version: 66.03
glider: 142
mission: 5
dive: 144
start: 5 5 108 2 39 40
data:
$ID,142
$MISSION,5
$DIVE,144
$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,230
$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,-15636.844
$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,22
$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
$GPS1,023107,6049.387,-2648.743,36,1.8,36,-18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-43.2
$GPS2,023923,6049.391,-2649.033,14,3.0,33,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6042.449,-2653.081
$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,248.5,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.86,-194.7,0.0,0.0,0,181,0.00,0.00,-150.73,0.000,2,0.000,0.000,1433,2291,3616
$GC,184,-0.86,-194.7,3.8,-6.7,21,208,11.57,2.85,-6.25,0.000,4,0.251,0.056,2725,883,3866
$GC,445,-0.81,-194.7,44.8,-13.9,69,453,0.00,2.78,0.00,0.000,6,0.000,0.029,2725,2301,3867
$GC,582,-0.75,-194.7,63.1,-13.1,94,591,0.15,2.88,0.00,0.000,4,0.154,0.046,2748,885,3867
$GC,648,-0.75,-194.7,70.5,-11.2,105,654,0.00,2.72,0.00,0.000,6,0.000,0.030,2748,2304,3867
$GC,976,-0.75,-194.7,106.7,-11.1,166,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2304,3867
$GC,1311,-0.75,-194.7,143.1,-10.2,227,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2304,3867
$GC,1648,-0.75,-194.7,178.0,-9.2,288,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2304,3867
$GC,1992,-0.75,-194.7,217.2,-12.9,349,1998,0.00,2.83,0.00,0.000,4,0.000,0.048,2748,886,3867
$GC,2044,-0.75,-194.7,224.1,-13.2,358,2050,0.00,2.70,0.00,0.000,6,0.000,0.030,2748,2293,3868
$GC,2385,-0.75,-194.7,266.9,-12.3,419,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2294,3867
$GC,2724,-0.75,-194.7,308.2,-12.6,480,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2293,3868
$GC,3072,-0.75,-194.7,351.3,-11.8,541,3076,0.00,2.80,0.00,0.000,4,0.000,0.048,2748,885,3867
$GC,3115,-0.75,-194.7,356.9,-11.8,544,3124,0.00,2.70,0.00,0.000,6,0.000,0.031,2748,2284,3867
$GC,3441,-0.75,-194.7,392.4,-10.5,575,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2284,3868
$GC,3759,-0.75,-194.7,426.4,-10.6,605,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2284,3867
$GC,4077,-0.75,-194.7,459.1,-10.2,635,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2284,3867
$GC,4397,-0.75,-194.7,491.0,-10.3,665,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2284,3868
$GC,4714,-0.75,-194.7,526.4,-11.7,695,4719,0.00,2.80,0.00,0.000,4,0.000,0.048,2748,883,3867
$GC,4775,-0.75,-194.7,533.5,-11.2,700,4779,0.00,2.70,0.00,0.000,6,0.000,0.031,2748,2287,3867
$GC,5100,-0.75,-194.7,570.4,-11.9,730,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2288,3867
$GC,5426,-0.75,-194.7,608.0,-11.1,758,5430,0.00,2.85,0.00,0.000,4,0.000,0.051,2748,3707,3867
$GC,5452,-0.75,-194.7,611.0,-11.4,759,5456,0.00,2.80,0.00,0.000,6,0.000,0.036,2748,2278,3867
$GC,5774,-0.75,-194.7,642.0,-9.2,775,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2278,3867
$GC,6082,-0.75,-194.7,672.2,-10.2,790,6087,0.00,2.92,0.00,0.000,4,0.000,0.058,2748,3700,3867
$GC,6131,-0.75,-194.7,677.5,-10.9,792,6135,0.00,2.83,0.00,0.000,6,0.000,0.048,2748,2290,3867
