version: 66.03
glider: 142
mission: 5
dive: 224
start: 5 22 108 19 9 59
data:
$ID,142
$MISSION,5
$DIVE,224
$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,200
$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,-17237.92
$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,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
$GPS1,190225,6118.590,-2607.349,38,1.1,38,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-60.6
$GPS2,190939,6118.565,-2607.436,13,1.1,13,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6128.352,-2605.256
$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,-14.9,-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,-0.86,-194.7,0.0,0.0,0,101,0.00,0.00,-72.45,0.000,2,0.000,0.000,1437,2284,3565
$GC,104,-0.86,-194.7,3.3,-5.2,13,134,12.05,2.92,-7.95,0.000,4,0.254,0.052,2724,3708,3867
$GC,320,-0.86,-194.7,36.6,-12.6,51,327,0.00,2.78,0.00,0.000,6,0.000,0.033,2724,2293,3869
$GC,462,-0.79,-194.7,54.3,-12.7,76,469,0.12,2.80,0.00,0.000,4,0.152,0.048,2740,895,3869
$GC,503,-0.79,-194.7,59.1,-11.1,83,509,0.00,2.72,0.00,0.000,6,0.000,0.028,2740,2310,3869
$GC,846,-0.79,-194.7,96.8,-10.8,144,853,0.00,2.85,0.00,0.000,4,0.000,0.048,2740,894,3869
$GC,892,-0.79,-194.7,101.9,-10.7,152,898,0.00,2.70,0.00,0.000,6,0.000,0.030,2740,2293,3869
$GC,1236,-0.79,-194.7,138.3,-10.6,213,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2293,3869
$GC,1578,-0.79,-194.7,175.2,-10.5,274,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2293,3869
$GC,1921,-0.79,-194.7,212.2,-11.2,335,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2293,3869
$GC,2263,-0.79,-194.7,249.9,-10.5,396,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2293,3869
$GC,2606,-0.79,-194.7,286.0,-10.7,457,2613,0.00,2.83,0.00,0.000,4,0.000,0.048,2740,888,3869
$GC,2658,-0.79,-194.7,291.6,-10.3,466,2664,0.00,2.67,0.00,0.000,6,0.000,0.031,2740,2287,3869
$GC,3002,-0.79,-194.7,328.8,-10.8,527,3008,0.00,2.80,0.00,0.000,4,0.000,0.048,2740,893,3869
$GC,3036,-0.79,-194.7,332.7,-11.0,533,3042,0.00,2.67,0.00,0.000,6,0.000,0.031,2740,2281,3869
$GC,3376,-0.79,-194.7,368.3,-10.5,579,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2282,3869
$GC,3694,-0.79,-194.7,401.3,-10.8,609,3699,0.00,2.80,0.00,0.000,4,0.000,0.048,2740,886,3869
$GC,3723,-0.79,-194.7,404.4,-11.5,611,3727,0.00,2.67,0.00,0.000,6,0.000,0.030,2740,2275,3869
$GC,4049,-0.79,-194.7,440.4,-11.2,641,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2278,3869
$GC,4365,-0.79,-194.7,476.1,-11.5,671,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2278,3870
$GC,4684,-0.79,-194.7,513.1,-11.9,701,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2279,3870
$GC,5002,-0.79,-194.7,551.6,-12.5,731,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2279,3869
$GC,5321,-0.79,-194.7,589.4,-11.0,761,5326,0.00,2.80,0.00,0.000,4,0.000,0.050,2740,895,3869
$GC,5360,-0.79,-194.7,593.9,-11.2,764,5364,0.00,2.65,0.00,0.000,6,0.000,0.032,2740,2258,3869
$GC,5686,-0.79,-194.7,630.1,-11.6,782,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2258,3869
$GC,5997,-0.79,-194.7,664.3,-11.0,797,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2257,3869
$GC,6305,-0.79,-194.7,696.7,-10.0,812,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2258,3869
