version: 66.03
glider: 142
mission: 5
dive: 202
start: 5 17 108 21 53 4
data:
$ID,142
$MISSION,5
$DIVE,202
$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,170
$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,-16882.406
$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,27
$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
$GPS1,214401,6129.032,-2619.396,41,1.0,41,-18.6
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-57.5
$GPS2,215244,6129.096,-2619.376,8,1.0,13,-18.6
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6118.461,-2618.476
$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,188.6,20000,-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,27,-1.03,-97.3,0.0,0.0,0,96,0.00,0.00,-66.03,0.000,2,0.000,0.000,1432,2292,3460
$GC,98,-1.03,-97.3,3.3,-5.0,12,117,11.57,2.80,0.00,0.000,4,0.251,0.041,2689,890,3463
$GC,260,-0.98,-97.3,28.9,-14.2,40,267,0.00,2.75,0.00,0.000,6,0.000,0.029,2689,2317,3463
$GC,404,-0.98,-97.3,49.1,-13.8,65,410,0.00,2.85,0.00,0.000,4,0.000,0.045,2689,896,3463
$GC,496,-0.93,-97.3,62.1,-13.4,81,503,0.17,2.70,0.00,0.000,6,0.140,0.029,2713,2292,3463
$GC,840,-0.93,-97.3,102.1,-11.8,142,846,0.00,2.80,0.00,0.000,4,0.000,0.046,2713,893,3464
$GC,937,-0.93,-97.3,113.8,-12.1,159,943,0.00,2.67,0.00,0.000,6,0.000,0.029,2713,2280,3464
$GC,1281,-0.93,-97.3,152.3,-11.0,220,1287,0.00,2.78,0.00,0.000,4,0.000,0.047,2713,894,3464
$GC,1405,-0.93,-97.3,167.0,-11.9,242,1412,0.00,2.65,0.00,0.000,6,0.000,0.030,2713,2270,3464
$GC,1749,-0.93,-97.3,203.9,-10.7,303,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2272,3464
$GC,2092,-0.93,-97.3,239.9,-10.7,364,2098,0.00,2.75,0.00,0.000,4,0.000,0.047,2713,896,3465
$GC,2160,-0.93,-97.3,247.5,-11.3,376,2167,0.00,2.62,0.00,0.000,6,0.000,0.030,2713,2265,3464
$GC,2504,-0.93,-97.3,282.9,-10.2,437,2510,0.00,2.75,0.00,0.000,4,0.000,0.047,2713,892,3464
$GC,2623,-0.93,-97.3,296.2,-11.4,458,2629,0.00,2.62,0.00,0.000,6,0.000,0.029,2713,2258,3464
$GC,2967,-0.93,-97.3,332.1,-10.4,519,2973,0.00,2.72,0.00,0.000,4,0.000,0.047,2713,897,3464
$GC,3036,-0.93,-97.3,339.8,-11.0,531,3042,0.00,2.60,0.00,0.000,6,0.000,0.030,2713,2247,3464
$GC,3365,-0.93,-97.3,373.8,-10.4,570,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2248,3464
$GC,3686,-0.93,-97.3,407.1,-10.0,600,3690,0.00,2.72,0.00,0.000,4,0.000,0.050,2713,894,3465
$GC,3815,-0.93,-97.3,421.2,-10.9,611,3819,0.00,2.58,0.00,0.000,6,0.000,0.031,2713,2229,3464
$GC,4141,-0.93,-97.3,453.8,-9.9,641,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2231,3464
$GC,4458,-0.93,-97.3,486.3,-10.2,671,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2232,3464
$GC,4777,-0.93,-97.3,518.5,-10.0,701,4781,0.00,2.70,0.00,0.000,4,0.000,0.049,2713,891,3464
$GC,4827,-0.93,-97.3,524.0,-11.1,705,4832,0.00,2.58,0.00,0.000,6,0.000,0.031,2713,2223,3464
$GC,5153,-0.93,-97.3,556.9,-10.1,735,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2225,3464
$GC,5470,-0.93,-97.3,589.8,-10.4,765,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2225,3464
$GC,5793,-0.93,-97.3,624.9,-11.1,785,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2225,3464
$GC,6102,-0.93,-97.3,659.3,-11.2,800,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2225,3464
