version: 66.03
glider: 142
mission: 5
dive: 6
start: 4 4 108 17 51 6
data:
$ID,142
$MISSION,5
$DIVE,6
$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,-12650.216
$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,22
$R_STBD_OVSHOOT,24
$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
$GPS1,174408,5900.570,-2030.154,38,1.1,38,-14.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-64.0
$GPS2,175044,5900.618,-2030.180,9,1.1,14,-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,181.7,1456,-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,-63.0,0.0,0.0,0,86,0.00,0.00,-58.62,0.000,6,0.000,0.000,1438,1965,3328
$GC,89,-1.34,-112.2,2.9,-4.8,9,112,10.23,2.85,-7.03,0.000,4,0.239,0.061,2646,563,3527
$GC,348,-1.29,-112.2,44.0,-17.7,57,356,0.00,2.72,0.00,0.000,6,0.000,0.026,2646,1980,3528
$GC,421,-1.29,-112.2,56.1,-16.9,70,428,0.00,2.88,0.00,0.000,4,0.000,0.049,2646,569,3528
$GC,664,-1.23,-112.2,98.8,-16.7,116,672,0.12,2.70,0.00,0.000,6,0.145,0.027,2667,1976,3528
$GC,799,-1.23,-112.2,119.7,-15.6,141,806,0.00,2.85,0.00,0.000,4,0.000,0.049,2667,568,3528
$GC,948,-1.23,-112.2,143.9,-15.9,169,955,0.00,2.67,0.00,0.000,6,0.000,0.027,2667,1971,3528
$GC,1083,-1.23,-112.2,164.7,-14.4,194,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1976,3528
$GC,1222,-1.23,-112.2,185.1,-14.7,219,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1976,3528
$GC,1356,-1.23,-112.2,206.1,-15.8,244,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1976,3528
$GC,1495,-1.23,-112.2,226.9,-15.0,269,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1976,3528
$GC,1631,-1.23,-112.2,246.9,-14.9,294,1639,0.00,2.83,0.00,0.000,4,0.000,0.050,2667,565,3528
$GC,1770,-1.23,-112.2,268.7,-15.9,319,1776,0.00,2.65,0.00,0.000,6,0.000,0.027,2667,1978,3528
$GC,1905,-1.23,-112.2,289.5,-14.7,344,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1984,3528
$GC,2044,-1.23,-112.2,309.2,-14.7,369,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1985,3528
$GC,2180,-1.23,-112.2,329.1,-14.9,394,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1985,3528
$GC,2319,-1.23,-112.2,349.1,-14.4,419,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1985,3528
$GC,2456,-1.23,-112.2,368.7,-14.0,444,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1985,3529
$GC,2599,-1.23,-112.2,388.3,-14.4,469,2606,0.00,2.80,0.00,0.000,4,0.000,0.050,2666,564,3529
$GC,2699,-1.23,-112.2,404.0,-15.5,487,2705,0.00,2.65,0.00,0.000,6,0.000,0.027,2667,1975,3528
$GC,2837,-1.23,-112.2,423.9,-14.6,512,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1980,3528
$GC,2981,-1.23,-112.2,444.5,-14.5,537,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1981,3528
$GC,3119,-1.23,-112.2,464.8,-14.1,562,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1981,3528
$GC,3257,-1.23,-112.2,484.2,-14.3,587,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1981,3528
$GC,3396,-1.23,-112.2,503.4,-13.8,612,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1981,3528
$GC,3540,-1.23,-112.2,523.6,-14.4,637,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1981,3528
$GC,3678,-1.23,-112.2,543.8,-14.1,662,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1981,3528
$GC,3818,-1.23,-112.2,563.9,-14.6,679,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1981,3528
