version: 66.03
glider: 142
mission: 5
dive: 197
start: 5 16 108 18 36 2
data:
$ID,142
$MISSION,5
$DIVE,197
$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,90
$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,-16812.432
$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,24
$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
$GPS1,182501,6129.321,-2631.966,38,1.0,38,-18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-64.7
$GPS2,183544,6129.426,-2632.004,12,1.8,29,-18.7
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6129.426,-2626.850
$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,108.7,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.03,-97.3,0.0,0.0,0,101,0.00,0.00,-67.15,0.000,6,0.000,0.000,1437,2281,3467
$GC,103,-1.03,-97.3,3.5,-5.1,13,122,11.77,2.85,0.00,0.000,4,0.256,0.041,2689,3715,3469
$GC,129,-0.34,-97.3,9.5,-21.1,17,136,1.12,2.80,0.00,0.000,6,0.185,0.033,2839,2295,3469
$GC,276,-0.63,-97.3,17.1,-4.1,42,283,0.25,2.83,0.00,0.000,4,0.045,0.041,2781,3727,3471
$GC,307,-0.80,-97.3,19.1,-6.5,47,314,0.17,2.80,0.00,0.000,6,0.051,0.034,2743,2304,3471
$GC,452,-0.87,-97.3,31.4,-8.2,72,458,0.00,2.83,0.00,0.000,4,0.000,0.044,2743,3712,3471
$GC,465,-0.94,-97.3,32.8,-8.9,74,472,0.15,2.75,0.00,0.000,6,0.054,0.035,2710,2314,3471
$GC,608,-0.94,-97.3,48.9,-11.5,99,614,0.00,2.88,0.00,0.000,4,0.000,0.051,2710,883,3471
$GC,745,-0.94,-97.3,65.1,-11.7,123,751,0.00,2.70,0.00,0.000,6,0.000,0.028,2710,2287,3471
$GC,1089,-0.94,-97.3,103.5,-11.1,184,1095,0.00,2.83,0.00,0.000,4,0.000,0.048,2710,883,3471
$GC,1136,-0.94,-97.3,109.0,-11.7,192,1143,0.00,2.67,0.00,0.000,6,0.000,0.029,2710,2274,3471
$GC,1480,-0.94,-97.3,146.3,-10.5,253,1486,0.00,2.80,0.00,0.000,4,0.000,0.048,2710,882,3471
$GC,1554,-0.94,-97.3,154.6,-11.1,266,1560,0.00,2.65,0.00,0.000,6,0.000,0.030,2710,2259,3471
$GC,1898,-0.94,-97.3,189.6,-9.7,327,1904,0.00,2.75,0.00,0.000,4,0.000,0.048,2710,890,3471
$GC,2086,-0.94,-97.3,209.7,-10.5,360,2092,0.00,2.60,0.00,0.000,6,0.000,0.031,2710,2244,3471
$GC,2429,-0.94,-97.3,243.5,-10.4,421,2435,0.00,2.72,0.00,0.000,4,0.000,0.049,2710,888,3472
$GC,2453,-0.94,-97.3,246.0,-10.5,425,2459,0.00,2.60,0.00,0.000,6,0.000,0.030,2710,2241,3472
$GC,2796,-0.94,-97.3,279.7,-9.9,486,2802,0.00,2.72,0.00,0.000,4,0.000,0.048,2710,885,3471
$GC,2876,-0.94,-97.3,288.0,-10.4,500,2882,0.00,2.58,0.00,0.000,6,0.000,0.030,2710,2229,3471
$GC,3221,-0.94,-97.3,321.7,-9.8,561,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2235,3471
$GC,3560,-0.94,-97.3,357.0,-11.0,616,3564,0.00,2.70,0.00,0.000,4,0.000,0.048,2710,885,3471
$GC,3621,-0.94,-97.3,364.1,-12.1,621,3626,0.00,2.60,0.00,0.000,6,0.000,0.031,2710,2238,3471
$GC,3947,-0.94,-97.3,400.9,-11.3,651,3952,0.00,2.72,0.00,0.000,4,0.000,0.048,2710,883,3471
$GC,4042,-0.94,-97.3,412.4,-11.7,659,4047,0.00,2.58,0.00,0.000,6,0.000,0.031,2710,2220,3471
$GC,4370,-0.94,-97.3,449.1,-11.6,689,4375,0.00,2.70,0.00,0.000,4,0.000,0.049,2710,881,3472
$GC,4420,-0.94,-97.3,455.6,-12.1,693,4425,0.00,2.58,0.00,0.000,6,0.000,0.030,2710,2216,3471
$GC,4748,-0.94,-97.3,490.5,-10.4,723,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2218,3471
$GC,5073,-0.94,-97.3,523.1,-9.4,754,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2220,3471
$GC,5392,-0.94,-97.3,552.6,-9.2,784,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2220,3471
$GC,5709,-0.94,-97.3,583.5,-10.0,814,5714,0.00,2.70,0.00,0.000,4,0.000,0.051,2710,890,3471
