version: 66.03
glider: 142
mission: 5
dive: 188
start: 5 14 108 18 31 17
data:
$ID,142
$MISSION,5
$DIVE,188
$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,350
$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,-16639.381
$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,19
$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
$GPS1,182337,6104.270,-2613.017,37,1.3,42,-18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-60.4
$GPS2,183057,6104.228,-2613.124,12,1.3,12,-18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6114.863,-2614.026
$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,8.3,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.03,-97.3,0.0,0.0,0,94,0.00,0.00,-65.88,0.000,2,0.000,0.000,1436,2292,3433
$GC,97,-1.03,-97.3,3.1,-3.8,12,116,11.57,2.85,-1.05,0.000,4,0.254,0.050,2687,3718,3467
$GC,297,-0.98,-97.3,30.7,-12.0,47,303,0.00,2.80,0.00,0.000,6,0.000,0.034,2687,2286,3468
$GC,439,-0.93,-97.3,47.9,-11.7,72,446,0.15,2.80,0.00,0.000,4,0.152,0.049,2709,885,3468
$GC,699,-0.93,-97.3,76.9,-11.4,118,706,0.00,2.70,0.00,0.000,6,0.000,0.029,2710,2290,3469
$GC,1044,-0.93,-97.3,114.9,-10.8,179,1050,0.00,2.80,0.00,0.000,4,0.000,0.047,2710,891,3469
$GC,1286,-0.93,-97.3,144.7,-12.7,222,1293,0.00,2.62,0.00,0.000,6,0.000,0.030,2710,2258,3469
$GC,1630,-0.93,-97.3,184.6,-10.9,283,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2258,3469
$GC,1972,-0.93,-97.3,220.4,-10.2,344,1979,0.00,2.72,0.00,0.000,4,0.000,0.048,2710,891,3469
$GC,2098,-0.93,-97.3,234.5,-11.4,366,2105,0.00,2.62,0.00,0.000,6,0.000,0.030,2710,2256,3470
$GC,2442,-0.93,-97.3,272.8,-11.4,427,2448,0.00,2.75,0.00,0.000,4,0.000,0.048,2710,884,3470
$GC,2533,-0.93,-97.3,283.9,-12.5,443,2539,0.00,2.62,0.00,0.000,6,0.000,0.030,2710,2250,3470
$GC,2877,-0.93,-97.3,323.9,-11.5,504,2883,0.00,2.72,0.00,0.000,4,0.000,0.048,2710,890,3470
$GC,3007,-0.93,-97.3,339.9,-12.5,527,3013,0.00,2.58,0.00,0.000,6,0.000,0.030,2710,2230,3470
$GC,3343,-0.93,-97.3,377.7,-11.0,566,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2232,3470
$GC,3661,-0.93,-97.3,413.1,-11.1,596,3665,0.00,2.70,0.00,0.000,4,0.000,0.048,2710,886,3470
$GC,3760,-0.93,-97.3,424.8,-11.5,604,3767,0.00,2.55,0.00,0.000,6,0.000,0.030,2710,2202,3469
$GC,4086,-0.93,-97.3,460.5,-11.0,635,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2203,3470
$GC,4404,-0.93,-97.3,494.7,-10.7,665,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2203,3470
$GC,4723,-0.93,-97.3,528.3,-10.4,695,4727,0.00,2.65,0.00,0.000,4,0.000,0.050,2710,891,3470
$GC,4833,-0.93,-97.3,540.7,-11.4,704,4840,0.00,2.53,0.00,0.000,6,0.000,0.031,2710,2187,3470
$GC,5160,-0.93,-97.3,574.6,-10.3,735,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2187,3470
$GC,5475,-0.93,-97.3,607.2,-10.2,762,5479,0.00,3.05,0.00,0.000,4,0.000,0.049,2710,3707,3469
$GC,5537,-0.93,-97.3,613.5,-10.2,765,5541,0.00,2.97,0.00,0.000,6,0.000,0.038,2710,2198,3469
$GC,5863,-0.93,-97.3,646.0,-9.9,781,5867,0.00,2.67,0.00,0.000,4,0.000,0.059,2710,887,3469
$GC,5957,-0.93,-97.3,656.6,-11.1,785,5961,0.00,2.58,0.00,0.000,6,0.000,0.038,2710,2201,3469
$GC,6279,-0.93,-97.3,690.1,-10.4,801,6284,0.00,3.10,0.00,0.000,4,0.000,0.060,2710,3706,3469
$GC,6350,-0.93,-97.3,698.3,-10.9,804,6355,0.00,3.03,0.00,0.000,6,0.000,0.048,2710,2215,3469
