version: 66.03
glider: 142
mission: 5
dive: 187
start: 5 14 108 13 4 41
data:
$ID,142
$MISSION,5
$DIVE,187
$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,160
$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,-16623.76
$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,24
$R_STBD_OVSHOOT,17
$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
$GPS1,125656,6107.074,-2613.245,37,1.2,37,-18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-61.1
$GPS2,130421,6107.053,-2613.375,9,1.3,9,-18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6056.905,-2611.582
$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,178.3,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.03,-97.3,0.0,0.0,0,94,0.00,0.00,-65.82,0.000,2,0.000,0.000,1438,2286,3454
$GC,97,-1.03,-97.3,3.2,-4.1,12,116,11.75,2.83,-0.38,0.000,4,0.258,0.054,2687,886,3468
$GC,370,-0.96,-97.3,42.0,-14.0,60,377,0.12,2.75,0.00,0.000,6,0.147,0.028,2704,2315,3469
$GC,513,-0.96,-97.3,60.8,-12.7,85,519,0.00,2.88,0.00,0.000,4,0.000,0.048,2704,892,3470
$GC,604,-0.96,-97.3,72.7,-13.6,101,610,0.00,2.70,0.00,0.000,6,0.000,0.029,2703,2290,3470
$GC,948,-0.96,-97.3,114.0,-12.0,162,954,0.00,2.83,0.00,0.000,4,0.000,0.048,2703,883,3470
$GC,1141,-0.96,-97.3,138.2,-12.6,196,1147,0.00,2.67,0.00,0.000,6,0.000,0.029,2703,2280,3470
$GC,1485,-0.96,-97.3,178.1,-11.4,257,1491,0.00,2.80,0.00,0.000,4,0.000,0.048,2704,886,3470
$GC,1599,-0.96,-97.3,191.4,-11.5,277,1605,0.00,2.65,0.00,0.000,6,0.000,0.030,2704,2267,3470
$GC,1941,-0.96,-97.3,229.5,-11.2,338,1948,0.00,2.75,0.00,0.000,4,0.000,0.048,2703,892,3470
$GC,2027,-0.96,-97.3,239.5,-11.6,353,2034,0.00,2.62,0.00,0.000,6,0.000,0.031,2704,2259,3470
$GC,2370,-0.96,-97.3,276.7,-10.9,414,2377,0.00,2.75,0.00,0.000,4,0.000,0.048,2704,889,3470
$GC,2458,-0.96,-97.3,286.4,-11.5,429,2464,0.00,2.62,0.00,0.000,6,0.000,0.030,2704,2254,3470
$GC,2802,-0.96,-97.3,322.6,-10.0,490,2808,0.00,2.75,0.00,0.000,4,0.000,0.048,2704,884,3470
$GC,2870,-0.96,-97.3,330.1,-10.7,502,2877,0.00,2.62,0.00,0.000,6,0.000,0.031,2704,2251,3470
$GC,3207,-0.96,-97.3,362.5,-9.6,551,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2252,3470
$GC,3526,-0.96,-97.3,393.8,-9.9,581,3531,0.00,2.72,0.00,0.000,4,0.000,0.048,2704,895,3470
$GC,3637,-0.96,-97.3,406.1,-11.1,590,3644,0.00,2.60,0.00,0.000,6,0.000,0.031,2703,2244,3470
$GC,3964,-0.96,-97.3,439.6,-10.4,621,3968,0.00,2.72,0.00,0.000,4,0.000,0.049,2704,889,3470
$GC,4054,-0.96,-97.3,449.8,-11.3,628,4060,0.00,2.58,0.00,0.000,6,0.000,0.031,2703,2229,3470
$GC,4382,-0.96,-97.3,483.3,-9.9,659,4386,0.00,2.70,0.00,0.000,4,0.000,0.049,2704,889,3470
$GC,4436,-0.96,-97.3,489.7,-10.9,663,4442,0.00,2.58,0.00,0.000,6,0.000,0.031,2704,2222,3470
$GC,4763,-0.96,-97.3,521.7,-9.7,694,4767,0.00,2.70,0.00,0.000,4,0.000,0.049,2704,886,3470
$GC,4847,-0.96,-97.3,530.5,-10.4,701,4851,0.00,2.58,0.00,0.000,6,0.000,0.030,2704,2222,3470
$GC,5174,-0.96,-97.3,561.2,-9.5,731,5178,0.00,2.70,0.00,0.000,4,0.000,0.052,2704,894,3470
$GC,5247,-0.96,-97.3,568.9,-10.4,737,5251,0.00,2.55,0.00,0.000,6,0.000,0.031,2704,2209,3470
$GC,5573,-0.96,-97.3,600.3,-9.5,767,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2210,3470
