version: 66.03
glider: 142
mission: 5
dive: 5
start: 4 4 108 14 43 54
data:
$ID,142
$MISSION,5
$DIVE,5
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$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,250
$T_MISSION,280
$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,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,-12633.994
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1435
$PITCH_MAX,3965
$C_PITCH,2945
$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,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,43
$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
$GPS1,143807,5900.484,-2029.308,12,1.2,29,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-59.0
$GPS2,144332,5900.506,-2029.350,10,1.3,15,-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,215.6,1305,-27.2,-10.000
$D_GRID,750
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.28,-63.0,0.0,0.0,0,93,0.00,0.00,-70.55,0.000,6,0.000,0.000,1437,1966,3327
$GC,95,-1.34,-114.8,2.5,-4.5,10,119,10.10,2.92,-8.20,0.000,4,0.235,0.059,2645,560,3540
$GC,355,-1.29,-114.8,41.9,-14.9,58,363,0.00,2.72,0.00,0.000,6,0.000,0.028,2644,1966,3541
$GC,428,-1.29,-114.8,54.1,-17.3,71,435,0.00,2.85,0.00,0.000,4,0.000,0.049,2645,564,3541
$GC,671,-1.24,-114.8,95.4,-18.1,117,679,0.15,2.72,0.00,0.000,6,0.148,0.028,2668,1978,3541
$GC,806,-1.24,-114.8,115.2,-15.2,142,814,0.00,2.88,0.00,0.000,4,0.000,0.049,2668,554,3541
$GC,1047,-1.24,-114.8,151.4,-15.4,188,1055,0.00,2.72,0.00,0.000,6,0.000,0.028,2668,1980,3542
$GC,1187,-1.24,-114.8,171.0,-13.7,213,1193,0.00,2.83,0.00,0.000,4,0.000,0.048,2668,562,3541
$GC,1330,-1.24,-114.8,192.8,-15.2,239,1336,0.00,2.67,0.00,0.000,6,0.000,0.028,2668,1978,3541
$GC,1464,-1.24,-114.8,213.7,-15.6,264,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1984,3541
$GC,1604,-1.24,-114.8,233.8,-14.5,289,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1984,3541
$GC,1739,-1.24,-114.8,252.9,-13.3,314,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1984,3541
$GC,1878,-1.24,-114.8,272.4,-14.3,339,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1984,3541
$GC,2012,-1.24,-114.8,292.4,-14.2,364,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1984,3542
$GC,2151,-1.24,-114.8,312.3,-14.7,389,2157,0.00,2.83,0.00,0.000,4,0.000,0.049,2668,552,3541
$GC,2251,-1.24,-114.8,327.9,-15.6,407,2257,0.00,2.67,0.00,0.000,6,0.000,0.028,2668,1976,3542
$GC,2386,-1.24,-114.8,348.5,-15.0,432,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1982,3541
$GC,2529,-1.24,-114.8,369.8,-15.0,457,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1982,3541
$GC,2667,-1.24,-114.8,390.9,-14.6,482,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1982,3541
$GC,2806,-1.24,-114.8,411.6,-15.2,507,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1982,3541
$GC,2944,-1.24,-114.8,432.1,-14.8,532,2952,0.00,2.85,0.00,0.000,4,0.000,0.051,2668,555,3541
$GC,3024,-1.24,-114.8,444.9,-15.9,546,3030,0.00,2.67,0.00,0.000,6,0.000,0.028,2668,1980,3541
$GC,3163,-1.24,-114.8,465.7,-14.9,571,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1987,3541
$GC,3301,-1.24,-114.8,486.1,-14.4,596,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1986,3541
$GC,3445,-1.24,-114.8,506.2,-13.6,621,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1986,3541
$GC,3583,-1.24,-114.8,525.2,-13.5,646,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1987,3541
$GC,3722,-1.24,-114.8,544.2,-14.1,671,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1986,3541
