version: 66.03
glider: 142
mission: 5
dive: 113
start: 4 28 108 3 39 52
data:
$ID,142
$MISSION,5
$DIVE,113
$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,320
$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,-14961.127
$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,22
$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
$GPS1,032822,6041.833,-2249.117,37,2.8,56,-16.3
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-41.0
$GPS2,033932,6041.778,-2249.128,11,1.9,11,-16.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6050.051,-2252.511
$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,336.3,20000,-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,-194.7,0.0,0.0,0,187,0.00,0.00,-157.77,0.000,2,0.000,0.000,1438,2286,3599
$GC,190,-0.86,-194.7,3.3,-4.9,22,213,11.30,0.00,-7.20,0.000,6,0.249,0.000,2723,2286,3866
$GC,342,-0.77,-194.7,28.8,-14.5,49,350,0.15,0.00,0.00,0.000,6,0.141,0.000,2747,2286,3867
$GC,476,-0.77,-194.7,45.6,-12.3,74,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2286,3867
$GC,614,-0.77,-194.7,61.6,-11.6,99,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2286,3867
$GC,943,-0.77,-194.7,99.5,-11.5,160,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2286,3867
$GC,1275,-0.77,-194.7,139.1,-12.3,221,1281,0.00,2.78,0.00,0.000,4,0.000,0.048,2747,885,3867
$GC,1364,-0.77,-194.7,149.9,-11.9,237,1370,0.00,2.72,0.00,0.000,6,0.000,0.031,2747,2309,3867
$GC,1703,-0.77,-194.7,188.9,-11.1,298,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2310,3867
$GC,2039,-0.77,-194.7,228.4,-11.9,359,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2310,3867
$GC,2379,-0.77,-194.7,269.0,-11.6,420,2387,0.00,2.85,0.00,0.000,4,0.000,0.048,2747,894,3867
$GC,2426,-0.77,-194.7,274.8,-12.4,428,2434,0.00,2.72,0.00,0.000,6,0.000,0.031,2747,2298,3867
$GC,2771,-0.77,-194.7,314.9,-12.0,489,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2298,3867
$GC,3106,-0.77,-194.7,354.0,-11.3,547,3111,0.00,2.80,0.00,0.000,4,0.000,0.048,2746,888,3867
$GC,3158,-0.77,-194.7,359.6,-11.1,551,3162,0.00,2.67,0.00,0.000,6,0.000,0.031,2747,2286,3867
$GC,3484,-0.77,-194.7,395.9,-11.1,581,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2286,3867
$GC,3801,-0.77,-194.7,433.0,-11.9,611,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2286,3867
$GC,4121,-0.77,-194.7,468.7,-10.9,641,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2286,3867
$GC,4438,-0.77,-194.7,503.5,-11.2,671,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2287,3867
$GC,4757,-0.77,-194.7,536.9,-10.1,701,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2287,3867
$GC,5077,-0.77,-194.7,570.2,-10.8,731,5081,0.00,2.83,0.00,0.000,4,0.000,0.051,2746,3702,3867
$GC,5142,-0.77,-194.7,577.5,-10.9,736,5151,0.00,2.80,0.00,0.000,6,0.000,0.035,2747,2280,3867
$GC,5475,-0.77,-194.7,610.8,-9.9,763,5480,0.00,2.78,0.00,0.000,4,0.000,0.057,2747,894,3867
$GC,5546,-0.77,-194.7,618.5,-10.6,766,5551,0.00,2.67,0.00,0.000,6,0.000,0.033,2747,2278,3867
$GC,5868,-0.77,-194.7,651.0,-9.9,782,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2279,3867
$GC,6177,-0.77,-194.7,683.1,-10.8,797,6181,0.00,2.92,0.00,0.000,4,0.000,0.062,2747,3711,3867
