version: 66.03
glider: 142
mission: 5
dive: 31
start: 4 10 108 3 11 54
data:
$ID,142
$MISSION,5
$DIVE,31
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$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,250
$T_MISSION,280
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51804
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,225
$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,-13178.229
$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,2250
$C_ROLL_CLIMB,2710
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,17
$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
$GPS1,030237,5908.333,-1823.602,29,1.0,29,-13.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-55.9
$GPS2,031133,5908.285,-1823.649,12,1.8,12,-13.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,5900.648,-1827.581
$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,238.2,20000,-17.5,-10.000
$D_GRID,750
$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,-0.91,-146.0,0.0,0.0,0,123,0.00,0.00,-93.70,0.000,6,0.000,0.000,1432,2235,3666
$GC,125,-0.91,-146.0,3.6,-5.9,13,142,10.73,2.83,0.00,0.000,4,0.240,0.038,2713,3667,3669
$GC,357,-0.84,-146.0,42.4,-14.0,56,365,0.10,2.80,0.00,0.000,6,0.145,0.033,2729,2249,3669
$GC,496,-0.79,-146.0,59.8,-12.7,81,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2249,3670
$GC,633,-0.75,-146.0,76.7,-11.7,106,641,0.15,2.83,0.00,0.000,4,0.143,0.048,2752,839,3670
$GC,698,-0.75,-146.0,84.0,-11.0,117,704,0.00,2.72,0.00,0.000,6,0.000,0.028,2753,2263,3670
$GC,834,-0.75,-146.0,98.8,-10.6,142,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2263,3670
$GC,974,-0.75,-146.0,114.1,-11.5,167,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2264,3670
$GC,1109,-0.75,-146.0,128.9,-10.6,192,1117,0.00,2.85,0.00,0.000,4,0.000,0.048,2752,843,3670
$GC,1187,-0.75,-146.0,137.8,-11.3,206,1194,0.00,2.70,0.00,0.000,6,0.000,0.029,2752,2241,3670
$GC,1326,-0.75,-146.0,153.1,-10.9,231,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2242,3670
$GC,1656,-0.75,-146.0,189.5,-10.7,292,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2242,3670
$GC,1989,-0.75,-146.0,223.4,-9.9,353,1995,0.00,2.78,0.00,0.000,4,0.000,0.048,2752,837,3670
$GC,2028,-0.75,-146.0,227.8,-10.8,360,2036,0.00,2.70,0.00,0.000,6,0.000,0.028,2752,2244,3670
$GC,2360,-0.75,-146.0,262.7,-10.2,421,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2244,3670
$GC,2689,-0.75,-146.0,296.5,-10.0,482,2697,0.00,2.80,0.00,0.000,4,0.000,0.048,2752,838,3670
$GC,2721,-0.75,-146.0,299.6,-10.7,487,2727,0.00,2.65,0.00,0.000,6,0.000,0.028,2752,2240,3670
$GC,3051,-0.75,-146.0,334.0,-10.1,548,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2241,3670
$GC,3388,-0.75,-146.0,368.8,-10.0,609,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2241,3670
$GC,3731,-0.75,-146.0,403.8,-10.0,670,3737,0.00,2.75,0.00,0.000,4,0.000,0.047,2752,842,3670
$GC,3766,-0.75,-146.0,407.4,-10.7,676,3772,0.00,2.65,0.00,0.000,6,0.000,0.028,2753,2245,3670
$GC,4106,-0.75,-146.0,442.4,-10.2,737,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2245,3670
