version: 66.03
glider: 142
mission: 5
dive: 67
start: 4 17 108 17 14 8
data:
$ID,142
$MISSION,5
$DIVE,67
$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,215
$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,-13996.121
$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,17
$R_STBD_OVSHOOT,15
$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
$GPS1,165258,5918.183,-2226.831,26,2.7,45,-15.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-44.2
$GPS2,171350,5918.157,-2227.375,10,2.0,10,-15.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5909.311,-2230.550
$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,230.4,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,173,0.00,0.00,-144.12,0.000,2,0.000,0.000,1428,2291,3772
$GC,176,-0.86,-194.7,3.9,-5.5,20,200,11.05,2.85,-2.33,0.000,4,0.245,0.054,2724,884,3866
$GC,437,-0.79,-194.7,49.0,-15.3,68,445,0.10,2.78,0.00,0.000,6,0.127,0.031,2741,2304,3867
$GC,577,-0.79,-194.7,66.5,-12.1,93,584,0.00,2.83,0.00,0.000,4,0.000,0.045,2741,887,3867
$GC,677,-0.79,-194.7,78.8,-12.9,111,684,0.00,2.67,0.00,0.000,6,0.000,0.030,2741,2277,3867
$GC,814,-0.79,-194.7,95.4,-12.3,136,822,0.00,2.80,0.00,0.000,4,0.000,0.046,2741,886,3867
$GC,867,-0.79,-194.7,101.8,-12.9,145,873,0.00,2.65,0.00,0.000,6,0.000,0.029,2741,2263,3867
$GC,1002,-0.79,-194.7,118.7,-12.4,170,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2264,3868
$GC,1142,-0.79,-194.7,135.2,-11.9,195,1148,0.00,2.72,0.00,0.000,4,0.000,0.045,2741,886,3867
$GC,1243,-0.79,-194.7,146.6,-10.8,213,1249,0.00,2.60,0.00,0.000,6,0.000,0.030,2741,2245,3867
$GC,1379,-0.79,-194.7,160.5,-10.3,238,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2245,3867
$GC,1713,-0.79,-194.7,195.3,-10.6,299,1719,0.00,2.70,0.00,0.000,4,0.000,0.045,2741,883,3867
$GC,1849,-0.79,-194.7,211.1,-11.0,324,1857,0.00,2.62,0.00,0.000,6,0.000,0.030,2741,2238,3867
$GC,2182,-0.79,-194.7,246.2,-10.1,385,2188,0.00,2.67,0.00,0.000,4,0.000,0.045,2741,884,3867
$GC,2266,-0.79,-194.7,255.6,-10.8,400,2274,0.00,2.60,0.00,0.000,6,0.000,0.030,2741,2230,3867
$GC,2600,-0.79,-194.7,291.2,-10.6,461,2606,0.00,2.65,0.00,0.000,4,0.000,0.045,2741,884,3867
$GC,2699,-0.79,-194.7,302.4,-11.4,479,2705,0.00,2.55,0.00,0.000,6,0.000,0.030,2741,2221,3867
$GC,3031,-0.79,-194.7,339.0,-10.4,540,3039,0.00,2.67,0.00,0.000,4,0.000,0.046,2741,883,3867
$GC,3088,-0.79,-194.7,345.3,-11.3,550,3096,0.00,2.55,0.00,0.000,6,0.000,0.031,2741,2205,3867
$GC,3429,-0.79,-194.7,382.9,-11.7,611,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2205,3867
$GC,3771,-0.79,-194.7,421.3,-11.0,672,3779,0.00,2.65,0.00,0.000,4,0.000,0.047,2741,882,3867
$GC,3849,-0.79,-194.7,429.9,-11.0,685,3855,0.00,2.53,0.00,0.000,6,0.000,0.031,2741,2203,3867
$GC,4190,-0.79,-194.7,468.2,-11.2,746,4196,0.00,2.60,0.00,0.000,4,0.000,0.046,2741,885,3867
$GC,4255,-0.79,-194.7,475.5,-11.3,757,4261,0.00,2.50,0.00,0.000,6,0.000,0.031,2741,2193,3867
$GC,4596,-0.79,-194.7,512.2,-11.1,818,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2194,3867
$GC,4936,-0.79,-194.7,547.3,-10.1,879,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2194,3867
$GC,5277,-0.79,-194.7,582.4,-10.5,940,5284,0.00,2.62,0.00,0.000,4,0.000,0.051,2741,879,3867
