version: 66.03
glider: 142
mission: 5
dive: 99
start: 4 24 108 23 9 28
data:
$ID,142
$MISSION,5
$DIVE,99
$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,15
$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,-14663.905
$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,21
$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
$GPS1,230056,6005.266,-2219.747,42,1.5,42,-15.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-48.3
$GPS2,230911,6005.258,-2219.818,12,4.3,31,-15.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6015.689,-2218.432
$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,30.7,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,165,0.00,0.00,-136.88,0.000,2,0.000,0.000,1435,2286,3559
$GC,168,-0.86,-194.7,3.0,-4.3,19,199,11.30,2.90,-8.60,0.000,4,0.249,0.052,2726,3705,3867
$GC,436,-0.79,-194.7,43.4,-14.4,68,444,0.08,2.78,0.00,0.000,6,0.134,0.033,2739,2305,3868
$GC,576,-0.74,-194.7,61.4,-12.5,93,583,0.00,2.83,0.00,0.000,4,0.000,0.050,2739,887,3868
$GC,644,-0.74,-194.7,70.4,-12.6,105,650,0.00,2.70,0.00,0.000,6,0.000,0.029,2739,2294,3868
$GC,974,-0.69,-194.7,111.9,-12.6,166,983,0.15,0.00,0.00,0.000,6,0.133,0.000,2763,2294,3868
$GC,1310,-0.69,-194.7,146.7,-10.7,227,1316,0.00,2.80,0.00,0.000,4,0.000,0.048,2763,885,3868
$GC,1355,-0.69,-194.7,151.6,-10.7,235,1361,0.00,2.67,0.00,0.000,6,0.000,0.029,2763,2286,3868
$GC,1694,-0.69,-194.7,186.4,-10.4,296,1703,0.00,2.83,0.00,0.000,4,0.000,0.044,2764,3705,3868
$GC,1754,-0.69,-194.7,192.4,-10.1,306,1760,0.00,2.75,0.00,0.000,6,0.000,0.031,2763,2281,3868
$GC,2096,-0.69,-194.7,226.2,-10.0,367,2102,0.00,2.75,0.00,0.000,4,0.000,0.048,2763,885,3868
$GC,2132,-0.69,-194.7,229.7,-10.4,373,2138,0.00,2.67,0.00,0.000,6,0.000,0.028,2763,2289,3868
$GC,2470,-0.69,-194.7,263.4,-9.7,434,2476,0.00,2.78,0.00,0.000,4,0.000,0.044,2763,3701,3868
$GC,2526,-0.69,-194.7,269.1,-9.9,444,2533,0.00,2.75,0.00,0.000,6,0.000,0.033,2763,2294,3867
$GC,2868,-0.69,-194.7,301.8,-9.6,505,2874,0.00,2.78,0.00,0.000,4,0.000,0.050,2763,885,3868
$GC,2908,-0.69,-194.7,306.0,-9.7,512,2915,0.00,2.72,0.00,0.000,6,0.000,0.028,2763,2300,3868
$GC,3252,-0.69,-194.7,337.0,-8.8,573,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2301,3868
$GC,3588,-0.69,-194.7,368.2,-9.2,617,3593,0.00,2.75,0.00,0.000,4,0.000,0.045,2763,3702,3868
$GC,3661,-0.69,-194.7,375.4,-9.5,623,3666,0.00,2.72,0.00,0.000,6,0.000,0.032,2763,2293,3868
$GC,3987,-0.69,-194.7,406.7,-9.9,653,3991,0.00,2.78,0.00,0.000,4,0.000,0.050,2763,883,3868
$GC,4026,-0.69,-194.7,410.8,-10.3,656,4030,0.00,2.70,0.00,0.000,6,0.000,0.028,2763,2301,3868
$GC,4352,-0.69,-194.7,442.1,-9.3,686,4357,0.00,2.75,0.00,0.000,4,0.000,0.046,2763,3702,3868
$GC,4402,-0.69,-194.7,447.0,-9.4,690,4406,0.00,2.72,0.00,0.000,6,0.000,0.033,2763,2295,3868
$GC,4727,-0.69,-194.7,477.7,-9.9,720,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2295,3868
$GC,5044,-0.69,-194.7,509.1,-9.3,750,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2295,3867
$GC,5363,-0.69,-194.7,538.9,-9.4,780,5368,0.00,2.83,0.00,0.000,4,0.000,0.048,2763,3706,3868
$GC,5429,-0.69,-194.7,545.3,-9.7,785,5436,0.00,2.72,0.00,0.000,6,0.000,0.035,2763,2301,3868
$GC,5756,-0.69,-194.7,574.5,-8.8,816,5760,0.00,2.80,0.00,0.000,4,0.000,0.054,2763,887,3867
$GC,5799,-0.73,-194.7,578.7,-9.6,819,5806,0.00,2.70,0.00,0.000,6,0.000,0.030,2764,2303,3867
