version: 66.03
glider: 142
mission: 5
dive: 79
start: 4 20 108 10 52 39
data:
$ID,142
$MISSION,5
$DIVE,79
$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,90
$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,-14228.263
$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,36
$R_STBD_OVSHOOT,21
$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
$GPS1,104356,5918.667,-2254.713,40,1.1,40,-15.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-51.5
$GPS2,105220,5918.654,-2254.663,11,1.0,11,-15.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5918.654,-2249.151
$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,105.6,20000,-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,27,-0.86,-194.7,0.0,0.0,0,145,0.00,0.00,-115.40,0.000,2,0.000,0.000,1437,2271,3472
$GC,148,-0.86,-194.7,3.3,-6.6,16,179,11.05,2.92,-11.38,0.000,4,0.246,0.053,2724,3710,3865
$GC,218,-0.77,-194.7,14.8,-14.1,27,226,0.12,2.78,0.00,0.000,6,0.137,0.033,2745,2313,3866
$GC,355,-0.73,-194.7,32.2,-11.9,52,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2312,3866
$GC,489,-0.68,-194.7,49.1,-12.0,77,497,0.15,2.88,0.00,0.000,4,0.133,0.049,2769,885,3866
$GC,527,-0.68,-194.7,53.4,-10.8,83,533,0.00,2.72,0.00,0.000,6,0.000,0.029,2769,2300,3866
$GC,662,-0.68,-194.7,67.1,-10.0,108,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2301,3866
$GC,801,-0.68,-194.7,81.6,-10.3,133,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2300,3866
$GC,935,-0.68,-194.7,95.8,-10.1,158,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2301,3866
$GC,1074,-0.68,-194.7,109.6,-9.7,183,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2301,3866
$GC,1211,-0.68,-194.7,123.9,-10.6,208,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2301,3866
$GC,1350,-0.68,-194.7,138.1,-10.3,233,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2301,3866
$GC,1485,-0.68,-194.7,151.9,-9.8,258,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2301,3866
$GC,1819,-0.68,-194.7,185.6,-9.8,319,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2301,3866
$GC,2148,-0.68,-194.7,219.3,-10.6,380,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2301,3866
$GC,2481,-0.68,-194.7,252.9,-9.9,441,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2301,3865
$GC,2811,-0.68,-194.7,287.4,-10.6,502,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2301,3866
$GC,3143,-0.68,-194.7,322.5,-10.1,563,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2301,3866
$GC,3475,-0.68,-194.7,357.1,-10.3,624,3483,0.00,2.78,0.00,0.000,4,0.000,0.044,2769,3704,3866
$GC,3501,-0.68,-194.7,359.8,-10.6,628,3507,0.00,2.75,0.00,0.000,6,0.000,0.033,2769,2277,3866
$GC,3844,-0.68,-194.7,394.8,-9.9,689,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2277,3866
$GC,4183,-0.68,-194.7,427.0,-9.1,750,4190,0.00,2.80,0.00,0.000,4,0.000,0.045,2769,3703,3866
$GC,4201,-0.68,-194.7,428.7,-9.0,753,4208,0.00,2.72,0.00,0.000,6,0.000,0.033,2769,2283,3866
$GC,4545,-0.68,-194.7,457.7,-8.2,814,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2281,3866
$GC,4885,-0.68,-194.7,485.8,-8.2,875,4892,0.00,2.83,0.00,0.000,4,0.000,0.046,2769,3709,3866
$GC,4921,-0.73,-194.7,488.7,-8.6,881,4927,0.00,2.72,0.00,0.000,6,0.000,0.033,2769,2296,3866
$GC,5262,-0.73,-194.7,518.5,-9.4,942,5269,0.00,2.78,0.00,0.000,4,0.000,0.047,2769,3701,3866
$GC,5287,-0.73,-194.7,520.8,-9.2,946,5294,0.00,2.70,0.00,0.000,6,0.000,0.033,2769,2303,3866
$GC,5629,-0.73,-194.7,552.7,-9.0,1007,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2302,3866
