version: 66.03
glider: 142
mission: 5
dive: 222
start: 5 22 108 8 25 30
data:
$ID,142
$MISSION,5
$DIVE,222
$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,25
$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,-17188.109
$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,16
$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
$GPS1,081808,6118.446,-2606.112,31,1.3,31,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-60.2
$GPS2,082509,6118.408,-2606.218,12,1.4,12,-18.4
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6128.196,-2604.038
$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,43.4,20000,-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,26,-1.03,-97.3,0.0,0.0,0,96,0.00,0.00,-66.57,0.000,2,0.000,0.000,1434,2287,3439
$GC,98,-1.03,-97.3,3.0,-4.2,12,118,11.75,2.85,-0.93,0.000,4,0.256,0.049,2686,3712,3469
$GC,292,-0.97,-97.3,33.1,-14.2,46,300,0.12,2.78,0.00,0.000,6,0.166,0.033,2701,2292,3470
$GC,435,-0.97,-97.3,51.5,-13.5,71,441,0.00,2.80,0.00,0.000,4,0.000,0.048,2702,892,3471
$GC,660,-0.97,-97.3,83.0,-14.2,111,667,0.00,2.67,0.00,0.000,6,0.000,0.028,2702,2284,3471
$GC,1004,-0.97,-97.3,126.4,-12.5,172,1011,0.00,2.80,0.00,0.000,4,0.000,0.047,2702,886,3471
$GC,1091,-0.97,-97.3,137.7,-13.3,187,1097,0.00,2.67,0.00,0.000,6,0.000,0.030,2701,2284,3471
$GC,1434,-0.97,-97.3,180.0,-12.7,248,1441,0.00,2.80,0.00,0.000,4,0.000,0.047,2702,884,3471
$GC,1514,-0.97,-97.3,191.1,-14.3,262,1521,0.00,2.65,0.00,0.000,6,0.000,0.029,2702,2266,3471
$GC,1858,-0.97,-97.3,235.1,-12.5,323,1864,0.00,2.78,0.00,0.000,4,0.000,0.047,2702,883,3472
$GC,1909,-0.97,-97.3,241.9,-13.3,332,1916,0.00,2.65,0.00,0.000,6,0.000,0.030,2702,2263,3472
$GC,2253,-0.97,-97.3,280.8,-10.7,393,2259,0.00,2.75,0.00,0.000,4,0.000,0.048,2702,893,3472
$GC,2400,-0.97,-97.3,297.2,-11.5,419,2406,0.00,2.58,0.00,0.000,6,0.000,0.030,2702,2231,3472
$GC,2744,-0.97,-97.3,332.5,-9.9,480,2750,0.00,2.70,0.00,0.000,4,0.000,0.048,2702,885,3471
$GC,2803,-0.97,-97.3,338.6,-10.8,490,2809,0.00,2.58,0.00,0.000,6,0.000,0.031,2702,2225,3472
$GC,3135,-0.97,-97.3,370.2,-9.8,531,3139,0.00,2.67,0.00,0.000,4,0.000,0.048,2702,892,3472
$GC,3208,-0.97,-97.3,377.8,-10.5,537,3213,0.00,2.55,0.00,0.000,6,0.000,0.031,2702,2216,3472
$GC,3534,-0.97,-97.3,409.1,-9.4,567,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2222,3472
$GC,3852,-0.97,-97.3,441.6,-10.6,597,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2222,3472
$GC,4170,-0.97,-97.3,476.3,-11.2,627,4174,0.00,2.67,0.00,0.000,4,0.000,0.048,2702,890,3472
$GC,4311,-0.97,-97.3,493.2,-12.0,639,4315,0.00,2.50,0.00,0.000,6,0.000,0.031,2702,2191,3472
$GC,4636,-0.97,-97.3,529.6,-11.0,669,4641,0.00,3.03,0.00,0.000,4,0.000,0.048,2702,3706,3471
$GC,4702,-0.97,-97.3,537.2,-11.4,674,4709,0.00,2.95,0.00,0.000,6,0.000,0.035,2701,2204,3471
$GC,5029,-0.97,-97.3,572.1,-10.3,705,5033,0.00,2.65,0.00,0.000,4,0.000,0.052,2702,886,3471
$GC,5139,-0.97,-97.3,584.7,-11.4,714,5146,0.00,2.53,0.00,0.000,6,0.000,0.030,2702,2183,3472
$GC,5470,-0.97,-97.3,617.2,-10.1,738,5475,0.00,2.62,0.00,0.000,4,0.000,0.051,2702,891,3472
$GC,5514,-0.97,-97.3,622.2,-11.3,740,5519,0.00,2.53,0.00,0.000,6,0.000,0.032,2702,2176,3471
$GC,5842,-0.97,-97.3,653.6,-9.5,756,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2176,3471
$GC,6151,-0.97,-97.3,683.5,-9.2,771,6155,0.00,2.67,0.00,0.000,4,0.000,0.059,2702,888,3471
