version: 66.03
glider: 142
mission: 5
dive: 3
start: 4 4 108 10 49 59
data:
$ID,142
$MISSION,5
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$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,150
$T_MISSION,180
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51804
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,250
$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,-12602.377
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1435
$PITCH_MAX,3965
$C_PITCH,2990
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.700001
$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,1975
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,3
$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,4
$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
$GPS1,104550,5900.397,-2029.396,7,1.8,12,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-52.3
$GPS2,104939,5900.405,-2029.381,11,1.8,11,-14.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,VM
$TGT_LATLONG,5859.850,-2029.850
$TGT_RADIUS,400.000
$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,217.7,1122,-27.2,-10.000
$D_GRID,450
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.28,-63.0,0.0,0.0,0,107,0.00,0.00,-82.70,0.000,6,0.000,0.000,1427,1963,3324
$GC,109,-1.33,-105.2,2.7,-5.5,12,134,10.62,2.80,-6.50,0.000,4,0.242,0.046,2692,3388,3499
$GC,369,-1.38,-105.2,32.6,-10.4,60,377,0.00,2.78,0.00,0.000,6,0.000,0.035,2692,1979,3500
$GC,442,-1.44,-105.2,41.1,-12.2,73,450,0.00,2.78,0.00,0.000,4,0.000,0.040,2692,3376,3500
$GC,458,-1.49,-105.2,43.0,-11.5,75,466,0.10,2.75,0.00,0.000,6,0.075,0.032,2671,1973,3500
$GC,531,-1.49,-105.2,52.1,-12.1,88,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1973,3500
$GC,665,-1.49,-105.2,69.3,-13.3,113,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1973,3500
$GC,799,-1.49,-105.2,85.9,-12.9,138,806,0.00,2.78,0.00,0.000,4,0.000,0.040,2671,3376,3500
$GC,813,-1.49,-105.2,87.9,-12.6,140,821,0.00,2.75,0.00,0.000,6,0.000,0.033,2671,1968,3500
$GC,948,-1.49,-105.2,105.1,-12.6,165,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1968,3500
$GC,1082,-1.49,-105.2,121.6,-12.8,190,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1968,3500
$GC,1216,-1.49,-105.2,138.5,-13.6,215,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1968,3500
$GC,1349,-1.49,-105.2,156.3,-12.9,240,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1968,3500
$GC,1488,-1.49,-105.2,175.6,-14.3,265,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1968,3500
$GC,1624,-1.49,-105.2,195.6,-14.1,290,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1967,3500
$GC,1763,-1.49,-105.2,215.3,-13.5,315,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1968,3500
$GC,1896,-1.49,-105.2,233.9,-14.2,340,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1967,3500
$GC,2036,-1.49,-105.2,252.6,-13.3,365,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1968,3500
$GC,2171,-1.49,-105.2,270.2,-12.4,390,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1968,3500
$GC,2310,-1.49,-105.2,287.9,-12.2,415,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1968,3500
$GC,2444,-1.49,-105.2,305.1,-12.7,440,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1968,3500
$GC,2583,-1.49,-105.2,323.4,-13.1,465,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1968,3500
