version: 66.03
glider: 142
mission: 5
dive: 89
start: 4 22 108 17 3 45
data:
$ID,142
$MISSION,5
$DIVE,89
$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,1
$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,-14422.94
$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,20
$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
$GPS1,165422,5929.620,-2207.875,36,2.1,55,-15.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-47.0
$GPS2,170327,5929.756,-2208.069,12,1.3,12,-15.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5940.553,-2207.974
$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,16.3,20000,-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,-194.7,0.0,0.0,0,145,0.00,0.00,-115.80,0.000,2,0.000,0.000,1437,2286,3712
$GC,148,-0.86,-194.7,3.0,-3.2,16,172,11.32,2.85,-4.35,0.000,4,0.250,0.051,2725,3712,3865
$GC,351,-0.79,-194.7,44.5,-17.8,53,360,0.10,2.80,0.00,0.000,6,0.146,0.034,2741,2301,3865
$GC,488,-0.79,-194.7,65.7,-13.9,78,496,0.00,2.85,0.00,0.000,4,0.000,0.049,2741,886,3866
$GC,606,-0.79,-194.7,81.4,-12.9,99,612,0.00,2.70,0.00,0.000,6,0.000,0.031,2741,2285,3866
$GC,744,-0.79,-194.7,98.9,-13.2,124,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2286,3866
$GC,882,-0.79,-194.7,116.5,-13.1,149,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2286,3866
$GC,1017,-0.79,-194.7,133.6,-13.1,174,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2285,3866
$GC,1156,-0.79,-194.7,151.4,-13.0,199,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2286,3867
$GC,1483,-0.79,-194.7,193.4,-12.4,260,1491,0.00,2.80,0.00,0.000,4,0.000,0.048,2741,893,3866
$GC,1538,-0.79,-194.7,200.2,-13.5,269,1544,0.00,2.65,0.00,0.000,6,0.000,0.031,2741,2275,3866
$GC,1867,-0.79,-194.7,243.3,-13.5,330,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2275,3866
$GC,2201,-0.79,-194.7,286.4,-12.3,391,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2276,3866
$GC,2529,-0.79,-194.7,326.4,-11.9,452,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2276,3866
$GC,2865,-0.79,-194.7,363.9,-10.8,513,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2276,3866
$GC,3207,-0.79,-194.7,401.8,-11.6,574,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2276,3866
$GC,3547,-0.79,-194.7,442.2,-12.2,635,3554,0.00,2.83,0.00,0.000,4,0.000,0.048,2741,3705,3866
$GC,3604,-0.79,-194.7,449.0,-11.7,645,3611,0.00,2.80,0.00,0.000,6,0.000,0.035,2741,2277,3866
$GC,3946,-0.79,-194.7,487.4,-11.4,706,3953,0.00,2.75,0.00,0.000,4,0.000,0.052,2741,887,3866
$GC,3986,-0.79,-194.7,492.1,-11.5,713,3992,0.00,2.67,0.00,0.000,6,0.000,0.031,2741,2284,3866
$GC,4325,-0.79,-194.7,529.7,-10.5,774,4332,0.00,2.85,0.00,0.000,4,0.000,0.051,2741,3730,3866
$GC,4383,-0.79,-194.7,535.9,-10.6,784,4390,0.00,2.78,0.00,0.000,6,0.000,0.035,2741,2295,3866
$GC,4725,-0.79,-194.7,573.0,-11.1,845,4731,0.00,2.80,0.00,0.000,4,0.000,0.056,2741,887,3866
$GC,4799,-0.79,-194.7,581.2,-10.8,858,4806,0.00,2.70,0.00,0.000,6,0.000,0.032,2741,2297,3866
$GC,5138,-0.79,-194.7,617.3,-10.8,905,5142,0.00,2.83,0.00,0.000,4,0.000,0.054,2741,3704,3866
$GC,5188,-0.79,-194.7,622.8,-10.9,909,5192,0.00,2.78,0.00,0.000,6,0.000,0.038,2741,2291,3866
$GC,5513,-0.79,-194.7,657.0,-10.4,939,5518,0.00,2.85,0.00,0.000,4,0.000,0.063,2741,884,3866
$GC,5574,-0.79,-194.7,663.5,-10.4,944,5579,0.00,2.75,0.00,0.000,6,0.000,0.037,2741,2292,3865
$GC,5899,-0.79,-194.7,698.5,-10.6,974,5904,0.00,2.92,0.00,0.000,4,0.000,0.067,2741,3713,3865
