version: 66.03
glider: 142
mission: 5
dive: 102
start: 4 25 108 15 36 18
data:
$ID,142
$MISSION,5
$DIVE,102
$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,-14739.725
$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,30
$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
$GPS1,152807,6011.679,-2225.154,34,1.6,39,-15.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-55.4
$GPS2,153601,6011.644,-2225.283,13,1.8,29,-15.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6022.278,-2224.356
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,158,0.00,0.00,-129.10,0.000,2,0.000,0.000,1432,2278,3541
$GC,161,-0.86,-194.7,3.2,-5.5,18,192,11.32,2.90,-9.02,0.000,4,0.249,0.052,2725,3702,3867
$GC,367,-0.79,-194.7,35.3,-13.7,55,375,0.10,2.75,0.00,0.000,6,0.138,0.034,2741,2312,3867
$GC,501,-0.74,-194.7,53.0,-12.8,80,509,0.00,2.88,0.00,0.000,4,0.000,0.050,2741,888,3867
$GC,587,-0.74,-194.7,64.1,-12.5,95,593,0.00,2.72,0.00,0.000,6,0.000,0.029,2741,2303,3868
$GC,917,-0.69,-194.7,105.5,-12.5,156,925,0.15,0.00,0.00,0.000,6,0.134,0.000,2766,2303,3868
$GC,1249,-0.69,-194.7,138.8,-10.2,217,1255,0.00,2.83,0.00,0.000,4,0.000,0.048,2766,885,3868
$GC,1296,-0.74,-194.7,143.5,-10.4,225,1302,0.00,2.67,0.00,0.000,6,0.000,0.029,2766,2287,3868
$GC,1635,-0.74,-194.7,176.6,-9.7,286,1641,0.00,2.80,0.00,0.000,4,0.000,0.044,2766,3709,3868
$GC,1700,-0.74,-194.7,182.7,-9.5,297,1707,0.00,2.78,0.00,0.000,6,0.000,0.033,2766,2273,3868
$GC,2040,-0.74,-194.7,216.3,-9.8,358,2045,0.00,2.72,0.00,0.000,4,0.000,0.049,2766,894,3868
$GC,2081,-0.79,-194.7,220.4,-10.2,365,2087,0.00,2.67,0.00,0.000,6,0.000,0.028,2766,2297,3868
$GC,2421,-0.79,-194.7,253.6,-9.4,426,2427,0.00,2.75,0.00,0.000,4,0.000,0.044,2766,3702,3867
$GC,2486,-0.79,-194.7,259.6,-9.3,437,2492,0.00,2.72,0.00,0.000,6,0.000,0.032,2766,2291,3868
$GC,2825,-0.79,-194.7,292.2,-9.7,498,2831,0.00,2.78,0.00,0.000,4,0.000,0.050,2766,884,3868
$GC,2867,-0.83,-194.7,296.2,-9.9,505,2874,0.15,2.72,0.00,0.000,6,0.056,0.028,2736,2316,3868
$GC,3208,-0.78,-194.7,337.7,-11.7,566,3214,0.00,2.83,0.00,0.000,4,0.000,0.047,2735,887,3868
$GC,3250,-0.78,-194.7,342.7,-12.3,573,3257,0.00,2.67,0.00,0.000,6,0.000,0.029,2735,2292,3868
$GC,3580,-0.74,-194.7,382.9,-12.1,609,3582,0.15,0.00,0.00,0.000,6,0.129,0.000,2756,2293,3868
$GC,3899,-0.74,-194.7,415.7,-9.9,639,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2293,3868
$GC,4214,-0.74,-194.7,447.0,-9.7,669,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2293,3868
$GC,4533,-0.74,-194.7,478.3,-10.0,699,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2293,3868
$GC,4854,-0.74,-194.7,510.4,-10.0,729,4858,0.00,2.78,0.00,0.000,4,0.000,0.047,2756,3700,3868
$GC,4905,-0.74,-194.7,515.8,-10.3,733,4910,0.00,2.75,0.00,0.000,6,0.000,0.033,2756,2280,3868
$GC,5231,-0.74,-194.7,549.2,-10.5,763,5235,0.00,2.75,0.00,0.000,4,0.000,0.051,2756,887,3868
$GC,5270,-0.74,-194.7,553.5,-11.0,766,5274,0.00,2.67,0.00,0.000,6,0.000,0.030,2757,2288,3868
$GC,5596,-0.74,-194.7,585.2,-9.8,796,5600,0.00,2.83,0.00,0.000,4,0.000,0.051,2756,3710,3867
$GC,5661,-0.74,-194.7,592.0,-10.0,801,5668,0.00,2.78,0.00,0.000,6,0.000,0.035,2757,2288,3867
$GC,5980,-0.74,-194.7,622.1,-9.6,821,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2288,3867
$GC,6289,-0.74,-194.7,651.6,-9.7,836,6293,0.00,2.90,0.00,0.000,4,0.000,0.057,2756,3711,3867
$GC,6343,-0.74,-194.7,657.1,-9.7,838,6350,0.00,2.78,0.00,0.000,6,0.000,0.041,2756,2306,3867
