version: 66.03
glider: 142
mission: 5
dive: 95
start: 4 24 108 1 45 38
data:
$ID,142
$MISSION,5
$DIVE,95
$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,-14551.351
$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,25
$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
$GPS1,013502,5954.402,-2214.410,41,1.3,41,-15.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-48.3
$GPS2,014520,5954.440,-2214.552,13,1.2,13,-15.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6005.237,-2214.458
$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,16.6,20000,-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,28,-0.86,-194.7,0.0,0.0,0,151,0.00,0.00,-121.03,0.000,2,0.000,0.000,1437,2290,3522
$GC,154,-0.86,-194.7,3.2,-5.2,17,185,11.32,2.90,-9.55,0.000,4,0.250,0.054,2726,3706,3867
$GC,411,-0.79,-194.7,43.7,-13.8,64,419,0.00,2.78,0.00,0.000,6,0.000,0.033,2726,2304,3868
$GC,551,-0.72,-194.7,63.0,-13.7,89,558,0.17,2.83,0.00,0.000,4,0.151,0.048,2754,887,3868
$GC,663,-0.72,-194.7,76.4,-11.4,109,669,0.00,2.72,0.00,0.000,6,0.000,0.029,2754,2301,3868
$GC,992,-0.72,-194.7,112.6,-10.5,170,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2301,3868
$GC,1324,-0.72,-194.7,148.6,-10.7,231,1330,0.00,2.80,0.00,0.000,4,0.000,0.048,2754,890,3868
$GC,1361,-0.72,-194.7,152.6,-11.1,237,1367,0.00,2.67,0.00,0.000,6,0.000,0.029,2754,2287,3868
$GC,1700,-0.72,-194.7,190.0,-10.7,298,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2288,3868
$GC,2039,-0.72,-194.7,226.1,-10.7,359,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2288,3868
$GC,2377,-0.72,-194.7,261.0,-10.4,420,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2288,3868
$GC,2719,-0.72,-194.7,296.4,-10.2,481,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2288,3868
$GC,3058,-0.72,-194.7,331.9,-10.8,542,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2288,3868
$GC,3389,-0.72,-194.7,367.0,-10.5,588,3393,0.00,2.80,0.00,0.000,4,0.000,0.046,2754,3712,3868
$GC,3452,-0.72,-194.7,373.7,-10.8,593,3457,0.00,2.78,0.00,0.000,6,0.000,0.034,2754,2280,3868
$GC,3777,-0.72,-194.7,408.8,-10.5,623,3782,0.00,2.75,0.00,0.000,4,0.000,0.050,2754,883,3868
$GC,3827,-0.72,-194.7,414.3,-10.5,627,3832,0.00,2.67,0.00,0.000,6,0.000,0.030,2754,2288,3868
$GC,4155,-0.72,-194.7,448.4,-10.5,657,4159,0.00,2.78,0.00,0.000,4,0.000,0.046,2754,3699,3868
$GC,4207,-0.72,-194.7,454.0,-10.2,661,4211,0.00,2.75,0.00,0.000,6,0.000,0.034,2754,2280,3868
$GC,4534,-0.72,-194.7,488.4,-10.7,691,4539,0.00,2.75,0.00,0.000,4,0.000,0.051,2754,887,3868
$GC,4573,-0.72,-194.7,493.0,-10.8,694,4577,0.00,2.67,0.00,0.000,6,0.000,0.030,2754,2288,3868
$GC,4898,-0.72,-194.7,525.1,-9.5,724,4903,0.00,2.80,0.00,0.000,4,0.000,0.048,2753,3703,3868
$GC,4963,-0.72,-194.7,531.1,-9.3,729,4968,0.00,2.75,0.00,0.000,6,0.000,0.035,2754,2289,3868
$GC,5289,-0.72,-194.7,562.1,-9.8,759,5293,0.00,2.78,0.00,0.000,4,0.000,0.054,2754,895,3868
$GC,5332,-0.72,-194.7,566.5,-9.7,762,5338,0.00,2.70,0.00,0.000,6,0.000,0.031,2754,2303,3868
$GC,5659,-0.72,-194.7,599.0,-10.0,793,5664,0.00,2.80,0.00,0.000,4,0.000,0.052,2754,3707,3867
$GC,5731,-0.72,-194.7,606.8,-10.2,796,5735,0.00,2.72,0.00,0.000,6,0.000,0.038,2754,2313,3868
$GC,6053,-0.72,-194.7,638.7,-10.0,812,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2313,3868
$GC,6362,-0.72,-194.7,669.7,-9.9,827,6366,0.00,2.85,0.00,0.000,4,0.000,0.060,2754,3702,3867
