version: 66.03
glider: 142
mission: 5
dive: 60
start: 4 16 108 3 16 22
data:
$ID,142
$MISSION,5
$DIVE,60
$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,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,285
$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,-13833.675
$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,25
$R_STBD_OVSHOOT,18
$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
$GPS1,030300,5912.899,-2114.379,42,1.6,47,-14.7
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-32.6
$GPS2,031605,5913.243,-2114.721,12,2.9,31,-14.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5916.038,-2120.052
$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,299.7,20000,-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,-194.7,0.0,0.0,0,202,0.00,0.00,-172.85,0.000,2,0.000,0.000,1435,2288,3650
$GC,204,-0.86,-194.7,3.4,-3.0,24,229,11.07,2.83,-5.70,0.000,4,0.245,0.058,2728,889,3865
$GC,463,-0.79,-194.7,50.7,-10.5,72,471,0.00,2.78,0.00,0.000,6,0.000,0.030,2728,2306,3866
$GC,603,-0.72,-194.7,65.1,-11.3,97,610,0.17,2.85,0.00,0.000,4,0.130,0.047,2756,886,3866
$GC,661,-0.72,-194.7,70.1,-8.7,107,667,0.00,2.70,0.00,0.000,6,0.000,0.029,2756,2288,3866
$GC,796,-0.72,-194.7,85.6,-13.2,132,804,0.00,2.80,0.00,0.000,4,0.000,0.042,2756,3698,3866
$GC,860,-0.72,-194.7,95.4,-17.0,143,867,0.00,2.80,0.00,0.000,6,0.000,0.034,2756,2266,3866
$GC,996,-0.72,-194.7,108.8,-8.5,168,1004,0.00,2.75,0.00,0.000,4,0.000,0.049,2756,894,3866
$GC,1096,-0.72,-194.7,119.0,-10.3,186,1104,0.00,2.65,0.00,0.000,6,0.000,0.030,2756,2257,3866
$GC,1235,-0.72,-194.7,136.4,-16.1,211,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2256,3866
$GC,1371,-0.72,-194.7,152.4,-13.3,236,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2263,3866
$GC,1703,-0.72,-194.7,194.7,-9.7,297,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2263,3866
$GC,2033,-0.72,-194.7,230.9,-10.4,358,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2263,3866
$GC,2366,-0.72,-194.7,268.0,-11.2,419,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2263,3866
$GC,2696,-0.72,-194.7,304.1,-11.1,480,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2263,3866
$GC,3029,-0.72,-194.7,341.8,-11.3,541,3035,0.00,2.83,0.00,0.000,4,0.000,0.045,2756,3700,3866
$GC,3086,-0.72,-194.7,348.0,-10.5,551,3092,0.00,2.83,0.00,0.000,6,0.000,0.034,2756,2242,3866
$GC,3427,-0.72,-194.7,384.6,-10.8,612,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2240,3866
$GC,3772,-0.72,-194.7,422.7,-10.5,673,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2240,3866
$GC,4112,-0.72,-194.7,459.9,-11.0,734,4118,0.00,2.90,0.00,0.000,4,0.000,0.044,2756,3709,3866
$GC,4163,-0.72,-194.7,465.6,-11.3,743,4169,0.00,2.83,0.00,0.000,6,0.000,0.034,2756,2249,3866
$GC,4503,-0.72,-194.7,503.6,-10.9,804,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2248,3866
$GC,4847,-0.72,-194.7,541.0,-10.9,865,4854,0.00,2.90,0.00,0.000,4,0.000,0.048,2756,3707,3866
$GC,4905,-0.72,-194.7,547.5,-10.4,875,4911,0.00,2.80,0.00,0.000,6,0.000,0.035,2756,2261,3866
$GC,5247,-0.72,-194.7,582.9,-10.2,936,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2261,3866
$GC,5581,-0.72,-194.7,616.2,-10.2,982,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2261,3866
