version: 66.03
glider: 142
mission: 5
dive: 82
start: 4 21 108 3 11 33
data:
$ID,142
$MISSION,5
$DIVE,82
$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,-14292.554
$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,25
$R_STBD_OVSHOOT,22
$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
$GPS1,030208,5914.502,-2233.256,27,1.1,27,-15.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-51.4
$GPS2,031115,5914.390,-2233.206,11,1.3,11,-15.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5914.390,-2227.682
$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,105.4,20000,-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,-194.7,0.0,0.0,0,152,0.00,0.00,-122.68,0.000,2,0.000,0.000,1434,2287,3617
$GC,155,-0.86,-194.7,3.3,-4.0,17,179,11.20,2.85,-6.60,0.000,4,0.248,0.051,2727,3713,3864
$GC,260,-0.80,-194.7,22.6,-13.0,35,268,0.00,2.80,0.00,0.000,6,0.000,0.033,2727,2302,3866
$GC,395,-0.72,-194.7,40.5,-12.8,60,403,0.17,0.00,0.00,0.000,6,0.137,0.000,2755,2302,3866
$GC,531,-0.72,-194.7,56.2,-10.6,85,537,0.00,2.78,0.00,0.000,4,0.000,0.049,2755,879,3866
$GC,558,-0.72,-194.7,59.7,-11.7,90,567,0.00,2.75,0.00,0.000,6,0.000,0.029,2755,2290,3866
$GC,698,-0.72,-194.7,75.4,-11.7,115,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2291,3866
$GC,832,-0.72,-194.7,91.6,-12.3,140,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2291,3866
$GC,972,-0.72,-194.7,108.2,-12.1,165,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2291,3866
$GC,1107,-0.72,-194.7,124.2,-11.6,190,1115,0.00,2.83,0.00,0.000,4,0.000,0.048,2755,885,3866
$GC,1139,-0.72,-194.7,127.8,-12.3,195,1146,0.00,2.67,0.00,0.000,6,0.000,0.029,2755,2283,3866
$GC,1277,-0.72,-194.7,143.1,-11.1,220,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2284,3865
$GC,1418,-0.72,-194.7,158.3,-10.7,245,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2284,3865
$GC,1748,-0.72,-194.7,196.1,-11.2,306,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2284,3866
$GC,2082,-0.72,-194.7,233.6,-11.3,367,2088,0.00,2.78,0.00,0.000,4,0.000,0.048,2755,883,3866
$GC,2117,-0.72,-194.7,237.7,-11.5,373,2123,0.00,2.67,0.00,0.000,6,0.000,0.030,2755,2287,3866
$GC,2449,-0.72,-194.7,274.0,-11.1,434,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2287,3866
$GC,2784,-0.72,-194.7,310.7,-10.5,495,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2287,3866
$GC,3113,-0.72,-194.7,346.6,-10.9,556,3121,0.00,2.80,0.00,0.000,4,0.000,0.047,2755,887,3866
$GC,3149,-0.72,-194.7,350.6,-11.5,562,3155,0.00,2.65,0.00,0.000,6,0.000,0.029,2755,2284,3866
$GC,3489,-0.72,-194.7,387.3,-11.0,623,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2284,3866
$GC,3827,-0.72,-194.7,423.4,-10.5,684,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2284,3866
$GC,4171,-0.72,-194.7,458.9,-10.1,745,4178,0.00,2.78,0.00,0.000,4,0.000,0.048,2755,883,3866
$GC,4207,-0.72,-194.7,462.9,-10.8,751,4213,0.00,2.65,0.00,0.000,6,0.000,0.031,2754,2272,3866
$GC,4548,-0.72,-194.7,498.6,-10.1,812,4553,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2272,3866
$GC,4888,-0.72,-194.7,533.2,-9.8,873,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2272,3866
$GC,5229,-0.72,-194.7,569.1,-10.7,934,5235,0.00,2.83,0.00,0.000,4,0.000,0.049,2755,3698,3866