$GC,6123,-0.73,-194.7,607.7,-9.1,846,6127,0.00,2.80,0.00,0.000,4,0.000,0.052,2763,3706,3867
$GC,6189,-0.73,-194.7,614.1,-9.3,849,6194,0.00,2.72,0.00,0.000,6,0.000,0.037,2763,2309,3867
$GC,6509,-0.73,-194.7,643.6,-9.3,865,6514,0.00,2.88,0.00,0.000,4,0.000,0.061,2764,884,3867
$GC,6548,-0.78,-194.7,647.4,-10.1,867,6553,0.00,2.75,0.00,0.000,6,0.000,0.034,2763,2303,3866
$GC,6874,-0.78,-194.7,676.2,-8.6,883,6879,0.00,2.88,0.00,0.000,4,0.000,0.061,2763,3715,3866
$GC,6947,-0.82,-194.7,682.8,-9.3,886,6952,0.12,2.80,0.00,0.000,6,0.071,0.045,2740,2312,3866
$GC,7262,-0.82,-194.7,715.5,-10.5,901,7267,0.00,2.97,0.00,0.000,4,0.000,0.072,2740,881,3866
$GC,7323,-0.82,-194.7,722.3,-11.0,904,7328,0.00,2.85,0.00,0.000,6,0.000,0.044,2740,2317,3865
$GC,7648,-0.82,-194.7,757.5,-10.8,920,7649,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2317,3866
$GC,7958,-0.82,-194.7,791.0,-10.9,935,7959,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2316,3865
$GC,8267,-0.82,-194.7,824.3,-10.6,950,8268,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2316,3864
$GC,8576,-0.82,-194.7,856.2,-10.3,965,8577,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2316,3864
$GC,8885,-0.82,-194.7,887.5,-10.2,980,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2316,3863
$GC,9195,-0.82,-194.7,919.1,-10.2,995,9200,0.00,3.55,0.00,0.000,4,0.000,0.157,2740,3703,3863
$GC,9250,-0.82,-194.7,925.1,-11.4,997,9257,0.00,2.75,0.00,0.000,6,0.000,0.042,2740,2313,3863
$GC,9565,-0.82,-194.7,957.9,-10.3,1013,9570,0.00,2.90,0.00,0.000,4,0.000,0.061,2740,885,3863
$GC,9614,-0.82,-194.7,963.2,-10.9,1015,9619,0.00,2.80,0.00,0.000,6,0.000,0.035,2740,2325,3862
$STATE,9886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9886,begin apogee
$GC,9892,-0.21,0.0,990.6,10.0,1028,10098,0.80,0.00,201.65,1.605,6,0.130,0.000,2870,2751,3071
$STATE,10098,end apogee,CONTROL_FINISHED_OK
$STATE,10098,begin climb
$GC,10101,0.86,194.7,996.8,0.0,1038,10325,1.38,2.67,210.43,1.549,4,0.080,0.058,3100,3897,2277
$GC,10439,0.68,194.7,957.2,16.0,1054,10444,0.20,2.40,0.00,0.000,6,0.132,0.035,3074,2742,2275
$GC,10765,0.57,194.7,915.8,12.7,1070,10770,0.17,2.42,0.00,0.000,4,0.132,0.053,3047,3903,2274
$GC,10805,0.51,194.7,911.2,10.7,1072,10809,0.00,2.30,0.00,0.000,6,0.000,0.034,3047,2751,2274
$GC,11137,0.47,197.1,877.7,9.9,1088,11139,0.15,0.00,0.00,0.000,6,0.121,0.000,3025,2750,2273
$GC,11446,0.54,253.5,852.8,8.0,1103,11508,0.00,0.00,60.10,1.486,6,0.000,0.000,3025,2749,2037
$GC,11816,0.60,309.1,822.6,8.1,1121,11877,0.15,0.00,58.78,1.463,6,0.058,0.000,3054,2750,1810
$GC,12184,0.60,309.1,780.2,11.8,1139,12188,0.00,2.38,0.00,0.000,4,0.000,0.053,3054,3898,1804
$GC,12201,0.60,309.1,778.2,12.0,1140,12205,0.00,2.25,0.00,0.000,6,0.000,0.032,3054,2760,1803
$GC,12528,0.60,309.1,739.6,11.7,1156,12529,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2758,1803
$GC,12836,0.60,309.1,703.9,11.6,1171,12841,0.00,2.33,0.00,0.000,4,0.000,0.052,3055,3899,1802
$GC,12853,0.60,309.1,701.9,11.8,1172,12857,0.00,2.20,0.00,0.000,6,0.000,0.032,3055,2765,1801
$GC,13179,0.60,309.1,665.2,11.2,1188,13180,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2765,1801
$GC,13488,0.60,309.1,629.8,11.3,1203,13489,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2764,1801
$GC,13798,0.60,309.1,595.6,11.1,1219,13799,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2764,1801
