version: 66.03
glider: 142
mission: 5
dive: 230
start: 5 24 108 3 7 41
data:
$ID,142
$MISSION,5
$DIVE,230
$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,310
$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,-17324.17
$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,32
$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
$GPS1,030008,6132.529,-2613.588,37,0.9,37,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-59.8
$GPS2,030721,6132.571,-2613.726,9,1.1,9,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6139.512,-2617.653
$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,328.6,20000,-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,24,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,138,0.00,0.00,-109.38,0.000,2,0.000,0.000,1438,2286,3481
$GC,141,-0.86,-194.7,3.3,-4.3,20,172,11.98,2.85,-10.85,0.000,4,0.255,0.051,2723,3706,3866
$GC,380,-0.81,-194.7,36.5,-12.0,62,387,0.12,2.72,0.00,0.000,6,0.149,0.033,2739,2306,3867
$GC,523,-0.81,-194.7,52.7,-11.0,87,529,0.00,2.83,0.00,0.000,4,0.000,0.049,2739,889,3867
$GC,621,-0.81,-194.7,63.5,-10.7,104,628,0.00,2.70,0.00,0.000,6,0.000,0.029,2738,2293,3867
$GC,965,-0.81,-194.7,100.6,-11.5,165,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2293,3868
$GC,1307,-0.81,-194.7,139.7,-11.5,226,1314,0.00,2.80,0.00,0.000,4,0.000,0.048,2738,892,3868
$GC,1389,-0.81,-194.7,148.9,-11.2,240,1395,0.00,2.67,0.00,0.000,6,0.000,0.030,2739,2287,3868
$GC,1733,-0.81,-194.7,189.2,-12.0,301,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2289,3868
$GC,2075,-0.81,-194.7,230.0,-11.6,362,2081,0.00,2.80,0.00,0.000,4,0.000,0.048,2739,891,3868
$GC,2139,-0.81,-194.7,237.6,-12.0,373,2145,0.00,2.65,0.00,0.000,6,0.000,0.030,2739,2269,3868
$GC,2483,-0.81,-194.7,277.6,-11.1,434,2489,0.00,2.85,0.00,0.000,4,0.000,0.045,2739,3706,3868
$GC,2546,-0.81,-194.7,284.6,-11.1,445,2552,0.00,2.83,0.00,0.000,6,0.000,0.034,2739,2256,3867
$GC,2889,-0.81,-194.7,322.1,-11.0,506,2895,0.00,2.72,0.00,0.000,4,0.000,0.050,2739,885,3867
$GC,2963,-0.81,-194.7,330.3,-10.5,519,2969,0.00,2.65,0.00,0.000,6,0.000,0.030,2739,2265,3867
$GC,3304,-0.81,-194.7,365.3,-10.1,567,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2266,3867
$GC,3623,-0.81,-194.7,397.1,-9.9,597,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2267,3867
$GC,3941,-0.81,-194.7,429.3,-10.4,627,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2268,3867
$GC,4260,-0.81,-194.7,462.5,-10.6,657,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2268,3867
$GC,4579,-0.81,-194.7,494.0,-9.1,687,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2268,3867
$GC,4897,-0.81,-194.7,523.4,-10.2,717,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2268,3867
$GC,5216,-0.81,-194.7,558.0,-11.2,747,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2269,3867
$GC,5534,-0.81,-194.7,596.0,-12.2,777,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2269,3867
$GC,5844,-0.81,-194.7,634.0,-12.5,794,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2268,3867
$GC,6154,-0.81,-194.7,671.6,-11.4,809,6159,0.00,2.83,0.00,0.000,4,0.000,0.058,2739,892,3866
$GC,6193,-0.81,-194.7,676.1,-11.3,811,6198,0.00,2.67,0.00,0.000,6,0.000,0.035,2738,2256,3866
$GC,6520,-0.81,-194.7,706.2,-9.0,827,6524,0.00,3.03,0.00,0.000,4,0.000,0.064,2739,3711,3866
