version: 66.03
glider: 142
mission: 5
dive: 75
start: 4 19 108 13 5 49
data:
$ID,142
$MISSION,5
$DIVE,75
$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,359
$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,-14170.674
$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,34
$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
$GPS1,125631,5914.580,-2251.155,37,1.6,37,-15.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-45.6
$GPS2,130532,5914.531,-2251.281,11,1.6,28,-15.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5925.329,-2251.377
$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,14.6,20000,-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,-194.7,0.0,0.0,0,165,0.00,0.00,-136.38,0.000,2,0.000,0.000,1434,2279,3506
$GC,168,-0.86,-194.7,3.2,-5.7,19,199,11.27,2.90,-10.35,0.000,4,0.249,0.054,2726,3700,3867
$GC,399,-0.79,-194.7,36.0,-11.1,61,407,0.00,2.75,0.00,0.000,6,0.000,0.033,2727,2312,3868
$GC,533,-0.71,-194.7,53.4,-15.2,86,541,0.20,2.88,0.00,0.000,4,0.145,0.049,2756,888,3868
$GC,630,-0.71,-194.7,65.2,-12.2,103,636,0.00,2.70,0.00,0.000,6,0.000,0.029,2757,2288,3868
$GC,765,-0.71,-194.7,83.1,-12.1,128,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2294,3868
$GC,903,-0.71,-194.7,97.5,-10.7,153,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2294,3868
$GC,1039,-0.71,-194.7,114.0,-12.0,178,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2294,3868
$GC,1179,-0.71,-194.7,129.7,-11.3,203,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2294,3868
$GC,1313,-0.71,-194.7,144.3,-11.2,228,1321,0.00,2.80,0.00,0.000,4,0.000,0.048,2758,897,3868
$GC,1356,-0.71,-194.7,148.9,-11.7,235,1362,0.00,2.65,0.00,0.000,6,0.000,0.029,2757,2279,3868
$GC,1493,-0.71,-194.7,164.2,-11.2,260,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2279,3868
$GC,1827,-0.71,-194.7,204.1,-12.0,321,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2279,3868
$GC,2156,-0.71,-194.7,242.3,-11.4,382,2164,0.00,2.78,0.00,0.000,4,0.000,0.048,2757,892,3868
$GC,2199,-0.71,-194.7,246.9,-10.7,389,2205,0.00,2.58,0.00,0.000,6,0.000,0.029,2757,2245,3868
$GC,2528,-0.71,-194.7,283.5,-11.1,450,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2246,3868
$GC,2862,-0.71,-194.7,319.9,-10.8,511,2868,0.00,2.85,0.00,0.000,4,0.000,0.044,2757,3701,3868
$GC,2913,-0.71,-194.7,325.5,-10.7,520,2921,0.00,2.85,0.00,0.000,6,0.000,0.033,2757,2242,3868
$GC,3249,-0.71,-194.7,360.8,-9.8,581,3255,0.00,2.65,0.00,0.000,4,0.000,0.049,2757,890,3868
$GC,3283,-0.71,-194.7,364.4,-10.2,587,3289,0.00,2.60,0.00,0.000,6,0.000,0.029,2757,2259,3868
$GC,3623,-0.71,-194.7,397.9,-9.8,648,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2259,3868
$GC,3968,-0.71,-194.7,432.5,-10.0,709,3975,0.00,2.83,0.00,0.000,4,0.000,0.045,2757,3701,3868
