version: 66.03
glider: 142
mission: 5
dive: 76
start: 4 19 108 18 33 21
data:
$ID,142
$MISSION,5
$DIVE,76
$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,-14184.812
$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,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
$GPS1,182401,5915.207,-2254.053,39,1.9,39,-15.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-40.3
$GPS2,183303,5915.117,-2254.245,12,1.7,12,-15.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5925.914,-2254.341
$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,14.6,20000,-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,-194.7,0.0,0.0,0,180,0.00,0.00,-150.77,0.000,2,0.000,0.000,1431,2280,3680
$GC,183,-0.86,-194.7,3.6,-4.8,21,207,11.20,2.85,-4.82,0.000,4,0.248,0.050,2728,3714,3865
$GC,412,-0.80,-194.7,38.7,-12.3,63,420,0.00,2.80,0.00,0.000,6,0.000,0.034,2728,2304,3865
$GC,548,-0.72,-194.7,55.8,-12.3,88,557,0.17,2.85,0.00,0.000,4,0.140,0.049,2755,890,3866
$GC,645,-0.72,-194.7,66.3,-10.3,105,652,0.00,2.72,0.00,0.000,6,0.000,0.029,2755,2303,3866
$GC,783,-0.72,-194.7,80.2,-10.4,130,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2303,3866
$GC,922,-0.72,-194.7,94.8,-10.6,155,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2303,3866
$GC,1056,-0.72,-194.7,109.1,-10.2,180,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2303,3866
$GC,1195,-0.72,-194.7,123.7,-10.1,205,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2303,3866
$GC,1329,-0.72,-194.7,138.6,-10.8,230,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2303,3866
$GC,1468,-0.72,-194.7,153.9,-11.0,255,1475,0.00,2.80,0.00,0.000,4,0.000,0.047,2755,889,3866
$GC,1517,-0.72,-194.7,159.2,-11.4,263,1523,0.00,2.67,0.00,0.000,6,0.000,0.029,2755,2288,3866
$GC,1846,-0.72,-194.7,194.9,-11.3,324,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2288,3866
$GC,2180,-0.72,-194.7,229.7,-10.8,385,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2288,3866
$GC,2508,-0.72,-194.7,264.3,-10.6,446,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2288,3866
$GC,2843,-0.72,-194.7,299.3,-10.1,507,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2288,3866
$GC,3172,-0.72,-194.7,333.7,-10.1,568,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2288,3866
$GC,3509,-0.72,-194.7,368.3,-10.3,629,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2288,3866
$GC,3850,-0.72,-194.7,400.4,-9.6,690,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2288,3866
$GC,4190,-0.72,-194.7,431.2,-8.9,751,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2288,3866
$GC,4531,-0.72,-194.7,464.1,-9.9,812,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2288,3866
$GC,4870,-0.72,-194.7,498.1,-9.9,873,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2288,3866
$GC,5211,-0.72,-194.7,531.5,-9.5,934,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2289,3866
$GC,5552,-0.72,-194.7,564.8,-9.8,995,5559,0.00,2.80,0.00,0.000,4,0.000,0.049,2755,3709,3866
$GC,5609,-0.72,-194.7,570.6,-9.9,1005,5616,0.00,2.80,0.00,0.000,6,0.000,0.035,2755,2279,3865
$GC,5953,-0.72,-194.7,605.4,-10.1,1062,5958,0.00,2.75,0.00,0.000,4,0.000,0.054,2755,895,3865
$GC,6008,-0.72,-194.7,611.3,-10.7,1066,6014,0.00,2.65,0.00,0.000,6,0.000,0.031,2755,2282,3865
$GC,6334,-0.72,-194.7,643.9,-10.0,1097,6335,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2282,3865
$GC,6651,-0.72,-194.7,675.2,-9.7,1127,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2282,3865
$GC,6970,-0.72,-194.7,706.6,-10.1,1157,6974,0.00,2.90,0.00,0.000,4,0.000,0.064,2755,3702,3865
