version: 66.03
glider: 142
mission: 5
dive: 72
start: 4 18 108 20 34 46
data:
$ID,142
$MISSION,5
$DIVE,72
$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,-14092.991
$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,24
$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
$GPS1,201608,5914.253,-2247.267,41,1.2,41,-15.5
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-42.3
$GPS2,203427,5914.023,-2247.640,12,1.3,12,-15.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5924.454,-2249.063
$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,45.5,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.86,-194.7,0.0,0.0,0,180,0.00,0.00,-149.98,0.000,2,0.000,0.000,1433,2278,3726
$GC,183,-0.86,-194.7,3.6,-3.9,16,204,11.25,2.92,-3.42,0.000,4,0.249,0.052,2724,3704,3866
$GC,309,-0.79,-194.7,28.2,-14.7,36,318,0.08,2.78,0.00,0.000,6,0.137,0.033,2737,2304,3867
$GC,459,-0.73,-194.7,47.4,-10.9,61,468,0.15,2.85,0.00,0.000,4,0.144,0.048,2760,885,3867
$GC,510,-0.73,-194.7,53.1,-11.0,69,518,0.00,2.72,0.00,0.000,6,0.000,0.029,2760,2296,3867
$GC,653,-0.73,-194.7,69.1,-11.2,94,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2296,3867
$GC,799,-0.73,-194.7,85.3,-11.3,119,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2296,3867
$GC,940,-0.73,-194.7,101.8,-11.4,144,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2296,3867
$GC,1086,-0.73,-194.7,118.3,-11.9,169,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2296,3867
$GC,1227,-0.73,-194.7,134.8,-11.4,194,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2296,3867
$GC,1371,-0.73,-194.7,150.6,-10.9,219,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2297,3867
$GC,1712,-0.73,-194.7,188.1,-10.6,280,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2297,3867
$GC,2060,-0.73,-194.7,225.4,-10.1,341,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2297,3867
$GC,2402,-0.73,-194.7,260.0,-10.1,402,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2297,3867
$GC,2750,-0.73,-194.7,294.9,-10.1,463,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2296,3867
$GC,3092,-0.73,-194.7,330.2,-10.7,524,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2297,3867
$GC,3436,-0.73,-194.7,366.7,-10.6,585,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2297,3867
$GC,3777,-0.73,-194.7,401.8,-9.5,646,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2297,3867
$GC,4121,-0.73,-194.7,434.4,-10.2,707,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2296,3867
$GC,4460,-0.73,-194.7,466.8,-9.2,768,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2296,3867
$GC,4806,-0.73,-194.7,498.0,-9.7,829,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2297,3867
$GC,5147,-0.73,-194.7,531.8,-9.5,890,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2297,3867
$GC,5490,-0.73,-194.7,562.9,-9.2,951,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2297,3867
$GC,5832,-0.73,-194.7,595.1,-9.8,1012,5839,0.00,2.78,0.00,0.000,4,0.000,0.050,2760,3702,3867
$GC,5886,-0.73,-194.7,600.3,-9.7,1021,5893,0.00,2.75,0.00,0.000,6,0.000,0.037,2760,2289,3867
$GC,6214,-0.73,-194.7,631.1,-9.6,1052,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2289,3867
$GC,6538,-0.73,-194.7,663.1,-10.2,1083,6543,0.00,2.88,0.00,0.000,4,0.000,0.058,2761,3701,3867
$GC,6581,-0.73,-194.7,667.7,-10.3,1086,6589,0.00,2.78,0.00,0.000,6,0.000,0.044,2760,2303,3867
$GC,6908,-0.73,-194.7,699.4,-9.4,1117,6909,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2302,3867