$GC,6659,-0.74,-194.7,687.8,-9.7,854,6664,0.00,2.90,0.00,0.000,4,0.000,0.065,2757,883,3866
$GC,6691,-0.74,-194.7,691.2,-10.3,855,6697,0.00,2.78,0.00,0.000,6,0.000,0.038,2757,2302,3866
$GC,7007,-0.74,-194.7,721.2,-9.4,871,7011,0.00,2.92,0.00,0.000,4,0.000,0.068,2756,3716,3866
$GC,7056,-0.74,-194.7,726.0,-9.7,873,7061,0.00,2.88,0.00,0.000,6,0.000,0.052,2757,2299,3866
$GC,7371,-0.74,-194.7,754.5,-9.0,888,7372,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2298,3865
$GC,7680,-0.74,-194.7,780.8,-8.5,903,7685,0.00,3.05,0.00,0.000,4,0.000,0.082,2756,3709,3865
$GC,7742,-0.74,-194.7,786.0,-8.8,906,7747,0.00,2.95,0.00,0.000,6,0.000,0.069,2757,2313,3865
$GC,8068,-0.74,-194.7,815.1,-9.1,922,8069,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2313,3864
$GC,8377,-0.74,-194.7,843.0,-8.9,937,8378,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2313,3865
$GC,8686,-0.74,-194.7,870.2,-8.7,952,8691,0.00,3.33,0.00,0.000,4,0.000,0.124,2757,3703,3864
$GC,8753,-0.74,-194.7,876.4,-9.4,955,8758,0.00,3.25,0.00,0.000,6,0.000,0.116,2756,2321,3863
$GC,9074,-0.74,-194.7,903.7,-8.3,971,9075,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2317,3863
$GC,9382,-0.74,-194.7,930.2,-8.6,986,9384,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2317,3863
$GC,9692,-0.74,-194.7,957.3,-8.9,1001,9696,0.00,2.85,0.00,0.000,4,0.000,0.058,2757,3709,3863
$GC,9764,-0.74,-194.7,963.8,-9.6,1004,9769,0.00,2.75,0.00,0.000,6,0.000,0.041,2756,2319,3863
$STATE,10077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10077,begin apogee
$GC,10083,-0.21,0.0,991.1,8.6,1019,10288,0.68,0.00,201.65,1.598,6,0.123,0.000,2867,2752,3071
$STATE,10289,end apogee,CONTROL_FINISHED_OK
$STATE,10289,begin climb
$GC,10291,0.86,194.7,996.9,0.0,1029,10516,1.40,2.60,210.27,1.545,4,0.083,0.058,3100,3894,2277
$GC,10667,0.67,194.7,950.4,16.0,1046,10674,0.22,2.38,0.00,0.000,6,0.130,0.035,3070,2742,2274
$GC,10982,0.56,194.7,911.8,11.8,1062,10987,0.15,2.42,0.00,0.000,4,0.125,0.053,3046,3903,2274
$GC,11038,0.53,202.2,905.7,9.7,1064,11052,0.00,2.25,8.57,1.210,6,0.000,0.034,3046,2768,2247
$GC,11375,0.50,216.7,873.6,9.5,1081,11394,0.00,0.00,16.20,1.372,6,0.000,0.000,3046,2767,2187
$GC,11703,0.51,224.9,842.2,9.7,1097,11717,0.00,2.38,9.65,1.267,4,0.000,0.057,3046,3902,2154
$GC,11734,0.51,224.9,838.9,10.2,1097,11740,0.00,2.25,0.00,0.000,6,0.000,0.033,3046,2767,2154
$GC,12049,0.52,231.7,807.9,9.8,1113,12063,0.00,2.38,8.60,1.222,4,0.000,0.054,3045,3893,2126
$GC,12075,0.52,231.7,805.2,10.3,1114,12079,0.00,2.22,0.00,0.000,6,0.000,0.032,3046,2779,2125
$GC,12402,0.53,235.0,773.0,9.9,1130,12408,0.00,0.00,4.62,0.946,6,0.000,0.000,3046,2777,2113
$GC,12711,0.54,246.7,743.0,9.6,1145,12733,0.00,2.35,13.48,1.309,4,0.000,0.058,3046,3897,2064
$GC,12756,0.55,256.7,738.5,9.7,1147,12776,0.00,2.17,12.02,1.300,6,0.000,0.032,3045,2788,2024
$GC,13085,0.55,256.7,703.9,10.6,1163,13086,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2787,2022
$GC,13394,0.55,256.7,671.2,10.3,1178,13395,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2786,2022
$GC,13704,0.57,272.4,641.0,9.5,1193,13724,0.00,0.00,16.80,1.282,6,0.000,0.000,3046,2785,1960
$GC,14033,0.58,282.5,609.4,9.7,1209,14046,0.00,0.00,11.57,1.203,6,0.000,0.000,3045,2784,1919
$GC,14348,0.61,304.5,578.9,9.2,1234,14381,0.00,3.00,23.55,1.277,4,0.000,0.048,3045,1348,1828