$GC,6212,-0.97,-97.3,689.7,-10.1,774,6216,0.00,2.53,0.00,0.000,6,0.000,0.037,2702,2168,3471
$GC,6538,-0.97,-97.3,720.1,-9.4,790,6539,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2169,3471
$GC,6848,-0.97,-97.3,749.3,-9.5,805,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2169,3471
$GC,7156,-0.97,-97.3,778.3,-9.1,820,7161,0.00,3.35,0.00,0.000,4,0.000,0.083,2702,3698,3470
$GC,7213,-0.97,-97.3,783.7,-9.6,822,7220,0.00,3.22,0.00,0.000,6,0.000,0.069,2702,2194,3470
$GC,7529,-0.97,-97.3,813.7,-9.8,838,7530,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2194,3470
$GC,7838,-0.97,-97.3,842.4,-8.9,853,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2194,3470
$GC,8147,-0.97,-97.3,867.9,-8.0,868,8153,0.00,3.62,0.00,0.000,4,0.000,0.117,2702,3691,3470
$GC,8225,-0.97,-97.3,874.4,-8.1,871,8232,0.00,3.28,0.00,0.000,6,0.000,0.078,2702,2192,3469
$GC,8541,-0.97,-97.3,899.9,-8.4,887,8546,0.00,2.65,0.00,0.000,4,0.000,0.055,2702,885,3469
$GC,8605,-0.97,-97.3,905.5,-9.2,890,8610,0.00,2.55,0.00,0.000,6,0.000,0.033,2702,2192,3470
$GC,8933,-0.97,-97.3,932.4,-8.0,906,8937,0.00,3.10,0.00,0.000,4,0.000,0.056,2701,3704,3469
$GC,8987,-0.97,-97.3,937.2,-8.5,908,8994,0.00,3.00,0.00,0.000,6,0.000,0.042,2702,2209,3469
$GC,9303,-0.97,-97.3,964.3,-8.9,924,9305,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2209,3469
$STATE,9589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9589,begin apogee
$GC,9595,-0.21,0.0,991.3,9.6,938,9703,1.12,0.00,104.00,1.615,6,0.146,0.000,2870,2738,3071
$STATE,9704,end apogee,CONTROL_FINISHED_OK
$STATE,9704,begin climb
$GC,9706,1.03,97.3,993.9,0.0,943,9822,1.55,2.65,107.32,1.588,4,0.080,0.059,3137,3888,2674
$GC,9896,0.89,97.3,976.5,13.4,952,9901,0.15,2.38,0.00,0.000,6,0.133,0.035,3118,2753,2673
$GC,10222,0.80,97.3,941.1,10.6,968,10227,0.15,2.40,0.00,0.000,4,0.123,0.054,3093,3900,2673
$GC,10290,0.75,97.3,934.3,10.6,971,10294,0.00,2.28,0.00,0.000,6,0.000,0.035,3093,2754,2672
$GC,10610,0.77,109.2,905.0,9.2,987,10632,0.00,2.40,13.30,1.365,4,0.000,0.053,3093,3891,2625
$GC,10682,0.71,109.2,897.4,10.7,990,10686,0.00,2.20,0.00,0.000,6,0.000,0.034,3093,2775,2625
$GC,11002,0.71,109.2,863.8,10.4,1006,11006,0.00,2.30,0.00,0.000,4,0.000,0.053,3093,3901,2625
$GC,11034,0.71,109.2,860.2,11.1,1007,11038,0.00,2.20,0.00,0.000,6,0.000,0.033,3093,2786,2625
$GC,11356,0.71,109.2,826.4,10.3,1023,11360,0.00,2.28,0.00,0.000,4,0.000,0.053,3093,3899,2624
$GC,11388,0.67,109.2,822.7,10.4,1024,11396,0.12,2.20,0.00,0.000,6,0.133,0.034,3067,2783,2624
$GC,11704,0.69,126.1,795.3,8.8,1040,11725,0.00,0.00,18.67,1.391,6,0.000,0.000,3067,2781,2556
$GC,12033,0.69,129.0,764.1,9.8,1056,12039,0.00,0.00,4.35,0.917,6,0.000,0.000,3067,2780,2545
$GC,12343,0.69,129.0,732.2,10.6,1071,12347,0.00,2.28,0.00,0.000,4,0.000,0.052,3067,3900,2544
$GC,12364,0.69,129.0,729.7,11.3,1072,12368,0.00,2.15,0.00,0.000,6,0.000,0.032,3067,2789,2545
$GC,12691,0.73,129.0,694.4,10.5,1088,12695,0.00,2.25,0.00,0.000,4,0.000,0.051,3067,3897,2545
$GC,12730,0.73,129.0,690.1,11.3,1090,12733,0.00,2.15,0.00,0.000,6,0.000,0.032,3067,2786,2545
$GC,13057,0.78,129.0,654.1,11.3,1106,13058,0.12,0.00,0.00,0.000,6,0.069,0.000,3090,2783,2545
$GC,13366,0.78,129.0,617.8,11.5,1121,13367,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2783,2544
$GC,13679,0.78,129.0,581.7,11.6,1143,13683,0.00,2.25,0.00,0.000,4,0.000,0.051,3090,3899,2544
$GC,13741,0.78,129.0,574.1,11.9,1148,13745,0.00,2.15,0.00,0.000,6,0.000,0.032,3090,2785,2544
