version: 66.03
glider: 142
mission: 5
dive: 105
start: 4 26 108 8 7 45
data:
$ID,142
$MISSION,5
$DIVE,105
$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,350
$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,-14798.856
$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,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
$GPS1,075332,6016.466,-2233.939,39,1.5,39,-15.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-44.5
$GPS2,080727,6016.397,-2233.986,14,1.3,14,-15.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6027.033,-2234.911
$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,5.9,20000,-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,-194.7,0.0,0.0,0,180,0.00,0.00,-150.80,0.000,2,0.000,0.000,1431,2288,3646
$GC,183,-0.86,-194.7,3.4,-5.2,21,206,11.23,0.00,-5.72,0.000,6,0.245,0.000,2726,2288,3865
$GC,334,-0.78,-194.7,29.6,-14.4,48,342,0.15,0.00,0.00,0.000,6,0.152,0.000,2749,2288,3866
$GC,468,-0.78,-194.7,46.1,-12.2,73,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2288,3866
$GC,604,-0.78,-194.7,63.3,-11.6,98,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2288,3866
$GC,937,-0.78,-194.7,101.9,-11.0,159,943,0.00,2.78,0.00,0.000,4,0.000,0.048,2749,893,3866
$GC,1019,-0.78,-194.7,111.8,-11.1,174,1027,0.00,2.72,0.00,0.000,6,0.000,0.030,2749,2301,3866
$GC,1353,-0.78,-194.7,149.0,-11.0,235,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2301,3866
$GC,1692,-0.78,-194.7,186.4,-10.8,296,1700,0.00,2.83,0.00,0.000,4,0.000,0.048,2749,891,3866
$GC,1740,-0.78,-194.7,191.7,-11.0,304,1747,0.00,2.72,0.00,0.000,6,0.000,0.030,2749,2301,3866
$GC,2084,-0.78,-194.7,228.2,-10.7,365,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2301,3866
$GC,2424,-0.78,-194.7,265.0,-10.8,426,2430,0.00,2.80,0.00,0.000,4,0.000,0.047,2749,886,3867
$GC,2466,-0.78,-194.7,269.4,-11.7,433,2472,0.00,2.67,0.00,0.000,6,0.000,0.029,2749,2291,3866
$GC,2804,-0.78,-194.7,307.5,-11.7,494,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2291,3866
$GC,3144,-0.78,-194.7,346.6,-11.7,555,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2291,3866
$GC,3476,-0.78,-194.7,385.2,-11.8,589,3480,0.00,2.78,0.00,0.000,4,0.000,0.048,2749,889,3866
$GC,3527,-0.78,-194.7,391.4,-12.2,593,3532,0.00,2.67,0.00,0.000,6,0.000,0.030,2749,2292,3866
$GC,3853,-0.78,-194.7,428.4,-11.2,623,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2292,3866
$GC,4170,-0.78,-194.7,463.9,-11.0,653,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2292,3866
$GC,4489,-0.78,-194.7,499.3,-11.4,683,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2293,3866
$GC,4809,-0.78,-194.7,533.7,-10.4,713,4814,0.00,2.80,0.00,0.000,4,0.000,0.050,2749,885,3866
$GC,4848,-0.78,-194.7,538.0,-10.7,716,4853,0.00,2.65,0.00,0.000,6,0.000,0.030,2749,2273,3866
$GC,5174,-0.78,-194.7,574.3,-11.3,746,5179,0.00,2.85,0.00,0.000,4,0.000,0.050,2749,3709,3866
$GC,5224,-0.78,-194.7,580.1,-11.1,750,5228,0.00,2.80,0.00,0.000,6,0.000,0.035,2749,2268,3866
$GC,5555,-0.78,-194.7,616.4,-11.0,774,5559,0.00,2.78,0.00,0.000,4,0.000,0.057,2749,883,3866
$GC,5620,-0.78,-194.7,624.0,-11.2,777,5624,0.00,2.67,0.00,0.000,6,0.000,0.032,2749,2274,3866
$GC,5947,-0.78,-194.7,659.8,-11.0,793,5952,0.00,2.90,0.00,0.000,4,0.000,0.058,2749,3712,3866
$GC,6013,-0.78,-194.7,667.2,-11.0,796,6018,0.00,2.83,0.00,0.000,6,0.000,0.043,2749,2288,3866
