version: 66.03
glider: 142
mission: 5
dive: 119
start: 4 29 108 12 20 44
data:
$ID,142
$MISSION,5
$DIVE,119
$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,-15050.432
$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,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
$GPS1,120101,6100.940,-2333.094,37,1.3,42,-16.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-38.6
$GPS2,122026,6100.900,-2333.338,10,1.4,15,-16.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6109.173,-2336.688
$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,336.9,20000,-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,-194.7,0.0,0.0,0,187,0.00,0.00,-157.48,0.000,2,0.000,0.000,1436,2285,3610
$GC,190,-0.86,-194.7,3.4,-5.0,22,214,11.40,2.85,-6.65,0.000,4,0.249,0.051,2726,3711,3866
$GC,342,-0.80,-194.7,31.5,-13.5,49,350,0.00,2.80,0.00,0.000,6,0.000,0.033,2726,2299,3867
$GC,475,-0.72,-194.7,50.8,-15.4,74,484,0.17,2.85,0.00,0.000,4,0.144,0.049,2754,890,3867
$GC,594,-0.72,-194.7,65.0,-11.3,95,600,0.00,2.72,0.00,0.000,6,0.000,0.029,2754,2304,3867
$GC,922,-0.72,-194.7,100.9,-10.2,156,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2305,3867
$GC,1256,-0.72,-194.7,136.3,-10.6,217,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2304,3867
$GC,1590,-0.72,-194.7,172.5,-10.6,278,1596,0.00,2.83,0.00,0.000,4,0.000,0.048,2754,884,3867
$GC,1636,-0.72,-194.7,177.4,-11.0,286,1642,0.00,2.72,0.00,0.000,6,0.000,0.030,2754,2304,3867
$GC,1977,-0.72,-194.7,213.8,-10.6,347,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2306,3867
$GC,2316,-0.72,-194.7,248.0,-10.1,408,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2305,3867
$GC,2659,-0.72,-194.7,283.3,-11.1,469,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2305,3867
$GC,2997,-0.72,-194.7,322.1,-11.2,530,3003,0.00,2.80,0.00,0.000,4,0.000,0.048,2754,894,3867
$GC,3062,-0.72,-194.7,329.0,-11.3,541,3068,0.00,2.67,0.00,0.000,6,0.000,0.030,2754,2290,3867
$GC,3395,-0.72,-194.7,365.2,-10.7,589,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2291,3867
$GC,3713,-0.72,-194.7,398.5,-10.2,619,3718,0.00,2.80,0.00,0.000,4,0.000,0.045,2755,3710,3867
$GC,3768,-0.72,-194.7,404.4,-10.5,623,3775,0.00,2.75,0.00,0.000,6,0.000,0.033,2754,2289,3867
$GC,4095,-0.72,-194.7,437.9,-9.8,654,4099,0.00,2.78,0.00,0.000,4,0.000,0.050,2754,883,3867
$GC,4149,-0.72,-194.7,443.6,-9.9,658,4156,0.00,2.70,0.00,0.000,6,0.000,0.029,2754,2295,3866
$GC,4477,-0.72,-194.7,477.8,-10.4,689,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2296,3866
$GC,4802,-0.72,-194.7,510.6,-10.2,720,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2296,3866
$GC,5121,-0.72,-194.7,546.6,-11.7,750,5126,0.00,2.80,0.00,0.000,4,0.000,0.048,2753,3708,3866
$GC,5176,-0.72,-194.7,553.2,-11.5,754,5182,0.00,2.78,0.00,0.000,6,0.000,0.034,2754,2276,3866
$GC,5504,-0.72,-194.7,586.4,-9.3,785,5509,0.00,2.75,0.00,0.000,4,0.000,0.054,2754,894,3866
$GC,5554,-0.72,-194.7,591.6,-9.8,789,5559,0.00,2.70,0.00,0.000,6,0.000,0.031,2754,2297,3866
$GC,5872,-0.72,-194.7,623.3,-10.5,808,5876,0.00,2.83,0.00,0.000,4,0.000,0.053,2754,3709,3866
$GC,5933,-0.72,-194.7,629.7,-10.1,811,5937,0.00,2.80,0.00,0.000,6,0.000,0.041,2754,2288,3866
$GC,6259,-0.72,-194.7,661.7,-9.7,827,6263,0.00,2.83,0.00,0.000,4,0.000,0.061,2754,889,3866
$GC,6308,-0.72,-194.7,666.9,-11.0,829,6312,0.00,2.72,0.00,0.000,6,0.000,0.034,2754,2296,3865
