version: 66.03
glider: 142
mission: 5
dive: 107
start: 4 26 108 18 47 20
data:
$ID,142
$MISSION,5
$DIVE,107
$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,-14830.83
$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,22
$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
$GPS1,183541,6021.682,-2238.266,40,1.8,43,-16.0
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-52.4
$GPS2,184702,6021.764,-2238.174,10,1.7,15,-16.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6032.399,-2239.096
$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,6.0,20000,-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,27,-0.86,-194.7,0.0,0.0,0,160,0.00,0.00,-129.80,0.000,2,0.000,0.000,1436,2285,3618
$GC,163,-0.86,-194.7,3.3,-4.7,18,187,11.38,2.80,-6.50,0.000,4,0.249,0.056,2725,891,3865
$GC,424,-0.80,-194.7,46.1,-14.3,66,432,0.08,2.75,0.00,0.000,6,0.133,0.030,2738,2301,3866
$GC,565,-0.74,-194.7,64.2,-13.0,91,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2301,3867
$GC,893,-0.69,-194.7,107.1,-13.2,152,902,0.17,2.85,0.00,0.000,4,0.138,0.047,2765,890,3866
$GC,990,-0.74,-194.7,117.6,-10.6,169,996,0.00,2.70,0.00,0.000,6,0.000,0.030,2765,2294,3866
$GC,1319,-0.74,-194.7,152.6,-10.6,230,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2294,3866
$GC,1659,-0.74,-194.7,190.3,-10.8,291,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2294,3867
$GC,1998,-0.74,-194.7,227.9,-11.3,352,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2294,3866
$GC,2342,-0.74,-194.7,264.5,-10.2,413,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2294,3866
$GC,2681,-0.74,-194.7,299.6,-10.3,474,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2294,3866
$GC,3020,-0.74,-194.7,333.4,-10.1,535,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2294,3866
$GC,3353,-0.74,-194.7,365.8,-9.4,581,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2294,3867
$GC,3672,-0.74,-194.7,395.5,-9.2,611,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2294,3866
$GC,3992,-0.74,-194.7,424.4,-9.0,641,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2294,3867
$GC,4310,-0.74,-194.7,453.3,-9.3,671,4311,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2294,3866
$GC,4626,-0.74,-194.7,483.2,-9.3,701,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2294,3866
$GC,4945,-0.74,-194.7,512.0,-8.8,731,4949,0.00,2.78,0.00,0.000,4,0.000,0.048,2765,3702,3866
$GC,5007,-0.78,-194.7,517.5,-8.6,736,5011,0.00,2.75,0.00,0.000,6,0.000,0.035,2765,2284,3866
$GC,5333,-0.78,-194.7,545.9,-8.7,766,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2284,3866
$GC,5651,-0.78,-194.7,573.7,-8.8,796,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2284,3866
$GC,5979,-0.78,-194.7,602.7,-8.9,826,5983,0.00,2.85,0.00,0.000,4,0.000,0.051,2765,3702,3866
$GC,6040,-0.83,-194.7,608.4,-9.1,829,6046,0.15,2.75,0.00,0.000,6,0.066,0.036,2737,2295,3866
$GC,6367,-0.83,-194.7,644.9,-11.4,845,6371,0.00,2.83,0.00,0.000,4,0.000,0.059,2737,892,3866
$GC,6432,-0.83,-194.7,652.7,-12.2,848,6437,0.00,2.72,0.00,0.000,6,0.000,0.039,2737,2294,3866
