version: 66.03
glider: 142
mission: 5
dive: 192
start: 5 15 108 15 51 59
data:
$ID,142
$MISSION,5
$DIVE,192
$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,5
$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,-16699.547
$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,33
$R_STBD_OVSHOOT,19
$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
$GPS1,154408,6110.582,-2622.884,33,1.1,33,-18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-63.3
$GPS2,155139,6110.605,-2622.853,12,1.2,12,-18.5
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6121.364,-2622.402
$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,23.5,20000,-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,-65.75,0.000,2,0.000,0.000,1433,2280,3434
$GC,97,-1.03,-97.3,3.2,-4.7,12,116,11.68,2.88,-1.02,0.000,4,0.255,0.050,2687,3717,3468
$GC,180,-0.98,-97.3,16.7,-14.2,26,186,0.00,2.78,0.00,0.000,6,0.000,0.034,2687,2311,3469
$GC,322,-0.93,-97.3,36.6,-15.2,51,329,0.15,2.85,0.00,0.000,4,0.152,0.050,2710,892,3469
$GC,553,-0.93,-97.3,67.7,-12.4,92,559,0.00,2.70,0.00,0.000,6,0.000,0.029,2710,2295,3470
$GC,899,-0.93,-97.3,108.7,-11.7,153,905,0.00,2.83,0.00,0.000,4,0.000,0.048,2710,891,3470
$GC,1086,-0.93,-97.3,132.2,-12.4,186,1093,0.00,2.62,0.00,0.000,6,0.000,0.030,2710,2255,3470
$GC,1431,-0.93,-97.3,173.1,-11.9,247,1437,0.00,2.75,0.00,0.000,4,0.000,0.048,2710,883,3470
$GC,1505,-0.93,-97.3,182.8,-12.8,260,1512,0.00,2.58,0.00,0.000,6,0.000,0.030,2710,2226,3470
$GC,1849,-0.93,-97.3,220.9,-11.1,321,1855,0.00,2.67,0.00,0.000,4,0.000,0.048,2710,892,3470
$GC,1998,-0.93,-97.3,237.9,-11.4,347,2004,0.00,2.53,0.00,0.000,6,0.000,0.031,2710,2207,3471
$GC,2341,-0.93,-97.3,273.6,-10.0,408,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2212,3471
$GC,2684,-0.93,-97.3,309.0,-11.0,469,2691,0.00,2.65,0.00,0.000,4,0.000,0.049,2710,889,3471
$GC,2799,-0.93,-97.3,321.9,-11.7,489,2804,0.00,2.53,0.00,0.000,6,0.000,0.031,2710,2202,3471
$GC,3136,-0.93,-97.3,358.8,-10.5,542,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2209,3470
$GC,3455,-0.93,-97.3,394.2,-10.6,572,3460,0.00,2.65,0.00,0.000,4,0.000,0.049,2710,885,3470
$GC,3528,-0.93,-97.3,402.7,-12.1,578,3532,0.00,2.53,0.00,0.000,6,0.000,0.029,2710,2200,3471
$GC,3856,-0.93,-97.3,440.0,-12.0,608,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2206,3471
$GC,4170,-0.93,-97.3,477.7,-11.5,638,4175,0.00,2.65,0.00,0.000,4,0.000,0.048,2710,883,3470
$GC,4232,-0.93,-97.3,485.4,-12.1,643,4237,0.00,2.50,0.00,0.000,6,0.000,0.030,2710,2182,3470