$GC,6623,-0.72,-194.7,698.1,-9.7,844,6628,0.00,2.90,0.00,0.000,4,0.000,0.063,2754,3709,3865
$GC,6690,-0.72,-194.7,705.0,-10.1,847,6694,0.00,2.83,0.00,0.000,6,0.000,0.047,2754,2300,3865
$GC,7010,-0.72,-194.7,737.5,-9.9,863,7015,0.00,2.97,0.00,0.000,4,0.000,0.077,2754,884,3865
$GC,7049,-0.77,-194.7,741.3,-10.1,865,7054,0.00,2.85,0.00,0.000,6,0.000,0.046,2754,2308,3865
$GC,7375,-0.77,-194.7,771.1,-9.4,881,7380,0.00,2.97,0.00,0.000,4,0.000,0.078,2754,3709,3865
$GC,7436,-0.77,-194.7,776.5,-8.9,884,7441,0.00,2.95,0.00,0.000,6,0.000,0.064,2754,2299,3865
$GC,7762,-0.77,-194.7,807.5,-9.6,900,7767,0.00,3.15,0.00,0.000,4,0.000,0.101,2754,885,3865
$GC,7802,-0.82,-194.7,811.2,-9.6,902,7807,0.00,3.03,0.00,0.000,6,0.000,0.074,2754,2306,3864
$GC,8128,-0.82,-194.7,841.5,-9.2,918,8133,0.00,3.20,0.00,0.000,4,0.000,0.106,2754,3715,3864
$GC,8217,-0.82,-194.7,850.1,-9.9,922,8222,0.00,3.08,0.00,0.000,6,0.000,0.088,2754,2312,3864
$GC,8537,-0.82,-194.7,881.2,-10.1,938,8541,0.00,2.85,0.00,0.000,4,0.000,0.057,2754,891,3864
$GC,8598,-0.87,-194.7,887.7,-10.6,941,8603,0.12,2.80,0.00,0.000,6,0.061,0.033,2729,2335,3864
$GC,8924,-0.87,-194.7,925.0,-11.0,957,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2335,3863
$GC,9234,-0.87,-194.7,957.3,-10.7,972,9238,0.00,2.80,0.00,0.000,4,0.000,0.059,2729,3714,3863
$GC,9282,-0.87,-194.7,962.8,-10.9,974,9287,0.00,2.75,0.00,0.000,6,0.000,0.045,2729,2332,3863
$STATE,9539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9540,begin apogee
$GC,9546,-0.21,0.0,990.2,10.5,987,9751,0.88,0.00,201.35,1.578,6,0.126,0.000,2871,2751,3071
$STATE,9752,end apogee,CONTROL_FINISHED_OK
$STATE,9752,begin climb
$GC,9754,0.86,194.7,996.1,0.0,997,9974,1.35,2.60,209.45,1.527,4,0.080,0.058,3097,3900,2276
$GC,10187,0.70,194.7,944.0,14.6,1016,10192,0.15,2.35,0.00,0.000,6,0.129,0.034,3078,2742,2273
$GC,10502,0.59,194.7,904.5,12.5,1031,10507,0.15,2.40,0.00,0.000,4,0.121,0.053,3053,3898,2273
$GC,10574,0.53,196.0,896.6,10.0,1034,10579,0.00,2.25,0.00,0.000,6,0.000,0.032,3053,2755,2272
$GC,10890,0.47,196.0,865.6,10.3,1049,10895,0.15,2.35,0.00,0.000,4,0.116,0.052,3028,3900,2272
$GC,10945,0.53,239.6,860.5,8.5,1051,10995,0.00,2.22,45.00,1.447,6,0.000,0.032,3028,2775,2093
$GC,11322,0.62,315.9,830.3,7.4,1070,11404,0.15,0.00,79.82,1.447,6,0.058,0.000,3056,2774,1783
$GC,11711,0.62,315.9,788.0,11.4,1089,11715,0.00,2.33,0.00,0.000,4,0.000,0.052,3056,3900,1777
$GC,11733,0.62,315.9,785.4,11.5,1090,11737,0.00,2.20,0.00,0.000,6,0.000,0.031,3056,2780,1776
$GC,12059,0.62,315.9,747.7,11.4,1106,12064,0.00,2.90,0.00,0.000,4,0.000,0.049,3056,1343,1775
$GC,12068,0.62,315.9,746.4,11.5,1106,12075,0.00,2.83,0.00,0.000,6,0.000,0.031,3056,2774,1774
$GC,12385,0.62,315.9,712.0,11.1,1122,12386,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2775,1774
$GC,12693,0.62,315.9,679.0,11.1,1137,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2775,1774
$GC,13003,0.62,315.9,645.7,10.5,1152,13004,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2775,1773
$GC,13312,0.62,315.9,613.4,10.3,1167,13313,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2775,1773
$GC,13628,0.62,315.9,580.5,11.1,1190,13632,0.00,2.88,0.00,0.000,4,0.000,0.045,3056,1343,1773
$GC,13637,0.62,315.9,579.1,11.5,1190,13644,0.00,2.80,0.00,0.000,6,0.000,0.031,3056,2780,1772
$GC,13962,0.62,315.9,543.4,10.2,1221,13964,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2780,1772
$GC,14281,0.62,315.9,508.9,10.7,1251,14286,0.00,2.88,0.00,0.000,4,0.000,0.045,3056,1341,1772
