version: 66.03
glider: 142
mission: 5
dive: 100
start: 4 25 108 4 41 21
data:
$ID,142
$MISSION,5
$DIVE,100
$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,-14675.952
$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,24
$R_STBD_OVSHOOT,23
$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
$GPS1,043307,6007.471,-2221.306,37,1.1,42,-15.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-54.5
$GPS2,044103,6007.452,-2221.358,9,1.7,9,-15.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6017.883,-2219.974
$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,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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.86,-194.7,0.0,0.0,0,145,0.00,0.00,-114.62,0.000,2,0.000,0.000,1437,2290,3533
$GC,148,-0.86,-194.7,3.3,-6.2,16,179,11.23,2.90,-9.40,0.000,4,0.247,0.054,2727,3709,3867
$GC,416,-0.80,-194.7,42.4,-14.0,65,424,0.00,2.78,0.00,0.000,6,0.000,0.033,2727,2304,3867
$GC,552,-0.72,-194.7,61.2,-14.1,90,560,0.17,2.85,0.00,0.000,4,0.145,0.049,2754,891,3867
$GC,598,-0.72,-194.7,66.9,-11.6,98,606,0.00,2.72,0.00,0.000,6,0.000,0.029,2754,2292,3868
$GC,931,-0.72,-194.7,103.3,-11.2,159,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2293,3867
$GC,1259,-0.72,-194.7,139.5,-11.1,220,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2293,3867
$GC,1598,-0.72,-194.7,176.1,-10.8,281,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2292,3867
$GC,1936,-0.72,-194.7,212.0,-10.7,342,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2293,3867
$GC,2276,-0.72,-194.7,247.9,-11.0,403,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2292,3867
$GC,2613,-0.72,-194.7,283.8,-10.8,464,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2292,3868
$GC,2954,-0.72,-194.7,320.2,-11.0,525,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2292,3868
$GC,3288,-0.72,-194.7,358.5,-11.3,579,3293,0.00,2.78,0.00,0.000,4,0.000,0.048,2754,891,3868
$GC,3327,-0.72,-194.7,363.0,-11.7,582,3331,0.00,2.65,0.00,0.000,6,0.000,0.030,2754,2281,3868
$GC,3652,-0.72,-194.7,400.5,-11.4,612,3656,0.00,2.80,0.00,0.000,4,0.000,0.045,2754,3706,3868
$GC,3704,-0.72,-194.7,406.3,-11.2,616,3708,0.00,2.78,0.00,0.000,6,0.000,0.033,2754,2271,3868
$GC,4031,-0.72,-194.7,442.3,-10.7,646,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2270,3868
$GC,4355,-0.72,-194.7,477.7,-10.7,677,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2270,3867
$GC,4674,-0.72,-194.7,511.8,-10.6,707,4679,0.00,2.85,0.00,0.000,4,0.000,0.047,2754,3702,3868
$GC,4726,-0.72,-194.7,517.2,-10.8,711,4731,0.00,2.78,0.00,0.000,6,0.000,0.034,2754,2271,3868
$GC,5052,-0.72,-194.7,550.1,-9.6,741,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2270,3867
$GC,5369,-0.72,-194.7,581.6,-10.0,771,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2270,3868
$GC,5694,-0.72,-194.7,614.9,-10.2,795,5698,0.00,2.90,0.00,0.000,4,0.000,0.053,2754,3706,3867
$GC,5770,-0.72,-194.7,622.8,-10.4,798,5777,0.00,2.78,0.00,0.000,6,0.000,0.038,2754,2291,3867
$GC,6086,-0.72,-194.7,653.1,-9.6,814,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2290,3867
$GC,6396,-0.72,-194.7,683.5,-10.0,829,6397,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2289,3867
$GC,6705,-0.72,-194.7,714.2,-9.8,844,6709,0.00,2.92,0.00,0.000,4,0.000,0.064,2754,3698,3866
$GC,6776,-0.72,-194.7,721.4,-9.7,847,6781,0.00,2.83,0.00,0.000,6,0.000,0.051,2754,2304,3866
$GC,7092,-0.72,-194.7,751.8,-9.6,862,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2302,3866
