version: 66.03
glider: 142
mission: 5
dive: 98
start: 4 24 108 17 41 30
data:
$ID,142
$MISSION,5
$DIVE,98
$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,15
$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,-14629.674
$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,27
$R_STBD_OVSHOOT,25
$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
$GPS1,173337,6002.965,-2218.595,40,1.3,51,-15.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-49.2
$GPS2,174112,6002.951,-2218.611,9,2.4,28,-15.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6013.382,-2217.223
$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,30.7,20000,-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,24,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,158,0.00,0.00,-129.20,0.000,2,0.000,0.000,1433,2281,3498
$GC,161,-0.86,-194.7,3.2,-6.6,18,192,11.12,2.90,-10.38,0.000,4,0.245,0.053,2725,3707,3866
$GC,428,-0.80,-194.7,43.6,-13.3,67,436,0.00,2.78,0.00,0.000,6,0.000,0.034,2725,2304,3868
$GC,565,-0.72,-194.7,62.9,-14.1,92,573,0.20,2.85,0.00,0.000,4,0.141,0.050,2757,887,3868
$GC,608,-0.72,-194.7,68.2,-11.8,99,615,0.00,2.70,0.00,0.000,6,0.000,0.030,2757,2291,3868
$GC,939,-0.72,-194.7,104.4,-11.0,160,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2291,3868
$GC,1272,-0.72,-194.7,140.2,-10.4,221,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2291,3868
$GC,1607,-0.72,-194.7,174.9,-10.2,282,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2291,3868
$GC,1947,-0.72,-194.7,211.5,-10.6,343,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2291,3868
$GC,2284,-0.72,-194.7,248.0,-10.7,404,2292,0.00,2.80,0.00,0.000,4,0.000,0.048,2757,893,3868
$GC,2320,-0.72,-194.7,252.0,-11.1,410,2326,0.00,2.67,0.00,0.000,6,0.000,0.030,2757,2293,3868
$GC,2661,-0.72,-194.7,288.6,-10.9,471,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2293,3868
$GC,3002,-0.72,-194.7,324.1,-10.7,532,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2293,3868
$GC,3346,-0.72,-194.7,360.4,-10.7,585,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2293,3868
$GC,3663,-0.72,-194.7,393.8,-10.3,615,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2293,3868
$GC,3981,-0.72,-194.7,426.7,-10.3,645,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2294,3868
$GC,4302,-0.72,-194.7,459.0,-9.8,675,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2294,3868
$GC,4621,-0.72,-194.7,491.7,-10.6,705,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2294,3868
$GC,4937,-0.72,-194.7,525.1,-10.2,735,4938,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2294,3868
$GC,5256,-0.72,-194.7,556.9,-10.0,765,5260,0.00,2.80,0.00,0.000,4,0.000,0.049,2757,3706,3868
$GC,5310,-0.72,-194.7,562.3,-9.4,769,5316,0.00,2.78,0.00,0.000,6,0.000,0.035,2757,2277,3868
$GC,5636,-0.72,-194.7,592.1,-9.0,800,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2276,3868
$GC,5957,-0.72,-194.7,622.0,-9.6,820,5962,0.00,2.90,0.00,0.000,4,0.000,0.054,2757,3707,3868
$GC,6007,-0.72,-194.7,627.0,-9.9,822,6011,0.00,2.80,0.00,0.000,6,0.000,0.038,2757,2282,3868
$GC,6322,-0.72,-194.7,658.1,-9.9,837,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2281,3867
$GC,6631,-0.72,-194.7,688.6,-9.7,852,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2281,3867