$GC,7046,-0.72,-194.7,714.7,-10.5,1163,7053,0.00,2.88,0.00,0.000,6,0.000,0.051,2755,2280,3865
$GC,7373,-0.72,-194.7,747.2,-10.0,1194,7377,0.00,2.95,0.00,0.000,4,0.000,0.083,2756,885,3865
$GC,7404,-0.72,-194.7,750.8,-10.8,1196,7411,0.00,2.83,0.00,0.000,6,0.000,0.054,2755,2283,3864
$GC,7731,-0.72,-194.7,782.1,-9.5,1227,7736,0.00,3.08,0.00,0.000,4,0.000,0.087,2755,3715,3864
$GC,7803,-0.72,-194.7,789.4,-10.3,1233,7808,0.00,3.00,0.00,0.000,6,0.000,0.072,2755,2297,3864
$GC,8129,-0.72,-194.7,820.9,-9.7,1263,8134,0.00,3.17,0.00,0.000,4,0.000,0.110,2755,887,3864
$GC,8168,-0.77,-194.7,825.0,-10.7,1266,8173,0.00,3.05,0.00,0.000,6,0.000,0.083,2755,2301,3864
$GC,8494,-0.77,-194.7,855.7,-9.5,1296,8499,0.00,3.22,0.00,0.000,4,0.000,0.114,2755,3710,3864
$GC,8567,-0.81,-194.7,862.8,-9.7,1302,8572,0.00,3.08,0.00,0.000,6,0.000,0.086,2755,2293,3863
$GC,8893,-0.81,-194.7,892.3,-9.2,1332,8894,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2292,3863
$GC,9211,-0.81,-194.7,921.2,-8.7,1362,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2292,3863
$GC,9530,-0.81,-194.7,947.6,-8.4,1392,9534,0.00,2.92,0.00,0.000,4,0.000,0.057,2755,3726,3862
$GC,9592,-0.85,-194.7,952.9,-8.5,1397,9596,0.00,2.80,0.00,0.000,6,0.000,0.041,2755,2315,3862
$GC,9917,-0.85,-194.7,980.9,-8.8,1427,9922,0.00,2.90,0.00,0.000,4,0.000,0.064,2755,885,3861
$GC,9956,-0.90,-194.7,984.6,-9.5,1430,9962,0.17,2.80,0.00,0.000,6,0.056,0.034,2720,2330,3861
$STATE,10013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10013,begin apogee
$GC,10019,-0.21,0.0,991.0,11.3,1435,10227,0.90,0.00,200.50,1.575,6,0.131,0.000,2867,2749,3070
$STATE,10227,end apogee,CONTROL_FINISHED_OK
$STATE,10227,begin climb
$GC,10229,0.86,194.7,997.7,0.0,1456,10447,1.40,2.60,207.50,1.509,4,0.084,0.058,3102,3891,2277
$GC,10578,0.68,194.7,956.2,15.5,1489,10583,0.22,2.38,0.00,0.000,6,0.130,0.035,3071,2745,2275
$GC,10903,0.57,194.7,915.2,12.5,1519,10908,0.15,2.40,0.00,0.000,4,0.126,0.051,3047,3894,2274
$GC,10953,0.53,194.7,909.5,10.7,1523,10957,0.00,2.25,0.00,0.000,6,0.000,0.034,3047,2763,2274
$GC,11278,0.48,198.6,876.5,9.9,1553,11288,0.15,0.00,4.90,0.965,6,0.114,0.000,3025,2762,2261
$GC,11606,0.55,257.8,849.9,7.9,1584,11672,0.00,2.42,60.95,1.461,4,0.000,0.052,3024,3894,2021
$GC,11700,0.64,296.8,842.2,8.6,1592,11748,0.17,2.28,42.47,1.426,6,0.057,0.033,3057,2773,1860
$GC,12064,0.64,296.8,801.1,11.4,1627,12065,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2773,1854
$GC,12383,0.64,296.8,763.9,11.9,1657,12384,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2773,1852
$GC,12703,0.64,296.8,726.3,11.5,1687,12707,0.00,2.30,0.00,0.000,4,0.000,0.052,3057,3900,1852
$GC,12730,0.64,296.8,722.9,10.9,1689,12734,0.00,2.20,0.00,0.000,6,0.000,0.033,3057,2774,1851
$GC,13055,0.64,296.8,688.4,10.9,1719,13057,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2773,1851
$GC,13373,0.64,296.8,654.5,10.2,1749,13374,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2772,1850
$GC,13691,0.64,296.8,621.9,10.2,1779,13693,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2772,1850
$GC,14014,0.65,308.6,590.0,9.6,1817,14032,0.00,2.28,11.20,1.159,4,0.000,0.051,3057,3894,1811
$GC,14044,0.65,308.6,586.8,10.7,1822,14050,0.00,2.17,0.00,0.000,6,0.000,0.031,3057,2774,1811
$GC,14385,0.65,308.6,549.7,11.5,1883,14390,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2772,1810
$GC,14724,0.65,308.6,513.0,10.5,1944,14732,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2772,1810