$GC,5970,-0.73,-194.7,582.0,-8.4,1068,5978,0.00,2.83,0.00,0.000,4,0.000,0.049,2769,3701,3866
$GC,5990,-0.73,-194.7,583.5,-7.9,1071,5997,0.00,2.67,0.00,0.000,6,0.000,0.035,2769,2316,3866
$GC,6330,-0.73,-194.7,610.9,-8.6,1121,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2314,3866
$GC,6650,-0.77,-194.7,640.9,-9.4,1151,6655,0.00,2.80,0.00,0.000,4,0.000,0.054,2769,3702,3866
$GC,6683,-0.82,-194.7,644.2,-9.7,1153,6690,0.15,2.72,0.00,0.000,6,0.065,0.040,2741,2314,3865
$GC,7008,-0.82,-194.7,678.5,-10.1,1184,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2313,3866
$GC,7326,-0.82,-194.7,711.1,-10.6,1214,7331,0.00,2.95,0.00,0.000,4,0.000,0.071,2741,884,3865
$GC,7380,-0.82,-194.7,717.4,-11.0,1218,7387,0.00,2.80,0.00,0.000,6,0.000,0.043,2741,2305,3865
$GC,7707,-0.82,-194.7,752.2,-10.8,1249,7708,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2306,3865
$GC,8024,-0.82,-194.7,786.3,-11.0,1279,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2306,3865
$GC,8343,-0.82,-194.7,820.4,-10.5,1309,8344,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2306,3864
$GC,8661,-0.82,-194.7,853.3,-10.4,1339,8666,0.00,3.35,0.00,0.000,4,0.000,0.126,2741,897,3864
$GC,8689,-0.82,-194.7,856.2,-11.7,1341,8694,0.00,3.17,0.00,0.000,6,0.000,0.098,2741,2313,3864
$GC,9014,-0.82,-194.7,887.6,-9.4,1371,9015,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2314,3864
$GC,9335,-0.82,-194.7,918.5,-9.8,1401,9340,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2315,3864
$GC,9659,-0.82,-194.7,952.8,-10.6,1432,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2317,3863
$GC,9977,-0.82,-194.7,986.5,-10.6,1462,9982,0.00,2.90,0.00,0.000,4,0.000,0.059,2740,891,3863
$STATE,10007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10007,begin apogee
$GC,10016,-0.21,0.0,990.0,11.5,1464,10223,0.75,0.00,200.55,1.581,6,0.128,0.000,2865,2760,3071
$STATE,10224,end apogee,CONTROL_FINISHED_OK
$STATE,10224,begin climb
$GC,10226,0.86,194.7,997.2,0.0,1485,10445,1.40,2.60,208.05,1.521,4,0.084,0.059,3101,3896,2277
$GC,10620,0.68,194.7,949.7,16.0,1522,10625,0.22,2.38,0.00,0.000,6,0.127,0.035,3070,2740,2274
$GC,10944,0.57,194.7,909.6,12.3,1552,10949,0.17,2.42,0.00,0.000,4,0.125,0.053,3042,3902,2274
$GC,11006,0.53,194.7,903.0,10.4,1557,11010,0.00,2.28,0.00,0.000,6,0.000,0.034,3042,2752,2273
$GC,11335,0.48,194.7,868.6,10.7,1588,11337,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2751,2273
$GC,11656,0.45,202.9,836.8,9.7,1618,11670,0.15,2.38,9.02,1.221,4,0.120,0.061,3020,3899,2243
$GC,11710,0.52,257.3,831.9,8.1,1623,11772,0.00,2.22,56.28,1.460,6,0.000,0.035,3020,2771,2022
$GC,12090,0.66,330.5,802.5,7.5,1659,12174,0.17,3.12,76.62,1.438,4,0.054,0.050,3059,1338,1722
$GC,12201,0.66,330.5,790.0,12.0,1669,12208,0.00,2.97,0.00,0.000,6,0.000,0.033,3060,2775,1720
$GC,12527,0.66,330.5,749.5,13.0,1700,12531,0.00,2.30,0.00,0.000,4,0.000,0.053,3060,3903,1715
$GC,12578,0.66,330.5,742.8,13.0,1704,12582,0.00,2.25,0.00,0.000,6,0.000,0.032,3059,2761,1714
$GC,12902,0.66,330.5,704.2,10.8,1734,12903,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2760,1713
$GC,13222,0.66,330.5,666.5,13.0,1764,13223,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2760,1713
$GC,13539,0.66,330.5,628.6,11.2,1794,13540,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2759,1712
$GC,13859,0.66,330.5,591.9,12.3,1830,13866,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2759,1712
$GC,14201,0.66,330.5,552.7,10.6,1891,14206,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2759,1712
