version: 66.03
glider: 142
mission: 5
dive: 73
start: 4 19 108 2 5 26
data:
$ID,142
$MISSION,5
$DIVE,73
$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,-14124.924
$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,34
$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
$GPS1,014938,5913.783,-2246.795,31,1.4,31,-15.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-47.9
$GPS2,020507,5913.621,-2246.995,13,1.2,29,-15.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5924.052,-2248.418
$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,36.3,20000,-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,28,-0.86,-194.7,0.0,0.0,0,169,0.00,0.00,-138.73,0.000,2,0.000,0.000,1433,2281,3524
$GC,172,-0.86,-194.7,3.0,-4.6,15,201,11.05,2.85,-9.68,0.000,4,0.245,0.051,2723,3706,3865
$GC,364,-0.79,-194.7,35.6,-17.1,46,373,0.10,2.75,0.00,0.000,6,0.144,0.033,2740,2316,3866
$GC,513,-0.74,-194.7,56.8,-13.3,71,520,0.00,2.85,0.00,0.000,4,0.000,0.049,2740,885,3866
$GC,598,-0.74,-194.7,68.8,-13.4,86,608,0.00,2.70,0.00,0.000,6,0.000,0.029,2740,2273,3866
$GC,746,-0.70,-194.7,88.7,-13.0,111,753,0.15,0.00,0.00,0.000,6,0.138,0.000,2764,2273,3866
$GC,888,-0.70,-194.7,106.2,-12.0,136,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2273,3866
$GC,1035,-0.70,-194.7,122.3,-10.8,161,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2273,3866
$GC,1176,-0.70,-194.7,138.3,-11.1,186,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2273,3866
$GC,1321,-0.70,-194.7,154.0,-10.6,211,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2273,3866
$GC,1663,-0.70,-194.7,191.4,-10.5,272,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2273,3866
$GC,2010,-0.70,-194.7,229.2,-10.6,333,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2273,3866
$GC,2354,-0.70,-194.7,265.7,-10.5,394,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2273,3866
$GC,2703,-0.70,-194.7,302.0,-10.6,455,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2273,3866
$GC,3044,-0.70,-194.7,339.9,-11.4,516,3053,0.00,2.83,0.00,0.000,4,0.000,0.045,2764,3700,3865
$GC,3100,-0.70,-194.7,346.1,-11.5,525,3108,0.00,2.83,0.00,0.000,6,0.000,0.033,2764,2237,3866
$GC,3444,-0.70,-194.7,383.7,-10.8,586,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2237,3866
$GC,3787,-0.70,-194.7,420.5,-11.1,647,3795,0.00,2.90,0.00,0.000,4,0.000,0.044,2764,3706,3866
$GC,3847,-0.70,-194.7,427.0,-10.7,657,3855,0.00,2.80,0.00,0.000,6,0.000,0.035,2764,2254,3866
$GC,4192,-0.70,-194.7,463.0,-10.8,718,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2253,3865
$GC,4535,-0.70,-194.7,500.4,-11.2,779,4542,0.00,2.88,0.00,0.000,4,0.000,0.046,2764,3703,3865
$GC,4596,-0.70,-194.7,506.6,-9.9,789,4603,0.00,2.78,0.00,0.000,6,0.000,0.035,2764,2264,3865
$GC,4939,-0.70,-194.7,541.2,-10.1,850,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2264,3865
$GC,5283,-0.70,-194.7,576.4,-10.5,911,5290,0.00,2.88,0.00,0.000,4,0.000,0.049,2764,3706,3866
$GC,5331,-0.70,-194.7,581.3,-10.3,919,5338,0.00,2.78,0.00,0.000,6,0.000,0.035,2764,2278,3865
$GC,5666,-0.70,-194.7,615.5,-10.2,966,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2277,3865
$GC,5987,-0.70,-194.7,645.0,-9.0,996,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2277,3865
$GC,6303,-0.70,-194.7,673.0,-8.8,1026,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2277,3865