$GC,6615,-0.79,-194.7,727.1,-9.7,827,6620,0.00,3.03,0.00,0.000,4,0.000,0.067,2740,3698,3869
$GC,6655,-0.79,-194.7,730.9,-9.9,829,6660,0.00,2.97,0.00,0.000,6,0.000,0.052,2740,2251,3869
$GC,6982,-0.79,-194.7,760.8,-9.1,845,6986,0.00,3.00,0.00,0.000,4,0.000,0.087,2740,883,3869
$GC,7043,-0.79,-194.7,766.7,-9.9,848,7047,0.00,2.80,0.00,0.000,6,0.000,0.055,2740,2240,3868
$GC,7369,-0.79,-194.7,795.1,-8.6,864,7374,0.00,3.22,0.00,0.000,4,0.000,0.087,2740,3701,3869
$GC,7431,-0.79,-194.7,800.8,-9.3,867,7436,0.00,3.15,0.00,0.000,6,0.000,0.074,2741,2256,3868
$GC,7759,-0.79,-194.7,831.4,-9.2,883,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2255,3868
$GC,8067,-0.79,-194.7,860.0,-9.5,898,8068,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2255,3868
$GC,8377,-0.79,-194.7,888.5,-8.8,913,8383,0.00,3.60,0.00,0.000,4,0.000,0.127,2740,3695,3867
$GC,8440,-0.79,-194.7,894.2,-9.0,916,8445,0.00,3.08,0.00,0.000,6,0.000,0.067,2740,2248,3867
$GC,8766,-0.79,-194.7,923.7,-9.2,932,8770,0.00,2.80,0.00,0.000,4,0.000,0.057,2740,873,3867
$GC,8792,-0.79,-194.7,926.3,-10.2,933,8796,0.00,2.72,0.00,0.000,6,0.000,0.035,2740,2265,3867
$GC,9114,-0.79,-194.7,956.0,-9.0,949,9119,0.00,2.95,0.00,0.000,4,0.000,0.057,2740,3703,3866
$GC,9169,-0.79,-194.7,961.2,-9.5,951,9175,0.00,2.88,0.00,0.000,6,0.000,0.041,2740,2265,3866
$GC,9484,-0.79,-194.7,989.0,-9.0,967,9485,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2264,3867
$STATE,9502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9502,begin apogee
$GC,9509,-0.21,0.0,990.8,9.0,968,9726,0.82,0.00,210.45,1.612,6,0.132,0.000,2869,2746,3070
$STATE,9726,end apogee,CONTROL_FINISHED_OK
$STATE,9726,begin climb
$GC,9728,0.86,194.7,997.6,0.0,979,9956,1.40,2.65,217.30,1.561,4,0.081,0.058,3099,3887,2277
$GC,10115,0.70,194.7,955.2,13.6,997,10120,0.17,2.35,0.00,0.000,6,0.127,0.035,3076,2735,2274
$GC,10436,0.59,194.7,919.5,10.8,1013,10441,0.15,2.42,0.00,0.000,4,0.126,0.053,3051,3901,2274
$GC,10468,0.55,199.9,916.1,9.8,1014,10482,0.00,2.28,6.72,1.116,6,0.000,0.034,3051,2748,2255
$GC,10804,0.59,236.1,886.6,8.7,1031,10850,0.00,2.47,38.72,1.483,4,0.000,0.053,3051,3891,2107
$GC,10869,0.63,265.3,880.7,9.0,1034,10910,0.00,2.28,32.42,1.464,6,0.000,0.033,3051,2760,1989
$GC,11221,0.64,275.4,846.2,9.6,1051,11238,0.00,0.00,11.30,1.288,6,0.000,0.000,3051,2759,1948
$GC,11548,0.68,306.0,816.1,8.9,1067,11590,0.00,2.45,33.50,1.440,4,0.000,0.058,3051,3898,1822
$GC,11613,0.68,306.0,809.4,10.3,1070,11617,0.00,2.25,0.00,0.000,6,0.000,0.033,3051,2771,1820
$GC,11939,0.68,306.0,776.5,10.1,1086,11941,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2770,1818
$GC,12249,0.71,333.1,746.6,9.1,1101,12280,0.12,0.00,28.85,1.396,6,0.064,0.000,3075,2770,1713
$GC,12578,0.67,333.1,707.0,12.2,1117,12579,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2769,1708
$GC,12887,0.62,333.1,670.5,11.9,1132,12891,0.00,2.30,0.00,0.000,4,0.000,0.051,3075,3902,1707
$GC,12920,0.62,333.1,666.2,11.6,1133,12926,0.00,2.22,0.00,0.000,6,0.000,0.032,3075,2772,1707
$GC,13236,0.58,333.1,629.5,11.3,1149,13241,0.17,2.30,0.00,0.000,4,0.106,0.051,3046,3902,1707
$GC,13257,0.59,340.1,627.2,9.8,1150,13274,0.00,2.17,7.78,1.094,6,0.000,0.033,3046,2777,1684
$GC,13583,0.69,393.2,601.1,8.2,1166,13648,0.12,3.00,57.78,1.356,4,0.061,0.047,3071,1339,1468