$GC,4024,-0.71,-194.7,438.6,-10.5,719,4031,0.00,2.80,0.00,0.000,6,0.000,0.034,2757,2254,3868
$GC,4365,-0.71,-194.7,474.0,-9.9,780,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2253,3868
$GC,4710,-0.71,-194.7,510.0,-10.8,841,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2254,3868
$GC,5050,-0.71,-194.7,546.6,-10.6,902,5056,0.00,2.88,0.00,0.000,4,0.000,0.048,2757,3700,3868
$GC,5123,-0.71,-194.7,554.2,-10.4,915,5130,0.00,2.78,0.00,0.000,6,0.000,0.035,2757,2260,3868
$GC,5468,-0.71,-194.7,587.3,-9.9,976,5474,0.00,2.72,0.00,0.000,4,0.000,0.054,2757,884,3868
$GC,5508,-0.71,-194.7,591.5,-10.0,983,5514,0.00,2.65,0.00,0.000,6,0.000,0.030,2757,2274,3868
$GC,5842,-0.71,-194.7,622.9,-9.3,1022,5847,0.00,2.85,0.00,0.000,4,0.000,0.053,2757,3705,3868
$GC,5904,-0.71,-194.7,628.6,-9.5,1027,5909,0.00,2.83,0.00,0.000,6,0.000,0.040,2757,2266,3868
$GC,6230,-0.71,-194.7,658.1,-9.2,1057,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2265,3868
$GC,6547,-0.71,-194.7,688.3,-9.7,1087,6552,0.00,2.92,0.00,0.000,4,0.000,0.059,2757,3700,3868
$GC,6602,-0.71,-194.7,693.7,-9.7,1091,6608,0.00,2.85,0.00,0.000,6,0.000,0.047,2757,2271,3867
$GC,6928,-0.71,-194.7,724.6,-9.3,1122,6933,0.00,2.88,0.00,0.000,4,0.000,0.075,2757,887,3867
$GC,6966,-0.71,-194.7,728.5,-10.4,1125,6971,0.00,2.72,0.00,0.000,6,0.000,0.044,2757,2265,3866
$GC,7292,-0.71,-194.7,758.4,-9.4,1155,7297,0.00,3.05,0.00,0.000,4,0.000,0.077,2757,3715,3867
$GC,7347,-0.71,-194.7,763.9,-9.7,1159,7353,0.00,2.97,0.00,0.000,6,0.000,0.061,2757,2274,3866
$GC,7673,-0.71,-194.7,795.7,-9.8,1190,7678,0.00,3.05,0.00,0.000,4,0.000,0.100,2757,889,3866
$GC,7706,-0.76,-194.7,799.3,-10.7,1192,7712,0.00,2.95,0.00,0.000,6,0.000,0.072,2757,2291,3866
$GC,8032,-0.76,-194.7,830.4,-9.3,1223,8037,0.00,3.17,0.00,0.000,4,0.000,0.104,2757,3710,3866
$GC,8098,-0.76,-194.7,837.0,-9.6,1228,8104,0.00,3.12,0.00,0.000,6,0.000,0.094,2757,2303,3866
$GC,8424,-0.76,-194.7,867.0,-9.1,1259,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2298,3865
$GC,8741,-0.76,-194.7,895.5,-9.1,1289,8742,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2298,3865
$GC,9059,-0.76,-194.7,923.6,-8.9,1319,9064,0.00,2.90,0.00,0.000,4,0.000,0.057,2757,3720,3864
$GC,9137,-0.80,-194.7,930.9,-9.6,1325,9143,0.00,2.83,0.00,0.000,6,0.000,0.041,2757,2289,3864
$GC,9463,-0.80,-194.7,959.0,-8.8,1356,9464,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2289,3864
$GC,9780,-0.80,-194.7,985.8,-8.2,1386,9785,0.00,2.92,0.00,0.000,4,0.000,0.057,2757,3720,3863
$STATE,9828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9828,begin apogee
$GC,9835,-0.21,0.0,990.0,8.2,1390,10043,0.65,0.00,200.27,1.577,6,0.127,0.000,2866,2747,3071
$STATE,10043,end apogee,CONTROL_FINISHED_OK
