version: 66.03
glider: 142
mission: 5
dive: 69
start: 4 18 108 4 5 51
data:
$ID,142
$MISSION,5
$DIVE,69
$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,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,359
$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,-14043.897
$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,22
$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
$GPS1,035626,5913.433,-2237.975,41,1.4,41,-15.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-39.6
$GPS2,040533,5913.310,-2238.148,12,1.6,12,-15.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5924.107,-2238.244
$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,14.4,20000,-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,-194.7,0.0,0.0,0,181,0.00,0.00,-151.10,0.000,2,0.000,0.000,1435,2288,3545
$GC,183,-0.86,-194.7,3.1,-4.0,21,215,11.32,2.92,-9.27,0.000,4,0.250,0.054,2727,3708,3868
$GC,446,-0.80,-194.7,41.7,-14.5,69,454,0.00,2.80,0.00,0.000,6,0.000,0.033,2727,2298,3868
$GC,582,-0.73,-194.7,61.4,-12.2,94,591,0.15,2.83,0.00,0.000,4,0.147,0.048,2751,895,3868
$GC,703,-0.73,-194.7,77.6,-12.2,116,712,0.00,2.70,0.00,0.000,6,0.000,0.028,2751,2280,3868
$GC,844,-0.73,-194.7,93.2,-11.0,141,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2280,3869
$GC,979,-0.73,-194.7,109.2,-11.8,166,987,0.00,2.80,0.00,0.000,4,0.000,0.047,2751,891,3868
$GC,1032,-0.73,-194.7,115.7,-12.6,175,1039,0.00,2.65,0.00,0.000,6,0.000,0.029,2751,2271,3869
$GC,1168,-0.73,-194.7,132.2,-12.4,200,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2271,3868
$GC,1307,-0.73,-194.7,148.1,-11.2,225,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2271,3868
$GC,1443,-0.73,-194.7,163.6,-10.7,250,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2271,3868
$GC,1777,-0.73,-194.7,199.9,-10.8,311,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2271,3868
$GC,2105,-0.73,-194.7,235.7,-10.9,372,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2271,3868
$GC,2439,-0.73,-194.7,271.7,-10.7,433,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2271,3868
$GC,2766,-0.73,-194.7,308.1,-11.2,494,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2271,3868
$GC,3100,-0.73,-194.7,345.6,-11.4,555,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2271,3868
$GC,3440,-0.73,-194.7,383.9,-11.0,616,3446,0.00,2.80,0.00,0.000,4,0.000,0.045,2751,3700,3868
$GC,3493,-0.73,-194.7,389.8,-11.0,625,3499,0.00,2.83,0.00,0.000,6,0.000,0.034,2750,2240,3868
$GC,3834,-0.73,-194.7,427.9,-11.1,686,3840,0.00,2.67,0.00,0.000,4,0.000,0.050,2750,882,3868
$GC,3881,-0.73,-194.7,433.1,-11.0,694,3887,0.00,2.62,0.00,0.000,6,0.000,0.028,2751,2264,3868
$GC,4221,-0.73,-194.7,470.1,-10.7,755,4227,0.00,2.80,0.00,0.000,4,0.000,0.046,2750,3699,3868
$GC,4284,-0.73,-194.7,477.0,-11.3,766,4290,0.00,2.80,0.00,0.000,6,0.000,0.034,2751,2252,3868
$GC,4624,-0.73,-194.7,514.4,-11.2,827,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2250,3868
$GC,4963,-0.73,-194.7,552.8,-11.1,888,4971,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2250,3868
$GC,5307,-0.73,-194.7,589.5,-10.1,949,5314,0.00,2.90,0.00,0.000,4,0.000,0.051,2751,3700,3868
$GC,5380,-0.73,-194.7,597.4,-11.0,962,5387,0.00,2.80,0.00,0.000,6,0.000,0.037,2750,2263,3868
$GC,5708,-0.73,-194.7,629.8,-9.8,995,5713,0.00,2.75,0.00,0.000,4,0.000,0.058,2751,887,3868
$GC,5759,-0.73,-194.7,635.0,-9.8,999,5763,0.00,2.67,0.00,0.000,6,0.000,0.032,2751,2282,3867
$GC,6084,-0.73,-194.7,666.8,-10.0,1029,6089,0.00,2.88,0.00,0.000,4,0.000,0.059,2750,3703,3867
$GC,6150,-0.73,-194.7,673.8,-10.7,1034,6157,0.00,2.83,0.00,0.000,6,0.000,0.048,2750,2283,3867