$GC,14290,0.62,315.9,507.6,11.2,1251,14297,0.00,2.78,0.00,0.000,6,0.000,0.031,3056,2770,1772
$GC,14619,0.62,317.6,473.9,9.9,1282,14623,0.00,2.85,0.00,0.000,4,0.000,0.045,3056,1338,1772
$GC,14628,0.62,317.6,472.4,10.1,1282,14635,0.00,2.75,0.00,0.000,6,0.000,0.031,3056,2755,1772
$GC,14956,0.62,317.6,438.5,10.6,1313,14962,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2756,1772
$GC,15281,0.62,317.6,403.2,10.6,1344,15285,0.00,2.83,0.00,0.000,4,0.000,0.045,3056,1339,1773
$GC,15290,0.62,317.6,402.1,10.5,1344,15297,0.00,2.75,0.00,0.000,6,0.000,0.030,3056,2749,1772
$GC,15616,0.62,317.6,368.2,10.8,1375,15617,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2749,1772
$GC,15941,0.62,317.6,332.5,10.3,1419,15948,0.00,2.80,0.00,0.000,4,0.000,0.044,3056,1341,1772
$GC,15955,0.62,317.6,331.2,10.4,1421,15961,0.00,2.72,0.00,0.000,6,0.000,0.031,3056,2749,1772
$GC,16297,0.64,329.2,297.6,9.6,1482,16315,0.00,0.00,12.60,0.989,6,0.000,0.000,3056,2749,1728
$GC,16651,0.64,329.2,262.3,11.6,1545,16658,0.00,2.80,0.00,0.000,4,0.000,0.044,3056,1345,1727
$GC,16663,0.64,329.2,260.8,10.1,1547,16670,0.00,2.72,0.00,0.000,6,0.000,0.030,3056,2749,1726
$GC,17004,0.64,329.2,227.1,10.0,1608,17011,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2749,1727
$GC,17346,0.64,333.3,192.7,9.9,1669,17358,0.00,2.80,5.25,0.749,4,0.000,0.044,3056,1338,1712
$GC,17364,0.64,333.3,190.6,10.1,1672,17372,0.00,2.72,0.00,0.000,6,0.000,0.031,3056,2730,1712
$GC,17707,0.64,333.3,156.8,11.4,1733,17712,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2730,1712
$GC,18037,0.68,367.5,123.8,8.8,1794,18082,0.00,2.85,34.78,0.996,4,0.000,0.044,3056,1348,1571
$GC,18088,0.68,367.5,118.6,10.2,1802,18096,0.00,2.75,0.00,0.000,6,0.000,0.030,3056,2727,1570
$GC,18421,0.73,367.5,87.5,10.0,1863,18428,0.00,2.78,0.00,0.000,4,0.000,0.044,3056,1343,1568
$GC,18436,0.77,372.4,86.2,9.8,1865,18450,0.17,2.70,5.80,0.729,6,0.047,0.029,3094,2729,1551
$GC,18775,0.69,372.4,38.6,13.6,1927,18783,0.15,2.33,0.00,0.000,4,0.111,0.046,3069,3888,1550
$GC,18823,0.69,372.4,32.3,11.0,1935,18830,0.00,2.25,0.00,0.000,6,0.000,0.031,3069,2741,1550
$GC,18957,0.69,372.4,18.5,11.3,1960,18965,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2741,1550
$GC,19092,0.69,372.4,3.7,11.1,1985,19100,0.00,2.33,0.00,0.000,4,0.000,0.046,3069,3893,1549
$STATE,19106,end climb,SURFACE_DEPTH_REACHED
$STATE,19106,begin surface coast
$FINISH,0.2,1.013980
$STATE,19118,end surface coast,CONTROL_FINISHED_OK
$STATE,19118,begin surface
$SM_CCo,19198,0.00,0.000,0,0,1548,373.59
$SM_GC,0.78,8.32,0.00,0.00,0.049,0.000,0.000,1434,2298,1548,-6.80,0.08,373.59
$IRIDIUM_FIX,6041.65,-2332.93,240797,121239
$TT8_MAMPS,0.026845
$HUMID,1738
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,11.30
$XPDR_PINGS,912
$24V_AH,19.6,41.736
$10V_AH,9.7,33.192
$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,23.175,182.150,594.050,0.000,0.000,117.752,140.690,573.531,228.000,0.000,0.000,16.518,3151.901,10709.835,769.436,4524.220,1187.722,0.000,2498.560,0.000,4525.135,0.000,0.466
$DEVICE_MAMPS,249.275,105.846,1578.486,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1383.332,1427.966,737.191,996.008,1833.048,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145632,1989
$CAP_FILE_SIZE,195215,0
$CFSIZE,260165632,244948992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290408,174156,6103.314,-2340.727,38,1.9,38,-16.9