$STATE,10043,begin climb
$GC,10046,0.86,194.7,995.4,0.0,1411,10263,1.38,2.67,207.57,1.510,4,0.082,0.055,3099,3905,2277
$GC,10416,0.69,194.7,948.5,16.1,1446,10421,0.20,2.40,0.00,0.000,6,0.127,0.035,3072,2742,2274
$GC,10740,0.58,194.7,905.7,13.0,1476,10745,0.15,2.42,0.00,0.000,4,0.124,0.052,3047,3903,2274
$GC,10791,0.53,194.7,899.7,11.6,1480,10795,0.00,2.28,0.00,0.000,6,0.000,0.034,3047,2760,2274
$GC,11116,0.47,194.7,864.6,10.7,1510,11121,0.15,2.38,0.00,0.000,4,0.121,0.054,3021,3911,2273
$GC,11149,0.49,207.1,861.2,9.6,1512,11168,0.00,2.22,13.35,1.311,6,0.000,0.033,3021,2776,2225
$GC,11494,0.58,277.2,834.1,7.6,1545,11570,0.12,0.00,72.80,1.460,6,0.062,0.000,3045,2775,1940
$GC,11883,0.58,277.2,794.5,10.5,1582,11885,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2775,1935
$GC,12203,0.58,284.5,762.1,9.7,1612,12218,0.00,2.95,7.38,1.127,4,0.000,0.049,3046,1347,1911
$GC,12225,0.58,284.5,759.8,10.2,1614,12229,0.00,2.90,0.00,0.000,6,0.000,0.032,3045,2804,1911
$GC,12550,0.60,298.2,728.4,9.5,1644,12572,0.00,3.03,15.68,1.296,4,0.000,0.052,3045,1340,1854
$GC,12595,0.63,323.7,723.9,9.1,1648,12630,0.00,2.88,27.90,1.367,6,0.000,0.032,3046,2773,1750
$GC,12955,0.63,323.7,687.9,10.3,1682,12960,0.00,2.92,0.00,0.000,4,0.000,0.047,3045,1346,1746
$GC,12976,0.63,323.7,685.7,10.7,1683,12982,0.00,2.83,0.00,0.000,6,0.000,0.032,3046,2763,1746
$GC,13304,0.64,328.7,654.0,9.8,1714,13316,0.00,2.90,5.53,0.980,4,0.000,0.046,3046,1338,1731
$GC,13321,0.66,343.4,651.9,9.5,1715,13347,0.00,2.80,16.88,1.270,6,0.000,0.032,3045,2755,1670
$GC,13665,0.69,372.0,619.9,9.0,1748,13706,0.12,2.95,31.00,1.305,4,0.059,0.046,3072,1346,1553
$GC,13712,0.69,372.0,614.6,12.0,1752,13718,0.00,2.83,0.00,0.000,6,0.000,0.031,3072,2741,1552
$GC,14046,0.65,372.0,571.5,12.7,1802,14052,0.00,2.33,0.00,0.000,4,0.000,0.051,3072,3896,1549
$GC,14059,0.60,372.0,569.8,12.7,1804,14065,0.00,2.28,0.00,0.000,6,0.000,0.031,3072,2733,1548
$GC,14400,0.60,372.0,525.9,13.0,1865,14406,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2732,1548
$GC,14741,0.56,372.0,483.4,13.2,1926,14749,0.15,2.35,0.00,0.000,4,0.107,0.048,3046,3906,1548
$GC,14760,0.56,372.0,480.8,12.6,1929,14767,0.00,2.28,0.00,0.000,6,0.000,0.031,3046,2742,1547
$GC,15103,0.63,384.5,447.4,9.6,1990,15123,0.00,2.83,13.02,1.102,4,0.000,0.048,3046,1336,1502
$GC,15129,0.70,398.4,444.8,9.5,1994,15153,0.15,2.75,15.77,1.145,6,0.048,0.030,3079,2740,1446
$GC,15490,0.66,398.4,395.2,13.3,2058,15497,0.00,2.33,0.00,0.000,4,0.000,0.048,3079,3893,1443
$GC,15509,0.62,398.4,392.3,14.1,2061,15517,0.10,2.25,0.00,0.000,6,0.101,0.031,3062,2745,1442
$GC,15851,0.62,398.4,354.7,10.9,2122,15857,0.00,2.80,0.00,0.000,4,0.000,0.048,3061,1342,1441
$GC,15863,0.62,398.4,353.2,10.9,2124,15871,0.00,2.72,0.00,0.000,6,0.000,0.029,3061,2734,1442
