version: 66.03
glider: 142
mission: 5
dive: 198
start: 5 17 108 0 5 48
data:
$ID,142
$MISSION,5
$DIVE,198
$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,120
$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,-16826.471
$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,16
$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
$GPS1,235801,6131.145,-2628.625,36,1.6,42,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-60.6
$GPS2,000527,6131.207,-2628.644,11,1.1,11,-18.7
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6125.808,-2624.171
$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,138.7,20000,-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,-66.43,0.000,2,0.000,0.000,1432,2291,3444
$GC,98,-1.03,-97.3,3.3,-4.8,12,118,11.55,2.83,-0.70,0.000,4,0.251,0.054,2688,892,3468
$GC,315,-0.98,-97.3,36.0,-14.0,50,321,0.00,2.75,0.00,0.000,6,0.000,0.029,2688,2316,3469
$GC,457,-0.98,-97.3,55.1,-13.5,75,463,0.00,2.88,0.00,0.000,4,0.000,0.046,2688,888,3470
$GC,520,-0.93,-97.3,64.1,-14.8,86,528,0.17,2.72,0.00,0.000,6,0.141,0.030,2712,2298,3470
$GC,865,-0.93,-97.3,105.3,-12.2,147,871,0.00,2.83,0.00,0.000,4,0.000,0.047,2712,895,3470
$GC,985,-0.93,-97.3,120.1,-12.2,168,992,0.00,2.70,0.00,0.000,6,0.000,0.030,2712,2293,3471
$GC,1330,-0.93,-97.3,160.8,-11.5,229,1336,0.00,2.83,0.00,0.000,4,0.000,0.048,2712,887,3471
$GC,1538,-0.93,-97.3,187.4,-12.8,266,1545,0.00,2.67,0.00,0.000,6,0.000,0.031,2712,2274,3471
$GC,1882,-0.93,-97.3,229.0,-12.3,327,1888,0.00,2.78,0.00,0.000,4,0.000,0.048,2712,895,3471
$GC,1939,-0.93,-97.3,236.1,-12.7,337,1945,0.00,2.65,0.00,0.000,6,0.000,0.031,2712,2268,3471
$GC,2282,-0.93,-97.3,275.2,-11.3,398,2288,0.00,2.78,0.00,0.000,4,0.000,0.048,2711,888,3471
$GC,2334,-0.93,-97.3,281.3,-12.3,407,2340,0.00,2.67,0.00,0.000,6,0.000,0.031,2712,2275,3471
$GC,2676,-0.93,-97.3,318.5,-10.6,468,2683,0.00,2.80,0.00,0.000,4,0.000,0.048,2712,883,3471
$GC,2785,-0.93,-97.3,330.5,-10.8,487,2791,0.00,2.65,0.00,0.000,6,0.000,0.030,2712,2261,3471
$GC,3120,-0.93,-97.3,365.8,-10.7,534,3124,0.00,2.75,0.00,0.000,4,0.000,0.048,2712,891,3471
$GC,3215,-0.93,-97.3,376.6,-11.6,542,3219,0.00,2.62,0.00,0.000,6,0.000,0.031,2712,2256,3471
$GC,3540,-0.93,-97.3,411.1,-10.6,572,3545,0.00,2.75,0.00,0.000,4,0.000,0.048,2712,886,3471
$GC,3583,-0.93,-97.3,416.1,-11.4,575,3590,0.00,2.62,0.00,0.000,6,0.000,0.031,2712,2248,3471
$GC,3910,-0.93,-97.3,449.3,-9.9,606,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2249,3471
$GC,4227,-0.93,-97.3,481.5,-9.8,636,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2249,3471
$GC,4545,-0.93,-97.3,512.2,-9.3,666,4550,0.00,2.75,0.00,0.000,4,0.000,0.049,2712,885,3471
$GC,4589,-0.93,-97.3,516.7,-10.6,669,4596,0.00,2.62,0.00,0.000,6,0.000,0.030,2712,2246,3471
$GC,4917,-0.93,-97.3,548.1,-9.7,700,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2247,3471
$GC,5234,-0.93,-97.3,578.7,-9.8,730,5239,0.00,2.75,0.00,0.000,4,0.000,0.051,2712,890,3471
$GC,5306,-0.93,-97.3,586.6,-11.0,736,5311,0.00,2.65,0.00,0.000,6,0.000,0.032,2712,2255,3471
$GC,5626,-0.93,-97.3,619.0,-9.6,757,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2256,3470
$GC,5935,-0.93,-97.3,649.3,-9.6,772,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2256,3471
