version: 66.03
glider: 142
mission: 5
dive: 26
start: 4 9 108 0 39 10
data:
$ID,142
$MISSION,5
$DIVE,26
$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,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,90
$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,-13059.636
$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,2250
$C_ROLL_CLIMB,2710
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,20
$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
$GPS1,002955,5909.581,-1849.645,39,1.8,39,-13.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-55.3
$GPS2,003850,5909.549,-1849.604,10,1.5,28,-13.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,5909.549,-1844.068
$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,103.4,20000,-17.5,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.91,-146.0,0.0,0.0,0,122,0.00,0.00,-93.38,0.000,2,0.000,0.000,1433,2231,3634
$GC,125,-0.91,-146.0,3.7,-5.9,13,142,10.82,2.85,-0.85,0.000,4,0.242,0.056,2713,846,3669
$GC,378,-0.83,-146.0,48.6,-18.6,60,386,0.10,2.75,0.00,0.000,6,0.122,0.028,2731,2261,3670
$GC,517,-0.83,-146.0,66.9,-12.5,85,523,0.00,2.83,0.00,0.000,4,0.000,0.047,2731,846,3670
$GC,692,-0.83,-146.0,88.3,-11.8,117,699,0.00,2.67,0.00,0.000,6,0.000,0.029,2731,2249,3670
$GC,829,-0.83,-146.0,105.1,-12.6,142,837,0.00,2.83,0.00,0.000,4,0.000,0.048,2731,846,3670
$GC,854,-0.78,-146.0,108.5,-12.5,146,862,0.00,2.70,0.00,0.000,6,0.000,0.029,2731,2241,3670
$GC,994,-0.78,-146.0,125.9,-12.4,171,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2241,3670
$GC,1131,-0.78,-146.0,143.3,-12.5,196,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2241,3670
$GC,1271,-0.78,-146.0,160.5,-12.2,221,1277,0.00,2.78,0.00,0.000,4,0.000,0.048,2731,846,3670
$GC,1307,-0.78,-146.0,165.2,-12.9,227,1313,0.00,2.65,0.00,0.000,6,0.000,0.028,2731,2236,3670
$GC,1637,-0.78,-146.0,206.1,-11.9,288,1645,0.00,2.78,0.00,0.000,4,0.000,0.048,2731,851,3670
$GC,1672,-0.78,-146.0,210.5,-13.0,294,1680,0.00,2.62,0.00,0.000,6,0.000,0.028,2731,2216,3670
$GC,2005,-0.78,-146.0,249.6,-11.3,355,2011,0.00,2.72,0.00,0.000,4,0.000,0.048,2731,840,3670
$GC,2043,-0.78,-146.0,254.6,-12.9,362,2051,0.00,2.65,0.00,0.000,6,0.000,0.028,2731,2220,3670
$GC,2377,-0.78,-146.0,295.3,-12.3,423,2383,0.00,2.72,0.00,0.000,4,0.000,0.048,2730,844,3670
$GC,2412,-0.78,-146.0,299.9,-13.5,429,2419,0.00,2.62,0.00,0.000,6,0.000,0.029,2731,2226,3670
$GC,2746,-0.78,-146.0,340.2,-11.7,490,2754,0.00,2.75,0.00,0.000,4,0.000,0.048,2731,847,3670
$GC,2778,-0.78,-146.0,344.3,-12.7,495,2784,0.00,2.60,0.00,0.000,6,0.000,0.029,2731,2218,3670
$GC,3119,-0.78,-146.0,385.3,-12.1,556,3125,0.00,2.72,0.00,0.000,4,0.000,0.048,2731,837,3670
$GC,3144,-0.78,-146.0,388.2,-12.5,560,3150,0.00,2.62,0.00,0.000,6,0.000,0.028,2731,2224,3670
$GC,3486,-0.78,-146.0,430.6,-12.6,621,3493,0.00,2.70,0.00,0.000,4,0.000,0.048,2731,847,3670
$GC,3511,-0.78,-146.0,433.7,-13.3,625,3518,0.00,2.60,0.00,0.000,6,0.000,0.029,2731,2218,3670
$GC,3853,-0.78,-146.0,477.3,-12.5,686,3859,0.00,2.72,0.00,0.000,4,0.000,0.048,2731,839,3670
$GC,3876,-0.78,-146.0,480.4,-12.9,690,3883,0.00,2.58,0.00,0.000,6,0.000,0.028,2731,2207,3670
$GC,4217,-0.78,-146.0,522.3,-12.4,751,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2208,3670
$GC,4557,-0.78,-146.0,563.2,-11.8,812,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2208,3670
