version: 66.03
glider: 142
mission: 5
dive: 85
start: 4 21 108 19 24 49
data:
$ID,142
$MISSION,5
$DIVE,85
$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,45
$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,-14358.863
$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,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
$GPS1,190338,5911.083,-2211.599,36,1.0,36,-15.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-47.2
$GPS2,192432,5911.245,-2211.644,16,2.0,33,-15.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5918.881,-2207.747
$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,60.2,20000,-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,-194.7,0.0,0.0,0,160,0.00,0.00,-129.95,0.000,2,0.000,0.000,1436,2285,3521
$GC,163,-0.86,-194.7,3.1,-5.2,18,194,11.10,2.90,-10.07,0.000,4,0.245,0.053,2723,3704,3866
$GC,301,-0.80,-194.7,25.1,-12.1,42,310,0.08,2.80,0.00,0.000,6,0.143,0.035,2736,2302,3867
$GC,438,-0.75,-194.7,44.1,-15.2,67,446,0.00,2.85,0.00,0.000,4,0.000,0.049,2736,887,3868
$GC,506,-0.75,-194.7,54.3,-15.1,79,512,0.00,2.65,0.00,0.000,6,0.000,0.029,2736,2261,3868
$GC,641,-0.70,-194.7,72.2,-12.6,104,649,0.15,0.00,0.00,0.000,6,0.130,0.000,2760,2262,3868
$GC,781,-0.70,-194.7,87.5,-11.0,129,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2262,3868
$GC,918,-0.70,-194.7,103.0,-11.3,154,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2262,3868
$GC,1057,-0.70,-194.7,119.7,-12.7,179,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2262,3868
$GC,1191,-0.70,-194.7,136.4,-11.7,204,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2262,3868
$GC,1330,-0.70,-194.7,152.2,-11.4,229,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2262,3868
$GC,1658,-0.70,-194.7,189.1,-11.0,290,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2262,3868
$GC,1992,-0.70,-194.7,225.0,-10.4,351,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2262,3868
$GC,2321,-0.70,-194.7,261.2,-11.0,412,2329,0.00,2.85,0.00,0.000,4,0.000,0.044,2760,3696,3868
$GC,2365,-0.70,-194.7,265.7,-10.8,419,2371,0.00,2.83,0.00,0.000,6,0.000,0.033,2760,2239,3867
$GC,2694,-0.70,-194.7,298.5,-9.6,480,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2238,3868
$GC,3029,-0.70,-194.7,330.3,-9.8,541,3035,0.00,2.90,0.00,0.000,4,0.000,0.044,2760,3700,3867
$GC,3080,-0.70,-194.7,335.5,-10.1,550,3088,0.00,2.85,0.00,0.000,6,0.000,0.035,2761,2246,3868
$GC,3419,-0.70,-194.7,368.3,-9.7,611,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2245,3867
$GC,3758,-0.70,-194.7,401.3,-10.1,672,3767,0.00,2.92,0.00,0.000,4,0.000,0.046,2760,3702,3867
$GC,3818,-0.70,-194.7,407.6,-10.6,682,3824,0.00,2.83,0.00,0.000,6,0.000,0.035,2761,2249,3868
$GC,4159,-0.70,-194.7,443.7,-10.8,743,4165,0.00,2.90,0.00,0.000,4,0.000,0.047,2760,3707,3867
$GC,4198,-0.70,-194.7,448.1,-11.0,750,4205,0.00,2.78,0.00,0.000,6,0.000,0.034,2760,2268,3867
$GC,4541,-0.70,-194.7,483.3,-9.7,811,4547,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2268,3867
$GC,4882,-0.70,-194.7,515.2,-9.1,872,4888,0.00,2.85,0.00,0.000,4,0.000,0.048,2760,3699,3867
$GC,4928,-0.70,-194.7,519.5,-9.3,880,4934,0.00,2.75,0.00,0.000,6,0.000,0.035,2760,2284,3867
$GC,5271,-0.70,-194.7,550.7,-9.2,941,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2283,3867
$GC,5611,-0.70,-194.7,584.4,-9.9,1002,5618,0.00,2.85,0.00,0.000,4,0.000,0.051,2760,3705,3867
$GC,5656,-0.70,-194.7,589.0,-10.1,1010,5663,0.00,2.75,0.00,0.000,6,0.000,0.037,2760,2298,3867