$GC,6244,-0.93,-97.3,679.7,-10.1,787,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2256,3470
$GC,6553,-0.93,-97.3,709.8,-9.7,802,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2256,3470
$GC,6863,-0.93,-97.3,739.2,-9.4,817,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2256,3470
$GC,7171,-0.93,-97.3,767.7,-8.9,832,7176,0.00,3.00,0.00,0.000,4,0.000,0.086,2712,902,3470
$GC,7300,-0.93,-97.3,780.3,-9.8,838,7305,0.00,2.83,0.00,0.000,6,0.000,0.062,2712,2245,3470
$GC,7627,-0.93,-97.3,810.0,-9.1,854,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2246,3470
$GC,7937,-0.93,-97.3,837.2,-8.6,869,7942,0.00,3.20,0.00,0.000,4,0.000,0.111,2712,900,3469
$GC,8009,-0.93,-97.3,843.9,-9.6,872,8014,0.00,3.00,0.00,0.000,6,0.000,0.090,2712,2231,3469
$GC,8325,-0.93,-97.3,870.7,-8.4,887,8326,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2231,3469
$GC,8633,-0.93,-97.3,896.6,-8.5,902,8638,0.00,3.00,0.00,0.000,4,0.000,0.054,2712,3706,3469
$GC,8644,-0.93,-97.3,897.4,-8.3,902,8650,0.00,2.88,0.00,0.000,6,0.000,0.038,2712,2261,3468
$GC,8959,-0.93,-97.3,924.4,-8.9,918,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2261,3468
$GC,9268,-0.93,-97.3,950.7,-8.3,933,9273,0.00,3.00,0.00,0.000,4,0.000,0.057,2711,3703,3468
$GC,9295,-0.93,-97.3,953.2,-9.4,934,9300,0.00,2.92,0.00,0.000,6,0.000,0.043,2713,2250,3468
$GC,9610,-0.93,-97.3,981.2,-8.6,949,9615,0.00,3.03,0.00,0.000,4,0.000,0.057,2712,3702,3468
$GC,9631,-0.93,-97.3,983.2,-9.6,950,9636,0.00,2.92,0.00,0.000,6,0.000,0.044,2712,2254,3468
$STATE,9723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9723,begin apogee
$GC,9730,-0.21,0.0,991.6,9.0,955,9837,1.05,0.00,103.50,1.633,6,0.146,0.000,2870,2747,3071
$STATE,9837,end apogee,CONTROL_FINISHED_OK
$STATE,9838,begin climb
$GC,9840,1.03,97.3,994.1,0.0,960,9955,1.55,2.65,107.40,1.605,4,0.079,0.059,3136,3893,2674
$GC,10035,0.90,97.3,975.1,14.0,970,10039,0.00,2.40,0.00,0.000,6,0.000,0.035,3136,2745,2673
$GC,10361,0.77,97.3,932.5,12.8,986,10366,0.28,2.40,0.00,0.000,4,0.131,0.054,3093,3891,2673
$GC,10496,0.72,97.3,917.3,11.5,992,10501,0.00,2.22,0.00,0.000,6,0.000,0.035,3093,2766,2672
$GC,10817,0.68,97.3,884.1,10.4,1008,10822,0.15,2.35,0.00,0.000,4,0.139,0.054,3072,3900,2671
$GC,10894,0.68,97.3,876.0,10.2,1011,10901,0.00,2.22,0.00,0.000,6,0.000,0.034,3072,2779,2671
$GC,11211,0.69,103.0,845.8,9.6,1027,11220,0.00,0.00,6.85,1.172,6,0.000,0.000,3072,2778,2651
$GC,11519,0.69,104.1,815.4,9.9,1042,11520,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2776,2651
$GC,11829,0.69,104.1,784.2,10.3,1057,11833,0.00,2.28,0.00,0.000,4,0.000,0.053,3072,3893,2650
$GC,11962,0.69,104.1,769.8,10.9,1063,11966,0.00,2.17,0.00,0.000,6,0.000,0.033,3072,2790,2649
$GC,12290,0.70,115.1,738.5,9.2,1079,12311,0.00,2.95,13.82,1.337,4,0.000,0.050,3072,1340,2601
$GC,12380,0.71,117.8,729.7,9.8,1083,12389,0.00,2.88,4.32,0.933,6,0.000,0.033,3072,2786,2590
$GC,12705,0.73,135.0,700.1,8.8,1099,12730,0.00,2.30,19.00,1.368,4,0.000,0.053,3072,3893,2520
$GC,12803,0.73,135.0,690.5,10.7,1103,12807,0.00,2.20,0.00,0.000,6,0.000,0.033,3072,2776,2519
$GC,13125,0.75,149.9,661.8,9.0,1119,13147,0.00,2.30,16.10,1.316,4,0.000,0.058,3072,3893,2460
$GC,13219,0.75,149.9,652.2,10.8,1123,13223,0.00,2.20,0.00,0.000,6,0.000,0.033,3072,2792,2459
