version: 66.03
glider: 142
mission: 5
dive: 206
start: 5 18 108 19 0 0
data:
$ID,142
$MISSION,5
$DIVE,206
$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,130
$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,-16942.627
$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,21
$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
$GPS1,185221,6123.772,-2606.325,41,99.0,60,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-64.0
$GPS2,185939,6123.740,-2606.252,15,1.4,15,-18.4
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6116.798,-2602.277
$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,148.4,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.03,-97.3,0.0,0.0,0,95,0.00,0.00,-66.32,0.000,2,0.000,0.000,1438,2294,3452
$GC,98,-1.03,-97.3,3.3,-5.4,12,117,11.57,2.83,-0.45,0.000,4,0.254,0.055,2685,891,3468
$GC,180,-0.96,-97.3,17.2,-14.6,26,188,0.15,2.75,0.00,0.000,6,0.140,0.029,2705,2314,3469
$GC,324,-0.96,-97.3,34.8,-11.6,51,330,0.00,2.88,0.00,0.000,4,0.000,0.047,2705,886,3469
$GC,433,-0.96,-97.3,47.7,-12.4,70,440,0.00,2.67,0.00,0.000,6,0.000,0.029,2705,2275,3469
$GC,576,-0.96,-97.3,64.4,-11.0,95,582,0.00,2.78,0.00,0.000,4,0.000,0.045,2705,890,3469
$GC,667,-0.96,-97.3,75.0,-11.5,111,673,0.00,2.62,0.00,0.000,6,0.000,0.029,2705,2252,3469
$GC,1009,-0.96,-97.3,112.6,-10.7,172,1016,0.00,2.72,0.00,0.000,4,0.000,0.047,2706,884,3470
$GC,1163,-0.96,-97.3,130.4,-11.3,199,1169,0.00,2.60,0.00,0.000,6,0.000,0.029,2705,2238,3470
$GC,1506,-0.96,-97.3,168.5,-11.4,260,1513,0.00,2.70,0.00,0.000,4,0.000,0.047,2705,890,3470
$GC,1603,-0.96,-97.3,180.5,-12.4,277,1609,0.00,2.58,0.00,0.000,6,0.000,0.030,2705,2230,3471
$GC,1947,-0.96,-97.3,221.2,-12.1,338,1954,0.00,2.70,0.00,0.000,4,0.000,0.047,2705,883,3470
$GC,1990,-0.96,-97.3,226.4,-12.4,345,1996,0.00,2.58,0.00,0.000,6,0.000,0.030,2705,2223,3470
$GC,2333,-0.96,-97.3,266.5,-11.8,406,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2224,3470
$GC,2676,-0.96,-97.3,304.2,-10.4,467,2682,0.00,2.67,0.00,0.000,4,0.000,0.047,2705,887,3470
$GC,2767,-0.96,-97.3,314.2,-11.3,483,2773,0.00,2.55,0.00,0.000,6,0.000,0.030,2706,2214,3470
$GC,3116,-0.96,-97.3,352.6,-11.1,543,3120,0.00,2.65,0.00,0.000,4,0.000,0.047,2706,890,3470
$GC,3226,-0.96,-97.3,365.9,-12.4,552,3233,0.00,2.58,0.00,0.000,6,0.000,0.031,2705,2214,3470
$GC,3553,-0.96,-97.3,402.0,-11.2,583,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2214,3470
$GC,3870,-0.96,-97.3,436.1,-10.8,613,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2216,3470
$GC,4189,-0.96,-97.3,468.8,-10.5,643,4194,0.00,2.67,0.00,0.000,4,0.000,0.048,2705,883,3470
$GC,4232,-0.96,-97.3,473.7,-11.0,646,4239,0.00,2.58,0.00,0.000,6,0.000,0.031,2705,2199,3470
$GC,4559,-0.96,-97.3,505.7,-9.4,677,4563,0.00,2.65,0.00,0.000,4,0.000,0.048,2705,883,3470
$GC,4643,-0.96,-97.3,514.1,-10.0,684,4647,0.00,2.53,0.00,0.000,6,0.000,0.031,2705,2195,3470
$GC,4969,-0.96,-97.3,543.4,-9.1,714,4973,0.00,2.65,0.00,0.000,4,0.000,0.049,2705,883,3470
$GC,5019,-0.96,-97.3,548.5,-10.5,718,5023,0.00,2.53,0.00,0.000,6,0.000,0.031,2705,2188,3470
$GC,5346,-0.96,-97.3,580.7,-10.4,748,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2189,3470
$GC,5658,-0.96,-97.3,614.4,-10.5,772,5663,0.00,2.65,0.00,0.000,4,0.000,0.053,2706,888,3470
