version: 66.03
glider: 142
mission: 5
dive: 194
start: 5 16 108 2 32 16
data:
$ID,142
$MISSION,5
$DIVE,194
$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,5
$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,-16729.564
$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,18
$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
$GPS1,022407,6117.066,-2622.989,35,1.4,40,-18.5
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-60.5
$GPS2,023156,6117.171,-2623.042,8,1.6,13,-18.5
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6127.930,-2622.593
$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,23.5,20000,-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,-65.97,0.000,2,0.000,0.000,1435,2299,3440
$GC,97,-1.03,-97.3,3.2,-4.5,12,117,11.70,2.85,-0.82,0.000,4,0.255,0.051,2685,3717,3468
$GC,204,-0.97,-97.3,19.2,-13.0,30,211,0.12,2.80,0.00,0.000,6,0.162,0.034,2701,2294,3469
$GC,346,-0.97,-97.3,36.8,-12.1,55,353,0.00,2.83,0.00,0.000,4,0.000,0.050,2701,888,3469
$GC,595,-0.97,-97.3,67.6,-12.3,99,601,0.00,2.72,0.00,0.000,6,0.000,0.028,2701,2302,3469
$GC,938,-0.97,-97.3,109.4,-12.8,160,944,0.00,2.85,0.00,0.000,4,0.000,0.047,2701,883,3470
$GC,1041,-0.97,-97.3,123.1,-13.6,178,1048,0.00,2.70,0.00,0.000,6,0.000,0.030,2701,2285,3470
$GC,1387,-0.97,-97.3,165.5,-12.0,239,1393,0.00,2.80,0.00,0.000,4,0.000,0.048,2701,887,3470
$GC,1618,-0.97,-97.3,195.7,-13.2,280,1625,0.00,2.65,0.00,0.000,6,0.000,0.030,2701,2269,3470
$GC,1962,-0.97,-97.3,234.2,-11.6,341,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2269,3470
$GC,2304,-0.97,-97.3,272.3,-11.6,402,2310,0.00,2.78,0.00,0.000,4,0.000,0.048,2701,885,3470
$GC,2535,-0.97,-97.3,299.5,-11.9,443,2541,0.00,2.65,0.00,0.000,6,0.000,0.030,2701,2263,3470
$GC,2879,-0.97,-97.3,336.4,-11.1,504,2886,0.00,2.78,0.00,0.000,4,0.000,0.048,2701,883,3470
$GC,3015,-0.97,-97.3,352.1,-11.2,527,3020,0.00,2.62,0.00,0.000,6,0.000,0.029,2701,2247,3470
$GC,3341,-0.97,-97.3,387.2,-10.9,557,3346,0.00,2.75,0.00,0.000,4,0.000,0.048,2701,882,3470
$GC,3516,-0.97,-97.3,408.3,-12.1,572,3520,0.00,2.60,0.00,0.000,6,0.000,0.030,2701,2233,3470
$GC,3843,-0.97,-97.3,445.1,-11.2,602,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2234,3470
$GC,4158,-0.97,-97.3,481.4,-11.3,632,4163,0.00,2.70,0.00,0.000,4,0.000,0.048,2701,891,3470
$GC,4321,-0.97,-97.3,500.8,-11.8,646,4326,0.00,2.58,0.00,0.000,6,0.000,0.031,2701,2225,3470
$GC,4647,-0.97,-97.3,536.4,-10.9,676,4651,0.00,2.70,0.00,0.000,4,0.000,0.049,2701,891,3470
$GC,4787,-0.97,-97.3,553.2,-12.0,688,4791,0.00,2.55,0.00,0.000,6,0.000,0.031,2701,2209,3470
$GC,5112,-0.97,-97.3,585.9,-10.0,718,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2210,3470
$GC,5436,-0.97,-97.3,616.3,-9.5,741,5441,0.00,2.70,0.00,0.000,4,0.000,0.055,2701,889,3470
$GC,5535,-0.97,-97.3,627.1,-11.0,745,5542,0.00,2.53,0.00,0.000,6,0.000,0.033,2701,2188,3470
$GC,5851,-0.97,-97.3,659.6,-10.2,761,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2189,3470
$GC,6160,-0.97,-97.3,691.6,-10.4,776,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2188,3470
$GC,6470,-0.97,-97.3,724.0,-10.4,791,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2188,3470
$GC,6779,-0.97,-97.3,756.5,-10.6,806,6783,0.00,2.83,0.00,0.000,4,0.000,0.080,2701,898,3470
