version: 66.03
glider: 142
mission: 5
dive: 80
start: 4 20 108 16 32 32
data:
$ID,142
$MISSION,5
$DIVE,80
$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,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,90
$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,-14262.32
$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,22
$R_STBD_OVSHOOT,23
$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
$GPS1,161558,5917.574,-2246.796,40,2.7,59,-15.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-52.6
$GPS2,163214,5917.570,-2246.825,14,1.7,31,-15.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5917.570,-2241.311
$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,105.5,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,151,0.00,0.00,-121.65,0.000,2,0.000,0.000,1433,2294,3551
$GC,154,-0.86,-194.7,3.1,-4.0,17,185,11.05,2.88,-8.85,0.000,4,0.242,0.052,2729,3700,3866
$GC,208,-0.78,-194.7,13.3,-13.5,25,216,0.00,2.80,0.00,0.000,6,0.000,0.033,2729,2295,3867
$GC,343,-0.70,-194.7,32.2,-13.9,50,351,0.22,0.00,0.00,0.000,6,0.138,0.000,2764,2295,3867
$GC,478,-0.70,-194.7,47.6,-10.6,75,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2295,3867
$GC,616,-0.70,-194.7,62.4,-10.2,100,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2294,3867
$GC,754,-0.70,-194.7,76.8,-10.8,125,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2294,3867
$GC,888,-0.70,-194.7,91.7,-11.2,150,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2294,3867
$GC,1028,-0.70,-194.7,106.7,-10.8,175,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2294,3867
$GC,1162,-0.70,-194.7,121.1,-10.7,200,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2294,3867
$GC,1301,-0.70,-194.7,135.6,-10.5,225,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2294,3867
$GC,1437,-0.70,-194.7,150.5,-10.4,250,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2294,3867
$GC,1770,-0.70,-194.7,184.4,-10.2,311,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2293,3867
$GC,2099,-0.70,-194.7,218.7,-10.2,372,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2293,3867
$GC,2433,-0.70,-194.7,251.9,-10.0,433,2439,0.00,2.80,0.00,0.000,4,0.000,0.044,2764,3709,3867
$GC,2451,-0.70,-194.7,253.8,-9.6,436,2459,0.00,2.78,0.00,0.000,6,0.000,0.033,2764,2291,3867
$GC,2785,-0.70,-194.7,288.5,-10.5,497,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2289,3866
$GC,3115,-0.70,-194.7,321.0,-9.6,558,3123,0.00,2.83,0.00,0.000,4,0.000,0.044,2764,3702,3867
$GC,3137,-0.70,-194.7,322.8,-9.3,561,3143,0.00,2.72,0.00,0.000,6,0.000,0.033,2764,2289,3867
$GC,3469,-0.70,-194.7,355.7,-9.7,622,3475,0.00,2.80,0.00,0.000,4,0.000,0.044,2765,3706,3867
$GC,3489,-0.70,-194.7,357.5,-9.7,625,3496,0.00,2.70,0.00,0.000,6,0.000,0.033,2764,2298,3867
$GC,3831,-0.70,-194.7,390.7,-9.7,686,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2297,3866
$GC,4171,-0.70,-194.7,425.7,-10.4,747,4178,0.00,2.78,0.00,0.000,4,0.000,0.045,2765,3708,3867
$GC,4190,-0.70,-194.7,427.6,-10.5,750,4196,0.00,2.70,0.00,0.000,6,0.000,0.034,2764,2298,3866
$GC,4532,-0.70,-194.7,462.4,-10.0,811,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2298,3867
$GC,4870,-0.70,-194.7,496.2,-10.0,872,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2298,3867
$GC,5211,-0.70,-194.7,529.2,-9.5,933,5218,0.00,2.78,0.00,0.000,4,0.000,0.047,2764,3703,3866
$GC,5237,-0.70,-194.7,531.6,-9.9,937,5243,0.00,2.70,0.00,0.000,6,0.000,0.033,2764,2306,3867
