version: 66.03
glider: 142
mission: 5
dive: 118
start: 4 29 108 6 59 3
data:
$ID,142
$MISSION,5
$DIVE,118
$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,-15033.286
$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,37
$R_STBD_OVSHOOT,25
$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
$GPS1,064738,6057.775,-2325.913,38,1.0,38,-16.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-34.6
$GPS2,065845,6057.761,-2326.165,11,1.5,11,-16.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6106.034,-2329.519
$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,336.8,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,195,0.00,0.00,-165.45,0.000,2,0.000,0.000,1436,2273,3660
$GC,198,-0.86,-194.7,3.7,-5.3,23,221,11.35,2.85,-5.38,0.000,4,0.249,0.049,2724,3705,3865
$GC,266,-0.79,-194.7,17.8,-14.0,34,275,0.10,2.78,0.00,0.000,6,0.135,0.034,2741,2311,3866
$GC,403,-0.74,-194.7,38.2,-14.0,59,411,0.00,2.88,0.00,0.000,4,0.000,0.050,2741,890,3867
$GC,524,-0.74,-194.7,57.5,-13.3,81,531,0.00,2.78,0.00,0.000,6,0.000,0.030,2741,2323,3867
$GC,857,-0.74,-194.7,98.0,-12.2,142,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2323,3867
$GC,1191,-0.70,-194.7,138.1,-10.9,203,1198,0.15,2.80,0.00,0.000,4,0.136,0.046,2765,892,3867
$GC,1261,-0.75,-194.7,144.8,-9.3,215,1267,0.00,2.75,0.00,0.000,6,0.000,0.031,2765,2321,3867
$GC,1599,-0.75,-194.7,177.5,-10.1,276,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2320,3867
$GC,1942,-0.75,-194.7,213.1,-9.5,337,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2321,3867
$GC,2281,-0.75,-194.7,244.7,-9.1,398,2287,0.00,2.72,0.00,0.000,4,0.000,0.044,2765,3707,3866
$GC,2346,-0.75,-194.7,250.4,-9.3,409,2352,0.00,2.70,0.00,0.000,6,0.000,0.032,2765,2312,3866
$GC,2684,-0.75,-194.7,280.5,-8.9,470,2690,0.00,2.80,0.00,0.000,4,0.000,0.049,2765,891,3867
$GC,2740,-0.80,-194.7,285.6,-9.3,480,2748,0.00,2.75,0.00,0.000,6,0.000,0.030,2765,2313,3867
$GC,3084,-0.80,-194.7,317.5,-9.3,541,3090,0.00,2.75,0.00,0.000,4,0.000,0.045,2765,3710,3866
$GC,3155,-0.84,-194.7,324.4,-10.3,553,3161,0.15,2.70,0.00,0.000,6,0.064,0.032,2735,2316,3866
$GC,3489,-0.80,-194.7,366.4,-12.3,602,3493,0.00,2.83,0.00,0.000,4,0.000,0.049,2735,883,3867
$GC,3595,-0.80,-194.7,380.1,-13.0,611,3599,0.00,2.75,0.00,0.000,6,0.000,0.031,2735,2316,3867
$GC,3923,-0.76,-194.7,419.1,-11.6,641,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2317,3867
$GC,4247,-0.76,-194.7,457.8,-12.0,672,4252,0.00,2.85,0.00,0.000,4,0.000,0.049,2735,883,3867
$GC,4320,-0.76,-194.7,466.6,-12.2,678,4325,0.00,2.75,0.00,0.000,6,0.000,0.031,2735,2314,3866
$GC,4646,-0.76,-194.7,504.7,-11.9,708,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2314,3866
$GC,4963,-0.76,-194.7,542.0,-11.4,738,4968,0.00,2.85,0.00,0.000,4,0.000,0.050,2735,888,3866
$GC,5002,-0.76,-194.7,546.6,-11.7,741,5007,0.00,2.72,0.00,0.000,6,0.000,0.031,2735,2305,3866
$GC,5328,-0.76,-194.7,585.0,-11.9,771,5329,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2306,3866
$GC,5650,-0.76,-194.7,622.2,-11.2,793,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2306,3866
$GC,5959,-0.76,-194.7,656.9,-10.7,808,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2305,3866
$GC,6268,-0.76,-194.7,690.3,-11.2,823,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2306,3866
