version: 66.03
glider: 142
mission: 5
dive: 7
start: 4 4 108 21 2 0
data:
$ID,142
$MISSION,5
$DIVE,7
$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,-12664.331
$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,1975
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,13
$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
$GPS1,205425,5900.454,-2029.031,23,0.9,40,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-61.9
$GPS2,210139,5900.485,-2029.051,12,1.0,12,-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,227.2,1401,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.21,-63.0,0.0,0.0,0,86,0.00,0.00,-58.47,0.000,6,0.000,0.000,1435,1968,3327
$GC,89,-1.29,-123.6,2.7,-3.5,9,120,10.07,2.90,-9.20,0.000,4,0.239,0.060,2629,566,3577
$GC,356,-1.22,-123.6,49.7,-19.7,58,364,0.10,2.75,0.00,0.000,6,0.144,0.025,2646,1992,3578
$GC,428,-1.22,-123.6,62.8,-16.6,71,436,0.00,2.90,0.00,0.000,4,0.000,0.049,2646,568,3578
$GC,671,-1.22,-123.6,107.2,-18.9,117,679,0.00,2.70,0.00,0.000,6,0.000,0.027,2646,1970,3578
$GC,806,-1.22,-123.6,129.9,-16.9,142,814,0.00,2.85,0.00,0.000,4,0.000,0.050,2646,562,3578
$GC,1053,-1.22,-123.6,175.4,-18.1,188,1060,0.00,2.70,0.00,0.000,6,0.000,0.027,2646,1970,3579
$GC,1192,-1.22,-123.6,199.3,-16.7,213,1198,0.00,2.80,0.00,0.000,4,0.000,0.048,2646,563,3579
$GC,1442,-1.22,-123.6,246.0,-18.5,259,1448,0.00,2.62,0.00,0.000,6,0.000,0.026,2646,1957,3579
$GC,1577,-1.22,-123.6,269.7,-17.2,284,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1962,3578
$GC,1716,-1.22,-123.6,292.8,-17.3,309,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1963,3578
$GC,1850,-1.22,-123.6,315.3,-16.6,334,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1963,3578
$GC,1989,-1.22,-123.6,337.7,-16.4,359,1995,0.00,2.75,0.00,0.000,4,0.000,0.049,2645,568,3579
$GC,2092,-1.22,-123.6,356.4,-18.9,378,2098,0.00,2.60,0.00,0.000,6,0.000,0.027,2646,1951,3579
$GC,2232,-1.22,-123.6,380.0,-16.2,403,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1956,3578
$GC,2370,-1.22,-123.6,402.9,-16.3,428,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1957,3578
$GC,2514,-1.22,-123.6,425.3,-16.0,453,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1957,3579
$GC,2653,-1.22,-123.6,447.3,-15.8,478,2659,0.00,2.75,0.00,0.000,4,0.000,0.050,2646,563,3579
$GC,2790,-1.22,-123.6,470.2,-16.6,503,2796,0.00,2.58,0.00,0.000,6,0.000,0.027,2646,1937,3579
$GC,2929,-1.22,-123.6,492.2,-15.8,528,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1944,3579
$GC,3073,-1.22,-123.6,514.6,-15.9,553,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1944,3578
$GC,3211,-1.22,-123.6,537.2,-16.3,578,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1944,3578
$GC,3347,-1.22,-123.6,559.1,-16.0,598,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1944,3578
$GC,3475,-1.22,-123.6,579.6,-16.1,610,3479,0.00,2.72,0.00,0.000,4,0.000,0.052,2646,567,3578
$GC,3596,-1.22,-123.6,601.0,-18.1,620,3603,0.00,2.58,0.00,0.000,6,0.000,0.028,2646,1939,3579
$GC,3730,-1.22,-123.6,622.3,-15.6,633,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1939,3578
$GC,3857,-1.22,-123.6,642.7,-16.2,645,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1939,3579
