version: 66.03
glider: 142
mission: 5
dive: 196
start: 5 16 108 13 6 1
data:
$ID,142
$MISSION,5
$DIVE,196
$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,-16781.215
$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,25
$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
$GPS1,125755,6125.557,-2628.150,37,1.9,37,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-65.1
$GPS2,130541,6125.654,-2628.246,12,3.8,31,-18.7
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6136.413,-2627.799
$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,23.7,20000,-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,-65.90,0.000,2,0.000,0.000,1436,2288,3429
$GC,97,-1.03,-97.3,3.2,-4.4,12,116,11.57,2.85,-1.17,0.000,4,0.253,0.049,2687,3710,3467
$GC,371,-0.98,-97.3,41.8,-13.3,60,378,0.00,2.78,0.00,0.000,6,0.000,0.034,2687,2294,3469
$GC,514,-0.94,-97.3,61.2,-13.4,85,521,0.15,2.83,0.00,0.000,4,0.153,0.049,2710,885,3469
$GC,742,-0.94,-97.3,90.3,-12.3,125,748,0.00,2.65,0.00,0.000,6,0.000,0.028,2710,2264,3470
$GC,1085,-0.94,-97.3,129.9,-11.1,186,1092,0.00,2.78,0.00,0.000,4,0.000,0.048,2710,883,3470
$GC,1245,-0.94,-97.3,148.3,-11.3,214,1251,0.00,2.60,0.00,0.000,6,0.000,0.029,2710,2238,3470
$GC,1589,-0.94,-97.3,184.1,-9.5,275,1595,0.00,2.70,0.00,0.000,4,0.000,0.048,2710,892,3470
$GC,1669,-0.94,-97.3,192.4,-10.6,289,1675,0.00,2.55,0.00,0.000,6,0.000,0.030,2710,2218,3471
$GC,2012,-0.94,-97.3,223.5,-8.6,350,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2221,3471
$GC,2356,-0.94,-97.3,251.5,-8.0,411,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2223,3470
$GC,2698,-0.94,-97.3,279.8,-8.8,472,2704,0.00,2.67,0.00,0.000,4,0.000,0.048,2710,885,3470
$GC,2840,-0.94,-97.3,293.3,-10.1,497,2846,0.00,2.55,0.00,0.000,6,0.000,0.030,2710,2213,3471
$GC,3183,-0.94,-97.3,328.6,-11.3,558,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2217,3471
$GC,3517,-0.94,-97.3,368.4,-12.5,605,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2219,3470
$GC,3836,-0.94,-97.3,408.9,-12.8,635,3840,0.00,2.67,0.00,0.000,4,0.000,0.048,2710,883,3471
$GC,3931,-0.94,-97.3,421.8,-14.1,643,3936,0.00,2.55,0.00,0.000,6,0.000,0.030,2710,2208,3471
$GC,4257,-0.94,-97.3,464.4,-12.5,673,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2210,3470
$GC,4575,-0.94,-97.3,499.3,-9.6,703,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2210,3471
$GC,4893,-0.94,-97.3,522.8,-5.3,733,4898,0.00,2.67,0.00,0.000,4,0.000,0.049,2710,884,3471
$GC,4984,-0.94,-97.3,527.6,-4.9,740,4991,0.00,2.53,0.00,0.000,6,0.000,0.030,2710,2197,3470
$GC,5312,-0.94,-97.3,544.9,-7.9,771,5317,0.00,3.00,0.00,0.000,4,0.000,0.047,2710,3700,3470
$GC,5389,-0.94,-97.3,552.4,-10.2,777,5396,0.00,2.95,0.00,0.000,6,0.000,0.035,2710,2201,3470
$GC,5715,-0.94,-97.3,588.8,-12.1,808,5719,0.00,2.65,0.00,0.000,4,0.000,0.054,2710,888,3470
$GC,5867,-0.94,-97.3,608.7,-13.1,819,5871,0.00,2.55,0.00,0.000,6,0.000,0.032,2709,2199,3470
$GC,6193,-0.94,-97.3,645.4,-10.0,835,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2200,3470
$GC,6502,-0.94,-97.3,672.0,-7.6,850,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2200,3470
$GC,6812,-0.94,-97.3,698.5,-9.9,865,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2201,3470