$GC,3945,-1.23,-112.2,582.6,-14.6,691,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1981,3528
$GC,4072,-1.23,-112.2,600.7,-14.0,703,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1982,3528
$GC,4200,-1.23,-112.2,618.5,-14.0,715,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1982,3528
$GC,4329,-1.23,-112.2,636.2,-13.8,727,4333,0.00,2.83,0.00,0.000,4,0.000,0.055,2667,565,3529
$GC,4405,-1.23,-112.2,647.7,-15.0,733,4412,0.00,2.65,0.00,0.000,6,0.000,0.030,2667,1968,3528
$GC,4540,-1.23,-112.2,666.7,-14.0,746,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1968,3528
$GC,4666,-1.23,-112.2,684.0,-13.6,758,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1969,3528
$GC,4794,-1.23,-112.2,700.8,-12.9,770,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1968,3528
$GC,4921,-1.23,-112.2,717.7,-13.5,782,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1969,3528
$GC,5049,-1.23,-112.2,735.3,-13.4,794,5053,0.00,2.90,0.00,0.000,4,0.000,0.072,2667,3376,3528
$GC,5058,-1.23,-112.2,736.7,-13.1,794,5065,0.00,2.85,0.00,0.000,6,0.000,0.058,2667,1977,3528
$STATE,5158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5158,begin apogee
$GC,5164,-0.22,0.0,750.4,13.5,804,5362,1.38,0.00,132.68,1.171,6,0.144,0.000,2889,2588,3072
$STATE,5363,end apogee,CONTROL_FINISHED_OK
$STATE,5363,begin climb
$GC,5365,1.34,112.2,755.3,0.0,824,5573,1.92,2.95,136.45,1.127,4,0.074,0.067,3229,3901,2613
$GC,5826,1.10,112.2,670.4,22.3,867,5831,0.30,2.65,0.00,0.000,6,0.173,0.040,3190,2591,2612
$GC,5959,0.95,112.2,644.7,18.5,879,5964,0.22,2.70,0.00,0.000,4,0.164,0.051,3159,3900,2611
$GC,6066,0.86,112.2,626.0,17.5,888,6071,0.17,2.58,0.00,0.000,6,0.162,0.035,3136,2594,2611
$GC,6200,0.86,112.2,606.6,14.5,900,6205,0.00,2.67,0.00,0.000,4,0.000,0.049,3136,3906,2611
$GC,6307,0.81,112.2,589.8,15.1,909,6312,0.00,2.58,0.00,0.000,6,0.000,0.031,3136,2589,2610
$GC,6440,0.77,112.2,570.3,14.3,921,6445,0.15,2.65,0.00,0.000,4,0.144,0.047,3113,3901,2610
$GC,6558,0.77,112.2,553.9,13.7,931,6562,0.00,2.53,0.00,0.000,6,0.000,0.029,3113,2592,2610
$GC,6695,0.77,112.2,536.5,12.6,952,6703,0.00,2.65,0.00,0.000,4,0.000,0.047,3113,3902,2611
$GC,6764,0.77,112.2,527.1,13.8,964,6772,0.00,2.53,0.00,0.000,6,0.000,0.030,3113,2601,2610
$GC,6908,0.77,112.2,508.7,13.0,989,6914,0.00,2.60,0.00,0.000,4,0.000,0.045,3113,3906,2610
$GC,6999,0.77,112.2,496.7,13.6,1005,7005,0.00,2.50,0.00,0.000,6,0.000,0.029,3113,2600,2611
$GC,7138,0.77,112.2,478.2,13.3,1030,7144,0.00,2.60,0.00,0.000,4,0.000,0.044,3112,3908,2610
$GC,7209,0.77,112.2,468.3,13.7,1043,7216,0.00,2.50,0.00,0.000,6,0.000,0.028,3113,2598,2611
$GC,7348,0.77,112.2,450.4,12.6,1068,7356,0.00,2.60,0.00,0.000,4,0.000,0.044,3113,3896,2610
$GC,7434,0.77,112.2,438.9,13.7,1083,7440,0.00,2.47,0.00,0.000,6,0.000,0.028,3113,2599,2610
$GC,7572,0.77,112.2,421.4,12.5,1108,7580,0.00,2.60,0.00,0.000,4,0.000,0.044,3113,3900,2610
$GC,7641,0.77,112.2,412.3,13.3,1120,7649,0.00,2.53,0.00,0.000,6,0.000,0.028,3113,2590,2610
$GC,7785,0.77,112.2,394.8,11.8,1145,7791,0.00,2.60,0.00,0.000,4,0.000,0.044,3113,3906,2610
$GC,7846,0.77,112.2,386.8,13.1,1156,7854,0.00,2.53,0.00,0.000,6,0.000,0.028,3113,2596,2610
$GC,7989,0.77,112.2,369.7,12.2,1181,7995,0.00,2.58,0.00,0.000,4,0.000,0.044,3113,3902,2610
$GC,8067,0.77,112.2,359.5,13.0,1195,8073,0.00,2.47,0.00,0.000,6,0.000,0.028,3113,2599,2610