$GC,3861,-1.24,-114.8,563.6,-13.9,688,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1986,3541
$GC,3988,-1.24,-114.8,581.3,-13.8,700,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1986,3541
$GC,4116,-1.24,-114.8,599.0,-13.8,712,4120,0.00,2.83,0.00,0.000,4,0.000,0.053,2668,561,3541
$GC,4192,-1.24,-114.8,610.7,-15.0,718,4199,0.00,2.67,0.00,0.000,6,0.000,0.028,2668,1977,3541
$GC,4326,-1.24,-114.8,629.3,-13.8,731,4331,0.00,2.75,0.00,0.000,4,0.000,0.049,2668,3379,3541
$GC,4343,-1.24,-114.8,631.5,-13.5,732,4348,0.00,2.75,0.00,0.000,6,0.000,0.038,2668,1963,3541
$GC,4476,-1.24,-114.8,650.4,-13.5,744,4481,0.00,2.83,0.00,0.000,4,0.000,0.050,2668,3384,3541
$GC,4485,-1.24,-114.8,651.8,-13.4,744,4492,0.00,2.78,0.00,0.000,6,0.000,0.042,2668,1965,3541
$GC,4619,-1.24,-114.8,670.2,-13.9,757,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1965,3541
$GC,4747,-1.24,-114.8,687.6,-13.3,769,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1965,3541
$GC,4874,-1.24,-114.8,705.0,-13.9,781,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1965,3541
$GC,5001,-1.24,-114.8,722.3,-13.7,793,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1965,3541
$GC,5129,-1.24,-114.8,739.7,-13.8,805,5134,0.00,2.95,0.00,0.000,4,0.000,0.074,2668,3371,3541
$GC,5145,-1.24,-114.8,742.0,-14.0,806,5150,0.00,2.88,0.00,0.000,6,0.000,0.065,2668,1981,3541
$STATE,5212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5212,begin apogee
$GC,5218,-0.22,0.0,751.4,13.5,812,5345,1.35,0.00,115.68,1.341,6,0.153,0.000,2889,2597,3070
$STATE,5346,end apogee,CONTROL_FINISHED_OK
$STATE,5346,begin climb
$GC,5348,1.34,114.8,754.2,0.0,825,5557,1.92,2.75,138.38,1.128,4,0.077,0.051,3233,3893,2602
$GC,5765,1.10,114.8,677.1,23.7,863,5772,0.32,2.60,0.00,0.000,6,0.173,0.031,3190,2584,2601
$GC,5898,0.96,114.8,652.1,18.2,876,5903,0.22,2.67,0.00,0.000,4,0.168,0.047,3158,3890,2601
$GC,6052,0.86,114.8,624.8,17.4,889,6057,0.17,2.53,0.00,0.000,6,0.168,0.031,3136,2597,2600
$GC,6184,0.86,114.8,603.8,15.2,901,6189,0.00,2.62,0.00,0.000,4,0.000,0.048,3135,3895,2600
$GC,6273,0.82,114.8,589.9,16.1,908,6280,0.00,2.53,0.00,0.000,6,0.000,0.031,3135,2593,2600
$GC,6407,0.82,114.8,570.6,14.7,921,6411,0.00,2.62,0.00,0.000,4,0.000,0.048,3136,3896,2600
$GC,6484,0.77,114.8,558.4,16.0,927,6490,0.12,2.53,0.00,0.000,6,0.148,0.030,3119,2588,2600
$GC,6619,0.77,114.8,539.3,14.1,946,6625,0.00,2.62,0.00,0.000,4,0.000,0.048,3119,3895,2600
$GC,6727,0.77,114.8,523.5,15.3,965,6734,0.00,2.50,0.00,0.000,6,0.000,0.029,3119,2595,2599
$GC,6865,0.77,114.8,503.1,14.7,990,6871,0.00,2.60,0.00,0.000,4,0.000,0.047,3119,3898,2599
$GC,6965,0.77,114.8,488.1,15.1,1008,6973,0.00,2.53,0.00,0.000,6,0.000,0.030,3119,2599,2599
$GC,7109,0.77,114.8,468.4,13.8,1033,7115,0.00,2.58,0.00,0.000,4,0.000,0.045,3119,3894,2599
$GC,7192,0.77,114.8,456.0,14.7,1048,7200,0.00,2.50,0.00,0.000,6,0.000,0.029,3119,2601,2599
$GC,7336,0.77,114.8,436.8,13.6,1073,7342,0.00,2.55,0.00,0.000,4,0.000,0.044,3119,3888,2599
$GC,7427,0.77,114.8,423.7,14.8,1089,7433,0.00,2.47,0.00,0.000,6,0.000,0.029,3119,2592,2599
$GC,7565,0.77,114.8,404.5,13.7,1114,7571,0.00,2.58,0.00,0.000,4,0.000,0.044,3119,3896,2599
$GC,7643,0.77,114.8,393.7,14.0,1128,7651,0.00,2.50,0.00,0.000,6,0.000,0.029,3119,2601,2599
$GC,7786,0.77,114.8,375.1,13.2,1153,7792,0.00,2.55,0.00,0.000,4,0.000,0.044,3119,3894,2599
$GC,7877,0.77,114.8,362.4,14.0,1169,7883,0.00,2.47,0.00,0.000,6,0.000,0.029,3119,2594,2599