$GC,5358,-0.79,-194.7,591.0,-10.7,954,5365,0.00,2.53,0.00,0.000,6,0.000,0.032,2741,2175,3867
$GC,5687,-0.79,-194.7,625.2,-10.5,992,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2176,3867
$GC,6007,-0.79,-194.7,660.8,-11.4,1022,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2176,3866
$GC,6325,-0.79,-194.7,696.5,-10.7,1052,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2176,3866
$GC,6644,-0.79,-194.7,729.7,-10.0,1082,6649,0.00,2.70,0.00,0.000,4,0.000,0.071,2741,883,3865
$GC,6706,-0.79,-194.7,736.2,-10.9,1087,6710,0.00,2.58,0.00,0.000,6,0.000,0.048,2741,2174,3865
$GC,7031,-0.79,-194.7,768.0,-9.7,1117,7032,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2175,3864
$GC,7350,-0.79,-194.7,798.7,-9.8,1147,7351,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2175,3865
$GC,7667,-0.79,-194.7,831.2,-10.4,1177,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2175,3864
$GC,7986,-0.79,-194.7,863.8,-10.1,1207,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2175,3864
$GC,8305,-0.79,-194.7,895.6,-9.8,1237,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2176,3864
$GC,8624,-0.79,-194.7,926.7,-9.9,1267,8626,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2175,3863
$GC,8943,-0.79,-194.7,957.5,-9.5,1297,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2175,3863
$GC,9261,-0.79,-194.7,988.5,-9.9,1327,9266,0.00,3.10,0.00,0.000,4,0.000,0.059,2741,3702,3862
$STATE,9276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9276,begin apogee
$GC,9283,-0.21,0.0,990.3,9.9,1328,9490,0.75,0.00,200.10,1.582,6,0.124,0.000,2867,2738,3072
$STATE,9491,end apogee,CONTROL_FINISHED_OK
$STATE,9491,begin climb
$GC,9493,0.86,194.7,997.3,0.0,1349,9712,1.38,2.67,208.60,1.518,4,0.088,0.058,3099,3884,2277
$GC,9886,0.69,194.7,950.0,15.5,1385,9893,0.20,2.35,0.00,0.000,6,0.126,0.035,3072,2747,2274
$GC,10211,0.58,194.7,909.0,12.3,1416,10215,0.15,2.40,0.00,0.000,4,0.120,0.052,3048,3893,2273
$GC,10272,0.53,194.7,902.2,10.3,1421,10276,0.00,2.25,0.00,0.000,6,0.000,0.035,3048,2759,2273
$GC,10603,0.48,198.9,869.0,9.9,1452,10613,0.15,0.00,5.10,1.002,6,0.118,0.000,3026,2759,2260
$GC,10931,0.55,260.6,843.1,7.9,1483,11001,0.00,0.00,64.10,1.467,6,0.000,0.000,3025,2759,2008
$GC,11320,0.60,298.4,810.6,8.7,1520,11362,0.12,0.00,39.50,1.420,6,0.063,0.000,3049,2759,1854
$GC,11678,0.60,298.4,770.4,11.2,1554,11679,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2759,1849
$GC,11997,0.60,298.4,733.7,11.8,1584,12001,0.00,2.30,0.00,0.000,4,0.000,0.053,3049,3884,1848
$GC,12034,0.60,298.4,729.0,12.0,1587,12041,0.00,2.22,0.00,0.000,6,0.000,0.033,3049,2765,1847
$GC,12361,0.60,298.4,690.9,12.1,1618,12362,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2761,1847
$GC,12678,0.60,298.4,653.4,11.4,1648,12679,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2761,1847
$GC,12996,0.60,298.4,617.7,11.0,1678,12997,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2760,1846
$GC,13322,0.60,301.0,583.4,9.9,1722,13329,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2760,1846
$GC,13663,0.60,301.0,548.2,10.1,1783,13669,0.00,2.28,0.00,0.000,4,0.000,0.051,3049,3894,1846
$GC,13699,0.60,301.0,544.5,10.1,1789,13706,0.00,2.15,0.00,0.000,6,0.000,0.032,3049,2773,1845
$GC,14039,0.60,301.0,509.5,10.0,1850,14045,0.00,2.83,0.00,0.000,4,0.000,0.046,3049,1345,1845