$GC,7401,-0.72,-194.7,781.1,-9.5,877,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2302,3865
$GC,7710,-0.72,-194.7,810.1,-9.3,892,7715,0.00,3.12,0.00,0.000,4,0.000,0.097,2754,3695,3865
$GC,7772,-0.72,-194.7,816.0,-9.6,895,7777,0.00,3.03,0.00,0.000,6,0.000,0.084,2754,2309,3865
$GC,8098,-0.72,-194.7,845.9,-9.1,911,8103,0.00,3.33,0.00,0.000,4,0.000,0.124,2754,887,3865
$GC,8138,-0.76,-194.7,849.5,-9.3,913,8142,0.00,2.75,0.00,0.000,6,0.000,0.032,2754,2314,3864
$GC,8464,-0.76,-194.7,877.9,-8.5,929,8468,0.00,2.80,0.00,0.000,4,0.000,0.056,2754,3706,3864
$GC,8513,-0.76,-194.7,882.3,-9.0,931,8517,0.00,2.75,0.00,0.000,6,0.000,0.040,2754,2310,3864
$GC,8829,-0.76,-194.7,909.2,-8.6,946,8833,0.00,2.88,0.00,0.000,4,0.000,0.061,2754,891,3864
$GC,8855,-0.76,-194.7,911.8,-9.9,947,8860,0.00,2.80,0.00,0.000,6,0.000,0.034,2754,2331,3863
$GC,9171,-0.76,-194.7,939.6,-9.0,962,9175,0.00,2.80,0.00,0.000,4,0.000,0.058,2754,3714,3863
$GC,9220,-0.76,-194.7,944.2,-9.9,964,9225,0.00,2.75,0.00,0.000,6,0.000,0.041,2754,2325,3863
$GC,9535,-0.76,-194.7,972.1,-8.8,979,9540,0.00,2.92,0.00,0.000,4,0.000,0.062,2754,887,3863
$GC,9569,-0.76,-194.7,975.2,-10.1,980,9575,0.00,2.83,0.00,0.000,6,0.000,0.034,2754,2339,3863
$STATE,9737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9737,begin apogee
$GC,9743,-0.21,0.0,990.7,9.1,989,9949,0.70,0.00,202.05,1.603,6,0.117,0.000,2871,2755,3071
$STATE,9949,end apogee,CONTROL_FINISHED_OK
$STATE,9950,begin climb
$GC,9952,0.86,194.7,997.9,0.0,999,10176,1.38,2.65,210.45,1.549,4,0.083,0.058,3101,3890,2277
$GC,10307,0.68,194.7,957.3,15.5,1015,10313,0.22,2.38,0.00,0.000,6,0.130,0.035,3070,2743,2275
$GC,10622,0.56,194.7,918.8,12.2,1031,10627,0.15,2.42,0.00,0.000,4,0.127,0.054,3046,3899,2274
$GC,10666,0.51,194.7,913.8,10.8,1033,10670,0.00,2.28,0.00,0.000,6,0.000,0.033,3046,2751,2274
$GC,10986,0.46,194.7,881.6,10.3,1049,10991,0.15,2.38,0.00,0.000,4,0.122,0.053,3021,3901,2273
$GC,11013,0.49,219.0,878.9,9.2,1050,11045,0.00,2.20,24.90,1.434,6,0.000,0.032,3020,2768,2178
$GC,11354,0.57,282.7,852.2,7.8,1067,11423,0.12,0.00,66.62,1.487,6,0.062,0.000,3045,2766,1918
$GC,11740,0.57,285.0,813.7,9.9,1086,11745,0.00,2.92,0.00,0.000,4,0.000,0.050,3045,1337,1912
$GC,11756,0.57,285.0,812.0,10.0,1087,11761,0.00,2.88,0.00,0.000,6,0.000,0.033,3045,2771,1911
$GC,12082,0.59,296.3,780.4,9.6,1103,12102,0.00,0.00,14.32,1.323,6,0.000,0.000,3045,2773,1862
$GC,12411,0.60,307.6,749.3,9.6,1119,12433,0.00,3.00,12.88,1.293,4,0.000,0.048,3045,1341,1815
$GC,12456,0.63,328.0,744.9,9.3,1121,12485,0.00,2.85,22.98,1.380,6,0.000,0.033,3045,2764,1733
$GC,12809,0.64,337.8,710.9,9.7,1138,12829,0.00,2.92,11.12,1.245,4,0.000,0.053,3045,1342,1692
$GC,12834,0.64,337.8,708.0,10.1,1139,12839,0.00,2.85,0.00,0.000,6,0.000,0.032,3044,2762,1692
$GC,13155,0.64,337.8,676.8,10.1,1155,13160,0.00,2.90,0.00,0.000,4,0.000,0.048,3045,1336,1690
$GC,13181,0.64,337.8,674.0,10.3,1156,13186,0.00,2.78,0.00,0.000,6,0.000,0.033,3045,2741,1689
$GC,13503,0.64,337.8,642.0,10.1,1172,13508,0.00,2.83,0.00,0.000,4,0.000,0.048,3045,1344,1689
$GC,13514,0.64,341.3,640.7,9.9,1172,13524,0.00,2.75,4.60,0.900,6,0.000,0.031,3045,2745,1679
$GC,13845,0.65,349.2,608.4,9.7,1189,13860,0.00,2.85,9.80,1.167,4,0.000,0.048,3045,1345,1647
$GC,13871,0.68,369.3,605.8,9.3,1189,13904,0.12,2.72,22.90,1.305,6,0.055,0.031,3072,2726,1564
$GC,14221,0.62,369.3,559.2,13.7,1220,14222,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2726,1560