$GC,6453,-0.75,-194.7,711.8,-10.8,808,6457,0.00,2.95,0.00,0.000,4,0.000,0.064,2748,3700,3867
$GC,6473,-0.75,-194.7,714.2,-11.1,809,6478,0.00,2.85,0.00,0.000,6,0.000,0.048,2748,2292,3867
$GC,6794,-0.75,-194.7,747.8,-10.3,825,6795,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2291,3867
$GC,7104,-0.75,-194.7,778.3,-9.4,840,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2291,3867
$GC,7413,-0.75,-194.7,805.9,-9.0,855,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2291,3867
$GC,7722,-0.75,-194.7,833.8,-9.0,870,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2291,3866
$GC,8032,-0.75,-194.7,862.9,-9.6,885,8037,0.00,3.38,0.00,0.000,4,0.000,0.120,2748,3695,3866
$GC,8075,-0.75,-194.7,867.3,-10.4,887,8080,0.00,2.92,0.00,0.000,6,0.000,0.065,2748,2296,3866
$GC,8397,-0.75,-194.7,897.6,-9.2,903,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2295,3865
$GC,8706,-0.75,-194.7,928.6,-10.3,918,8711,0.00,2.90,0.00,0.000,4,0.000,0.056,2748,3708,3865
$GC,8756,-0.75,-194.7,933.7,-9.9,920,8761,0.00,2.80,0.00,0.000,6,0.000,0.040,2748,2304,3865
$GC,9072,-0.75,-194.7,964.4,-9.5,935,9073,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2302,3864
$STATE,9337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9337,begin apogee
$GC,9344,-0.21,0.0,990.3,9.9,948,9552,0.75,0.00,204.60,1.611,6,0.119,0.000,2871,2749,3071
$STATE,9552,end apogee,CONTROL_FINISHED_OK
$STATE,9553,begin climb
$GC,9555,0.86,194.7,998.7,0.0,958,9780,1.38,2.60,212.32,1.558,4,0.081,0.056,3099,3891,2276
$GC,9921,0.70,194.7,959.5,15.8,975,9926,0.17,2.38,0.00,0.000,6,0.129,0.035,3075,2739,2274
$GC,10242,0.59,194.7,918.8,12.8,991,10247,0.15,2.42,0.00,0.000,4,0.127,0.052,3051,3901,2273
$GC,10297,0.54,194.7,912.2,11.3,993,10303,0.00,2.28,0.00,0.000,6,0.000,0.034,3051,2756,2273
$GC,10613,0.49,194.7,878.8,10.4,1009,10615,0.15,0.00,0.00,0.000,6,0.115,0.000,3028,2754,2272
$GC,10921,0.59,271.4,855.1,7.3,1024,11002,0.00,0.00,78.72,1.502,6,0.000,0.000,3028,2754,1964
$GC,11311,0.65,321.4,825.7,8.3,1043,11366,0.17,0.00,52.80,1.462,6,0.054,0.000,3062,2754,1760
$GC,11661,0.65,321.4,779.5,13.8,1060,11666,0.00,2.90,0.00,0.000,4,0.000,0.049,3062,1331,1754
$GC,11693,0.65,321.4,775.1,12.9,1061,11699,0.00,2.88,0.00,0.000,6,0.000,0.032,3063,2772,1753
$GC,12008,0.65,321.4,736.8,11.3,1077,12010,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2772,1752
$GC,12318,0.65,321.4,703.4,11.1,1092,12322,0.00,2.92,0.00,0.000,4,0.000,0.047,3062,1333,1752
$GC,12372,0.65,321.4,697.4,10.5,1094,12378,0.00,2.80,0.00,0.000,6,0.000,0.033,3062,2751,1751
$GC,12687,0.65,321.4,664.1,10.2,1110,12691,0.00,2.30,0.00,0.000,4,0.000,0.051,3062,3902,1751
$GC,12733,0.66,332.9,659.6,9.6,1112,12749,0.00,2.25,11.23,1.204,6,0.000,0.033,3062,2741,1713
$GC,13058,0.68,347.7,628.6,9.5,1127,13080,0.00,2.90,16.65,1.276,4,0.000,0.048,3062,1340,1653
$GC,13113,0.69,356.4,623.0,9.7,1129,13129,0.00,2.80,10.80,1.218,6,0.000,0.031,3062,2750,1618
$GC,13444,0.69,356.4,587.9,10.8,1150,13445,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2750,1615
$GC,13762,0.69,356.4,549.3,12.4,1180,13763,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2750,1614
