version: 66.03
glider: 142
mission: 5
dive: 101
start: 4 25 108 10 7 43
data:
$ID,142
$MISSION,5
$DIVE,101
$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,10
$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,-14707.953
$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,31
$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
$GPS1,095938,6009.793,-2222.808,27,1.6,27,-15.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-53.6
$GPS2,100726,6009.767,-2222.892,12,1.5,29,-15.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6020.402,-2221.964
$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,25.8,20000,-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,-194.7,0.0,0.0,0,166,0.00,0.00,-137.10,0.000,2,0.000,0.000,1433,2278,3712
$GC,169,-0.86,-194.7,3.4,-4.4,19,193,11.32,2.88,-3.90,0.000,4,0.251,0.051,2724,3700,3866
$GC,419,-0.79,-194.7,45.3,-14.3,65,428,0.10,2.75,0.00,0.000,6,0.133,0.034,2741,2310,3866
$GC,557,-0.74,-194.7,63.4,-12.9,90,565,0.00,2.85,0.00,0.000,4,0.000,0.050,2741,893,3866
$GC,656,-0.74,-194.7,75.7,-12.4,107,662,0.00,2.70,0.00,0.000,6,0.000,0.029,2741,2295,3867
$GC,984,-0.69,-194.7,115.9,-11.7,168,992,0.15,0.00,0.00,0.000,6,0.138,0.000,2765,2296,3867
$GC,1318,-0.69,-194.7,149.6,-10.1,229,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2296,3866
$GC,1657,-0.69,-194.7,185.1,-10.7,290,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2296,3867
$GC,1998,-0.69,-194.7,220.9,-10.0,351,2004,0.00,2.78,0.00,0.000,4,0.000,0.044,2765,3709,3866
$GC,2057,-0.69,-194.7,226.7,-10.2,361,2064,0.00,2.78,0.00,0.000,6,0.000,0.034,2765,2277,3867
$GC,2395,-0.69,-194.7,261.3,-10.4,422,2401,0.00,2.72,0.00,0.000,4,0.000,0.050,2765,894,3867
$GC,2425,-0.69,-194.7,264.2,-10.4,427,2431,0.00,2.65,0.00,0.000,6,0.000,0.029,2765,2287,3867
$GC,2764,-0.69,-194.7,298.7,-10.2,488,2772,0.00,2.80,0.00,0.000,4,0.000,0.044,2765,3698,3867
$GC,2819,-0.69,-194.7,304.1,-10.3,497,2825,0.00,2.75,0.00,0.000,6,0.000,0.032,2765,2276,3867
$GC,3159,-0.69,-194.7,338.6,-10.3,558,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2274,3866
$GC,3494,-0.69,-194.7,373.1,-10.1,599,3498,0.00,2.83,0.00,0.000,4,0.000,0.045,2765,3700,3867
$GC,3554,-0.69,-194.7,379.4,-10.5,604,3559,0.00,2.72,0.00,0.000,6,0.000,0.033,2764,2292,3867
$GC,3880,-0.69,-194.7,412.3,-10.0,634,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2292,3867
$GC,4197,-0.69,-194.7,444.1,-9.9,664,4201,0.00,2.80,0.00,0.000,4,0.000,0.045,2765,3703,3867
$GC,4253,-0.69,-194.7,449.5,-9.8,668,4259,0.00,2.72,0.00,0.000,6,0.000,0.033,2765,2292,3867
$GC,4579,-0.69,-194.7,480.1,-9.4,699,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2292,3867
$GC,4899,-0.69,-194.7,509.1,-9.1,729,4903,0.00,2.80,0.00,0.000,4,0.000,0.047,2765,3699,3866
$GC,4954,-0.74,-194.7,514.5,-9.3,733,4960,0.00,2.70,0.00,0.000,6,0.000,0.034,2765,2306,3867
$GC,5280,-0.74,-194.7,543.1,-8.5,764,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2305,3867
$GC,5597,-0.74,-194.7,570.7,-9.0,794,5601,0.00,2.80,0.00,0.000,4,0.000,0.050,2765,3702,3867
$GC,5663,-0.78,-194.7,576.9,-9.3,799,5670,0.00,2.67,0.00,0.000,6,0.000,0.035,2765,2322,3866
$GC,5997,-0.78,-194.7,607.6,-9.3,827,6002,0.00,2.85,0.00,0.000,4,0.000,0.056,2765,893,3866
$GC,6036,-0.83,-194.7,611.4,-9.6,829,6042,0.15,2.72,0.00,0.000,6,0.057,0.031,2735,2309,3866