$GC,14393,0.64,326.1,574.7,9.3,1238,14426,0.00,2.92,23.40,1.272,6,0.000,0.031,3045,2808,1742
$GC,14742,0.66,346.8,541.3,9.3,1271,14770,0.00,3.05,22.17,1.232,4,0.000,0.045,3045,1339,1656
$GC,14782,0.71,384.0,537.6,8.7,1274,14829,0.15,2.95,40.65,1.266,6,0.049,0.031,3077,2802,1505
$GC,15148,0.66,384.0,488.7,13.7,1308,15149,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2802,1497
$GC,15467,0.61,384.0,443.9,14.1,1338,15473,0.15,2.95,0.00,0.000,4,0.110,0.044,3051,1346,1496
$GC,15477,0.61,384.0,442.1,13.9,1338,15484,0.00,2.85,0.00,0.000,6,0.000,0.031,3051,2797,1496
$GC,15807,0.69,409.4,411.3,9.1,1369,15839,0.00,3.00,25.25,1.161,4,0.000,0.045,3051,1345,1400
$GC,15862,0.81,452.9,405.7,8.5,1374,15918,0.22,2.85,46.70,1.187,6,0.042,0.030,3098,2776,1223
$GC,16240,0.71,452.9,340.3,18.4,1413,16247,0.15,2.22,0.00,0.000,4,0.121,0.046,3074,3890,1216
$GC,16267,0.65,452.9,335.7,16.7,1417,16273,0.00,2.17,0.00,0.000,6,0.000,0.031,3074,2774,1216
$GC,16605,0.65,452.9,292.8,13.2,1478,16612,0.00,2.88,0.00,0.000,4,0.000,0.046,3074,1336,1214
$GC,16636,0.65,452.9,289.3,12.9,1483,16642,0.00,2.83,0.00,0.000,6,0.000,0.030,3074,2780,1213
$GC,16975,0.65,452.9,248.8,11.7,1544,16983,0.00,2.90,0.00,0.000,4,0.000,0.044,3074,1350,1212
$GC,17000,0.65,452.9,245.8,11.8,1548,17008,0.00,2.78,0.00,0.000,6,0.000,0.031,3074,2759,1212
$GC,17344,0.65,452.9,207.5,11.0,1609,17350,0.00,2.83,0.00,0.000,4,0.000,0.044,3074,1343,1212
$GC,17363,0.65,452.9,205.2,11.5,1612,17371,0.00,2.75,0.00,0.000,6,0.000,0.030,3073,2749,1211
$GC,17706,0.65,452.9,166.6,10.6,1673,17712,0.00,2.80,0.00,0.000,4,0.000,0.044,3073,1345,1211
$GC,17718,0.65,452.9,164.9,10.9,1675,17724,0.00,2.72,0.00,0.000,6,0.000,0.030,3074,2752,1211
$GC,18051,0.65,452.9,128.3,10.7,1736,18059,0.00,2.83,0.00,0.000,4,0.000,0.045,3074,1350,1211
$GC,18073,0.65,455.8,126.2,9.9,1739,18079,0.00,2.67,0.00,0.000,6,0.000,0.030,3074,2736,1211
$GC,18402,0.65,455.8,90.1,10.6,1800,18410,0.00,2.80,0.00,0.000,4,0.000,0.044,3074,1341,1211
$GC,18415,0.65,455.8,88.6,11.4,1802,18423,0.00,2.67,0.00,0.000,6,0.000,0.030,3074,2716,1211
$GC,18748,0.65,455.8,51.5,11.6,1863,18754,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2717,1211
$GC,19069,0.70,460.1,17.1,9.9,1924,19084,0.00,2.78,6.20,0.723,4,0.000,0.045,3074,1344,1194
$GC,19093,0.74,460.1,14.5,10.6,1927,19101,0.00,2.67,0.00,0.000,6,0.000,0.030,3074,2716,1194
$STATE,19215,end climb,SURFACE_DEPTH_REACHED
$STATE,19215,begin surface coast
$FINISH,0.1,1.026195
$STATE,19239,end surface coast,CONTROL_FINISHED_OK
$STATE,19239,begin surface
$SM_CCo,19317,0.00,0.000,0,0,1192,460.92
$SM_GC,0.62,8.18,0.00,0.00,0.041,0.000,0.000,1430,2289,1192,-6.80,-0.31,460.92
$IRIDIUM_FIX,5945.20,-2232.21,200797,101026
$TT8_MAMPS,0.026845
$HUMID,1749
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,12.30
$XPDR_PINGS,795
$24V_AH,19.6,36.042
$10V_AH,9.7,29.667
$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,23.175,188.125,701.375,0.000,0.000,30.791,33.321,257.522,198.750,0.000,0.000,31.143,3095.099,10759.053,840.053,4434.697,641.588,0.000,2541.173,0.000,4409.954,0.000,0.465
$DEVICE_MAMPS,248.508,124.254,1597.661,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1353.077,1405.643,728.232,980.398,1822.449,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142296,1954
$CAP_FILE_SIZE,186895,0
$CFSIZE,260165632,246628352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250408,205931,6013.512,-2227.664,35,1.4,40,-15.8