version: 66.03
glider: 142
mission: 5
dive: 183
start: 5 13 108 15 50 54
data:
$ID,142
$MISSION,5
$DIVE,183
$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,100
$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,215
$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,-16567.697
$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,26
$R_STBD_OVSHOOT,18
$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
$GPS1,154307,6113.056,-2609.536,27,1.3,27,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-62.6
$GPS2,155033,6113.056,-2609.575,15,1.3,15,-18.4
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6104.209,-2612.572
$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,233.4,20000,-21.7,-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,-1.03,-97.3,0.0,0.0,0,95,0.00,0.00,-66.18,0.000,6,0.000,0.000,1437,2285,3468
$GC,98,-1.03,-97.3,3.4,-4.8,12,116,11.52,2.80,0.00,0.000,4,0.255,0.044,2685,885,3470
$GC,371,-0.96,-97.3,42.1,-12.9,60,378,0.15,2.75,0.00,0.000,6,0.152,0.029,2705,2315,3471
$GC,514,-0.96,-97.3,58.8,-11.6,85,520,0.00,2.88,0.00,0.000,4,0.000,0.046,2705,885,3472
$GC,773,-0.96,-97.3,90.2,-12.3,131,779,0.00,2.70,0.00,0.000,6,0.000,0.029,2705,2289,3472
$GC,1117,-0.96,-97.3,128.2,-10.7,192,1123,0.00,2.78,0.00,0.000,4,0.000,0.047,2705,896,3472
$GC,1294,-0.96,-97.3,148.3,-11.5,223,1300,0.00,2.65,0.00,0.000,6,0.000,0.029,2705,2273,3472
$GC,1636,-0.96,-97.3,187.4,-11.7,284,1643,0.00,2.75,0.00,0.000,4,0.000,0.047,2705,894,3472
$GC,1750,-0.96,-97.3,201.5,-12.3,304,1757,0.00,2.62,0.00,0.000,6,0.000,0.031,2705,2262,3472
$GC,2094,-0.96,-97.3,241.3,-11.5,365,2100,0.00,2.72,0.00,0.000,4,0.000,0.047,2705,896,3472
$GC,2180,-0.96,-97.3,251.5,-11.6,380,2187,0.00,2.60,0.00,0.000,6,0.000,0.030,2705,2252,3472
$GC,2524,-0.96,-97.3,289.1,-10.9,441,2530,0.00,2.72,0.00,0.000,4,0.000,0.047,2705,889,3472
$GC,2604,-0.96,-97.3,298.2,-11.0,455,2610,0.00,2.60,0.00,0.000,6,0.000,0.031,2705,2242,3472
$GC,2949,-0.96,-97.3,335.1,-10.9,516,2955,0.00,2.70,0.00,0.000,4,0.000,0.048,2705,893,3472
$GC,3051,-0.96,-97.3,346.9,-11.1,534,3057,0.00,2.58,0.00,0.000,6,0.000,0.031,2705,2234,3472
$GC,3379,-0.96,-97.3,382.3,-10.7,567,3383,0.00,2.70,0.00,0.000,4,0.000,0.047,2705,885,3472
$GC,3467,-0.96,-97.3,393.0,-12.1,574,3474,0.00,2.60,0.00,0.000,6,0.000,0.031,2705,2226,3472
$GC,3794,-0.96,-97.3,428.7,-11.2,605,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2228,3472
$GC,4111,-0.96,-97.3,465.1,-11.6,635,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2228,3472
$GC,4430,-0.96,-97.3,501.9,-11.9,665,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2229,3472
$GC,4748,-0.96,-97.3,539.6,-11.5,695,4752,0.00,2.67,0.00,0.000,4,0.000,0.048,2705,896,3472
$GC,4988,-0.96,-97.3,568.7,-12.3,716,4993,0.00,2.55,0.00,0.000,6,0.000,0.031,2705,2216,3472
$GC,5325,-0.96,-97.3,605.2,-10.5,745,5330,0.00,2.67,0.00,0.000,4,0.000,0.051,2705,894,3472
$GC,5526,-0.96,-97.3,628.6,-11.5,754,5530,0.00,2.55,0.00,0.000,6,0.000,0.032,2705,2203,3472
$GC,5853,-0.96,-97.3,662.2,-10.0,770,5857,0.00,2.67,0.00,0.000,4,0.000,0.054,2705,893,3472
$GC,5969,-0.96,-97.3,674.2,-10.3,775,5974,0.00,2.55,0.00,0.000,6,0.000,0.035,2705,2190,3472
$GC,6285,-0.96,-97.3,705.2,-9.9,790,6290,0.00,3.10,0.00,0.000,4,0.000,0.061,2706,3697,3471