$GC,14066,0.78,129.0,538.8,10.4,1178,14070,0.00,2.25,0.00,0.000,4,0.000,0.051,3090,3902,2544
$GC,14093,0.78,129.0,535.6,11.2,1180,14100,0.00,2.12,0.00,0.000,6,0.000,0.031,3090,2808,2544
$GC,14421,0.78,129.0,500.3,10.6,1211,14425,0.00,2.20,0.00,0.000,4,0.000,0.051,3090,3899,2544
$GC,14464,0.78,129.0,495.0,11.4,1214,14471,0.00,2.12,0.00,0.000,6,0.000,0.031,3090,2808,2544
$GC,14791,0.78,129.0,460.0,10.5,1245,14795,0.00,2.20,0.00,0.000,4,0.000,0.050,3090,3899,2544
$GC,14824,0.78,129.0,455.9,11.5,1247,14830,0.00,2.12,0.00,0.000,6,0.000,0.031,3091,2808,2544
$GC,15150,0.78,129.0,419.4,11.1,1278,15151,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2800,2545
$GC,15467,0.78,129.0,385.0,10.6,1308,15471,0.00,2.20,0.00,0.000,4,0.000,0.049,3090,3900,2545
$GC,15506,0.78,129.0,380.6,12.4,1311,15510,0.00,2.08,0.00,0.000,6,0.000,0.030,3091,2814,2545
$GC,15833,0.78,129.0,343.1,12.2,1346,15839,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2808,2545
$GC,16177,0.78,129.0,300.6,12.0,1407,16183,0.00,2.17,0.00,0.000,4,0.000,0.049,3090,3896,2545
$GC,16223,0.78,129.0,294.7,13.0,1415,16228,0.00,2.05,0.00,0.000,6,0.000,0.030,3090,2823,2545
$GC,16565,0.78,129.0,253.5,11.3,1476,16571,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2815,2545
$GC,16909,0.78,129.0,214.0,10.4,1537,16915,0.00,2.17,0.00,0.000,4,0.000,0.048,3090,3905,2545
$GC,16955,0.78,129.0,208.7,11.2,1545,16960,0.00,2.03,0.00,0.000,6,0.000,0.030,3091,2841,2546
$GC,17298,0.78,129.1,172.9,10.0,1606,17304,0.00,2.12,0.00,0.000,4,0.000,0.048,3091,3902,2545
$GC,17327,0.78,129.1,169.8,11.1,1611,17333,0.00,2.03,0.00,0.000,6,0.000,0.030,3090,2839,2546
$GC,17669,0.78,129.1,133.7,11.0,1672,17676,0.00,2.15,0.00,0.000,4,0.000,0.048,3090,3896,2546
$GC,17688,0.78,129.1,131.6,11.1,1675,17694,0.00,2.00,0.00,0.000,6,0.000,0.029,3090,2843,2546
$GC,18031,0.79,139.3,95.4,9.3,1736,18049,0.00,2.12,11.95,0.889,4,0.000,0.047,3090,3902,2502
$GC,18061,0.79,141.3,92.5,9.9,1741,18067,0.00,2.00,0.00,0.000,6,0.000,0.030,3091,2856,2502
$GC,18407,0.79,141.3,56.8,10.8,1802,18412,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2848,2502
$GC,18750,0.80,150.2,22.9,9.4,1863,18768,0.00,0.00,11.93,0.876,6,0.000,0.000,3091,2848,2457
$GC,18906,0.83,173.5,7.9,8.4,1890,18934,0.00,0.00,22.80,0.947,6,0.000,0.000,3091,2848,2362
$STATE,18968,end climb,SURFACE_DEPTH_REACHED
$STATE,18968,begin surface coast
$FINISH,0.2,1.026119
$STATE,18990,end surface coast,CONTROL_FINISHED_OK
$STATE,18990,begin surface
$SM_CCo,19009,23.48,0.937,0,0,2255,200.16
$SM_GC,0.78,0.00,0.00,23.48,0.000,0.000,0.937,1434,2287,2255,-6.84,-0.37,200.16
$IRIDIUM_FIX,6050.49,-2555.89,160897,030302
$TT8_MAMPS,0.026845
$HUMID,1769
$INTERNAL_PRESSURE,8.96564
$TCM_TEMP,16.50
$XPDR_PINGS,1066
$24V_AH,19.3,69.928
$10V_AH,9.8,51.952
$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,23.575,171.625,294.325,23.475,0.000,23.902,32.451,227.266,266.500,0.000,0.000,13.598,3067.657,11744.223,499.804,3494.991,633.484,0.000,2046.622,0.000,3491.888,0.000,0.465
$DEVICE_MAMPS,256.178,116.584,1614.535,936.507,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1335.071,1391.707,700.728,1685.702,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139247,1905
$CAP_FILE_SIZE,177307,0
$CFSIZE,260165632,235147264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,220508,134407,6118.266,-2606.669,40,1.7,46,-18.4