$GC,6416,-0.72,-194.7,675.1,-10.0,829,6423,0.00,2.75,0.00,0.000,6,0.000,0.045,2754,2326,3867
$GC,6732,-0.72,-194.7,705.7,-9.5,845,6737,0.00,2.95,0.00,0.000,4,0.000,0.070,2754,887,3867
$GC,6782,-0.76,-194.7,710.6,-9.6,847,6786,0.00,2.83,0.00,0.000,6,0.000,0.042,2754,2322,3866
$GC,7097,-0.76,-194.7,740.8,-9.8,862,7102,0.00,2.90,0.00,0.000,4,0.000,0.073,2754,3713,3866
$GC,7165,-0.76,-194.7,747.5,-9.9,865,7169,0.00,2.83,0.00,0.000,6,0.000,0.057,2754,2333,3866
$GC,7484,-0.76,-194.7,780.5,-10.5,881,7489,0.00,3.15,0.00,0.000,4,0.000,0.094,2754,887,3866
$GC,7511,-0.76,-194.7,783.4,-11.5,882,7516,0.00,3.05,0.00,0.000,6,0.000,0.066,2754,2347,3865
$GC,7826,-0.76,-194.7,816.1,-10.3,897,7831,0.00,3.03,0.00,0.000,4,0.000,0.100,2754,3712,3865
$GC,7875,-0.76,-194.7,821.3,-10.2,899,7880,0.00,3.00,0.00,0.000,6,0.000,0.087,2754,2344,3865
$GC,8191,-0.76,-194.7,853.7,-10.4,914,8196,0.00,3.05,0.00,0.000,4,0.000,0.074,2754,875,3865
$GC,8223,-0.76,-194.7,857.3,-11.5,915,8229,0.00,2.88,0.00,0.000,6,0.000,0.031,2753,2363,3865
$GC,8538,-0.76,-194.7,890.1,-10.4,931,8543,0.00,2.72,0.00,0.000,4,0.000,0.058,2754,3716,3864
$GC,8587,-0.76,-194.7,895.2,-10.2,933,8592,0.00,2.70,0.00,0.000,6,0.000,0.040,2754,2346,3864
$GC,8903,-0.76,-194.7,926.1,-9.7,948,8904,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2345,3864
$GC,9211,-0.76,-194.7,956.7,-10.1,963,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2344,3863
$GC,9521,-0.76,-194.7,987.3,-9.7,978,9526,0.00,2.83,0.00,0.000,4,0.000,0.059,2754,3719,3863
$STATE,9546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9546,begin apogee
$GC,9553,-0.21,0.0,990.1,10.3,979,9759,0.70,0.00,202.30,1.600,6,0.130,0.000,2869,2738,3071
$STATE,9759,end apogee,CONTROL_FINISHED_OK
$STATE,9760,begin climb
$GC,9762,0.86,194.7,998.2,0.0,989,9987,1.38,2.75,210.60,1.540,4,0.083,0.057,3098,3899,2277
$GC,10133,0.69,194.7,956.9,15.0,1006,10138,0.17,2.38,0.00,0.000,6,0.127,0.035,3074,2750,2274
$GC,10449,0.57,194.7,917.5,12.5,1021,10454,0.15,2.42,0.00,0.000,4,0.125,0.054,3049,3905,2273
$GC,10543,0.52,194.7,906.8,10.6,1025,10547,0.00,2.28,0.00,0.000,6,0.000,0.034,3049,2763,2274
$GC,10865,0.46,194.7,873.2,10.6,1041,10869,0.15,2.35,0.00,0.000,4,0.117,0.054,3024,3902,2273
$GC,10919,0.49,213.1,867.8,9.4,1043,10947,0.00,2.17,19.10,1.391,6,0.000,0.034,3023,2791,2202
$GC,11255,0.55,265.7,840.4,8.2,1060,11316,0.00,2.40,55.15,1.470,4,0.000,0.054,3024,3901,1986
$GC,11322,0.61,318.6,834.8,8.2,1063,11386,0.15,2.25,57.05,1.452,6,0.058,0.032,3051,2799,1772
$GC,11707,0.61,318.6,790.9,11.5,1082,11712,0.00,2.30,0.00,0.000,4,0.000,0.053,3051,3903,1765
$GC,11734,0.61,318.6,787.6,11.4,1083,11738,0.00,2.20,0.00,0.000,6,0.000,0.038,3051,2811,1763
$GC,12056,0.61,318.6,751.1,11.1,1099,12060,0.00,2.25,0.00,0.000,4,0.000,0.054,3051,3902,1763
$GC,12072,0.61,318.6,749.2,11.3,1100,12076,0.00,2.12,0.00,0.000,6,0.000,0.031,3051,2816,1762
$GC,12398,0.61,318.6,714.3,10.6,1116,12402,0.00,2.22,0.00,0.000,4,0.000,0.053,3051,3902,1762
$GC,12419,0.61,318.6,711.8,10.9,1117,12423,0.00,2.12,0.00,0.000,6,0.000,0.032,3051,2822,1761
$GC,12746,0.61,318.6,678.2,10.1,1133,12747,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2817,1761
$GC,13056,0.62,324.7,647.8,9.8,1148,13066,0.00,2.22,5.43,0.981,4,0.000,0.054,3051,3912,1746