$GC,3985,-1.22,-123.6,662.7,-15.5,657,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1939,3579
$GC,4112,-1.22,-123.6,682.9,-16.2,669,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1939,3579
$GC,4241,-1.22,-123.6,703.1,-15.2,681,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1939,3578
$GC,4368,-1.22,-123.6,722.6,-15.5,693,4373,0.00,2.92,0.00,0.000,4,0.000,0.067,2646,3376,3578
$GC,4378,-1.22,-123.6,724.4,-15.4,693,4385,0.00,2.92,0.00,0.000,6,0.000,0.055,2646,1929,3578
$GC,4511,-1.22,-123.6,745.6,-15.8,706,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1928,3578
$STATE,4541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4541,begin apogee
$GC,4548,-0.21,0.0,750.5,15.8,709,4675,1.35,0.00,122.78,1.360,6,0.145,0.000,2865,2588,3071
$STATE,4676,end apogee,CONTROL_FINISHED_OK
$STATE,4676,begin climb
$GC,4678,1.29,123.6,755.2,0.0,722,4812,1.92,3.03,125.05,1.321,4,0.084,0.071,3195,3902,2566
$GC,4975,1.12,123.6,705.8,21.7,749,4982,0.20,2.72,0.00,0.000,6,0.162,0.048,3169,2592,2565
$GC,5109,1.03,123.6,681.7,17.3,762,5114,0.15,2.75,0.00,0.000,4,0.148,0.057,3150,3902,2564
$GC,5255,0.97,123.6,657.6,16.1,774,5261,0.00,2.53,0.00,0.000,6,0.000,0.037,3150,2634,2564
$GC,5389,0.91,123.6,636.2,15.9,787,5394,0.17,2.60,0.00,0.000,4,0.150,0.051,3123,3903,2564
$GC,5488,0.91,123.6,620.9,14.8,795,5495,0.00,2.42,0.00,0.000,6,0.000,0.032,3123,2667,2564
$GC,5622,0.91,123.6,601.9,14.3,808,5626,0.00,2.50,0.00,0.000,4,0.000,0.051,3123,3899,2564
$GC,5705,0.91,123.6,589.2,15.3,815,5709,0.00,2.33,0.00,0.000,6,0.000,0.031,3123,2702,2563
$GC,5838,0.91,123.6,570.1,14.5,827,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2701,2563
$GC,5967,0.91,123.6,552.2,13.9,839,5971,0.00,2.42,0.00,0.000,4,0.000,0.048,3123,3906,2563
$GC,6058,0.91,123.6,539.3,15.2,853,6064,0.00,2.28,0.00,0.000,6,0.000,0.029,3122,2721,2563
$GC,6196,0.91,123.6,520.2,13.3,878,6202,0.00,2.38,0.00,0.000,4,0.000,0.048,3123,3908,2563
$GC,6260,0.91,123.6,511.5,14.3,889,6265,0.00,2.25,0.00,0.000,6,0.000,0.028,3123,2730,2563
$GC,6399,0.91,123.6,492.8,13.1,914,6405,0.00,2.33,0.00,0.000,4,0.000,0.045,3123,3901,2563
$GC,6462,0.91,123.6,484.3,14.0,925,6468,0.00,2.15,0.00,0.000,6,0.000,0.028,3123,2767,2563
$GC,6601,0.91,123.6,465.3,13.6,950,6607,0.00,2.25,0.00,0.000,4,0.000,0.046,3122,3902,2563
$GC,6673,0.91,123.6,455.1,14.2,963,6679,0.00,2.10,0.00,0.000,6,0.000,0.028,3123,2790,2563
$GC,6811,0.91,123.6,436.2,13.8,988,6819,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2786,2563
$GC,6955,0.91,123.6,417.4,13.4,1013,6961,0.00,2.20,0.00,0.000,4,0.000,0.046,3122,3904,2563
$GC,7046,0.91,123.6,404.6,14.5,1029,7051,0.00,2.08,0.00,0.000,6,0.000,0.028,3122,2802,2563
$GC,7184,0.91,123.6,385.1,14.0,1054,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2795,2563
$GC,7323,0.91,123.6,366.3,13.6,1079,7329,0.00,2.17,0.00,0.000,4,0.000,0.046,3123,3905,2563
$GC,7383,0.91,123.6,357.9,13.9,1090,7389,0.00,2.05,0.00,0.000,6,0.000,0.028,3122,2815,2563
$GC,7522,0.91,123.6,339.2,13.4,1115,7527,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2808,2563
$GC,7657,0.91,123.6,320.6,13.8,1140,7665,0.00,2.17,0.00,0.000,4,0.000,0.045,3123,3903,2563
$GC,7733,0.91,123.6,309.6,15.3,1153,7738,0.00,2.03,0.00,0.000,6,0.000,0.028,3123,2824,2563