$GC,6578,-0.76,-194.7,724.8,-11.6,838,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2306,3865
$GC,6887,-0.76,-194.7,761.1,-11.8,853,6892,0.00,3.05,0.00,0.000,4,0.000,0.084,2735,891,3865
$GC,6935,-0.76,-194.7,767.1,-12.1,855,6940,0.00,2.88,0.00,0.000,6,0.000,0.061,2735,2287,3865
$GC,7251,-0.76,-194.7,803.8,-11.4,870,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2288,3865
$GC,7560,-0.76,-194.7,837.9,-11.4,885,7565,0.00,3.25,0.00,0.000,4,0.000,0.110,2735,3707,3865
$GC,7621,-0.76,-194.7,844.8,-11.4,888,7626,0.00,3.17,0.00,0.000,6,0.000,0.098,2735,2303,3864
$GC,7947,-0.76,-194.7,880.9,-11.0,904,7952,0.00,3.15,0.00,0.000,4,0.000,0.101,2735,878,3864
$GC,8002,-0.76,-194.7,887.5,-11.8,906,8009,0.00,2.75,0.00,0.000,6,0.000,0.031,2735,2312,3863
$GC,8317,-0.76,-194.7,921.8,-10.9,922,8319,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2311,3863
$GC,8627,-0.76,-194.7,955.4,-10.6,937,8631,0.00,2.83,0.00,0.000,4,0.000,0.058,2735,3709,3863
$GC,8694,-0.76,-194.7,962.5,-10.2,940,8699,0.00,2.80,0.00,0.000,6,0.000,0.041,2735,2290,3863
$STATE,8970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8971,begin apogee
$GC,8977,-0.21,0.0,991.3,10.4,954,9182,0.82,0.00,201.48,1.583,6,0.126,0.000,2869,2750,3072
$STATE,9183,end apogee,CONTROL_FINISHED_OK
$STATE,9183,begin climb
$GC,9185,0.86,194.7,997.9,0.0,964,9409,1.38,2.60,210.02,1.531,4,0.080,0.056,3100,3900,2276
$GC,9583,0.69,194.7,950.6,15.1,982,9589,0.20,2.35,0.00,0.000,6,0.131,0.035,3073,2749,2274
$GC,9898,0.58,194.7,913.4,11.5,998,9903,0.15,2.38,0.00,0.000,4,0.128,0.053,3052,3896,2273
$GC,9964,0.53,194.7,906.4,10.1,1001,9969,0.00,2.22,0.00,0.000,6,0.000,0.034,3051,2770,2273
$GC,10286,0.49,212.7,876.0,9.4,1017,10310,0.15,2.40,18.65,1.374,4,0.120,0.057,3026,3894,2202
$GC,10321,0.57,277.9,872.9,7.7,1018,10396,0.00,2.25,68.12,1.473,6,0.000,0.034,3026,2767,1938
$GC,10719,0.68,334.7,842.9,8.0,1038,10782,0.22,0.00,60.25,1.443,6,0.052,0.000,3069,2765,1706
$GC,11088,0.64,334.7,794.1,13.4,1056,11092,0.00,2.35,0.00,0.000,4,0.000,0.054,3069,3900,1699
$GC,11143,0.64,334.7,786.5,12.8,1058,11150,0.00,2.20,0.00,0.000,6,0.000,0.032,3069,2798,1698
$GC,11459,0.59,334.7,747.0,12.3,1074,11460,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2796,1697
$GC,11768,0.54,334.7,707.2,13.6,1089,11773,0.15,2.25,0.00,0.000,4,0.112,0.051,3043,3902,1697
$GC,11785,0.54,334.7,704.9,13.5,1090,11789,0.00,2.15,0.00,0.000,6,0.000,0.031,3043,2792,1696
$GC,12111,0.57,361.4,672.8,9.1,1106,12145,0.00,3.03,26.83,1.322,4,0.000,0.049,3043,1343,1596
$GC,12153,0.66,395.2,669.1,8.8,1108,12197,0.00,2.95,37.47,1.343,6,0.000,0.032,3043,2814,1458
$GC,12527,0.73,401.7,634.9,9.8,1126,12542,0.17,3.05,6.82,1.031,4,0.052,0.046,3083,1348,1433
$GC,12564,0.73,401.7,629.9,14.1,1127,12570,0.00,2.88,0.00,0.000,6,0.000,0.032,3083,2792,1431
$GC,12883,0.68,401.7,583.3,14.1,1148,12887,0.00,2.22,0.00,0.000,4,0.000,0.052,3082,3905,1430
$GC,12893,0.63,401.7,581.6,14.1,1148,12900,0.15,2.15,0.00,0.000,6,0.109,0.031,3061,2796,1431
$GC,13217,0.63,401.7,544.5,11.9,1179,13222,0.00,2.90,0.00,0.000,4,0.000,0.048,3060,1346,1430
$GC,13227,0.63,401.7,543.2,11.8,1179,13233,0.00,2.83,0.00,0.000,6,0.000,0.031,3060,2791,1429
$GC,13553,0.63,401.7,505.5,11.3,1210,13558,0.00,2.90,0.00,0.000,4,0.000,0.046,3060,1346,1429