$GC,5754,-0.94,-97.3,588.5,-11.4,817,5760,0.00,2.58,0.00,0.000,6,0.000,0.032,2710,2216,3471
$GC,6072,-0.94,-97.3,621.6,-10.4,838,6073,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2217,3471
$GC,6382,-0.94,-97.3,652.0,-9.7,853,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2217,3470
$GC,6691,-0.94,-97.3,681.7,-9.3,868,6695,0.00,2.75,0.00,0.000,4,0.000,0.060,2710,891,3471
$GC,6734,-0.94,-97.3,686.1,-10.0,870,6739,0.00,2.60,0.00,0.000,6,0.000,0.037,2710,2205,3470
$GC,7055,-0.94,-97.3,716.5,-9.5,886,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2206,3470
$GC,7366,-0.94,-97.3,745.7,-9.4,901,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2206,3470
$GC,7674,-0.94,-97.3,776.4,-10.1,916,7679,0.00,3.28,0.00,0.000,4,0.000,0.084,2710,3698,3470
$GC,7691,-0.94,-97.3,778.1,-10.2,917,7695,0.00,3.12,0.00,0.000,6,0.000,0.067,2710,2235,3470
$GC,8017,-0.94,-97.3,812.6,-10.1,933,8022,0.00,3.33,0.00,0.000,4,0.000,0.094,2710,3695,3469
$GC,8049,-0.94,-97.3,816.2,-10.9,934,8056,0.00,3.25,0.00,0.000,6,0.000,0.084,2710,2242,3469
$GC,8365,-0.94,-97.3,847.2,-9.7,950,8366,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2241,3469
$GC,8675,-0.94,-97.3,874.2,-8.3,965,8680,0.00,3.25,0.00,0.000,4,0.000,0.122,2709,886,3469
$GC,8715,-0.94,-97.3,877.7,-9.2,967,8719,0.00,2.60,0.00,0.000,6,0.000,0.031,2709,2225,3469
$GC,9041,-0.94,-97.3,905.7,-8.4,983,9042,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2225,3469
$GC,9350,-0.94,-97.3,932.2,-8.8,998,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2225,3468
$GC,9659,-0.94,-97.3,960.7,-9.5,1013,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2225,3468
$GC,9969,-0.98,-97.3,989.0,-9.0,1028,9973,0.00,2.78,0.00,0.000,4,0.000,0.058,2709,892,3467
$STATE,9976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9976,begin apogee
$GC,9985,-0.21,0.0,990.0,8.9,1028,10093,1.02,0.00,103.72,1.634,6,0.145,0.000,2865,2746,3071
$STATE,10093,end apogee,CONTROL_FINISHED_OK
$STATE,10093,begin climb
$GC,10096,1.03,97.3,993.2,0.0,1034,10211,1.58,2.62,107.35,1.605,4,0.081,0.059,3136,3892,2674
$GC,10375,0.89,97.3,962.7,13.4,1047,10380,0.15,2.35,0.00,0.000,6,0.133,0.035,3117,2740,2673
$GC,10701,0.80,97.3,926.0,11.0,1063,10706,0.12,2.42,0.00,0.000,4,0.133,0.054,3100,3902,2672
$GC,10757,0.73,97.3,920.0,10.8,1065,10763,0.00,2.28,0.00,0.000,6,0.000,0.035,3100,2751,2672
$GC,11072,0.68,97.3,888.0,10.4,1081,11077,0.17,2.38,0.00,0.000,4,0.140,0.053,3073,3902,2671
$GC,11129,0.68,101.5,882.6,9.7,1083,11139,0.00,2.25,5.45,1.073,6,0.000,0.034,3073,2754,2657
$GC,11460,0.69,108.6,852.0,9.5,1100,11474,0.00,2.40,8.93,1.278,4,0.000,0.054,3073,3899,2628
$GC,11531,0.69,108.6,844.6,10.0,1103,11535,0.00,2.25,0.00,0.000,6,0.000,0.038,3073,2773,2627
$GC,11859,0.69,108.6,812.1,10.1,1119,11860,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2772,2627
$GC,12167,0.69,108.6,780.9,10.1,1134,12171,0.00,2.30,0.00,0.000,4,0.000,0.052,3073,3899,2626
$GC,12232,0.69,108.6,773.6,11.6,1137,12237,0.00,2.20,0.00,0.000,6,0.000,0.033,3073,2782,2626
$GC,12560,0.70,111.4,741.7,9.8,1153,12570,0.00,2.30,4.30,0.910,4,0.000,0.059,3073,3893,2616
$GC,12609,0.70,112.7,736.6,9.9,1155,12613,0.00,2.15,0.00,0.000,6,0.000,0.033,3073,2787,2616
$GC,12937,0.71,125.4,706.3,9.1,1171,12957,0.00,2.35,15.85,1.348,4,0.000,0.053,3073,3903,2559
$GC,13008,0.71,125.4,699.2,10.8,1174,13012,0.00,2.15,0.00,0.000,6,0.000,0.032,3073,2802,2559
$GC,13328,0.73,137.1,669.0,9.2,1190,13348,0.00,0.00,13.23,1.297,6,0.000,0.000,3073,2799,2512
