version: 66.03
glider: 142
mission: 5
dive: 223
start: 5 22 108 13 55 17
data:
$ID,142
$MISSION,5
$DIVE,223
$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,-17221.918
$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,23
$R_STBD_OVSHOOT,17
$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
$GPS1,134407,6118.266,-2606.669,40,1.7,46,-18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-57.1
$GPS2,135459,6118.202,-2606.766,11,2.6,30,-18.4
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6127.989,-2604.586
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.03,-97.3,0.0,0.0,0,100,0.00,0.00,-67.28,0.000,6,0.000,0.000,1433,2288,3466
$GC,103,-1.03,-97.3,3.6,-6.3,13,122,11.70,2.85,0.00,0.000,4,0.255,0.038,2680,3719,3469
$GC,376,-0.97,-97.3,44.0,-13.2,61,383,0.17,2.78,0.00,0.000,6,0.176,0.032,2701,2297,3470
$GC,519,-0.97,-97.3,60.9,-11.2,86,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2297,3470
$GC,862,-0.97,-97.3,99.4,-11.0,147,868,0.00,2.80,0.00,0.000,4,0.000,0.048,2701,889,3471
$GC,1049,-0.97,-97.3,122.3,-12.7,180,1056,0.00,2.70,0.00,0.000,6,0.000,0.029,2701,2295,3471
$GC,1394,-0.97,-97.3,162.5,-11.7,241,1400,0.00,2.83,0.00,0.000,4,0.000,0.047,2701,884,3470
$GC,1456,-0.97,-97.3,170.4,-12.5,252,1463,0.00,2.65,0.00,0.000,6,0.000,0.030,2701,2268,3471
$GC,1800,-0.97,-97.3,210.0,-11.1,313,1806,0.00,2.78,0.00,0.000,4,0.000,0.048,2701,883,3470
$GC,1908,-0.97,-97.3,222.9,-11.6,332,1914,0.00,2.62,0.00,0.000,6,0.000,0.030,2701,2254,3470
$GC,2252,-0.97,-97.3,259.2,-9.9,393,2258,0.00,2.75,0.00,0.000,4,0.000,0.048,2701,883,3471
$GC,2339,-0.97,-97.3,268.4,-10.8,408,2345,0.00,2.60,0.00,0.000,6,0.000,0.030,2701,2240,3470
$GC,2683,-0.97,-97.3,302.7,-10.0,469,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2245,3471
$GC,3026,-0.97,-97.3,335.9,-9.5,530,3032,0.00,2.72,0.00,0.000,4,0.000,0.048,2701,885,3470
$GC,3116,-0.97,-97.3,345.0,-10.3,546,3123,0.00,2.60,0.00,0.000,6,0.000,0.030,2701,2241,3470
$GC,3450,-0.97,-97.3,376.6,-9.6,582,3455,0.00,2.72,0.00,0.000,4,0.000,0.048,2701,885,3470
$GC,3550,-0.97,-97.3,387.6,-11.1,590,3557,0.00,2.60,0.00,0.000,6,0.000,0.030,2701,2222,3470
$GC,3877,-0.97,-97.3,421.4,-10.3,621,3881,0.00,2.67,0.00,0.000,4,0.000,0.048,2701,892,3470
$GC,3965,-0.97,-97.3,431.6,-11.5,628,3972,0.00,2.55,0.00,0.000,6,0.000,0.031,2701,2207,3470
$GC,4291,-0.97,-97.3,466.3,-10.8,659,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2212,3470
$GC,4609,-0.97,-97.3,500.4,-10.7,689,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2213,3470
$GC,4927,-0.97,-97.3,535.4,-11.1,719,4931,0.00,2.65,0.00,0.000,4,0.000,0.049,2701,888,3470
$GC,4978,-0.97,-97.3,541.3,-11.7,723,4982,0.00,2.55,0.00,0.000,6,0.000,0.031,2701,2208,3470
$GC,5303,-0.97,-97.3,575.7,-10.5,753,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2209,3470
$GC,5629,-0.97,-97.3,609.2,-10.4,780,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2210,3470
$GC,5938,-0.97,-97.3,643.1,-11.4,795,5943,0.00,2.70,0.00,0.000,4,0.000,0.054,2701,889,3470
$GC,6016,-0.97,-97.3,653.1,-12.8,798,6022,0.00,2.58,0.00,0.000,6,0.000,0.034,2701,2192,3470
