version: 66.03
glider: 142
mission: 5
dive: 184
start: 5 13 108 21 14 36
data:
$ID,142
$MISSION,5
$DIVE,184
$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,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,-16581.803
$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,29
$R_STBD_OVSHOOT,35
$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
$GPS1,210658,6111.276,-2613.114,38,3.9,57,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-60.5
$GPS2,211415,6111.295,-2613.184,11,1.3,11,-18.4
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6102.449,-2616.183
$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,233.4,20000,-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,24,begin dive
$GC,27,-1.03,-97.3,0.0,0.0,0,95,0.00,0.00,-66.25,0.000,6,0.000,0.000,1434,2329,3468
$GC,98,-1.03,-97.3,3.2,-4.0,12,116,11.80,2.88,0.00,0.000,4,0.259,0.043,2688,895,3470
$GC,371,-0.96,-97.3,42.9,-13.9,60,378,0.12,2.70,0.00,0.000,6,0.147,0.029,2704,2300,3471
$GC,514,-0.96,-97.3,60.2,-11.6,85,520,0.00,2.83,0.00,0.000,4,0.000,0.047,2704,896,3472
$GC,773,-0.96,-97.3,93.6,-12.6,131,779,0.00,2.67,0.00,0.000,6,0.000,0.029,2704,2283,3472
$GC,1117,-0.96,-97.3,133.8,-11.7,192,1123,0.00,2.78,0.00,0.000,4,0.000,0.048,2704,896,3472
$GC,1375,-0.96,-97.3,166.1,-12.1,238,1382,0.00,2.65,0.00,0.000,6,0.000,0.030,2704,2278,3472
$GC,1719,-0.96,-97.3,204.9,-11.2,299,1725,0.00,2.78,0.00,0.000,4,0.000,0.047,2704,891,3472
$GC,1961,-0.96,-97.3,234.1,-11.4,342,1967,0.00,2.65,0.00,0.000,6,0.000,0.030,2704,2272,3473
$GC,2305,-0.96,-97.3,270.0,-10.4,403,2311,0.00,2.75,0.00,0.000,4,0.000,0.047,2704,896,3472
$GC,2373,-0.96,-97.3,277.6,-11.0,415,2379,0.00,2.62,0.00,0.000,6,0.000,0.030,2704,2262,3472
$GC,2716,-0.96,-97.3,313.9,-10.4,476,2722,0.00,2.72,0.00,0.000,4,0.000,0.047,2704,898,3472
$GC,2848,-0.96,-97.3,328.5,-11.4,499,2854,0.00,2.60,0.00,0.000,6,0.000,0.030,2704,2254,3472
$GC,3183,-0.96,-97.3,365.0,-10.9,547,3188,0.00,2.72,0.00,0.000,4,0.000,0.048,2704,890,3472
$GC,3301,-0.96,-97.3,378.8,-11.5,557,3306,0.00,2.58,0.00,0.000,6,0.000,0.031,2704,2235,3472
$GC,3627,-0.96,-97.3,415.4,-11.3,587,3632,0.00,2.70,0.00,0.000,4,0.000,0.048,2704,888,3472
$GC,3723,-0.96,-97.3,426.6,-11.5,595,3728,0.00,2.58,0.00,0.000,6,0.000,0.031,2704,2229,3472
$GC,4051,-0.96,-97.3,462.3,-11.0,625,4055,0.00,2.67,0.00,0.000,4,0.000,0.048,2704,897,3472
$GC,4180,-0.96,-97.3,477.8,-11.6,636,4184,0.00,2.55,0.00,0.000,6,0.000,0.031,2704,2221,3472
$GC,4505,-0.96,-97.3,512.1,-10.6,666,4510,0.00,2.67,0.00,0.000,4,0.000,0.048,2704,894,3472
$GC,4674,-0.96,-97.3,530.8,-11.3,680,4680,0.00,2.53,0.00,0.000,6,0.000,0.031,2704,2205,3472
$GC,5000,-0.96,-97.3,563.5,-10.1,711,5004,0.00,2.65,0.00,0.000,4,0.000,0.050,2704,892,3472
$GC,5077,-0.96,-97.3,572.1,-10.8,717,5083,0.00,2.53,0.00,0.000,6,0.000,0.031,2704,2201,3472
$GC,5412,-0.96,-97.3,607.0,-10.7,746,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2202,3472
$GC,5720,-0.96,-97.3,638.8,-9.9,761,5725,0.00,3.03,0.00,0.000,4,0.000,0.052,2704,3698,3471
$GC,5737,-0.96,-97.3,640.7,-10.6,762,5741,0.00,2.92,0.00,0.000,6,0.000,0.039,2704,2222,3471
$GC,6062,-0.96,-97.3,674.5,-10.4,778,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2223,3471
