version: 66.03
glider: 142
mission: 5
dive: 182
start: 5 13 108 10 34 11
data:
$ID,142
$MISSION,5
$DIVE,182
$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,100
$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,235
$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,-16550.334
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,102337,6114.688,-2604.283,36,1.0,41,-18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-46.7
$GPS2,103351,6114.681,-2604.378,9,1.7,9,-18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6108.487,-2608.648
$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,253.3,20000,-21.7,-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,25,begin dive
$GC,27,-1.03,-97.3,0.0,0.0,0,177,0.00,0.00,-147.10,0.000,2,0.000,0.000,1434,2290,3347
$GC,181,-1.03,-97.3,3.0,-4.9,27,205,11.45,2.85,-4.15,0.000,4,0.253,0.055,2690,896,3469
$GC,460,-0.96,-97.3,41.2,-13.3,76,467,0.00,2.70,0.00,0.000,6,0.000,0.029,2690,2305,3470
$GC,603,-0.92,-97.3,59.3,-12.5,101,609,0.15,2.85,0.00,0.000,4,0.151,0.044,2714,883,3470
$GC,863,-0.92,-97.3,88.2,-10.8,147,869,0.00,2.75,0.00,0.000,6,0.000,0.029,2714,2313,3471
$GC,1206,-0.92,-97.3,122.9,-10.2,208,1213,0.00,2.83,0.00,0.000,4,0.000,0.046,2714,892,3470
$GC,1415,-0.92,-97.3,145.6,-11.1,245,1421,0.00,2.72,0.00,0.000,6,0.000,0.030,2714,2309,3471
$GC,1758,-0.92,-97.3,182.5,-10.4,306,1764,0.00,2.83,0.00,0.000,4,0.000,0.047,2714,890,3470
$GC,1866,-0.92,-97.3,194.9,-11.4,325,1873,0.00,2.70,0.00,0.000,6,0.000,0.030,2714,2299,3470
$GC,2211,-0.92,-97.3,230.9,-10.7,386,2217,0.00,2.80,0.00,0.000,4,0.000,0.047,2714,888,3471
$GC,2342,-0.92,-97.3,245.6,-11.2,409,2348,0.00,2.67,0.00,0.000,6,0.000,0.030,2714,2285,3470
$GC,2685,-0.92,-97.3,282.2,-10.7,470,2691,0.00,2.78,0.00,0.000,4,0.000,0.047,2714,890,3471
$GC,2776,-0.92,-97.3,292.8,-11.6,486,2782,0.00,2.65,0.00,0.000,6,0.000,0.030,2714,2275,3470
$GC,3120,-0.92,-97.3,330.0,-10.7,547,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2275,3470
$GC,3453,-0.92,-97.3,366.0,-10.8,594,3458,0.00,2.78,0.00,0.000,4,0.000,0.047,2714,883,3470
$GC,3553,-0.92,-97.3,377.4,-11.4,602,3560,0.00,2.65,0.00,0.000,6,0.000,0.030,2714,2266,3471
$GC,3880,-0.92,-97.3,410.0,-9.8,633,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2266,3471
$GC,4199,-0.92,-97.3,441.7,-9.8,663,4203,0.00,2.75,0.00,0.000,4,0.000,0.048,2714,888,3470
$GC,4421,-0.92,-97.3,465.7,-10.6,682,4428,0.00,2.65,0.00,0.000,6,0.000,0.031,2714,2251,3470
$GC,4748,-0.92,-97.3,498.1,-10.2,713,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2252,3470
$GC,5065,-0.92,-97.3,530.3,-10.2,743,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2252,3470
$GC,5384,-0.92,-97.3,562.4,-9.9,773,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2252,3470
$GC,5702,-0.92,-97.3,594.5,-10.0,803,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2252,3470
$GC,6014,-0.92,-97.3,623.9,-9.2,821,6015,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2252,3470
$GC,6322,-0.92,-97.3,652.2,-9.5,836,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2252,3470
$GC,6632,-0.92,-97.3,681.1,-9.7,851,6633,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2252,3470