$GC,6476,-0.73,-194.7,705.9,-9.8,1065,6477,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3867
$GC,6794,-0.73,-194.7,737.1,-9.9,1095,6798,0.00,2.97,0.00,0.000,4,0.000,0.071,2750,3700,3867
$GC,6857,-0.73,-194.7,743.1,-9.5,1100,6861,0.00,2.88,0.00,0.000,6,0.000,0.056,2751,2294,3867
$GC,7182,-0.73,-194.7,774.7,-9.6,1130,7187,0.00,3.05,0.00,0.000,4,0.000,0.099,2751,883,3866
$GC,7243,-0.73,-194.7,781.1,-10.4,1135,7248,0.00,2.92,0.00,0.000,6,0.000,0.066,2751,2291,3866
$GC,7569,-0.73,-194.7,812.5,-9.4,1165,7574,0.00,3.15,0.00,0.000,4,0.000,0.099,2751,3716,3865
$GC,7635,-0.73,-194.7,819.0,-9.6,1170,7642,0.00,3.08,0.00,0.000,6,0.000,0.085,2750,2298,3865
$GC,7963,-0.73,-194.7,849.4,-9.4,1201,7968,0.00,3.28,0.00,0.000,4,0.000,0.122,2750,883,3865
$GC,8006,-0.73,-194.7,854.1,-10.3,1204,8013,0.00,2.78,0.00,0.000,6,0.000,0.032,2751,2324,3864
$GC,8333,-0.73,-194.7,885.0,-9.3,1235,8337,0.00,2.78,0.00,0.000,4,0.000,0.056,2750,3705,3864
$GC,8383,-0.73,-194.7,890.0,-10.1,1239,8387,0.00,2.78,0.00,0.000,6,0.000,0.040,2750,2298,3864
$GC,8708,-0.73,-194.7,921.2,-9.5,1269,8713,0.00,2.85,0.00,0.000,4,0.000,0.062,2750,889,3864
$GC,8752,-0.73,-194.7,925.8,-10.5,1272,8759,0.00,2.75,0.00,0.000,6,0.000,0.034,2750,2310,3864
$GC,9078,-0.73,-194.7,957.0,-9.5,1303,9083,0.00,2.83,0.00,0.000,4,0.000,0.058,2751,3708,3863
$GC,9144,-0.73,-194.7,963.8,-10.0,1308,9151,0.00,2.78,0.00,0.000,6,0.000,0.041,2751,2308,3863
$STATE,9424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9424,begin apogee
$GC,9431,-0.21,0.0,990.3,9.3,1335,9638,0.68,0.00,201.07,1.578,6,0.119,0.000,2866,2751,3071
$STATE,9639,end apogee,CONTROL_FINISHED_OK
$STATE,9639,begin climb
$GC,9641,0.86,194.7,997.2,0.0,1356,9859,1.40,2.62,208.20,1.518,4,0.084,0.057,3101,3899,2277
$GC,10017,0.68,194.7,952.7,15.2,1391,10022,0.20,2.40,0.00,0.000,6,0.126,0.035,3074,2740,2274
$GC,10342,0.56,194.7,911.6,12.6,1421,10346,0.15,2.42,0.00,0.000,4,0.127,0.053,3049,3905,2274
$GC,10403,0.51,194.7,904.5,11.1,1426,10408,0.00,2.28,0.00,0.000,6,0.000,0.035,3049,2766,2273
$GC,10728,0.44,195.3,871.0,10.0,1456,10730,0.20,0.00,0.00,0.000,6,0.121,0.000,3019,2765,2273
$GC,11049,0.54,278.1,847.6,7.1,1486,11137,0.00,0.00,85.62,1.473,6,0.000,0.000,3019,2765,1937
$GC,11455,0.70,354.9,817.4,7.3,1525,11539,0.28,0.00,81.03,1.437,6,0.048,0.000,3074,2765,1624
$GC,11853,0.64,354.9,763.2,13.4,1563,11858,0.00,2.38,0.00,0.000,4,0.000,0.053,3074,3905,1617
$GC,11897,0.64,354.9,756.9,13.8,1566,11903,0.00,2.28,0.00,0.000,6,0.000,0.033,3074,2776,1616
$GC,12224,0.58,354.9,713.4,13.4,1597,12228,0.17,2.33,0.00,0.000,4,0.112,0.051,3046,3906,1615
$GC,12245,0.58,354.9,710.4,12.4,1598,12251,0.00,2.20,0.00,0.000,6,0.000,0.033,3045,2785,1614
$GC,12571,0.58,354.9,678.5,10.0,1629,12575,0.00,2.92,0.00,0.000,4,0.000,0.050,3045,1339,1614
$GC,12580,0.58,354.9,677.2,10.1,1629,12587,0.00,2.85,0.00,0.000,6,0.000,0.031,3045,2788,1613
$GC,12908,0.58,354.9,645.0,10.1,1660,12912,0.00,2.92,0.00,0.000,4,0.000,0.046,3045,1343,1612
$GC,12928,0.58,357.8,642.5,9.9,1661,12935,0.00,2.80,0.00,0.000,6,0.000,0.031,3045,2772,1612
$GC,13255,0.60,371.1,610.2,9.5,1692,13277,0.00,2.92,15.75,1.236,4,0.000,0.047,3045,1345,1557
$GC,13288,0.62,388.3,606.8,9.4,1695,13314,0.00,2.83,19.70,1.277,6,0.000,0.031,3045,2767,1487
$GC,13646,0.69,403.8,572.6,9.5,1752,13672,0.12,2.97,16.77,1.223,4,0.058,0.048,3070,1348,1424
$GC,13678,0.69,403.8,569.0,11.6,1757,13684,0.00,2.83,0.00,0.000,6,0.000,0.031,3070,2755,1424
$GC,14020,0.69,403.8,526.7,12.1,1818,14027,0.00,2.33,0.00,0.000,4,0.000,0.051,3070,3897,1421
