version: 66.03
glider: 142
mission: 5
dive: 70
start: 4 18 108 9 41 51
data:
$ID,142
$MISSION,5
$DIVE,70
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,345
$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,-14059.438
$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,20
$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
$GPS1,091926,5913.744,-2241.653,39,1.5,39,-15.5
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-44.5
$GPS2,094133,5913.569,-2241.953,13,1.5,13,-15.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5924.000,-2243.375
$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,0.5,20000,-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,-194.7,0.0,0.0,0,162,0.00,0.00,-133.38,0.000,2,0.000,0.000,1430,2290,3578
$GC,165,-0.86,-194.7,3.3,-5.6,14,193,11.27,2.88,-7.78,0.000,4,0.247,0.054,2725,3715,3866
$GC,361,-0.79,-194.7,33.7,-14.2,46,371,0.10,2.80,0.00,0.000,6,0.141,0.032,2741,2303,3868
$GC,511,-0.74,-194.7,55.4,-14.5,71,518,0.00,2.83,0.00,0.000,4,0.000,0.049,2742,887,3867
$GC,604,-0.74,-194.7,68.5,-12.6,87,612,0.00,2.72,0.00,0.000,6,0.000,0.029,2742,2306,3867
$GC,748,-0.70,-194.7,87.2,-15.1,112,757,0.15,0.00,0.00,0.000,6,0.147,0.000,2764,2306,3867
$GC,897,-0.70,-194.7,103.6,-10.2,137,904,0.00,2.83,0.00,0.000,4,0.000,0.047,2764,893,3867
$GC,946,-0.70,-194.7,109.0,-10.5,145,953,0.00,2.70,0.00,0.000,6,0.000,0.029,2764,2298,3867
$GC,1089,-0.70,-194.7,123.4,-10.7,170,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2299,3867
$GC,1233,-0.70,-194.7,139.5,-10.7,195,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2299,3867
$GC,1376,-0.70,-194.7,155.0,-10.7,220,1384,0.00,2.80,0.00,0.000,4,0.000,0.044,2764,3706,3867
$GC,1432,-0.70,-194.7,160.8,-10.5,229,1439,0.00,2.75,0.00,0.000,6,0.000,0.032,2764,2287,3867
$GC,1777,-0.70,-194.7,196.1,-9.6,290,1786,0.00,2.78,0.00,0.000,4,0.000,0.049,2764,894,3867
$GC,1815,-0.70,-194.7,199.9,-9.7,296,1824,0.00,2.70,0.00,0.000,6,0.000,0.029,2764,2295,3867
$GC,2164,-0.70,-194.7,233.8,-10.6,357,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2295,3867
$GC,2507,-0.70,-194.7,269.2,-10.0,418,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2295,3867
$GC,2855,-0.70,-194.7,303.9,-9.4,479,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2295,3867
$GC,3199,-0.70,-194.7,337.9,-9.6,540,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2295,3867
$GC,3545,-0.70,-194.7,370.5,-9.3,601,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2296,3867
$GC,3885,-0.70,-194.7,402.6,-9.2,662,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2296,3867
$GC,4225,-0.70,-194.7,435.5,-9.3,723,4233,0.00,2.78,0.00,0.000,4,0.000,0.045,2764,3699,3867
$GC,4287,-0.74,-194.7,441.3,-9.9,733,4294,0.00,2.70,0.00,0.000,6,0.000,0.032,2764,2292,3867
$GC,4630,-0.74,-194.7,474.8,-10.0,794,4637,0.00,2.75,0.00,0.000,4,0.000,0.051,2764,893,3867
$GC,4690,-0.79,-194.7,480.4,-9.5,804,4698,0.00,2.70,0.00,0.000,6,0.000,0.030,2764,2296,3867
$GC,5035,-0.79,-194.7,513.6,-10.2,865,5042,0.00,2.75,0.00,0.000,4,0.000,0.047,2764,3700,3867
$GC,5109,-0.79,-194.7,521.2,-10.2,878,5117,0.00,2.75,0.00,0.000,6,0.000,0.034,2764,2278,3867
$GC,5450,-0.79,-194.7,555.2,-9.8,939,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2277,3867
$GC,5790,-0.79,-194.7,586.7,-9.2,1000,5798,0.00,2.85,0.00,0.000,4,0.000,0.050,2764,3706,3867
$GC,5871,-0.83,-194.7,594.3,-9.4,1014,5880,0.10,2.75,0.00,0.000,6,0.061,0.036,2741,2307,3867
$GC,6207,-0.83,-194.7,629.8,-10.6,1050,6211,0.00,2.83,0.00,0.000,4,0.000,0.058,2741,891,3867
$GC,6261,-0.83,-194.7,635.8,-10.9,1054,6269,0.00,2.72,0.00,0.000,6,0.000,0.033,2741,2307,3866
