version: 66.03
glider: 142
mission: 5
dive: 84
start: 4 21 108 14 1 15
data:
$ID,142
$MISSION,5
$DIVE,84
$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,90
$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,-14323.71
$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,18
$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
$GPS1,135138,5910.945,-2218.463,40,0.9,40,-15.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-41.4
$GPS2,140057,5910.882,-2218.444,14,1.2,14,-15.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5910.882,-2212.911
$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,105.3,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,166,0.00,0.00,-137.20,0.000,2,0.000,0.000,1432,2288,3535
$GC,169,-0.86,-194.7,3.5,-7.0,19,201,11.25,2.90,-8.80,0.000,4,0.249,0.052,2727,3710,3867
$GC,214,-0.56,-194.7,13.7,-19.7,25,222,0.38,2.83,0.00,0.000,6,0.127,0.035,2790,2301,3867
$GC,350,-0.62,-194.7,27.9,-12.3,50,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2301,3868
$GC,485,-0.69,-194.7,39.7,-8.2,75,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2301,3868
$GC,618,-0.76,-194.7,50.7,-8.0,100,626,0.20,0.00,0.00,0.000,6,0.054,0.000,2748,2300,3867
$GC,757,-0.76,-194.7,67.2,-13.3,125,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2301,3868
$GC,891,-0.76,-194.7,85.1,-12.8,150,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2300,3868
$GC,1031,-0.76,-194.7,102.7,-12.5,175,1037,0.00,2.80,0.00,0.000,4,0.000,0.050,2747,889,3868
$GC,1077,-0.76,-194.7,108.4,-11.9,183,1083,0.00,2.67,0.00,0.000,6,0.000,0.029,2747,2290,3868
$GC,1213,-0.76,-194.7,125.5,-12.5,208,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2290,3868
$GC,1353,-0.76,-194.7,142.8,-12.3,233,1359,0.00,2.80,0.00,0.000,4,0.000,0.048,2747,884,3868
$GC,1391,-0.76,-194.7,148.0,-12.7,240,1398,0.00,2.67,0.00,0.000,6,0.000,0.029,2747,2266,3868
$GC,1531,-0.76,-194.7,164.4,-12.3,265,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2267,3868
$GC,1858,-0.76,-194.7,204.3,-12.1,326,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2267,3868
$GC,2193,-0.76,-194.7,244.8,-11.6,387,2199,0.00,2.75,0.00,0.000,4,0.000,0.048,2748,883,3868
$GC,2232,-0.76,-194.7,249.9,-12.2,394,2240,0.00,2.65,0.00,0.000,6,0.000,0.030,2747,2256,3868
$GC,2566,-0.76,-194.7,287.6,-11.3,455,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2256,3868
$GC,2896,-0.76,-194.7,324.8,-11.5,516,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2257,3868
$GC,3231,-0.76,-194.7,360.1,-10.5,577,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2257,3868
$GC,3570,-0.76,-194.7,398.9,-11.2,638,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2258,3868
$GC,3910,-0.76,-194.7,434.8,-10.3,699,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2258,3868
$GC,4251,-0.76,-194.7,470.3,-10.6,760,4257,0.00,2.72,0.00,0.000,4,0.000,0.049,2747,882,3868
$GC,4287,-0.76,-194.7,474.2,-11.4,766,4293,0.00,2.62,0.00,0.000,6,0.000,0.031,2747,2256,3868
$GC,4627,-0.76,-194.7,510.8,-10.8,827,4634,0.00,2.83,0.00,0.000,4,0.000,0.048,2747,3694,3868
$GC,4641,-0.76,-194.7,512.1,-10.3,829,4648,0.00,2.80,0.00,0.000,6,0.000,0.035,2747,2254,3868
$GC,4982,-0.76,-194.7,548.9,-11.0,890,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2254,3868
$GC,5322,-0.76,-194.7,586.2,-10.6,951,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2254,3868
$GC,5658,-0.76,-194.7,621.2,-10.0,994,5663,0.00,2.92,0.00,0.000,4,0.000,0.053,2747,3701,3867
