version: 66.03
glider: 142
mission: 5
dive: 54
start: 4 14 108 19 43 31
data:
$ID,142
$MISSION,5
$DIVE,54
$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,200
$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,270
$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,-13680.742
$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,26
$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
$GPS1,193337,5844.164,-2026.782,36,1.0,36,-14.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-51.7
$GPS2,194314,5844.125,-2026.886,14,1.0,31,-14.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5844.125,-2032.491
$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,284.1,20000,-14.9,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.86,-194.7,0.0,0.0,0,160,0.00,0.00,-130.05,0.000,2,0.000,0.000,1434,2234,3604
$GC,163,-0.86,-194.7,3.5,-5.4,18,187,10.62,2.70,-7.07,0.000,4,0.235,0.057,2724,889,3865
$GC,423,-0.80,-194.7,45.8,-14.8,66,431,0.00,2.75,0.00,0.000,6,0.000,0.030,2724,2303,3866
$GC,562,-0.72,-194.7,65.0,-13.7,91,569,0.20,2.83,0.00,0.000,4,0.133,0.046,2756,888,3866
$GC,752,-0.72,-194.7,87.5,-12.1,126,760,0.00,2.72,0.00,0.000,6,0.000,0.030,2756,2291,3866
$GC,892,-0.72,-194.7,102.8,-11.3,151,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2292,3866
$GC,1026,-0.72,-194.7,117.6,-11.3,176,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2292,3866
$GC,1164,-0.72,-194.7,132.4,-10.9,201,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2292,3866
$GC,1301,-0.72,-194.7,147.0,-9.5,226,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2292,3866
$GC,1442,-0.72,-194.7,161.4,-11.1,251,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2292,3867
$GC,1772,-0.72,-194.7,197.9,-10.7,312,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2292,3866
$GC,2106,-0.72,-194.7,234.4,-11.0,373,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2293,3866
$GC,2435,-0.72,-194.7,272.0,-11.1,434,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2292,3866
$GC,2768,-0.72,-194.7,307.7,-10.5,495,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2292,3866
$GC,3099,-0.72,-194.7,341.6,-10.1,556,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2293,3866
$GC,3438,-0.72,-194.7,376.5,-9.9,617,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2293,3866
$GC,3777,-0.72,-194.7,410.4,-9.8,678,3784,0.00,2.75,0.00,0.000,4,0.000,0.048,2756,887,3866
$GC,3828,-0.72,-194.7,415.8,-10.3,687,3835,0.00,2.65,0.00,0.000,6,0.000,0.028,2756,2293,3866
$GC,4173,-0.72,-194.7,450.6,-9.6,748,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2294,3866
$GC,4512,-0.72,-194.7,484.8,-10.6,809,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2294,3866
$GC,4852,-0.72,-194.7,521.6,-10.8,870,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2294,3866
$GC,5194,-0.72,-194.7,558.0,-10.3,931,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2294,3866
$GC,5533,-0.72,-194.7,594.6,-10.9,992,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2294,3866
$GC,5861,-0.72,-194.7,629.9,-11.0,1027,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2294,3866
$GC,6178,-0.72,-194.7,664.3,-10.7,1057,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2294,3866
