version: 66.03
glider: 142
mission: 5
dive: 74
start: 4 19 108 7 36 33
data:
$ID,142
$MISSION,5
$DIVE,74
$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,45
$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,-14138.945
$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,30
$R_STBD_OVSHOOT,23
$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
$GPS1,072426,5914.075,-2248.732,40,1.8,40,-15.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-46.3
$GPS2,073615,5913.957,-2248.974,11,1.8,11,-15.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5924.754,-2249.070
$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,14.5,20000,-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,-194.7,0.0,0.0,0,173,0.00,0.00,-144.10,0.000,2,0.000,0.000,1428,2278,3620
$GC,176,-0.86,-194.7,3.4,-4.4,20,201,11.48,2.85,-6.50,0.000,4,0.253,0.050,2728,3709,3866
$GC,308,-0.80,-194.7,26.2,-14.1,43,316,0.00,2.78,0.00,0.000,6,0.000,0.033,2728,2312,3866
$GC,443,-0.71,-194.7,47.2,-16.3,68,452,0.20,2.88,0.00,0.000,4,0.138,0.049,2758,891,3867
$GC,551,-0.71,-194.7,60.8,-11.4,87,558,0.00,2.70,0.00,0.000,6,0.000,0.030,2758,2292,3866
$GC,687,-0.71,-194.7,76.8,-12.8,112,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2292,3867
$GC,828,-0.71,-194.7,92.6,-11.5,137,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2292,3866
$GC,962,-0.71,-194.7,108.1,-11.2,162,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2292,3866
$GC,1101,-0.71,-194.7,122.8,-10.4,187,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2292,3866
$GC,1235,-0.71,-194.7,137.0,-10.5,212,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2292,3866
$GC,1374,-0.71,-194.7,151.9,-11.1,237,1380,0.00,2.80,0.00,0.000,4,0.000,0.048,2758,882,3866
$GC,1423,-0.71,-194.7,157.8,-11.9,246,1431,0.00,2.70,0.00,0.000,6,0.000,0.030,2758,2276,3867
$GC,1759,-0.71,-194.7,195.2,-11.4,307,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2276,3866
$GC,2086,-0.71,-194.7,232.8,-11.2,368,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2277,3866
$GC,2420,-0.71,-194.7,269.5,-11.1,429,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2277,3866
$GC,2749,-0.71,-194.7,305.6,-10.8,490,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2277,3866
$GC,3083,-0.71,-194.7,341.7,-11.0,551,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2277,3866
$GC,3421,-0.71,-194.7,379.6,-10.6,612,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2277,3866
$GC,3766,-0.71,-194.7,415.0,-10.0,673,3772,0.00,2.80,0.00,0.000,4,0.000,0.044,2758,3704,3866
$GC,3819,-0.71,-194.7,420.3,-9.8,682,3825,0.00,2.78,0.00,0.000,6,0.000,0.034,2758,2269,3866
$GC,4160,-0.71,-194.7,454.5,-10.3,743,4167,0.00,2.72,0.00,0.000,4,0.000,0.051,2758,887,3866