$GC,4444,-0.75,-146.0,478.3,-10.1,798,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2245,3669
$GC,4786,-0.75,-146.0,513.1,-10.2,859,4792,0.00,2.78,0.00,0.000,4,0.000,0.048,2753,837,3670
$GC,4832,-0.75,-146.0,517.9,-10.4,867,4839,0.00,2.62,0.00,0.000,6,0.000,0.028,2752,2232,3670
$GC,5176,-0.75,-146.0,552.3,-10.1,928,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2232,3670
$GC,5516,-0.75,-146.0,587.5,-9.9,989,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2232,3670
$GC,5846,-0.75,-146.0,621.0,-10.5,1031,5851,0.00,2.78,0.00,0.000,4,0.000,0.049,2753,3648,3670
$GC,5862,-0.75,-146.0,622.7,-10.4,1032,5867,0.00,2.75,0.00,0.000,6,0.000,0.036,2752,2227,3670
$GC,6188,-0.75,-146.0,654.4,-9.6,1062,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2226,3669
$GC,6505,-0.75,-146.0,685.8,-10.2,1092,6510,0.00,2.88,0.00,0.000,4,0.000,0.057,2752,3649,3670
$GC,6526,-0.75,-146.0,687.9,-10.2,1093,6533,0.00,2.78,0.00,0.000,6,0.000,0.042,2752,2236,3670
$GC,6852,-0.75,-146.0,719.2,-9.4,1124,6857,0.00,2.88,0.00,0.000,4,0.000,0.061,2753,3651,3670
$GC,6869,-0.75,-146.0,720.9,-9.4,1125,6873,0.00,2.83,0.00,0.000,6,0.000,0.049,2752,2232,3669
$STATE,7192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7192,begin apogee
$GC,7198,-0.21,0.0,751.0,9.3,1155,7347,0.68,0.00,145.27,1.396,6,0.127,0.000,2866,2699,3071
$STATE,7348,end apogee,CONTROL_FINISHED_OK
$STATE,7348,begin climb
$GC,7350,0.91,146.0,755.7,0.0,1170,7508,1.40,2.70,149.90,1.414,4,0.084,0.069,3106,3894,2476
$GC,7548,0.76,146.0,737.9,14.2,1189,7554,0.00,2.53,0.00,0.000,6,0.000,0.048,3106,2710,2476
$GC,7874,0.61,146.0,693.5,13.0,1220,7879,0.30,2.50,0.00,0.000,4,0.127,0.059,3060,3893,2474
$GC,8002,0.61,146.0,679.7,10.0,1231,8007,0.00,2.33,0.00,0.000,6,0.000,0.038,3060,2731,2474
$GC,8328,0.65,173.2,651.0,8.7,1261,8357,0.00,0.00,27.52,1.245,6,0.000,0.000,3060,2730,2364
$GC,8677,0.66,180.5,617.7,9.7,1294,8691,0.00,2.45,8.27,1.038,4,0.000,0.060,3060,3892,2335
$GC,8744,0.66,180.5,611.0,10.3,1300,8748,0.00,2.28,0.00,0.000,6,0.000,0.032,3060,2739,2334
$GC,9079,0.66,180.5,577.6,10.2,1350,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2739,2334
$GC,9421,0.66,180.5,543.9,10.1,1411,9427,0.00,2.35,0.00,0.000,4,0.000,0.050,3060,3906,2333
$GC,9466,0.66,180.5,539.1,10.2,1419,9473,0.00,2.25,0.00,0.000,6,0.000,0.030,3060,2750,2333
$GC,9809,0.66,180.5,505.2,10.0,1480,9815,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2747,2333
$GC,10151,0.66,180.8,471.5,10.0,1541,10157,0.00,2.30,0.00,0.000,4,0.000,0.048,3060,3904,2333
$GC,10209,0.66,180.8,465.5,10.1,1551,10216,0.00,2.22,0.00,0.000,6,0.000,0.029,3060,2752,2333
$GC,10550,0.67,191.0,432.5,9.5,1612,10567,0.00,0.00,10.80,1.018,6,0.000,0.000,3060,2748,2293
$GC,10903,0.67,191.0,397.7,10.1,1675,10910,0.00,2.30,0.00,0.000,4,0.000,0.048,3060,3905,2293
$GC,10966,0.67,191.0,391.1,10.4,1686,10973,0.00,2.20,0.00,0.000,6,0.000,0.029,3060,2763,2293
$GC,11308,0.68,203.6,357.8,9.4,1747,11325,0.00,0.00,13.75,1.019,6,0.000,0.000,3060,2757,2239
$GC,11653,0.68,203.6,323.9,10.3,1810,11660,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2756,2239