$GC,6588,-0.83,-194.7,670.2,-10.7,1085,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2307,3866
$GC,6905,-0.83,-194.7,703.4,-10.6,1115,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2307,3866
$GC,7224,-0.83,-194.7,737.4,-10.9,1145,7228,0.00,2.90,0.00,0.000,4,0.000,0.072,2741,3702,3866
$GC,7274,-0.83,-194.7,743.0,-11.2,1149,7279,0.00,2.88,0.00,0.000,6,0.000,0.057,2741,2297,3866
$GC,7600,-0.83,-194.7,777.6,-10.5,1179,7605,0.00,3.08,0.00,0.000,4,0.000,0.094,2740,882,3865
$GC,7656,-0.83,-194.7,784.0,-11.3,1183,7663,0.00,2.92,0.00,0.000,6,0.000,0.066,2740,2292,3865
$GC,7982,-0.83,-194.7,820.2,-11.0,1214,7987,0.00,3.15,0.00,0.000,4,0.000,0.100,2740,3712,3865
$GC,8043,-0.83,-194.7,827.4,-11.2,1219,8048,0.00,3.10,0.00,0.000,6,0.000,0.090,2741,2303,3865
$GC,8369,-0.83,-194.7,862.2,-10.3,1249,8374,0.00,3.33,0.00,0.000,4,0.000,0.128,2741,887,3864
$GC,8425,-0.83,-194.7,868.2,-10.8,1253,8433,0.00,2.75,0.00,0.000,6,0.000,0.031,2741,2318,3864
$GC,8752,-0.83,-194.7,899.1,-9.2,1284,8753,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2318,3864
$GC,9070,-0.83,-194.7,928.0,-8.9,1314,9071,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2318,3864
$GC,9388,-0.83,-194.7,956.6,-9.2,1344,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2318,3863
$GC,9709,-0.83,-194.7,986.4,-9.7,1374,9715,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2318,3863
$STATE,9745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9745,begin apogee
$GC,9751,-0.21,0.0,990.4,9.8,1378,9959,0.77,0.00,200.75,1.578,6,0.133,0.000,2868,2748,3070
$STATE,9959,end apogee,CONTROL_FINISHED_OK
$STATE,9960,begin climb
$GC,9962,0.86,194.7,996.8,0.0,1399,10182,1.38,2.62,208.25,1.513,4,0.084,0.057,3099,3897,2276
$GC,10311,0.70,194.7,955.8,15.8,1429,10319,0.17,2.40,0.00,0.000,6,0.128,0.035,3076,2740,2274
$GC,10636,0.58,194.7,913.5,12.8,1460,10641,0.17,2.42,0.00,0.000,4,0.126,0.053,3049,3893,2273
$GC,10687,0.54,194.7,907.7,11.6,1464,10691,0.00,2.28,0.00,0.000,6,0.000,0.035,3048,2755,2273
$GC,11017,0.50,199.3,875.6,9.8,1495,11027,0.00,0.00,5.35,1.022,6,0.000,0.000,3049,2754,2258
$GC,11347,0.45,202.9,843.5,9.9,1526,11357,0.17,0.00,5.47,1.039,6,0.122,0.000,3022,2754,2243
$GC,11674,0.55,284.0,818.9,7.2,1557,11766,0.00,2.47,83.88,1.463,4,0.000,0.053,3022,3891,1912
$GC,11772,0.71,363.6,811.7,7.2,1565,11864,0.28,2.33,85.78,1.421,6,0.049,0.032,3075,2759,1587
$GC,12190,0.65,363.6,755.4,13.7,1604,12194,0.00,2.38,0.00,0.000,4,0.000,0.053,3074,3897,1579
$GC,12217,0.60,363.6,751.4,14.2,1606,12224,0.15,2.25,0.00,0.000,6,0.111,0.033,3053,2769,1578
$GC,12541,0.60,363.6,715.7,10.7,1637,12546,0.00,2.92,0.00,0.000,4,0.000,0.051,3053,1336,1576
$GC,12558,0.60,363.6,713.8,10.9,1638,12563,0.00,2.85,0.00,0.000,6,0.000,0.031,3053,2772,1576
$GC,12884,0.60,363.6,678.4,10.7,1668,12885,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2772,1575
$GC,13202,0.60,363.6,644.5,10.5,1698,13207,0.00,2.92,0.00,0.000,4,0.000,0.047,3053,1332,1575
$GC,13223,0.62,380.1,642.1,9.4,1699,13246,0.00,2.83,15.48,1.246,6,0.000,0.032,3053,2770,1521
$GC,13572,0.64,396.6,608.5,9.4,1732,13596,0.00,3.03,18.35,1.256,4,0.000,0.047,3053,1333,1454
$GC,13608,0.66,417.0,605.0,9.3,1735,13637,0.00,2.83,23.20,1.278,6,0.000,0.032,3053,2744,1371
$GC,13974,0.73,430.0,570.7,9.5,1794,13996,0.12,0.00,14.98,1.196,6,0.057,0.000,3078,2744,1315
$GC,14332,0.73,430.0,523.4,12.4,1857,14339,0.00,2.33,0.00,0.000,4,0.000,0.049,3078,3888,1312
$GC,14375,0.73,430.0,518.1,12.8,1864,14382,0.00,2.20,0.00,0.000,6,0.000,0.032,3078,2763,1311
