version: 66.03
glider: 142
mission: 5
dive: 109
start: 4 27 108 5 12 45
data:
$ID,142
$MISSION,5
$DIVE,109
$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,-14882.192
$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,27
$R_STBD_OVSHOOT,20
$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
$GPS1,050526,6028.904,-2242.152,38,1.9,38,-16.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-53.6
$GPS2,051226,6028.902,-2242.123,11,1.7,16,-16.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6039.537,-2243.042
$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,6.1,20000,-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,27,-0.86,-194.7,0.0,0.0,0,152,0.00,0.00,-122.60,0.000,2,0.000,0.000,1434,2288,3570
$GC,155,-0.86,-194.7,3.3,-4.8,17,178,11.15,0.00,-8.23,0.000,6,0.245,0.000,2725,2288,3865
$GC,306,-0.77,-194.7,28.4,-14.2,44,314,0.15,0.00,0.00,0.000,6,0.152,0.000,2748,2288,3867
$GC,441,-0.77,-194.7,45.6,-12.2,69,449,0.00,2.83,0.00,0.000,4,0.000,0.049,2748,891,3867
$GC,488,-0.77,-194.7,51.4,-12.4,77,494,0.00,2.72,0.00,0.000,6,0.000,0.029,2748,2307,3867
$GC,816,-0.77,-194.7,91.1,-12.5,138,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2307,3867
$GC,1148,-0.77,-194.7,131.8,-12.2,199,1154,0.00,2.83,0.00,0.000,4,0.000,0.048,2748,887,3867
$GC,1226,-0.77,-194.7,141.6,-12.6,213,1233,0.00,2.70,0.00,0.000,6,0.000,0.030,2748,2298,3867
$GC,1564,-0.77,-194.7,182.6,-11.5,274,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2298,3867
$GC,1904,-0.77,-194.7,222.8,-12.4,335,1910,0.00,2.80,0.00,0.000,4,0.000,0.048,2748,887,3867
$GC,1948,-0.77,-194.7,228.3,-12.2,343,1954,0.00,2.67,0.00,0.000,6,0.000,0.030,2748,2287,3867
$GC,2288,-0.77,-194.7,268.7,-12.0,404,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2288,3867
$GC,2631,-0.77,-194.7,308.5,-11.5,465,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2288,3867
$GC,2968,-0.77,-194.7,347.1,-10.8,526,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2288,3867
$GC,3292,-0.77,-194.7,382.1,-10.5,559,3297,0.00,2.80,0.00,0.000,4,0.000,0.045,2748,3710,3867
$GC,3347,-0.77,-194.7,388.0,-10.2,563,3353,0.00,2.75,0.00,0.000,6,0.000,0.034,2748,2288,3867
$GC,3673,-0.77,-194.7,421.8,-10.7,594,3677,0.00,2.75,0.00,0.000,4,0.000,0.050,2748,893,3867
$GC,3738,-0.77,-194.7,429.3,-11.2,599,3745,0.00,2.67,0.00,0.000,6,0.000,0.030,2748,2293,3867
$GC,4066,-0.77,-194.7,464.7,-11.2,630,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2293,3867
$GC,4383,-0.77,-194.7,499.6,-10.8,660,4387,0.00,2.78,0.00,0.000,4,0.000,0.047,2748,3700,3867
$GC,4437,-0.77,-194.7,505.7,-10.6,664,4446,0.00,2.78,0.00,0.000,6,0.000,0.035,2748,2288,3867
$GC,4763,-0.77,-194.7,540.1,-10.4,695,4768,0.00,2.78,0.00,0.000,4,0.000,0.052,2748,885,3867
$GC,4823,-0.77,-194.7,546.7,-10.7,700,4828,0.00,2.70,0.00,0.000,6,0.000,0.030,2748,2296,3867
$GC,5149,-0.77,-194.7,580.7,-10.8,730,5154,0.00,2.80,0.00,0.000,4,0.000,0.049,2748,3706,3867
$GC,5200,-0.77,-194.7,586.1,-10.2,734,5205,0.00,2.78,0.00,0.000,6,0.000,0.035,2748,2283,3867
$GC,5530,-0.77,-194.7,620.1,-10.2,756,5534,0.00,2.80,0.00,0.000,4,0.000,0.056,2747,887,3867
$GC,5573,-0.77,-194.7,624.7,-10.3,758,5577,0.00,2.72,0.00,0.000,6,0.000,0.032,2748,2301,3867
$GC,5900,-0.77,-194.7,656.7,-9.6,774,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2303,3867