$GC,6363,-0.83,-194.7,649.4,-11.9,845,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2310,3866
$GC,6672,-0.83,-194.7,686.1,-11.9,860,6676,0.00,2.90,0.00,0.000,4,0.000,0.061,2734,893,3865
$GC,6715,-0.83,-194.7,691.5,-12.1,862,6719,0.00,2.78,0.00,0.000,6,0.000,0.038,2734,2309,3865
$GC,7042,-0.83,-194.7,728.6,-11.0,878,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2309,3865
$GC,7351,-0.83,-194.7,761.5,-10.6,893,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2309,3865
$GC,7660,-0.83,-194.7,795.2,-11.2,908,7665,0.00,3.17,0.00,0.000,4,0.000,0.102,2735,895,3865
$GC,7715,-0.83,-194.7,801.8,-12.2,910,7721,0.00,3.00,0.00,0.000,6,0.000,0.076,2734,2306,3865
$GC,8030,-0.83,-194.7,837.9,-11.3,926,8031,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2306,3864
$GC,8339,-0.83,-194.7,872.7,-11.3,941,8344,0.00,3.42,0.00,0.000,4,0.000,0.133,2735,897,3864
$GC,8389,-0.83,-194.7,878.4,-11.6,943,8393,0.00,2.75,0.00,0.000,6,0.000,0.032,2735,2318,3864
$GC,8704,-0.83,-194.7,911.4,-10.3,958,8705,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2318,3864
$GC,9013,-0.83,-194.7,943.1,-10.3,973,9014,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2318,3863
$GC,9323,-0.83,-194.7,976.1,-10.8,988,9327,0.00,2.92,0.00,0.000,4,0.000,0.059,2734,884,3862
$GC,9371,-0.83,-194.7,981.8,-11.4,990,9376,0.00,2.75,0.00,0.000,6,0.000,0.039,2735,2296,3862
$STATE,9464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9464,begin apogee
$GC,9470,-0.21,0.0,991.8,10.7,995,9675,0.82,0.00,201.45,1.601,6,0.130,0.000,2867,2759,3071
$STATE,9675,end apogee,CONTROL_FINISHED_OK
$STATE,9675,begin climb
$GC,9678,0.86,194.7,999.3,0.0,1005,9902,1.40,2.65,210.38,1.546,4,0.085,0.058,3099,3896,2276
$GC,10033,0.68,194.7,959.8,14.4,1021,10039,0.20,2.38,0.00,0.000,6,0.130,0.035,3072,2747,2274
$GC,10348,0.57,194.7,921.0,12.3,1037,10353,0.17,2.42,0.00,0.000,4,0.130,0.054,3046,3903,2273
$GC,10403,0.52,194.7,914.8,10.8,1039,10409,0.00,2.25,0.00,0.000,6,0.000,0.034,3045,2768,2273
$GC,10719,0.50,216.7,885.1,9.2,1055,10748,0.00,2.45,22.48,1.416,4,0.000,0.054,3046,3903,2187
$GC,10760,0.53,243.7,881.1,9.1,1057,10795,0.00,2.25,29.27,1.451,6,0.000,0.033,3046,2778,2077
$GC,11113,0.54,244.6,845.9,10.0,1074,11114,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2777,2074
$GC,11420,0.54,244.6,814.3,10.2,1089,11424,0.00,2.30,0.00,0.000,4,0.000,0.054,3045,3900,2073
$GC,11440,0.54,244.6,812.1,10.5,1090,11445,0.00,2.20,0.00,0.000,6,0.000,0.033,3045,2787,2073
$GC,11767,0.54,244.6,779.2,10.2,1106,11769,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2783,2072
$GC,12077,0.54,244.6,747.8,10.3,1121,12078,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2783,2072
$GC,12386,0.54,247.8,716.4,9.9,1136,12396,0.00,2.28,4.90,0.960,4,0.000,0.061,3045,3896,2059
$GC,12418,0.55,254.7,713.0,9.8,1137,12432,0.00,2.15,8.65,1.184,6,0.000,0.033,3045,2787,2032
$GC,12754,0.55,254.7,679.4,10.2,1154,12755,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2786,2031
$GC,13064,0.55,254.7,648.1,10.2,1169,13065,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2785,2030
$GC,13373,0.56,266.4,617.5,9.6,1184,13387,0.00,0.00,12.70,1.224,6,0.000,0.000,3046,2783,1985
$GC,13686,0.60,294.5,588.2,9.0,1205,13718,0.00,0.00,29.85,1.308,6,0.000,0.000,3045,2783,1870