$GC,5949,-0.79,-194.7,704.0,-11.1,978,5954,0.00,2.85,0.00,0.000,6,0.000,0.049,2741,2301,3865
$GC,6275,-0.79,-194.7,737.4,-10.1,1008,6276,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2301,3865
$GC,6592,-0.79,-194.7,768.1,-9.7,1038,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2301,3864
$GC,6911,-0.79,-194.7,799.1,-9.7,1068,6916,0.00,3.12,0.00,0.000,4,0.000,0.095,2741,3705,3864
$GC,6974,-0.79,-194.7,805.3,-9.9,1073,6979,0.00,3.03,0.00,0.000,6,0.000,0.081,2741,2307,3864
$GC,7301,-0.79,-194.7,838.2,-9.9,1103,7306,0.00,3.30,0.00,0.000,4,0.000,0.120,2741,885,3863
$GC,7340,-0.79,-194.7,842.6,-10.9,1106,7345,0.00,2.78,0.00,0.000,6,0.000,0.032,2741,2318,3863
$GC,7667,-0.79,-194.7,875.5,-10.6,1136,7672,0.00,2.80,0.00,0.000,4,0.000,0.056,2741,3704,3863
$GC,7722,-0.79,-194.7,882.1,-11.5,1140,7729,0.00,2.78,0.00,0.000,6,0.000,0.041,2741,2304,3863
$GC,8048,-0.79,-194.7,916.6,-10.4,1171,8053,0.00,2.88,0.00,0.000,4,0.000,0.063,2741,888,3863
$GC,8080,-0.79,-194.7,920.4,-11.7,1173,8087,0.00,2.80,0.00,0.000,6,0.000,0.035,2741,2327,3862
$GC,8408,-0.79,-194.7,954.2,-10.3,1204,8409,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2327,3862
$GC,8724,-0.79,-194.7,988.1,-10.9,1234,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2327,3862
$STATE,8743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8743,begin apogee
$GC,8749,-0.21,0.0,990.4,10.9,1236,8956,0.77,0.00,202.32,1.601,6,0.150,0.000,2866,2751,3071
$STATE,8957,end apogee,CONTROL_FINISHED_OK
$STATE,8957,begin climb
$GC,8959,0.86,194.7,999.0,0.0,1257,9185,1.42,2.67,211.10,1.540,4,0.088,0.058,3100,3894,2277
$GC,9321,0.70,194.7,960.2,14.7,1291,9326,0.17,2.40,0.00,0.000,6,0.130,0.035,3077,2741,2275
$GC,9646,0.59,194.7,921.1,11.9,1321,9651,0.17,2.45,0.00,0.000,4,0.121,0.054,3049,3905,2273
$GC,9701,0.56,197.4,915.2,9.9,1325,9707,0.00,2.28,0.00,0.000,6,0.000,0.034,3049,2761,2274
$GC,10027,0.53,213.1,884.4,9.5,1356,10052,0.00,2.42,19.20,1.398,4,0.000,0.056,3049,3902,2201
$GC,10064,0.51,226.3,880.6,9.5,1359,10084,0.00,2.28,15.20,1.384,6,0.000,0.033,3049,2768,2148
$GC,10409,0.51,226.3,845.6,10.2,1392,10413,0.00,2.35,0.00,0.000,4,0.000,0.055,3049,3897,2146
$GC,10420,0.51,226.3,844.5,10.4,1392,10426,0.00,2.20,0.00,0.000,6,0.000,0.032,3049,2779,2146
$GC,10747,0.51,226.3,810.6,10.3,1423,10751,0.00,2.33,0.00,0.000,4,0.000,0.062,3049,3906,2145
$GC,10767,0.51,226.3,807.9,10.8,1424,10774,0.00,2.20,0.00,0.000,6,0.000,0.033,3049,2794,2145
$GC,11094,0.51,226.3,775.4,10.0,1455,11095,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2789,2144
$GC,11411,0.51,226.3,742.9,10.2,1485,11415,0.00,2.25,0.00,0.000,4,0.000,0.055,3049,3896,2144
$GC,11422,0.51,226.3,741.7,10.4,1486,11426,0.00,2.15,0.00,0.000,6,0.000,0.032,3049,2789,2144
$GC,11747,0.51,226.3,708.0,10.3,1516,11748,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2783,2144
$GC,12065,0.52,238.9,675.6,9.6,1546,12084,0.00,0.00,13.18,1.265,6,0.000,0.000,3049,2780,2096
$GC,12404,0.56,269.6,643.9,8.9,1578,12445,0.00,2.40,32.03,1.354,4,0.000,0.054,3049,3899,1970
$GC,12450,0.60,302.0,639.3,8.9,1582,12490,0.00,2.20,34.78,1.347,6,0.000,0.032,3049,2795,1839
$GC,12815,0.60,302.0,603.0,10.3,1617,12819,0.00,2.30,0.00,0.000,4,0.000,0.054,3049,3905,1834
$GC,12825,0.60,302.0,601.9,10.1,1617,12832,0.00,2.22,0.00,0.000,6,0.000,0.031,3049,2788,1832
$GC,13166,0.63,322.8,567.7,9.3,1676,13196,0.00,0.00,21.10,1.259,6,0.000,0.000,3049,2785,1754
$GC,13535,0.67,355.1,533.6,8.9,1741,13573,0.00,0.00,34.25,1.275,6,0.000,0.000,3049,2785,1622
