version: 66.03
glider: 142
mission: 5
dive: 71
start: 4 18 108 15 3 50
data:
$ID,142
$MISSION,5
$DIVE,71
$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,-14078.13
$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,26
$R_STBD_OVSHOOT,24
$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
$GPS1,145439,5913.664,-2246.147,33,1.2,34,-15.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-49.3
$GPS2,150328,5913.613,-2246.298,15,1.3,16,-15.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5924.044,-2247.721
$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,40.5,20000,-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,-194.7,0.0,0.0,0,167,0.00,0.00,-138.45,0.000,2,0.000,0.000,1432,2295,3730
$GC,170,-0.86,-194.7,3.9,-5.5,15,191,11.20,2.90,-3.22,0.000,4,0.248,0.051,2724,3711,3867
$GC,309,-0.79,-194.7,30.1,-13.5,37,318,0.10,2.80,0.00,0.000,6,0.137,0.032,2740,2297,3868
$GC,458,-0.75,-194.7,49.2,-11.9,62,468,0.00,2.83,0.00,0.000,4,0.000,0.048,2740,892,3868
$GC,526,-0.75,-194.7,58.1,-12.0,73,534,0.00,2.70,0.00,0.000,6,0.000,0.029,2740,2294,3868
$GC,669,-0.75,-194.7,77.5,-13.6,98,677,0.00,2.83,0.00,0.000,4,0.000,0.047,2740,895,3868
$GC,719,-0.75,-194.7,83.8,-12.4,106,728,0.00,2.65,0.00,0.000,6,0.000,0.029,2740,2258,3868
$GC,867,-0.70,-194.7,101.4,-12.4,131,874,0.15,0.00,0.00,0.000,6,0.130,0.000,2765,2258,3868
$GC,1009,-0.70,-194.7,117.0,-10.3,156,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2258,3868
$GC,1154,-0.70,-194.7,131.8,-9.9,181,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2258,3867
$GC,1294,-0.70,-194.7,146.5,-10.1,206,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2258,3868
$GC,1440,-0.70,-194.7,161.8,-11.0,231,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2258,3868
$GC,1782,-0.70,-194.7,197.9,-10.2,292,1791,0.00,2.85,0.00,0.000,4,0.000,0.044,2765,3697,3868
$GC,1829,-0.70,-194.7,202.5,-10.2,299,1836,0.00,2.83,0.00,0.000,6,0.000,0.031,2765,2234,3868
$GC,2172,-0.70,-194.7,236.4,-9.5,360,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2233,3868
$GC,2520,-0.70,-194.7,269.1,-9.5,421,2527,0.00,2.90,0.00,0.000,4,0.000,0.044,2765,3700,3868
$GC,2574,-0.70,-194.7,274.5,-9.8,430,2582,0.00,2.83,0.00,0.000,6,0.000,0.032,2765,2252,3868
$GC,2923,-0.70,-194.7,307.8,-9.8,491,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2251,3868
$GC,3267,-0.70,-194.7,340.9,-9.8,552,3276,0.00,2.88,0.00,0.000,4,0.000,0.044,2765,3696,3868
$GC,3324,-0.70,-194.7,346.2,-9.7,561,3331,0.00,2.78,0.00,0.000,6,0.000,0.032,2765,2256,3868
$GC,3667,-0.70,-194.7,380.0,-9.7,622,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2255,3868
$GC,4010,-0.70,-194.7,413.2,-9.4,683,4017,0.00,2.85,0.00,0.000,4,0.000,0.044,2765,3700,3868
$GC,4075,-0.70,-194.7,419.3,-9.6,694,4082,0.00,2.78,0.00,0.000,6,0.000,0.033,2765,2263,3868
$GC,4418,-0.70,-194.7,451.7,-9.3,755,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2262,3868
$GC,4762,-0.70,-194.7,483.2,-9.1,816,4772,0.00,2.88,0.00,0.000,4,0.000,0.045,2765,3701,3868
$GC,4825,-0.75,-194.7,488.9,-9.4,826,4832,0.00,2.75,0.00,0.000,6,0.000,0.033,2765,2276,3868
$GC,5167,-0.75,-194.7,519.8,-9.2,887,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2275,3868
$GC,5509,-0.75,-194.7,551.4,-8.9,948,5518,0.00,2.88,0.00,0.000,4,0.000,0.049,2765,3703,3868
$GC,5575,-0.79,-194.7,557.4,-9.4,959,5582,0.00,2.75,0.00,0.000,6,0.000,0.035,2765,2283,3868
$GC,5915,-0.79,-194.7,587.4,-8.6,1020,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2283,3867
$GC,6254,-0.79,-194.7,618.2,-9.2,1064,6259,0.00,2.85,0.00,0.000,4,0.000,0.053,2765,3698,3868