$GC,5988,-0.70,-194.7,620.7,-9.7,1051,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2297,3866
$GC,6306,-0.70,-194.7,651.2,-9.4,1081,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2297,3866
$GC,6625,-0.70,-194.7,680.8,-9.9,1111,6629,0.00,2.90,0.00,0.000,4,0.000,0.062,2760,3703,3865
$GC,6679,-0.70,-194.7,686.4,-10.0,1115,6686,0.00,2.80,0.00,0.000,6,0.000,0.047,2760,2307,3865
$GC,7005,-0.70,-194.7,716.1,-9.1,1146,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2307,3865
$GC,7324,-0.70,-194.7,744.4,-9.3,1176,7329,0.00,2.92,0.00,0.000,4,0.000,0.073,2760,3695,3865
$GC,7368,-0.74,-194.7,748.8,-9.3,1179,7374,0.00,2.85,0.00,0.000,6,0.000,0.058,2760,2310,3864
$GC,7694,-0.74,-194.7,777.0,-8.5,1210,7695,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2308,3864
$GC,8012,-0.74,-194.7,804.2,-8.6,1240,8017,0.00,3.05,0.00,0.000,4,0.000,0.092,2760,3694,3863
$GC,8052,-0.78,-194.7,807.8,-9.1,1243,8057,0.00,2.97,0.00,0.000,6,0.000,0.080,2760,2318,3863
$GC,8377,-0.78,-194.7,835.9,-8.9,1273,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2317,3863
$GC,8695,-0.78,-194.7,864.6,-8.9,1303,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2313,3863
$GC,9015,-0.82,-194.7,894.0,-9.2,1333,9019,0.00,2.83,0.00,0.000,4,0.000,0.061,2760,3699,3862
$GC,9054,-0.86,-194.7,897.8,-9.6,1336,9060,0.15,2.75,0.00,0.000,6,0.068,0.041,2733,2312,3863
$GC,9378,-0.86,-194.7,934.2,-11.2,1366,9383,0.00,2.90,0.00,0.000,4,0.000,0.063,2733,885,3862
$GC,9428,-0.86,-194.7,940.1,-11.7,1370,9433,0.00,2.78,0.00,0.000,6,0.000,0.034,2732,2315,3862
$GC,9754,-0.86,-194.7,976.3,-11.0,1400,9755,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2315,3862
$STATE,9878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9878,begin apogee
$GC,9884,-0.21,0.0,990.1,10.6,1412,10091,0.82,0.00,201.05,1.604,6,0.145,0.000,2868,2755,3071
$STATE,10092,end apogee,CONTROL_FINISHED_OK
$STATE,10092,begin climb
$GC,10094,0.86,194.7,996.7,0.0,1433,10313,1.40,2.50,210.23,1.539,4,0.084,0.061,3100,3899,2276
$GC,10476,0.69,194.7,951.0,15.9,1468,10483,0.20,2.40,0.00,0.000,6,0.130,0.036,3074,2741,2273
$GC,10801,0.58,194.7,909.7,12.7,1499,10805,0.15,2.45,0.00,0.000,4,0.123,0.054,3049,3903,2273
$GC,10856,0.53,194.7,903.1,11.3,1503,10862,0.00,2.28,0.00,0.000,6,0.000,0.035,3049,2763,2272
$GC,11182,0.48,194.7,869.5,10.3,1534,11184,0.15,0.00,0.00,0.000,6,0.120,0.000,3027,2762,2272
$GC,11500,0.53,233.3,841.9,8.7,1564,11544,0.00,2.47,38.70,1.459,4,0.000,0.055,3027,3899,2120
$GC,11568,0.57,266.7,835.6,8.8,1570,11609,0.00,2.28,36.22,1.451,6,0.000,0.034,3027,2772,1983
$GC,11927,0.60,291.2,803.6,9.1,1604,11960,0.12,3.00,25.77,1.401,4,0.061,0.051,3050,1339,1883
$GC,11972,0.60,291.2,799.0,10.9,1608,11976,0.00,2.95,0.00,0.000,6,0.000,0.034,3050,2774,1882
$GC,12299,0.60,291.2,761.7,11.5,1638,12300,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2774,1879
$GC,12614,0.60,291.2,724.8,11.7,1668,12616,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2774,1878
$GC,12934,0.60,291.2,688.6,11.0,1698,12939,0.00,2.92,0.00,0.000,4,0.000,0.048,3050,1336,1878
$GC,12951,0.60,291.2,686.6,11.5,1699,12955,0.00,2.85,0.00,0.000,6,0.000,0.034,3050,2774,1877
$GC,13276,0.60,291.2,651.4,10.5,1729,13280,0.00,2.25,0.00,0.000,4,0.000,0.055,3050,3897,1877
$GC,13303,0.60,291.2,648.3,10.6,1731,13307,0.00,2.20,0.00,0.000,6,0.000,0.034,3050,2766,1876
$GC,13627,0.60,291.2,613.6,10.6,1761,13628,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2762,1877