$GC,6759,-0.83,-194.7,689.7,-11.3,864,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2295,3865
$GC,7069,-0.83,-194.7,724.7,-11.0,879,7073,0.00,2.92,0.00,0.000,4,0.000,0.069,2738,892,3865
$GC,7112,-0.83,-194.7,729.8,-11.5,881,7116,0.00,2.78,0.00,0.000,6,0.000,0.046,2737,2283,3865
$GC,7439,-0.83,-194.7,764.7,-10.8,897,7443,0.00,3.05,0.00,0.000,4,0.000,0.083,2737,3709,3865
$GC,7493,-0.83,-194.7,770.8,-11.0,899,7500,0.00,2.97,0.00,0.000,6,0.000,0.064,2737,2286,3865
$GC,7808,-0.83,-194.7,804.3,-10.8,915,7813,0.00,3.12,0.00,0.000,4,0.000,0.104,2737,887,3865
$GC,7863,-0.83,-194.7,810.5,-11.0,917,7870,0.00,3.00,0.00,0.000,6,0.000,0.077,2736,2292,3865
$GC,8178,-0.83,-194.7,844.3,-10.6,933,8183,0.00,3.25,0.00,0.000,4,0.000,0.110,2737,3715,3865
$GC,8240,-0.83,-194.7,850.8,-10.6,936,8245,0.00,3.10,0.00,0.000,6,0.000,0.080,2737,2268,3864
$GC,8565,-0.83,-194.7,884.8,-10.5,952,8570,0.00,2.78,0.00,0.000,4,0.000,0.058,2737,887,3864
$GC,8614,-0.83,-194.7,890.3,-11.5,954,8619,0.00,2.75,0.00,0.000,6,0.000,0.033,2737,2309,3863
$GC,8930,-0.83,-194.7,923.4,-10.7,969,8931,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2309,3863
$GC,9239,-0.83,-194.7,955.8,-10.4,984,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2309,3863
$GC,9548,-0.83,-194.7,986.7,-10.0,999,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2309,3863
$STATE,9587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9587,begin apogee
$GC,9593,-0.21,0.0,990.9,10.1,1001,9799,0.80,0.00,201.90,1.598,6,0.117,0.000,2869,2748,3071
$STATE,9799,end apogee,CONTROL_FINISHED_OK
$STATE,9800,begin climb
$GC,9802,0.86,194.7,997.3,0.0,1011,10026,1.38,2.62,210.02,1.546,4,0.082,0.063,3099,3900,2277
$GC,10132,0.69,194.7,959.4,15.7,1026,10139,0.17,2.40,0.00,0.000,6,0.127,0.035,3076,2747,2275
$GC,10448,0.57,194.7,918.7,12.8,1042,10453,0.17,2.42,0.00,0.000,4,0.119,0.054,3048,3901,2274
$GC,10503,0.52,194.7,912.4,10.6,1044,10509,0.00,2.25,0.00,0.000,6,0.000,0.034,3048,2772,2274
$GC,10819,0.46,194.7,880.8,10.0,1060,10821,0.17,0.00,0.00,0.000,6,0.113,0.000,3021,2771,2274
$GC,11128,0.55,265.9,856.8,7.5,1075,11202,0.00,0.00,72.78,1.496,6,0.000,0.000,3021,2771,1987
$GC,11497,0.67,325.6,827.8,7.9,1093,11563,0.22,0.00,63.28,1.464,6,0.051,0.000,3065,2771,1743
$GC,11867,0.62,325.6,780.4,13.1,1111,11871,0.00,2.33,0.00,0.000,4,0.000,0.052,3065,3895,1737
$GC,11889,0.57,325.6,777.2,13.4,1112,11893,0.00,2.20,0.00,0.000,6,0.000,0.032,3065,2778,1736
$GC,12210,0.52,325.6,735.4,13.0,1128,12212,0.20,0.00,0.00,0.000,6,0.108,0.000,3034,2777,1735
$GC,12519,0.61,360.4,707.4,8.8,1143,12559,0.00,0.00,35.60,1.381,6,0.000,0.000,3034,2776,1601
$GC,12868,0.75,417.7,678.5,8.0,1160,12938,0.22,3.10,61.25,1.381,4,0.050,0.049,3084,1341,1367
$GC,12950,0.68,417.7,667.7,14.0,1164,12955,0.00,2.97,0.00,0.000,6,0.000,0.031,3085,2791,1366
$GC,13276,0.60,417.7,615.6,15.9,1180,13278,0.20,0.00,0.00,0.000,6,0.108,0.000,3054,2791,1360
$GC,13590,0.60,417.7,581.4,10.1,1203,13595,0.00,2.95,0.00,0.000,4,0.000,0.046,3054,1340,1359