$GC,16197,0.62,398.4,317.4,10.0,2185,16203,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2733,1442
$GC,16528,0.62,398.4,283.0,10.4,2246,16535,0.00,2.80,0.00,0.000,4,0.000,0.044,3061,1340,1441
$GC,16542,0.62,398.4,281.5,10.1,2248,16549,0.00,2.72,0.00,0.000,6,0.000,0.029,3061,2733,1441
$GC,16875,0.62,398.4,247.8,11.8,2309,16881,0.00,2.78,0.00,0.000,4,0.000,0.044,3061,1336,1441
$GC,16889,0.62,398.4,246.3,10.2,2311,16895,0.00,2.67,0.00,0.000,6,0.000,0.030,3061,2723,1441
$GC,17217,0.64,413.5,212.5,9.5,2372,17240,0.00,2.78,15.57,0.980,4,0.000,0.044,3061,1339,1384
$GC,17246,0.64,415.7,209.6,9.9,2376,17259,0.00,2.70,3.95,0.653,6,0.000,0.029,3061,2713,1375
$GC,17587,0.70,418.5,175.6,9.9,2438,17595,0.00,0.00,4.12,0.647,6,0.000,0.000,3061,2713,1365
$GC,17922,0.82,472.3,142.0,8.1,2499,17986,0.15,0.00,55.70,1.007,6,0.050,0.000,3098,2713,1144
$GC,18119,0.74,472.3,111.3,17.7,2533,18124,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2713,1140
$GC,18254,0.67,472.3,88.2,18.1,2558,18262,0.17,0.00,0.00,0.000,6,0.110,0.000,3070,2713,1139
$GC,18394,0.72,472.3,72.2,11.3,2583,18400,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2713,1138
$GC,18532,0.78,472.3,57.8,10.1,2608,18539,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2713,1138
$GC,18670,0.89,506.1,44.1,8.8,2633,18715,0.20,2.85,33.62,0.921,4,0.046,0.045,3117,1348,1006
$GC,18724,0.81,506.1,36.4,17.3,2640,18732,0.10,2.72,0.00,0.000,6,0.097,0.029,3099,2707,1005
$GC,18860,0.76,506.1,12.8,15.4,2665,18869,0.00,2.38,0.00,0.000,4,0.000,0.044,3099,3887,1004
$GC,18886,0.76,506.1,7.9,18.2,2669,18895,0.00,2.35,0.00,0.000,6,0.000,0.032,3099,2708,1004
$STATE,18927,end climb,SURFACE_DEPTH_REACHED
$STATE,18927,begin surface coast
$FINISH,0.5,1.026215
$STATE,18939,end surface coast,CONTROL_FINISHED_OK
$STATE,18939,begin surface
$SM_CCo,19018,0.00,0.000,0,0,1001,507.77
$SM_GC,0.65,8.52,0.00,0.00,0.047,0.000,0.000,1431,2281,1001,-6.79,-0.51,507.77
$IRIDIUM_FIX,5850.29,-2244.31,140797,070704
$TT8_MAMPS,0.026845
$HUMID,1737
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,12.20
$XPDR_PINGS,918
$24V_AH,19.6,27.338
$10V_AH,9.7,22.915
$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,23.800,191.400,740.125,0.000,0.000,28.904,38.114,301.486,229.500,0.000,0.000,31.101,4066.340,7924.034,884.609,5863.396,787.843,0.000,3072.242,0.000,5870.487,0.000,0.466
$DEVICE_MAMPS,249.275,104.312,1576.952,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1857.949,1959.346,1177.815,1068.169,2780.628,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202361,2678
$CAP_FILE_SIZE,222622,0
$CFSIZE,260165632,249643008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190408,182401,5915.207,-2254.053,39,1.9,39,-15.6