$GC,6666,-0.93,-97.3,730.4,-9.8,819,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2214,3469
$GC,6975,-0.93,-97.3,759.4,-9.1,834,6980,0.00,2.90,0.00,0.000,4,0.000,0.087,2710,892,3469
$GC,7082,-0.93,-97.3,769.9,-10.3,839,7086,0.00,2.75,0.00,0.000,6,0.000,0.058,2710,2221,3469
$GC,7409,-0.93,-97.3,801.1,-9.5,855,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2222,3469
$GC,7717,-0.93,-97.3,829.0,-9.2,870,7718,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2222,3468
$GC,8027,-0.93,-97.3,858.2,-9.6,885,8032,0.00,3.50,0.00,0.000,4,0.000,0.117,2710,3691,3468
$GC,8095,-0.93,-97.3,865.2,-10.4,888,8100,0.00,3.00,0.00,0.000,6,0.000,0.056,2710,2236,3468
$GC,8415,-0.93,-97.3,896.3,-9.6,904,8420,0.00,2.75,0.00,0.000,4,0.000,0.058,2710,890,3468
$GC,8481,-0.93,-97.3,903.5,-11.4,907,8486,0.00,2.62,0.00,0.000,6,0.000,0.032,2710,2241,3468
$GC,8809,-0.93,-97.3,937.2,-9.8,923,8813,0.00,2.78,0.00,0.000,4,0.000,0.057,2710,896,3467
$GC,8915,-0.93,-97.3,947.9,-10.2,928,8919,0.00,2.60,0.00,0.000,6,0.000,0.035,2710,2223,3467
$GC,9241,-0.93,-97.3,978.5,-9.7,944,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2223,3467
$STATE,9362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9362,begin apogee
$GC,9368,-0.21,0.0,990.2,9.5,950,9475,1.08,0.00,103.28,1.625,6,0.156,0.000,2866,2746,3071
$STATE,9476,end apogee,CONTROL_FINISHED_OK
$STATE,9476,begin climb
$GC,9478,1.03,97.3,993.2,0.0,955,9589,1.58,0.00,107.38,1.598,6,0.080,0.000,3137,2746,2674
$GC,9896,0.90,97.3,946.9,12.5,976,9901,0.12,2.40,0.00,0.000,4,0.133,0.058,3121,3896,2673
$GC,9964,0.79,97.3,938.3,12.5,979,9969,0.20,2.25,0.00,0.000,6,0.132,0.034,3093,2768,2673
$GC,10284,0.79,98.0,905.7,10.0,995,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2766,2672
$GC,10593,0.79,98.0,874.3,10.3,1010,10597,0.00,2.33,0.00,0.000,4,0.000,0.054,3093,3900,2671
$GC,10655,0.74,98.0,867.4,11.3,1013,10659,0.00,2.22,0.00,0.000,6,0.000,0.033,3093,2762,2672
$GC,10981,0.74,98.0,832.6,10.8,1029,10985,0.00,2.33,0.00,0.000,4,0.000,0.053,3093,3899,2671
$GC,11043,0.68,98.0,825.6,11.4,1032,11048,0.15,2.17,0.00,0.000,6,0.143,0.034,3073,2780,2671
$GC,11369,0.71,118.8,795.7,8.6,1048,11398,0.00,2.38,22.58,1.424,4,0.000,0.052,3073,3901,2585
$GC,11427,0.72,130.9,790.2,9.2,1050,11447,0.00,2.17,13.73,1.377,6,0.000,0.033,3073,2798,2537
$GC,11764,0.72,130.9,756.6,10.4,1067,11768,0.00,2.25,0.00,0.000,4,0.000,0.053,3073,3899,2536
$GC,11842,0.72,130.9,747.9,10.8,1070,11846,0.00,2.12,0.00,0.000,6,0.000,0.033,3073,2811,2536
$GC,12165,0.73,134.0,715.5,9.8,1086,12171,0.00,0.00,5.00,0.971,6,0.000,0.000,3073,2809,2524
$GC,12472,0.73,134.0,685.4,10.1,1101,12474,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2808,2524
$GC,12782,0.73,134.0,654.3,10.1,1116,12786,0.00,2.20,0.00,0.000,4,0.000,0.051,3073,3894,2524
$GC,12825,0.73,134.0,649.5,10.8,1118,12830,0.00,2.08,0.00,0.000,6,0.000,0.031,3073,2835,2523
$GC,13152,0.74,139.7,616.8,9.6,1134,13161,0.00,0.00,7.30,1.088,6,0.000,0.000,3072,2834,2501
$GC,13466,0.74,144.5,586.3,9.7,1155,13476,0.00,0.00,6.43,1.040,6,0.000,0.000,3073,2830,2482
$GC,13795,0.75,153.3,555.5,9.4,1186,13810,0.00,2.17,10.40,1.168,4,0.000,0.051,3073,3899,2446
$GC,13818,0.76,163.0,553.2,9.3,1188,13834,0.00,2.05,11.52,1.208,6,0.000,0.031,3073,2842,2406