$GC,6321,-0.83,-194.7,624.5,-9.6,1069,6329,0.15,2.75,0.00,0.000,6,0.068,0.038,2736,2291,3868
$GC,6645,-0.83,-194.7,661.0,-11.4,1100,6650,0.00,2.83,0.00,0.000,4,0.000,0.063,2736,891,3868
$GC,6696,-0.83,-194.7,666.9,-11.6,1104,6700,0.00,2.70,0.00,0.000,6,0.000,0.036,2736,2285,3867
$GC,7021,-0.83,-194.7,702.8,-10.6,1134,7023,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2286,3867
$GC,7339,-0.83,-194.7,736.8,-10.9,1164,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2286,3867
$GC,7657,-0.83,-194.7,772.0,-11.5,1194,7662,0.00,3.03,0.00,0.000,4,0.000,0.088,2736,895,3867
$GC,7696,-0.83,-194.7,776.6,-11.7,1197,7701,0.00,2.90,0.00,0.000,6,0.000,0.064,2735,2297,3867
$GC,8022,-0.83,-194.7,812.4,-10.9,1227,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2297,3867
$GC,8339,-0.83,-194.7,846.3,-10.5,1257,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2297,3866
$GC,8658,-0.83,-194.7,879.1,-10.3,1287,8659,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2297,3865
$GC,8978,-0.83,-194.7,910.7,-9.8,1317,8983,0.00,3.17,0.00,0.000,4,0.000,0.105,2736,885,3865
$GC,9021,-0.83,-194.7,915.5,-10.5,1320,9029,0.00,2.75,0.00,0.000,6,0.000,0.032,2736,2313,3865
$GC,9348,-0.83,-194.7,947.9,-10.0,1351,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2313,3865
$GC,9665,-0.83,-194.7,979.9,-9.9,1381,9670,0.00,2.90,0.00,0.000,4,0.000,0.059,2736,893,3864
$GC,9697,-0.83,-194.7,983.5,-10.9,1383,9705,0.00,2.70,0.00,0.000,6,0.000,0.035,2736,2289,3864
$STATE,9766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9766,begin apogee
$GC,9772,-0.21,0.0,990.5,10.1,1390,9979,0.77,0.00,200.93,1.578,6,0.123,0.000,2867,2753,3071
$STATE,9980,end apogee,CONTROL_FINISHED_OK
$STATE,9980,begin climb
$GC,9983,0.86,194.7,996.8,0.0,1411,10204,1.38,2.62,207.93,1.519,4,0.082,0.058,3099,3902,2276
$GC,10356,0.69,194.7,951.6,15.4,1443,10364,0.20,2.38,0.00,0.000,6,0.127,0.035,3072,2750,2274
$GC,10682,0.57,194.7,911.5,12.4,1474,10686,0.15,2.40,0.00,0.000,4,0.123,0.052,3047,3899,2273
$GC,10736,0.53,194.7,905.0,11.2,1478,10744,0.00,2.28,0.00,0.000,6,0.000,0.035,3047,2761,2273
$GC,11063,0.46,194.7,870.6,10.6,1509,11065,0.15,0.00,0.00,0.000,6,0.123,0.000,3025,2760,2273
$GC,11381,0.52,240.7,843.2,8.4,1539,11438,0.00,2.50,46.58,1.455,4,0.000,0.054,3026,3899,2088
$GC,11443,0.56,272.2,837.5,8.9,1544,11485,0.00,2.30,34.25,1.420,6,0.000,0.034,3025,2770,1961
$GC,11802,0.59,303.1,806.1,8.9,1578,11837,0.12,0.00,32.40,1.405,6,0.061,0.000,3049,2768,1835
$GC,12151,0.59,303.1,766.0,12.0,1611,12152,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2768,1830
$GC,12469,0.59,303.1,730.6,10.2,1641,12474,0.00,2.90,0.00,0.000,4,0.000,0.050,3049,1336,1829
$GC,12479,0.59,303.1,729.4,10.3,1641,12487,0.00,2.88,0.00,0.000,6,0.000,0.032,3049,2788,1828
$GC,12805,0.59,303.1,694.5,11.0,1672,12807,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2788,1828
$GC,13124,0.59,304.1,661.6,10.0,1702,13129,0.00,2.92,0.00,0.000,4,0.000,0.048,3050,1342,1828
$GC,13145,0.60,309.1,659.1,9.8,1703,13156,0.00,2.83,6.07,1.029,6,0.000,0.033,3049,2776,1811
$GC,13477,0.60,309.1,624.9,10.4,1734,13478,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2776,1811
$GC,13799,0.60,312.4,591.6,9.9,1771,13813,0.00,2.92,5.12,0.931,4,0.000,0.047,3050,1336,1796
$GC,13824,0.60,312.4,588.9,10.7,1775,13831,0.00,2.85,0.00,0.000,6,0.000,0.032,3049,2785,1797
$GC,14169,0.62,327.3,556.1,9.5,1836,14192,0.00,3.03,16.67,1.222,4,0.000,0.046,3049,1332,1736
$GC,14204,0.65,346.7,552.7,9.3,1841,14231,0.00,2.85,21.48,1.255,6,0.000,0.031,3049,2769,1657