$GC,6941,-0.92,-97.3,710.9,-9.6,866,6946,0.00,2.83,0.00,0.000,4,0.000,0.061,2714,886,3470
$GC,7051,-0.92,-97.3,722.1,-10.4,871,7056,0.00,2.70,0.00,0.000,6,0.000,0.041,2714,2247,3470
$GC,7379,-0.92,-97.3,754.7,-10.3,887,7384,0.00,2.90,0.00,0.000,4,0.000,0.074,2714,891,3470
$GC,7463,-0.92,-97.3,764.3,-10.8,891,7468,0.00,2.75,0.00,0.000,6,0.000,0.054,2714,2232,3470
$GC,7789,-0.92,-97.3,796.6,-9.5,907,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2232,3469
$GC,8098,-0.92,-97.3,825.7,-9.4,922,8103,0.00,3.33,0.00,0.000,4,0.000,0.100,2714,3696,3469
$GC,8137,-0.92,-97.3,829.7,-10.7,924,8142,0.00,3.25,0.00,0.000,6,0.000,0.088,2714,2246,3469
$GC,8463,-0.92,-97.3,862.4,-9.9,940,8464,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2245,3469
$GC,8773,-0.92,-97.3,892.8,-9.7,955,8778,0.00,2.97,0.00,0.000,4,0.000,0.052,2714,3701,3469
$GC,8828,-0.92,-97.3,898.4,-10.0,957,8834,0.00,2.90,0.00,0.000,6,0.000,0.038,2714,2238,3469
$GC,9144,-0.92,-97.3,926.8,-9.0,973,9148,0.00,2.75,0.00,0.000,4,0.000,0.059,2714,886,3468
$GC,9260,-0.92,-97.3,938.5,-10.1,978,9264,0.00,2.60,0.00,0.000,6,0.000,0.031,2714,2230,3468
$GC,9576,-0.92,-97.3,967.3,-9.1,993,9577,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2231,3467
$STATE,9841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9841,begin apogee
$GC,9848,-0.21,0.0,990.5,8.8,1006,9954,1.00,0.00,102.97,1.621,6,0.137,0.000,2869,2742,3071
$STATE,9955,end apogee,CONTROL_FINISHED_OK
$STATE,9955,begin climb
$GC,9957,1.03,97.3,992.8,0.0,1011,10068,1.55,0.00,107.12,1.592,6,0.079,0.000,3137,2742,2674
$GC,10375,0.90,97.3,941.4,13.7,1032,10379,0.00,2.40,0.00,0.000,4,0.000,0.056,3137,3897,2672
$GC,10559,0.77,97.3,914.2,14.4,1040,10564,0.32,2.28,0.00,0.000,6,0.134,0.033,3090,2747,2672
$GC,10875,0.77,97.3,879.2,10.8,1055,10876,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2745,2671
$GC,11184,0.77,97.3,847.1,10.5,1070,11188,0.00,2.35,0.00,0.000,4,0.000,0.053,3090,3897,2671
$GC,11227,0.72,97.3,842.3,11.2,1072,11231,0.00,2.22,0.00,0.000,6,0.000,0.032,3090,2755,2671
$GC,11556,0.73,99.6,809.3,9.8,1088,11560,0.00,2.33,0.00,0.000,4,0.000,0.052,3090,3900,2671
$GC,11635,0.68,99.6,800.9,10.5,1091,11641,0.15,2.20,0.00,0.000,6,0.143,0.032,3070,2760,2670
$GC,11950,0.72,136.6,775.2,7.5,1107,11992,0.00,0.00,39.88,1.461,6,0.000,0.000,3070,2758,2514
$GC,12300,0.74,149.2,745.5,9.1,1124,12321,0.00,2.40,14.15,1.328,4,0.000,0.052,3070,3900,2462
$GC,12368,0.74,149.2,738.6,10.8,1127,12371,0.00,2.25,0.00,0.000,6,0.000,0.032,3070,2754,2462
$GC,12700,0.74,149.2,703.5,10.2,1143,12704,0.00,2.33,0.00,0.000,4,0.000,0.051,3070,3896,2461
$GC,12761,0.74,149.2,696.7,11.9,1146,12765,0.00,2.20,0.00,0.000,6,0.000,0.033,3070,2767,2461
$GC,13087,0.76,165.1,665.8,8.9,1162,13111,0.00,2.95,16.88,1.308,4,0.000,0.048,3069,1337,2398
$GC,13140,0.82,178.5,661.1,9.1,1164,13161,0.15,2.88,15.00,1.311,6,0.064,0.032,3098,2784,2343
$GC,13479,0.82,178.5,621.8,11.9,1181,13483,0.00,2.22,0.00,0.000,4,0.000,0.057,3097,3893,2342
$GC,13534,0.82,178.5,614.3,12.5,1183,13541,0.00,2.20,0.00,0.000,6,0.000,0.031,3098,2781,2341
$GC,13856,0.82,178.5,573.3,12.9,1208,13860,0.00,2.25,0.00,0.000,4,0.000,0.050,3097,3894,2342