$GC,13664,0.69,393.2,592.5,10.5,1172,13671,0.00,2.95,0.00,0.000,6,0.000,0.031,3071,2792,1464
$GC,13991,0.69,394.0,560.1,10.0,1203,13992,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2792,1460
$GC,14307,0.69,394.0,526.6,10.7,1233,14312,0.00,2.92,0.00,0.000,4,0.000,0.045,3071,1340,1459
$GC,14323,0.69,394.0,524.8,10.6,1234,14328,0.00,2.85,0.00,0.000,6,0.000,0.032,3071,2787,1458
$GC,14649,0.69,394.0,491.0,10.4,1264,14650,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2789,1458
$GC,14967,0.69,394.0,457.4,11.0,1294,14971,0.00,2.90,0.00,0.000,4,0.000,0.044,3071,1344,1457
$GC,14994,0.69,394.0,454.3,11.1,1296,14999,0.00,2.83,0.00,0.000,6,0.000,0.033,3071,2783,1457
$GC,15318,0.69,394.0,418.9,10.6,1326,15319,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2782,1457
$GC,15638,0.72,413.7,387.2,9.3,1356,15664,0.00,2.95,20.62,1.149,4,0.000,0.045,3071,1334,1383
$GC,15676,0.74,430.6,383.4,9.4,1359,15701,0.00,2.85,19.33,1.164,6,0.000,0.032,3070,2771,1315
$GC,16026,0.79,475.5,352.3,8.4,1392,16081,0.00,2.97,47.90,1.177,4,0.000,0.044,3071,1343,1131
$GC,16099,0.90,507.7,346.0,8.9,1402,16143,0.22,2.88,34.80,1.139,6,0.041,0.031,3118,2767,1001
$GC,16482,0.78,507.7,273.3,19.6,1470,16489,0.15,2.25,0.00,0.000,4,0.113,0.048,3094,3891,994
$GC,16540,0.78,507.7,263.4,13.2,1480,16546,0.00,2.15,0.00,0.000,6,0.000,0.031,3093,2782,993
$GC,16883,0.78,507.7,214.2,14.1,1541,16890,0.00,2.88,0.00,0.000,4,0.000,0.046,3093,1344,992
$GC,16901,0.78,507.7,211.6,14.3,1544,16907,0.00,2.85,0.00,0.000,6,0.000,0.031,3094,2801,991
$GC,17245,0.78,507.7,161.9,13.5,1605,17251,0.00,2.92,0.00,0.000,4,0.000,0.044,3093,1347,991
$GC,17262,0.78,507.7,159.3,14.0,1608,17268,0.00,2.83,0.00,0.000,6,0.000,0.031,3093,2793,990
$GC,17606,0.78,507.7,109.9,13.5,1669,17612,0.00,2.92,0.00,0.000,4,0.000,0.044,3094,1339,990
$GC,17623,0.78,507.7,107.1,16.0,1672,17629,0.00,2.80,0.00,0.000,6,0.000,0.032,3093,2775,989
$GC,17968,0.78,507.7,55.6,16.0,1733,17974,0.00,2.88,0.00,0.000,4,0.000,0.045,3094,1347,989
$GC,17986,0.78,507.7,52.6,14.8,1736,17992,0.00,2.78,0.00,0.000,6,0.000,0.032,3093,2776,989
$GC,18330,0.78,507.7,4.1,14.8,1797,18336,0.00,2.88,0.00,0.000,4,0.000,0.044,3093,1338,988
$STATE,18346,end climb,SURFACE_DEPTH_REACHED
$STATE,18346,begin surface coast
$FINISH,0.1,1.018709
$STATE,18359,end surface coast,CONTROL_FINISHED_OK
$STATE,18359,begin surface
$SM_CCo,18438,0.00,0.000,0,0,986,511.45
$SM_GC,0.71,8.38,0.00,0.00,0.044,0.000,0.000,1435,2315,986,-6.79,0.42,511.45
$IRIDIUM_FIX,6059.36,-2605.81,160897,141451
$TT8_MAMPS,0.026078
$HUMID,1802
$INTERNAL_PRESSURE,8.85822
$TCM_TEMP,16.30
$XPDR_PINGS,1021
$24V_AH,19.1,70.475
$10V_AH,9.8,52.264
$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,23.900,165.175,767.475,0.000,0.000,29.196,35.600,231.738,255.250,0.000,0.000,15.374,2837.539,11235.147,843.683,3312.430,628.276,0.000,2388.492,0.000,3302.509,0.000,0.465
$DEVICE_MAMPS,253.877,127.322,1612.234,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1254.507,1318.049,632.461,1573.834,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129788,1802
$CAP_FILE_SIZE,169707,0
$CFSIZE,260165632,234971136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,230508,001832,6120.013,-2606.359,39,1.1,39,-18.4