6,0.000,0.030,3090,2867,2433
$GC,17827,0.80,156.5,145.7,10.5,1724,17833,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2860,2433
$GC,18172,0.82,171.9,113.3,8.9,1785,18195,0.00,3.05,16.17,0.963,4,0.000,0.044,3090,1337,2369
$GC,18220,0.82,176.9,108.5,9.7,1793,18232,0.00,3.03,5.97,0.807,6,0.000,0.031,3090,2876,2350
$GC,18570,0.82,176.9,72.1,11.1,1855,18576,0.00,3.08,0.00,0.000,4,0.000,0.044,3090,1346,2349
$GC,18621,0.82,176.9,66.4,11.2,1864,18628,0.00,2.97,0.00,0.000,6,0.000,0.032,3090,2867,2350
$GC,18966,0.84,190.7,24.2,9.0,1925,18990,0.00,3.12,14.55,0.902,4,0.000,0.044,3090,1338,2293
$GC,18997,0.84,192.1,21.1,9.9,1930,19004,0.00,2.97,0.00,0.000,6,0.000,0.033,3090,2851,2293
$GC,19141,0.87,214.8,5.1,8.4,1955,19170,0.00,0.00,23.00,0.940,6,0.000,0.000,3090,2851,2195
$STATE,19174,end climb,SURFACE_DEPTH_REACHED
$STATE,19174,begin surface coast
$FINISH,0.2,1.026240
$STATE,19192,end surface coast,CONTROL_FINISHED_OK
$STATE,19192,begin surface
$SM_CCo,19271,0.00,0.000,0,0,2192,215.62
$SM_GC,0.90,8.57,0.00,0.00,0.048,0.000,0.000,1436,2285,2192,-6.79,-0.42,215.62
$IRIDIUM_FIX,6050.49,-2545.88,150897,050524
$TT8_MAMPS,0.026078
$HUMID,1773
$INTERNAL_PRESSURE,8.94611
$TCM_TEMP,16.30
$XPDR_PINGS,1108
$24V_AH,19.3,69.014
$10V_AH,9.8,51.156
$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,23.550,180.250,345.700,0.000,0.000,52.919,69.504,362.360,277.000,0.000,0.000,16.422,3178.340,11686.072,534.577,3696.182,851.134,0.000,2158.639,0.000,3689.068,0.000,0.465
$DEVICE_MAMPS,250.809,104.312,1619.904,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1388.253,1437.149,735.968,1741.873,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142287,1964
$CAP_FILE_SIZE,189061,0
$CFSIZE,260165632,235618304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210508,111437,6117.720,-2551.058,33,1.5,33,-18.2