$GC,4558,-0.93,-97.3,523.1,-11.0,673,4563,0.00,3.03,0.00,0.000,4,0.000,0.046,2710,3700,3471
$GC,4613,-0.93,-97.3,529.6,-11.2,677,4619,0.00,2.97,0.00,0.000,6,0.000,0.035,2710,2186,3470
$GC,4941,-0.93,-97.3,566.6,-11.3,708,4945,0.00,2.62,0.00,0.000,4,0.000,0.054,2710,885,3470
$GC,5029,-0.93,-97.3,577.5,-12.0,715,5035,0.00,2.50,0.00,0.000,6,0.000,0.029,2710,2181,3470
$GC,5351,-0.93,-97.3,614.5,-11.5,740,5355,0.00,3.05,0.00,0.000,4,0.000,0.051,2710,3697,3470
$GC,5416,-0.93,-97.3,622.1,-10.9,743,5421,0.00,3.00,0.00,0.000,6,0.000,0.038,2710,2183,3470
$GC,5738,-0.93,-97.3,654.3,-10.0,759,5743,0.00,2.62,0.00,0.000,4,0.000,0.060,2710,895,3470
$GC,5890,-0.93,-97.3,670.3,-10.5,766,5894,0.00,2.53,0.00,0.000,6,0.000,0.035,2710,2184,3470
$GC,6216,-0.93,-97.3,701.1,-8.9,782,6221,0.00,3.15,0.00,0.000,4,0.000,0.064,2710,3699,3470
$GC,6300,-0.93,-97.3,709.1,-9.6,786,6305,0.00,3.05,0.00,0.000,6,0.000,0.050,2710,2209,3470
$GC,6626,-0.93,-97.3,740.7,-10.2,802,6630,0.00,2.85,0.00,0.000,4,0.000,0.081,2710,894,3470
$GC,6680,-0.93,-97.3,746.8,-11.5,804,6687,0.00,2.67,0.00,0.000,6,0.000,0.049,2710,2193,3470
$GC,6996,-0.93,-97.3,778.6,-9.9,820,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2194,3469
$GC,7306,-0.93,-97.3,807.5,-8.6,835,7311,0.00,3.38,0.00,0.000,4,0.000,0.095,2710,3690,3469
$GC,7378,-0.93,-97.3,814.1,-9.3,838,7383,0.00,3.25,0.00,0.000,6,0.000,0.082,2710,2224,3469
$GC,7694,-0.93,-97.3,841.6,-8.8,853,7699,0.00,3.15,0.00,0.000,4,0.000,0.117,2710,899,3469
$GC,7750,-0.93,-97.3,847.2,-10.1,855,7756,0.00,2.58,0.00,0.000,6,0.000,0.031,2710,2228,3468
$GC,8066,-0.93,-97.3,874.0,-8.3,871,8071,0.00,3.00,0.00,0.000,4,0.000,0.054,2710,3703,3468
$GC,8160,-0.93,-97.3,882.9,-9.9,875,8165,0.00,2.95,0.00,0.000,6,0.000,0.041,2710,2230,3468
$GC,8475,-0.93,-97.3,910.3,-8.4,890,8480,0.00,2.75,0.00,0.000,4,0.000,0.061,2711,892,3468
$GC,8587,-0.93,-97.3,920.9,-9.5,895,8591,0.00,2.60,0.00,0.000,6,0.000,0.035,2710,2221,3468
$GC,8907,-0.93,-97.3,949.1,-8.9,911,8908,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2222,3468
$GC,9216,-0.93,-97.3,975.7,-8.6,926,9221,0.00,3.03,0.00,0.000,4,0.000,0.057,2710,3698,3468
$GC,9271,-0.93,-97.3,980.6,-8.7,928,9277,0.00,2.95,0.00,0.000,6,0.000,0.042,2710,2227,3467
$STATE,9398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9399,begin apogee
$GC,9405,-0.21,0.0,990.9,7.9,935,9512,1.05,0.00,103.43,1.626,6,0.144,0.000,2869,2748,3071
$STATE,9512,end apogee,CONTROL_FINISHED_OK
$STATE,9512,begin climb
$GC,9514,1.03,97.3,992.3,0.0,940,9630,1.55,2.62,107.12,1.601,4,0.080,0.059,3136,3885,2674
