version: 66.03
glider: 142
mission: 5
dive: 191
start: 5 15 108 10 45 23
data:
$ID,142
$MISSION,5
$DIVE,191
$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,340
$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,-16683.816
$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,31
$R_STBD_OVSHOOT,14
$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
$GPS1,103301,6108.574,-2621.329,37,0.9,42,-18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-60.9
$GPS2,104503,6108.631,-2621.350,14,1.5,14,-18.4
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6118.779,-2623.123
$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,358.4,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.03,-97.3,0.0,0.0,0,96,0.00,0.00,-66.35,0.000,2,0.000,0.000,1432,2283,3456
$GC,99,-1.03,-97.3,3.1,-4.4,12,118,11.68,2.88,-0.32,0.000,4,0.255,0.051,2686,3716,3468
$GC,258,-0.98,-97.3,26.7,-13.7,39,265,0.12,2.78,0.00,0.000,6,0.160,0.034,2701,2302,3468
$GC,400,-0.98,-97.3,45.0,-12.4,64,407,0.00,2.83,0.00,0.000,4,0.000,0.050,2700,886,3469
$GC,600,-0.98,-97.3,70.8,-12.2,99,606,0.00,2.75,0.00,0.000,6,0.000,0.028,2701,2316,3469
$GC,943,-0.98,-97.3,110.6,-11.6,160,950,0.00,2.88,0.00,0.000,4,0.000,0.048,2701,883,3470
$GC,1203,-0.98,-97.3,143.6,-12.7,206,1209,0.00,2.67,0.00,0.000,6,0.000,0.029,2701,2275,3470
$GC,1547,-0.98,-97.3,184.6,-11.7,267,1553,0.00,2.78,0.00,0.000,4,0.000,0.048,2701,892,3470
$GC,1750,-0.98,-97.3,209.7,-12.2,303,1756,0.00,2.62,0.00,0.000,6,0.000,0.031,2701,2256,3470
$GC,2093,-0.98,-97.3,251.2,-13.1,364,2099,0.00,2.75,0.00,0.000,4,0.000,0.048,2701,886,3470
$GC,2240,-0.98,-97.3,271.5,-13.6,390,2246,0.00,2.60,0.00,0.000,6,0.000,0.030,2701,2239,3470
$GC,2583,-0.98,-97.3,316.3,-13.4,451,2589,0.00,2.72,0.00,0.000,4,0.000,0.048,2701,884,3470
$GC,2685,-0.98,-97.3,329.9,-13.5,469,2691,0.00,2.60,0.00,0.000,6,0.000,0.030,2701,2238,3470
$GC,3024,-0.98,-97.3,369.6,-11.0,515,3029,0.00,2.70,0.00,0.000,4,0.000,0.048,2700,887,3470
$GC,3124,-0.98,-97.3,382.1,-12.9,523,3131,0.00,2.58,0.00,0.000,6,0.000,0.030,2701,2225,3470
$GC,3451,-0.98,-97.3,419.1,-11.4,554,3455,0.00,2.67,0.00,0.000,4,0.000,0.048,2701,892,3470
$GC,3579,-0.98,-97.3,434.7,-11.8,565,3584,0.00,2.55,0.00,0.000,6,0.000,0.031,2701,2214,3470
$GC,3907,-0.98,-97.3,470.7,-11.2,595,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2215,3470
$GC,4232,-0.98,-97.3,506.1,-10.3,626,4236,0.00,2.67,0.00,0.000,4,0.000,0.049,2701,885,3470
$GC,4293,-0.98,-97.3,513.0,-11.6,631,4298,0.00,2.55,0.00,0.000,6,0.000,0.030,2701,2210,3470
$GC,4619,-0.98,-97.3,549.3,-11.2,661,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2212,3470
$GC,4937,-0.98,-97.3,587.1,-11.9,691,4938,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2212,3470
$GC,5259,-0.98,-97.3,626.1,-12.0,712,5263,0.00,2.70,0.00,0.000,4,0.000,0.053,2701,886,3470
$GC,5353,-0.98,-97.3,638.1,-12.8,716,5357,0.00,2.55,0.00,0.000,6,0.000,0.032,2701,2195,3470
$GC,5669,-0.98,-97.3,676.8,-11.9,731,5673,0.00,2.70,0.00,0.000,4,0.000,0.058,2701,885,3469
$GC,5843,-0.98,-97.3,697.4,-11.1,739,5848,0.00,2.53,0.00,0.000,6,0.000,0.038,2701,2161,3469
$GC,6170,-0.98,-97.3,730.8,-10.4,755,6175,0.00,3.25,0.00,0.000,4,0.000,0.071,2701,3700,3468
$GC,6232,-0.98,-97.3,737.0,-9.9,758,6237,0.00,3.12,0.00,0.000,6,0.000,0.054,2701,2188,3469