$GC,4900,-0.78,-146.0,604.0,-11.4,871,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2208,3670
$GC,5219,-0.78,-146.0,640.3,-11.2,901,5220,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2208,3670
$GC,5537,-0.78,-146.0,675.9,-11.3,931,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2208,3670
$GC,5856,-0.78,-146.0,709.5,-10.3,961,5860,0.00,2.90,0.00,0.000,4,0.000,0.062,2731,3653,3670
$GC,5865,-0.78,-146.0,710.5,-10.3,961,5872,0.00,2.85,0.00,0.000,6,0.000,0.047,2731,2218,3670
$GC,6191,-0.78,-146.0,744.2,-10.0,992,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2218,3670
$GC,6508,-0.78,-146.0,776.1,-10.4,1022,6513,0.00,3.05,0.00,0.000,4,0.000,0.080,2731,3652,3670
$GC,6529,-0.78,-146.0,778.4,-10.8,1023,6536,0.00,2.97,0.00,0.000,6,0.000,0.067,2731,2218,3670
$GC,6855,-0.78,-146.0,811.7,-10.3,1054,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2218,3670
$GC,7172,-0.78,-146.0,844.3,-10.2,1084,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2217,3670
$GC,7492,-0.78,-146.0,875.7,-9.7,1114,7498,0.00,3.35,0.00,0.000,4,0.000,0.126,2731,3641,3670
$GC,7520,-0.78,-146.0,878.6,-10.7,1116,7525,0.00,3.30,0.00,0.000,6,0.000,0.118,2731,2224,3669
$GC,7846,-0.78,-146.0,909.3,-9.1,1146,7847,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2220,3669
$GC,8164,-0.78,-146.0,939.9,-9.8,1176,8165,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2220,3669
$GC,8483,-0.78,-146.0,969.4,-9.4,1206,8487,0.00,2.88,0.00,0.000,4,0.000,0.054,2731,3651,3669
$GC,8522,-0.78,-146.0,973.3,-10.0,1209,8526,0.00,2.85,0.00,0.000,6,0.000,0.041,2731,2200,3669
$STATE,8695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8695,begin apogee
$GC,8701,-0.21,0.0,990.9,9.9,1225,8858,0.80,0.00,150.10,1.535,6,0.128,0.000,2865,2708,3070
$STATE,8859,end apogee,CONTROL_FINISHED_OK
$STATE,8859,begin climb
$GC,8861,0.91,146.0,994.9,0.0,1241,9026,1.42,2.62,152.38,1.486,4,0.084,0.057,3110,3893,2475
$GC,9082,0.74,146.0,971.1,15.1,1262,9087,0.20,2.45,0.00,0.000,6,0.128,0.035,3083,2707,2473
$GC,9408,0.63,146.0,927.8,13.4,1292,9413,0.15,2.47,0.00,0.000,4,0.127,0.052,3059,3893,2472
$GC,9494,0.58,146.0,917.1,11.8,1299,9498,0.00,2.33,0.00,0.000,6,0.000,0.032,3059,2719,2472
$GC,9820,0.54,146.0,881.3,10.5,1329,9825,0.12,2.42,0.00,0.000,4,0.130,0.051,3042,3902,2472
$GC,9863,0.54,146.0,876.6,10.2,1332,9870,0.00,2.33,0.00,0.000,6,0.000,0.032,3042,2726,2471
$GC,10189,0.56,165.9,846.7,9.1,1363,10212,0.00,0.00,20.48,1.361,6,0.000,0.000,3042,2725,2394
$GC,10527,0.60,198.1,817.2,8.5,1395,10568,0.00,2.53,32.75,1.388,4,0.000,0.052,3041,3894,2263
$GC,10625,0.64,231.3,808.8,8.5,1404,10666,0.00,2.30,35.15,1.374,6,0.000,0.031,3042,2743,2127
$GC,10984,0.68,265.3,777.4,8.4,1438,11027,0.15,3.03,35.03,1.353,4,0.059,0.046,3074,1299,1988
$GC,11054,0.68,265.3,769.6,11.7,1444,11061,0.00,2.92,0.00,0.000,6,0.000,0.031,3074,2741,1987
$GC,11380,0.68,265.3,730.8,12.5,1475,11384,0.00,2.33,0.00,0.000,4,0.000,0.050,3074,3892,1985
$GC,11453,0.68,265.3,721.2,14.0,1481,11457,0.00,2.25,0.00,0.000,6,0.000,0.032,3074,2747,1984
$GC,11777,0.68,265.3,679.1,13.1,1511,11778,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2746,1984
$GC,12095,0.68,265.3,637.7,13.1,1541,12099,0.00,2.33,0.00,0.000,4,0.000,0.051,3074,3895,1984
