version: 66.03
glider: 142
mission: 5
dive: 190
start: 5 15 108 5 28 41
data:
$ID,142
$MISSION,5
$DIVE,190
$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,340
$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,-16667.279
$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,30
$R_STBD_OVSHOOT,19
$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
$GPS1,051208,6106.827,-2619.616,38,1.0,38,-18.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-62.2
$GPS2,052821,6106.870,-2619.734,12,1.1,12,-18.4
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6117.018,-2621.508
$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,358.4,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.03,-97.3,0.0,0.0,0,96,0.00,0.00,-66.22,0.000,6,0.000,0.000,1430,2285,3468
$GC,99,-1.03,-97.3,3.3,-4.9,12,117,11.73,2.88,0.00,0.000,4,0.255,0.040,2686,3719,3470
$GC,256,-0.97,-97.3,27.9,-14.1,39,263,0.12,2.78,0.00,0.000,6,0.163,0.033,2701,2302,3471
$GC,399,-0.97,-97.3,46.4,-12.3,64,406,0.00,2.83,0.00,0.000,4,0.000,0.049,2701,886,3471
$GC,624,-0.97,-97.3,74.7,-11.8,104,630,0.00,2.72,0.00,0.000,6,0.000,0.028,2701,2305,3471
$GC,970,-0.97,-97.3,114.1,-11.8,165,976,0.00,2.85,0.00,0.000,4,0.000,0.047,2701,884,3471
$GC,1111,-0.97,-97.3,132.2,-13.1,190,1118,0.00,2.65,0.00,0.000,6,0.000,0.029,2702,2269,3472
$GC,1455,-0.97,-97.3,173.5,-11.6,251,1461,0.00,2.78,0.00,0.000,4,0.000,0.048,2702,884,3472
$GC,1602,-0.97,-97.3,191.4,-12.5,277,1608,0.00,2.65,0.00,0.000,6,0.000,0.029,2701,2265,3472
$GC,1945,-0.97,-97.3,230.5,-11.1,338,1951,0.00,2.75,0.00,0.000,4,0.000,0.047,2701,892,3472
$GC,2081,-0.97,-97.3,246.6,-12.0,362,2087,0.00,2.60,0.00,0.000,6,0.000,0.030,2701,2246,3472
$GC,2424,-0.97,-97.3,285.0,-11.6,423,2430,0.00,2.72,0.00,0.000,4,0.000,0.048,2701,889,3472
$GC,2616,-0.97,-97.3,309.0,-12.5,457,2622,0.00,2.58,0.00,0.000,6,0.000,0.029,2702,2232,3472
$GC,2959,-0.97,-97.3,349.0,-11.7,518,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2234,3472
$GC,3289,-0.97,-97.3,388.4,-11.6,550,3294,0.00,2.70,0.00,0.000,4,0.000,0.048,2702,884,3472
$GC,3400,-0.97,-97.3,402.3,-12.4,559,3407,0.00,2.55,0.00,0.000,6,0.000,0.029,2701,2214,3472
$GC,3727,-0.97,-97.3,440.1,-11.5,590,3731,0.00,2.65,0.00,0.000,4,0.000,0.048,2701,892,3471
$GC,3822,-0.97,-97.3,451.9,-12.1,598,3826,0.00,2.53,0.00,0.000,6,0.000,0.029,2701,2207,3471
$GC,4147,-0.97,-97.3,488.6,-10.5,628,4151,0.00,2.65,0.00,0.000,4,0.000,0.048,2701,888,3471
$GC,4254,-0.97,-97.3,501.2,-12.1,637,4258,0.00,2.50,0.00,0.000,6,0.000,0.031,2702,2188,3471
$GC,4580,-0.97,-97.3,537.9,-11.4,667,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2190,3471
$GC,4897,-0.97,-97.3,573.5,-10.5,697,4901,0.00,2.62,0.00,0.000,4,0.000,0.051,2701,885,3471
$GC,4974,-0.97,-97.3,582.3,-11.0,703,4980,0.00,2.50,0.00,0.000,6,0.000,0.030,2702,2182,3471
$GC,5305,-0.97,-97.3,618.0,-11.1,727,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2183,3471
$GC,5614,-0.97,-97.3,650.4,-10.1,742,5618,0.00,3.08,0.00,0.000,4,0.000,0.054,2701,3697,3471
$GC,5679,-0.97,-97.3,657.4,-10.4,745,5684,0.00,3.05,0.00,0.000,6,0.000,0.041,2701,2174,3471
$GC,6001,-0.97,-97.3,688.8,-9.9,761,6005,0.00,2.65,0.00,0.000,4,0.000,0.064,2701,891,3471
$GC,6201,-0.97,-97.3,712.0,-12.1,770,6205,0.00,2.55,0.00,0.000,6,0.000,0.041,2701,2169,3471