$GC,6332,-0.97,-97.3,690.8,-12.2,814,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2192,3470
$GC,6641,-0.97,-97.3,728.9,-12.7,829,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2192,3470
$GC,6950,-0.97,-97.3,767.8,-12.5,844,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2192,3469
$GC,7260,-0.97,-97.3,801.0,-9.9,859,7264,0.00,3.00,0.00,0.000,4,0.000,0.100,2701,895,3469
$GC,7366,-0.97,-97.3,811.8,-9.7,864,7371,0.00,2.78,0.00,0.000,6,0.000,0.075,2701,2169,3469
$GC,7692,-0.97,-97.3,840.5,-8.3,880,7693,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2170,3468
$GC,8002,-0.97,-97.3,863.1,-7.1,895,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2170,3468
$GC,8311,-0.97,-97.3,885.9,-7.4,910,8316,0.00,3.75,0.00,0.000,4,0.000,0.128,2701,3688,3468
$GC,8360,-0.97,-97.3,890.0,-8.3,912,8365,0.00,3.15,0.00,0.000,6,0.000,0.061,2701,2181,3468
$GC,8677,-0.97,-97.3,916.5,-8.6,927,8678,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2180,3468
$GC,8985,-0.97,-97.3,943.9,-8.7,942,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2180,3467
$GC,9295,-0.97,-97.3,971.3,-8.7,957,9299,0.00,3.15,0.00,0.000,4,0.000,0.055,2701,3704,3467
$GC,9350,-0.97,-97.3,976.4,-9.9,959,9356,0.00,3.03,0.00,0.000,6,0.000,0.042,2701,2196,3467
$STATE,9498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9498,begin apogee
$GC,9504,-0.21,0.0,990.9,9.9,967,9611,1.15,0.00,103.88,1.615,6,0.160,0.000,2867,2740,3071
$STATE,9612,end apogee,CONTROL_FINISHED_OK
$STATE,9612,begin climb
$GC,9614,1.03,97.3,994.6,0.0,972,9730,1.58,2.65,107.30,1.585,4,0.081,0.058,3137,3895,2674
$GC,9836,0.89,97.3,974.1,12.4,982,9841,0.15,2.35,0.00,0.000,6,0.135,0.035,3118,2753,2673
$GC,10158,0.80,97.3,939.5,11.0,998,10163,0.15,2.38,0.00,0.000,4,0.131,0.052,3098,3895,2673
$GC,10252,0.73,97.3,929.3,10.7,1002,10256,0.00,2.25,0.00,0.000,6,0.000,0.035,3098,2757,2673
$GC,10574,0.68,97.3,897.8,10.0,1018,10578,0.17,2.35,0.00,0.000,4,0.133,0.051,3071,3900,2672
$GC,10645,0.70,110.9,890.9,9.1,1021,10665,0.00,2.17,15.00,1.386,6,0.000,0.033,3071,2780,2618
$GC,10982,0.71,122.8,860.6,9.2,1038,11001,0.00,0.00,13.75,1.371,6,0.000,0.000,3071,2778,2569
$GC,11310,0.72,128.1,829.5,9.6,1054,11324,0.00,2.35,7.20,1.183,4,0.000,0.053,3071,3896,2548
$GC,11363,0.72,128.1,823.8,10.4,1056,11368,0.00,2.17,0.00,0.000,6,0.000,0.032,3071,2797,2548
$GC,11684,0.72,128.1,788.9,11.4,1072,11685,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2797,2547
$GC,11995,0.72,128.1,756.2,10.1,1087,11996,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2796,2547
$GC,12303,0.73,138.4,726.8,9.3,1102,12324,0.00,2.30,11.68,1.269,4,0.000,0.052,3071,3895,2506
$GC,12363,0.73,138.4,720.7,10.1,1104,12369,0.00,2.15,0.00,0.000,6,0.000,0.032,3071,2808,2506
$GC,12679,0.73,139.1,689.7,9.9,1120,12683,0.00,2.22,0.00,0.000,4,0.000,0.052,3071,3901,2506
$GC,12705,0.73,139.1,686.8,10.2,1121,12709,0.00,2.12,0.00,0.000,6,0.000,0.031,3071,2820,2505
$GC,13028,0.78,147.0,655.6,9.5,1137,13040,0.00,0.00,10.45,1.210,6,0.000,0.000,3071,2814,2471
$GC,13337,0.86,166.6,627.2,8.6,1152,13360,0.17,0.00,21.23,1.318,6,0.061,0.000,3105,2811,2391
$GC,13667,0.86,166.6,589.5,12.5,1172,13671,0.00,2.20,0.00,0.000,4,0.000,0.051,3104,3900,2390