$GC,6862,-0.97,-97.3,765.5,-11.4,810,6867,0.00,2.67,0.00,0.000,6,0.000,0.056,2701,2187,3470
$GC,7189,-0.97,-97.3,799.0,-10.4,826,7194,0.00,3.38,0.00,0.000,4,0.000,0.093,2701,3694,3469
$GC,7272,-0.97,-97.3,807.7,-10.5,830,7277,0.00,3.22,0.00,0.000,6,0.000,0.079,2701,2230,3469
$GC,7599,-0.97,-97.3,838.0,-9.2,846,7604,0.00,3.15,0.00,0.000,4,0.000,0.114,2701,898,3469
$GC,7743,-0.97,-97.3,852.5,-9.7,852,7750,0.00,2.97,0.00,0.000,6,0.000,0.094,2701,2197,3469
$GC,8059,-0.97,-97.3,880.5,-9.3,868,8061,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2197,3468
$GC,8368,-0.97,-97.3,910.6,-10.1,883,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2203,3468
$GC,8678,-0.97,-97.3,941.5,-9.9,898,8682,0.00,2.70,0.00,0.000,4,0.000,0.056,2701,886,3467
$GC,8784,-0.97,-97.3,952.8,-10.8,903,8788,0.00,2.58,0.00,0.000,6,0.000,0.032,2701,2204,3468
$GC,9110,-0.97,-97.3,983.5,-9.2,919,9114,0.00,2.72,0.00,0.000,4,0.000,0.058,2701,887,3467
$STATE,9174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9174,begin apogee
$GC,9183,-0.21,0.0,990.0,9.9,922,9290,1.10,0.00,103.40,1.632,6,0.151,0.000,2866,2741,3072
$STATE,9291,end apogee,CONTROL_FINISHED_OK
$STATE,9291,begin climb
$GC,9293,1.03,97.3,992.6,0.0,927,9405,1.60,0.00,107.80,1.606,6,0.082,0.000,3139,2741,2674
$GC,9708,0.89,97.3,943.6,13.3,948,9713,0.15,2.42,0.00,0.000,4,0.131,0.055,3116,3905,2673
$GC,9741,0.79,97.3,939.4,12.5,949,9748,0.15,2.33,0.00,0.000,6,0.133,0.035,3096,2741,2673
$GC,10057,0.74,97.6,906.6,10.0,965,10061,0.00,2.40,0.00,0.000,4,0.000,0.054,3096,3899,2672
$GC,10078,0.68,97.6,904.2,11.3,966,10083,0.17,2.28,0.00,0.000,6,0.136,0.033,3072,2743,2672
$GC,10404,0.70,110.7,873.8,9.1,982,10426,0.00,2.42,14.70,1.402,4,0.000,0.060,3072,3903,2619
$GC,10472,0.70,111.7,867.3,9.9,985,10476,0.00,2.25,0.00,0.000,6,0.000,0.034,3072,2763,2618
$GC,10804,0.71,123.3,836.4,9.2,1001,10826,0.00,2.38,14.12,1.390,4,0.000,0.062,3072,3899,2568
$GC,10864,0.71,123.3,830.4,10.4,1003,10871,0.00,2.25,0.00,0.000,6,0.000,0.035,3072,2780,2568
$GC,11180,0.72,130.2,800.1,9.5,1019,11194,0.00,2.35,8.57,1.252,4,0.000,0.060,3072,3895,2540
$GC,11202,0.72,130.2,797.9,10.3,1020,11206,0.00,2.20,0.00,0.000,6,0.000,0.035,3072,2780,2540
$GC,11528,0.72,130.2,765.3,10.1,1036,11532,0.00,2.30,0.00,0.000,4,0.000,0.054,3072,3902,2540
$GC,11582,0.72,130.2,759.3,11.7,1038,11589,0.00,2.17,0.00,0.000,6,0.000,0.038,3072,2807,2540
$GC,11898,0.73,135.0,728.3,9.7,1054,11907,0.00,0.00,6.85,1.132,6,0.000,0.000,3072,2806,2520
$GC,12208,0.74,146.1,698.6,9.2,1069,12229,0.00,2.30,12.60,1.301,4,0.000,0.052,3072,3898,2475
$GC,12245,0.75,157.3,694.8,9.2,1070,12265,0.00,2.17,13.15,1.325,6,0.000,0.033,3072,2806,2429
$GC,12583,0.81,172.7,664.0,8.9,1087,12606,0.12,2.33,16.65,1.325,4,0.069,0.051,3095,3900,2367
$GC,12622,0.81,172.7,659.6,11.2,1088,12629,0.00,2.20,0.00,0.000,6,0.000,0.032,3095,2805,2366
$GC,12938,0.81,172.7,622.3,12.1,1104,12942,0.00,2.25,0.00,0.000,4,0.000,0.051,3095,3905,2366
$GC,12992,0.81,172.7,615.2,12.6,1106,12999,0.00,2.15,0.00,0.000,6,0.000,0.032,3095,2814,2366
$GC,13314,0.81,172.7,575.5,12.9,1131,13318,0.00,2.20,0.00,0.000,4,0.000,0.051,3094,3897,2366
$GC,13331,0.81,172.7,573.3,13.4,1132,13335,0.00,2.10,0.00,0.000,6,0.000,0.032,3095,2813,2365
$GC,13664,0.81,172.7,531.0,13.3,1163,13668,0.00,2.22,0.00,0.000,4,0.000,0.058,3095,3906,2365