$GC,13906,0.82,178.5,566.0,14.4,1212,13910,0.00,2.12,0.00,0.000,6,0.000,0.031,3097,2793,2342
$GC,14232,0.82,178.5,520.7,14.2,1242,14236,0.00,2.22,0.00,0.000,4,0.000,0.049,3098,3899,2341
$GC,14327,0.82,178.5,506.3,15.5,1250,14331,0.00,2.08,0.00,0.000,6,0.000,0.031,3098,2819,2341
$GC,14659,0.82,178.5,460.5,13.9,1281,14663,0.00,2.17,0.00,0.000,4,0.000,0.048,3097,3902,2342
$GC,14702,0.82,178.5,453.8,14.5,1284,14709,0.00,2.10,0.00,0.000,6,0.000,0.031,3098,2821,2341
$GC,15031,0.82,178.5,411.7,12.8,1315,15036,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2817,2341
$GC,15355,0.82,178.5,371.0,12.5,1346,15359,0.00,2.15,0.00,0.000,4,0.000,0.049,3098,3893,2341
$GC,15434,0.82,178.5,360.7,12.7,1353,15438,0.00,2.03,0.00,0.000,6,0.000,0.031,3098,2838,2341
$GC,15772,0.82,178.5,318.6,12.0,1406,15778,0.00,2.12,0.00,0.000,4,0.000,0.048,3098,3894,2342
$GC,15818,0.82,178.5,312.6,13.2,1414,15824,0.00,2.03,0.00,0.000,6,0.000,0.030,3098,2834,2342
$GC,16162,0.82,178.5,269.7,12.0,1475,16167,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2831,2342
$GC,16504,0.82,178.5,229.2,12.9,1536,16510,0.00,2.12,0.00,0.000,4,0.000,0.048,3098,3894,2342
$GC,16563,0.82,178.5,222.4,11.1,1546,16569,0.00,2.03,0.00,0.000,6,0.000,0.030,3097,2831,2342
$GC,16907,0.82,178.5,182.8,10.3,1607,16912,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2824,2342
$GC,17249,0.82,178.5,143.1,11.6,1668,17256,0.00,2.15,0.00,0.000,4,0.000,0.048,3098,3892,2342
$GC,17284,0.82,178.5,138.9,12.2,1674,17291,0.00,2.03,0.00,0.000,6,0.000,0.031,3098,2829,2343
$GC,17629,0.82,178.5,98.1,11.7,1735,17635,0.00,2.15,0.00,0.000,4,0.000,0.048,3098,3905,2343
$GC,17711,0.82,178.5,88.2,11.1,1749,17716,0.00,2.00,0.00,0.000,6,0.000,0.032,3097,2864,2342
$GC,18054,0.82,178.5,46.5,13.2,1810,18060,0.00,3.00,0.00,0.000,4,0.000,0.045,3098,1340,2343
$GC,18084,0.82,178.5,42.6,13.8,1815,18090,0.00,2.97,0.00,0.000,6,0.000,0.032,3098,2874,2343
$GC,18226,0.82,178.5,24.3,14.0,1840,18233,0.00,2.05,0.00,0.000,4,0.000,0.048,3098,3901,2342
$GC,18290,0.82,178.5,16.1,11.5,1851,18296,0.00,1.98,0.00,0.000,6,0.000,0.031,3098,2887,2343
$STATE,18413,end climb,SURFACE_DEPTH_REACHED
$STATE,18413,begin surface coast
$FINISH,0.2,1.012911
$STATE,18432,end surface coast,CONTROL_FINISHED_OK
$STATE,18433,begin surface
$SM_CCo,18450,19.42,0.904,0,0,2255,200.16
$SM_GC,1.16,0.00,0.00,19.42,0.000,0.000,0.904,1437,2285,2255,-6.82,-0.42,200.16
$IRIDIUM_FIX,6050.49,-2559.91,070897,101030
$TT8_MAMPS,0.026845
$HUMID,1794
$INTERNAL_PRESSURE,8.97541
$TCM_TEMP,16.50
$XPDR_PINGS,967
$24V_AH,19.5,62.562
$10V_AH,9.8,45.543
$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,23.300,152.100,296.000,19.425,0.000,62.345,71.541,286.994,241.750,0.000,0.000,11.392,3009.560,11284.812,569.489,3476.754,731.617,0.000,2085.160,0.000,3455.708,0.000,0.465
$DEVICE_MAMPS,253.110,100.477,1621.438,903.526,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1314.159,1360.192,701.948,1674.277,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136181,1876
$CAP_FILE_SIZE,172908,0
$CFSIZE,260165632,239001600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130508,154307,6113.056,-2609.536,27,1.3,27,-18.4