$GC,6558,-0.98,-97.3,768.2,-9.4,774,6563,0.00,2.85,0.00,0.000,4,0.000,0.090,2701,892,3469
$GC,6652,-0.98,-97.3,777.9,-10.3,778,6656,0.00,2.70,0.00,0.000,6,0.000,0.061,2701,2176,3468
$GC,6974,-0.98,-97.3,807.8,-9.4,794,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2176,3468
$GC,7284,-0.98,-97.3,836.6,-9.4,809,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2176,3468
$GC,7592,-0.98,-97.3,866.6,-9.8,824,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2176,3468
$GC,7901,-0.98,-97.3,897.5,-10.2,839,7907,0.00,3.67,0.00,0.000,4,0.000,0.123,2701,3698,3467
$GC,7974,-0.98,-97.3,905.1,-10.4,842,7978,0.00,3.03,0.00,0.000,6,0.000,0.041,2701,2186,3467
$GC,8289,-0.98,-97.3,935.4,-9.5,857,8294,0.00,2.65,0.00,0.000,4,0.000,0.060,2701,888,3467
$GC,8469,-0.98,-97.3,953.8,-10.1,865,8474,0.00,2.50,0.00,0.000,6,0.000,0.033,2701,2171,3467
$GC,8790,-0.98,-97.3,985.1,-9.8,881,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2172,3467
$STATE,8849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8850,begin apogee
$GC,8856,-0.21,0.0,991.0,9.6,884,8963,1.12,0.00,103.43,1.632,6,0.149,0.000,2869,2746,3071
$STATE,8963,end apogee,CONTROL_FINISHED_OK
$STATE,8963,begin climb
$GC,8966,1.03,97.3,993.0,0.0,889,9078,1.55,0.00,107.90,1.601,6,0.080,0.000,3136,2745,2674
$GC,9382,0.90,97.3,941.2,14.1,910,9386,0.00,2.38,0.00,0.000,4,0.000,0.055,3136,3891,2672
$GC,9392,0.77,97.3,939.4,14.7,910,9399,0.30,2.30,0.00,0.000,6,0.130,0.034,3093,2744,2672
$GC,9708,0.77,97.3,901.1,11.7,926,9712,0.00,2.38,0.00,0.000,4,0.000,0.053,3093,3894,2672
$GC,9763,0.72,97.3,894.2,12.2,928,9770,0.00,2.28,0.00,0.000,6,0.000,0.034,3093,2752,2672
$GC,10078,0.72,97.3,860.2,10.3,944,10082,0.00,2.35,0.00,0.000,4,0.000,0.052,3093,3901,2671
$GC,10150,0.67,97.3,852.2,11.4,947,10155,0.17,2.25,0.00,0.000,6,0.133,0.035,3068,2750,2671
$GC,10471,0.69,112.5,822.8,9.0,963,10493,0.00,2.38,16.27,1.382,4,0.000,0.058,3068,3902,2612
$GC,10517,0.70,127.2,818.4,9.0,965,10538,0.00,2.25,16.58,1.421,6,0.000,0.034,3068,2761,2552
$GC,10847,0.70,127.2,785.5,10.3,981,10851,0.00,2.33,0.00,0.000,4,0.000,0.053,3068,3891,2551
$GC,10867,0.70,127.2,783.1,10.5,982,10872,0.00,2.22,0.00,0.000,6,0.000,0.034,3068,2775,2551
$GC,11195,0.70,127.2,749.5,10.1,998,11196,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2774,2551
$GC,11504,0.71,131.3,719.7,9.7,1013,11515,0.00,2.30,5.80,1.055,4,0.000,0.058,3069,3902,2535
$GC,11548,0.72,136.4,715.3,9.7,1015,11559,0.00,2.20,6.68,1.129,6,0.000,0.034,3068,2774,2515
$GC,11869,0.78,156.7,686.9,8.6,1030,11899,0.12,2.38,21.95,1.374,4,0.068,0.051,3091,3891,2432
$GC,11911,0.78,156.7,682.5,10.7,1032,11915,0.00,2.20,0.00,0.000,6,0.000,0.033,3091,2780,2431
$GC,12237,0.78,156.7,644.3,11.8,1048,12241,0.00,2.28,0.00,0.000,4,0.000,0.051,3091,3894,2430
$GC,12286,0.78,156.7,638.1,12.5,1050,12290,0.00,2.22,0.00,0.000,6,0.000,0.036,3091,2778,2430
$GC,12607,0.78,156.7,600.4,11.2,1066,12611,0.00,2.28,0.00,0.000,4,0.000,0.051,3091,3899,2430
$GC,12657,0.78,156.7,594.6,11.1,1070,12661,0.00,2.15,0.00,0.000,6,0.000,0.032,3091,2791,2430
$GC,12981,0.78,156.7,557.4,11.5,1100,12985,0.00,2.25,0.00,0.000,4,0.000,0.051,3091,3902,2430
$GC,13043,0.78,156.7,549.6,12.8,1105,13046,0.00,2.10,0.00,0.000,6,0.000,0.032,3091,2816,2430