$GC,7869,0.91,123.6,290.3,14.2,1178,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2817,2563
$GC,8008,0.91,123.6,271.1,14.0,1203,8014,0.00,2.12,0.00,0.000,4,0.000,0.044,3123,3905,2563
$GC,8086,0.91,123.6,259.8,14.1,1217,8092,0.00,2.00,0.00,0.000,6,0.000,0.028,3122,2838,2563
$GC,8221,0.91,123.6,241.0,13.8,1242,8228,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2830,2563
$GC,8360,0.91,123.6,222.7,13.0,1267,8366,0.00,2.10,0.00,0.000,4,0.000,0.045,3122,3905,2563
$GC,8406,0.91,123.6,216.2,14.0,1275,8412,0.00,1.98,0.00,0.000,6,0.000,0.028,3123,2849,2563
$GC,8542,0.91,123.6,197.9,13.1,1300,8550,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2842,2562
$GC,8681,0.91,123.6,179.7,14.0,1325,8687,0.00,2.08,0.00,0.000,4,0.000,0.044,3122,3906,2562
$GC,8749,0.91,123.6,170.4,13.6,1337,8755,0.00,1.95,0.00,0.000,6,0.000,0.027,3123,2862,2563
$GC,8884,0.91,123.6,152.5,13.2,1362,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2854,2563
$GC,9019,0.91,123.6,134.9,13.1,1387,9027,0.00,2.08,0.00,0.000,4,0.000,0.045,3123,3905,2563
$GC,9061,0.91,123.6,129.1,14.0,1394,9068,0.00,1.98,0.00,0.000,6,0.000,0.028,3123,2866,2563
$GC,9195,0.91,123.6,111.3,12.9,1419,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2866,2563
$GC,9329,0.91,123.6,93.6,12.9,1444,9335,0.00,2.05,0.00,0.000,4,0.000,0.045,3122,3902,2563
$GC,9379,0.91,123.6,86.6,14.8,1453,9387,0.00,1.95,0.00,0.000,6,0.000,0.028,3122,2878,2563
$GC,9514,0.91,123.6,68.9,12.9,1478,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2878,2563
$GC,9647,0.91,123.6,51.2,14.0,1503,9655,0.00,2.03,0.00,0.000,4,0.000,0.046,3123,3899,2563
$GC,9694,0.91,123.6,44.6,14.7,1511,9702,0.00,1.92,0.00,0.000,6,0.000,0.029,3122,2889,2563
$GC,9767,0.91,123.6,34.3,14.5,1524,9774,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2888,2563
$GC,9839,0.91,123.6,24.3,13.5,1537,9845,0.00,2.00,0.00,0.000,4,0.000,0.045,3122,3897,2563
$GC,9879,0.91,123.6,18.7,14.0,1544,9887,0.00,1.90,0.00,0.000,6,0.000,0.029,3123,2901,2563
$GC,9952,0.91,123.6,8.0,14.1,1557,9959,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2901,2563
$STATE,9996,end climb,SURFACE_DEPTH_REACHED
$STATE,9996,begin surface coast
$FINISH,0.4,1.026231
$STATE,10008,end surface coast,CONTROL_FINISHED_OK
$STATE,10008,begin surface
$SM_CCo,10027,65.80,0.887,0,0,2255,200.16
$SM_GC,1.33,0.00,0.00,65.80,0.000,0.000,0.887,1432,1958,2255,-6.84,-0.48,200.16
$IRIDIUM_FIX,5837.82,-2034.34,290697,171746
$TT8_MAMPS,0.026845
$HUMID,1731
$INTERNAL_PRESSURE,9.00471
$TCM_TEMP,12.60
$XPDR_PINGS,264
$24V_AH,20.4,7.385
$10V_AH,9.8,3.695
$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,22.550,127.150,247.825,65.800,0.000,26.234,33.077,253.270,66.000,0.000,0.000,13.487,2467.919,3018.825,533.640,3935.781,561.595,0.000,1852.985,0.000,3951.526,0.000,0.466
$DEVICE_MAMPS,239.304,70.564,1359.891,886.652,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1087.484,1114.424,801.368,1241.364,2433.843,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,117204,1567
$CAP_FILE_SIZE,143502,0
$CFSIZE,260165632,257884160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040408,235126,5859.915,-2030.008,36,1.6,36,-14.2