$GC,13713,0.86,166.6,583.7,12.5,1175,13719,0.00,2.10,0.00,0.000,6,0.000,0.031,3105,2815,2390
$GC,14041,0.86,166.6,543.2,12.1,1206,14045,0.00,2.20,0.00,0.000,4,0.000,0.051,3105,3899,2390
$GC,14105,0.86,166.6,534.7,13.0,1211,14108,0.00,2.05,0.00,0.000,6,0.000,0.031,3105,2835,2390
$GC,14437,0.86,166.6,491.4,13.0,1242,14441,0.00,2.15,0.00,0.000,4,0.000,0.050,3105,3900,2389
$GC,14454,0.86,166.6,488.8,13.0,1243,14458,0.00,2.05,0.00,0.000,6,0.000,0.031,3105,2833,2390
$GC,14786,0.86,166.6,446.3,12.9,1274,14790,0.00,2.15,0.00,0.000,4,0.000,0.051,3105,3901,2390
$GC,14818,0.86,166.6,441.5,13.2,1276,14825,0.00,2.05,0.00,0.000,6,0.000,0.031,3105,2845,2390
$GC,15145,0.86,166.6,400.2,12.3,1307,15149,0.00,2.12,0.00,0.000,4,0.000,0.049,3105,3902,2389
$GC,15183,0.86,166.6,394.9,12.8,1310,15190,0.00,2.03,0.00,0.000,6,0.000,0.031,3105,2859,2390
$GC,15510,0.86,166.6,354.4,12.6,1341,15511,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2851,2390
$GC,15843,0.86,166.6,312.0,12.5,1397,15848,0.00,2.10,0.00,0.000,4,0.000,0.050,3105,3903,2390
$GC,15889,0.86,166.6,305.7,13.2,1405,15895,0.00,1.98,0.00,0.000,6,0.000,0.030,3105,2870,2390
$GC,16232,0.86,166.6,261.2,12.8,1466,16238,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2862,2390
$GC,16575,0.86,166.6,216.5,12.5,1527,16581,0.00,2.08,0.00,0.000,4,0.000,0.048,3105,3905,2390
$GC,16643,0.86,166.6,207.3,14.2,1539,16649,0.00,1.98,0.00,0.000,6,0.000,0.031,3105,2870,2390
$GC,16985,0.86,166.6,162.8,13.4,1600,16991,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2863,2390
$GC,17330,0.86,166.6,120.2,12.1,1661,17335,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2863,2390
$GC,17672,0.86,166.6,77.6,12.6,1722,17678,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2863,2391
$GC,18017,0.86,166.6,33.2,12.6,1783,18023,0.00,2.05,0.00,0.000,4,0.000,0.048,3105,3903,2391
$GC,18069,0.86,166.6,26.5,11.8,1792,18075,0.00,1.98,0.00,0.000,6,0.000,0.029,3105,2880,2391
$GC,18213,0.86,166.6,10.1,13.1,1817,18218,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2872,2391
$STATE,18284,end climb,SURFACE_DEPTH_REACHED
$STATE,18284,begin surface coast
$FINISH,0.2,1.007146
$STATE,18303,end surface coast,CONTROL_FINISHED_OK
$STATE,18303,begin surface
$SM_CCo,18321,30.27,0.928,0,0,2255,200.16
$SM_GC,0.80,0.00,0.00,30.27,0.000,0.000,0.928,1437,2284,2255,-6.82,-0.45,200.16
$IRIDIUM_FIX,6054.92,-2611.88,160897,131358
$TT8_MAMPS,0.026845
$HUMID,1783
$INTERNAL_PRESSURE,8.96564
$TCM_TEMP,16.60
$XPDR_PINGS,967
$24V_AH,19.3,70.113
$10V_AH,9.9,52.109
$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,23.725,135.575,290.475,30.275,0.000,53.691,65.600,308.494,241.750,0.000,0.000,33.181,2941.598,11437.429,494.680,3366.944,746.297,0.000,1959.924,0.000,3328.696,0.000,0.465
$DEVICE_MAMPS,255.411,128.089,1614.535,928.070,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1284.370,1337.878,663.544,1611.538,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132677,1833
$CAP_FILE_SIZE,167982,0
$CFSIZE,260165632,235065344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220508,190225,6118.590,-2607.349,38,1.1,38,-18.4