$GC,7120,-0.94,-97.3,728.3,-9.8,880,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2200,3469
$GC,7430,-0.94,-97.3,756.4,-7.4,895,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2200,3469
$GC,7739,-0.94,-97.3,780.7,-9.2,910,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2200,3469
$GC,8048,-0.94,-97.3,813.1,-10.5,925,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2200,3468
$GC,8357,-0.94,-97.3,841.5,-8.6,940,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2200,3468
$GC,8668,-0.94,-97.3,866.6,-7.7,955,8673,0.00,3.28,0.00,0.000,4,0.000,0.133,2710,903,3468
$GC,8711,-0.94,-97.3,870.3,-8.9,957,8716,0.00,2.53,0.00,0.000,6,0.000,0.032,2710,2196,3468
$GC,9034,-0.98,-97.3,898.6,-9.7,973,9038,0.00,3.05,0.00,0.000,4,0.000,0.054,2710,3698,3468
$GC,9111,-0.98,-97.3,906.5,-10.2,976,9117,0.00,3.00,0.00,0.000,6,0.000,0.042,2710,2205,3467
$GC,9426,-0.98,-97.3,936.8,-8.9,992,9431,0.00,2.70,0.00,0.000,4,0.000,0.061,2710,894,3467
$GC,9533,-0.98,-97.3,947.6,-10.3,997,9537,0.00,2.58,0.00,0.000,6,0.000,0.035,2710,2202,3467
$GC,9859,-0.98,-97.3,978.9,-9.2,1013,9860,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2202,3467
$STATE,10000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10001,begin apogee
$GC,10007,-0.21,0.0,991.4,8.6,1020,10114,1.05,0.00,103.43,1.631,6,0.147,0.000,2867,2739,3071
$STATE,10114,end apogee,CONTROL_FINISHED_OK
$STATE,10114,begin climb
$GC,10117,1.03,97.3,993.3,0.0,1025,10229,1.60,0.00,108.10,1.606,6,0.084,0.000,3140,2739,2674
$GC,10534,0.89,97.3,941.2,14.4,1046,10539,0.17,2.40,0.00,0.000,4,0.134,0.054,3115,3891,2673
$GC,10669,0.79,97.3,922.8,13.5,1052,10674,0.15,2.25,0.00,0.000,6,0.130,0.035,3094,2762,2673
$GC,10989,0.79,97.3,888.6,10.3,1068,10993,0.00,2.35,0.00,0.000,4,0.000,0.054,3094,3898,2672
$GC,11053,0.74,97.3,881.8,11.3,1071,11057,0.00,2.22,0.00,0.000,6,0.000,0.036,3094,2770,2672
$GC,11381,0.70,97.3,844.6,11.9,1087,11386,0.15,2.33,0.00,0.000,4,0.139,0.053,3073,3899,2671
$GC,11480,0.70,97.3,833.3,11.3,1091,11487,0.00,2.22,0.00,0.000,6,0.000,0.035,3073,2779,2671
$GC,11798,0.72,114.9,804.3,8.8,1107,11822,0.00,2.35,18.62,1.411,4,0.000,0.057,3073,3891,2602
$GC,11850,0.72,118.8,798.9,9.7,1109,11862,0.00,2.17,5.90,1.124,6,0.000,0.033,3073,2792,2586
$GC,12171,0.72,118.8,767.0,10.2,1125,12172,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2789,2585
$GC,12480,0.72,118.8,734.7,10.9,1140,12484,0.00,2.28,0.00,0.000,4,0.000,0.053,3073,3903,2585
$GC,12529,0.72,118.8,728.9,11.3,1142,12533,0.00,2.17,0.00,0.000,6,0.000,0.037,3073,2805,2585
$GC,12850,0.73,125.2,696.1,9.6,1158,12864,0.00,2.28,7.82,1.164,4,0.000,0.061,3073,3896,2560
$GC,12917,0.73,125.2,689.2,11.2,1161,12921,0.00,2.12,0.00,0.000,6,0.000,0.034,3073,2809,2559
$GC,13243,0.73,127.7,656.8,9.8,1177,13249,0.00,0.00,4.38,0.890,6,0.000,0.000,3073,2806,2551
$GC,13552,0.73,127.7,626.2,10.0,1192,13554,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2803,2550
$GC,13862,0.75,143.2,597.1,8.9,1208,13884,0.00,2.30,16.98,1.282,4,0.000,0.052,3073,3899,2487
$GC,13897,0.78,164.7,593.9,8.5,1211,13929,0.00,2.12,23.00,1.333,6,0.000,0.032,3073,2813,2399
$GC,14247,0.82,164.7,558.1,10.7,1244,14249,0.12,0.00,0.00,0.000,6,0.067,0.000,3096,2811,2398
$GC,14566,0.82,164.7,518.1,12.5,1274,14570,0.00,2.22,0.00,0.000,4,0.000,0.052,3096,3901,2398