$GC,5742,-0.96,-97.3,624.5,-11.9,776,5747,0.00,2.53,0.00,0.000,6,0.000,0.033,2705,2184,3470
$GC,6068,-0.96,-97.3,660.9,-11.5,792,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2184,3469
$GC,6378,-0.96,-97.3,694.0,-10.3,807,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2184,3469
$GC,6687,-0.96,-97.3,726.8,-10.7,822,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2185,3469
$GC,6997,-0.96,-97.3,758.3,-9.6,837,7002,0.00,3.25,0.00,0.000,4,0.000,0.077,2705,3694,3469
$GC,7013,-0.96,-97.3,760.1,-9.7,838,7018,0.00,3.12,0.00,0.000,6,0.000,0.058,2705,2198,3469
$GC,7340,-0.96,-97.3,791.7,-9.5,854,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2197,3469
$GC,7649,-0.96,-97.3,820.8,-9.2,869,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2197,3469
$GC,7958,-0.96,-97.3,847.4,-8.1,884,7963,0.00,3.55,0.00,0.000,4,0.000,0.109,2705,3694,3469
$GC,7970,-0.96,-97.3,848.3,-8.1,884,7977,0.00,3.50,0.00,0.000,6,0.000,0.100,2705,2188,3469
$GC,8285,-0.96,-97.3,873.4,-8.0,900,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2183,3468
$GC,8595,-0.96,-97.3,899.1,-8.5,915,8600,0.00,3.12,0.00,0.000,4,0.000,0.054,2705,3704,3468
$GC,8627,-0.96,-97.3,902.0,-8.8,916,8634,0.00,3.05,0.00,0.000,6,0.000,0.040,2705,2175,3468
$GC,8943,-0.96,-97.3,928.5,-8.1,932,8948,0.00,3.15,0.00,0.000,4,0.000,0.055,2705,3698,3467
$GC,8969,-0.96,-97.3,930.9,-9.0,933,8974,0.00,3.05,0.00,0.000,6,0.000,0.041,2706,2176,3467
$GC,9285,-0.96,-97.3,957.7,-8.4,948,9286,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2175,3467
$GC,9594,-0.96,-97.3,988.0,-10.0,963,9599,0.00,3.17,0.00,0.000,4,0.000,0.057,2705,3700,3466
$STATE,9613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9613,begin apogee
$GC,9621,-0.21,0.0,990.1,10.1,964,9728,1.08,0.00,103.50,1.623,6,0.153,0.000,2865,2748,3071
$STATE,9728,end apogee,CONTROL_FINISHED_OK
$STATE,9729,begin climb
$GC,9731,1.03,97.3,993.0,0.0,969,9843,1.58,0.00,107.47,1.598,6,0.081,0.000,3136,2748,2674
$GC,10143,0.90,97.3,947.8,13.1,989,10147,0.00,2.40,0.00,0.000,4,0.000,0.054,3136,3890,2673
$GC,10327,0.76,97.3,920.4,15.2,997,10332,0.32,2.28,0.00,0.000,6,0.131,0.035,3089,2744,2673
$GC,10642,0.76,97.3,886.3,10.6,1012,10644,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2742,2672
$GC,10952,0.76,97.3,855.4,10.4,1027,10956,0.00,2.35,0.00,0.000,4,0.000,0.054,3089,3890,2672
$GC,11007,0.71,97.3,849.3,10.7,1029,11013,0.00,2.22,0.00,0.000,6,0.000,0.034,3089,2751,2672
$GC,11323,0.71,97.3,817.3,10.3,1045,11328,0.00,2.33,0.00,0.000,4,0.000,0.054,3089,3888,2671
$GC,11430,0.66,97.3,805.7,10.5,1050,11435,0.15,2.20,0.00,0.000,6,0.137,0.034,3068,2759,2671
$GC,11756,0.68,111.4,775.9,9.0,1066,11778,0.00,2.88,14.77,1.346,4,0.000,0.051,3069,1340,2617
$GC,11825,0.69,122.3,769.4,9.2,1069,11846,0.00,2.83,13.07,1.360,6,0.000,0.033,3068,2763,2571
$GC,12156,0.71,139.1,739.5,8.8,1085,12180,0.00,2.35,18.50,1.382,4,0.000,0.055,3069,3890,2503
$GC,12284,0.73,151.5,727.2,9.1,1090,12304,0.00,2.22,14.38,1.339,6,0.000,0.033,3068,2759,2453
$GC,12622,0.80,179.1,698.7,8.1,1107,12654,0.15,0.00,29.02,1.391,6,0.066,0.000,3096,2758,2340
$GC,12949,0.80,179.1,661.8,11.9,1123,12953,0.00,2.33,0.00,0.000,4,0.000,0.051,3096,3893,2338
