version: 66.03
glider: 142
mission: 5
dive: 227
start: 5 23 108 11 12 16
data:
$ID,142
$MISSION,5
$DIVE,227
$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,5
$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,-17286.463
$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,24
$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
$GPS1,110431,6123.828,-2604.226,36,1.9,36,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-56.9
$GPS2,111156,6123.825,-2604.201,9,1.8,14,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6134.583,-2603.753
$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,23.4,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,149,0.00,0.00,-120.22,0.000,2,0.000,0.000,1436,2295,3570
$GC,152,-0.86,-194.7,3.1,-3.9,22,182,12.02,2.88,-8.05,0.000,4,0.256,0.052,2723,3701,3867
$GC,346,-0.81,-194.7,34.3,-13.6,56,352,0.00,2.75,0.00,0.000,6,0.000,0.034,2723,2298,3868
$GC,490,-0.74,-194.7,54.5,-14.4,81,497,0.17,2.83,0.00,0.000,4,0.139,0.049,2751,886,3868
$GC,595,-0.74,-194.7,67.2,-11.6,99,601,0.00,2.70,0.00,0.000,6,0.000,0.030,2751,2286,3868
$GC,938,-0.74,-194.7,106.0,-11.2,160,944,0.00,2.80,0.00,0.000,4,0.000,0.044,2751,3700,3868
$GC,985,-0.74,-194.7,111.2,-11.0,168,992,0.00,2.78,0.00,0.000,6,0.000,0.034,2751,2276,3868
$GC,1330,-0.74,-194.7,148.8,-10.8,229,1336,0.00,2.75,0.00,0.000,4,0.000,0.050,2751,893,3868
$GC,1388,-0.74,-194.7,155.3,-10.8,239,1394,0.00,2.67,0.00,0.000,6,0.000,0.030,2751,2285,3868
$GC,1731,-0.74,-194.7,192.6,-10.2,300,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2288,3868
$GC,2075,-0.74,-194.7,226.5,-9.7,361,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2287,3868
$GC,2417,-0.74,-194.7,260.8,-10.8,422,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2288,3868
$GC,2759,-0.74,-194.7,297.1,-10.7,483,2765,0.00,2.80,0.00,0.000,4,0.000,0.048,2751,889,3868
$GC,2794,-0.74,-194.7,300.9,-11.4,489,2800,0.00,2.67,0.00,0.000,6,0.000,0.030,2751,2280,3868
$GC,3137,-0.74,-194.7,334.9,-9.7,550,3143,0.00,2.83,0.00,0.000,4,0.000,0.045,2751,3703,3868
$GC,3190,-0.74,-194.7,339.9,-9.4,559,3196,0.00,2.80,0.00,0.000,6,0.000,0.034,2751,2266,3868
$GC,3526,-0.74,-194.7,371.0,-9.1,600,3530,0.00,2.75,0.00,0.000,4,0.000,0.050,2751,883,3868
$GC,3570,-0.79,-194.7,375.1,-9.1,603,3576,0.00,2.67,0.00,0.000,6,0.000,0.030,2751,2280,3868
$GC,3896,-0.79,-194.7,403.9,-8.6,634,3901,0.00,2.83,0.00,0.000,4,0.000,0.046,2751,3701,3868
$GC,3962,-0.79,-194.7,410.0,-8.9,639,3968,0.00,2.78,0.00,0.000,6,0.000,0.034,2751,2277,3868
$GC,4288,-0.79,-194.7,439.9,-9.8,670,4293,0.00,2.78,0.00,0.000,4,0.000,0.050,2751,884,3868
$GC,4339,-0.83,-194.7,445.1,-9.9,674,4344,0.00,2.72,0.00,0.000,6,0.000,0.031,2751,2299,3868
$GC,4665,-0.83,-194.7,478.4,-10.6,704,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2300,3868
$GC,4982,-0.83,-194.7,512.0,-10.4,734,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2300,3868
$GC,5301,-0.83,-194.7,544.1,-9.3,764,5305,0.00,2.85,0.00,0.000,4,0.000,0.050,2751,885,3868
$GC,5340,-0.88,-194.7,548.0,-10.3,767,5345,0.12,2.72,0.00,0.000,6,0.061,0.031,2726,2295,3868
$GC,5665,-0.88,-194.7,585.8,-11.6,797,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2296,3868
$GC,5977,-0.88,-194.7,621.7,-11.2,818,5982,0.00,2.85,0.00,0.000,4,0.000,0.052,2726,893,3868