$GC,6529,-0.97,-97.3,745.0,-9.6,786,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2169,3470
$GC,6838,-0.97,-97.3,774.9,-9.7,801,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2169,3470
$GC,7147,-0.97,-97.3,804.8,-9.4,816,7148,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2169,3470
$GC,7457,-0.97,-97.3,833.9,-9.5,831,7458,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2169,3470
$GC,7765,-0.97,-97.3,864.6,-10.1,846,7770,0.00,3.17,0.00,0.000,4,0.000,0.130,2701,898,3469
$GC,7859,-0.97,-97.3,875.0,-10.7,850,7863,0.00,2.50,0.00,0.000,6,0.000,0.033,2701,2180,3469
$GC,8181,-0.97,-97.3,906.0,-9.5,866,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2181,3469
$GC,8490,-0.97,-97.3,936.3,-9.7,881,8494,0.00,3.10,0.00,0.000,4,0.000,0.055,2702,3700,3469
$GC,8578,-0.97,-97.3,945.2,-10.2,885,8583,0.00,3.03,0.00,0.000,6,0.000,0.043,2701,2196,3469
$GC,8900,-0.97,-97.3,975.4,-9.5,901,8904,0.00,2.67,0.00,0.000,4,0.000,0.061,2701,894,3468
$STATE,9036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9037,begin apogee
$GC,9045,-0.21,0.0,990.5,11.5,907,9157,1.10,0.00,103.78,1.630,6,0.150,0.000,2867,2740,3071
$STATE,9157,end apogee,CONTROL_FINISHED_OK
$STATE,9158,begin climb
$GC,9160,1.03,97.3,993.7,0.0,913,9271,1.60,0.00,107.62,1.603,6,0.080,0.000,3140,2740,2674
$GC,9566,0.89,97.3,945.7,13.5,933,9571,0.15,2.42,0.00,0.000,4,0.138,0.055,3117,3902,2673
$GC,9606,0.79,97.3,940.7,12.6,935,9611,0.17,2.33,0.00,0.000,6,0.140,0.035,3093,2742,2673
$GC,9932,0.76,106.8,908.0,9.3,951,9948,0.00,2.42,11.07,1.330,4,0.000,0.056,3094,3906,2635
$GC,10032,0.71,106.8,897.5,11.3,954,10039,0.00,2.28,0.00,0.000,6,0.000,0.034,3094,2753,2634
$GC,10347,0.71,106.8,864.3,10.8,970,10351,0.00,2.35,0.00,0.000,4,0.000,0.053,3093,3897,2634
$GC,10409,0.66,106.8,857.4,11.7,973,10414,0.17,2.22,0.00,0.000,6,0.149,0.033,3070,2759,2634
$GC,10736,0.68,120.9,827.3,9.0,989,10757,0.00,2.38,15.62,1.391,4,0.000,0.054,3070,3905,2578
$GC,10774,0.69,131.0,823.4,9.3,990,10790,0.00,2.28,11.88,1.363,6,0.000,0.033,3070,2769,2537
$GC,11106,0.69,134.0,792.0,9.8,1007,11113,0.00,0.00,4.80,0.983,6,0.000,0.000,3070,2768,2525
$GC,11415,0.70,139.2,761.0,9.6,1022,11429,0.00,2.38,7.00,1.147,4,0.000,0.051,3070,3900,2503
$GC,11440,0.70,140.9,758.5,9.9,1023,11444,0.00,2.25,0.00,0.000,6,0.000,0.032,3070,2751,2503
$GC,11768,0.71,150.0,726.6,9.4,1039,11789,0.00,2.40,12.55,1.304,4,0.000,0.054,3070,3893,2458
$GC,11834,0.72,152.5,720.0,9.8,1042,11843,0.00,2.20,4.20,0.893,6,0.000,0.034,3070,2775,2449
$GC,12165,0.72,152.5,685.8,10.5,1058,12167,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2774,2448
$GC,12476,0.72,157.5,655.6,9.7,1073,12487,0.00,2.30,6.25,1.055,4,0.000,0.052,3070,3906,2431
$GC,12493,0.72,159.4,653.8,9.9,1074,12502,0.00,2.20,4.32,0.879,6,0.000,0.033,3070,2778,2421
$GC,12824,0.72,159.4,620.7,10.2,1090,12828,0.00,2.28,0.00,0.000,4,0.000,0.051,3070,3899,2421
$GC,12867,0.72,159.4,616.0,11.0,1092,12871,0.00,2.17,0.00,0.000,6,0.000,0.031,3070,2795,2421
$GC,13188,0.73,163.1,584.7,9.7,1114,13200,0.00,2.22,5.60,0.974,4,0.000,0.058,3070,3899,2405
$GC,13205,0.73,163.1,582.9,10.3,1115,13211,0.00,2.15,0.00,0.000,6,0.000,0.031,3070,2786,2405
$GC,13533,0.79,177.6,553.4,9.0,1146,13555,0.00,2.28,15.52,1.245,4,0.000,0.053,3070,3902,2347
$GC,13567,0.79,184.0,549.9,9.6,1149,13581,0.12,2.15,8.12,1.127,6,0.071,0.031,3092,2802,2320