$GC,9708,0.87,97.3,970.7,15.6,949,9713,0.17,2.38,0.00,0.000,6,0.135,0.036,3113,2753,2673
$GC,10029,0.79,97.3,930.1,12.5,965,10033,0.00,2.38,0.00,0.000,4,0.000,0.054,3113,3892,2673
$GC,10095,0.70,97.3,921.3,13.5,968,10100,0.25,2.25,0.00,0.000,6,0.132,0.034,3077,2755,2672
$GC,10415,0.71,102.0,890.0,9.7,984,10423,0.00,0.00,5.97,1.108,6,0.000,0.000,3077,2754,2655
$GC,10726,0.72,106.9,860.0,9.7,999,10734,0.00,0.00,6.80,1.170,6,0.000,0.000,3077,2753,2635
$GC,11034,0.72,106.9,829.3,10.1,1014,11038,0.00,2.35,0.00,0.000,4,0.000,0.054,3077,3901,2635
$GC,11077,0.72,106.9,824.7,10.4,1016,11081,0.00,2.25,0.00,0.000,6,0.000,0.033,3077,2764,2634
$GC,11405,0.74,126.9,794.9,8.6,1032,11431,0.00,2.35,21.62,1.431,4,0.000,0.053,3077,3902,2553
$GC,11470,0.74,127.9,788.8,9.9,1035,11474,0.00,2.22,0.00,0.000,6,0.000,0.032,3077,2773,2552
$GC,11798,0.76,143.3,759.7,8.9,1051,11822,0.00,2.38,17.90,1.387,4,0.000,0.053,3077,3896,2486
$GC,11845,0.78,160.0,755.1,8.8,1053,11869,0.00,2.22,18.90,1.398,6,0.000,0.032,3077,2772,2418
$GC,12192,0.79,168.7,723.3,9.4,1070,12207,0.00,2.33,10.27,1.253,4,0.000,0.052,3077,3894,2382
$GC,12252,0.79,168.7,717.4,10.1,1072,12256,0.00,2.20,0.00,0.000,6,0.000,0.034,3077,2779,2382
$GC,12584,0.81,180.3,686.3,9.2,1088,12606,0.00,2.35,12.70,1.279,4,0.000,0.054,3077,3894,2335
$GC,12634,0.81,180.3,681.2,10.1,1090,12638,0.00,2.15,0.00,0.000,6,0.000,0.033,3077,2801,2336
$GC,12960,0.81,180.3,645.7,11.3,1106,12964,0.00,2.25,0.00,0.000,4,0.000,0.051,3077,3901,2335
$GC,13004,0.81,180.3,640.2,12.4,1108,13008,0.00,2.15,0.00,0.000,6,0.000,0.032,3077,2814,2335
$GC,13331,0.81,180.3,602.4,11.9,1124,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2812,2335
$GC,13648,0.81,180.3,565.5,11.1,1152,13652,0.00,2.20,0.00,0.000,4,0.000,0.052,3077,3896,2335
$GC,13691,0.81,180.3,560.3,12.4,1155,13697,0.00,2.10,0.00,0.000,6,0.000,0.031,3077,2823,2335
$GC,14018,0.81,180.3,523.7,10.8,1186,14022,0.00,2.17,0.00,0.000,4,0.000,0.051,3077,3896,2335
$GC,14035,0.81,180.3,521.6,11.1,1187,14038,0.00,2.05,0.00,0.000,6,0.000,0.031,3077,2830,2335
$GC,14366,0.81,180.3,487.6,10.2,1218,14370,0.00,2.17,0.00,0.000,4,0.000,0.051,3077,3903,2335
$GC,14405,0.81,180.3,483.2,10.3,1221,14409,0.00,2.05,0.00,0.000,6,0.000,0.031,3077,2840,2335
$GC,14736,0.81,180.3,447.2,10.8,1252,14737,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2835,2335
$GC,15054,0.81,180.3,413.6,10.4,1282,15055,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2832,2335
$GC,15373,0.81,180.3,380.6,10.6,1312,15377,0.00,2.12,0.00,0.000,4,0.000,0.051,3077,3893,2335