$GC,6210,-0.77,-194.7,686.6,-9.6,789,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2303,3867
$GC,6519,-0.77,-194.7,716.2,-9.9,804,6523,0.00,2.90,0.00,0.000,4,0.000,0.067,2748,3702,3867
$GC,6580,-0.77,-194.7,722.3,-9.6,807,6585,0.00,2.83,0.00,0.000,6,0.000,0.051,2748,2309,3867
$GC,6906,-0.77,-194.7,753.5,-9.7,823,6911,0.00,3.03,0.00,0.000,4,0.000,0.083,2748,887,3866
$GC,6983,-0.77,-194.7,761.8,-10.5,826,6990,0.00,2.88,0.00,0.000,6,0.000,0.055,2748,2300,3866
$GC,7298,-0.77,-194.7,793.8,-10.2,842,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2300,3866
$GC,7608,-0.77,-194.7,825.6,-10.2,857,7613,0.00,3.17,0.00,0.000,4,0.000,0.104,2748,3707,3866
$GC,7685,-0.77,-194.7,833.7,-10.4,860,7692,0.00,3.12,0.00,0.000,6,0.000,0.092,2748,2306,3866
$GC,8001,-0.77,-194.7,865.2,-9.7,876,8006,0.00,2.85,0.00,0.000,4,0.000,0.054,2748,870,3865
$GC,8044,-0.77,-194.7,869.6,-10.5,878,8049,0.00,2.78,0.00,0.000,6,0.000,0.031,2747,2312,3865
$GC,8371,-0.77,-194.7,901.9,-9.9,894,8375,0.00,2.83,0.00,0.000,4,0.000,0.057,2748,3709,3865
$GC,8436,-0.77,-194.7,908.6,-10.2,897,8441,0.00,2.80,0.00,0.000,6,0.000,0.041,2748,2294,3865
$GC,8764,-0.77,-194.7,940.5,-9.8,913,8765,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2293,3864
$GC,9072,-0.77,-194.7,971.4,-10.1,928,9074,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2293,3864
$STATE,9277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9277,begin apogee
$GC,9283,-0.21,0.0,991.8,9.9,938,9489,0.75,0.00,202.77,1.607,6,0.123,0.000,2870,2751,3071
$STATE,9490,end apogee,CONTROL_FINISHED_OK
$STATE,9490,begin climb
$GC,9492,0.86,194.7,999.7,0.0,948,9717,1.38,2.67,210.62,1.554,4,0.082,0.058,3099,3902,2277
$GC,9818,0.69,194.7,965.3,14.3,963,9823,0.20,2.40,0.00,0.000,6,0.127,0.035,3072,2750,2274
$GC,10133,0.57,194.7,928.2,11.7,978,10138,0.15,2.40,0.00,0.000,4,0.125,0.054,3048,3894,2274
$GC,10173,0.52,194.7,923.9,10.4,980,10177,0.00,2.28,0.00,0.000,6,0.000,0.034,3048,2754,2274
$GC,10499,0.47,201.9,892.6,9.7,996,10514,0.15,2.42,8.27,1.213,4,0.121,0.056,3026,3899,2247
$GC,10531,0.56,272.9,889.7,7.5,997,10611,0.00,2.25,74.30,1.510,6,0.000,0.034,3026,2763,1958
$GC,10933,0.62,320.6,857.3,8.3,1017,10986,0.15,0.00,50.60,1.471,6,0.057,0.000,3055,2763,1763
$GC,11282,0.62,320.6,817.1,11.6,1034,11283,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2763,1758
$GC,11591,0.62,320.6,780.8,11.9,1049,11592,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2763,1756
$GC,11900,0.62,320.6,744.8,11.3,1064,11901,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2763,1756
$GC,12209,0.62,320.6,710.1,11.4,1079,12211,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2762,1755
$GC,12518,0.62,320.6,673.7,12.1,1094,12520,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2762,1755
$GC,12828,0.62,320.6,637.9,11.5,1109,12829,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2762,1755
$GC,13137,0.62,320.6,603.1,11.2,1124,13138,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2762,1755
$GC,13455,0.62,320.6,567.0,11.3,1152,13456,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2762,1754
$GC,13773,0.62,320.6,531.4,10.7,1182,13774,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2762,1754