$GC,8203,0.77,112.2,343.6,12.2,1220,8211,0.00,2.60,0.00,0.000,4,0.000,0.043,3113,3905,2610
$GC,8300,0.77,112.2,331.9,12.4,1237,8306,0.00,2.47,0.00,0.000,6,0.000,0.028,3112,2597,2610
$GC,8435,0.81,112.2,315.6,11.5,1262,8443,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2597,2610
$GC,8574,0.81,112.2,299.5,12.0,1287,8580,0.00,2.58,0.00,0.000,4,0.000,0.043,3112,3908,2610
$GC,8685,0.81,112.2,285.3,13.6,1307,8691,0.00,2.50,0.00,0.000,6,0.000,0.028,3113,2590,2610
$GC,8821,0.81,112.2,268.4,11.9,1332,8829,0.00,2.60,0.00,0.000,4,0.000,0.043,3113,3900,2610
$GC,8901,0.81,112.2,258.1,12.7,1346,8909,0.00,2.50,0.00,0.000,6,0.000,0.028,3113,2592,2610
$GC,9041,0.85,112.2,241.0,13.1,1371,9047,0.00,2.58,0.00,0.000,4,0.000,0.042,3112,3906,2610
$GC,9109,0.85,112.2,232.2,13.4,1383,9115,0.00,2.47,0.00,0.000,6,0.000,0.028,3112,2598,2610
$GC,9244,0.89,112.2,215.2,13.0,1408,9253,0.15,2.58,0.00,0.000,4,0.064,0.041,3144,3900,2610
$GC,9332,0.84,112.2,202.5,15.4,1423,9338,0.00,2.45,0.00,0.000,6,0.000,0.028,3144,2600,2610
$GC,9468,0.84,112.2,182.5,14.2,1448,9475,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2599,2610
$GC,9607,0.84,112.2,162.8,13.5,1473,9613,0.00,2.55,0.00,0.000,4,0.000,0.041,3144,3905,2610
$GC,9775,0.79,112.2,137.4,15.3,1504,9783,0.12,2.50,0.00,0.000,6,0.132,0.029,3123,2595,2610
$GC,9911,0.79,112.2,119.5,12.6,1529,9919,0.00,2.58,0.00,0.000,4,0.000,0.043,3123,3898,2610
$GC,10019,0.79,112.2,104.8,13.2,1549,10026,0.00,2.47,0.00,0.000,6,0.000,0.029,3122,2602,2610
$GC,10153,0.79,112.2,87.8,12.4,1574,10161,0.00,2.58,0.00,0.000,4,0.000,0.042,3122,3905,2610
$GC,10236,0.79,112.2,76.8,13.7,1589,10244,0.00,2.50,0.00,0.000,6,0.000,0.031,3123,2600,2611
$GC,10370,0.79,112.2,60.0,12.5,1614,10378,0.00,2.58,0.00,0.000,4,0.000,0.042,3123,3903,2610
$GC,10448,0.79,112.2,49.8,12.8,1628,10456,0.00,2.50,0.00,0.000,6,0.000,0.031,3122,2598,2610
$GC,10521,0.79,112.2,40.7,11.7,1641,10528,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2598,2610
$GC,10593,0.79,112.2,31.8,13.0,1654,10601,0.00,2.58,0.00,0.000,4,0.000,0.044,3123,3900,2610
$GC,10691,0.79,112.2,18.5,14.2,1672,10699,0.00,2.50,0.00,0.000,6,0.000,0.031,3122,2595,2610
$GC,10764,0.79,112.2,8.4,13.0,1685,10771,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2595,2610
$STATE,10813,end climb,SURFACE_DEPTH_REACHED
$STATE,10813,begin surface coast
$FINISH,0.3,1.003105
$STATE,10826,end surface coast,CONTROL_FINISHED_OK
$STATE,10826,begin surface
$SM_CCo,10843,77.53,0.888,0,0,2255,200.16
$SM_GC,1.20,0.00,0.00,77.53,0.000,0.000,0.888,1436,1970,2255,-6.94,-0.14,200.16
$IRIDIUM_FIX,5841.97,-1932.20,290697,141425
$TT8_MAMPS,0.026845
$HUMID,1693
$INTERNAL_PRESSURE,9.01447
$TCM_TEMP,12.70
$XPDR_PINGS,254
$24V_AH,20.6,7.248
$10V_AH,9.8,3.482
$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,23.375,149.050,269.125,77.525,0.000,27.519,35.686,211.185,63.500,0.000,0.000,15.593,2652.456,3208.818,659.419,4260.546,528.071,0.000,2111.838,0.000,4268.503,0.000,0.465
$DEVICE_MAMPS,239.304,72.098,1171.209,888.186,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1176.398,1204.698,861.336,1334.082,2615.344,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126657,1696
$CAP_FILE_SIZE,154539,0
$CFSIZE,260165632,257949696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,24,0
$GPS,040408,205425,5900.454,-2029.031,23,0.9,40,-14.2