$GC,15418,0.81,180.3,375.6,10.8,1316,15422,0.00,2.00,0.00,0.000,6,0.000,0.031,3077,2853,2335
$GC,15747,0.85,180.3,341.0,10.1,1354,15754,0.15,2.10,0.00,0.000,4,0.062,0.048,3106,3894,2335
$GC,15771,0.85,180.3,338.1,11.3,1358,15778,0.00,2.00,0.00,0.000,6,0.000,0.031,3107,2866,2335
$GC,16115,0.85,180.3,293.9,13.1,1419,16121,0.00,2.08,0.00,0.000,4,0.000,0.049,3106,3897,2335
$GC,16166,0.85,180.3,286.7,14.0,1428,16172,0.00,1.98,0.00,0.000,6,0.000,0.031,3106,2879,2335
$GC,16512,0.85,180.3,242.8,12.0,1489,16518,0.00,2.05,0.00,0.000,4,0.000,0.049,3107,3897,2336
$GC,16569,0.85,180.3,235.3,13.5,1499,16575,0.00,1.92,0.00,0.000,6,0.000,0.029,3106,2888,2336
$GC,16911,0.85,180.3,194.2,10.9,1560,16917,0.00,2.03,0.00,0.000,4,0.000,0.048,3106,3897,2336
$GC,16929,0.85,180.3,191.9,11.6,1563,16935,0.00,1.92,0.00,0.000,6,0.000,0.030,3106,2887,2336
$GC,17272,0.85,180.3,149.2,13.3,1624,17279,0.00,2.03,0.00,0.000,4,0.000,0.048,3106,3900,2336
$GC,17304,0.85,180.3,145.5,12.1,1629,17310,0.00,1.92,0.00,0.000,6,0.000,0.031,3106,2896,2336
$GC,17646,0.85,180.3,105.5,11.5,1690,17652,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2890,2336
$GC,17990,0.85,180.3,68.0,11.6,1751,17997,0.00,2.03,0.00,0.000,4,0.000,0.049,3106,3905,2336
$GC,18027,0.85,180.3,63.7,11.7,1757,18033,0.00,1.90,0.00,0.000,6,0.000,0.031,3106,2910,2337
$GC,18370,0.85,180.3,22.2,11.4,1818,18376,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2903,2337
$GC,18513,0.85,180.3,5.2,12.0,1843,18518,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2902,2337
$STATE,18541,end climb,SURFACE_DEPTH_REACHED
$STATE,18541,begin surface coast
$FINISH,0.3,1.011268
$STATE,18558,end surface coast,CONTROL_FINISHED_OK
$STATE,18558,begin surface
$SM_CCo,18576,19.65,0.908,0,0,2255,200.16
$SM_GC,1.26,0.00,0.00,19.65,0.000,0.000,0.908,1434,2279,2255,-6.84,-0.59,200.16
$IRIDIUM_FIX,6046.07,-2623.94,090897,101007
$TT8_MAMPS,0.026845
$HUMID,1779
$INTERNAL_PRESSURE,8.95588
$TCM_TEMP,14.90
$XPDR_PINGS,1029
$24V_AH,19.4,64.413
$10V_AH,9.8,47.136
$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,23.550,186.325,304.725,19.650,0.000,30.383,33.350,248.755,257.250,0.000,0.000,15.101,3022.002,11348.674,507.605,3501.469,652.981,0.000,2066.875,0.000,3490.104,0.000,0.466
$DEVICE_MAMPS,254.644,116.584,1626.040,908.128,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1303.728,1342.110,670.853,1631.236,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136171,1851
$CAP_FILE_SIZE,179077,0
$CFSIZE,260165632,238039040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150508,210328,6113.411,-2622.875,35,2.4,54,-18.5