version: 66.03
glider: 142
mission: 5
dive: 2
start: 4 4 108 8 14 41
data:
$ID,142
$MISSION,5
$DIVE,2
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$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,150
$T_MISSION,180
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51804
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,300
$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,-12488.088
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1435
$PITCH_MAX,3965
$C_PITCH,2990
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.700001
$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,2060
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,3
$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,4
$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
$GPS1,080702,5859.694,-2028.869,8,1.5,13,-14.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-32.6
$GPS2,081421,5859.711,-2028.806,13,1.8,13,-14.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,VM
$TGT_LATLONG,5859.850,-2029.850
$TGT_RADIUS,400.000
$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,298.7,1029,-27.2,-10.000
$D_GRID,450
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.28,-63.0,0.0,0.0,0,186,0.00,0.00,-159.05,0.000,6,0.000,0.000,1430,2046,3325
$GC,189,-1.32,-98.8,2.8,-6.2,23,212,10.55,2.85,-5.25,0.000,4,0.238,0.062,2693,646,3473
$GC,307,-1.32,-98.8,15.3,-11.9,44,315,0.00,2.75,0.00,0.000,6,0.000,0.029,2693,2059,3474
$GC,380,-1.37,-98.8,23.1,-10.5,57,387,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2064,3474
$GC,452,-1.42,-98.8,31.6,-13.2,70,460,0.00,2.80,0.00,0.000,4,0.000,0.041,2694,3465,3474
$GC,499,-1.48,-98.8,37.6,-12.2,78,508,0.12,2.78,0.00,0.000,6,0.074,0.033,2669,2057,3474
$GC,572,-1.48,-98.8,46.0,-12.0,91,580,0.00,2.83,0.00,0.000,4,0.000,0.051,2669,657,3474
$GC,655,-1.48,-98.8,57.4,-13.6,106,663,0.00,2.72,0.00,0.000,6,0.000,0.029,2669,2066,3474
$GC,789,-1.48,-98.8,74.1,-13.4,131,797,0.00,2.85,0.00,0.000,4,0.000,0.047,2669,652,3474
$GC,938,-1.48,-98.8,97.6,-16.8,159,947,0.00,2.72,0.00,0.000,6,0.000,0.029,2669,2063,3473
$GC,1073,-1.48,-98.8,120.7,-17.2,184,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2067,3474
$GC,1207,-1.48,-98.8,144.2,-18.8,209,1215,0.00,2.85,0.00,0.000,4,0.000,0.049,2669,650,3474
$GC,1300,-1.48,-98.8,160.8,-15.9,226,1308,0.00,2.70,0.00,0.000,6,0.000,0.028,2669,2057,3473
$GC,1440,-1.48,-98.8,180.4,-13.6,251,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2062,3474
$GC,1575,-1.48,-98.8,199.4,-14.8,276,1583,0.00,2.83,0.00,0.000,4,0.000,0.049,2669,652,3474
$GC,1686,-1.48,-98.8,217.0,-15.5,296,1694,0.00,2.70,0.00,0.000,6,0.000,0.028,2669,2060,3473
$GC,1825,-1.48,-98.8,235.3,-12.0,321,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2066,3474
$GC,1959,-1.48,-98.8,252.3,-13.7,346,1967,0.00,2.83,0.00,0.000,4,0.000,0.049,2669,655,3474
$GC,2056,-1.48,-98.8,266.5,-15.3,363,2062,0.00,2.67,0.00,0.000,6,0.000,0.028,2669,2066,3473
$GC,2192,-1.48,-98.8,285.8,-13.9,388,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2067,3474
$GC,2331,-1.48,-98.8,304.5,-13.4,413,2337,0.00,2.80,0.00,0.000,4,0.000,0.048,2669,652,3474
$GC,2388,-1.48,-98.8,312.4,-14.3,423,2394,0.00,2.67,0.00,0.000,6,0.000,0.028,2669,2067,3473
$GC,2524,-1.48,-98.8,330.7,-12.9,448,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2071,3473
$GC,2663,-1.48,-98.8,349.6,-14.1,473,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2073,3473