$GC,13573,0.63,401.7,503.0,11.1,1211,13580,0.00,2.78,0.00,0.000,6,0.000,0.031,3060,2769,1429
$GC,13900,0.63,401.7,469.1,10.0,1242,13905,0.00,2.85,0.00,0.000,4,0.000,0.045,3060,1347,1429
$GC,13917,0.63,402.6,467.3,10.0,1243,13921,0.00,2.75,0.00,0.000,6,0.000,0.031,3060,2758,1429
$GC,14243,0.63,402.6,432.8,11.0,1273,14248,0.00,2.83,0.00,0.000,4,0.000,0.045,3060,1345,1429
$GC,14253,0.63,402.6,431.4,10.7,1273,14259,0.00,2.72,0.00,0.000,6,0.000,0.030,3061,2752,1428
$GC,14578,0.63,402.6,396.0,11.4,1304,14583,0.00,2.83,0.00,0.000,4,0.000,0.045,3060,1338,1428
$GC,14588,0.63,402.6,394.6,11.2,1304,14597,0.00,2.75,0.00,0.000,6,0.000,0.031,3060,2743,1429
$GC,14914,0.63,402.6,359.1,10.6,1335,14919,0.00,2.80,0.00,0.000,4,0.000,0.045,3060,1337,1428
$GC,14923,0.63,402.6,357.8,10.6,1335,14930,0.00,2.72,0.00,0.000,6,0.000,0.031,3060,2735,1428
$GC,15261,0.63,402.6,323.6,10.5,1389,15266,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2735,1428
$GC,15599,0.69,420.5,289.9,9.4,1450,15628,0.00,2.85,19.80,1.052,4,0.000,0.045,3060,1346,1355
$GC,15636,0.75,431.8,286.5,9.6,1456,15654,0.00,2.75,13.32,1.035,6,0.000,0.031,3060,2734,1310
$GC,15989,0.84,457.9,252.9,9.1,1519,16026,0.17,2.88,27.33,1.056,4,0.049,0.045,3103,1348,1204
$GC,16033,0.78,457.9,247.2,14.6,1526,16039,0.00,2.75,0.00,0.000,6,0.000,0.031,3102,2728,1203
$GC,16373,0.70,457.9,187.5,18.4,1587,16380,0.17,2.33,0.00,0.000,4,0.110,0.047,3074,3893,1201
$GC,16424,0.75,457.9,180.0,13.2,1596,16432,0.00,2.25,0.00,0.000,6,0.000,0.031,3074,2749,1200
$GC,16766,0.75,457.9,140.8,12.4,1657,16772,0.00,2.80,0.00,0.000,4,0.000,0.046,3073,1337,1199
$GC,16790,0.75,457.9,138.0,11.7,1661,16797,0.00,2.70,0.00,0.000,6,0.000,0.031,3073,2735,1198
$GC,17121,0.75,457.9,101.2,11.0,1722,17129,0.00,2.83,0.00,0.000,4,0.000,0.046,3073,1337,1198
$GC,17142,0.75,457.9,99.0,11.7,1725,17149,0.00,2.67,0.00,0.000,6,0.000,0.030,3073,2725,1198
$GC,17475,0.75,457.9,60.7,12.4,1786,17482,0.00,2.78,0.00,0.000,4,0.000,0.045,3073,1347,1198
$GC,17488,0.75,457.9,59.1,11.8,1788,17496,0.00,2.67,0.00,0.000,6,0.000,0.030,3073,2718,1198
$GC,17815,0.93,542.8,25.7,7.1,1849,17911,0.20,2.45,84.68,0.932,4,0.047,0.046,3120,3889,857
$GC,17920,0.85,542.8,7.3,19.0,1863,17928,0.00,2.35,0.00,0.000,6,0.000,0.031,3121,2731,856
$STATE,17950,end climb,SURFACE_DEPTH_REACHED
$STATE,17950,begin surface coast
$FINISH,0.1,1.002272
$STATE,17962,end surface coast,CONTROL_FINISHED_OK
$STATE,17962,begin surface
$SM_CCo,18040,0.00,0.000,0,0,852,544.32
$SM_GC,0.63,8.62,0.00,0.00,0.038,0.000,0.000,1436,2288,852,-6.79,-0.34,544.32
$IRIDIUM_FIX,6032.86,-2323.55,240797,060634
$TT8_MAMPS,0.026078
$HUMID,1727
$INTERNAL_PRESSURE,8.85822
$TCM_TEMP,12.00
$XPDR_PINGS,821
$24V_AH,19.6,41.418
$10V_AH,9.7,32.973
$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,24.325,185.875,774.775,0.000,0.000,56.133,56.251,355.968,205.250,0.000,0.000,13.361,2942.660,9828.144,882.325,4234.368,799.236,0.000,2583.345,0.000,4234.884,0.000,0.465
$DEVICE_MAMPS,248.508,110.448,1583.088,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1295.790,1350.590,692.539,934.158,1718.607,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139180,1870
$CAP_FILE_SIZE,184417,0
$CFSIZE,260165632,245063680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290408,120101,6100.940,-2333.094,37,1.3,42,-16.9