$GC,5880,-0.96,-97.3,629.3,-9.3,782,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2210,3470
$GC,6190,-0.96,-97.3,658.8,-9.2,797,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2210,3470
$GC,6499,-0.96,-97.3,686.1,-9.1,812,6504,0.00,2.72,0.00,0.000,4,0.000,0.059,2704,892,3469
$GC,6612,-0.96,-97.3,696.7,-9.9,817,6617,0.00,2.55,0.00,0.000,6,0.000,0.038,2703,2186,3469
$GC,6934,-0.96,-97.3,724.1,-8.1,833,6939,0.00,2.72,0.00,0.000,4,0.000,0.065,2703,891,3469
$GC,7011,-0.96,-97.3,731.4,-9.6,836,7018,0.00,2.60,0.00,0.000,6,0.000,0.044,2704,2185,3470
$GC,7327,-0.96,-97.3,759.9,-9.4,852,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2185,3469
$GC,7637,-0.96,-97.3,790.6,-9.8,867,7638,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2185,3469
$GC,7945,-0.96,-97.3,821.9,-10.4,882,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2185,3469
$GC,8255,-0.96,-97.3,853.2,-10.1,897,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2185,3469
$GC,8564,-0.96,-97.3,884.1,-10.2,912,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2185,3468
$GC,8873,-0.96,-97.3,915.4,-10.4,927,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2185,3468
$GC,9182,-0.96,-97.3,948.2,-10.5,942,9183,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2191,3468
$GC,9492,-0.96,-97.3,981.0,-10.3,957,9493,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2191,3468
$STATE,9592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9592,begin apogee
$GC,9598,-0.21,0.0,991.6,10.3,962,9706,1.08,0.00,103.57,1.624,6,0.140,0.000,2868,2748,3071
$STATE,9706,end apogee,CONTROL_FINISHED_OK
$STATE,9706,begin climb
$GC,9708,1.03,97.3,994.8,0.0,967,9824,1.55,2.62,106.78,1.596,4,0.078,0.058,3137,3888,2674
$GC,9930,0.88,97.3,973.6,13.1,977,9935,0.17,2.35,0.00,0.000,6,0.130,0.035,3114,2752,2674
$GC,10251,0.80,97.3,938.6,11.2,993,10255,0.00,2.38,0.00,0.000,4,0.000,0.054,3114,3892,2672
$GC,10390,0.71,97.3,921.6,12.5,999,10395,0.25,2.25,0.00,0.000,6,0.130,0.033,3078,2751,2672
$GC,10706,0.71,100.4,890.5,9.8,1014,10712,0.00,0.00,4.62,0.968,6,0.000,0.000,3078,2750,2661
$GC,11015,0.71,100.4,859.2,10.5,1029,11019,0.00,2.35,0.00,0.000,4,0.000,0.052,3077,3900,2661
$GC,11081,0.71,100.4,851.6,11.6,1032,11085,0.00,2.25,0.00,0.000,6,0.000,0.035,3077,2762,2660
$GC,11409,0.71,101.7,818.5,9.9,1048,11410,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2760,2660
$GC,11718,0.73,112.1,788.9,9.3,1063,11737,0.00,0.00,13.00,1.337,6,0.000,0.000,3078,2758,2614
$GC,12047,0.73,117.4,757.1,9.6,1079,12060,0.00,2.38,7.10,1.162,4,0.000,0.052,3078,3893,2592
$GC,12212,0.74,124.1,739.9,9.5,1086,12225,0.00,2.20,8.55,1.223,6,0.000,0.033,3078,2765,2565
$GC,12533,0.75,133.3,709.5,9.4,1102,12554,0.00,2.88,11.10,1.270,4,0.000,0.049,3078,1343,2526
$GC,12610,0.75,134.1,701.9,9.9,1105,12615,0.00,2.85,0.00,0.000,6,0.000,0.032,3078,2779,2526
$GC,12925,0.75,134.1,670.8,10.3,1120,12929,0.00,2.22,0.00,0.000,4,0.000,0.051,3077,3893,2526
$GC,13014,0.75,134.1,661.3,10.2,1124,13018,0.00,2.22,0.00,0.000,6,0.000,0.035,3078,2772,2526
$GC,13341,0.77,148.3,630.9,9.0,1140,13361,0.00,0.00,16.33,1.297,6,0.000,0.000,3077,2770,2466
$GC,13670,0.79,159.3,600.3,9.2,1156,13685,0.00,0.00,12.65,1.233,6,0.000,0.000,3078,2770,2421