$GC,2801,-1.48,-98.8,369.1,-14.2,498,2807,0.00,2.80,0.00,0.000,4,0.000,0.048,2669,651,3473
$GC,2842,-1.48,-98.8,374.8,-14.9,505,2848,0.00,2.67,0.00,0.000,6,0.000,0.028,2669,2067,3473
$GC,2981,-1.48,-98.8,394.3,-14.0,530,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2067,3473
$GC,3119,-1.48,-98.8,413.7,-14.4,555,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2069,3473
$GC,3258,-1.48,-98.8,433.0,-13.7,580,3266,0.00,2.83,0.00,0.000,4,0.000,0.049,2669,656,3473
$GC,3366,-1.48,-98.8,448.6,-14.8,599,3372,0.00,2.67,0.00,0.000,6,0.000,0.028,2669,2068,3473
$STATE,3378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3378,begin apogee
$GC,3383,-0.22,0.0,450.2,13.8,601,3489,1.67,0.00,95.45,1.153,6,0.154,0.000,2937,2073,3071
$STATE,3490,end apogee,CONTROL_FINISHED_OK
$STATE,3490,begin climb
$GC,3492,1.32,98.8,451.3,0.0,620,3645,1.83,2.97,109.80,1.019,4,0.055,0.038,3278,3468,2668
$GC,3653,1.04,98.8,430.1,20.8,648,3661,0.40,2.92,0.00,0.000,6,0.177,0.031,3224,2059,2667
$GC,3799,0.84,98.8,400.7,20.4,673,3806,0.32,2.85,0.00,0.000,4,0.169,0.038,3178,3459,2667
$GC,4055,0.71,98.8,353.9,17.3,719,4062,0.22,2.78,0.00,0.000,6,0.172,0.032,3148,2053,2666
$GC,4193,0.66,98.8,334.3,14.1,744,4200,0.00,2.83,0.00,0.000,4,0.000,0.039,3148,3458,2666
$GC,4442,0.61,98.8,299.5,13.5,790,4451,0.12,2.78,0.00,0.000,6,0.152,0.033,3128,2055,2666
$GC,4582,0.61,98.8,282.1,12.4,815,4588,0.00,2.78,0.00,0.000,4,0.000,0.038,3128,3461,2665
$GC,4832,0.61,98.8,249.6,13.6,861,4838,0.00,2.72,0.00,0.000,6,0.000,0.031,3128,2050,2665
$GC,4967,0.61,98.8,231.3,14.2,886,4975,0.00,2.80,0.00,0.000,4,0.000,0.039,3128,3460,2665
$GC,5218,0.61,98.8,197.2,14.5,932,5226,0.00,2.72,0.00,0.000,6,0.000,0.031,3128,2058,2665
$GC,5358,0.61,98.8,178.4,13.8,957,5364,0.00,2.78,0.00,0.000,4,0.000,0.048,3129,648,2665
$GC,5558,0.61,98.8,150.0,13.1,994,5566,0.00,2.70,0.00,0.000,6,0.000,0.028,3128,2060,2665
$GC,5693,0.61,98.8,132.5,14.5,1019,5701,0.00,2.72,0.00,0.000,4,0.000,0.038,3128,3460,2665
$GC,5936,0.61,98.8,100.1,12.4,1065,5944,0.00,2.72,0.00,0.000,6,0.000,0.032,3128,2058,2665
$GC,6070,0.61,98.8,82.7,14.4,1090,6078,0.00,2.75,0.00,0.000,4,0.000,0.038,3128,3458,2665
$GC,6314,0.61,98.8,48.6,13.1,1136,6322,0.00,2.72,0.00,0.000,6,0.000,0.034,3128,2058,2665
$GC,6386,0.61,98.8,39.4,12.4,1149,6394,0.00,2.78,0.00,0.000,4,0.000,0.039,3129,3466,2665
$GC,6630,0.61,98.8,7.2,13.0,1195,6638,0.00,2.72,0.00,0.000,6,0.000,0.032,3128,2058,2665
$STATE,6669,end climb,SURFACE_DEPTH_REACHED
$STATE,6669,begin surface coast
$FINISH,0.2,1.026227
$STATE,6681,end surface coast,CONTROL_FINISHED_OK
$STATE,6682,begin surface
$SM_CCo,6698,178.73,0.876,0,0,1847,300.00
$SM_GC,0.98,0.00,0.00,178.73,0.000,0.000,0.876,1428,2050,1847,-7.18,-0.28,300.00
$IRIDIUM_FIX,5837.82,-2023.59,290697,080833
$TT8_MAMPS,0.026845
$HUMID,1621
$INTERNAL_PRESSURE,8.96564
$TCM_TEMP,12.70
$XPDR_PINGS,109
$24V_AH,20.6,6.707
$10V_AH,9.9,2.623
$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,23.775,105.375,205.250,178.725,0.000,0.000,0.000,0.000,27.250,0.000,0.000,14.718,1809.234,1046.881,582.731,3354.392,154.885,0.000,1643.541,0.000,3373.759,0.000,0.465
$DEVICE_MAMPS,237.770,62.127,1152.801,875.914,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,837.295,853.650,767.275,1289.448,2530.727,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91972,1204
$CAP_FILE_SIZE,108296,0
$CFSIZE,260165632,258293760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$GPS,040408,101031,5900.295,-2029.518,35,1.7,36,-14.2