$GC,14039,0.69,403.8,524.3,13.1,1821,14046,0.00,2.25,0.00,0.000,6,0.000,0.031,3071,2759,1420
$GC,14381,0.69,403.8,481.1,12.7,1882,14386,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2759,1420
$GC,14721,0.69,403.8,438.7,11.9,1943,14727,0.00,2.30,0.00,0.000,4,0.000,0.050,3070,3903,1420
$GC,14734,0.69,403.8,437.2,12.6,1945,14741,0.00,2.20,0.00,0.000,6,0.000,0.031,3071,2759,1420
$GC,15076,0.69,403.8,396.2,11.0,2006,15081,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2759,1420
$GC,15415,0.69,403.8,358.1,12.2,2067,15421,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2759,1420
$GC,15750,0.69,403.8,320.7,11.4,2128,15758,0.00,2.30,0.00,0.000,4,0.000,0.048,3070,3900,1420
$GC,15764,0.69,403.8,318.9,11.4,2130,15772,0.00,2.17,0.00,0.000,6,0.000,0.030,3070,2774,1420
$GC,16097,0.69,403.8,281.4,11.0,2191,16102,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2772,1420
$GC,16426,0.69,403.8,243.7,10.9,2252,16434,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2771,1420
$GC,16760,0.70,410.9,207.8,9.8,2313,16774,0.00,2.83,7.78,0.869,4,0.000,0.045,3070,1345,1396
$GC,16780,0.71,421.9,205.6,9.6,2316,16801,0.00,2.80,12.85,0.972,6,0.000,0.029,3070,2774,1350
$GC,17128,0.71,424.3,170.4,9.9,2379,17134,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2774,1348
$GC,17459,0.71,424.3,133.5,10.9,2440,17466,0.00,2.88,0.00,0.000,4,0.000,0.044,3070,1348,1348
$GC,17482,0.71,424.3,130.7,11.9,2444,17490,0.00,2.78,0.00,0.000,6,0.000,0.031,3070,2765,1348
$GC,17622,0.71,424.3,113.5,10.8,2469,17628,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2765,1347
$GC,17760,0.71,424.3,97.9,13.2,2494,17768,0.00,2.85,0.00,0.000,4,0.000,0.045,3071,1351,1347
$GC,17773,0.71,424.3,96.1,12.0,2496,17781,0.00,2.78,0.00,0.000,6,0.000,0.030,3071,2770,1347
$GC,17913,0.71,424.3,83.0,10.2,2521,17919,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2770,1347
$GC,18047,0.71,424.3,68.1,10.5,2546,18055,0.00,2.88,0.00,0.000,4,0.000,0.046,3070,1342,1347
$GC,18061,0.71,424.3,66.6,10.6,2548,18069,0.00,2.75,0.00,0.000,6,0.000,0.029,3070,2752,1347
$GC,18203,0.71,424.3,51.7,10.8,2573,18208,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2752,1347
$GC,18336,0.71,424.3,35.1,12.0,2598,18343,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2752,1347
$GC,18469,0.71,424.3,19.4,10.8,2623,18477,0.00,2.83,0.00,0.000,4,0.000,0.046,3071,1349,1347
$GC,18485,0.71,424.3,17.4,11.5,2625,18492,0.00,2.75,0.00,0.000,6,0.000,0.030,3070,2759,1347
$GC,18619,0.81,500.8,5.3,7.3,2650,18650,0.12,0.00,28.33,0.906,2,0.056,0.000,3097,2759,1236
$STATE,18651,end climb,SURFACE_DEPTH_REACHED
$STATE,18651,begin surface coast
$FINISH,0.2,1.026243
$STATE,18663,end surface coast,CONTROL_FINISHED_OK
$STATE,18663,begin surface
$SM_CCo,18741,0.00,0.000,0,0,1232,451.11
$SM_GC,0.76,8.35,0.00,0.00,0.038,0.000,0.000,1431,2291,1232,-6.79,-0.25,451.11
$IRIDIUM_FIX,5854.46,-2234.93,120797,222226
$TT8_MAMPS,0.026845
$HUMID,1730
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,12.20
$XPDR_PINGS,867
$24V_AH,19.6,25.268
$10V_AH,9.6,21.236
$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,23.150,176.400,677.100,0.000,0.000,23.606,32.791,331.726,216.750,0.000,0.000,13.914,4032.456,7718.395,857.542,5868.073,779.355,0.000,2999.639,0.000,5877.682,0.000,0.466
$DEVICE_MAMPS,250.042,121.953,1577.719,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1841.665,1940.046,1197.773,1100.586,2847.982,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,199282,2656
$CAP_FILE_SIZE,214185,0
$CFSIZE,260165632,250388480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180408,091926,5913.744,-2241.653,39,1.5,39,-15.5