$GC,11987,0.71,226.5,291.3,8.9,1871,12018,0.00,2.33,22.23,1.030,4,0.000,0.047,3060,3892,2146
$GC,12058,0.71,226.5,284.1,10.4,1883,12064,0.00,2.15,0.00,0.000,6,0.000,0.029,3060,2778,2146
$GC,12389,0.74,247.5,251.2,9.0,1944,12416,0.00,2.95,20.92,0.999,4,0.000,0.042,3060,1303,2061
$GC,12435,0.74,251.8,247.0,9.8,1951,12448,0.00,2.92,5.78,0.783,6,0.000,0.028,3059,2790,2044
$GC,12776,0.77,269.9,214.2,9.2,2013,12803,0.15,0.00,18.38,0.957,6,0.058,0.000,3093,2790,1969
$GC,13131,0.71,269.9,165.4,14.5,2077,13137,0.00,2.17,0.00,0.000,4,0.000,0.045,3093,3900,1967
$GC,13170,0.66,269.9,159.2,14.5,2084,13177,0.15,2.20,0.00,0.000,6,0.106,0.030,3067,2774,1967
$GC,13504,0.66,269.9,123.1,10.8,2145,13510,0.00,2.90,0.00,0.000,4,0.000,0.045,3067,1305,1966
$GC,13531,0.66,269.9,120.2,11.2,2149,13537,0.00,2.88,0.00,0.000,6,0.000,0.029,3067,2784,1966
$GC,13666,0.66,269.9,105.6,10.3,2174,13673,0.00,2.20,0.00,0.000,4,0.000,0.048,3067,3893,1966
$GC,13708,0.66,269.9,101.5,10.0,2181,13715,0.00,2.17,0.00,0.000,6,0.000,0.031,3067,2760,1966
$GC,13845,0.66,269.9,86.7,12.2,2206,13852,0.00,2.90,0.00,0.000,4,0.000,0.046,3067,1306,1966
$GC,13876,0.66,269.9,82.9,12.3,2211,13883,0.00,2.85,0.00,0.000,6,0.000,0.029,3067,2782,1966
$GC,14014,0.66,269.9,67.8,13.0,2236,14022,0.00,2.22,0.00,0.000,4,0.000,0.048,3067,3904,1966
$GC,14056,0.66,269.9,62.6,11.9,2243,14062,0.00,2.17,0.00,0.000,6,0.000,0.030,3067,2766,1966
$GC,14193,0.66,269.9,47.0,11.3,2268,14201,0.00,2.90,0.00,0.000,4,0.000,0.047,3067,1308,1965
$GC,14235,0.66,269.9,42.6,10.8,2275,14243,0.00,2.85,0.00,0.000,6,0.000,0.030,3067,2768,1966
$GC,14370,0.66,275.4,27.4,9.7,2300,14386,0.00,2.25,5.88,0.694,4,0.000,0.047,3067,3893,1948
$GC,14420,0.66,275.4,22.2,10.7,2308,14428,0.00,2.20,0.00,0.000,6,0.000,0.031,3067,2759,1947
$GC,14554,0.66,275.4,7.2,10.2,2333,14562,0.00,2.90,0.00,0.000,4,0.000,0.046,3067,1304,1947
$GC,14586,0.66,275.4,3.8,10.5,2338,14593,0.00,2.88,0.00,0.000,6,0.000,0.030,3067,2774,1947
$STATE,14605,end climb,SURFACE_DEPTH_REACHED
$STATE,14605,begin surface coast
$FINISH,-0.1,1.026260
$STATE,14627,end surface coast,CONTROL_FINISHED_OK
$STATE,14627,begin surface
$SM_CCo,14705,0.00,0.000,0,0,1945,275.96
$SM_GC,0.77,8.32,0.00,0.00,0.053,0.000,0.000,1433,2242,1945,-6.80,-0.25,275.96
$IRIDIUM_FIX,5846.12,-1826.10,040797,212132
$TT8_MAMPS,0.026845
$HUMID,1740
$INTERNAL_PRESSURE,8.97541
$TCM_TEMP,12.30
$XPDR_PINGS,363
$24V_AH,20.3,13.941
$10V_AH,9.7,10.868
$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,21.975,136.800,428.700,0.000,0.000,25.758,37.914,320.502,90.750,0.000,0.000,13.857,3573.009,4971.299,600.140,5357.475,709.897,0.000,2390.665,0.000,5372.309,0.000,0.465
$DEVICE_MAMPS,240.071,69.030,1413.581,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1626.325,1697.229,1138.524,1139.683,2953.370,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,176818,2345
$CAP_FILE_SIZE,181848,0
$CFSIZE,260165632,254898176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100408,071808,5906.173,-1825.010,34,1.2,34,-13.2