$GC,13547,0.79,149.9,620.1,10.3,1139,13548,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2789,2459
$GC,13859,0.84,149.9,588.0,10.3,1159,13861,0.15,0.00,0.00,0.000,6,0.064,0.000,3100,2786,2459
$GC,14179,0.84,149.9,549.7,11.8,1189,14183,0.00,2.25,0.00,0.000,4,0.000,0.051,3100,3900,2459
$GC,14330,0.84,149.9,530.7,12.6,1202,14334,0.00,2.12,0.00,0.000,6,0.000,0.032,3100,2801,2459
$GC,14654,0.84,149.9,492.7,11.8,1232,14655,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2795,2459
$GC,14973,0.84,149.9,454.1,11.8,1262,14977,0.00,2.20,0.00,0.000,4,0.000,0.050,3100,3893,2459
$GC,15080,0.84,149.9,440.5,13.4,1271,15083,0.00,2.10,0.00,0.000,6,0.000,0.031,3100,2803,2459
$GC,15411,0.84,149.9,400.5,12.0,1302,15412,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2796,2459
$GC,15728,0.84,149.9,362.6,11.5,1332,15732,0.00,2.20,0.00,0.000,4,0.000,0.049,3100,3894,2459
$GC,15869,0.84,149.9,345.1,12.7,1347,15875,0.00,2.10,0.00,0.000,6,0.000,0.031,3100,2804,2459
$GC,16212,0.84,149.9,305.8,10.9,1408,16217,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2801,2460
$GC,16555,0.84,150.2,267.9,10.0,1469,16561,0.00,2.20,0.00,0.000,4,0.000,0.049,3100,3898,2460
$GC,16619,0.84,150.2,260.5,12.9,1480,16625,0.00,2.10,0.00,0.000,6,0.000,0.031,3100,2804,2460
$GC,16962,0.84,150.2,222.5,10.2,1541,16968,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2798,2460
$GC,17304,0.84,150.2,184.6,12.8,1602,17310,0.00,2.20,0.00,0.000,4,0.000,0.048,3100,3903,2460
$GC,17384,0.84,150.2,175.2,12.6,1616,17390,0.00,2.08,0.00,0.000,6,0.000,0.031,3100,2817,2460
$GC,17728,0.84,150.2,136.8,10.3,1677,17734,0.00,2.17,0.00,0.000,4,0.000,0.048,3100,3900,2460
$GC,17824,0.84,150.2,125.5,11.7,1694,17831,0.00,2.05,0.00,0.000,6,0.000,0.031,3100,2828,2460
$GC,18170,0.84,150.2,87.8,11.7,1755,18176,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2826,2461
$GC,18513,0.84,150.2,48.7,11.0,1816,18520,0.00,2.12,0.00,0.000,4,0.000,0.047,3100,3897,2461
$GC,18593,0.84,150.2,39.5,10.6,1830,18600,0.00,2.05,0.00,0.000,6,0.000,0.031,3100,2844,2461
$GC,18736,0.84,150.2,23.4,11.8,1855,18741,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2842,2461
$GC,18878,0.84,150.2,7.4,11.3,1880,18884,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2840,2461
$STATE,18927,end climb,SURFACE_DEPTH_REACHED
$STATE,18927,begin surface coast
$FINISH,0.2,1.026190
$STATE,18946,end surface coast,CONTROL_FINISHED_OK
$STATE,18946,begin surface
$SM_CCo,18964,45.30,0.959,0,0,2255,200.16
$SM_GC,1.49,0.00,0.00,45.30,0.000,0.000,0.959,1436,2287,2255,-6.83,-0.37,200.16
$IRIDIUM_FIX,6108.28,-2633.90,100897,181844
$TT8_MAMPS,0.026845
$HUMID,1780
$INTERNAL_PRESSURE,8.96564
$TCM_TEMP,16.40
$XPDR_PINGS,1017
$24V_AH,19.3,65.510
$10V_AH,9.8,48.110
$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,23.475,155.450,271.000,45.300,0.000,22.332,45.326,240.323,254.250,0.000,0.000,13.409,3069.291,11725.101,490.198,3523.706,632.657,0.000,2029.928,0.000,3511.012,0.000,0.465
$DEVICE_MAMPS,250.809,111.215,1632.943,958.750,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1336.694,1377.678,682.736,1668.530,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139234,1892
$CAP_FILE_SIZE,176944,0
$CFSIZE,260165632,237453312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170508,052356,6131.829,-2625.561,39,1.1,39,-18.7