$GC,14034,0.63,321.7,556.9,9.1,1238,14067,0.00,0.00,28.60,1.272,6,0.000,0.000,3045,2781,1759
$GC,14383,0.63,321.7,523.3,10.1,1271,14385,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2781,1755
$GC,14703,0.64,331.4,492.2,9.7,1301,14719,0.00,2.92,10.50,1.099,4,0.000,0.047,3045,1340,1719
$GC,14730,0.64,331.4,489.3,10.1,1303,14735,0.00,2.90,0.00,0.000,6,0.000,0.031,3046,2806,1718
$GC,15056,0.66,342.1,458.0,9.6,1333,15078,0.00,3.03,12.10,1.107,4,0.000,0.046,3045,1341,1675
$GC,15090,0.70,342.1,454.6,10.0,1336,15095,0.15,2.88,0.00,0.000,6,0.050,0.031,3077,2792,1675
$GC,15415,0.64,342.1,412.2,13.1,1366,15416,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2792,1673
$GC,15735,0.58,342.1,370.4,13.2,1396,15737,0.17,0.00,0.00,0.000,6,0.112,0.000,3050,2792,1673
$GC,16055,0.59,351.5,339.1,9.7,1436,16075,0.00,2.95,10.90,1.018,4,0.000,0.045,3050,1351,1636
$GC,16098,0.66,364.7,335.2,9.5,1443,16117,0.00,2.80,14.70,1.083,6,0.000,0.030,3050,2776,1584
$GC,16452,0.72,377.8,303.4,9.5,1506,16472,0.15,2.92,14.38,1.038,4,0.052,0.045,3085,1340,1530
$GC,16484,0.72,377.8,299.6,11.0,1511,16490,0.00,2.83,0.00,0.000,6,0.000,0.030,3085,2768,1529
$GC,16822,0.65,377.8,252.2,13.5,1572,16830,0.15,0.00,0.00,0.000,6,0.110,0.000,3059,2769,1528
$GC,17166,0.66,382.0,217.4,9.9,1633,17177,0.00,0.00,5.50,0.779,6,0.000,0.000,3059,2769,1513
$GC,17510,0.66,385.6,181.6,9.9,1695,17524,0.00,2.90,5.32,0.758,4,0.000,0.045,3059,1346,1499
$GC,17530,0.66,385.6,179.4,10.6,1698,17536,0.00,2.75,0.00,0.000,6,0.000,0.030,3059,2756,1498
$GC,17872,0.66,385.6,145.6,11.1,1759,17878,0.00,2.83,0.00,0.000,4,0.000,0.044,3059,1342,1498
$GC,17890,0.74,409.3,143.6,9.2,1762,17923,0.00,2.75,25.02,0.993,6,0.000,0.030,3059,2748,1402
$GC,18249,0.80,410.2,109.2,10.0,1827,18256,0.17,2.83,0.00,0.000,4,0.049,0.044,3099,1342,1398
$GC,18275,0.80,410.2,106.0,11.0,1831,18281,0.00,2.72,0.00,0.000,6,0.000,0.030,3099,2742,1398
$GC,18606,0.71,410.2,50.8,18.5,1892,18614,0.15,2.30,0.00,0.000,4,0.112,0.047,3073,3893,1397
$GC,18648,0.71,410.2,45.0,13.3,1899,18656,0.00,2.22,0.00,0.000,6,0.000,0.032,3073,2756,1397
$GC,18783,0.71,410.2,30.0,11.9,1924,18791,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2756,1397
$GC,18918,0.73,433.2,15.3,9.2,1949,18947,0.00,0.00,24.08,0.907,6,0.000,0.000,3073,2755,1304
$STATE,19047,end climb,SURFACE_DEPTH_REACHED
$STATE,19047,begin surface coast
$FINISH,0.0,1.002867
$STATE,19071,end surface coast,CONTROL_FINISHED_OK
$STATE,19071,begin surface
$SM_CCo,19149,0.00,0.000,0,0,1299,434.67
$SM_GC,0.71,8.35,0.00,0.00,0.045,0.000,0.000,1432,2279,1299,-6.80,-0.59,434.67
$IRIDIUM_FIX,5940.92,-2220.93,200797,040402
$TT8_MAMPS,0.026845
$HUMID,1730
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,12.20
$XPDR_PINGS,851
$24V_AH,19.6,35.718
$10V_AH,9.7,29.456
$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,23.625,148.700,670.775,0.000,0.000,24.442,33.356,257.395,212.750,0.000,0.000,31.372,3098.000,10673.075,774.715,4413.500,637.166,0.000,2459.509,0.000,4398.168,0.000,0.465
$DEVICE_MAMPS,250.809,132.691,1600.729,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1366.981,1422.834,705.966,990.434,1793.633,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145632,1976
$CAP_FILE_SIZE,179289,0
$CFSIZE,260165632,246730752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250408,152807,6011.679,-2225.154,34,1.6,39,-15.8