$GC,5685,-0.76,-194.7,624.0,-10.6,996,5690,0.00,2.85,0.00,0.000,6,0.000,0.040,2747,2253,3867
$GC,6010,-0.76,-194.7,657.0,-10.2,1026,6012,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2252,3867
$GC,6328,-0.76,-194.7,689.1,-10.0,1056,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2252,3866
$GC,6648,-0.76,-194.7,721.1,-10.1,1086,6653,0.00,3.00,0.00,0.000,4,0.000,0.065,2747,3696,3866
$GC,6675,-0.76,-194.7,724.1,-11.3,1088,6680,0.00,2.92,0.00,0.000,6,0.000,0.054,2747,2260,3866
$GC,7001,-0.76,-194.7,756.5,-10.3,1118,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2258,3865
$GC,7318,-0.76,-194.7,790.4,-10.3,1148,7323,0.00,3.15,0.00,0.000,4,0.000,0.087,2747,3697,3864
$GC,7350,-0.76,-194.7,793.8,-10.6,1150,7357,0.00,3.05,0.00,0.000,6,0.000,0.075,2747,2267,3864
$GC,7676,-0.76,-194.7,826.1,-10.2,1181,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2267,3864
$GC,7995,-0.76,-194.7,858.0,-10.0,1211,8000,0.00,3.33,0.00,0.000,4,0.000,0.115,2747,3694,3864
$GC,8027,-0.76,-194.7,861.7,-10.7,1213,8034,0.00,3.10,0.00,0.000,6,0.000,0.083,2747,2258,3864
$GC,8353,-0.76,-194.7,895.6,-10.5,1244,8358,0.00,2.95,0.00,0.000,4,0.000,0.055,2747,3708,3863
$GC,8374,-0.76,-194.7,898.0,-10.3,1245,8380,0.00,2.83,0.00,0.000,6,0.000,0.041,2747,2284,3863
$GC,8700,-0.76,-194.7,931.0,-9.9,1276,8701,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2284,3863
$GC,9017,-0.76,-194.7,962.1,-10.1,1306,9021,0.00,2.90,0.00,0.000,4,0.000,0.057,2747,3700,3863
$GC,9044,-0.76,-194.7,964.8,-10.6,1308,9049,0.00,2.83,0.00,0.000,6,0.000,0.043,2747,2283,3863
$STATE,9292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9292,begin apogee
$GC,9298,-0.21,0.0,990.1,10.0,1331,9505,0.70,0.00,201.12,1.601,6,0.123,0.000,2865,2745,3072
$STATE,9506,end apogee,CONTROL_FINISHED_OK
$STATE,9506,begin climb
$GC,9509,0.86,194.7,998.2,0.0,1352,9733,1.40,2.65,210.20,1.538,4,0.084,0.058,3100,3899,2275
$GC,9897,0.68,194.7,953.9,15.9,1388,9903,0.20,2.40,0.00,0.000,6,0.127,0.036,3073,2738,2273
$GC,10221,0.57,194.7,915.2,11.6,1419,10226,0.15,2.42,0.00,0.000,4,0.126,0.053,3048,3895,2273
$GC,10288,0.53,209.1,908.2,9.5,1424,10308,0.00,2.25,15.18,1.351,6,0.000,0.035,3048,2763,2218
$GC,10628,0.51,231.1,876.5,9.2,1456,10657,0.00,0.00,23.85,1.427,6,0.000,0.000,3048,2762,2127
$GC,10976,0.48,243.6,843.6,9.6,1489,10998,0.15,2.42,13.82,1.345,4,0.119,0.059,3023,3908,2076
$GC,11037,0.56,304.8,838.4,7.9,1494,11107,0.00,2.28,65.00,1.475,6,0.000,0.034,3023,2767,1828
$GC,11433,0.71,381.6,810.2,7.3,1532,11525,0.22,3.12,81.88,1.450,4,0.050,0.050,3072,1346,1513
$GC,11542,0.71,381.6,796.6,13.0,1542,11548,0.00,3.00,0.00,0.000,6,0.000,0.033,3072,2777,1512
$GC,11870,0.67,381.6,752.8,13.5,1573,11874,0.00,2.30,0.00,0.000,4,0.000,0.054,3072,3897,1506
$GC,11920,0.67,381.6,745.6,12.7,1577,11924,0.00,2.22,0.00,0.000,6,0.000,0.034,3072,2779,1505
$GC,12244,0.62,381.6,702.5,13.7,1607,12245,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2775,1504
$GC,12564,0.57,381.6,661.1,12.9,1637,12566,0.17,0.00,0.00,0.000,6,0.108,0.000,3045,2774,1503
$GC,12883,0.64,400.4,630.8,9.3,1667,12903,0.00,0.00,18.40,1.282,6,0.000,0.000,3045,2773,1438
$GC,13220,0.70,405.4,598.7,9.8,1700,13234,0.15,2.90,6.53,1.045,4,0.058,0.049,3080,1346,1417
$GC,13262,0.70,405.4,593.5,13.1,1707,13269,0.00,2.88,0.00,0.000,6,0.000,0.032,3080,2797,1416
$GC,13605,0.65,405.4,544.6,14.4,1768,13611,0.00,2.20,0.00,0.000,4,0.000,0.052,3080,3896,1415