$GC,13020,0.80,179.1,652.5,12.5,1126,13024,0.00,2.22,0.00,0.000,6,0.000,0.039,3096,2773,2337
$GC,13341,0.80,179.1,611.0,13.2,1142,13345,0.00,2.28,0.00,0.000,4,0.000,0.051,3096,3893,2337
$GC,13471,0.80,179.1,592.9,14.3,1150,13475,0.00,2.15,0.00,0.000,6,0.000,0.033,3096,2787,2337
$GC,13800,0.80,179.1,548.6,12.8,1181,13804,0.00,2.25,0.00,0.000,4,0.000,0.051,3096,3902,2337
$GC,13879,0.80,179.1,538.2,12.6,1188,13883,0.00,2.12,0.00,0.000,6,0.000,0.033,3096,2804,2337
$GC,14203,0.80,179.1,497.3,12.7,1218,14205,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2797,2337
$GC,14522,0.80,179.1,456.5,12.6,1248,14526,0.00,2.20,0.00,0.000,4,0.000,0.051,3096,3893,2337
$GC,14640,0.80,179.1,440.9,12.7,1258,14644,0.00,2.08,0.00,0.000,6,0.000,0.031,3097,2818,2337
$GC,14972,0.80,179.1,400.6,11.9,1289,14973,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2809,2337
$GC,15289,0.80,179.1,362.8,11.7,1319,15293,0.00,2.17,0.00,0.000,4,0.000,0.050,3096,3897,2337
$GC,15378,0.80,179.1,351.7,12.3,1326,15384,0.00,2.10,0.00,0.000,6,0.000,0.031,3096,2821,2338
$GC,15721,0.80,179.1,310.9,12.7,1386,15726,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2812,2338
$GC,16064,0.80,179.1,265.5,12.3,1447,16070,0.00,2.17,0.00,0.000,4,0.000,0.048,3096,3903,2338
$GC,16154,0.80,179.1,253.8,12.8,1463,16160,0.00,2.05,0.00,0.000,6,0.000,0.031,3096,2831,2338
$GC,16497,0.80,179.1,212.4,12.1,1524,16503,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2824,2338
$GC,16841,0.80,179.1,172.3,12.3,1585,16847,0.00,2.15,0.00,0.000,4,0.000,0.048,3096,3903,2338
$GC,16927,0.80,179.1,162.0,12.5,1600,16933,0.00,2.03,0.00,0.000,6,0.000,0.031,3096,2841,2338
$GC,17270,0.80,179.1,123.2,10.7,1661,17275,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2832,2338
$GC,17613,0.80,179.1,85.9,11.5,1722,17619,0.00,2.15,0.00,0.000,4,0.000,0.048,3096,3899,2339
$GC,17665,0.80,179.1,79.8,11.6,1731,17671,0.00,2.00,0.00,0.000,6,0.000,0.031,3096,2853,2339
$GC,18008,0.80,179.1,39.9,11.0,1792,18014,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2846,2339
$GC,18149,0.80,179.1,23.3,10.9,1817,18156,0.00,2.12,0.00,0.000,4,0.000,0.048,3096,3897,2339
$GC,18224,0.80,179.1,14.1,12.3,1830,18231,0.00,2.03,0.00,0.000,6,0.000,0.032,3096,2837,2339
$STATE,18333,end climb,SURFACE_DEPTH_REACHED
$STATE,18333,begin surface coast
$FINISH,0.2,1.026240
$STATE,18351,end surface coast,CONTROL_FINISHED_OK
$STATE,18351,begin surface
$SM_CCo,18369,18.80,0.887,0,0,2255,200.16
$SM_GC,1.24,0.00,0.00,18.80,0.000,0.000,0.887,1434,2292,2255,-6.84,-0.23,200.16
$IRIDIUM_FIX,6103.81,-2605.73,120897,131347
$TT8_MAMPS,0.026845
$HUMID,1768
$INTERNAL_PRESSURE,8.96564
$TCM_TEMP,14.80
$XPDR_PINGS,989
$24V_AH,19.4,66.965
$10V_AH,9.8,49.383
$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,23.550,158.225,300.725,18.800,0.000,26.287,39.894,231.280,247.250,0.000,0.000,16.677,3002.293,11243.504,502.075,3447.286,617.645,0.000,2007.487,0.000,3429.135,0.000,0.465
$DEVICE_MAMPS,253.877,108.914,1622.972,886.652,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1302.390,1346.923,689.751,1640.627,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136015,1852
$CAP_FILE_SIZE,172571,0
$CFSIZE,260165632,236691456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190508,000738,6121.093,-2559.667,31,0.8,31,-18.4