$GC,6324,-0.96,-97.3,709.2,-10.3,792,6328,0.00,3.00,0.00,0.000,6,0.000,0.046,2705,2214,3471
$GC,6649,-0.96,-97.3,742.5,-10.2,808,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2213,3471
$GC,6959,-0.96,-97.3,773.8,-9.9,823,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2213,3472
$GC,7268,-0.96,-97.3,803.0,-9.5,838,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2213,3471
$GC,7578,-0.96,-97.3,831.5,-9.5,853,7583,0.00,3.10,0.00,0.000,4,0.000,0.117,2705,904,3471
$GC,7666,-0.96,-97.3,840.0,-9.7,857,7671,0.00,2.53,0.00,0.000,6,0.000,0.030,2705,2211,3471
$GC,7990,-0.96,-97.3,868.6,-8.8,873,7991,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2211,3471
$GC,8297,-0.96,-97.3,896.3,-8.7,888,8302,0.00,3.03,0.00,0.000,4,0.000,0.056,2705,3697,3471
$GC,8318,-0.96,-97.3,898.2,-8.9,889,8323,0.00,2.97,0.00,0.000,6,0.000,0.041,2705,2212,3470
$GC,8639,-0.96,-97.3,924.9,-8.0,905,8644,0.00,3.08,0.00,0.000,4,0.000,0.057,2705,3700,3470
$GC,8694,-0.96,-97.3,929.7,-8.9,907,8701,0.00,2.95,0.00,0.000,6,0.000,0.042,2705,2225,3470
$GC,9010,-0.96,-97.3,957.7,-9.2,923,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2224,3470
$GC,9319,-0.96,-97.3,986.9,-9.3,938,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2224,3470
$STATE,9358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9358,begin apogee
$GC,9364,-0.21,0.0,990.9,9.5,940,9471,1.10,0.00,104.00,1.626,6,0.154,0.000,2868,2745,3071
$STATE,9472,end apogee,CONTROL_FINISHED_OK
$STATE,9472,begin climb
$GC,9474,1.03,97.3,993.8,0.0,945,9590,1.58,2.62,106.65,1.599,4,0.082,0.058,3138,3887,2674
$GC,9679,0.89,97.3,973.2,13.8,954,9686,0.17,2.35,0.00,0.000,6,0.135,0.036,3116,2759,2673
$GC,9995,0.79,97.3,936.7,11.8,970,9997,0.15,0.00,0.00,0.000,6,0.130,0.000,3095,2758,2673
$GC,10305,0.75,97.3,902.2,11.5,985,10309,0.00,2.35,0.00,0.000,4,0.000,0.053,3095,3899,2672
$GC,10422,0.69,97.3,887.3,13.2,990,10426,0.15,2.25,0.00,0.000,6,0.137,0.033,3074,2750,2671
$GC,10742,0.69,97.3,853.8,10.1,1006,10743,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2748,2671
$GC,11052,0.69,98.3,823.0,9.9,1021,11056,0.00,2.33,0.00,0.000,4,0.000,0.051,3074,3893,2671
$GC,11136,0.69,98.3,813.9,10.9,1025,11140,0.00,2.22,0.00,0.000,6,0.000,0.034,3074,2751,2671
$GC,11463,0.70,103.0,781.6,9.7,1041,11476,0.00,2.40,6.57,1.125,4,0.000,0.052,3074,3903,2651
$GC,11539,0.70,103.0,773.4,10.6,1044,11543,0.00,2.22,0.00,0.000,6,0.000,0.034,3074,2778,2650
$GC,11861,0.71,115.6,742.9,9.1,1060,11880,0.00,0.00,14.50,1.339,6,0.000,0.000,3074,2776,2599
$GC,12189,0.74,133.4,712.7,8.8,1076,12210,0.00,0.00,19.30,1.371,6,0.000,0.000,3074,2775,2526
$GC,12519,0.74,140.8,681.3,9.5,1092,12533,0.00,2.33,8.80,1.194,4,0.000,0.053,3074,3892,2497
$GC,12611,0.74,140.8,671.6,11.2,1096,12615,0.00,2.20,0.00,0.000,6,0.000,0.032,3074,2768,2497
$GC,12938,0.75,145.6,639.6,9.7,1112,12951,0.00,2.35,6.65,1.065,4,0.000,0.051,3074,3893,2477
$GC,13014,0.75,145.6,631.5,10.9,1115,13018,0.00,2.17,0.00,0.000,6,0.000,0.032,3074,2778,2477
$GC,13335,0.76,150.6,600.3,9.7,1131,13344,0.00,0.00,6.68,1.047,6,0.000,0.000,3074,2777,2457
$GC,13654,0.76,150.6,568.2,10.0,1160,13658,0.00,2.28,0.00,0.000,4,0.000,0.050,3074,3902,2457