$GC,13652,0.65,405.4,538.0,13.7,1776,13659,0.00,2.20,0.00,0.000,6,0.000,0.034,3080,2784,1415
$GC,13998,0.60,405.4,489.5,14.9,1837,14005,0.15,2.83,0.00,0.000,4,0.107,0.048,3053,1344,1414
$GC,14039,0.65,405.4,484.0,11.1,1844,14045,0.00,2.83,0.00,0.000,6,0.000,0.032,3053,2782,1414
$GC,14381,0.69,405.4,449.2,10.2,1905,14387,0.00,2.90,0.00,0.000,4,0.000,0.048,3053,1337,1414
$GC,14416,0.75,405.4,445.6,10.2,1911,14423,0.15,2.78,0.00,0.000,6,0.052,0.033,3085,2762,1414
$GC,14759,0.69,405.4,397.2,13.8,1972,14765,0.00,2.25,0.00,0.000,4,0.000,0.051,3086,3899,1413
$GC,14798,0.69,405.4,391.3,14.1,1979,14804,0.00,2.20,0.00,0.000,6,0.000,0.032,3086,2758,1413
$GC,15138,0.64,405.4,343.4,14.2,2040,15146,0.15,2.85,0.00,0.000,4,0.107,0.048,3063,1338,1413
$GC,15172,0.64,405.4,339.5,12.2,2045,15178,0.00,2.78,0.00,0.000,6,0.000,0.031,3063,2766,1413
$GC,15503,0.64,405.4,301.0,12.6,2106,15511,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2766,1413
$GC,15838,0.64,405.4,261.7,11.0,2167,15844,0.00,2.85,0.00,0.000,4,0.000,0.046,3063,1337,1413
$GC,15895,0.68,405.4,255.5,10.4,2177,15901,0.00,2.75,0.00,0.000,6,0.000,0.031,3063,2756,1413
$GC,16226,0.68,405.4,219.1,11.5,2238,16234,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2756,1413
$GC,16561,0.68,405.4,182.4,10.5,2299,16567,0.00,2.83,0.00,0.000,4,0.000,0.046,3063,1337,1413
$GC,16620,0.73,405.4,176.1,12.0,2309,16626,0.00,2.70,0.00,0.000,6,0.000,0.031,3063,2737,1413
$GC,16950,0.73,405.4,140.1,10.4,2370,16957,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2737,1413
$GC,17090,0.77,433.2,126.1,9.0,2395,17122,0.12,0.00,28.58,1.001,6,0.060,0.000,3090,2737,1305
$GC,17252,0.77,433.2,103.1,15.7,2424,17259,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2737,1302
$GC,17391,0.77,433.2,83.5,16.0,2449,17397,0.00,2.83,0.00,0.000,4,0.000,0.045,3089,1333,1301
$GC,17427,0.77,433.2,78.7,13.2,2455,17433,0.00,2.72,0.00,0.000,6,0.000,0.031,3089,2729,1300
$GC,17563,0.77,433.2,58.9,10.9,2480,17571,0.00,2.33,0.00,0.000,4,0.000,0.048,3090,3887,1299
$GC,17595,0.77,433.2,54.6,13.4,2485,17601,0.00,2.25,0.00,0.000,6,0.000,0.033,3090,2724,1299
$GC,17729,0.77,433.2,35.5,13.5,2510,17736,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2723,1299
$GC,17864,0.72,434.6,19.3,9.9,2535,17872,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2724,1299
$STATE,17980,end climb,SURFACE_DEPTH_REACHED
$STATE,17981,begin surface coast
$FINISH,0.3,1.026248
$STATE,17992,end surface coast,CONTROL_FINISHED_OK
$STATE,17993,begin surface
$SM_CCo,18071,0.00,0.000,0,0,1297,435.16
$SM_GC,0.60,8.48,0.00,0.00,0.054,0.000,0.000,1436,2293,1297,-6.79,-0.20,435.16
$IRIDIUM_FIX,5850.29,-2223.95,160797,080850
$TT8_MAMPS,0.026845
$HUMID,1745
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,11.70
$XPDR_PINGS,893
$24V_AH,19.5,30.194
$10V_AH,9.7,25.445
$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,24.025,148.600,664.550,0.000,0.000,29.070,37.553,332.429,223.250,0.000,0.000,15.888,3880.554,7485.351,818.198,5626.603,787.853,0.000,2862.988,0.000,5641.424,0.000,0.465
$DEVICE_MAMPS,248.508,115.050,1601.496,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1774.831,1875.979,1148.784,1072.052,2745.953,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,189896,2559
$CAP_FILE_SIZE,206481,0
$CFSIZE,260165632,248561664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210408,190338,5911.083,-2211.599,36,1.0,36,-15.2