$GC,4216,-0.71,-194.7,460.4,-10.7,753,4223,0.00,2.65,0.00,0.000,6,0.000,0.029,2758,2288,3866
$GC,4560,-0.71,-194.7,495.1,-9.9,814,4566,0.00,2.78,0.00,0.000,4,0.000,0.047,2758,3700,3867
$GC,4616,-0.71,-194.7,501.2,-10.7,824,4622,0.00,2.75,0.00,0.000,6,0.000,0.033,2758,2277,3866
$GC,4956,-0.71,-194.7,536.3,-10.4,885,4962,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2277,3866
$GC,5297,-0.71,-194.7,571.1,-10.9,946,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2277,3866
$GC,5635,-0.71,-194.7,606.6,-10.2,1001,5640,0.00,2.85,0.00,0.000,4,0.000,0.051,2758,3701,3866
$GC,5697,-0.71,-194.7,613.0,-10.2,1006,5701,0.00,2.78,0.00,0.000,6,0.000,0.037,2758,2279,3866
$GC,6023,-0.71,-194.7,645.4,-10.0,1036,6027,0.00,2.80,0.00,0.000,4,0.000,0.061,2758,885,3866
$GC,6066,-0.71,-194.7,650.3,-10.5,1039,6072,0.00,2.70,0.00,0.000,6,0.000,0.033,2758,2288,3866
$GC,6392,-0.71,-194.7,681.1,-9.4,1070,6397,0.00,2.88,0.00,0.000,4,0.000,0.060,2758,3710,3866
$GC,6469,-0.71,-194.7,688.5,-9.2,1076,6476,0.00,2.83,0.00,0.000,6,0.000,0.047,2758,2294,3866
$GC,6795,-0.71,-194.7,718.3,-9.1,1107,6800,0.00,2.92,0.00,0.000,4,0.000,0.074,2758,886,3866
$GC,6869,-0.75,-194.7,725.5,-9.8,1113,6874,0.00,2.78,0.00,0.000,6,0.000,0.044,2758,2287,3866
$GC,7196,-0.75,-194.7,756.2,-9.5,1143,7201,0.00,3.00,0.00,0.000,4,0.000,0.078,2758,3712,3866
$GC,7285,-0.75,-194.7,765.2,-9.7,1150,7291,0.00,2.92,0.00,0.000,6,0.000,0.062,2758,2298,3866
$GC,7611,-0.75,-194.7,795.3,-9.3,1181,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2298,3865
$GC,7928,-0.75,-194.7,824.4,-9.2,1211,7930,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2298,3865
$GC,8247,-0.75,-194.7,853.8,-9.6,1241,8252,0.00,3.28,0.00,0.000,4,0.000,0.115,2758,3707,3864
$GC,8313,-0.75,-194.7,860.3,-9.9,1246,8320,0.00,3.20,0.00,0.000,6,0.000,0.107,2758,2309,3865
$GC,8639,-0.75,-194.7,890.9,-9.6,1277,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2303,3864
$GC,8957,-0.75,-194.7,921.4,-9.5,1307,8958,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2303,3864
$GC,9275,-0.75,-194.7,951.2,-9.6,1337,9276,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2303,3863
$GC,9593,-0.75,-194.7,982.7,-9.9,1367,9594,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2303,3863
$STATE,9665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9665,begin apogee
$GC,9672,-0.21,0.0,990.1,10.2,1374,9879,0.62,0.00,200.60,1.579,6,0.116,0.000,2866,2755,3071
$STATE,9880,end apogee,CONTROL_FINISHED_OK
$STATE,9880,begin climb
$GC,9882,0.86,194.7,999.7,0.0,1395,10100,1.40,2.60,207.70,1.519,4,0.084,0.058,3102,3891,2277
$GC,10224,0.68,194.7,964.1,14.3,1427,10231,0.22,2.40,0.00,0.000,6,0.128,0.035,3071,2735,2274
$GC,10549,0.57,194.7,926.5,11.9,1458,10553,0.15,2.42,0.00,0.000,4,0.123,0.052,3049,3894,2274