$GC,5257,-0.72,-194.7,572.4,-11.4,939,5264,0.00,2.78,0.00,0.000,6,0.000,0.035,2755,2263,3866
$GC,5594,-0.72,-194.7,607.9,-10.7,993,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2262,3866
$GC,5913,-0.72,-194.7,641.5,-10.3,1023,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2263,3865
$GC,6232,-0.72,-194.7,673.1,-10.2,1053,6236,0.00,2.95,0.00,0.000,4,0.000,0.060,2755,3702,3865
$GC,6264,-0.72,-194.7,676.6,-11.1,1055,6270,0.00,2.83,0.00,0.000,6,0.000,0.044,2754,2283,3865
$GC,6590,-0.72,-194.7,707.5,-9.4,1086,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2281,3865
$GC,6908,-0.72,-194.7,737.5,-9.7,1116,6913,0.00,2.95,0.00,0.000,4,0.000,0.069,2755,3697,3864
$GC,6935,-0.72,-194.7,740.3,-10.1,1118,6940,0.00,2.88,0.00,0.000,6,0.000,0.055,2755,2286,3864
$GC,7261,-0.72,-194.7,770.1,-8.9,1148,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2286,3864
$GC,7579,-0.72,-194.7,798.1,-9.0,1178,7584,0.00,3.10,0.00,0.000,4,0.000,0.090,2755,3694,3863
$GC,7630,-0.72,-194.7,802.9,-9.5,1182,7635,0.00,3.00,0.00,0.000,6,0.000,0.078,2754,2297,3863
$GC,7955,-0.72,-194.7,832.7,-9.4,1212,7960,0.00,3.15,0.00,0.000,4,0.000,0.102,2754,3692,3863
$GC,7977,-0.72,-194.7,834.9,-9.4,1213,7983,0.00,3.10,0.00,0.000,6,0.000,0.094,2755,2301,3863
$GC,8302,-0.72,-194.7,865.6,-9.5,1244,8303,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2301,3862
$GC,8621,-0.72,-194.7,895.1,-9.1,1274,8626,0.00,2.85,0.00,0.000,4,0.000,0.054,2755,3706,3862
$GC,8648,-0.72,-194.7,897.8,-10.2,1276,8653,0.00,2.80,0.00,0.000,6,0.000,0.040,2754,2289,3862
$GC,8974,-0.72,-194.7,927.9,-9.5,1306,8979,0.00,2.88,0.00,0.000,4,0.000,0.056,2755,3699,3862
$GC,9006,-0.72,-194.7,931.3,-10.5,1308,9013,0.00,2.75,0.00,0.000,6,0.000,0.041,2755,2309,3861
$GC,9334,-0.72,-194.7,962.1,-9.4,1339,9335,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2308,3861
$STATE,9647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9647,begin apogee
$GC,9655,-0.21,0.0,990.9,8.7,1369,9862,0.65,0.00,200.65,1.598,6,0.117,0.000,2866,2745,3071
$STATE,9862,end apogee,CONTROL_FINISHED_OK
$STATE,9862,begin climb
$GC,9865,0.86,194.7,997.2,0.0,1390,10084,1.38,2.65,208.77,1.533,4,0.082,0.058,3099,3899,2277
$GC,10237,0.68,194.7,951.8,15.9,1424,10243,0.20,2.40,0.00,0.000,6,0.128,0.035,3072,2738,2274
$GC,10561,0.56,194.7,910.6,12.6,1455,10566,0.17,2.42,0.00,0.000,4,0.126,0.053,3047,3903,2273
$GC,10612,0.51,194.7,904.7,11.6,1459,10616,0.00,2.28,0.00,0.000,6,0.000,0.034,3047,2763,2273
$GC,10936,0.46,199.3,871.9,9.8,1489,10947,0.15,0.00,5.45,1.039,6,0.126,0.000,3025,2762,2258
$GC,11264,0.52,245.4,844.7,8.4,1520,11315,0.00,0.00,47.97,1.469,6,0.000,0.000,3026,2762,2069
$GC,11633,0.59,297.8,814.4,8.2,1555,11694,0.00,0.00,55.15,1.451,6,0.000,0.000,3025,2762,1855
$GC,12012,0.72,360.3,784.1,7.8,1591,12083,0.25,0.00,66.12,1.432,6,0.049,0.000,3074,2762,1602
$GC,12401,0.65,360.3,730.2,14.2,1628,12402,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2762,1594
$GC,12721,0.58,360.3,684.2,15.3,1658,12725,0.15,2.33,0.00,0.000,4,0.114,0.058,3050,3899,1593
$GC,12776,0.58,360.3,677.0,11.0,1663,12780,0.00,2.22,0.00,0.000,6,0.000,0.037,3049,2764,1592
$GC,13100,0.58,360.3,641.6,10.8,1693,13105,0.00,2.88,0.00,0.000,4,0.000,0.049,3049,1336,1591
$GC,13144,0.63,360.3,636.8,10.2,1696,13150,0.00,2.83,0.00,0.000,6,0.000,0.031,3049,2772,1591