$GC,6497,-0.72,-194.7,697.9,-10.7,1087,6501,0.00,2.83,0.00,0.000,4,0.000,0.059,2756,3697,3866
$GC,6535,-0.72,-194.7,702.0,-10.8,1090,6540,0.00,2.78,0.00,0.000,6,0.000,0.044,2756,2298,3866
$GC,6861,-0.72,-194.7,735.9,-10.4,1120,6862,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2298,3866
$GC,7178,-0.72,-194.7,769.2,-10.4,1150,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2298,3866
$GC,7498,-0.72,-194.7,800.6,-9.6,1180,7503,0.00,3.05,0.00,0.000,4,0.000,0.089,2756,3699,3866
$GC,7542,-0.72,-194.7,804.9,-9.7,1183,7548,0.00,2.97,0.00,0.000,6,0.000,0.074,2756,2295,3866
$GC,7868,-0.72,-194.7,835.4,-9.4,1214,7869,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2294,3866
$GC,8186,-0.72,-194.7,866.2,-9.6,1244,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2294,3866
$GC,8505,-0.72,-194.7,895.2,-8.7,1274,8506,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2294,3866
$GC,8823,-0.72,-194.7,923.9,-9.4,1304,8828,0.00,2.83,0.00,0.000,4,0.000,0.051,2756,3703,3866
$GC,8884,-0.72,-194.7,929.9,-10.0,1309,8889,0.00,2.75,0.00,0.000,6,0.000,0.037,2756,2291,3866
$GC,9210,-0.72,-194.7,960.5,-9.2,1339,9211,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2290,3866
$GC,9529,-0.72,-194.7,989.2,-8.8,1369,9530,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2290,3866
$STATE,9535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9536,begin apogee
$GC,9542,-0.21,0.0,990.2,8.9,1370,9749,0.65,0.00,199.32,1.535,6,0.116,0.000,2869,2743,3071
$STATE,9749,end apogee,CONTROL_FINISHED_OK
$STATE,9750,begin climb
$GC,9752,0.86,194.7,997.1,0.0,1391,9967,1.35,2.58,203.85,1.484,4,0.081,0.055,3101,3893,2277
$GC,10104,0.69,194.7,955.9,15.8,1424,10109,0.20,2.35,0.00,0.000,6,0.125,0.033,3074,2747,2275
$GC,10429,0.57,194.7,915.4,12.1,1454,10433,0.15,2.38,0.00,0.000,4,0.123,0.049,3049,3895,2274
$GC,10461,0.50,194.7,911.7,10.7,1456,10467,0.00,2.25,0.00,0.000,6,0.000,0.032,3049,2762,2274
$GC,10788,0.44,194.7,879.7,10.1,1487,10790,0.20,0.00,0.00,0.000,6,0.114,0.000,3018,2761,2274
$GC,11106,0.55,278.7,856.7,7.1,1517,11198,0.00,3.05,85.43,1.430,4,0.000,0.049,3018,1342,1933
$GC,11210,0.74,376.6,849.0,6.6,1527,11322,0.32,2.92,104.03,1.403,6,0.040,0.030,3083,2766,1535
$GC,11641,0.65,376.6,782.8,16.0,1568,11645,0.00,2.33,0.00,0.000,4,0.000,0.051,3083,3903,1527
$GC,11691,0.59,376.6,774.5,15.8,1572,11696,0.22,2.25,0.00,0.000,6,0.109,0.031,3049,2761,1527
$GC,12015,0.59,376.6,740.1,10.4,1602,12020,0.00,2.85,0.00,0.000,4,0.000,0.045,3048,1343,1525
$GC,12036,0.59,382.0,738.0,9.8,1603,12046,0.00,2.83,4.97,0.897,6,0.000,0.029,3049,2775,1512
$GC,12366,0.60,390.3,705.5,9.7,1634,12382,0.00,2.92,10.30,1.141,4,0.000,0.044,3048,1339,1478
$GC,12398,0.67,408.9,702.3,9.4,1636,12425,0.00,2.80,21.00,1.268,6,0.000,0.031,3048,2756,1404
$GC,12744,0.74,421.3,670.1,9.6,1669,12766,0.15,2.92,13.82,1.183,4,0.054,0.044,3083,1337,1352
$GC,12777,0.74,421.3,666.0,13.1,1672,12782,0.00,2.80,0.00,0.000,6,0.000,0.031,3084,2742,1351
$GC,13102,0.67,421.3,615.2,16.0,1702,13106,0.00,2.30,0.00,0.000,4,0.000,0.048,3083,3897,1349
$GC,13151,0.67,421.3,607.2,14.4,1706,13157,0.00,2.22,0.00,0.000,6,0.000,0.030,3083,2748,1348
$GC,13490,0.60,421.3,555.8,14.0,1762,13496,0.15,2.30,0.00,0.000,4,0.109,0.048,3057,3893,1348