$GC,14118,0.60,309.1,561.4,10.8,1249,14123,0.00,2.30,0.00,0.000,4,0.000,0.051,3054,3903,1800
$GC,14147,0.60,309.1,558.2,10.8,1251,14151,0.00,2.20,0.00,0.000,6,0.000,0.031,3054,2761,1800
$GC,14474,0.60,309.1,523.7,10.8,1281,14480,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2760,1800
$GC,14800,0.60,309.1,488.2,10.8,1312,14801,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2760,1800
$GC,15119,0.61,309.5,454.5,10.0,1342,15120,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2758,1800
$GC,15436,0.61,309.5,422.2,10.4,1372,15437,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2756,1800
$GC,15754,0.61,309.5,390.3,10.1,1402,15756,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2754,1800
$GC,16074,0.61,309.5,357.4,10.4,1432,16078,0.00,2.28,0.00,0.000,4,0.000,0.048,3055,3897,1800
$GC,16095,0.61,309.5,355.4,10.5,1433,16099,0.00,2.15,0.00,0.000,6,0.000,0.031,3055,2771,1800
$GC,16430,0.61,309.5,321.8,10.1,1488,16438,0.00,2.85,0.00,0.000,4,0.000,0.047,3055,1348,1800
$GC,16444,0.63,331.2,320.5,9.2,1490,16474,0.00,2.75,21.08,1.104,6,0.000,0.029,3055,2775,1720
$GC,16809,0.63,331.2,283.7,11.0,1555,16815,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2775,1717
$GC,17148,0.63,331.2,249.3,10.6,1616,17156,0.00,2.90,0.00,0.000,4,0.000,0.044,3055,1341,1717
$GC,17174,0.64,336.8,246.8,9.8,1620,17187,0.00,2.78,6.38,0.856,6,0.000,0.031,3054,2752,1698
$GC,17521,0.66,352.4,212.6,9.5,1682,17540,0.00,0.00,17.23,1.025,6,0.000,0.000,3055,2752,1634
$GC,17875,0.67,359.0,177.1,9.8,1745,17892,0.00,2.88,7.78,0.874,4,0.000,0.044,3055,1348,1607
$GC,17905,0.72,370.9,173.8,9.6,1750,17925,0.10,2.78,13.73,0.979,6,0.058,0.030,3077,2765,1558
$GC,18257,0.72,370.9,127.8,13.1,1813,18262,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2765,1555
$GC,18587,0.72,370.9,83.7,12.5,1874,18595,0.00,2.25,0.00,0.000,4,0.000,0.048,3077,3890,1554
$GC,18601,0.72,370.9,81.8,13.0,1876,18610,0.00,2.20,0.00,0.000,6,0.000,0.031,3077,2765,1554
$GC,18932,0.72,370.9,39.4,13.5,1937,18940,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2764,1554
$GC,19067,0.72,370.9,22.4,11.0,1962,19074,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2764,1554
$GC,19201,0.72,370.9,7.1,10.3,1987,19209,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2764,1554
$STATE,19245,end climb,SURFACE_DEPTH_REACHED
$STATE,19245,begin surface coast
$FINISH,0.5,1.026221
$STATE,19263,end surface coast,CONTROL_FINISHED_OK
$STATE,19263,begin surface
$SM_CCo,19341,0.00,0.000,0,0,1551,372.61
$SM_GC,0.69,8.27,0.00,0.00,0.047,0.000,0.000,1437,2298,1551,-6.79,-0.06,372.61
$IRIDIUM_FIX,5940.92,-2223.28,190797,171729
$TT8_MAMPS,0.026078
$HUMID,1747
$INTERNAL_PRESSURE,8.91681
$TCM_TEMP,12.10
$XPDR_PINGS,891
$24V_AH,19.6,35.086
$10V_AH,9.8,29.044
$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,22.875,151.875,597.125,0.000,0.000,24.480,35.965,277.439,222.750,0.000,0.000,33.605,3143.213,10816.684,740.627,4454.249,661.475,0.000,2418.363,0.000,4436.980,0.000,0.465
$DEVICE_MAMPS,248.508,157.235,1605.331,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1385.240,1441.416,742.730,999.072,1801.887,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,148491,1998
$CAP_FILE_SIZE,179312,0
$CFSIZE,260165632,246927360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250408,043307,6007.471,-2221.306,37,1.1,42,-15.7