$GC,14153,0.76,163.0,519.1,10.4,1219,14154,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2835,2405
$GC,14472,0.77,171.5,488.2,9.4,1249,14484,0.00,0.00,10.18,1.111,6,0.000,0.000,3073,2833,2371
$GC,14801,0.82,171.5,455.5,10.3,1280,14803,0.12,0.00,0.00,0.000,6,0.068,0.000,3097,2833,2370
$GC,15121,0.82,171.5,415.1,13.2,1310,15125,0.00,2.12,0.00,0.000,4,0.000,0.050,3097,3894,2370
$GC,15143,0.82,171.5,411.5,13.4,1312,15147,0.00,2.00,0.00,0.000,6,0.000,0.031,3097,2850,2370
$GC,15475,0.82,171.5,369.9,12.4,1343,15479,0.00,2.12,0.00,0.000,4,0.000,0.050,3097,3905,2370
$GC,15502,0.82,171.5,366.0,13.4,1345,15508,0.00,2.05,0.00,0.000,6,0.000,0.030,3097,2851,2370
$GC,15838,0.82,171.5,326.9,10.8,1394,15844,0.00,2.10,0.00,0.000,4,0.000,0.051,3097,3894,2370
$GC,15884,0.82,171.5,321.5,11.5,1402,15890,0.00,2.00,0.00,0.000,6,0.000,0.031,3097,2869,2370
$GC,16227,0.82,171.5,284.1,10.8,1463,16233,0.00,2.08,0.00,0.000,4,0.000,0.050,3096,3900,2371
$GC,16284,0.82,171.5,277.4,11.8,1473,16290,0.00,1.98,0.00,0.000,6,0.000,0.030,3097,2868,2370
$GC,16628,0.82,171.5,237.7,11.6,1534,16634,0.00,2.08,0.00,0.000,4,0.000,0.049,3097,3900,2371
$GC,16662,0.82,171.5,233.5,12.0,1540,16669,0.00,1.98,0.00,0.000,6,0.000,0.030,3096,2880,2370
$GC,17006,0.82,171.5,194.2,12.1,1601,17012,0.00,2.05,0.00,0.000,4,0.000,0.049,3097,3902,2371
$GC,17034,0.82,171.5,190.7,12.6,1606,17041,0.00,1.92,0.00,0.000,6,0.000,0.030,3097,2904,2371
$GC,17379,0.82,171.5,146.3,13.5,1667,17384,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2896,2371
$GC,17721,0.82,171.5,103.8,13.1,1728,17727,0.00,2.03,0.00,0.000,4,0.000,0.049,3097,3895,2371
$GC,17739,0.82,171.5,101.7,11.4,1731,17745,0.00,1.90,0.00,0.000,6,0.000,0.030,3097,2899,2372
$GC,18084,0.82,177.6,65.1,9.6,1792,18096,0.00,0.00,7.12,0.801,6,0.000,0.000,3096,2893,2347
$GC,18433,0.82,177.6,26.9,11.5,1854,18440,0.00,3.08,0.00,0.000,4,0.000,0.044,3097,1338,2347
$GC,18446,0.82,177.6,25.5,11.4,1856,18453,0.00,3.05,0.00,0.000,6,0.000,0.031,3097,2908,2347
$GC,18589,0.82,177.6,9.4,10.6,1881,18595,0.00,1.98,0.00,0.000,4,0.000,0.049,3097,3894,2347
$GC,18626,0.82,177.6,5.1,12.6,1887,18632,0.00,1.85,0.00,0.000,6,0.000,0.030,3097,2941,2347
$STATE,18655,end climb,SURFACE_DEPTH_REACHED
$STATE,18655,begin surface coast
$FINISH,0.2,1.025160
$STATE,18672,end surface coast,CONTROL_FINISHED_OK
$STATE,18672,begin surface
$SM_CCo,18691,20.30,0.935,0,0,2255,200.16
$SM_GC,1.32,0.00,0.00,20.30,0.000,0.000,0.935,1432,2284,2255,-6.84,-0.45,200.16
$IRIDIUM_FIX,6041.65,-2617.97,080897,131347
$TT8_MAMPS,0.026078
$HUMID,1783
$INTERNAL_PRESSURE,8.97541
$TCM_TEMP,14.80
$XPDR_PINGS,1042
$24V_AH,19.5,63.647
$10V_AH,9.8,46.496
$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,23.525,155.150,304.900,20.300,0.000,28.404,36.956,238.519,260.500,0.000,0.000,14.993,3052.508,11470.331,509.456,3455.071,649.609,0.000,2014.396,0.000,3461.815,0.000,0.465
$DEVICE_MAMPS,253.877,116.584,1625.273,934.973,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1334.157,1383.276,697.618,1682.670,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139226,1895
$CAP_FILE_SIZE,173571,0
$CFSIZE,260165632,238428160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140508,234431,6105.223,-2616.028,39,1.5,44,-18.3