$GC,6039,-0.88,-194.7,628.7,-11.6,821,6044,0.00,2.70,0.00,0.000,6,0.000,0.033,2726,2279,3867
$GC,6366,-0.88,-194.7,666.5,-11.6,837,6370,0.00,2.85,0.00,0.000,4,0.000,0.056,2726,892,3867
$GC,6414,-0.88,-194.7,672.4,-11.9,839,6419,0.00,2.67,0.00,0.000,6,0.000,0.035,2726,2261,3867
$GC,6736,-0.88,-194.7,710.4,-11.7,855,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2261,3867
$GC,7046,-0.88,-194.7,745.0,-11.1,870,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2261,3867
$GC,7355,-0.88,-194.7,779.4,-11.5,885,7359,0.00,3.08,0.00,0.000,4,0.000,0.091,2726,892,3866
$GC,7431,-0.88,-194.7,788.9,-11.9,888,7439,0.00,2.88,0.00,0.000,6,0.000,0.066,2726,2250,3866
$GC,7748,-0.88,-194.7,824.5,-11.0,904,7753,0.00,3.35,0.00,0.000,4,0.000,0.102,2726,3713,3866
$GC,7796,-0.88,-194.7,830.2,-11.0,906,7802,0.00,3.30,0.00,0.000,6,0.000,0.091,2726,2255,3866
$GC,8112,-0.88,-194.7,865.5,-11.4,921,8118,0.00,3.33,0.00,0.000,4,0.000,0.125,2726,885,3866
$GC,8179,-0.88,-194.7,873.4,-11.9,924,8183,0.00,2.67,0.00,0.000,6,0.000,0.031,2726,2263,3866
$GC,8499,-0.88,-194.7,909.2,-11.0,940,8500,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2264,3866
$GC,8808,-0.88,-194.7,944.7,-11.6,955,8809,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2264,3865
$GC,9118,-0.88,-194.7,983.2,-12.3,970,9119,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2264,3865
$STATE,9177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9177,begin apogee
$GC,9183,-0.21,0.0,990.6,12.1,973,9400,0.93,0.00,209.07,1.611,6,0.136,0.000,2869,2746,3071
$STATE,9401,end apogee,CONTROL_FINISHED_OK
$STATE,9401,begin climb
$GC,9403,0.86,194.7,1000.9,0.0,984,9629,1.42,2.70,215.52,1.554,4,0.085,0.058,3100,3900,2277
$GC,9736,0.70,194.7,971.3,13.4,999,9743,0.17,2.40,0.00,0.000,6,0.131,0.035,3077,2738,2275
$GC,10052,0.59,194.7,937.3,11.1,1015,10056,0.15,2.42,0.00,0.000,4,0.125,0.054,3052,3900,2274
$GC,10113,0.54,194.7,930.7,10.0,1018,10117,0.00,2.25,0.00,0.000,6,0.000,0.034,3052,2761,2274
$GC,10446,0.50,194.7,897.4,10.2,1034,10451,0.15,2.35,0.00,0.000,4,0.112,0.053,3026,3905,2274
$GC,10462,0.50,194.7,895.7,10.2,1035,10467,0.00,2.20,0.00,0.000,6,0.000,0.034,3027,2779,2274
$GC,10789,0.54,224.9,867.5,9.0,1051,10826,0.00,2.35,31.55,1.466,4,0.000,0.054,3026,3900,2153
$GC,10842,0.59,272.0,862.6,8.4,1052,10899,0.12,2.20,50.90,1.492,6,0.064,0.033,3049,2791,1961
$GC,11217,0.59,272.0,822.9,10.5,1071,11218,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2790,1956
$GC,11524,0.60,280.6,791.4,9.7,1086,11538,0.00,2.30,9.38,1.223,4,0.000,0.055,3048,3898,1925
$GC,11550,0.61,288.3,788.7,9.7,1087,11567,0.00,2.15,9.98,1.266,6,0.000,0.033,3049,2797,1895
$GC,11876,0.64,308.5,757.5,9.3,1103,11900,0.00,0.00,22.15,1.382,6,0.000,0.000,3049,2796,1813
$GC,12206,0.66,323.0,725.7,9.5,1119,12225,0.00,0.00,16.48,1.328,6,0.000,0.000,3049,2795,1754
$GC,12535,0.68,343.2,695.0,9.3,1135,12559,0.00,0.00,22.62,1.352,6,0.000,0.000,3049,2795,1671
$GC,12864,0.71,366.0,663.8,9.2,1151,12896,0.12,3.00,25.23,1.339,4,0.061,0.054,3075,1341,1579
$GC,12906,0.71,366.0,658.9,12.1,1153,12911,0.00,2.92,0.00,0.000,6,0.000,0.032,3074,2796,1577
$GC,13228,0.71,366.0,617.7,12.9,1169,13229,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2797,1574