$GC,6586,-0.81,-194.7,712.0,-8.2,830,6591,0.00,2.95,0.00,0.000,6,0.000,0.048,2739,2256,3866
$GC,6906,-0.81,-194.7,737.9,-9.2,846,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2256,3866
$GC,7216,-0.81,-194.7,767.5,-9.4,861,7221,0.00,3.15,0.00,0.000,4,0.000,0.077,2739,3704,3865
$GC,7278,-0.81,-194.7,773.2,-9.5,864,7283,0.00,3.03,0.00,0.000,6,0.000,0.063,2739,2267,3865
$GC,7604,-0.81,-194.7,805.0,-10.5,880,7608,0.00,3.15,0.00,0.000,4,0.000,0.102,2739,883,3865
$GC,7647,-0.81,-194.7,809.9,-11.4,882,7652,0.00,3.00,0.00,0.000,6,0.000,0.074,2739,2269,3865
$GC,7967,-0.81,-194.7,845.3,-11.4,898,7973,0.00,3.38,0.00,0.000,4,0.000,0.110,2739,3715,3865
$GC,8051,-0.81,-194.7,854.9,-11.4,902,8057,0.00,3.35,0.00,0.000,6,0.000,0.102,2739,2278,3865
$GC,8378,-0.81,-194.7,889.6,-10.2,918,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2271,3864
$GC,8687,-0.81,-194.7,916.9,-8.3,933,8688,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2271,3864
$GC,8996,-0.81,-194.7,938.9,-6.9,948,9001,0.00,3.00,0.00,0.000,4,0.000,0.057,2739,3722,3864
$GC,9068,-0.81,-194.7,944.5,-8.2,951,9073,0.00,2.90,0.00,0.000,6,0.000,0.041,2738,2269,3864
$GC,9384,-0.81,-194.7,971.4,-9.0,966,9388,0.00,2.83,0.00,0.000,4,0.000,0.061,2739,891,3863
$GC,9428,-0.81,-194.7,976.1,-10.4,968,9433,0.00,2.78,0.00,0.000,6,0.000,0.034,2739,2311,3863
$STATE,9561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9561,begin apogee
$GC,9568,-0.21,0.0,990.6,10.9,975,9784,0.82,0.00,209.93,1.619,6,0.129,0.000,2869,2757,3071
$STATE,9785,end apogee,CONTROL_FINISHED_OK
$STATE,9785,begin climb
$GC,9787,0.86,194.7,1002.1,0.0,986,10016,1.38,2.62,216.70,1.559,4,0.079,0.058,3097,3885,2277
$GC,10117,0.71,194.7,974.8,13.0,1001,10123,0.15,2.35,0.00,0.000,6,0.127,0.035,3078,2749,2274
$GC,10433,0.60,194.7,937.7,12.4,1017,10438,0.15,2.40,0.00,0.000,4,0.125,0.055,3053,3898,2274
$GC,10476,0.55,194.7,932.5,10.8,1019,10480,0.00,2.25,0.00,0.000,6,0.000,0.034,3054,2760,2273
$GC,10804,0.50,194.7,895.9,11.6,1035,10808,0.15,2.35,0.00,0.000,4,0.113,0.054,3028,3901,2273
$GC,10830,0.50,194.7,892.7,10.6,1036,10834,0.00,2.20,0.00,0.000,6,0.000,0.033,3028,2772,2273
$GC,11151,0.56,247.3,864.2,8.2,1052,11212,0.00,0.00,55.15,1.511,6,0.000,0.000,3028,2770,2062
$GC,11521,0.68,346.0,837.8,6.6,1070,11634,0.17,2.50,105.35,1.496,4,0.057,0.054,3065,3888,1659
$GC,11655,0.68,346.0,824.5,10.0,1076,11659,0.00,2.30,0.00,0.000,6,0.000,0.032,3065,2790,1657
$GC,11976,0.68,346.0,784.1,14.2,1092,11981,0.00,2.95,0.00,0.000,4,0.000,0.048,3065,1344,1651
$GC,11986,0.68,346.0,782.5,14.4,1092,11993,0.00,2.90,0.00,0.000,6,0.000,0.033,3065,2793,1650
$GC,12301,0.68,346.0,738.3,13.3,1108,12306,0.00,2.95,0.00,0.000,4,0.000,0.047,3065,1344,1650
$GC,12311,0.68,346.0,736.9,13.4,1108,12318,0.00,2.88,0.00,0.000,6,0.000,0.034,3065,2778,1650
$GC,12630,0.69,351.9,701.9,9.8,1124,12637,0.00,0.00,5.35,0.977,6,0.000,0.000,3065,2777,1636
$GC,12937,0.70,363.1,673.2,9.6,1139,12958,0.00,2.95,13.75,1.274,4,0.000,0.048,3065,1341,1589
$GC,12963,0.72,375.2,670.4,9.6,1140,12983,0.00,2.85,14.50,1.315,6,0.000,0.034,3065,2771,1541
$GC,13311,0.72,375.2,633.0,11.2,1157,13316,0.00,2.90,0.00,0.000,4,0.000,0.046,3065,1342,1538
$GC,13327,0.72,375.2,631.0,11.3,1158,13332,0.00,2.80,0.00,0.000,6,0.000,0.033,3065,2759,1537