$GC,13530,0.60,421.3,550.5,11.4,1769,13536,0.00,2.17,0.00,0.000,6,0.000,0.031,3057,2765,1348
$GC,13873,0.63,442.5,517.1,9.3,1830,13901,0.00,2.88,22.90,1.174,4,0.000,0.046,3057,1342,1265
$GC,13936,0.70,451.6,511.2,9.7,1841,13954,0.00,2.80,10.95,1.088,6,0.000,0.029,3057,2761,1229
$GC,14291,0.79,476.6,478.2,9.1,1904,14326,0.15,2.92,27.42,1.157,4,0.053,0.045,3094,1346,1126
$GC,14350,0.79,476.6,470.1,14.9,1914,14357,0.00,2.78,0.00,0.000,6,0.000,0.031,3094,2742,1124
$GC,14693,0.72,476.6,413.2,17.2,1975,14700,0.00,2.33,0.00,0.000,4,0.000,0.048,3094,3915,1122
$GC,14745,0.72,476.6,404.4,14.8,1984,14751,0.00,2.25,0.00,0.000,6,0.000,0.030,3094,2750,1122
$GC,15087,0.65,476.6,346.3,18.3,2045,15093,0.15,2.30,0.00,0.000,4,0.107,0.047,3068,3896,1121
$GC,15124,0.65,476.6,340.9,13.2,2051,15131,0.00,2.17,0.00,0.000,6,0.000,0.029,3067,2761,1121
$GC,15455,0.70,476.6,303.5,10.6,2112,15463,0.00,2.83,0.00,0.000,4,0.000,0.044,3067,1344,1121
$GC,15502,0.80,504.0,298.9,9.0,2120,15536,0.10,2.75,28.23,1.055,6,0.042,0.030,3096,2750,1016
$GC,15863,0.73,504.0,244.0,16.0,2185,15869,0.00,2.28,0.00,0.000,4,0.000,0.047,3096,3904,1011
$GC,15898,0.73,504.0,238.1,15.7,2191,15905,0.00,2.20,0.00,0.000,6,0.000,0.029,3096,2761,1011
$GC,16230,0.67,504.0,184.3,17.8,2252,16238,0.15,0.00,0.00,0.000,6,0.104,0.000,3070,2754,1010
$GC,16565,0.78,540.8,146.6,8.7,2313,16609,0.00,2.88,37.38,0.978,4,0.000,0.044,3070,1338,866
$GC,16642,0.93,580.1,138.5,8.6,2326,16689,0.22,2.88,40.70,0.967,6,0.034,0.029,3123,2776,706
$GC,16823,0.81,580.1,102.7,23.8,2357,16830,0.15,2.25,0.00,0.000,4,0.106,0.045,3098,3897,702
$GC,16859,0.77,580.1,94.7,17.1,2363,16865,0.00,2.15,0.00,0.000,6,0.000,0.031,3099,2802,701
$GC,16994,0.77,580.1,72.5,18.3,2388,17002,0.00,2.95,0.00,0.000,4,0.000,0.046,3098,1350,700
$GC,17028,0.77,580.1,67.6,17.4,2393,17034,0.00,2.83,0.00,0.000,6,0.000,0.029,3098,2787,700
$GC,17166,0.77,580.1,46.9,14.2,2418,17174,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2787,699
$GC,17300,0.77,580.1,25.7,18.8,2443,17308,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2787,699
$GC,17435,0.77,580.1,3.2,18.4,2468,17443,0.00,2.92,0.00,0.000,4,0.000,0.047,3098,1350,699
$STATE,17448,end climb,SURFACE_DEPTH_REACHED
$STATE,17449,begin surface coast
$FINISH,0.1,1.026238
$STATE,17461,end surface coast,CONTROL_FINISHED_OK
$STATE,17461,begin surface
$SM_CCo,17540,0.00,0.000,0,0,697,582.10
$SM_GC,0.51,8.35,0.00,0.00,0.042,0.000,0.000,1437,2319,697,-6.79,0.54,582.10
$IRIDIUM_FIX,5825.43,-2014.92,090797,141442
$TT8_MAMPS,0.026078
$HUMID,1749
$INTERNAL_PRESSURE,8.85822
$TCM_TEMP,11.80
$XPDR_PINGS,676
$24V_AH,19.8,20.207
$10V_AH,9.7,17.091
$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,23.500,131.975,810.300,0.000,0.000,28.526,34.974,339.758,169.000,0.000,0.000,32.794,3728.198,7321.921,861.166,5391.815,781.463,0.000,2861.633,0.000,5388.783,0.000,0.465
$DEVICE_MAMPS,234.702,88.972,1534.767,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1710.845,1794.574,1077.414,980.547,2545.328,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,183589,2472
$CAP_FILE_SIZE,201022,0
$CFSIZE,260165632,252223488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150408,003708,5844.021,-2034.876,41,1.4,41,-14.2