$GC,14092,0.62,320.6,496.7,11.0,1212,14093,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2762,1754
$GC,14412,0.62,320.6,462.5,10.3,1242,14413,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2762,1754
$GC,14729,0.62,320.6,428.4,10.6,1272,14733,0.00,2.28,0.00,0.000,4,0.000,0.051,3055,3896,1754
$GC,14738,0.62,320.6,427.1,10.8,1272,14747,0.00,2.20,0.00,0.000,6,0.000,0.031,3055,2762,1754
$GC,15066,0.62,320.6,393.1,11.0,1303,15067,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2760,1754
$GC,15381,0.62,320.6,358.7,11.1,1333,15382,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2759,1754
$GC,15712,0.62,320.6,323.4,10.2,1385,15717,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2757,1754
$GC,16052,0.62,320.6,288.8,10.6,1446,16059,0.00,2.80,0.00,0.000,4,0.000,0.048,3055,1346,1754
$GC,16066,0.62,323.1,287.4,9.9,1448,16074,0.00,2.78,0.00,0.000,6,0.000,0.030,3055,2769,1753
$GC,16410,0.62,323.1,252.3,10.4,1509,16417,0.00,2.83,0.00,0.000,4,0.000,0.044,3055,1346,1753
$GC,16430,0.62,323.1,250.1,10.3,1512,16438,0.00,2.75,0.00,0.000,6,0.000,0.030,3055,2755,1753
$GC,16774,0.62,323.1,215.1,10.8,1573,16780,0.00,2.80,0.00,0.000,4,0.000,0.044,3055,1346,1753
$GC,16785,0.62,323.1,213.6,10.6,1575,16792,0.00,2.72,0.00,0.000,6,0.000,0.031,3055,2756,1753
$GC,17126,0.65,343.5,181.3,9.3,1636,17157,0.00,2.88,21.62,1.022,4,0.000,0.044,3055,1349,1669
$GC,17294,0.66,353.6,165.3,9.7,1665,17311,0.00,2.72,11.20,0.960,6,0.000,0.030,3056,2745,1629
$GC,17640,0.66,353.6,133.6,10.2,1728,17648,0.00,2.83,0.00,0.000,4,0.000,0.044,3055,1352,1627
$GC,17751,0.71,355.7,123.6,9.9,1748,17759,0.00,2.75,0.00,0.000,6,0.000,0.031,3055,2745,1627
$GC,18087,0.74,385.7,93.2,9.0,1809,18127,0.12,2.85,32.90,0.991,4,0.057,0.044,3083,1347,1497
$GC,18133,0.74,385.7,87.6,12.8,1816,18141,0.00,2.78,0.00,0.000,6,0.000,0.031,3083,2731,1496
$GC,18466,0.69,385.7,42.0,12.8,1877,18474,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2731,1493
$GC,18601,0.65,385.7,23.5,13.0,1902,18610,0.15,2.33,0.00,0.000,4,0.107,0.047,3057,3887,1493
$GC,18628,0.65,385.7,20.0,13.1,1906,18636,0.00,2.25,0.00,0.000,6,0.000,0.032,3058,2743,1492
$GC,18766,0.76,428.5,7.8,8.5,1931,18818,0.15,2.90,42.08,0.940,4,0.051,0.048,3093,1343,1323
$STATE,18824,end climb,SURFACE_DEPTH_REACHED
$STATE,18824,begin surface coast
$FINISH,0.6,1.026247
$STATE,18836,end surface coast,CONTROL_FINISHED_OK
$STATE,18836,begin surface
$SM_CCo,18915,0.00,0.000,0,0,1318,430.26
$SM_GC,0.58,8.70,0.00,0.00,0.052,0.000,0.000,1437,2320,1318,-6.79,0.54,430.26
$IRIDIUM_FIX,6002.40,-2243.89,220797,000056
$TT8_MAMPS,0.026845
$HUMID,1752
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,11.30
$XPDR_PINGS,917
$24V_AH,19.6,38.293
$10V_AH,9.7,31.090
$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,23.200,141.600,654.375,0.000,0.000,27.692,30.475,224.883,229.250,0.000,0.000,18.293,3043.321,10571.427,750.953,4345.523,607.378,0.000,2418.164,0.000,4346.675,0.000,0.466
$DEVICE_MAMPS,245.440,104.312,1606.865,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1351.526,1394.682,716.370,968.388,1780.413,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142366,1941
$CAP_FILE_SIZE,171612,0
$CFSIZE,260165632,245964800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270408,102908,6032.290,-2242.675,32,1.6,32,-16.1