$GC,7225,-0.73,-194.7,727.9,-9.2,1147,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2302,3866
$GC,7544,-0.73,-194.7,756.6,-9.0,1177,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2302,3866
$GC,7864,-0.73,-194.7,785.5,-9.3,1207,7869,0.00,3.03,0.00,0.000,4,0.000,0.087,2760,3697,3865
$GC,7919,-0.73,-194.7,791.1,-9.9,1211,7926,0.00,2.95,0.00,0.000,6,0.000,0.072,2760,2304,3865
$GC,8245,-0.73,-194.7,821.3,-9.0,1242,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2304,3865
$GC,8563,-0.73,-194.7,848.8,-8.7,1272,8564,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2304,3864
$GC,8881,-0.73,-194.7,875.6,-8.4,1302,8886,0.00,3.33,0.00,0.000,4,0.000,0.124,2760,3700,3864
$GC,8955,-0.78,-194.7,882.0,-8.9,1308,8960,0.00,2.92,0.00,0.000,6,0.000,0.066,2760,2294,3864
$GC,9281,-0.78,-194.7,910.0,-8.7,1338,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2293,3864
$GC,9598,-0.78,-194.7,937.2,-8.9,1368,9600,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2293,3863
$GC,9918,-0.82,-194.7,964.5,-8.4,1398,9923,0.00,2.88,0.00,0.000,4,0.000,0.057,2760,3702,3863
$GC,9985,-0.86,-194.7,970.5,-8.5,1403,9993,0.12,2.72,0.00,0.000,6,0.061,0.042,2732,2320,3862
$STATE,10180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10180,begin apogee
$GC,10186,-0.21,0.0,990.6,10.1,1422,10394,0.82,0.00,200.73,1.581,6,0.129,0.000,2868,2743,3070
$STATE,10395,end apogee,CONTROL_FINISHED_OK
$STATE,10395,begin climb
$GC,10397,0.86,194.7,996.1,0.0,1443,10618,1.38,2.65,207.75,1.519,4,0.080,0.057,3101,3885,2276
$GC,10793,0.69,194.7,945.7,15.9,1477,10801,0.20,2.35,0.00,0.000,6,0.126,0.036,3074,2743,2274
$GC,11118,0.57,194.7,902.5,13.1,1508,11123,0.17,2.40,0.00,0.000,4,0.128,0.052,3046,3893,2274
$GC,11150,0.51,194.7,898.4,11.7,1510,11158,0.00,2.25,0.00,0.000,6,0.000,0.034,3046,2761,2274
$GC,11477,0.45,194.7,864.6,10.1,1541,11479,0.17,0.00,0.00,0.000,6,0.125,0.000,3020,2760,2273
$GC,11795,0.54,269.9,840.2,7.4,1571,11878,0.00,2.50,76.78,1.470,4,0.000,0.053,3020,3890,1970
$GC,11890,0.70,351.9,832.8,7.2,1579,11989,0.28,2.30,87.60,1.437,6,0.051,0.032,3073,2766,1635
$GC,12306,0.63,351.9,775.9,13.8,1618,12310,0.00,2.35,0.00,0.000,4,0.000,0.052,3073,3896,1627
$GC,12344,0.59,351.9,770.4,13.8,1621,12352,0.15,2.22,0.00,0.000,6,0.112,0.033,3051,2779,1627
$GC,12668,0.59,351.9,736.5,10.4,1652,12673,0.00,2.92,0.00,0.000,4,0.000,0.049,3051,1343,1626
$GC,12689,0.59,351.9,734.2,10.4,1653,12697,0.00,2.85,0.00,0.000,6,0.000,0.031,3051,2779,1625
$GC,13017,0.59,351.9,701.5,10.1,1684,13022,0.00,2.95,0.00,0.000,4,0.000,0.051,3051,1334,1624
$GC,13038,0.59,351.9,699.0,10.1,1685,13045,0.00,2.85,0.00,0.000,6,0.000,0.032,3051,2775,1623
$GC,13364,0.59,351.9,666.3,10.0,1716,13369,0.00,2.92,0.00,0.000,4,0.000,0.047,3051,1334,1623
$GC,13385,0.61,372.0,663.9,9.3,1717,13415,0.00,2.80,19.48,1.289,6,0.000,0.032,3051,2758,1554
$GC,13733,0.64,394.1,630.8,9.2,1750,13768,0.00,3.00,24.20,1.299,4,0.000,0.047,3051,1340,1463
$GC,13784,0.71,423.1,625.7,9.0,1754,13828,0.12,2.83,32.25,1.312,6,0.054,0.031,3077,2747,1345
$GC,14151,0.66,423.1,574.9,14.3,1804,14158,0.00,2.33,0.00,0.000,4,0.000,0.051,3077,3896,1339
$GC,14188,0.66,423.1,569.4,14.3,1810,14195,0.00,2.25,0.00,0.000,6,0.000,0.033,3077,2752,1339
$GC,14531,0.61,423.1,521.2,14.2,1871,14539,0.15,2.33,0.00,0.000,4,0.111,0.050,3053,3893,1338
$GC,14557,0.61,423.1,517.6,12.6,1875,14565,0.00,2.22,0.00,0.000,6,0.000,0.032,3052,2766,1338