$GC,6941,-0.72,-194.7,717.9,-9.3,867,6945,0.00,2.95,0.00,0.000,4,0.000,0.065,2757,3702,3867
$GC,7002,-0.72,-194.7,723.9,-9.7,870,7007,0.00,2.85,0.00,0.000,6,0.000,0.052,2757,2298,3867
$GC,7328,-0.72,-194.7,755.2,-9.7,886,7333,0.00,3.00,0.00,0.000,4,0.000,0.084,2757,890,3866
$GC,7360,-0.72,-194.7,758.6,-11.0,887,7367,0.00,2.85,0.00,0.000,6,0.000,0.054,2757,2294,3866
$GC,7676,-0.72,-194.7,789.3,-9.8,903,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2294,3865
$GC,7985,-0.72,-194.7,818.3,-9.2,918,7990,0.00,3.17,0.00,0.000,4,0.000,0.101,2757,3715,3865
$GC,8040,-0.72,-194.7,823.4,-9.4,920,8046,0.00,3.10,0.00,0.000,6,0.000,0.087,2756,2300,3865
$GC,8355,-0.72,-194.7,851.8,-9.0,936,8360,0.00,3.30,0.00,0.000,4,0.000,0.123,2757,884,3864
$GC,8382,-0.72,-194.7,854.4,-9.9,937,8387,0.00,3.00,0.00,0.000,6,0.000,0.071,2756,2319,3864
$GC,8698,-0.72,-194.7,882.1,-8.7,952,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2320,3864
$GC,9007,-0.72,-194.7,909.3,-8.8,967,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2319,3864
$GC,9317,-0.72,-194.7,936.9,-9.0,982,9321,0.00,2.80,0.00,0.000,4,0.000,0.058,2757,3704,3863
$GC,9366,-0.76,-194.7,941.6,-9.6,984,9371,0.00,2.78,0.00,0.000,6,0.000,0.041,2757,2301,3863
$GC,9681,-0.76,-194.7,970.4,-9.2,999,9683,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2301,3863
$STATE,9906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9906,begin apogee
$GC,9912,-0.21,0.0,991.4,9.1,1010,10118,0.68,0.00,202.12,1.608,6,0.120,0.000,2869,2749,3071
$STATE,10118,end apogee,CONTROL_FINISHED_OK
$STATE,10118,begin climb
$GC,10120,0.86,194.7,998.8,0.0,1020,10346,1.40,2.65,211.07,1.557,4,0.084,0.058,3102,3891,2276
$GC,10487,0.68,194.7,956.8,15.4,1037,10492,0.22,2.38,0.00,0.000,6,0.127,0.035,3071,2743,2274
$GC,10808,0.57,194.7,917.3,12.2,1053,10813,0.15,2.42,0.00,0.000,4,0.123,0.054,3047,3898,2273
$GC,10863,0.52,194.7,911.1,10.4,1055,10869,0.00,2.28,0.00,0.000,6,0.000,0.034,3047,2758,2273
$GC,11179,0.47,203.8,880.0,9.7,1071,11194,0.15,2.38,10.00,1.278,4,0.122,0.055,3021,3894,2239
$GC,11211,0.56,277.6,877.1,7.4,1071,11297,0.00,2.22,77.22,1.506,6,0.000,0.033,3021,2770,1938
$GC,11606,0.72,360.8,848.2,7.1,1091,11698,0.30,0.00,89.00,1.476,6,0.048,0.000,3081,2769,1600
$GC,11996,0.64,360.8,792.9,14.7,1110,12001,0.12,2.35,0.00,0.000,4,0.117,0.051,3064,3892,1592
$GC,12035,0.64,360.8,787.4,13.1,1112,12039,0.00,2.20,0.00,0.000,6,0.000,0.033,3064,2787,1592
$GC,12361,0.64,360.8,748.0,12.2,1128,12365,0.00,2.95,0.00,0.000,4,0.000,0.050,3064,1338,1590
$GC,12371,0.64,360.8,746.6,12.1,1128,12377,0.00,2.90,0.00,0.000,6,0.000,0.031,3064,2797,1590
$GC,12686,0.64,360.8,708.7,12.1,1144,12691,0.00,2.95,0.00,0.000,4,0.000,0.048,3064,1342,1589
$GC,12702,0.64,360.8,706.7,12.2,1145,12707,0.00,2.85,0.00,0.000,6,0.000,0.032,3064,2783,1589
$GC,13028,0.64,360.8,667.2,12.2,1161,13029,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2783,1588
$GC,13337,0.64,360.8,630.5,11.7,1176,13341,0.00,2.92,0.00,0.000,4,0.000,0.047,3064,1339,1588
$GC,13353,0.64,360.8,628.6,11.6,1177,13357,0.00,2.83,0.00,0.000,6,0.000,0.033,3064,2779,1587
$GC,13669,0.64,360.8,591.8,11.9,1195,13671,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2779,1587
$GC,13990,0.64,360.8,554.1,12.0,1225,13991,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2778,1587