$GC,14079,0.61,309.7,505.4,9.7,1857,14097,0.00,2.78,10.95,1.114,6,0.000,0.031,3049,2779,1808
$GC,14433,0.63,321.9,469.9,9.6,1920,14452,0.00,2.30,13.90,1.154,4,0.000,0.049,3049,3899,1758
$GC,14476,0.63,321.9,465.6,10.4,1927,14482,0.00,2.20,0.00,0.000,6,0.000,0.031,3049,2770,1757
$GC,14817,0.66,346.8,432.0,9.1,1988,14852,0.00,2.95,25.90,1.185,4,0.000,0.047,3049,1342,1656
$GC,14882,0.70,378.9,425.8,8.9,1999,14923,0.12,2.88,34.50,1.185,6,0.057,0.030,3075,2784,1526
$GC,15260,0.66,378.9,378.0,13.1,2066,15266,0.00,2.22,0.00,0.000,4,0.000,0.048,3075,3896,1520
$GC,15300,0.66,378.9,372.6,13.0,2073,15306,0.00,2.22,0.00,0.000,6,0.000,0.031,3075,2773,1519
$GC,15636,0.62,378.9,329.3,12.0,2134,15643,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2771,1518
$GC,15969,0.62,378.9,287.3,13.6,2195,15975,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2771,1518
$GC,16297,0.62,378.9,244.4,12.9,2256,16304,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2770,1519
$GC,16632,0.62,378.9,200.3,12.8,2317,16637,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2769,1518
$GC,16960,0.62,378.9,157.2,11.7,2378,16967,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2770,1518
$GC,17294,0.57,378.9,116.3,12.5,2439,17301,0.15,0.00,0.00,0.000,6,0.106,0.000,3048,2769,1518
$GC,17434,0.71,432.4,104.1,8.1,2464,17492,0.12,0.00,52.35,0.988,6,0.057,0.000,3075,2769,1306
$GC,17623,0.71,432.4,80.6,14.1,2497,17629,0.00,2.90,0.00,0.000,4,0.000,0.046,3075,1338,1302
$GC,17658,0.71,432.4,76.2,12.7,2503,17665,0.00,2.85,0.00,0.000,6,0.000,0.028,3075,2791,1301
$GC,17795,0.72,442.4,61.2,9.7,2528,17810,0.00,2.28,9.82,0.829,4,0.000,0.048,3075,3898,1267
$GC,17852,0.72,442.4,54.6,14.0,2537,17858,0.00,2.22,0.00,0.000,6,0.000,0.033,3075,2768,1265
$GC,17986,0.72,442.4,38.5,11.8,2562,17994,0.00,2.90,0.00,0.000,4,0.000,0.048,3075,1342,1264
$GC,18039,0.78,442.4,31.8,11.7,2571,18047,0.00,2.83,0.00,0.000,6,0.000,0.029,3075,2771,1263
$GC,18173,0.78,442.4,18.5,12.3,2596,18180,0.00,2.25,0.00,0.000,4,0.000,0.050,3075,3887,1263
$GC,18214,0.78,442.4,13.6,12.2,2603,18223,0.00,2.20,0.00,0.000,6,0.000,0.032,3075,2771,1263
$STATE,18311,end climb,SURFACE_DEPTH_REACHED
$STATE,18311,begin surface coast
$FINISH,0.3,1.026246
$STATE,18323,end surface coast,CONTROL_FINISHED_OK
$STATE,18325,begin surface
$SM_CCo,18403,0.00,0.000,0,0,1259,444.24
$SM_GC,0.65,8.32,0.00,0.00,0.047,0.000,0.000,1435,2291,1259,-6.79,-0.25,444.24
$IRIDIUM_FIX,5854.46,-2228.77,120797,171735
$TT8_MAMPS,0.026845
$HUMID,1731
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,11.60
$XPDR_PINGS,911
$24V_AH,19.6,24.606
$10V_AH,9.7,20.673
$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,22.625,129.025,664.825,0.000,0.000,138.691,256.539,452.719,227.750,0.000,0.000,12.064,3948.185,7988.541,784.507,5656.899,1245.264,0.000,2823.867,0.000,5679.621,0.000,0.466
$DEVICE_MAMPS,244.673,70.564,1581.554,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1818.120,1925.237,1165.582,1068.062,2755.377,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,196015,2623
$CAP_FILE_SIZE,208068,0
$CFSIZE,260165632,250646528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170408,222218,5913.294,-2234.135,42,1.4,52,-15.4