$GC,14567,0.69,385.4,521.9,8.7,1905,14617,0.00,3.00,40.92,1.255,4,0.000,0.045,3049,1336,1498
$GC,14623,0.74,418.4,516.8,8.9,1913,14667,0.15,2.90,35.67,1.226,6,0.050,0.031,3081,2762,1365
$GC,15002,0.68,418.4,464.6,13.8,1979,15008,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2762,1357
$GC,15342,0.62,418.4,417.5,12.9,2040,15352,0.15,0.00,0.00,0.000,6,0.109,0.000,3055,2762,1355
$GC,15689,0.72,455.3,386.0,8.7,2101,15736,0.00,3.00,37.20,1.154,4,0.000,0.045,3055,1336,1213
$GC,15750,0.84,493.6,380.4,8.7,2110,15802,0.25,2.85,41.55,1.141,6,0.042,0.029,3108,2761,1057
$GC,16144,0.72,493.6,303.5,20.2,2177,16152,0.17,2.28,0.00,0.000,4,0.120,0.045,3079,3900,1051
$GC,16195,0.72,493.6,294.3,13.6,2185,16202,0.00,2.20,0.00,0.000,6,0.000,0.030,3079,2767,1050
$GC,16541,0.72,493.6,249.5,13.5,2246,16550,0.00,2.88,0.00,0.000,4,0.000,0.047,3079,1343,1049
$GC,16579,0.72,493.6,244.3,11.9,2252,16588,0.00,2.80,0.00,0.000,6,0.000,0.029,3079,2764,1048
$GC,16928,0.72,493.6,198.9,13.2,2313,16936,0.00,2.85,0.00,0.000,4,0.000,0.044,3079,1340,1047
$GC,16948,0.72,493.6,196.1,12.6,2316,16957,0.00,2.78,0.00,0.000,6,0.000,0.030,3079,2750,1047
$GC,17297,0.72,493.6,152.0,13.4,2377,17304,0.00,2.80,0.00,0.000,4,0.000,0.044,3079,1348,1047
$GC,17317,0.72,493.6,149.2,12.4,2380,17326,0.00,2.72,0.00,0.000,6,0.000,0.029,3079,2743,1047
$GC,17465,0.72,493.6,131.6,12.6,2405,17471,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2743,1047
$GC,17606,0.72,493.6,114.0,11.6,2430,17615,0.00,2.83,0.00,0.000,4,0.000,0.045,3079,1345,1047
$GC,17629,0.72,493.6,111.4,12.3,2433,17636,0.00,2.67,0.00,0.000,6,0.000,0.029,3079,2734,1047
$GC,17772,0.72,493.6,94.4,11.9,2458,17781,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2734,1046
$GC,17919,0.72,493.6,77.4,12.7,2483,17925,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2734,1046
$GC,18061,0.72,493.6,59.6,11.4,2508,18070,0.00,2.80,0.00,0.000,4,0.000,0.045,3079,1346,1046
$GC,18084,0.72,493.6,57.0,12.2,2511,18092,0.00,2.65,0.00,0.000,6,0.000,0.030,3080,2728,1046
$GC,18230,0.72,493.6,40.3,12.2,2536,18238,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2728,1046
$GC,18377,0.72,493.6,24.4,10.9,2561,18385,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2728,1046
$GC,18524,0.72,493.6,7.3,10.5,2586,18533,0.00,2.30,0.00,0.000,4,0.000,0.047,3079,3885,1046
$GC,18548,0.77,493.6,5.0,10.2,2589,18557,0.00,2.28,0.00,0.000,6,0.000,0.031,3079,2716,1046
$STATE,18569,end climb,SURFACE_DEPTH_REACHED
$STATE,18569,begin surface coast
$FINISH,0.5,1.026227
$STATE,18583,end surface coast,CONTROL_FINISHED_OK
$STATE,18583,begin surface
$SM_CCo,18661,0.00,0.000,0,0,1044,497.22
$SM_GC,0.68,8.20,0.00,0.00,0.044,0.000,0.000,1434,2286,1044,-6.79,-0.40,497.22
$IRIDIUM_FIX,5850.29,-2244.31,130797,090952
$TT8_MAMPS,0.026078
$HUMID,1727
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,11.70
$XPDR_PINGS,844
$24V_AH,19.6,25.964
$10V_AH,9.7,21.796
$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,23.300,167.225,726.775,0.000,0.000,28.282,34.406,306.945,211.000,0.000,0.000,18.063,5057.641,6768.819,967.783,5606.394,761.715,0.000,3023.662,0.000,5615.229,0.000,0.465
$DEVICE_MAMPS,247.741,105.079,1577.719,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1794.256,1893.955,1132.152,1035.439,2679.009,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,196031,2594
$CAP_FILE_SIZE,209849,0
$CFSIZE,260165632,250146816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.265,219.0,1
$GPS,180408,201608,5914.253,-2247.267,41,1.2,41,-15.5