$GC,13541,0.71,366.0,576.0,12.9,1192,13545,0.00,2.20,0.00,0.000,4,0.000,0.051,3074,3900,1574
$GC,13559,0.71,366.0,573.7,13.1,1193,13563,0.00,2.15,0.00,0.000,6,0.000,0.031,3074,2787,1574
$GC,13885,0.71,366.0,532.7,12.2,1223,13886,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2785,1573
$GC,14203,0.71,366.0,495.9,11.0,1253,14204,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2784,1573
$GC,14521,0.71,366.0,461.1,10.7,1283,14525,0.00,2.22,0.00,0.000,4,0.000,0.050,3074,3893,1572
$GC,14531,0.71,366.0,459.7,10.8,1283,14537,0.00,2.12,0.00,0.000,6,0.000,0.031,3075,2783,1572
$GC,14856,0.71,366.0,423.5,11.2,1314,14857,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2781,1572
$GC,15174,0.71,366.0,385.4,12.7,1344,15175,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2779,1572
$GC,15496,0.71,366.0,344.2,12.8,1378,15503,0.00,2.22,0.00,0.000,4,0.000,0.048,3074,3894,1572
$GC,15515,0.71,366.0,341.7,12.7,1381,15521,0.00,2.10,0.00,0.000,6,0.000,0.031,3075,2797,1572
$GC,15858,0.71,366.0,298.1,12.1,1442,15864,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2797,1572
$GC,16201,0.71,366.0,254.9,12.5,1503,16207,0.00,2.88,0.00,0.000,4,0.000,0.045,3074,1343,1571
$GC,16214,0.71,366.0,253.3,12.7,1505,16220,0.00,2.83,0.00,0.000,6,0.000,0.030,3074,2800,1571
$GC,16557,0.71,366.0,211.4,10.8,1566,16562,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2801,1571
$GC,16899,0.71,366.0,170.7,11.0,1627,16905,0.00,2.90,0.00,0.000,4,0.000,0.044,3075,1347,1571
$GC,16912,0.71,366.0,169.3,12.3,1629,16918,0.00,2.83,0.00,0.000,6,0.000,0.031,3074,2799,1571
$GC,17254,0.71,366.0,130.3,11.2,1690,17261,0.00,2.90,0.00,0.000,4,0.000,0.044,3074,1345,1571
$GC,17267,0.71,366.0,129.0,11.0,1692,17274,0.00,2.80,0.00,0.000,6,0.000,0.031,3075,2786,1572
$GC,17611,0.71,366.0,91.2,10.4,1753,17617,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2786,1571
$GC,17953,0.72,376.8,55.0,9.6,1814,17970,0.00,0.00,11.20,0.861,6,0.000,0.000,3074,2786,1534
$GC,18308,0.72,376.8,19.2,11.4,1877,18314,0.00,2.88,0.00,0.000,4,0.000,0.044,3074,1343,1532
$GC,18321,0.73,384.0,17.9,9.7,1879,18339,0.00,2.80,9.00,0.829,6,0.000,0.031,3074,2786,1504
$STATE,18475,end climb,SURFACE_DEPTH_REACHED
$STATE,18475,begin surface coast
$FINISH,0.2,1.025662
$STATE,18497,end surface coast,CONTROL_FINISHED_OK
$STATE,18497,begin surface
$SM_CCo,18575,0.00,0.000,0,0,1501,385.12
$SM_GC,0.92,8.35,0.00,0.00,0.047,0.000,0.000,1431,2289,1501,-6.79,-0.31,385.12
$IRIDIUM_FIX,6054.92,-2609.84,170897,050503
$TT8_MAMPS,0.026845
$HUMID,1812
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,16.50
$XPDR_PINGS,998
$24V_AH,19.1,71.398
$10V_AH,9.8,52.755
$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,23.750,152.100,633.075,0.000,0.000,25.069,35.059,241.487,249.500,0.000,0.000,16.352,3000.124,11110.988,777.679,3484.257,626.983,0.000,2355.620,0.000,3460.964,0.000,0.465
$DEVICE_MAMPS,256.178,125.021,1611.467,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1331.342,1387.937,721.296,1697.358,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139268,1910
$CAP_FILE_SIZE,171838,0
$CFSIZE,260165632,234668032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230508,162307,6126.357,-2604.221,35,1.2,40,-18.4