$GC,14640,0.82,164.7,508.4,13.2,1280,14644,0.00,2.12,0.00,0.000,6,0.000,0.032,3096,2806,2397
$GC,14965,0.82,164.7,467.4,12.5,1310,14969,0.00,2.22,0.00,0.000,4,0.000,0.051,3096,3903,2398
$GC,15038,0.82,164.7,457.5,13.1,1316,15041,0.00,2.08,0.00,0.000,6,0.000,0.031,3096,2826,2398
$GC,15369,0.82,164.7,417.4,11.5,1347,15373,0.00,2.17,0.00,0.000,4,0.000,0.050,3096,3901,2397
$GC,15417,0.82,164.7,411.8,12.0,1351,15420,0.00,2.03,0.00,0.000,6,0.000,0.031,3096,2846,2397
$GC,15749,0.82,164.7,373.9,11.2,1382,15753,0.00,2.12,0.00,0.000,4,0.000,0.050,3096,3899,2397
$GC,15794,0.82,164.7,368.4,11.7,1386,15798,0.00,2.00,0.00,0.000,6,0.000,0.031,3096,2857,2397
$GC,16128,0.82,164.7,331.2,11.3,1431,16134,0.00,2.10,0.00,0.000,4,0.000,0.050,3096,3897,2397
$GC,16168,0.82,164.7,326.7,11.0,1438,16174,0.00,2.00,0.00,0.000,6,0.000,0.031,3096,2870,2398
$GC,16511,0.82,164.7,289.2,10.4,1499,16517,0.00,2.08,0.00,0.000,4,0.000,0.050,3096,3900,2397
$GC,16535,0.82,164.7,286.4,11.1,1503,16541,0.00,1.98,0.00,0.000,6,0.000,0.030,3096,2866,2397
$GC,16878,0.82,164.7,247.2,12.3,1564,16885,0.00,2.08,0.00,0.000,4,0.000,0.050,3096,3894,2398
$GC,16924,0.82,164.7,241.3,12.3,1572,16931,0.00,1.98,0.00,0.000,6,0.000,0.030,3096,2877,2398
$GC,17269,0.82,164.7,198.0,11.6,1633,17274,0.00,2.05,0.00,0.000,4,0.000,0.049,3096,3896,2398
$GC,17286,0.82,164.7,195.6,12.0,1636,17292,0.00,1.95,0.00,0.000,6,0.000,0.030,3096,2890,2398
$GC,17630,0.82,164.7,155.2,11.4,1697,17635,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2882,2398
$GC,17972,0.82,164.7,115.6,11.1,1758,17980,0.00,2.05,0.00,0.000,4,0.000,0.049,3096,3895,2399
$GC,17992,0.82,164.7,113.3,12.4,1761,17998,0.00,1.92,0.00,0.000,6,0.000,0.031,3096,2886,2398
$GC,18335,0.82,164.7,75.6,10.3,1822,18341,0.00,2.03,0.00,0.000,4,0.000,0.048,3096,3897,2399
$GC,18370,0.83,169.2,71.9,9.7,1828,18382,0.00,1.92,6.12,0.760,6,0.000,0.031,3096,2909,2381
$GC,18719,0.83,169.2,32.0,11.5,1890,18726,0.00,3.10,0.00,0.000,4,0.000,0.044,3096,1338,2380
$GC,18732,0.83,169.2,30.5,10.5,1892,18738,0.00,3.05,0.00,0.000,6,0.000,0.031,3096,2908,2381
$GC,18876,0.83,169.2,15.2,11.5,1917,18881,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2908,2380
$STATE,18998,end climb,SURFACE_DEPTH_REACHED
$STATE,18998,begin surface coast
$FINISH,0.2,1.010671
$STATE,19016,end surface coast,CONTROL_FINISHED_OK
$STATE,19018,begin surface
$SM_CCo,19036,27.50,0.943,0,0,2255,200.16
$SM_GC,0.72,0.00,0.00,27.50,0.000,0.000,0.943,1437,2288,2255,-6.82,-0.34,200.16
$IRIDIUM_FIX,6054.92,-2623.88,100897,070758
$TT8_MAMPS,0.026845
$HUMID,1795
$INTERNAL_PRESSURE,8.95588
$TCM_TEMP,16.30
$XPDR_PINGS,1046
$24V_AH,19.4,65.142
$10V_AH,9.8,47.782
$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,23.525,146.825,294.350,27.500,0.000,25.309,36.051,244.622,261.500,0.000,0.000,34.138,3118.195,11674.021,510.559,3559.348,652.577,0.000,2040.987,0.000,3539.644,0.000,0.465
$DEVICE_MAMPS,253.110,132.691,1631.409,943.410,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1368.406,1416.126,701.931,1719.490,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142268,1942
$CAP_FILE_SIZE,175190,0
$CFSIZE,260165632,237649920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160508,182501,6129.321,-2631.966,38,1.0,38,-18.7