$GC,6622,-0.70,-194.7,700.4,-8.5,1056,6627,0.00,2.85,0.00,0.000,4,0.000,0.069,2764,885,3864
$GC,6673,-0.74,-194.7,705.1,-9.5,1060,6678,0.00,2.72,0.00,0.000,6,0.000,0.040,2764,2285,3864
$GC,6999,-0.74,-194.7,733.0,-8.3,1090,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2285,3864
$GC,7317,-0.74,-194.7,760.4,-8.6,1120,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2285,3863
$GC,7635,-0.74,-194.7,787.8,-8.7,1150,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2285,3863
$GC,7953,-0.74,-194.7,814.3,-8.2,1180,7958,0.00,3.17,0.00,0.000,4,0.000,0.102,2763,3710,3863
$GC,8009,-0.79,-194.7,819.2,-8.5,1184,8016,0.00,3.10,0.00,0.000,6,0.000,0.086,2764,2289,3863
$GC,8335,-0.83,-194.7,846.9,-8.9,1215,8337,0.12,0.00,0.00,0.000,6,0.066,0.000,2740,2289,3863
$GC,8653,-0.83,-194.7,881.6,-11.3,1245,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2289,3863
$GC,8971,-0.83,-194.7,917.6,-11.4,1275,8976,0.00,2.90,0.00,0.000,4,0.000,0.054,2740,3717,3862
$GC,9022,-0.83,-194.7,923.6,-11.8,1279,9026,0.00,2.85,0.00,0.000,6,0.000,0.040,2739,2272,3862
$GC,9348,-0.83,-194.7,960.8,-11.4,1309,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2271,3861
$STATE,9610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9610,begin apogee
$GC,9615,-0.21,0.0,990.7,11.5,1334,9823,0.77,0.00,200.35,1.585,6,0.132,0.000,2866,2756,3072
$STATE,9824,end apogee,CONTROL_FINISHED_OK
$STATE,9824,begin climb
$GC,9827,0.86,194.7,1000.1,0.0,1355,10048,1.38,2.60,208.45,1.526,4,0.081,0.058,3099,3894,2277
$GC,10212,0.69,194.7,959.8,13.3,1388,10219,0.20,2.38,0.00,0.000,6,0.128,0.036,3072,2742,2275
$GC,10537,0.58,194.7,923.9,11.2,1419,10542,0.17,2.42,0.00,0.000,4,0.127,0.054,3045,3899,2274
$GC,10599,0.56,212.8,917.8,9.4,1424,10623,0.00,2.28,19.20,1.391,6,0.000,0.035,3045,2760,2203
$GC,10940,0.58,235.0,886.6,9.2,1456,10974,0.00,2.45,23.83,1.425,4,0.000,0.054,3045,3892,2112
$GC,10979,0.62,262.0,882.8,9.1,1459,11013,0.00,2.28,29.55,1.444,6,0.000,0.034,3045,2771,2003
$GC,11332,0.62,262.0,847.1,10.3,1492,11334,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2771,1998
$GC,11652,0.62,262.0,813.6,10.4,1522,11656,0.00,2.33,0.00,0.000,4,0.000,0.054,3045,3899,1998
$GC,11673,0.62,262.0,811.0,10.5,1523,11681,0.00,2.22,0.00,0.000,6,0.000,0.033,3045,2782,1997
$GC,12000,0.62,262.2,778.8,10.0,1554,12001,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2781,1997
$GC,12317,0.62,262.2,746.2,10.4,1584,12318,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2781,1997
$GC,12637,0.62,262.2,712.7,10.4,1614,12641,0.00,2.28,0.00,0.000,4,0.000,0.054,3045,3905,1996
$GC,12660,0.62,262.2,710.1,10.9,1616,12664,0.00,2.17,0.00,0.000,6,0.000,0.033,3045,2784,1996
$GC,12986,0.62,262.2,675.5,10.5,1646,12987,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2783,1996
$GC,13304,0.62,262.2,641.2,11.2,1676,13309,0.00,2.88,0.00,0.000,4,0.000,0.049,3045,1340,1996
$GC,13315,0.62,262.2,639.7,11.7,1676,13322,0.00,2.83,0.00,0.000,6,0.000,0.031,3045,2788,1996
$GC,13641,0.62,262.2,603.3,10.9,1707,13642,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2789,1996
$GC,13970,0.62,262.2,568.8,10.6,1764,13979,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2788,1996
$GC,14314,0.62,262.2,533.3,10.8,1825,14320,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2788,1996