$GC,6253,-0.77,-194.7,691.3,-11.1,800,6260,0.00,2.85,0.00,0.000,6,0.000,0.048,2747,2292,3866
$GC,6569,-0.77,-194.7,724.6,-10.4,816,6574,0.00,2.95,0.00,0.000,4,0.000,0.075,2747,883,3866
$GC,6618,-0.77,-194.7,730.0,-11.6,818,6623,0.00,2.83,0.00,0.000,6,0.000,0.048,2747,2295,3865
$GC,6934,-0.77,-194.7,762.9,-10.2,833,6938,0.00,3.00,0.00,0.000,4,0.000,0.078,2747,3710,3865
$GC,6995,-0.77,-194.7,769.2,-10.5,836,7000,0.00,2.95,0.00,0.000,6,0.000,0.064,2747,2298,3865
$GC,7321,-0.77,-194.7,802.3,-10.3,852,7325,0.00,3.15,0.00,0.000,4,0.000,0.104,2747,887,3865
$GC,7364,-0.77,-194.7,807.0,-10.8,854,7369,0.00,3.03,0.00,0.000,6,0.000,0.074,2746,2306,3865
$GC,7686,-0.77,-194.7,838.3,-9.6,870,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2306,3865
$GC,7995,-0.77,-194.7,867.7,-9.4,885,8000,0.00,3.30,0.00,0.000,4,0.000,0.121,2747,3710,3864
$GC,8066,-0.77,-194.7,874.8,-10.2,888,8071,0.00,3.03,0.00,0.000,6,0.000,0.079,2747,2301,3864
$GC,8383,-0.77,-194.7,903.8,-9.1,903,8387,0.00,2.85,0.00,0.000,4,0.000,0.058,2747,884,3864
$GC,8444,-0.77,-194.7,909.8,-9.5,906,8449,0.00,2.80,0.00,0.000,6,0.000,0.033,2747,2328,3863
$GC,8770,-0.77,-194.7,937.9,-8.6,922,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2329,3863
$GC,9079,-0.77,-194.7,963.7,-8.1,937,9084,0.00,2.80,0.00,0.000,4,0.000,0.058,2747,3708,3862
$GC,9140,-0.77,-194.7,969.0,-8.5,940,9145,0.00,2.78,0.00,0.000,6,0.000,0.041,2747,2310,3863
$STATE,9402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9402,begin apogee
$GC,9408,-0.21,0.0,991.1,8.4,953,9614,0.75,0.00,202.48,1.608,6,0.123,0.000,2869,2755,3071
$STATE,9615,end apogee,CONTROL_FINISHED_OK
$STATE,9615,begin climb
$GC,9617,0.86,194.7,996.1,0.0,963,9842,1.38,2.65,210.98,1.551,4,0.081,0.058,3099,3894,2277
$GC,10010,0.69,194.7,947.3,14.7,981,10015,0.17,2.35,0.00,0.000,6,0.128,0.038,3075,2748,2274
$GC,10331,0.58,194.7,907.2,12.6,997,10336,0.15,2.40,0.00,0.000,4,0.123,0.054,3050,3897,2273
$GC,10375,0.53,194.7,902.0,11.2,999,10379,0.00,2.28,0.00,0.000,6,0.000,0.034,3050,2753,2273
$GC,10702,0.47,194.7,868.4,10.5,1015,10704,0.17,0.00,0.00,0.000,6,0.111,0.000,3023,2753,2272
$GC,11011,0.54,250.1,843.1,8.1,1030,11071,0.00,0.00,56.35,1.485,6,0.000,0.000,3023,2752,2051
$GC,11380,0.61,309.3,813.6,7.9,1048,11445,0.15,0.00,62.42,1.463,6,0.059,0.000,3052,2752,1809
$GC,11750,0.61,309.3,774.5,10.5,1066,11751,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2753,1803
$GC,12059,0.61,309.3,741.5,10.7,1081,12060,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2752,1802
$GC,12368,0.61,309.3,708.6,10.8,1096,12372,0.00,2.35,0.00,0.000,4,0.000,0.053,3052,3902,1801
$GC,12378,0.61,309.3,707.4,10.8,1096,12384,0.00,2.25,0.00,0.000,6,0.000,0.033,3052,2743,1800
$GC,12693,0.61,309.3,672.5,11.2,1112,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2741,1800
$GC,13002,0.61,309.3,638.4,10.9,1127,13006,0.00,2.35,0.00,0.000,4,0.000,0.052,3052,3900,1800
$GC,13019,0.61,309.3,636.6,10.9,1128,13024,0.00,2.22,0.00,0.000,6,0.000,0.032,3052,2751,1799
$GC,13346,0.61,309.3,601.7,10.5,1144,13347,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2751,1799
$GC,13663,0.61,309.3,567.0,10.8,1173,13664,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2751,1799
$GC,13982,0.61,309.3,534.2,10.2,1203,13983,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2750,1799