$GC,13645,0.72,375.2,593.5,11.9,1176,13646,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2760,1537
$GC,13963,0.72,375.2,558.8,10.1,1206,13964,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2760,1537
$GC,14283,0.72,375.2,524.7,10.9,1236,14284,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2760,1536
$GC,14600,0.72,375.2,490.1,10.9,1266,14601,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2760,1536
$GC,14919,0.72,375.2,456.7,10.8,1296,14923,0.00,2.85,0.00,0.000,4,0.000,0.044,3066,1335,1536
$GC,14928,0.72,375.2,455.5,10.9,1296,14935,0.00,2.78,0.00,0.000,6,0.000,0.031,3065,2757,1536
$GC,15257,0.73,383.8,422.9,9.7,1327,15273,0.00,0.00,9.68,1.058,6,0.000,0.000,3065,2758,1506
$GC,15593,0.73,383.8,388.3,10.6,1359,15597,0.00,2.85,0.00,0.000,4,0.000,0.045,3066,1338,1505
$GC,15609,0.73,383.8,386.4,10.8,1360,15614,0.00,2.75,0.00,0.000,6,0.000,0.031,3065,2746,1504
$GC,15933,0.73,383.8,352.3,10.3,1390,15934,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2747,1504
$GC,16269,0.73,383.8,317.2,10.8,1447,16274,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2746,1504
$GC,16611,0.73,383.8,280.9,10.2,1508,16617,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2746,1504
$GC,16954,0.76,412.2,247.5,9.0,1569,16992,0.00,2.88,30.90,1.111,4,0.000,0.044,3065,1341,1389
$GC,16999,0.81,412.2,243.1,10.8,1577,17006,0.15,2.80,0.00,0.000,6,0.048,0.031,3098,2751,1388
$GC,17343,0.75,412.2,192.3,16.2,1638,17350,0.00,2.28,0.00,0.000,4,0.000,0.048,3097,3898,1385
$GC,17373,0.70,412.2,187.5,16.8,1643,17380,0.15,2.22,0.00,0.000,6,0.109,0.031,3075,2748,1385
$GC,17718,0.71,419.5,147.8,9.7,1704,17729,0.00,0.00,8.10,0.870,6,0.000,0.000,3076,2746,1359
$GC,18067,0.71,419.5,112.6,10.3,1766,18073,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2745,1358
$GC,18410,0.71,419.5,74.5,12.2,1827,18416,0.00,2.80,0.00,0.000,4,0.000,0.046,3075,1336,1358
$GC,18428,0.71,419.5,72.3,11.8,1830,18434,0.00,2.72,0.00,0.000,6,0.000,0.030,3075,2746,1357
$GC,18772,0.71,419.5,32.6,10.8,1891,18778,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2746,1357
$GC,18915,0.73,438.6,18.0,9.3,1916,18938,0.00,0.00,20.42,0.927,6,0.000,0.000,3075,2746,1283
$GC,19078,0.80,452.7,2.2,9.5,1944,19085,0.00,0.00,5.28,0.707,2,0.000,0.000,3075,2746,1263
$STATE,19085,end climb,SURFACE_DEPTH_REACHED
$STATE,19086,begin surface coast
$FINISH,0.2,1.010200
$STATE,19108,end surface coast,CONTROL_FINISHED_OK
$STATE,19108,begin surface
$SM_CCo,19186,0.00,0.000,0,0,1261,443.99
$SM_GC,0.95,8.38,0.00,0.00,0.046,0.000,0.000,1437,2301,1261,-6.79,0.03,443.99
$IRIDIUM_FIX,6103.81,-2601.68,170897,212108
$TT8_MAMPS,0.026078
$HUMID,1792
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,16.50
$XPDR_PINGS,1037
$24V_AH,19.1,72.395
$10V_AH,9.8,53.246
$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,23.600,146.050,695.100,0.000,0.000,27.864,35.599,234.562,259.250,0.000,0.000,11.126,3063.339,11568.159,808.379,3544.039,617.351,0.000,2419.732,0.000,3520.897,0.000,0.465
$DEVICE_MAMPS,254.644,109.681,1619.137,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1379.502,1397.200,726.601,1723.721,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142531,1949
$CAP_FILE_SIZE,175543,0
$CFSIZE,260165632,234373120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240508,082838,6135.199,-2624.157,35,1.0,35,-18.7