$GC,14540,0.58,369.3,517.5,13.0,1250,14545,0.15,2.35,0.00,0.000,4,0.110,0.050,3050,3899,1559
$GC,14557,0.58,369.3,515.2,12.8,1251,14561,0.00,2.28,0.00,0.000,6,0.000,0.032,3050,2730,1559
$GC,14885,0.59,382.6,483.7,9.5,1281,14907,0.00,2.83,14.07,1.167,4,0.000,0.049,3050,1336,1510
$GC,14912,0.65,394.6,480.6,9.6,1283,14932,0.00,2.75,13.98,1.173,6,0.000,0.030,3050,2732,1462
$GC,15259,0.73,410.1,448.6,9.5,1316,15283,0.15,2.90,17.23,1.164,4,0.052,0.047,3086,1340,1398
$GC,15300,0.73,410.1,443.4,14.3,1320,15305,0.00,2.72,0.00,0.000,6,0.000,0.031,3086,2710,1397
$GC,15628,0.66,410.1,394.3,15.3,1350,15633,0.15,2.38,0.00,0.000,4,0.109,0.048,3064,3898,1396
$GC,15655,0.66,410.1,389.9,13.9,1352,15660,0.00,2.30,0.00,0.000,6,0.000,0.031,3064,2714,1394
$GC,15979,0.66,410.1,354.8,10.8,1382,15984,0.00,2.72,0.00,0.000,4,0.000,0.048,3064,1346,1394
$GC,15996,0.66,410.1,353.0,11.0,1383,16000,0.00,2.70,0.00,0.000,6,0.000,0.031,3064,2733,1394
$GC,16333,0.66,410.1,316.7,10.3,1440,16341,0.00,2.80,0.00,0.000,4,0.000,0.046,3064,1348,1393
$GC,16353,0.66,410.1,314.6,11.0,1443,16359,0.00,2.65,0.00,0.000,6,0.000,0.031,3063,2713,1394
$GC,16691,0.66,410.1,278.7,10.8,1504,16699,0.00,2.75,0.00,0.000,4,0.000,0.046,3064,1349,1393
$GC,16705,0.66,410.1,277.2,12.1,1506,16711,0.00,2.62,0.00,0.000,6,0.000,0.030,3064,2707,1393
$GC,17045,0.68,429.5,242.0,9.3,1567,17074,0.00,2.80,20.27,1.052,4,0.000,0.045,3063,1342,1319
$GC,17083,0.72,429.5,238.3,11.0,1573,17089,0.00,2.65,0.00,0.000,6,0.000,0.029,3064,2696,1318
$GC,17423,0.77,429.5,204.6,10.5,1634,17430,0.12,2.72,0.00,0.000,4,0.056,0.044,3090,1336,1316
$GC,17438,0.77,429.5,203.2,10.3,1636,17446,0.00,2.65,0.00,0.000,6,0.000,0.030,3090,2685,1316
$GC,17781,0.70,429.5,150.5,15.1,1697,17787,0.00,2.38,0.00,0.000,4,0.000,0.046,3091,3891,1316
$GC,17817,0.66,429.5,144.6,15.1,1703,17824,0.15,2.30,0.00,0.000,6,0.104,0.032,3068,2701,1316
$GC,18146,0.66,429.5,107.1,10.2,1764,18154,0.00,2.72,0.00,0.000,4,0.000,0.047,3067,1337,1315
$GC,18168,0.71,429.5,104.9,11.2,1767,18174,0.00,2.60,0.00,0.000,6,0.000,0.028,3067,2690,1315
$GC,18497,0.75,429.5,69.5,10.5,1828,18505,0.00,2.70,0.00,0.000,4,0.000,0.046,3067,1348,1315
$GC,18519,0.81,429.5,67.3,10.6,1831,18526,0.15,2.58,0.00,0.000,6,0.048,0.029,3101,2688,1315
$GC,18846,0.73,429.5,14.1,17.6,1892,18855,0.12,2.38,0.00,0.000,4,0.114,0.046,3082,3884,1314
$GC,18899,0.77,429.5,6.5,13.0,1901,18907,0.00,2.30,0.00,0.000,6,0.000,0.032,3082,2702,1314
$STATE,18939,end climb,SURFACE_DEPTH_REACHED
$STATE,18939,begin surface coast
$FINISH,0.2,1.026188
$STATE,18956,end surface coast,CONTROL_FINISHED_OK
$STATE,18956,begin surface
$SM_CCo,19034,0.00,0.000,0,0,1313,431.24
$SM_GC,0.68,8.30,0.00,0.00,0.047,0.000,0.000,1434,2284,1313,-6.79,-0.42,431.24
$IRIDIUM_FIX,5945.20,-2216.94,190797,232347
$TT8_MAMPS,0.026845
$HUMID,1751
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,12.10
$XPDR_PINGS,861
$24V_AH,19.6,35.408
$10V_AH,9.7,29.247
$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,23.550,191.775,668.175,0.000,0.000,28.013,32.988,281.415,215.250,0.000,0.000,11.418,3055.969,10643.091,801.451,4318.713,670.658,0.000,2492.034,0.000,4315.582,0.000,0.465
$DEVICE_MAMPS,246.974,124.254,1603.030,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1324.874,1381.281,688.228,925.055,1702.598,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139361,1911
$CAP_FILE_SIZE,187242,0
$CFSIZE,260165632,246824960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250408,095938,6009.793,-2222.808,27,1.6,27,-15.8