$GC,13367,0.78,156.7,510.5,12.3,1135,13371,0.00,2.17,0.00,0.000,4,0.000,0.051,3091,3897,2430
$GC,13412,0.78,156.7,504.9,12.1,1139,13415,0.00,2.05,0.00,0.000,6,0.000,0.031,3091,2831,2430
$GC,13743,0.78,156.7,465.7,11.9,1170,13747,0.00,2.15,0.00,0.000,4,0.000,0.051,3092,3896,2430
$GC,13765,0.78,156.7,462.6,12.5,1172,13769,0.00,2.05,0.00,0.000,6,0.000,0.036,3091,2834,2430
$GC,14099,0.78,156.7,422.8,11.7,1203,14103,0.00,2.15,0.00,0.000,4,0.000,0.058,3091,3895,2430
$GC,14122,0.78,156.7,419.7,11.8,1205,14126,0.00,2.00,0.00,0.000,6,0.000,0.031,3091,2848,2430
$GC,14453,0.78,156.7,381.7,11.0,1236,14456,0.00,2.12,0.00,0.000,4,0.000,0.050,3091,3901,2430
$GC,14480,0.78,156.7,378.2,11.4,1238,14487,0.00,2.03,0.00,0.000,6,0.000,0.031,3091,2859,2431
$GC,14808,0.78,156.7,339.9,11.6,1276,14814,0.00,2.10,0.00,0.000,4,0.000,0.049,3091,3902,2431
$GC,14849,0.78,156.7,334.7,12.8,1283,14855,0.00,2.00,0.00,0.000,6,0.000,0.030,3091,2856,2431
$GC,15193,0.78,156.7,292.8,12.4,1344,15199,0.00,2.10,0.00,0.000,4,0.000,0.050,3091,3899,2431
$GC,15205,0.78,156.7,291.0,12.7,1346,15212,0.00,2.00,0.00,0.000,6,0.000,0.030,3091,2868,2431
$GC,15550,0.78,156.7,249.5,12.6,1407,15556,0.00,2.08,0.00,0.000,4,0.000,0.049,3091,3899,2431
$GC,15563,0.78,156.7,247.9,11.9,1409,15569,0.00,1.98,0.00,0.000,6,0.000,0.030,3091,2865,2431
$GC,15906,0.78,156.7,209.1,11.5,1470,15912,0.00,2.08,0.00,0.000,4,0.000,0.049,3091,3896,2431
$GC,15918,0.78,156.7,207.7,11.2,1472,15924,0.00,1.98,0.00,0.000,6,0.000,0.031,3091,2876,2431
$GC,16262,0.78,156.7,169.1,11.7,1533,16267,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2868,2432
$GC,16605,0.78,156.7,128.6,11.5,1594,16611,0.00,2.05,0.00,0.000,4,0.000,0.049,3091,3902,2432
$GC,16681,0.78,156.7,119.8,10.8,1607,16687,0.00,1.92,0.00,0.000,6,0.000,0.031,3091,2894,2432
$GC,17024,0.80,170.7,84.1,9.0,1668,17042,0.00,0.00,14.77,0.929,6,0.000,0.000,3091,2888,2375
$GC,17380,0.80,170.7,46.7,10.4,1731,17386,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2887,2374
$GC,17521,0.80,170.7,31.6,10.7,1756,17527,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2887,2374
$GC,17663,0.80,170.7,15.9,11.4,1781,17669,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2887,2374
$STATE,17790,end climb,SURFACE_DEPTH_REACHED
$STATE,17791,begin surface coast
$FINISH,0.2,1.026220
$STATE,17809,end surface coast,CONTROL_FINISHED_OK
$STATE,17809,begin surface
$SM_CCo,17827,26.12,0.951,0,0,2255,200.16
$SM_GC,0.87,0.00,0.00,26.12,0.000,0.000,0.951,1433,2282,2255,-6.84,-0.51,200.16
$IRIDIUM_FIX,6046.07,-2619.94,090897,101059
$TT8_MAMPS,0.026845
$HUMID,1775
$INTERNAL_PRESSURE,8.96564
$TCM_TEMP,16.40
$XPDR_PINGS,976
$24V_AH,19.4,64.228
$10V_AH,9.8,46.978
$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,23.550,167.625,293.375,26.125,0.000,53.723,63.173,399.807,244.000,0.000,0.000,15.908,2935.542,10890.495,505.316,3369.434,861.023,0.000,1987.205,0.000,3364.046,0.000,0.466
$DEVICE_MAMPS,254.644,122.720,1632.176,951.080,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1276.735,1313.760,681.958,1608.972,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132805,1807
$CAP_FILE_SIZE,176231,0
$CFSIZE,260165632,238137344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,150508,154408,6110.582,-2622.884,33,1.1,33,-18.5