$GC,13954,0.60,291.2,579.4,10.0,1808,13960,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2760,1876
$GC,14294,0.62,309.8,545.9,9.4,1869,14319,0.00,0.00,18.55,1.247,6,0.000,0.000,3050,2761,1807
$GC,14656,0.62,309.8,508.6,10.8,1933,14661,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2760,1805
$GC,14996,0.62,309.8,471.0,10.9,1994,15001,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2760,1805
$GC,15336,0.63,312.9,434.9,9.9,2055,15343,0.00,0.00,4.22,0.793,6,0.000,0.000,3050,2759,1795
$GC,15679,0.65,331.3,400.5,9.4,2116,15701,0.00,0.00,19.95,1.170,6,0.000,0.000,3050,2758,1720
$GC,16035,0.67,350.0,367.3,9.3,2180,16058,0.00,0.00,19.92,1.139,6,0.000,0.000,3050,2757,1643
$GC,16386,0.68,356.3,334.0,9.8,2244,16400,0.00,2.88,7.60,0.957,4,0.000,0.048,3050,1345,1617
$GC,16419,0.76,381.9,331.1,9.1,2249,16459,0.17,2.85,27.42,1.133,6,0.049,0.030,3088,2788,1514
$GC,16787,0.69,381.9,279.6,13.6,2315,16793,0.00,2.22,0.00,0.000,4,0.000,0.048,3088,3901,1509
$GC,16812,0.63,381.9,275.6,14.8,2319,16819,0.20,2.20,0.00,0.000,6,0.110,0.031,3058,2772,1509
$GC,17143,0.63,381.9,240.0,11.7,2380,17151,0.00,2.88,0.00,0.000,4,0.000,0.047,3058,1348,1508
$GC,17170,0.67,381.9,237.4,10.7,2384,17178,0.00,2.83,0.00,0.000,6,0.000,0.029,3058,2776,1508
$GC,17504,0.78,430.4,204.2,8.3,2445,17561,0.15,3.00,49.10,1.066,4,0.055,0.046,3093,1340,1315
$GC,17572,0.72,430.4,195.3,13.9,2456,17580,0.00,2.90,0.00,0.000,6,0.000,0.031,3093,2764,1314
$GC,17908,0.66,430.4,143.3,13.2,2517,17915,0.15,2.28,0.00,0.000,4,0.110,0.047,3068,3903,1309
$GC,17933,0.66,430.4,139.5,13.4,2521,17940,0.00,2.22,0.00,0.000,6,0.000,0.032,3068,2760,1309
$GC,18071,0.67,439.2,124.4,9.7,2546,18086,0.00,2.85,8.95,0.862,4,0.000,0.046,3068,1342,1280
$GC,18105,0.72,439.2,120.7,10.8,2551,18111,0.00,2.80,0.00,0.000,6,0.000,0.030,3067,2764,1278
$GC,18242,0.76,439.2,105.3,10.8,2576,18250,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2765,1278
$GC,18382,0.84,459.3,91.4,9.3,2601,18410,0.15,0.00,21.58,0.950,6,0.054,0.000,3103,2765,1196
$GC,18545,0.76,459.3,66.6,16.7,2629,18550,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2765,1194
$GC,18680,0.68,459.3,42.4,16.2,2654,18688,0.17,0.00,0.00,0.000,6,0.110,0.000,3073,2765,1193
$GC,18817,0.79,515.9,27.1,8.0,2679,18876,0.00,0.00,56.95,0.938,6,0.000,0.000,3073,2765,968
$GC,19004,0.90,538.4,7.1,9.2,2711,19035,0.20,2.95,23.65,0.888,4,0.046,0.044,3119,1340,874
$STATE,19046,end climb,SURFACE_DEPTH_REACHED
$STATE,19046,begin surface coast
$FINISH,0.1,1.026267
$STATE,19058,end surface coast,CONTROL_FINISHED_OK
$STATE,19058,begin surface
$SM_CCo,19138,0.00,0.000,0,0,869,539.91
$SM_GC,0.56,8.85,0.00,0.00,0.050,0.000,0.000,1436,2302,869,-6.79,0.06,539.91
$IRIDIUM_FIX,5850.29,-2216.18,160797,191921
$TT8_MAMPS,0.026845
$HUMID,1738
$INTERNAL_PRESSURE,8.83869
$TCM_TEMP,11.70
$XPDR_PINGS,997
$24V_AH,19.5,30.568
$10V_AH,9.6,25.733
$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,24.375,142.275,769.875,0.000,0.000,119.647,134.111,626.962,249.250,0.000,0.000,34.526,4100.638,8212.553,825.947,5913.278,1308.578,0.000,3014.146,0.000,5911.604,0.000,0.465
$DEVICE_MAMPS,245.440,92.040,1603.797,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1882.712,2001.701,1182.647,1095.642,2824.175,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202172,2719
$CAP_FILE_SIZE,227555,0
$CFSIZE,260165632,248414208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220408,004502,5914.708,-2206.944,39,1.8,39,-15.2