$GC,13990,0.79,164.4,570.6,9.6,1185,14002,0.00,2.35,6.65,1.040,4,0.000,0.050,3078,3894,2400
$GC,14070,0.79,164.4,562.2,10.1,1192,14074,0.00,2.20,0.00,0.000,6,0.000,0.032,3078,2767,2400
$GC,14394,0.79,164.4,529.4,10.6,1222,14395,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2765,2400
$GC,14713,0.79,164.4,496.3,10.3,1252,14717,0.00,2.30,0.00,0.000,4,0.000,0.050,3077,3905,2400
$GC,14814,0.79,164.4,484.9,10.8,1260,14821,0.00,2.15,0.00,0.000,6,0.000,0.031,3077,2786,2400
$GC,15140,0.80,168.0,451.1,9.8,1291,15149,0.00,0.00,5.45,0.894,6,0.000,0.000,3078,2784,2386
$GC,15469,0.80,174.4,418.5,9.6,1322,15482,0.00,2.30,7.88,1.014,4,0.000,0.050,3077,3894,2360
$GC,15538,0.80,174.4,411.3,10.3,1328,15542,0.00,2.12,0.00,0.000,6,0.000,0.031,3077,2799,2360
$GC,15862,0.82,187.8,381.6,9.1,1358,15882,0.00,0.00,14.35,1.123,6,0.000,0.000,3077,2795,2305
$GC,16202,0.84,202.4,351.2,9.0,1390,16225,0.12,2.25,15.95,1.118,4,0.066,0.048,3101,3900,2244
$GC,16288,0.84,202.4,341.1,12.2,1403,16294,0.00,2.15,0.00,0.000,6,0.000,0.031,3101,2799,2243
$GC,16631,0.84,202.4,301.6,11.4,1464,16637,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2796,2243
$GC,16974,0.84,202.4,259.6,14.4,1525,16980,0.00,2.22,0.00,0.000,4,0.000,0.049,3101,3900,2243
$GC,17093,0.84,202.4,243.7,12.3,1546,17099,0.00,2.10,0.00,0.000,6,0.000,0.031,3101,2806,2243
$GC,17437,0.84,202.4,199.3,12.0,1607,17442,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2799,2243
$GC,17781,0.84,202.4,156.1,12.6,1668,17787,0.00,2.20,0.00,0.000,4,0.000,0.048,3101,3904,2243
$GC,17855,0.84,202.4,146.2,13.6,1681,17861,0.00,2.08,0.00,0.000,6,0.000,0.031,3101,2821,2243
$GC,18197,0.84,202.4,103.2,12.8,1742,18203,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2814,2243
$GC,18542,0.84,202.4,56.7,13.4,1803,18548,0.00,2.15,0.00,0.000,4,0.000,0.048,3101,3896,2243
$GC,18662,0.84,202.4,40.6,13.5,1824,18669,0.00,2.03,0.00,0.000,6,0.000,0.031,3101,2832,2243
$GC,18804,0.84,202.4,22.1,14.0,1849,18810,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2830,2243
$GC,18946,0.84,202.4,3.4,11.6,1874,18951,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2825,2243
$STATE,18961,end climb,SURFACE_DEPTH_REACHED
$STATE,18961,begin surface coast
$FINISH,0.2,1.013083
$STATE,18979,end surface coast,CONTROL_FINISHED_OK
$STATE,18979,begin surface
$SM_CCo,19058,0.00,0.000,0,0,2243,203.11
$SM_GC,1.01,8.57,0.00,0.00,0.053,0.000,0.000,1436,2301,2243,-6.79,0.03,203.11
$IRIDIUM_FIX,6046.07,-2613.97,080897,070728
$TT8_MAMPS,0.026078
$HUMID,1797
$INTERNAL_PRESSURE,8.96564
$TCM_TEMP,16.50
$XPDR_PINGS,1051
$24V_AH,19.4,63.466
$10V_AH,9.9,46.335
$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,23.625,137.025,333.975,0.000,0.000,24.919,34.972,248.827,262.750,0.000,0.000,12.703,3033.646,11835.056,500.167,3477.958,640.085,0.000,2019.394,0.000,3474.602,0.000,0.466
$DEVICE_MAMPS,257.712,65.195,1623.739,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1315.156,1372.689,653.367,1656.720,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135996,1880
$CAP_FILE_SIZE,172850,0
$CFSIZE,260165632,238522368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140508,182337,6104.270,-2613.017,37,1.3,42,-18.3