$GC,13908,0.72,400.7,499.8,8.4,1808,13965,0.15,3.08,48.00,1.260,4,0.056,0.050,3083,1350,1436
$GC,13973,0.68,400.7,492.1,13.3,1819,13979,0.00,2.95,0.00,0.000,6,0.000,0.031,3083,2791,1435
$GC,14313,0.64,400.7,446.1,13.4,1880,14320,0.15,0.00,0.00,0.000,6,0.104,0.000,3061,2790,1430
$GC,14655,0.64,400.7,407.1,10.8,1941,14662,0.00,2.95,0.00,0.000,4,0.000,0.048,3060,1336,1428
$GC,14668,0.64,400.7,405.6,11.2,1943,14674,0.00,2.88,0.00,0.000,6,0.000,0.031,3060,2795,1428
$GC,15008,0.64,400.7,369.0,10.7,2004,15016,0.00,2.97,0.00,0.000,4,0.000,0.047,3061,1342,1427
$GC,15041,0.68,400.7,365.7,10.9,2009,15047,0.00,2.80,0.00,0.000,6,0.000,0.031,3060,2774,1427
$GC,15377,0.68,400.7,330.3,10.7,2070,15384,0.00,2.90,0.00,0.000,4,0.000,0.047,3061,1348,1426
$GC,15390,0.68,400.7,328.8,10.8,2072,15398,0.00,2.80,0.00,0.000,6,0.000,0.031,3060,2765,1426
$GC,15726,0.69,410.1,295.7,9.7,2133,15740,0.00,2.85,8.48,0.955,4,0.000,0.045,3060,1345,1399
$GC,15754,0.69,410.1,292.9,10.2,2137,15760,0.00,2.78,0.00,0.000,6,0.000,0.031,3060,2760,1399
$GC,16085,0.69,410.1,259.7,10.7,2198,16093,0.00,2.88,0.00,0.000,4,0.000,0.046,3060,1340,1399
$GC,16107,0.73,410.1,257.5,10.7,2201,16113,0.00,2.75,0.00,0.000,6,0.000,0.031,3060,2749,1398
$GC,16438,0.76,429.2,223.7,9.3,2262,16465,0.12,2.85,20.90,1.047,4,0.060,0.045,3086,1344,1321
$GC,16473,0.76,429.2,219.8,12.9,2267,16479,0.00,2.75,0.00,0.000,6,0.000,0.031,3087,2739,1320
$GC,16805,0.76,429.2,175.4,12.5,2328,16812,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2739,1318
$GC,17140,0.76,429.2,131.0,15.7,2389,17146,0.00,2.28,0.00,0.000,4,0.000,0.048,3087,3891,1317
$GC,17154,0.76,429.2,129.0,13.0,2391,17160,0.00,2.22,0.00,0.000,6,0.000,0.031,3087,2738,1318
$GC,17290,0.76,429.2,109.9,13.4,2416,17297,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2737,1318
$GC,17430,0.76,429.2,92.6,13.6,2441,17436,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2737,1318
$GC,17565,0.76,429.2,73.8,14.6,2466,17572,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2737,1317
$GC,17705,0.76,429.2,54.7,12.6,2491,17710,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2737,1317
$GC,17838,0.76,429.2,36.4,11.5,2516,17845,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2737,1318
$GC,17972,0.76,431.0,18.6,9.9,2541,17980,0.00,2.33,0.00,0.000,4,0.000,0.047,3086,3890,1317
$GC,17988,0.76,431.0,16.4,11.7,2543,17996,0.00,2.22,0.00,0.000,6,0.000,0.031,3086,2748,1317
$STATE,18105,end climb,SURFACE_DEPTH_REACHED
$STATE,18105,begin surface coast
$FINISH,0.0,1.025100
$STATE,18124,end surface coast,CONTROL_FINISHED_OK
$STATE,18124,begin surface
$SM_CCo,18202,0.00,0.000,0,0,1315,430.99
$SM_GC,0.52,8.27,0.00,0.00,0.044,0.000,0.000,1434,2284,1315,-6.79,-0.42,430.99
$IRIDIUM_FIX,5902.83,-2205.34,170797,111123
$TT8_MAMPS,0.026845
$HUMID,1734
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,11.70
$XPDR_PINGS,953
$24V_AH,19.5,31.859
$10V_AH,9.7,26.828
$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,22.675,167.375,660.525,0.000,0.000,26.133,38.272,321.776,238.250,0.000,0.000,14.699,3896.903,7676.243,787.372,5568.657,786.600,0.000,2845.301,0.000,5589.375,0.000,0.465
$DEVICE_MAMPS,250.042,120.419,1600.729,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1779.736,1891.742,1112.096,1014.807,2634.210,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,193194,2568
$CAP_FILE_SIZE,206054,0
$CFSIZE,260165632,247947264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220408,220825,5934.668,-2210.341,25,1.2,42,-15.4