$GC,2719,-1.49,-105.2,341.3,-13.0,490,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1968,3500
$GC,2858,-1.49,-105.2,359.6,-12.8,515,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1968,3500
$GC,2996,-1.49,-105.2,377.9,-13.6,540,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1968,3499
$GC,3140,-1.49,-105.2,396.8,-13.7,565,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1968,3500
$GC,3279,-1.49,-105.2,415.7,-13.4,590,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1968,3500
$GC,3417,-1.49,-105.2,433.7,-12.9,615,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1967,3500
$STATE,3548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3548,begin apogee
$GC,3554,-0.22,0.0,450.4,12.9,639,3667,1.62,0.00,101.30,1.144,6,0.150,0.000,2935,2214,3071
$STATE,3667,end apogee,CONTROL_FINISHED_OK
$STATE,3667,begin climb
$GC,3669,1.33,105.2,451.2,0.0,659,3846,1.85,2.88,119.35,0.990,4,0.060,0.040,3281,3593,2641
$GC,4096,1.02,105.2,364.7,25.3,735,4103,0.47,2.78,0.00,0.000,6,0.187,0.031,3218,2192,2640
$GC,4235,0.83,105.2,336.4,20.0,760,4243,0.30,2.83,0.00,0.000,4,0.170,0.039,3175,3589,2640
$GC,4487,0.71,105.2,292.6,17.3,806,4495,0.17,2.72,0.00,0.000,6,0.170,0.031,3148,2202,2640
$GC,4628,0.66,105.2,272.1,14.8,831,4634,0.00,2.75,0.00,0.000,4,0.000,0.040,3149,3597,2640
$GC,4878,0.60,105.2,233.9,15.6,877,4885,0.17,2.72,0.00,0.000,6,0.165,0.031,3125,2193,2639
$GC,5014,0.60,105.2,214.5,14.1,902,5022,0.00,2.78,0.00,0.000,4,0.000,0.039,3125,3590,2639
$GC,5266,0.60,105.2,181.8,12.1,948,5274,0.00,2.72,0.00,0.000,6,0.000,0.032,3126,2196,2639
$GC,5405,0.60,105.2,164.8,12.6,973,5411,0.00,2.75,0.00,0.000,4,0.000,0.040,3125,3600,2639
$GC,5651,0.60,105.2,130.2,14.2,1019,5659,0.00,2.72,0.00,0.000,6,0.000,0.032,3126,2196,2639
$GC,5785,0.60,105.2,110.3,14.1,1044,5793,0.00,2.75,0.00,0.000,4,0.000,0.039,3125,3591,2639
$GC,6029,0.60,105.2,74.4,14.0,1090,6037,0.00,2.70,0.00,0.000,6,0.000,0.032,3125,2198,2639
$GC,6163,0.60,105.2,56.0,13.6,1115,6171,0.00,2.72,0.00,0.000,4,0.000,0.039,3125,3585,2639
$GC,6407,0.60,105.2,24.5,14.8,1161,6415,0.00,2.67,0.00,0.000,6,0.000,0.032,3125,2203,2639
$GC,6479,0.60,105.2,14.8,13.3,1174,6487,0.00,2.72,0.00,0.000,4,0.000,0.039,3126,3591,2639
$STATE,6570,end climb,SURFACE_DEPTH_REACHED
$STATE,6570,begin surface coast
$FINISH,0.2,1.026221
$STATE,6582,end surface coast,CONTROL_FINISHED_OK
$STATE,6582,begin surface
$SM_CCo,6602,127.65,0.880,0,0,2051,250.21
$SM_GC,1.00,0.00,0.00,127.65,0.000,0.000,0.880,1438,1966,2051,-7.14,-0.25,250.21
$IRIDIUM_FIX,5837.82,-2030.43,290697,101013
$TT8_MAMPS,0.026845
$HUMID,1641
$INTERNAL_PRESSURE,8.99494
$TCM_TEMP,12.30
$XPDR_PINGS,130
$24V_AH,19.9,6.866
$10V_AH,9.9,2.837
$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,24.000,61.475,220.650,127.650,0.000,0.000,0.000,0.000,32.500,0.000,0.000,12.910,1791.327,1027.109,494.975,3334.513,151.942,0.000,1510.935,0.000,3359.665,0.000,0.466
$DEVICE_MAMPS,241.605,46.020,1143.597,879.749,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,831.914,843.284,766.226,1287.934,2527.425,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88796,1193
$CAP_FILE_SIZE,114395,0
$CFSIZE,260165632,258211840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,0
$GPS,040408,124325,5900.405,-2029.055,21,1.3,38,-14.2