$GC,14304,0.61,309.3,500.2,10.9,1233,14309,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2747,1800
$GC,14629,0.61,309.3,465.6,10.2,1264,14630,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2745,1799
$GC,14947,0.61,309.3,434.0,10.2,1294,14948,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2741,1799
$GC,15267,0.63,323.8,403.3,9.5,1324,15289,0.00,2.35,13.57,1.102,4,0.000,0.050,3052,3893,1751
$GC,15294,0.64,335.1,400.5,9.6,1326,15314,0.00,2.22,13.27,1.127,6,0.000,0.031,3052,2743,1703
$GC,15640,0.67,357.4,369.5,9.2,1359,15668,0.00,2.85,23.48,1.151,4,0.000,0.048,3052,1349,1613
$GC,15674,0.70,383.0,366.3,9.1,1361,15711,0.00,2.80,27.95,1.154,6,0.000,0.030,3052,2756,1508
$GC,16040,0.77,396.0,332.6,9.5,1411,16060,0.17,2.88,13.38,1.046,4,0.051,0.045,3092,1347,1455
$GC,16072,0.77,396.0,328.3,12.7,1416,16079,0.00,2.80,0.00,0.000,6,0.000,0.031,3092,2740,1454
$GC,16417,0.67,396.0,272.2,16.9,1477,16423,0.15,2.30,0.00,0.000,4,0.110,0.047,3066,3893,1452
$GC,16453,0.67,396.0,266.6,14.7,1483,16459,0.00,2.22,0.00,0.000,6,0.000,0.031,3066,2747,1451
$GC,16792,0.67,396.0,226.4,11.0,1544,16800,0.00,2.83,0.00,0.000,4,0.000,0.046,3066,1343,1451
$GC,16806,0.67,396.0,224.7,12.0,1546,16813,0.00,2.70,0.00,0.000,6,0.000,0.029,3066,2742,1451
$GC,17149,0.67,396.0,187.6,10.7,1607,17155,0.00,2.80,0.00,0.000,4,0.000,0.044,3066,1340,1451
$GC,17163,0.67,396.0,186.3,11.7,1609,17169,0.00,2.72,0.00,0.000,6,0.000,0.030,3066,2743,1450
$GC,17502,0.67,396.0,149.7,10.8,1670,17510,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2744,1451
$GC,17834,0.67,396.0,112.8,11.6,1731,17841,0.00,2.80,0.00,0.000,4,0.000,0.044,3066,1335,1450
$GC,17861,0.67,396.0,110.0,10.5,1735,17867,0.00,2.70,0.00,0.000,6,0.000,0.030,3066,2732,1450
$GC,18191,0.72,439.1,76.5,8.5,1796,18242,0.00,2.85,43.05,0.986,4,0.000,0.045,3066,1340,1279
$GC,18250,0.77,439.1,71.0,10.3,1805,18256,0.00,2.75,0.00,0.000,6,0.000,0.031,3066,2725,1277
$GC,18579,0.84,445.9,39.3,9.8,1866,18595,0.15,0.00,6.95,0.767,6,0.053,0.000,3102,2725,1253
$GC,18724,0.75,445.9,16.0,19.2,1892,18731,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2725,1252
$STATE,18809,end climb,SURFACE_DEPTH_REACHED
$STATE,18809,begin surface coast
$FINISH,0.1,1.026269
$STATE,18821,end surface coast,CONTROL_FINISHED_OK
$STATE,18821,begin surface
$SM_CCo,18899,0.00,0.000,0,0,1250,446.69
$SM_GC,0.65,8.35,0.00,0.00,0.038,0.000,0.000,1432,2291,1250,-6.80,-0.25,446.69
$IRIDIUM_FIX,6015.40,-2250.02,230797,030317
$TT8_MAMPS,0.026845
$HUMID,1740
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,11.80
$XPDR_PINGS,929
$24V_AH,19.6,39.745
$10V_AH,9.7,31.937
$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,23.050,132.100,673.875,0.000,0.000,53.503,64.071,351.604,232.250,0.000,0.000,13.042,3003.303,10682.078,799.633,4274.688,788.624,0.000,2445.620,0.000,4281.434,0.000,0.466
$DEVICE_MAMPS,248.508,121.186,1608.399,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1325.208,1383.403,708.405,939.050,1743.047,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139480,1910
$CAP_FILE_SIZE,175840,0
$CFSIZE,260165632,245567488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280408,085625,6043.934,-2253.970,41,1.6,58,-16.3