$GC,6334,-0.78,-194.7,701.7,-10.6,812,6338,0.00,2.88,0.00,0.000,4,0.000,0.069,2749,883,3865
$GC,6383,-0.78,-194.7,707.1,-10.9,814,6388,0.00,2.75,0.00,0.000,6,0.000,0.039,2749,2283,3865
$GC,6698,-0.78,-194.7,739.4,-10.1,829,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2283,3865
$GC,7008,-0.78,-194.7,769.5,-9.7,844,7012,0.00,3.05,0.00,0.000,4,0.000,0.081,2749,3713,3864
$GC,7074,-0.78,-194.7,776.1,-10.0,847,7079,0.00,3.00,0.00,0.000,6,0.000,0.067,2749,2280,3864
$GC,7395,-0.78,-194.7,807.6,-9.8,863,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2279,3864
$GC,7704,-0.78,-194.7,838.0,-10.0,878,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2279,3864
$GC,8013,-0.78,-194.7,869.2,-10.2,893,8018,0.00,3.40,0.00,0.000,4,0.000,0.123,2749,3706,3864
$GC,8084,-0.78,-194.7,877.0,-11.0,896,8090,0.00,3.22,0.00,0.000,6,0.000,0.102,2749,2276,3863
$GC,8400,-0.78,-194.7,909.6,-10.2,911,8405,0.00,2.78,0.00,0.000,4,0.000,0.057,2749,888,3862
$GC,8443,-0.78,-194.7,914.2,-10.3,913,8448,0.00,2.72,0.00,0.000,6,0.000,0.033,2749,2300,3863
$GC,8764,-0.78,-194.7,945.4,-9.7,929,8769,0.00,2.85,0.00,0.000,4,0.000,0.058,2749,3708,3862
$GC,8830,-0.78,-194.7,952.0,-9.7,932,8834,0.00,2.80,0.00,0.000,6,0.000,0.041,2749,2295,3862
$GC,9151,-0.78,-194.7,983.5,-9.8,948,9156,0.00,2.85,0.00,0.000,4,0.000,0.062,2749,887,3861
$GC,9190,-0.78,-194.7,987.5,-10.2,950,9194,0.00,2.75,0.00,0.000,6,0.000,0.034,2749,2303,3861
$STATE,9224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9224,begin apogee
$GC,9231,-0.21,0.0,991.0,9.9,952,9435,0.73,0.00,201.25,1.598,6,0.123,0.000,2867,2750,3071
$STATE,9436,end apogee,CONTROL_FINISHED_OK
$STATE,9436,begin climb
$GC,9438,0.86,194.7,997.9,0.0,962,9658,1.38,2.60,209.70,1.543,4,0.082,0.058,3099,3900,2278
$GC,9764,0.69,194.7,961.0,15.9,976,9771,0.20,2.40,0.00,0.000,6,0.127,0.035,3072,2743,2275
$GC,10080,0.58,194.7,921.6,12.2,992,10085,0.15,2.42,0.00,0.000,4,0.123,0.053,3047,3903,2274
$GC,10135,0.52,194.7,915.5,10.2,994,10141,0.00,2.25,0.00,0.000,6,0.000,0.034,3047,2767,2274
$GC,10451,0.49,207.7,885.1,9.5,1010,10470,0.00,0.00,14.05,1.341,6,0.000,0.000,3048,2766,2224
$GC,10780,0.45,216.3,853.3,9.7,1026,10795,0.17,2.35,9.82,1.268,4,0.115,0.061,3018,3897,2189
$GC,10818,0.51,264.0,850.0,8.3,1027,10874,0.00,2.25,50.42,1.477,6,0.000,0.033,3018,2760,1994
$GC,11186,0.67,345.3,824.2,7.2,1044,11274,0.25,0.00,85.80,1.467,6,0.048,0.000,3068,2760,1663
$GC,11575,0.62,345.3,773.7,12.8,1063,11579,0.00,2.38,0.00,0.000,4,0.000,0.052,3067,3905,1656
$GC,11596,0.58,345.3,770.6,13.6,1064,11601,0.12,2.25,0.00,0.000,6,0.114,0.032,3050,2767,1655
$GC,11923,0.58,345.3,736.1,10.2,1080,11924,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2765,1654
$GC,12232,0.58,345.3,704.0,10.4,1095,12236,0.00,2.85,0.00,0.000,4,0.000,0.049,3049,1344,1653
$GC,12248,0.58,345.3,702.3,10.0,1096,12253,0.00,2.80,0.00,0.000,6,0.000,0.031,3049,2773,1653
$GC,12574,0.58,345.3,669.1,10.3,1112,12578,0.00,2.90,0.00,0.000,4,0.000,0.047,3049,1337,1652
$GC,12583,0.58,345.3,667.9,10.2,1112,12590,0.00,2.78,0.00,0.000,6,0.000,0.032,3049,2753,1652
$GC,12899,0.58,345.3,635.4,10.2,1128,12903,0.00,2.85,0.00,0.000,4,0.000,0.047,3049,1340,1652
$GC,12908,0.58,345.3,634.2,10.3,1128,12915,0.00,2.75,0.00,0.000,6,0.000,0.032,3050,2750,1652