$GC,13657,0.75,153.6,639.1,8.9,1206,13682,0.00,2.30,18.30,1.325,4,0.000,0.051,3073,3893,2444
$GC,13715,0.75,153.6,633.4,10.4,1208,13722,0.00,2.17,0.00,0.000,6,0.000,0.032,3073,2806,2443
$GC,14031,0.77,168.1,604.0,9.0,1224,14053,0.00,2.25,16.08,1.282,4,0.000,0.052,3073,3902,2384
$GC,14092,0.77,168.1,597.8,10.1,1227,14098,0.00,2.15,0.00,0.000,6,0.000,0.032,3073,2808,2384
$GC,14418,0.77,168.1,565.4,10.0,1258,14419,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2804,2383
$GC,14737,0.81,168.1,533.5,10.1,1288,14739,0.12,0.00,0.00,0.000,6,0.068,0.000,3096,2801,2383
$GC,15054,0.81,168.1,495.1,12.1,1318,15058,0.00,2.22,0.00,0.000,4,0.000,0.051,3096,3903,2383
$GC,15184,0.81,168.1,478.5,12.9,1329,15188,0.00,2.10,0.00,0.000,6,0.000,0.031,3096,2815,2383
$GC,15515,0.81,168.1,437.5,12.1,1360,15519,0.00,2.20,0.00,0.000,4,0.000,0.051,3096,3902,2383
$GC,15589,0.81,168.1,427.8,13.7,1366,15592,0.00,2.08,0.00,0.000,6,0.000,0.031,3096,2825,2383
$GC,15920,0.81,168.1,388.3,12.2,1397,15921,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2817,2383
$GC,16238,0.81,168.1,350.1,11.7,1427,16241,0.00,2.17,0.00,0.000,4,0.000,0.050,3096,3904,2383
$GC,16340,0.81,168.1,337.7,12.2,1444,16346,0.00,2.05,0.00,0.000,6,0.000,0.031,3096,2837,2383
$GC,16684,0.81,168.1,297.7,11.8,1505,16690,0.00,2.15,0.00,0.000,4,0.000,0.050,3096,3902,2384
$GC,16735,0.81,168.1,291.3,11.0,1514,16741,0.00,2.03,0.00,0.000,6,0.000,0.031,3096,2845,2384
$GC,17079,0.81,168.1,250.8,12.9,1575,17085,0.00,2.12,0.00,0.000,4,0.000,0.050,3096,3898,2384
$GC,17125,0.81,168.1,245.1,11.2,1583,17131,0.00,1.98,0.00,0.000,6,0.000,0.031,3096,2866,2384
$GC,17468,0.81,168.1,204.8,11.0,1644,17474,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2859,2384
$GC,17811,0.81,168.1,164.7,11.4,1705,17817,0.00,2.08,0.00,0.000,4,0.000,0.049,3096,3897,2385
$GC,17885,0.81,168.1,155.8,11.1,1718,17892,0.00,2.00,0.00,0.000,6,0.000,0.031,3096,2868,2385
$GC,18232,0.81,168.1,113.9,11.1,1779,18237,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2860,2385
$GC,18573,0.81,168.1,71.1,12.2,1840,18579,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2860,2385
$GC,18917,0.81,168.1,30.9,10.2,1901,18923,0.00,2.05,0.00,0.000,4,0.000,0.048,3096,3898,2385
$GC,19010,0.81,168.1,20.3,10.7,1917,19016,0.00,2.00,0.00,0.000,6,0.000,0.031,3096,2872,2385
$GC,19152,0.81,168.1,4.3,11.2,1942,19158,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2864,2385
$STATE,19173,end climb,SURFACE_DEPTH_REACHED
$STATE,19173,begin surface coast
$FINISH,0.2,1.016299
$STATE,19191,end surface coast,CONTROL_FINISHED_OK
$STATE,19191,begin surface
$SM_CCo,19210,28.55,0.940,0,0,2255,200.16
$SM_GC,0.76,0.00,0.00,28.55,0.000,0.000,0.940,1432,2290,2255,-6.84,-0.28,200.16
$IRIDIUM_FIX,6103.81,-2635.92,100897,181801
$TT8_MAMPS,0.026845
$HUMID,1785
$INTERNAL_PRESSURE,8.95588
$TCM_TEMP,14.70
$XPDR_PINGS,1076
$24V_AH,19.3,65.332
$10V_AH,9.8,47.949
$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,25.150,172.875,293.200,28.550,0.000,60.658,64.548,300.172,269.000,0.000,0.000,30.590,3147.830,11823.947,516.867,3604.363,772.072,0.000,2090.836,0.000,3571.019,0.000,0.465
$DEVICE_MAMPS,256.178,121.953,1633.710,939.575,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1365.308,1414.235,722.798,1744.026,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142328,1949
$CAP_FILE_SIZE,185677,0
$CFSIZE,260165632,237539328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160508,235801,6131.145,-2628.625,36,1.6,42,-18.7