$GC,6412,-0.93,-97.3,691.6,-9.5,815,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2225,3463
$GC,6720,-0.93,-97.3,720.6,-9.5,830,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2225,3463
$GC,7031,-0.93,-97.3,750.4,-9.4,845,7036,0.00,3.15,0.00,0.000,4,0.000,0.074,2713,3697,3463
$GC,7041,-0.93,-97.3,751.5,-9.4,845,7047,0.00,3.05,0.00,0.000,6,0.000,0.056,2713,2229,3463
$GC,7357,-0.93,-97.3,780.0,-9.1,861,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2228,3463
$GC,7666,-0.93,-97.3,807.3,-8.6,876,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2229,3462
$GC,7975,-0.93,-97.3,834.9,-9.3,891,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2229,3462
$GC,8284,-0.97,-97.3,863.7,-9.6,906,8290,0.00,3.58,0.00,0.000,4,0.000,0.118,2713,3694,3462
$GC,8302,-0.97,-97.3,865.4,-9.3,907,8307,0.00,3.50,0.00,0.000,6,0.000,0.109,2713,2228,3462
$GC,8629,-0.97,-97.3,893.7,-7.8,923,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2228,3462
$GC,8938,-0.97,-97.3,920.4,-8.7,938,8942,0.00,3.03,0.00,0.000,4,0.000,0.052,2713,3699,3462
$GC,8948,-0.97,-97.3,921.2,-8.5,938,8954,0.00,2.95,0.00,0.000,6,0.000,0.038,2713,2213,3462
$GC,9264,-1.01,-97.3,949.1,-8.5,954,9265,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2212,3461
$GC,9572,-1.01,-97.3,977.0,-9.1,969,9574,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2212,3461
$STATE,9714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9714,begin apogee
$GC,9721,-0.21,0.0,990.2,9.1,976,9826,1.02,0.00,101.62,1.622,6,0.143,0.000,2869,2743,3071
$STATE,9827,end apogee,CONTROL_FINISHED_OK
$STATE,9827,begin climb
$GC,9829,1.03,97.3,992.8,0.0,981,9944,1.58,2.65,106.85,1.602,4,0.086,0.059,3136,3891,2674
$GC,10090,0.89,97.3,964.4,13.5,993,10095,0.15,2.33,0.00,0.000,6,0.137,0.035,3117,2756,2673
$GC,10411,0.79,97.3,923.3,13.1,1009,10416,0.15,2.38,0.00,0.000,4,0.136,0.053,3094,3896,2672
$GC,10483,0.74,97.3,914.5,12.2,1012,10487,0.00,2.28,0.00,0.000,6,0.000,0.035,3094,2747,2672
$GC,10798,0.74,97.3,881.6,10.9,1027,10802,0.00,2.38,0.00,0.000,4,0.000,0.054,3094,3900,2671
$GC,10861,0.68,97.3,874.2,11.6,1030,10866,0.15,2.25,0.00,0.000,6,0.148,0.034,3074,2753,2672
$GC,11187,0.69,99.3,842.9,9.9,1046,11191,0.00,2.35,0.00,0.000,4,0.000,0.055,3074,3896,2671
$GC,11258,0.69,99.3,835.3,10.7,1049,11262,0.00,2.22,0.00,0.000,6,0.000,0.033,3074,2773,2671
$GC,11581,0.69,106.8,805.6,9.5,1065,11593,0.00,0.00,10.45,1.290,6,0.000,0.000,3074,2771,2635
$GC,11888,0.70,107.5,774.8,10.0,1080,11892,0.00,2.33,0.00,0.000,4,0.000,0.054,3074,3905,2635
$GC,11996,0.70,112.2,763.8,9.7,1085,12010,0.00,2.20,7.07,1.160,6,0.000,0.034,3074,2778,2613
$GC,12327,0.73,131.7,733.9,8.7,1101,12350,0.00,0.00,21.35,1.399,6,0.000,0.000,3074,2776,2533
$GC,12656,0.73,135.0,702.9,9.8,1117,12663,0.00,0.00,5.03,0.989,6,0.000,0.000,3074,2772,2520
$GC,12965,0.73,135.0,671.7,10.2,1132,12969,0.00,2.28,0.00,0.000,4,0.000,0.051,3074,3895,2520
$GC,13053,0.73,135.0,662.2,10.8,1136,13057,0.00,2.17,0.00,0.000,6,0.000,0.032,3074,2791,2520
$GC,13381,0.73,136.5,629.4,9.9,1152,13382,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2788,2520