$GC,15071,0.65,308.6,476.7,11.3,2005,15077,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2772,1810
$GC,15410,0.65,308.6,441.4,10.3,2066,15416,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2772,1810
$GC,15751,0.65,308.6,406.1,10.0,2127,15758,0.00,2.25,0.00,0.000,4,0.000,0.048,3057,3891,1810
$GC,15776,0.65,308.6,403.6,10.4,2131,15782,0.00,2.12,0.00,0.000,6,0.000,0.030,3057,2777,1810
$GC,16116,0.65,308.6,368.9,10.2,2192,16121,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2775,1810
$GC,16452,0.65,308.6,334.5,11.0,2253,16459,0.00,2.83,0.00,0.000,4,0.000,0.046,3057,1340,1809
$GC,16467,0.66,314.5,333.0,9.8,2255,16481,0.00,2.80,7.20,0.905,6,0.000,0.029,3057,2796,1788
$GC,16805,0.66,314.5,297.4,12.0,2317,16811,0.00,2.88,0.00,0.000,4,0.000,0.044,3057,1346,1788
$GC,16819,0.66,314.5,296.0,10.7,2319,16825,0.00,2.75,0.00,0.000,6,0.000,0.030,3057,2773,1787
$GC,17152,0.66,314.5,262.4,10.8,2380,17159,0.00,2.85,0.00,0.000,4,0.000,0.044,3057,1347,1787
$GC,17173,0.66,314.5,260.1,10.6,2383,17179,0.00,2.75,0.00,0.000,6,0.000,0.030,3057,2773,1787
$GC,17505,0.66,314.5,226.0,10.0,2444,17513,0.00,2.85,0.00,0.000,4,0.000,0.044,3057,1346,1787
$GC,17526,0.66,314.5,223.8,10.2,2447,17532,0.00,2.72,0.00,0.000,6,0.000,0.030,3057,2761,1787
$GC,17857,0.68,327.3,189.8,9.6,2508,17877,0.00,0.00,14.23,0.956,6,0.000,0.000,3057,2761,1735
$GC,18202,0.68,327.3,157.1,10.1,2571,18209,0.00,2.83,0.00,0.000,4,0.000,0.044,3057,1344,1734
$GC,18217,0.70,348.8,155.8,9.3,2573,18248,0.00,2.72,21.75,0.995,6,0.000,0.029,3057,2751,1649
$GC,18573,0.73,368.6,122.8,9.3,2638,18600,0.00,2.88,20.67,0.957,4,0.000,0.044,3057,1339,1567
$GC,18608,0.73,370.3,119.5,9.9,2643,18615,0.00,2.78,0.00,0.000,6,0.000,0.029,3057,2749,1566
$GC,18747,0.77,370.3,106.6,11.0,2668,18755,0.15,0.00,0.00,0.000,6,0.053,0.000,3093,2749,1564
$GC,18887,0.70,370.3,86.2,16.1,2693,18892,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2749,1564
$GC,19022,0.63,370.3,64.8,17.6,2718,19030,0.20,0.00,0.00,0.000,6,0.106,0.000,3059,2749,1564
$GC,19162,0.63,370.3,48.6,12.1,2743,19169,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2749,1563
$GC,19296,0.67,370.3,36.3,10.4,2768,19303,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2749,1563
$GC,19430,0.67,370.3,23.5,10.2,2793,19438,0.00,2.83,0.00,0.000,4,0.000,0.044,3059,1350,1563
$GC,19446,0.68,375.2,22.0,9.8,2795,19461,0.00,2.72,7.10,0.747,6,0.000,0.030,3059,2742,1540
$GC,19589,0.76,447.3,12.0,7.5,2821,19669,0.15,0.00,71.60,0.924,6,0.054,0.000,3094,2741,1245
$STATE,19675,end climb,SURFACE_DEPTH_REACHED
$STATE,19675,begin surface coast
$FINISH,0.1,1.014653
$STATE,19688,end surface coast,CONTROL_FINISHED_OK
$STATE,19688,begin surface
$SM_CCo,19766,0.00,0.000,0,0,1239,449.39
$SM_GC,0.62,8.60,0.00,0.00,0.043,0.000,0.000,1434,2282,1239,-6.79,-0.51,449.39
$IRIDIUM_FIX,5850.29,-2252.06,140797,131346
$TT8_MAMPS,0.026078
$HUMID,1703
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,12.10
$XPDR_PINGS,897
$24V_AH,19.6,27.647
$10V_AH,9.7,23.214
$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,23.650,137.875,670.075,0.000,0.000,31.332,33.626,318.380,224.250,0.000,0.000,13.508,4279.986,8157.950,791.341,6247.558,799.225,0.000,3046.342,0.000,6269.282,0.000,0.466
$DEVICE_MAMPS,247.741,114.283,1574.651,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1964.768,2070.678,1276.008,1195.375,3074.448,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,211914,2835
$CAP_FILE_SIZE,219479,0
$CFSIZE,260165632,249516032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200408,000407,5916.072,-2256.031,40,1.4,45,-15.6