$GC,13708,0.81,172.7,524.4,14.2,1166,13714,0.00,2.10,0.00,0.000,6,0.000,0.032,3095,2834,2365
$GC,14034,0.81,172.7,482.6,12.9,1197,14037,0.00,2.17,0.00,0.000,4,0.000,0.051,3095,3906,2366
$GC,14083,0.81,172.7,475.8,13.1,1201,14091,0.00,2.08,0.00,0.000,6,0.000,0.031,3095,2843,2366
$GC,14410,0.81,172.7,437.7,11.2,1232,14413,0.00,2.15,0.00,0.000,4,0.000,0.050,3095,3905,2365
$GC,14448,0.81,172.7,432.8,11.6,1235,14454,0.00,2.03,0.00,0.000,6,0.000,0.031,3095,2853,2365
$GC,14774,0.81,172.7,395.4,11.6,1266,14778,0.00,2.12,0.00,0.000,4,0.000,0.051,3095,3904,2365
$GC,14807,0.81,172.7,391.1,11.8,1268,14814,0.00,2.03,0.00,0.000,6,0.000,0.031,3095,2866,2365
$GC,15133,0.81,172.7,353.3,11.4,1299,15137,0.00,2.10,0.00,0.000,4,0.000,0.050,3095,3906,2365
$GC,15173,0.81,172.7,348.5,12.3,1303,15179,0.00,2.00,0.00,0.000,6,0.000,0.031,3095,2864,2366
$GC,15518,0.81,172.7,309.7,11.0,1364,15524,0.00,2.10,0.00,0.000,4,0.000,0.050,3095,3905,2366
$GC,15548,0.81,172.7,306.1,11.8,1369,15554,0.00,1.95,0.00,0.000,6,0.000,0.030,3096,2882,2366
$GC,15891,0.81,172.7,266.4,11.9,1430,15898,0.00,2.05,0.00,0.000,4,0.000,0.050,3095,3900,2366
$GC,15921,0.81,172.7,262.8,12.4,1435,15926,0.00,1.92,0.00,0.000,6,0.000,0.030,3095,2890,2366
$GC,16264,0.81,172.7,221.4,11.6,1496,16271,0.00,2.05,0.00,0.000,4,0.000,0.050,3095,3908,2366
$GC,16294,0.81,172.7,217.7,12.8,1501,16299,0.00,1.92,0.00,0.000,6,0.000,0.030,3095,2899,2366
$GC,16636,0.81,172.7,174.4,12.1,1562,16642,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2892,2367
$GC,16979,0.81,172.7,130.9,13.4,1623,16985,0.00,2.03,0.00,0.000,4,0.000,0.049,3095,3906,2367
$GC,17002,0.81,172.7,127.7,13.7,1627,17008,0.00,1.95,0.00,0.000,6,0.000,0.031,3095,2885,2367
$GC,17345,0.81,172.7,85.8,10.5,1688,17351,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2880,2367
$GC,17689,0.81,172.7,47.3,10.6,1749,17695,0.00,2.03,0.00,0.000,4,0.000,0.049,3095,3900,2367
$GC,17723,0.81,172.7,43.3,11.2,1755,17730,0.00,1.92,0.00,0.000,6,0.000,0.031,3095,2910,2367
$GC,17866,0.81,172.7,27.7,10.6,1780,17872,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2910,2367
$GC,18007,0.81,172.7,11.7,11.6,1805,18013,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2908,2368
$STATE,18096,end climb,SURFACE_DEPTH_REACHED
$STATE,18096,begin surface coast
$FINISH,0.2,1.026209
$STATE,18114,end surface coast,CONTROL_FINISHED_OK
$STATE,18114,begin surface
$SM_CCo,18132,24.73,0.925,0,0,2255,200.16
$SM_GC,0.70,0.00,0.00,24.73,0.000,0.000,0.925,1435,2290,2255,-6.83,-0.28,200.16
$IRIDIUM_FIX,6050.49,-2619.90,090897,212122
$TT8_MAMPS,0.026845
$HUMID,1795
$INTERNAL_PRESSURE,8.95588
$TCM_TEMP,16.30
$XPDR_PINGS,972
$24V_AH,19.4,64.778
$10V_AH,9.8,47.455
$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,23.550,171.725,297.850,24.725,0.000,28.718,30.560,271.274,243.000,0.000,0.000,15.128,2955.429,11050.188,534.458,3424.875,647.014,0.000,2039.306,0.000,3401.389,0.000,0.466
$DEVICE_MAMPS,255.411,114.283,1632.176,925.002,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1288.022,1317.907,669.866,1620.025,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,133036,1824
$CAP_FILE_SIZE,173007,0
$CFSIZE,260165632,237850624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160508,073608,6121.476,-2625.402,36,1.1,36,-18.6