$GC,13690,0.74,141.7,599.4,9.6,1167,13704,0.00,2.30,8.25,1.124,4,0.000,0.054,3074,3900,2493
$GC,13761,0.74,141.7,591.8,10.9,1173,13767,0.00,2.17,0.00,0.000,6,0.000,0.031,3074,2792,2493
$GC,14088,0.74,143.3,559.4,9.9,1204,14089,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2785,2493
$GC,14406,0.75,151.6,529.1,9.4,1234,14422,0.00,2.25,11.75,1.174,4,0.000,0.050,3074,3898,2451
$GC,14491,0.75,151.6,520.3,10.4,1241,14495,0.00,2.12,0.00,0.000,6,0.000,0.031,3074,2804,2451
$GC,14816,0.80,151.6,486.9,10.3,1271,14817,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2798,2451
$GC,15136,0.84,151.6,454.3,10.3,1301,15138,0.15,0.00,0.00,0.000,6,0.064,0.000,3102,2796,2451
$GC,15453,0.84,151.6,413.9,13.3,1331,15457,0.00,2.20,0.00,0.000,4,0.000,0.049,3103,3895,2451
$GC,15538,0.84,151.6,402.1,13.9,1338,15542,0.00,2.08,0.00,0.000,6,0.000,0.031,3103,2812,2451
$GC,15869,0.84,151.6,359.7,12.9,1369,15870,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2807,2451
$GC,16199,0.84,151.6,316.6,13.0,1421,16205,0.00,2.20,0.00,0.000,4,0.000,0.048,3103,3906,2452
$GC,16307,0.84,151.6,301.8,13.5,1440,16313,0.00,2.10,0.00,0.000,6,0.000,0.031,3103,2812,2451
$GC,16651,0.84,151.6,259.4,12.8,1501,16656,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2805,2452
$GC,16993,0.84,151.6,217.5,10.9,1562,16999,0.00,2.20,0.00,0.000,4,0.000,0.048,3102,3905,2452
$GC,17073,0.84,151.6,207.5,11.9,1576,17079,0.00,2.08,0.00,0.000,6,0.000,0.031,3102,2822,2452
$GC,17417,0.84,151.6,167.0,12.8,1637,17422,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2815,2452
$GC,17759,0.84,151.6,127.2,11.9,1698,17765,0.00,2.15,0.00,0.000,4,0.000,0.047,3102,3902,2453
$GC,17835,0.84,151.6,118.1,14.1,1711,17841,0.00,2.05,0.00,0.000,6,0.000,0.031,3103,2833,2453
$GC,18178,0.84,151.6,77.5,12.6,1772,18184,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2832,2453
$GC,18522,0.84,151.6,39.2,10.7,1833,18529,0.00,2.12,0.00,0.000,4,0.000,0.048,3103,3902,2453
$GC,18608,0.84,151.6,29.1,10.6,1848,18614,0.00,2.03,0.00,0.000,6,0.000,0.030,3103,2856,2453
$GC,18750,0.84,151.6,13.8,11.4,1873,18755,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2854,2453
$STATE,18838,end climb,SURFACE_DEPTH_REACHED
$STATE,18838,begin surface coast
$FINISH,0.1,1.012730
$STATE,18857,end surface coast,CONTROL_FINISHED_OK
$STATE,18857,begin surface
$SM_CCo,18875,43.38,0.953,0,0,2255,200.16
$SM_GC,1.46,0.00,0.00,43.38,0.000,0.000,0.953,1435,2279,2255,-6.83,-0.59,200.16
$IRIDIUM_FIX,6108.28,-2623.82,110897,161634
$TT8_MAMPS,0.026845
$HUMID,1774
$INTERNAL_PRESSURE,8.96564
$TCM_TEMP,16.60
$XPDR_PINGS,1052
$24V_AH,19.4,66.242
$10V_AH,9.8,48.754
$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,23.325,128.000,272.375,43.375,0.000,29.919,34.499,315.322,263.000,0.000,0.000,15.000,3034.501,11792.391,478.169,3410.936,709.560,0.000,1953.621,0.000,3410.480,0.000,0.465
$DEVICE_MAMPS,250.809,118.118,1622.205,952.614,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1328.736,1383.116,680.263,1668.563,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,138899,1892
$CAP_FILE_SIZE,170890,0
$CFSIZE,260165632,237076480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180508,030937,6127.594,-2618.645,36,1.1,36,-18.6