$GC,5577,-0.70,-194.7,563.2,-8.9,998,5583,0.00,2.80,0.00,0.000,4,0.000,0.048,2764,3710,3867
$GC,5590,-0.70,-194.7,564.3,-8.7,1000,5597,0.00,2.72,0.00,0.000,6,0.000,0.034,2764,2303,3867
$GC,5933,-0.70,-194.7,594.7,-9.4,1061,5939,0.00,2.80,0.00,0.000,4,0.000,0.050,2764,3701,3867
$GC,5962,-0.70,-194.7,597.4,-9.5,1066,5968,0.00,2.70,0.00,0.000,6,0.000,0.036,2764,2316,3866
$GC,6288,-0.70,-194.7,627.2,-9.5,1099,6289,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2315,3867
$GC,6610,-0.70,-194.7,655.8,-9.1,1129,6614,0.00,2.83,0.00,0.000,4,0.000,0.058,2764,3703,3867
$GC,6637,-0.70,-194.7,658.9,-10.1,1131,6641,0.00,2.70,0.00,0.000,6,0.000,0.041,2764,2336,3866
$GC,6962,-0.70,-194.7,687.7,-8.3,1161,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2335,3866
$GC,7281,-0.70,-194.7,716.1,-8.9,1191,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2335,3866
$GC,7600,-0.70,-194.7,744.2,-9.3,1221,7604,0.00,2.88,0.00,0.000,4,0.000,0.071,2764,3700,3865
$GC,7633,-0.74,-194.7,747.5,-9.6,1223,7639,0.00,2.78,0.00,0.000,6,0.000,0.057,2764,2341,3865
$GC,7958,-0.74,-194.7,776.7,-8.8,1254,7959,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2340,3865
$GC,8279,-0.78,-194.7,804.8,-8.5,1284,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2341,3864
$GC,8605,-0.82,-194.7,832.9,-8.7,1315,8607,0.12,0.00,0.00,0.000,6,0.066,0.000,2740,2341,3864
$GC,8923,-0.82,-194.7,865.1,-10.4,1345,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2341,3864
$GC,9241,-0.82,-194.7,898.7,-10.8,1375,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2335,3863
$GC,9558,-0.82,-194.7,933.3,-10.9,1405,9560,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2335,3863
$GC,9878,-0.82,-194.7,967.5,-11.0,1435,9880,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2335,3863
$STATE,10098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10098,begin apogee
$GC,10104,-0.21,0.0,991.0,10.0,1456,10311,0.75,0.00,200.50,1.585,6,0.118,0.000,2867,2751,3071
$STATE,10312,end apogee,CONTROL_FINISHED_OK
$STATE,10312,begin climb
$GC,10314,0.86,194.7,997.1,0.0,1477,10533,1.38,2.60,207.98,1.527,4,0.081,0.058,3101,3892,2277
$GC,10723,0.68,194.7,946.1,16.0,1515,10730,0.20,2.38,0.00,0.000,6,0.129,0.035,3074,2734,2274
$GC,11048,0.56,194.7,904.7,12.5,1546,11053,0.15,2.42,0.00,0.000,4,0.126,0.052,3049,3896,2273
$GC,11126,0.51,194.7,895.9,10.4,1552,11132,0.00,2.25,0.00,0.000,6,0.000,0.034,3049,2760,2273
$GC,11452,0.45,196.5,863.9,9.9,1583,11454,0.17,0.00,0.00,0.000,6,0.114,0.000,3022,2759,2273
$GC,11770,0.54,265.7,838.8,7.6,1613,11848,0.00,0.00,72.25,1.470,6,0.000,0.000,3022,2759,1988
$GC,12167,0.66,329.8,808.9,7.8,1651,12238,0.22,0.00,67.60,1.443,6,0.051,0.000,3065,2760,1726
$GC,12556,0.61,329.8,760.8,12.5,1688,12557,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2759,1719
$GC,12876,0.57,329.8,721.8,11.8,1718,12881,0.12,2.35,0.00,0.000,4,0.112,0.051,3047,3906,1718
$GC,12926,0.57,329.8,716.1,10.1,1722,12930,0.00,2.20,0.00,0.000,6,0.000,0.032,3047,2774,1717
$GC,13256,0.58,340.9,683.6,9.6,1753,13276,0.00,2.90,10.95,1.205,4,0.000,0.048,3047,1343,1680
$GC,13303,0.61,366.4,679.0,9.1,1757,13341,0.00,2.88,28.30,1.346,6,0.000,0.031,3047,2794,1576
$GC,13659,0.63,375.5,646.8,9.7,1791,13675,0.00,3.00,10.25,1.183,4,0.000,0.046,3047,1339,1539
$GC,13703,0.69,381.5,642.5,9.8,1794,13720,0.12,2.85,8.15,1.135,6,0.057,0.031,3073,2770,1515
$GC,14037,0.64,381.5,600.7,11.9,1826,14041,0.00,2.28,0.00,0.000,4,0.000,0.051,3073,3902,1512