$GC,13618,0.65,420.8,578.6,9.9,1205,13623,0.00,2.83,0.00,0.000,6,0.000,0.032,3054,2782,1358
$GC,13942,0.65,420.8,545.9,10.1,1235,13947,0.00,2.90,0.00,0.000,4,0.000,0.046,3054,1346,1358
$GC,13970,0.71,423.5,543.1,9.9,1237,13982,0.00,2.78,5.45,0.923,6,0.000,0.031,3053,2766,1344
$GC,14300,0.77,431.5,510.8,9.7,1268,14317,0.15,2.90,10.57,1.115,4,0.054,0.045,3090,1338,1310
$GC,14340,0.77,431.5,505.8,13.3,1271,14345,0.00,2.78,0.00,0.000,6,0.000,0.031,3090,2747,1309
$GC,14666,0.68,431.5,452.2,16.5,1301,14668,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2748,1307
$GC,14985,0.60,431.5,398.2,17.4,1331,14989,0.20,2.28,0.00,0.000,4,0.108,0.047,3055,3897,1307
$GC,15005,0.60,431.5,394.5,16.0,1332,15012,0.00,2.22,0.00,0.000,6,0.000,0.031,3055,2754,1307
$GC,15332,0.67,442.7,362.2,9.6,1363,15354,0.00,2.88,12.20,1.065,4,0.000,0.048,3055,1337,1265
$GC,15366,0.75,448.1,358.8,9.8,1366,15381,0.15,2.75,7.25,0.976,6,0.050,0.030,3087,2745,1244
$GC,15712,0.69,448.1,307.0,15.7,1422,15717,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2745,1242
$GC,16051,0.63,448.1,254.2,14.6,1483,16057,0.15,0.00,0.00,0.000,6,0.107,0.000,3062,2745,1241
$GC,16391,0.72,474.8,219.9,9.1,1544,16427,0.00,2.90,28.52,1.070,4,0.000,0.045,3061,1345,1134
$GC,16449,0.81,481.4,214.8,9.8,1553,16467,0.17,2.72,8.68,0.940,6,0.046,0.030,3099,2727,1107
$GC,16802,0.72,481.4,154.7,20.1,1616,16810,0.12,0.00,0.00,0.000,6,0.117,0.000,3082,2726,1104
$GC,17138,0.72,481.4,106.1,12.9,1677,17145,0.00,2.78,0.00,0.000,4,0.000,0.045,3082,1340,1103
$GC,17153,0.72,481.4,104.0,13.0,1679,17159,0.00,2.72,0.00,0.000,6,0.000,0.031,3081,2739,1102
$GC,17481,0.72,481.4,59.8,12.4,1740,17489,0.00,2.83,0.00,0.000,4,0.000,0.047,3082,1344,1102
$GC,17495,0.72,481.4,58.0,12.1,1742,17503,0.00,2.70,0.00,0.000,6,0.000,0.031,3082,2722,1102
$GC,17820,0.72,481.4,16.3,11.4,1803,17828,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2723,1102
$STATE,17937,end climb,SURFACE_DEPTH_REACHED
$STATE,17937,begin surface coast
$FINISH,0.2,1.026238
$STATE,17954,end surface coast,CONTROL_FINISHED_OK
$STATE,17954,begin surface
$SM_CCo,18032,0.00,0.000,0,0,1101,483.24
$SM_GC,0.59,8.25,0.00,0.00,0.044,0.000,0.000,1435,2277,1101,-6.79,-0.62,483.24
$IRIDIUM_FIX,5958.08,-2242.21,210797,181831
$TT8_MAMPS,0.026845
$HUMID,1759
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,11.50
$XPDR_PINGS,863
$24V_AH,19.6,37.678
$10V_AH,9.8,30.687
$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,24.525,123.475,717.500,0.000,0.000,59.943,142.904,282.685,215.750,0.000,0.000,16.656,2877.875,10115.018,823.792,4088.940,789.020,0.000,2375.660,0.000,4093.921,0.000,0.465
$DEVICE_MAMPS,248.508,109.681,1597.661,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1272.911,1313.365,660.584,903.289,1656.237,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132896,1828
$CAP_FILE_SIZE,167524,0
$CFSIZE,260165632,246169600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260408,234907,6025.329,-2240.477,40,1.7,40,-16.1