$GC,10610,0.51,194.7,919.8,10.2,1463,10614,0.00,2.22,0.00,0.000,6,0.000,0.034,3049,2768,2273
$GC,10942,0.47,211.3,887.8,9.4,1494,10962,0.17,0.00,17.38,1.377,6,0.122,0.000,3023,2767,2209
$GC,11279,0.58,294.1,863.8,7.1,1526,11372,0.12,2.53,86.47,1.479,4,0.064,0.054,3046,3897,1870
$GC,11385,0.60,312.6,854.2,9.4,1536,11411,0.00,2.33,20.67,1.365,6,0.000,0.033,3046,2772,1796
$GC,11729,0.62,327.5,821.6,9.5,1568,11750,0.00,0.00,15.93,1.323,6,0.000,0.000,3046,2770,1734
$GC,12070,0.63,336.5,789.7,9.7,1600,12085,0.00,2.95,10.12,1.233,4,0.000,0.053,3046,1338,1698
$GC,12090,0.63,336.5,787.3,10.5,1601,12097,0.00,2.90,0.00,0.000,6,0.000,0.032,3046,2778,1698
$GC,12417,0.63,336.5,754.7,10.6,1632,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2778,1696
$GC,12734,0.63,336.5,721.5,10.6,1662,12739,0.00,2.92,0.00,0.000,4,0.000,0.048,3046,1339,1696
$GC,12755,0.63,336.7,719.1,10.0,1663,12761,0.00,2.80,0.00,0.000,6,0.000,0.032,3046,2761,1695
$GC,13082,0.63,336.7,686.9,10.0,1694,13087,0.00,2.88,0.00,0.000,4,0.000,0.047,3046,1338,1695
$GC,13099,0.64,345.8,685.0,9.7,1695,13114,0.00,2.80,10.45,1.204,6,0.000,0.033,3047,2761,1661
$GC,13433,0.64,345.8,650.9,10.5,1726,13434,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2761,1659
$GC,13753,0.64,345.8,616.8,10.7,1756,13757,0.00,2.88,0.00,0.000,4,0.000,0.047,3046,1330,1659
$GC,13773,0.64,345.8,614.3,11.1,1757,13780,0.00,2.78,0.00,0.000,6,0.000,0.031,3046,2748,1658
$GC,14108,0.65,354.1,581.3,9.7,1805,14121,0.00,0.00,9.75,1.134,6,0.000,0.000,3046,2749,1627
$GC,14458,0.67,367.7,547.2,9.5,1867,14481,0.00,2.90,15.25,1.202,4,0.000,0.048,3046,1330,1571
$GC,14487,0.68,377.1,544.2,9.7,1872,14507,0.00,2.85,11.70,1.164,6,0.000,0.032,3046,2750,1533
$GC,14843,0.75,394.3,510.8,9.4,1935,14868,0.15,2.97,18.70,1.194,4,0.054,0.046,3083,1335,1463
$GC,14874,0.75,394.3,507.0,11.8,1940,14880,0.00,2.83,0.00,0.000,6,0.000,0.031,3083,2749,1462
$GC,15216,0.68,394.3,456.3,15.5,2001,15223,0.00,2.30,0.00,0.000,4,0.000,0.050,3083,3887,1460
$GC,15268,0.68,394.3,448.5,15.1,2010,15275,0.00,2.22,0.00,0.000,6,0.000,0.031,3083,2756,1459
$GC,15612,0.62,394.3,396.9,14.8,2071,15619,0.17,2.30,0.00,0.000,4,0.107,0.048,3053,3896,1459
$GC,15650,0.62,394.3,392.1,12.1,2077,15656,0.00,2.17,0.00,0.000,6,0.000,0.031,3053,2767,1458
$GC,15991,0.69,410.8,358.9,9.4,2138,16014,0.00,2.88,17.50,1.095,4,0.000,0.047,3053,1340,1396
$GC,16032,0.75,413.1,354.9,9.9,2145,16040,0.10,2.83,0.00,0.000,6,0.035,0.030,3088,2761,1394
$GC,16365,0.68,413.1,304.7,16.6,2206,16372,0.12,2.28,0.00,0.000,4,0.113,0.048,3071,3894,1393
$GC,16386,0.62,413.1,301.7,14.9,2209,16392,0.00,2.17,0.00,0.000,6,0.000,0.030,3071,2764,1393
$GC,16716,0.62,413.1,262.6,11.1,2270,16724,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2762,1393