$GC,13907,0.79,184.0,509.9,11.8,1181,13911,0.00,2.25,0.00,0.000,4,0.000,0.051,3092,3905,2320
$GC,13939,0.79,184.0,505.9,12.6,1183,13945,0.00,2.15,0.00,0.000,6,0.000,0.031,3092,2816,2320
$GC,14266,0.79,184.0,468.6,11.4,1214,14270,0.00,2.20,0.00,0.000,4,0.000,0.050,3092,3902,2320
$GC,14320,0.79,184.0,461.5,12.3,1218,14327,0.00,2.10,0.00,0.000,6,0.000,0.031,3092,2829,2319
$GC,14648,0.79,184.0,422.0,12.0,1249,14651,0.00,2.17,0.00,0.000,4,0.000,0.050,3092,3905,2319
$GC,14657,0.79,184.0,420.4,12.1,1249,14664,0.00,2.08,0.00,0.000,6,0.000,0.031,3092,2838,2320
$GC,14984,0.79,184.0,380.9,12.7,1280,14987,0.00,2.15,0.00,0.000,4,0.000,0.051,3092,3903,2320
$GC,15006,0.79,184.0,377.8,12.9,1282,15010,0.00,2.05,0.00,0.000,6,0.000,0.031,3092,2836,2319
$GC,15338,0.79,184.0,336.4,11.9,1322,15344,0.00,2.15,0.00,0.000,4,0.000,0.051,3092,3902,2320
$GC,15350,0.79,184.0,334.7,12.1,1324,15357,0.00,2.08,0.00,0.000,6,0.000,0.030,3092,2835,2319
$GC,15694,0.79,184.0,291.6,12.6,1385,15700,0.00,2.15,0.00,0.000,4,0.000,0.049,3092,3903,2320
$GC,15722,0.79,184.0,287.6,13.6,1390,15729,0.00,2.05,0.00,0.000,6,0.000,0.031,3092,2832,2319
$GC,16067,0.79,184.0,243.8,12.5,1451,16073,0.00,2.15,0.00,0.000,4,0.000,0.049,3092,3900,2320
$GC,16103,0.79,184.0,239.2,13.2,1457,16109,0.00,2.03,0.00,0.000,6,0.000,0.031,3092,2842,2320
$GC,16446,0.79,184.0,198.0,11.7,1518,16452,0.00,2.12,0.00,0.000,4,0.000,0.049,3092,3903,2320
$GC,16475,0.79,184.0,194.4,12.3,1523,16481,0.00,2.00,0.00,0.000,6,0.000,0.030,3092,2856,2319
$GC,16818,0.79,184.0,152.9,11.4,1584,16824,0.00,2.10,0.00,0.000,4,0.000,0.048,3092,3906,2320
$GC,16836,0.79,184.0,150.8,11.5,1587,16842,0.00,1.98,0.00,0.000,6,0.000,0.029,3092,2871,2320
$GC,17179,0.79,184.0,110.2,11.5,1648,17185,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2863,2320
$GC,17523,0.79,184.0,70.1,10.8,1709,17528,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2863,2321
$GC,17865,0.79,184.0,32.3,11.9,1770,17872,0.00,2.05,0.00,0.000,4,0.000,0.048,3092,3901,2321
$GC,17906,0.79,184.0,27.4,10.8,1777,17912,0.00,2.03,0.00,0.000,6,0.000,0.031,3092,2862,2321
$GC,18048,0.79,184.0,11.5,10.6,1802,18055,0.00,2.08,0.00,0.000,4,0.000,0.049,3092,3902,2321
$GC,18066,0.79,184.0,9.2,12.1,1805,18073,0.00,1.98,0.00,0.000,6,0.000,0.031,3092,2883,2321
$STATE,18128,end climb,SURFACE_DEPTH_REACHED
$STATE,18128,begin surface coast
$FINISH,0.2,1.013322
$STATE,18146,end surface coast,CONTROL_FINISHED_OK
$STATE,18146,begin surface
$SM_CCo,18164,14.57,0.886,0,0,2255,200.16
$SM_GC,1.90,0.00,0.00,14.57,0.000,0.000,0.886,1432,2281,2255,-6.84,-0.51,200.16
$IRIDIUM_FIX,6041.65,-2619.99,090897,050525
$TT8_MAMPS,0.026845
$HUMID,1780
$INTERNAL_PRESSURE,8.96564
$TCM_TEMP,16.30
$XPDR_PINGS,998
$24V_AH,19.5,64.036
$10V_AH,9.8,46.820
$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,23.650,175.900,318.350,14.575,0.000,88.412,173.361,446.232,249.500,0.000,0.000,14.300,2958.598,11189.091,539.039,3395.361,1054.331,0.000,2039.597,0.000,3393.229,0.000,0.465
$DEVICE_MAMPS,254.644,130.390,1629.875,885.885,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1279.002,1320.276,671.463,1612.305,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132951,1819
$CAP_FILE_SIZE,180576,0
$CFSIZE,260165632,238231552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150508,103301,6108.574,-2621.329,37,0.9,42,-18.4