$GC,8014,0.77,114.8,344.4,12.6,1194,8022,0.00,2.58,0.00,0.000,4,0.000,0.043,3119,3887,2599
$GC,8092,0.77,114.8,333.9,14.1,1208,8100,0.00,2.47,0.00,0.000,6,0.000,0.029,3119,2601,2599
$GC,8231,0.77,114.8,316.2,13.3,1233,8237,0.00,2.55,0.00,0.000,4,0.000,0.044,3119,3896,2599
$GC,8312,0.77,114.8,305.1,13.8,1248,8321,0.00,2.50,0.00,0.000,6,0.000,0.029,3119,2600,2599
$GC,8452,0.77,114.8,287.1,13.2,1273,8458,0.00,2.55,0.00,0.000,4,0.000,0.044,3119,3896,2599
$GC,8535,0.77,114.8,275.8,13.8,1288,8543,0.00,2.50,0.00,0.000,6,0.000,0.029,3119,2593,2599
$GC,8674,0.77,114.8,257.7,12.4,1313,8680,0.00,2.55,0.00,0.000,4,0.000,0.043,3119,3890,2599
$GC,8744,0.77,114.8,248.4,13.6,1326,8752,0.00,2.47,0.00,0.000,6,0.000,0.029,3119,2602,2599
$GC,8884,0.77,114.8,231.4,12.1,1351,8890,0.00,2.53,0.00,0.000,4,0.000,0.043,3119,3888,2599
$GC,8973,0.77,114.8,219.7,13.4,1367,8979,0.00,2.45,0.00,0.000,6,0.000,0.029,3119,2595,2599
$GC,9108,0.77,114.8,202.8,12.0,1392,9116,0.00,2.58,0.00,0.000,4,0.000,0.044,3119,3888,2599
$GC,9226,0.77,114.8,187.0,13.7,1413,9232,0.00,2.45,0.00,0.000,6,0.000,0.029,3119,2593,2599
$GC,9362,0.77,114.8,169.2,12.6,1438,9370,0.00,2.58,0.00,0.000,4,0.000,0.044,3119,3888,2599
$GC,9459,0.77,114.8,156.2,13.6,1455,9465,0.00,2.45,0.00,0.000,6,0.000,0.029,3119,2598,2599
$GC,9593,0.77,114.8,138.9,12.7,1480,9601,0.00,2.55,0.00,0.000,4,0.000,0.043,3119,3886,2599
$GC,9681,0.77,114.8,126.9,13.7,1496,9689,0.00,2.47,0.00,0.000,6,0.000,0.030,3119,2595,2599
$GC,9815,0.77,114.8,109.6,13.2,1521,9823,0.00,2.58,0.00,0.000,4,0.000,0.043,3119,3893,2599
$GC,9909,0.77,114.8,97.1,14.3,1538,9917,0.00,2.47,0.00,0.000,6,0.000,0.030,3119,2600,2599
$GC,10043,0.77,114.8,80.0,12.8,1563,10051,0.00,2.55,0.00,0.000,4,0.000,0.044,3119,3886,2599
$GC,10120,0.77,114.8,69.4,14.5,1577,10128,0.00,2.47,0.00,0.000,6,0.000,0.031,3119,2599,2599
$GC,10255,0.77,114.8,52.1,13.4,1602,10263,0.00,2.55,0.00,0.000,4,0.000,0.044,3119,3887,2599
$GC,10348,0.77,114.8,39.5,13.5,1619,10356,0.00,2.47,0.00,0.000,6,0.000,0.031,3119,2600,2599
$GC,10420,0.77,114.8,30.1,12.7,1632,10428,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2599,2599
$GC,10492,0.77,114.8,20.8,12.7,1645,10500,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2599,2599
$GC,10564,0.77,114.8,11.5,12.5,1658,10572,0.00,2.55,0.00,0.000,4,0.000,0.043,3119,3888,2599
$GC,10616,0.77,114.8,4.5,13.5,1667,10624,0.00,2.47,0.00,0.000,6,0.000,0.032,3119,2604,2599
$STATE,10635,end climb,SURFACE_DEPTH_REACHED
$STATE,10635,begin surface coast
$FINISH,0.2,1.026205
$STATE,10647,end surface coast,CONTROL_FINISHED_OK
$STATE,10648,begin surface
$SM_CCo,10665,73.43,0.883,0,0,2255,200.16
$SM_GC,1.30,0.00,0.00,73.43,0.000,0.000,0.883,1438,1965,2255,-6.93,-0.28,200.16
$IRIDIUM_FIX,5837.82,-2027.50,290697,121222
$TT8_MAMPS,0.026845
$HUMID,1674
$INTERNAL_PRESSURE,9.00471
$TCM_TEMP,12.80
$XPDR_PINGS,280
$24V_AH,20.5,7.118
$10V_AH,9.8,3.252
$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,23.050,169.875,254.050,73.425,0.000,27.743,31.352,159.567,70.000,0.000,0.000,16.815,2620.674,3129.149,613.104,4238.808,465.794,0.000,2049.866,0.000,4246.114,0.000,0.466
$DEVICE_MAMPS,234.702,73.632,1340.716,882.817,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1160.101,1187.824,863.316,1340.977,2632.248,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126172,1672
$CAP_FILE_SIZE,152557,0
$CFSIZE,260165632,258035712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,13,0
$GPS,040408,174408,5900.570,-2030.154,38,1.1,38,-14.2