$GC,17048,0.62,413.1,224.0,12.4,2331,17055,0.00,2.80,0.00,0.000,4,0.000,0.045,3071,1343,1393
$GC,17063,0.62,413.1,222.3,10.7,2333,17069,0.00,2.80,0.00,0.000,6,0.000,0.030,3071,2789,1393
$GC,17392,0.62,413.1,183.0,11.3,2394,17400,0.00,2.90,0.00,0.000,4,0.000,0.044,3071,1347,1392
$GC,17413,0.62,413.1,180.8,11.3,2397,17420,0.00,2.75,0.00,0.000,6,0.000,0.029,3071,2772,1392
$GC,17746,0.63,423.5,144.7,9.6,2458,17767,0.00,2.88,13.75,0.930,4,0.000,0.044,3071,1336,1343
$GC,17781,0.63,423.5,140.7,12.6,2463,17788,0.00,2.75,0.00,0.000,6,0.000,0.029,3071,2757,1342
$GC,17919,0.63,423.5,125.9,11.9,2488,17926,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2757,1342
$GC,18058,0.63,423.5,110.2,11.9,2513,18064,0.00,2.83,0.00,0.000,4,0.000,0.044,3071,1342,1342
$GC,18072,0.63,423.5,108.7,10.9,2515,18078,0.00,2.72,0.00,0.000,6,0.000,0.029,3071,2749,1342
$GC,18207,0.65,436.1,93.9,9.6,2540,18228,0.00,0.00,13.62,0.907,6,0.000,0.000,3070,2749,1293
$GC,18361,0.65,436.1,76.7,10.4,2567,18367,0.00,2.83,0.00,0.000,4,0.000,0.045,3070,1343,1292
$GC,18375,0.65,438.7,75.0,9.9,2569,18389,0.00,2.72,4.47,0.657,6,0.000,0.029,3071,2742,1281
$GC,18522,0.65,438.7,58.9,11.8,2595,18528,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2742,1280
$GC,18657,0.65,438.7,43.6,12.4,2620,18665,0.00,2.83,0.00,0.000,4,0.000,0.045,3071,1346,1280
$GC,18672,0.65,438.7,41.7,12.3,2622,18680,0.00,2.70,0.00,0.000,6,0.000,0.029,3071,2724,1280
$GC,18807,0.66,444.1,27.5,9.8,2647,18816,0.00,0.00,6.90,0.752,6,0.000,0.000,3070,2724,1260
$GC,18944,0.72,447.9,12.9,9.9,2672,18960,0.00,2.80,5.20,0.676,4,0.000,0.044,3071,1350,1244
$GC,18969,0.80,478.3,10.5,8.9,2675,19014,0.08,2.70,32.58,0.914,6,0.048,0.029,3095,2724,1120
$STATE,19035,end climb,SURFACE_DEPTH_REACHED
$STATE,19035,begin surface coast
$FINISH,0.1,1.003188
$STATE,19048,end surface coast,CONTROL_FINISHED_OK
$STATE,19048,begin surface
$SM_CCo,19126,0.00,0.000,0,0,1115,479.81
$SM_GC,0.68,8.62,0.00,0.00,0.049,0.000,0.000,1434,2279,1115,-6.80,-0.59,479.81
$IRIDIUM_FIX,5850.29,-2248.18,140797,070741
$TT8_MAMPS,0.026845
$HUMID,1728
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,11.60
$XPDR_PINGS,901
$24V_AH,19.6,27.001
$10V_AH,9.7,22.636
$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,23.625,177.025,718.750,0.000,0.000,62.061,141.220,291.827,225.250,0.000,0.000,13.392,4077.678,8120.605,853.188,5848.438,904.520,0.000,3027.952,0.000,5863.037,0.000,0.465
$DEVICE_MAMPS,253.110,115.050,1579.253,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1859.945,1965.542,1194.324,1078.320,2787.204,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202450,2687
$CAP_FILE_SIZE,220439,0
$CFSIZE,260165632,249774080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190408,125631,5914.580,-2251.155,37,1.6,37,-15.6