$GC,6372,-0.96,-97.3,706.6,-10.7,793,6376,0.00,2.75,0.00,0.000,4,0.000,0.067,2704,900,3471
$GC,6511,-0.96,-97.3,721.8,-11.5,799,6515,0.00,2.58,0.00,0.000,6,0.000,0.041,2704,2201,3471
$GC,6832,-0.96,-97.3,753.7,-10.0,815,6833,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2201,3471
$GC,7141,-0.96,-97.3,784.2,-9.9,830,7145,0.00,3.28,0.00,0.000,4,0.000,0.084,2704,3697,3471
$GC,7167,-0.96,-97.3,786.9,-10.8,831,7172,0.00,3.17,0.00,0.000,6,0.000,0.069,2704,2216,3471
$GC,7483,-0.96,-97.3,817.6,-10.0,846,7488,0.00,3.35,0.00,0.000,4,0.000,0.093,2704,3695,3471
$GC,7509,-0.96,-97.3,820.7,-11.2,847,7514,0.00,3.28,0.00,0.000,6,0.000,0.084,2704,2227,3471
$GC,7825,-0.96,-97.3,854.0,-10.5,862,7830,0.00,2.67,0.00,0.000,4,0.000,0.054,2703,898,3470
$GC,7936,-0.96,-97.3,866.7,-11.6,867,7940,0.00,2.53,0.00,0.000,6,0.000,0.031,2704,2198,3471
$GC,8263,-0.96,-97.3,901.2,-10.2,883,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2198,3470
$GC,8572,-0.96,-97.3,932.7,-10.3,898,8577,0.00,2.67,0.00,0.000,4,0.000,0.055,2704,896,3470
$GC,8644,-0.96,-97.3,940.8,-11.3,901,8649,0.00,2.55,0.00,0.000,6,0.000,0.034,2704,2196,3470
$GC,8962,-0.96,-97.3,971.3,-9.3,916,8963,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2196,3470
$STATE,9164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9164,begin apogee
$GC,9170,-0.21,0.0,990.2,9.1,926,9278,1.08,0.00,103.80,1.625,6,0.141,0.000,2868,2745,3071
$STATE,9278,end apogee,CONTROL_FINISHED_OK
$STATE,9279,begin climb
$GC,9281,1.03,97.3,992.8,0.0,931,9396,1.55,2.65,107.18,1.598,4,0.080,0.058,3136,3894,2674
$GC,9458,0.87,97.3,975.5,14.3,940,9463,0.17,2.40,0.00,0.000,6,0.133,0.036,3114,2754,2674
$GC,9778,0.78,97.3,936.3,12.2,956,9783,0.15,2.40,0.00,0.000,4,0.127,0.054,3090,3900,2673
$GC,9850,0.74,97.3,927.7,11.3,959,9854,0.00,2.28,0.00,0.000,6,0.000,0.034,3090,2752,2673
$GC,10171,0.74,97.3,894.8,10.3,975,10172,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2751,2672
$GC,10480,0.74,101.6,864.9,9.7,990,10491,0.00,2.35,5.80,1.092,4,0.000,0.056,3090,3902,2656
$GC,10552,0.69,101.6,857.4,10.1,993,10557,0.00,2.22,0.00,0.000,6,0.000,0.033,3090,2759,2655
$GC,10867,0.69,101.6,825.5,10.3,1008,10872,0.00,2.85,0.00,0.000,4,0.000,0.047,3090,1335,2655
$GC,10929,0.64,101.6,818.6,11.3,1011,10934,0.20,2.80,0.00,0.000,6,0.133,0.033,3062,2754,2655
$GC,11256,0.65,109.9,788.5,9.4,1027,11271,0.00,2.33,9.52,1.260,4,0.000,0.054,3062,3905,2623
$GC,11371,0.65,109.9,776.9,10.0,1032,11376,0.00,2.28,0.00,0.000,6,0.000,0.032,3062,2757,2623
$GC,11699,0.68,132.5,748.7,8.4,1048,11728,0.00,2.40,24.05,1.417,4,0.000,0.058,3062,3891,2531
$GC,11825,0.68,134.1,736.7,9.9,1053,11831,0.00,2.20,0.00,0.000,6,0.000,0.032,3062,2774,2530
$GC,12142,0.75,146.8,708.5,9.1,1069,12163,0.00,2.95,15.98,1.333,4,0.000,0.048,3062,1347,2472
$GC,12198,0.80,146.8,702.8,10.0,1071,12205,0.17,2.88,0.00,0.000,6,0.061,0.033,3094,2785,2472
$GC,12513,0.80,146.8,663.3,13.2,1087,12515,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2785,2471
$GC,12823,0.80,146.8,625.2,11.8,1102,12824,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2785,2471
$GC,13135,0.80,146.8,589.3,11.2,1121,13139,0.00,2.20,0.00,0.000,4,0.000,0.051,3094,3893,2471