$GC,14080,0.69,356.4,511.8,11.3,1210,14081,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2750,1614
$GC,14399,0.69,356.4,475.9,11.4,1240,14403,0.00,2.83,0.00,0.000,4,0.000,0.046,3062,1342,1614
$GC,14448,0.69,356.4,470.5,10.1,1244,14452,0.00,2.72,0.00,0.000,6,0.000,0.032,3062,2739,1613
$GC,14772,0.69,356.4,435.8,10.4,1274,14776,0.00,2.28,0.00,0.000,4,0.000,0.049,3062,3890,1613
$GC,14804,0.69,356.4,432.2,11.2,1276,14811,0.00,2.22,0.00,0.000,6,0.000,0.031,3062,2733,1612
$GC,15132,0.69,356.4,398.0,10.8,1307,15136,0.00,2.75,0.00,0.000,4,0.000,0.047,3062,1344,1612
$GC,15171,0.69,356.4,393.4,10.6,1310,15175,0.00,2.72,0.00,0.000,6,0.000,0.031,3062,2747,1612
$GC,15495,0.69,356.4,355.2,12.5,1340,15496,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2747,1612
$GC,15824,0.69,356.4,316.3,11.3,1395,15830,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2747,1612
$GC,16165,0.69,356.4,278.4,11.1,1456,16173,0.00,2.83,0.00,0.000,4,0.000,0.045,3062,1345,1612
$GC,16206,0.69,356.4,273.9,10.4,1463,16212,0.00,2.70,0.00,0.000,6,0.000,0.031,3062,2740,1612
$GC,16546,0.69,356.4,237.0,10.9,1524,16553,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2740,1612
$GC,16888,0.69,357.6,199.4,10.0,1585,16893,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2740,1613
$GC,17226,0.69,357.6,163.5,11.3,1646,17232,0.00,2.78,0.00,0.000,4,0.000,0.044,3062,1344,1612
$GC,17268,0.72,378.9,159.4,9.3,1653,17297,0.00,2.67,23.05,1.012,6,0.000,0.031,3062,2728,1526
$GC,17624,0.72,378.9,122.9,10.3,1718,17631,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2728,1523
$GC,17957,0.73,387.8,92.9,9.7,1779,17972,0.00,2.85,9.65,0.873,4,0.000,0.044,3062,1337,1490
$GC,18008,0.84,430.3,88.5,8.5,1787,18059,0.20,2.70,44.28,1.007,6,0.046,0.030,3104,2724,1316
$GC,18383,0.74,430.3,31.1,19.3,1855,18391,0.15,2.35,0.00,0.000,4,0.109,0.045,3079,3885,1309
$GC,18431,0.79,430.3,23.8,11.3,1863,18439,0.00,2.28,0.00,0.000,6,0.000,0.033,3079,2740,1308
$GC,18566,0.79,430.3,6.3,11.9,1888,18574,0.00,2.85,0.00,0.000,4,0.000,0.048,3079,1338,1308
$GC,18598,0.88,430.3,2.1,12.8,1893,18605,0.12,2.70,0.00,0.000,6,0.040,0.030,3113,2709,1307
$STATE,18611,end climb,SURFACE_DEPTH_REACHED
$STATE,18611,begin surface coast
$FINISH,-0.0,1.015930
$STATE,18644,end surface coast,CONTROL_FINISHED_OK
$STATE,18644,begin surface
$SM_CCo,18723,0.00,0.000,0,0,1306,433.20
$SM_GC,0.44,8.52,0.00,0.00,0.045,0.000,0.000,1435,2288,1306,-6.79,-0.34,433.20
$IRIDIUM_FIX,6028.48,-2637.85,290797,212157
$TT8_MAMPS,0.026845
$HUMID,1756
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,11.80
$XPDR_PINGS,905
$24V_AH,19.5,50.049
$10V_AH,9.7,38.232
$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,23.500,132.400,664.100,0.000,0.000,29.377,28.734,283.797,226.250,0.000,0.000,35.362,2985.082,10516.092,779.049,4266.584,654.334,0.000,2393.864,0.000,4244.174,0.000,0.466
$DEVICE_MAMPS,250.809,120.419,1610.700,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1320.441,1360.479,702.333,934.625,1739.743,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139420,1901
$CAP_FILE_SIZE,170391,0
$CFSIZE,260165632,242589696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050508,075256,6048.105,-2700.035,37,1.6,37,-18.6