$GC,13224,0.58,345.3,602.7,10.0,1144,13228,0.00,2.83,0.00,0.000,4,0.000,0.047,3049,1342,1651
$GC,13239,0.58,345.3,601.0,10.1,1145,13244,0.00,2.72,0.00,0.000,6,0.000,0.032,3050,2741,1651
$GC,13564,0.58,349.3,569.0,9.9,1175,13568,0.00,2.80,0.00,0.000,4,0.000,0.046,3049,1339,1651
$GC,13573,0.58,349.3,567.9,10.0,1175,13580,0.00,2.72,0.00,0.000,6,0.000,0.031,3049,2729,1651
$GC,13899,0.58,349.3,535.6,10.1,1206,13901,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2729,1651
$GC,14217,0.58,349.3,503.2,10.1,1236,14218,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2729,1651
$GC,14537,0.59,356.0,471.4,9.8,1266,14552,0.00,2.80,9.95,1.071,4,0.000,0.047,3049,1338,1619
$GC,14557,0.59,356.0,469.2,10.3,1267,14564,0.00,2.70,0.00,0.000,6,0.000,0.030,3050,2728,1619
$GC,14883,0.61,370.0,438.6,9.5,1298,14902,0.00,0.00,15.57,1.150,6,0.000,0.000,3050,2727,1562
$GC,15223,0.69,396.8,407.2,9.1,1330,15258,0.00,2.90,28.55,1.180,4,0.000,0.045,3049,1341,1452
$GC,15265,0.77,418.4,403.2,9.3,1334,15300,0.20,2.75,23.45,1.156,6,0.044,0.031,3092,2721,1366
$GC,15615,0.69,418.4,349.1,16.4,1367,15621,0.12,2.35,0.00,0.000,4,0.114,0.048,3075,3892,1361
$GC,15652,0.69,418.4,344.0,14.0,1373,15658,0.00,2.28,0.00,0.000,6,0.000,0.031,3075,2725,1360
$GC,15990,0.69,418.4,302.0,11.9,1434,15996,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2724,1360
$GC,16329,0.69,418.4,258.6,13.2,1495,16335,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2724,1359
$GC,16667,0.69,418.4,216.0,12.3,1556,16675,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2723,1359
$GC,17010,0.69,418.4,172.0,12.7,1617,17016,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2722,1358
$GC,17346,0.69,418.4,130.0,12.4,1678,17353,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2722,1358
$GC,17677,0.69,418.4,88.7,12.1,1739,17683,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2722,1358
$GC,18010,0.69,418.4,48.5,13.4,1800,18017,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2722,1359
$GC,18144,0.69,418.4,32.9,13.0,1825,18152,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2722,1359
$GC,18278,0.69,418.4,17.8,10.8,1850,18286,0.00,2.35,0.00,0.000,4,0.000,0.047,3075,3894,1358
$GC,18296,0.69,418.4,16.0,10.9,1852,18304,0.00,2.22,0.00,0.000,6,0.000,0.031,3075,2743,1358
$STATE,18418,end climb,SURFACE_DEPTH_REACHED
$STATE,18418,begin surface coast
$FINISH,0.0,1.015148
$STATE,18437,end surface coast,CONTROL_FINISHED_OK
$STATE,18437,begin surface
$SM_CCo,18515,0.00,0.000,0,0,1356,420.69
$SM_GC,0.70,8.25,0.00,0.00,0.048,0.000,0.000,1433,2298,1356,-6.79,-0.06,420.69
$IRIDIUM_FIX,5953.78,-2248.55,210797,080815
$TT8_MAMPS,0.026078
$HUMID,1754
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,12.30
$XPDR_PINGS,830
$24V_AH,19.6,37.022
$10V_AH,9.8,30.289
$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,22.950,148.375,648.575,0.000,0.000,83.184,101.921,380.275,207.500,0.000,0.000,16.952,2963.967,10413.748,797.476,4257.949,897.986,0.000,2434.713,0.000,4257.192,0.000,0.465
$DEVICE_MAMPS,245.440,122.720,1597.661,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1302.000,1353.698,694.180,942.486,1739.782,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,138810,1878
$CAP_FILE_SIZE,178853,0
$CFSIZE,260165632,246341632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260408,131758,6018.674,-2236.530,42,99.0,61,-16.0