$GC,13082,0.62,324.7,644.9,10.1,1149,13086,0.00,2.10,0.00,0.000,6,0.000,0.033,3051,2843,1746
$GC,13403,0.62,326.6,612.2,9.9,1165,13404,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2834,1745
$GC,13718,0.63,330.0,580.6,9.9,1189,13728,0.00,0.00,7.10,1.058,6,0.000,0.000,3051,2834,1725
$GC,14048,0.63,332.0,547.1,9.9,1220,14049,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2834,1724
$GC,14366,0.63,332.3,516.4,10.0,1250,14368,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2834,1724
$GC,14683,0.63,332.3,484.5,10.2,1280,14684,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2834,1724
$GC,15005,0.66,353.8,453.5,9.3,1310,15035,0.00,0.00,25.15,1.212,6,0.000,0.000,3051,2834,1628
$GC,15351,0.69,379.6,420.4,9.1,1343,15386,0.00,3.08,27.73,1.190,4,0.000,0.048,3051,1347,1522
$GC,15398,0.77,407.7,416.1,9.0,1347,15440,0.17,3.03,30.67,1.184,6,0.047,0.031,3088,2854,1409
$GC,15758,0.69,407.7,363.4,14.9,1381,15759,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2854,1402
$GC,16084,0.62,407.7,312.6,16.1,1432,16092,0.17,2.12,0.00,0.000,4,0.111,0.050,3059,3904,1401
$GC,16126,0.67,407.7,306.8,11.6,1439,16132,0.00,2.05,0.00,0.000,6,0.000,0.031,3059,2843,1400
$GC,16465,0.67,408.8,270.6,10.0,1500,16473,0.00,3.00,0.00,0.000,4,0.000,0.046,3059,1349,1399
$GC,16479,0.71,408.8,269.1,10.2,1502,16485,0.00,2.95,0.00,0.000,6,0.000,0.031,3059,2861,1399
$GC,16817,0.73,423.6,234.2,9.5,1563,16842,0.00,3.10,15.25,1.007,4,0.000,0.044,3059,1346,1343
$GC,16855,0.78,423.6,230.5,10.3,1569,16863,0.15,2.95,0.00,0.000,6,0.048,0.031,3092,2845,1343
$GC,17198,0.71,423.6,178.2,15.6,1630,17203,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2845,1341
$GC,17535,0.64,423.6,126.7,14.4,1691,17541,0.17,0.00,0.00,0.000,6,0.113,0.000,3063,2844,1340
$GC,17864,0.69,423.6,91.7,10.5,1752,17872,0.00,3.03,0.00,0.000,4,0.000,0.044,3063,1343,1340
$GC,17879,0.76,442.7,90.3,9.3,1754,17905,0.00,2.95,20.10,0.949,6,0.000,0.031,3063,2846,1266
$GC,18231,0.88,485.3,58.5,8.5,1818,18284,0.20,3.12,44.03,0.960,4,0.046,0.044,3111,1338,1091
$GC,18304,0.80,485.3,49.2,16.0,1829,18312,0.00,3.00,0.00,0.000,6,0.000,0.030,3111,2826,1089
$GC,18439,0.69,485.3,25.0,19.9,1854,18447,0.22,0.00,0.00,0.000,6,0.105,0.000,3073,2826,1087
$GC,18575,0.91,604.9,8.6,5.8,1879,18628,0.20,0.00,49.80,0.917,2,0.048,0.000,3119,2826,889
$STATE,18629,end climb,SURFACE_DEPTH_REACHED
$STATE,18629,begin surface coast
$FINISH,-0.0,1.002804
$STATE,18641,end surface coast,CONTROL_FINISHED_OK
$STATE,18641,begin surface
$SM_CCo,18719,0.00,0.000,0,0,886,535.98
$SM_GC,0.43,8.73,0.00,0.00,0.041,0.000,0.000,1436,2284,886,-6.79,-0.45,535.98
$IRIDIUM_FIX,5928.14,-2205.58,190797,010157
$TT8_MAMPS,0.026078
$HUMID,1718
$INTERNAL_PRESSURE,8.85822
$TCM_TEMP,12.10
$XPDR_PINGS,872
$24V_AH,19.6,33.807
$10V_AH,9.6,28.220
$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,24.225,172.675,769.450,0.000,0.000,56.209,69.475,293.372,218.000,0.000,0.000,14.986,2992.784,10446.193,832.206,4298.454,749.222,0.000,2546.926,0.000,4296.789,0.000,0.468
$DEVICE_MAMPS,250.042,99.710,1599.962,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1308.490,1364.677,726.374,912.682,1695.072,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139279,1888
$CAP_FILE_SIZE,183724,0
$CFSIZE,260165632,247316480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240408,065855,5957.686,-2216.901,25,1.5,42,-15.6