$GC,5900,-0.72,-194.7,649.0,-10.1,1012,5904,0.00,2.92,0.00,0.000,4,0.000,0.055,2756,3708,3866
$GC,5963,-0.72,-194.7,655.1,-10.0,1017,5968,0.00,2.83,0.00,0.000,6,0.000,0.041,2756,2274,3865
$GC,6290,-0.72,-194.7,685.8,-9.1,1047,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2274,3865
$GC,6607,-0.72,-194.7,716.4,-9.9,1077,6611,0.00,2.85,0.00,0.000,4,0.000,0.072,2756,890,3865
$GC,6662,-0.72,-194.7,722.3,-10.4,1081,6669,0.00,2.72,0.00,0.000,6,0.000,0.044,2756,2271,3864
$GC,6988,-0.72,-194.7,753.3,-9.3,1112,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2271,3864
$GC,7307,-0.72,-194.7,783.5,-9.4,1142,7311,0.00,3.10,0.00,0.000,4,0.000,0.087,2756,3712,3864
$GC,7379,-0.72,-194.7,790.5,-9.3,1148,7384,0.00,3.03,0.00,0.000,6,0.000,0.072,2756,2279,3864
$GC,7705,-0.72,-194.7,820.5,-9.6,1178,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2278,3864
$GC,8024,-0.72,-194.7,852.0,-9.9,1208,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2278,3864
$GC,8342,-0.72,-194.7,882.9,-9.8,1238,8343,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2278,3864
$GC,8661,-0.72,-194.7,913.0,-9.3,1268,8666,0.00,3.55,0.00,0.000,4,0.000,0.144,2756,3709,3863
$GC,8727,-0.72,-194.7,919.5,-9.7,1273,8734,0.00,2.85,0.00,0.000,6,0.000,0.044,2756,2272,3862
$GC,9055,-0.72,-194.7,949.3,-9.0,1304,9060,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2271,3862
$GC,9380,-0.72,-194.7,979.3,-9.2,1335,9385,0.00,2.95,0.00,0.000,4,0.000,0.058,2756,3718,3862
$GC,9430,-0.72,-194.7,983.9,-9.6,1339,9435,0.00,2.85,0.00,0.000,6,0.000,0.044,2756,2286,3862
$STATE,9497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9497,begin apogee
$GC,9503,-0.21,0.0,990.3,9.0,1345,9711,0.65,0.00,200.12,1.559,6,0.120,0.000,2866,2759,3071
$STATE,9712,end apogee,CONTROL_FINISHED_OK
$STATE,9712,begin climb
$GC,9714,0.86,194.7,997.1,0.0,1366,9932,1.38,2.60,206.18,1.502,4,0.085,0.057,3099,3890,2277
$GC,10107,0.69,194.7,950.7,14.7,1403,10112,0.17,2.38,0.00,0.000,6,0.130,0.036,3075,2740,2274
$GC,10431,0.57,194.7,910.5,12.4,1433,10436,0.15,2.42,0.00,0.000,4,0.127,0.051,3050,3902,2273
$GC,10464,0.50,194.7,906.7,11.1,1435,10470,0.12,2.30,0.00,0.000,6,0.121,0.035,3033,2749,2273
$GC,10788,0.58,263.2,880.8,7.6,1466,10861,0.00,0.00,70.53,1.456,6,0.000,0.000,3033,2748,1997
$GC,11177,0.67,330.4,851.3,7.7,1503,11250,0.17,0.00,70.38,1.432,6,0.055,0.000,3066,2748,1724
$GC,11566,0.61,330.4,806.0,12.4,1540,11567,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2748,1717
$GC,11886,0.56,330.4,766.6,12.4,1570,11890,0.15,2.35,0.00,0.000,4,0.111,0.051,3040,3895,1716
$GC,11918,0.56,330.4,762.7,10.4,1572,11925,0.00,2.25,0.00,0.000,6,0.000,0.032,3041,2762,1715
$GC,12244,0.58,347.6,732.4,9.4,1603,12269,0.00,2.95,17.35,1.289,4,0.000,0.048,3040,1339,1652
$GC,12288,0.67,377.5,728.2,9.0,1607,12330,0.12,2.85,33.12,1.354,6,0.056,0.031,3065,2766,1530
$GC,12647,0.67,377.5,683.5,12.6,1641,12648,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2767,1525
$GC,12967,0.67,377.5,643.5,12.8,1671,12968,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2767,1524
$GC,13284,0.67,377.5,604.8,11.9,1701,13289,0.00,2.88,0.00,0.000,4,0.000,0.044,3065,1336,1524
$GC,13294,0.67,377.5,603.5,12.5,1701,13300,0.00,2.78,0.00,0.000,6,0.000,0.031,3065,2755,1524