$GC,14718,0.69,430.0,474.6,12.8,1925,14725,0.00,2.28,0.00,0.000,4,0.000,0.049,3078,3891,1311
$GC,14737,0.69,430.0,472.1,12.9,1928,14744,0.00,2.15,0.00,0.000,6,0.000,0.031,3079,2778,1311
$GC,15076,0.69,430.0,427.8,12.9,1989,15084,0.00,2.25,0.00,0.000,4,0.000,0.048,3079,3887,1310
$GC,15091,0.69,430.0,425.7,12.2,1991,15099,0.00,2.12,0.00,0.000,6,0.000,0.030,3079,2781,1310
$GC,15432,0.65,430.0,380.5,13.0,2052,15441,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2780,1310
$GC,15778,0.59,430.0,332.0,14.4,2113,15785,0.15,2.22,0.00,0.000,4,0.110,0.046,3052,3898,1310
$GC,15806,0.59,430.0,328.2,13.5,2117,15813,0.00,2.10,0.00,0.000,6,0.000,0.029,3053,2796,1310
$GC,16152,0.68,444.3,296.2,9.5,2178,16176,0.00,2.90,14.60,1.027,4,0.000,0.046,3053,1357,1258
$GC,16202,0.78,449.7,291.6,9.8,2185,16219,0.20,2.80,7.18,0.927,6,0.043,0.029,3097,2794,1237
$GC,16562,0.69,449.7,230.6,19.1,2247,16570,0.15,2.90,0.00,0.000,4,0.114,0.044,3072,1349,1235
$GC,16579,0.62,449.7,227.5,17.4,2249,16587,0.00,2.78,0.00,0.000,6,0.000,0.029,3071,2773,1234
$GC,16924,0.62,449.7,187.0,11.5,2310,16933,0.00,2.88,0.00,0.000,4,0.000,0.044,3071,1350,1234
$GC,16948,0.62,449.7,184.6,11.2,2313,16955,0.00,2.75,0.00,0.000,6,0.000,0.031,3072,2766,1234
$GC,17295,0.62,449.7,145.2,11.2,2374,17305,0.00,2.85,0.00,0.000,4,0.000,0.044,3072,1350,1234
$GC,17319,0.62,449.7,142.8,10.6,2377,17326,0.00,2.70,0.00,0.000,6,0.000,0.030,3072,2747,1234
$GC,17462,0.62,449.7,126.7,11.6,2402,17471,0.00,2.80,0.00,0.000,4,0.000,0.045,3072,1353,1234
$GC,17478,0.62,449.7,124.9,11.2,2404,17487,0.00,2.67,0.00,0.000,6,0.000,0.029,3072,2725,1233
$GC,17627,0.62,449.7,108.5,10.9,2429,17633,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2725,1233
$GC,17768,0.62,449.7,92.7,11.3,2454,17776,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2726,1234
$GC,17914,0.62,449.7,76.4,10.0,2479,17921,0.00,2.75,0.00,0.000,4,0.000,0.044,3072,1338,1233
$GC,17929,0.62,449.7,74.6,10.7,2481,17937,0.00,2.65,0.00,0.000,6,0.000,0.030,3071,2718,1234
$GC,18073,0.62,449.7,58.3,12.6,2506,18081,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2718,1234
$GC,18220,0.62,449.7,41.9,10.7,2531,18229,0.00,2.75,0.00,0.000,4,0.000,0.046,3072,1349,1234
$GC,18238,0.62,449.7,39.9,10.6,2533,18246,0.00,2.62,0.00,0.000,6,0.000,0.029,3072,2701,1233
$GC,18385,0.62,449.7,24.0,11.3,2558,18394,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2701,1233
$GC,18534,0.62,449.7,8.8,11.3,2583,18543,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2701,1233
$STATE,18601,end climb,SURFACE_DEPTH_REACHED
$STATE,18601,begin surface coast
$FINISH,0.2,1.026214
$STATE,18621,end surface coast,CONTROL_FINISHED_OK
$STATE,18621,begin surface
$SM_CCo,18698,0.00,0.000,0,0,1231,451.11
$SM_GC,0.63,8.23,0.00,0.00,0.047,0.000,0.000,1433,2294,1231,-6.81,-0.17,451.11
$IRIDIUM_FIX,5850.29,-2242.68,130797,090941
$TT8_MAMPS,0.026845
$HUMID,1741
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,11.70
$XPDR_PINGS,798
$24V_AH,19.6,25.626
$10V_AH,9.7,21.522
$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,23.575,174.100,683.250,0.000,0.000,113.218,137.478,717.680,199.500,0.000,0.000,14.913,5128.010,6862.291,942.017,5678.185,1383.339,0.000,3005.999,0.000,5681.541,0.000,0.465
$DEVICE_MAMPS,246.974,128.089,1577.719,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1796.263,1893.640,1149.223,1056.047,2724.166,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,196110,2597
$CAP_FILE_SIZE,225629,0
$CFSIZE,260165632,250253312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.297,204.6,1
$GPS,180408,145439,5913.664,-2246.147,33,1.2,34,-15.5