$GC,13264,0.80,146.8,573.2,11.9,1132,13268,0.00,2.12,0.00,0.000,6,0.000,0.031,3094,2793,2471
$GC,13588,0.80,146.8,534.1,12.3,1162,13592,0.00,2.22,0.00,0.000,4,0.000,0.050,3094,3896,2471
$GC,13665,0.80,146.8,524.0,12.9,1168,13672,0.00,2.10,0.00,0.000,6,0.000,0.032,3094,2820,2471
$GC,13993,0.80,146.8,485.3,11.9,1199,13998,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2817,2471
$GC,14318,0.80,146.8,447.2,11.6,1230,14322,0.00,2.17,0.00,0.000,4,0.000,0.050,3094,3900,2471
$GC,14372,0.80,146.8,440.2,12.4,1234,14379,0.00,2.10,0.00,0.000,6,0.000,0.030,3094,2822,2471
$GC,14699,0.80,146.8,401.6,12.0,1265,14700,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2819,2471
$GC,15020,0.80,146.8,364.7,11.1,1295,15024,0.00,2.17,0.00,0.000,4,0.000,0.050,3094,3902,2471
$GC,15104,0.80,146.8,354.4,11.1,1302,15107,0.00,2.05,0.00,0.000,6,0.000,0.031,3094,2832,2471
$GC,15444,0.80,146.8,316.0,11.0,1359,15450,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2830,2471
$GC,15786,0.80,146.8,277.1,11.9,1420,15793,0.00,2.15,0.00,0.000,4,0.000,0.049,3094,3903,2472
$GC,15838,0.80,146.8,271.0,11.3,1429,15844,0.00,2.03,0.00,0.000,6,0.000,0.030,3094,2842,2472
$GC,16181,0.80,146.8,232.4,10.9,1490,16187,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2833,2472
$GC,16524,0.80,146.8,194.1,10.1,1551,16530,0.00,2.12,0.00,0.000,4,0.000,0.049,3094,3897,2472
$GC,16604,0.80,146.8,184.6,12.0,1565,16610,0.00,2.00,0.00,0.000,6,0.000,0.030,3094,2847,2472
$GC,16947,0.81,159.9,147.3,9.1,1626,16964,0.00,0.00,13.95,0.953,6,0.000,0.000,3094,2839,2419
$GC,17302,0.81,159.9,110.6,10.3,1689,17307,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2839,2418
$GC,17643,0.81,159.9,71.6,12.3,1750,17650,0.00,2.12,0.00,0.000,4,0.000,0.048,3094,3891,2418
$GC,17701,0.81,159.9,64.3,12.8,1760,17708,0.00,2.00,0.00,0.000,6,0.000,0.031,3094,2867,2418
$GC,18045,0.81,159.9,26.4,10.6,1821,18052,0.00,3.00,0.00,0.000,4,0.000,0.044,3094,1345,2418
$GC,18103,0.81,159.9,19.8,12.3,1831,18110,0.00,2.95,0.00,0.000,6,0.000,0.031,3094,2865,2418
$GC,18246,0.81,159.9,3.9,10.7,1856,18251,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2865,2418
$STATE,18261,end climb,SURFACE_DEPTH_REACHED
$STATE,18261,begin surface coast
$FINISH,0.2,1.013172
$STATE,18279,end surface coast,CONTROL_FINISHED_OK
$STATE,18279,begin surface
$SM_CCo,18298,35.72,0.966,0,0,2255,200.16
$SM_GC,1.34,0.00,0.00,35.72,0.000,0.000,0.966,1438,2293,2255,-6.82,-0.17,200.16
$IRIDIUM_FIX,6050.49,-2547.96,070897,151502
$TT8_MAMPS,0.026845
$HUMID,1772
$INTERNAL_PRESSURE,8.97541
$TCM_TEMP,16.50
$XPDR_PINGS,975
$24V_AH,19.5,62.918
$10V_AH,9.8,45.863
$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,23.800,166.350,280.275,35.725,0.000,30.025,30.924,237.233,243.750,0.000,0.000,13.476,3025.612,11100.806,511.030,3499.857,619.922,0.000,2027.500,0.000,3485.966,0.000,0.465
$DEVICE_MAMPS,259.246,92.807,1625.273,965.653,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1308.131,1355.570,689.588,1651.705,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136052,1862
$CAP_FILE_SIZE,173403,0
$CFSIZE,260165632,238804992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140508,022126,6110.426,-2616.536,38,1.5,38,-18.4