$GC,13709,0.76,150.6,562.2,10.3,1164,13716,0.00,2.17,0.00,0.000,6,0.000,0.031,3074,2790,2457
$GC,14035,0.76,153.3,529.9,9.8,1195,14043,0.00,0.00,4.62,0.849,6,0.000,0.000,3074,2787,2446
$GC,14363,0.76,154.0,498.0,10.0,1226,14365,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2784,2446
$GC,14682,0.76,155.8,466.1,9.9,1256,14693,0.00,2.28,4.47,0.809,4,0.000,0.051,3074,3896,2435
$GC,14743,0.76,155.8,459.3,10.3,1261,14750,0.00,2.12,0.00,0.000,6,0.000,0.031,3074,2790,2435
$GC,15071,0.76,155.8,426.5,10.1,1292,15072,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2787,2435
$GC,15389,0.82,164.1,395.0,9.4,1322,15404,0.12,2.25,9.60,1.042,4,0.067,0.048,3098,3902,2402
$GC,15448,0.82,164.1,387.7,12.3,1327,15454,0.00,2.15,0.00,0.000,6,0.000,0.031,3098,2804,2402
$GC,15776,0.82,164.1,348.9,11.6,1358,15782,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2799,2402
$GC,16119,0.82,164.1,307.9,11.9,1419,16125,0.00,2.20,0.00,0.000,4,0.000,0.048,3098,3897,2402
$GC,16199,0.82,164.1,298.0,12.4,1433,16205,0.00,2.08,0.00,0.000,6,0.000,0.029,3098,2815,2402
$GC,16541,0.82,164.1,257.3,11.4,1494,16548,0.00,2.17,0.00,0.000,4,0.000,0.048,3098,3902,2402
$GC,16599,0.82,164.1,250.2,12.8,1504,16605,0.00,2.05,0.00,0.000,6,0.000,0.029,3098,2823,2402
$GC,16943,0.82,164.1,210.2,11.4,1565,16948,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2816,2402
$GC,17285,0.82,164.1,171.0,11.1,1626,17291,0.00,2.15,0.00,0.000,4,0.000,0.048,3098,3898,2403
$GC,17353,0.82,164.1,162.9,13.1,1638,17359,0.00,2.03,0.00,0.000,6,0.000,0.030,3098,2834,2403
$GC,17697,0.82,164.1,124.1,10.9,1699,17702,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2826,2402
$GC,18039,0.83,166.0,86.2,9.9,1760,18047,0.00,0.00,4.07,0.623,6,0.000,0.000,3098,2827,2394
$GC,18384,0.83,166.0,48.2,10.1,1821,18391,0.00,2.12,0.00,0.000,4,0.000,0.048,3098,3903,2394
$GC,18453,0.83,166.0,40.1,12.6,1833,18459,0.00,2.08,0.00,0.000,6,0.000,0.031,3098,2838,2394
$GC,18595,0.83,166.0,24.7,11.7,1858,18601,0.00,2.10,0.00,0.000,4,0.000,0.048,3098,3898,2394
$GC,18647,0.83,166.0,18.6,11.3,1867,18653,0.00,1.98,0.00,0.000,6,0.000,0.032,3098,2884,2394
$GC,18789,0.83,166.0,3.1,10.2,1892,18795,0.00,3.03,0.00,0.000,4,0.000,0.045,3098,1349,2394
$STATE,18800,end climb,SURFACE_DEPTH_REACHED
$STATE,18800,begin surface coast
$FINISH,0.3,1.011789
$STATE,18818,end surface coast,CONTROL_FINISHED_OK
$STATE,18818,begin surface
$SM_CCo,18837,30.35,0.954,0,0,2254,200.16
$SM_GC,0.94,0.00,0.00,30.35,0.000,0.000,0.954,1434,2329,2254,-6.84,0.82,200.16
$IRIDIUM_FIX,6050.49,-2603.92,070897,101049
$TT8_MAMPS,0.026845
$HUMID,1769
$INTERNAL_PRESSURE,8.97541
$TCM_TEMP,16.50
$XPDR_PINGS,1011
$24V_AH,19.5,62.741
$10V_AH,9.8,45.704
$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,23.325,150.575,295.925,30.350,0.000,23.544,44.419,240.300,252.750,0.000,0.000,16.735,3069.910,11564.755,505.134,3534.028,626.695,0.000,2044.541,0.000,3512.958,0.000,0.466
$DEVICE_MAMPS,254.644,117.351,1626.040,954.148,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1335.321,1383.910,697.004,1675.403,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139376,1897
$CAP_FILE_SIZE,175323,0
$CFSIZE,260165632,238899200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130508,210658,6111.276,-2613.114,38,3.9,57,-18.4