$GC,13634,0.67,377.5,564.7,11.6,1759,13639,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2754,1524
$GC,13973,0.67,377.5,524.1,12.3,1820,13978,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2755,1523
$GC,14314,0.67,377.5,482.0,12.3,1881,14320,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2754,1523
$GC,14655,0.67,377.5,441.0,11.8,1942,14660,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2754,1523
$GC,14994,0.67,377.5,397.6,12.9,2003,14999,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2754,1523
$GC,15334,0.67,377.5,355.4,12.2,2064,15341,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2754,1523
$GC,15670,0.67,377.5,315.2,12.1,2125,15675,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2754,1523
$GC,15998,0.67,377.5,276.0,11.0,2186,16005,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2754,1523
$GC,16332,0.67,377.5,237.8,11.5,2247,16338,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2754,1523
$GC,16661,0.67,377.5,199.0,11.5,2308,16668,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2754,1523
$GC,16996,0.67,377.5,160.4,10.3,2369,17001,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2754,1523
$GC,17323,0.67,377.5,123.8,11.4,2430,17331,0.00,2.83,0.00,0.000,4,0.000,0.045,3065,1346,1523
$GC,17336,0.67,377.5,122.0,12.0,2432,17345,0.00,2.72,0.00,0.000,6,0.000,0.029,3066,2750,1523
$GC,17476,0.67,377.5,105.0,14.1,2457,17482,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2751,1523
$GC,17614,0.67,377.5,89.6,10.1,2482,17621,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2751,1523
$GC,17752,0.67,377.5,74.6,13.1,2507,17758,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2751,1523
$GC,17887,0.76,451.0,62.4,7.4,2532,17964,0.00,2.97,70.78,0.949,4,0.000,0.045,3065,1345,1231
$GC,17973,0.80,451.0,54.2,10.3,2545,17979,0.15,2.83,0.00,0.000,6,0.047,0.028,3099,2761,1230
$GC,18109,0.73,451.0,32.2,19.9,2570,18117,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2761,1227
$GC,18244,0.73,451.0,11.6,11.9,2595,18252,0.00,2.28,0.00,0.000,4,0.000,0.048,3098,3884,1225
$GC,18270,0.84,541.1,9.8,6.9,2599,18365,0.00,2.20,89.10,0.894,6,0.000,0.036,3099,2775,865
$STATE,18401,end climb,SURFACE_DEPTH_REACHED
$STATE,18401,begin surface coast
$FINISH,1.2,1.026212
$STATE,18425,end surface coast,CONTROL_FINISHED_OK
$STATE,18425,begin surface
$SM_CCo,18504,0.00,0.000,0,0,856,543.09
$SM_GC,0.41,8.90,0.00,0.00,0.058,0.000,0.000,1438,2285,856,-6.79,-0.42,543.09
$IRIDIUM_FIX,5850.29,-2112.20,110797,030303
$TT8_MAMPS,0.026845
$HUMID,1715
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,12.50
$XPDR_PINGS,814
$24V_AH,19.7,22.276
$10V_AH,9.7,18.733
$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,23.225,112.450,757.550,0.000,0.000,51.575,73.690,421.579,203.500,0.000,0.000,33.545,3935.245,7805.050,855.109,5734.889,928.188,0.000,2955.837,0.000,5727.049,0.000,0.465
$DEVICE_MAMPS,244.673,144.196,1559.311,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1816.566,1912.761,1178.081,1064.730,2760.659,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,196348,2623
$CAP_FILE_SIZE,203132,0
$CFSIZE,260165632,251506688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160408,082601,5919.077,-2123.542,40,1.6,40,-14.8