$GC,14902,0.70,451.3,484.5,9.0,1936,14937,0.00,2.97,29.00,1.217,4,0.000,0.048,3052,1343,1231
$GC,14971,0.82,481.5,478.1,9.0,1947,15015,0.25,2.80,33.90,1.216,6,0.041,0.030,3102,2757,1107
$GC,15351,0.72,481.5,410.4,19.1,2013,15359,0.17,2.30,0.00,0.000,4,0.116,0.048,3077,3887,1102
$GC,15415,0.72,481.5,400.4,12.9,2024,15422,0.00,2.17,0.00,0.000,6,0.000,0.031,3076,2772,1101
$GC,15757,0.72,481.5,359.6,13.1,2085,15765,0.00,2.85,0.00,0.000,4,0.000,0.048,3076,1342,1100
$GC,15784,0.72,481.5,356.5,12.0,2089,15791,0.00,2.80,0.00,0.000,6,0.000,0.031,3076,2772,1100
$GC,16130,0.72,481.5,312.8,13.2,2150,16139,0.00,2.90,0.00,0.000,4,0.000,0.046,3076,1346,1099
$GC,16153,0.72,481.5,310.0,13.5,2153,16160,0.00,2.78,0.00,0.000,6,0.000,0.031,3076,2771,1099
$GC,16498,0.72,481.5,265.1,14.3,2214,16507,0.00,2.88,0.00,0.000,4,0.000,0.044,3076,1349,1099
$GC,16521,0.72,481.5,262.3,14.1,2217,16529,0.00,2.72,0.00,0.000,6,0.000,0.031,3076,2752,1098
$GC,16867,0.72,481.5,219.3,10.8,2278,16875,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2752,1098
$GC,17217,0.72,481.5,175.9,11.7,2339,17225,0.00,2.80,0.00,0.000,4,0.000,0.044,3076,1345,1099
$GC,17249,0.72,481.5,171.8,11.9,2344,17258,0.00,2.72,0.00,0.000,6,0.000,0.030,3076,2742,1098
$GC,17600,0.72,481.5,131.4,11.8,2405,17607,0.00,2.80,0.00,0.000,4,0.000,0.045,3076,1337,1098
$GC,17627,0.72,481.5,128.0,12.1,2409,17634,0.00,2.67,0.00,0.000,6,0.000,0.029,3076,2728,1098
$GC,17770,0.72,481.5,111.5,12.6,2434,17779,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2728,1098
$GC,17918,0.72,481.5,94.5,11.1,2459,17924,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2728,1098
$GC,18059,0.72,481.5,77.5,11.9,2484,18068,0.00,2.78,0.00,0.000,4,0.000,0.045,3076,1348,1098
$GC,18082,0.72,481.5,74.9,11.6,2487,18090,0.00,2.62,0.00,0.000,6,0.000,0.031,3076,2719,1098
$GC,18226,0.72,481.5,58.7,11.3,2512,18235,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2719,1098
$GC,18372,0.72,481.5,42.5,10.5,2537,18381,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2719,1098
$GC,18520,0.72,481.5,25.8,10.3,2562,18528,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2719,1098
$GC,18667,0.72,481.5,8.9,12.2,2587,18677,0.00,2.75,0.00,0.000,4,0.000,0.044,3076,1344,1098
$GC,18691,0.72,481.5,6.3,11.6,2590,18700,0.00,2.65,0.00,0.000,6,0.000,0.031,3076,2707,1097
$STATE,18729,end climb,SURFACE_DEPTH_REACHED
$STATE,18729,begin surface coast
$FINISH,0.1,1.026210
$STATE,18748,end surface coast,CONTROL_FINISHED_OK
$STATE,18749,begin surface
$SM_CCo,18826,0.00,0.000,0,0,1097,484.47
$SM_GC,0.66,8.15,0.00,0.00,0.042,0.000,0.000,1434,2282,1097,-6.79,-0.51,484.47
$IRIDIUM_FIX,5850.29,-2248.18,130797,202008
$TT8_MAMPS,0.026845
$HUMID,1747
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,12.10
$XPDR_PINGS,846
$24V_AH,19.6,26.327
$10V_AH,9.8,22.077
$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,23.625,142.250,711.675,0.000,0.000,85.207,117.038,600.577,211.500,0.000,0.000,14.233,5077.055,6995.739,965.600,5653.721,1203.925,0.000,3022.962,0.000,5664.256,0.000,0.466
$DEVICE_MAMPS,248.508,124.254,1580.787,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1796.970,1894.930,1144.991,1032.125,2680.330,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,193038,2599
$CAP_FILE_SIZE,214846,0
$CFSIZE,260165632,250023936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.296,200.6,1
$GPS,190408,014938,5913.783,-2246.795,31,1.4,31,-15.5