$GC,14658,0.62,266.8,498.6,9.8,1886,14673,0.00,2.95,5.00,0.878,4,0.000,0.045,3045,1335,1983
$GC,14679,0.62,266.8,496.3,10.5,1889,14686,0.00,2.83,0.00,0.000,6,0.000,0.031,3045,2784,1983
$GC,15022,0.62,267.6,461.5,10.0,1950,15029,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2784,1982
$GC,15366,0.67,303.7,429.9,8.7,2011,15409,0.00,3.05,37.47,1.212,4,0.000,0.045,3045,1334,1832
$GC,15416,0.70,330.7,425.3,9.1,2018,15453,0.15,2.88,28.73,1.183,6,0.052,0.031,3075,2771,1721
$GC,15790,0.65,330.7,378.6,12.9,2083,15796,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2772,1716
$GC,16132,0.59,330.7,335.0,11.7,2144,16141,0.15,2.25,0.00,0.000,4,0.111,0.048,3049,3888,1715
$GC,16179,0.64,366.1,330.4,8.8,2151,16224,0.00,2.17,35.15,1.122,6,0.000,0.031,3049,2760,1577
$GC,16566,0.75,420.4,298.0,8.1,2217,16630,0.17,2.95,55.03,1.108,4,0.051,0.045,3088,1345,1356
$GC,16650,0.71,420.4,287.1,12.9,2228,16659,0.00,2.92,0.00,0.000,6,0.000,0.030,3088,2772,1354
$GC,16997,0.65,420.4,238.0,14.6,2289,17004,0.15,0.00,0.00,0.000,6,0.104,0.000,3063,2772,1349
$GC,17345,0.67,436.4,202.6,9.4,2350,17369,0.00,2.90,16.05,0.973,4,0.000,0.044,3063,1349,1290
$GC,17395,0.75,455.1,198.0,9.4,2357,17426,0.00,2.78,19.92,1.005,6,0.000,0.030,3063,2755,1216
$GC,17769,0.85,484.4,164.5,9.0,2421,17809,0.17,2.92,31.17,0.998,4,0.048,0.044,3105,1342,1095
$GC,17829,0.80,484.4,156.1,16.1,2429,17837,0.00,2.80,0.00,0.000,6,0.000,0.030,3104,2743,1094
$GC,18174,0.72,484.4,95.6,19.4,2490,18184,0.15,2.33,0.00,0.000,4,0.107,0.045,3079,3895,1091
$GC,18198,0.67,484.4,92.0,16.8,2493,18206,0.00,2.25,0.00,0.000,6,0.000,0.031,3079,2740,1090
$GC,18344,0.67,484.4,74.2,11.0,2518,18353,0.00,2.83,0.00,0.000,4,0.000,0.048,3079,1342,1089
$GC,18367,0.67,484.4,71.5,11.1,2521,18374,0.00,2.72,0.00,0.000,6,0.000,0.029,3079,2738,1089
$GC,18510,0.67,484.4,54.9,11.8,2546,18518,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2738,1089
$GC,18656,0.67,484.4,37.5,12.2,2571,18665,0.00,2.85,0.00,0.000,4,0.000,0.047,3079,1336,1089
$GC,18674,0.67,484.4,35.2,12.8,2573,18683,0.00,2.72,0.00,0.000,6,0.000,0.030,3079,2724,1089
$GC,18821,0.67,484.4,18.1,13.2,2598,18830,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2724,1089
$STATE,18966,end climb,SURFACE_DEPTH_REACHED
$STATE,18966,begin surface coast
$FINISH,0.2,1.026247
$STATE,18986,end surface coast,CONTROL_FINISHED_OK
$STATE,18987,begin surface
$SM_CCo,19064,0.00,0.000,0,0,1087,486.92
$SM_GC,0.70,8.27,0.00,0.00,0.044,0.000,0.000,1428,2280,1087,-6.80,-0.57,486.92
$IRIDIUM_FIX,5850.29,-2252.06,140797,020259
$TT8_MAMPS,0.026845
$HUMID,1728
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,12.00
$XPDR_PINGS,913
$24V_AH,19.6,26.665
$10V_AH,9.7,22.356
$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,23.175,131.500,709.900,0.000,0.000,82.163,106.393,441.776,228.250,0.000,0.000,31.304,5108.727,7280.681,896.774,5661.811,1015.995,0.000,2949.756,0.000,5652.198,0.000,0.465
$DEVICE_MAMPS,244.673,102.011,1585.389,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1815.052,1916.534,1124.120,1033.324,2680.865,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,196305,2626
$CAP_FILE_SIZE,209156,0
$CFSIZE,260165632,249909248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.287,216.3,1
$GPS,190408,072426,5914.075,-2248.732,40,1.8,40,-15.5