$GC,14088,0.64,381.5,594.4,11.4,1833,14095,0.00,2.22,0.00,0.000,6,0.000,0.032,3073,2778,1512
$GC,14432,0.59,381.5,550.1,13.7,1894,14439,0.15,2.88,0.00,0.000,4,0.108,0.048,3046,1341,1511
$GC,14461,0.59,381.5,546.3,11.0,1899,14468,0.00,2.80,0.00,0.000,6,0.000,0.030,3047,2779,1510
$GC,14804,0.68,410.5,514.7,9.0,1960,14839,0.00,0.00,30.80,1.249,6,0.000,0.000,3047,2779,1397
$GC,15175,0.80,450.0,483.6,8.6,2026,15227,0.20,3.05,41.88,1.233,4,0.048,0.045,3092,1346,1235
$GC,15278,0.80,450.0,469.4,13.4,2044,15284,0.00,2.85,0.00,0.000,6,0.000,0.030,3092,2768,1233
$GC,15619,0.72,450.0,413.5,16.2,2105,15626,0.00,2.28,0.00,0.000,4,0.000,0.048,3092,3894,1229
$GC,15676,0.72,450.0,404.3,15.4,2115,15683,0.00,2.20,0.00,0.000,6,0.000,0.031,3092,2775,1229
$GC,16018,0.64,450.0,347.4,16.6,2176,16026,0.17,0.00,0.00,0.000,6,0.108,0.000,3062,2772,1228
$GC,16352,0.71,470.1,314.3,9.3,2237,16379,0.00,2.88,20.35,1.077,4,0.000,0.046,3062,1342,1154
$GC,16404,0.81,484.4,309.5,9.5,2245,16430,0.17,2.85,16.52,1.067,6,0.047,0.028,3100,2791,1096
$GC,16758,0.71,484.4,249.6,15.5,2309,16763,0.15,0.00,0.00,0.000,6,0.114,0.000,3075,2791,1092
$GC,17088,0.71,484.4,208.0,10.6,2370,17095,0.00,2.92,0.00,0.000,4,0.000,0.044,3074,1349,1091
$GC,17131,0.77,484.4,203.5,11.5,2377,17137,0.00,2.75,0.00,0.000,6,0.000,0.030,3074,2764,1090
$GC,17462,0.77,484.4,166.9,12.7,2438,17470,0.00,2.88,0.00,0.000,4,0.000,0.044,3074,1340,1090
$GC,17495,0.83,484.4,163.3,10.8,2443,17502,0.12,2.75,0.00,0.000,6,0.054,0.029,3101,2760,1090
$GC,17825,0.75,484.4,106.7,17.4,2504,17833,0.00,2.25,0.00,0.000,4,0.000,0.047,3101,3894,1090
$GC,17868,0.70,484.4,99.5,17.3,2511,17875,0.17,2.20,0.00,0.000,6,0.106,0.031,3074,2748,1090
$GC,18008,0.74,484.4,82.8,10.8,2536,18016,0.00,2.80,0.00,0.000,4,0.000,0.047,3073,1342,1089
$GC,18051,0.81,484.4,78.0,10.3,2543,18058,0.12,2.70,0.00,0.000,6,0.054,0.028,3102,2746,1089
$GC,18189,0.73,484.4,56.9,17.0,2568,18197,0.12,2.28,0.00,0.000,4,0.117,0.046,3084,3891,1089
$GC,18225,0.73,484.4,51.3,14.6,2574,18233,0.00,2.25,0.00,0.000,6,0.000,0.032,3084,2740,1089
$GC,18360,0.73,484.4,35.0,13.9,2599,18368,0.00,2.80,0.00,0.000,4,0.000,0.048,3084,1336,1089
$GC,18391,0.73,484.4,31.3,12.0,2604,18399,0.00,2.72,0.00,0.000,6,0.000,0.030,3084,2738,1089
$GC,18526,0.73,484.4,14.1,11.0,2629,18534,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2738,1089
$STATE,18622,end climb,SURFACE_DEPTH_REACHED
$STATE,18622,begin surface coast
$FINISH,0.4,1.026211
$STATE,18634,end surface coast,CONTROL_FINISHED_OK
$STATE,18634,begin surface
$SM_CCo,18712,0.00,0.000,0,0,1087,486.68
$SM_GC,0.53,8.43,0.00,0.00,0.055,0.000,0.000,1437,2289,1087,-6.79,-0.28,486.68
$IRIDIUM_FIX,5854.46,-2249.82,150797,161642
$TT8_MAMPS,0.026845
$HUMID,1738
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,12.40
$XPDR_PINGS,833
$24V_AH,19.6,28.908
$10V_AH,9.7,24.339
$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,24.350,140.625,715.525,0.000,0.000,87.553,191.108,392.840,208.250,0.000,0.000,33.429,4008.612,7970.917,853.350,5761.243,1060.953,0.000,2940.040,0.000,5747.477,0.000,0.465
$DEVICE_MAMPS,242.372,71.331,1584.622,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1839.814,1925.708,1167.107,1071.806,2768.260,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,195960,2649
$CAP_FILE_SIZE,216937,0
$CFSIZE,260165632,249036800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200408,214538,5916.425,-2240.709,39,1.1,39,-15.5