$GC,12127,0.68,265.3,633.3,12.5,1543,12134,0.00,2.22,0.00,0.000,6,0.000,0.031,3074,2759,1983
$GC,12456,0.68,265.3,592.4,12.5,1579,12461,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2758,1983
$GC,12794,0.68,265.3,550.3,12.0,1640,12800,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2758,1983
$GC,13134,0.68,265.3,508.0,12.6,1701,13140,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2757,1983
$GC,13475,0.68,265.3,465.8,12.1,1762,13481,0.00,2.28,0.00,0.000,4,0.000,0.048,3074,3903,1983
$GC,13509,0.68,265.3,461.3,13.3,1768,13515,0.00,2.17,0.00,0.000,6,0.000,0.030,3074,2758,1983
$GC,13851,0.68,265.3,417.7,12.8,1829,13856,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2756,1983
$GC,14189,0.68,265.3,373.9,12.6,1890,14195,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2753,1983
$GC,14527,0.68,265.3,331.3,12.7,1951,14533,0.00,2.25,0.00,0.000,4,0.000,0.047,3074,3893,1983
$GC,14565,0.68,265.3,326.2,11.7,1958,14573,0.00,2.17,0.00,0.000,6,0.000,0.030,3074,2763,1983
$GC,14898,0.68,265.3,283.9,12.5,2019,14904,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2761,1984
$GC,15228,0.68,265.3,242.2,12.9,2080,15236,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2759,1983
$GC,15562,0.68,265.3,201.0,12.2,2141,15568,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2757,1983
$GC,15890,0.68,265.3,159.5,11.9,2202,15898,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2756,1984
$GC,16224,0.68,265.3,118.7,11.7,2263,16229,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2756,1984
$GC,16359,0.68,265.3,102.0,12.5,2288,16366,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2756,1984
$GC,16497,0.68,265.3,85.7,12.0,2313,16503,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2756,1984
$GC,16634,0.68,265.3,68.5,13.7,2338,16642,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2756,1984
$GC,16774,0.68,265.3,51.8,10.4,2363,16779,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2756,1984
$GC,16906,0.68,265.3,35.0,12.4,2388,16913,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2756,1984
$GC,17040,0.68,265.3,21.1,13.3,2413,17048,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2756,1983
$GC,17174,0.69,267.3,4.2,9.9,2438,17181,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2756,1984
$STATE,17198,end climb,SURFACE_DEPTH_REACHED
$STATE,17198,begin surface coast
$FINISH,-0.0,1.026280
$STATE,17220,end surface coast,CONTROL_FINISHED_OK
$STATE,17220,begin surface
$SM_CCo,17297,0.00,0.000,0,0,1984,266.89
$SM_GC,0.78,8.23,0.00,0.00,0.049,0.000,0.000,1432,2248,1984,-6.80,-0.03,266.89
$IRIDIUM_FIX,5846.12,-1851.29,030797,191905
$TT8_MAMPS,0.026845
$HUMID,1755
$INTERNAL_PRESSURE,8.96564
$TCM_TEMP,12.30
$XPDR_PINGS,802
$24V_AH,20.2,12.825
$10V_AH,9.8,9.485
$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,22.000,129.075,425.875,0.000,0.000,24.262,32.160,313.616,200.500,0.000,0.000,30.934,3743.842,7399.113,594.225,5347.862,718.502,0.000,2468.498,0.000,5352.701,0.000,0.466
$DEVICE_MAMPS,241.605,125.788,1534.767,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1699.822,1780.585,1100.033,997.483,2582.735,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,180301,2446
$CAP_FILE_SIZE,190214,0
$CFSIZE,260165632,255475712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090408,052837,5909.981,-1844.286,35,1.4,35,-13.4