$GC,14308,0.64,360.8,517.7,11.2,1255,14312,0.00,2.90,0.00,0.000,4,0.000,0.047,3064,1339,1587
$GC,14317,0.64,360.8,516.2,11.4,1255,14324,0.00,2.83,0.00,0.000,6,0.000,0.032,3064,2789,1587
$GC,14644,0.64,360.8,480.1,11.1,1286,14645,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2789,1587
$GC,14961,0.64,360.8,445.2,11.1,1316,14965,0.00,2.90,0.00,0.000,4,0.000,0.046,3064,1345,1587
$GC,14981,0.64,360.8,442.8,11.3,1317,14988,0.00,2.78,0.00,0.000,6,0.000,0.031,3064,2775,1587
$GC,15308,0.64,360.8,407.1,11.0,1348,15309,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2775,1587
$GC,15625,0.64,360.8,372.4,10.8,1378,15626,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2775,1587
$GC,15949,0.64,360.8,335.5,11.6,1419,15957,0.00,2.88,0.00,0.000,4,0.000,0.045,3064,1339,1587
$GC,15964,0.64,360.8,334.0,11.2,1421,15970,0.00,2.78,0.00,0.000,6,0.000,0.031,3064,2769,1587
$GC,16306,0.64,360.8,295.3,11.2,1482,16312,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2769,1587
$GC,16645,0.65,370.0,257.9,9.7,1543,16659,0.00,0.00,8.15,0.919,6,0.000,0.000,3064,2769,1561
$GC,16995,0.65,370.0,221.2,10.0,1605,17002,0.00,2.85,0.00,0.000,4,0.000,0.044,3064,1340,1561
$GC,17008,0.68,390.7,219.7,9.3,1607,17037,0.00,2.78,21.90,1.055,6,0.000,0.031,3064,2771,1478
$GC,17370,0.68,390.7,182.8,11.1,1672,17378,0.00,2.90,0.00,0.000,4,0.000,0.044,3065,1342,1475
$GC,17384,0.68,390.7,181.3,10.6,1674,17390,0.00,2.78,0.00,0.000,6,0.000,0.030,3064,2768,1475
$GC,17725,0.70,410.2,146.8,9.3,1735,17752,0.00,2.90,20.77,0.995,4,0.000,0.044,3064,1340,1397
$GC,17758,0.70,410.2,143.3,10.4,1740,17766,0.00,2.80,0.00,0.000,6,0.000,0.030,3064,2748,1396
$GC,18091,0.74,410.2,111.6,11.2,1801,18096,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2750,1394
$GC,18421,0.79,410.2,80.2,10.5,1862,18429,0.15,2.85,0.00,0.000,4,0.051,0.044,3102,1340,1393
$GC,18443,0.79,410.2,77.9,11.1,1865,18449,0.00,2.75,0.00,0.000,6,0.000,0.030,3102,2755,1393
$GC,18769,0.70,410.2,25.5,12.3,1926,18778,0.17,2.25,0.00,0.000,4,0.108,0.046,3072,3887,1393
$GC,18811,0.70,410.2,19.5,12.1,1933,18819,0.00,2.17,0.00,0.000,6,0.000,0.031,3073,2768,1393
$GC,18947,0.77,470.6,6.3,7.9,1958,18991,0.00,0.00,42.58,0.933,2,0.000,0.000,3072,2768,1224
$STATE,18992,end climb,SURFACE_DEPTH_REACHED
$STATE,18992,begin surface coast
$FINISH,0.0,1.013117
$STATE,19010,end surface coast,CONTROL_FINISHED_OK
$STATE,19010,begin surface
$SM_CCo,19088,0.00,0.000,0,0,1218,454.54
$SM_GC,0.63,8.57,0.00,0.00,0.052,0.000,0.000,1435,2294,1218,-6.80,-0.17,454.54
$IRIDIUM_FIX,5940.92,-2217.66,190797,121202
$TT8_MAMPS,0.026845
$HUMID,1730
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,11.70
$XPDR_PINGS,898
$24V_AH,19.6,34.790
$10V_AH,9.7,28.833
$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,23.250,140.025,682.825,0.000,0.000,28.792,34.604,239.486,224.500,0.000,0.000,30.731,3071.569,10652.105,784.913,4387.878,628.742,0.000,2452.594,0.000,4381.056,0.000,0.466
$DEVICE_MAMPS,244.673,122.720,1608.399,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1366.702,1418.938,761.117,973.386,1797.002,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145415,1967
$CAP_FILE_SIZE,173684,0
$CFSIZE,260165632,247029760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240408,230056,6005.266,-2219.747,42,1.5,42,-15.7