$GC,14541,0.66,330.5,514.0,11.9,1952,14547,0.00,2.30,0.00,0.000,4,0.000,0.051,3059,3905,1711
$GC,14580,0.66,330.5,509.4,11.9,1959,14586,0.00,2.20,0.00,0.000,6,0.000,0.031,3059,2771,1711
$GC,14922,0.66,330.5,471.5,10.2,2020,14928,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2770,1711
$GC,15263,0.66,334.5,437.7,9.9,2081,15268,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2768,1711
$GC,15602,0.66,334.5,402.6,10.5,2142,15608,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2766,1711
$GC,15943,0.66,336.9,367.1,9.9,2203,15954,0.00,0.00,5.43,0.844,6,0.000,0.000,3059,2763,1696
$GC,16286,0.66,336.9,330.7,10.7,2265,16292,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2762,1697
$GC,16615,0.66,336.9,295.0,11.4,2326,16623,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2763,1696
$GC,16950,0.66,338.4,258.5,9.9,2387,16955,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2762,1696
$GC,17277,0.66,338.4,224.0,11.7,2448,17285,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2762,1696
$GC,17612,0.68,346.8,189.4,9.7,2509,17626,0.00,0.00,11.32,0.921,6,0.000,0.000,3060,2762,1657
$GC,17953,0.71,375.4,152.9,9.0,2571,17991,0.00,0.00,29.52,1.012,6,0.000,0.000,3059,2762,1539
$GC,18124,0.71,375.4,135.2,11.0,2601,18131,0.00,2.85,0.00,0.000,4,0.000,0.046,3059,1346,1536
$GC,18154,0.75,375.4,131.8,10.6,2606,18163,0.08,2.85,0.00,0.000,6,0.047,0.029,3083,2785,1536
$GC,18296,0.70,375.4,112.9,13.3,2631,18303,0.00,2.22,0.00,0.000,4,0.000,0.048,3083,3896,1536
$GC,18332,0.70,375.4,107.4,13.1,2637,18338,0.00,2.17,0.00,0.000,6,0.000,0.032,3083,2772,1535
$GC,18471,0.64,375.4,88.1,13.5,2662,18479,0.15,0.00,0.00,0.000,6,0.104,0.000,3056,2771,1535
$GC,18613,0.73,407.0,73.3,8.9,2687,18652,0.10,2.90,31.65,0.950,4,0.063,0.047,3077,1341,1410
$GC,18677,0.73,407.0,65.8,13.8,2697,18683,0.00,2.85,0.00,0.000,6,0.000,0.030,3078,2783,1409
$GC,18815,0.73,407.0,48.8,12.4,2722,18823,0.00,2.22,0.00,0.000,4,0.000,0.048,3078,3888,1407
$GC,18846,0.73,407.0,44.7,12.8,2727,18854,0.00,2.20,0.00,0.000,6,0.000,0.032,3078,2775,1406
$GC,18982,0.73,407.0,28.4,10.7,2752,18990,0.00,2.90,0.00,0.000,4,0.000,0.047,3078,1340,1405
$GC,19013,0.73,407.0,24.4,13.7,2757,19021,0.00,2.83,0.00,0.000,6,0.000,0.029,3077,2773,1405
$GC,19148,0.73,407.0,7.9,13.0,2782,19156,0.00,2.22,0.00,0.000,4,0.000,0.047,3077,3887,1405
$GC,19194,0.73,407.0,2.3,10.4,2790,19202,0.00,2.17,0.00,0.000,6,0.000,0.031,3078,2777,1405
$STATE,19208,end climb,SURFACE_DEPTH_REACHED
$STATE,19208,begin surface coast
$FINISH,0.3,1.026187
$STATE,19226,end surface coast,CONTROL_FINISHED_OK
$STATE,19226,begin surface
$SM_CCo,19304,0.00,0.000,0,0,1402,409.16
$SM_GC,0.71,8.35,0.00,0.00,0.047,0.000,0.000,1433,2302,1402,-6.80,0.03,409.16
$IRIDIUM_FIX,5854.46,-2256.97,150797,050520
$TT8_MAMPS,0.026078
$HUMID,1735
$INTERNAL_PRESSURE,8.92658
$TCM_TEMP,12.30
$XPDR_PINGS,885
$24V_AH,19.6,28.556
$10V_AH,9.7,24.060
$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,23.025,124.100,628.450,0.000,0.000,26.417,40.613,286.270,221.250,0.000,0.000,12.965,4230.286,7914.400,761.125,6123.052,750.730,0.000,2946.738,0.000,6138.580,0.000,0.465
$DEVICE_MAMPS,246.207,125.788,1580.787,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1944.542,2036.186,1243.237,1159.516,3008.637,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,208847,2795
$CAP_FILE_SIZE,215490,0
$CFSIZE,260165632,249151488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200408,161558,5917.574,-2246.796,40,2.7,59,-15.5