$GC,13471,0.63,360.3,601.6,10.4,1727,13472,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2772,1591
$GC,13801,0.63,360.3,565.7,10.3,1785,13808,0.00,2.88,0.00,0.000,4,0.000,0.048,3049,1342,1590
$GC,13842,0.67,360.3,561.3,11.1,1792,13849,0.00,2.78,0.00,0.000,6,0.000,0.033,3049,2759,1590
$GC,14183,0.67,360.3,525.6,10.1,1853,14189,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2759,1590
$GC,14524,0.70,381.2,492.8,9.3,1914,14549,0.12,2.95,19.95,1.208,4,0.059,0.047,3075,1340,1517
$GC,14577,0.70,381.2,486.5,13.0,1923,14584,0.00,2.80,0.00,0.000,6,0.000,0.032,3074,2759,1515
$GC,14920,0.65,381.2,440.4,13.2,1984,14926,0.00,2.25,0.00,0.000,4,0.000,0.050,3074,3891,1514
$GC,14960,0.65,381.2,434.8,13.0,1991,14966,0.00,2.22,0.00,0.000,6,0.000,0.031,3074,2743,1513
$GC,15300,0.65,381.2,388.5,13.8,2052,15308,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2742,1513
$GC,15644,0.61,381.2,342.2,13.4,2113,15651,0.12,2.33,0.00,0.000,4,0.110,0.048,3056,3904,1513
$GC,15680,0.61,381.2,337.7,11.2,2119,15686,0.00,2.20,0.00,0.000,6,0.000,0.031,3056,2756,1513
$GC,16013,0.61,383.6,304.8,9.9,2180,16021,0.00,2.80,0.00,0.000,4,0.000,0.045,3056,1349,1513
$GC,16068,0.66,383.6,299.3,10.1,2189,16075,0.00,2.72,0.00,0.000,6,0.000,0.029,3056,2760,1513
$GC,16397,0.66,383.6,264.7,10.2,2250,16404,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2761,1513
$GC,16732,0.66,383.6,229.6,10.3,2311,16738,0.00,2.83,0.00,0.000,4,0.000,0.044,3056,1337,1513
$GC,16768,0.71,383.6,225.8,12.2,2317,16774,0.00,2.72,0.00,0.000,6,0.000,0.031,3056,2749,1513
$GC,17100,0.79,410.8,192.3,9.1,2378,17134,0.15,0.00,30.33,1.044,6,0.054,0.000,3092,2749,1396
$GC,17462,0.73,410.8,136.5,16.1,2443,17468,0.00,2.25,0.00,0.000,4,0.000,0.047,3092,3888,1391
$GC,17498,0.68,410.8,130.6,15.6,2449,17504,0.15,2.25,0.00,0.000,6,0.105,0.031,3069,2731,1391
$GC,17635,0.68,410.8,113.6,11.1,2474,17643,0.00,2.80,0.00,0.000,4,0.000,0.047,3069,1336,1390
$GC,17667,0.68,410.8,109.8,11.5,2479,17673,0.00,2.72,0.00,0.000,6,0.000,0.030,3069,2741,1390
$GC,17802,0.68,410.8,94.2,10.9,2504,17810,0.00,2.30,0.00,0.000,4,0.000,0.048,3069,3891,1390
$GC,17834,0.68,410.8,90.8,11.9,2509,17840,0.00,2.28,0.00,0.000,6,0.000,0.031,3069,2718,1390
$GC,17970,0.69,418.0,75.4,9.8,2534,17984,0.00,2.75,7.70,0.802,4,0.000,0.047,3069,1333,1365
$GC,18014,0.69,418.0,70.4,13.2,2541,18020,0.00,2.70,0.00,0.000,6,0.000,0.029,3070,2728,1365
$GC,18151,0.69,418.0,54.7,10.5,2566,18159,0.00,2.33,0.00,0.000,4,0.000,0.048,3069,3890,1365
$GC,18183,0.69,418.0,51.4,10.8,2571,18189,0.00,2.30,0.00,0.000,6,0.000,0.033,3069,2717,1365
$GC,18317,0.69,418.0,36.6,13.1,2596,18325,0.00,2.75,0.00,0.000,4,0.000,0.048,3069,1346,1364
$GC,18360,0.75,436.7,32.3,9.3,2603,18390,0.00,2.65,19.90,0.911,6,0.000,0.029,3069,2701,1290
$GC,18519,0.80,436.7,16.3,10.5,2631,18527,0.12,2.40,0.00,0.000,4,0.054,0.045,3096,3896,1288
$GC,18561,0.80,436.7,10.5,12.5,2638,18569,0.00,2.35,0.00,0.000,6,0.000,0.033,3096,2708,1288
$STATE,18626,end climb,SURFACE_DEPTH_REACHED
$STATE,18627,begin surface coast
$FINISH,0.1,1.026163
$STATE,18639,end surface coast,CONTROL_FINISHED_OK
$STATE,18639,begin surface
$SM_CCo,18717,0.00,0.000,0,0,1285,438.11
$SM_GC,0.61,8.45,0.00,0.00,0.047,0.000,0.000,1429,2289,1285,-6.79,-0.31,438.11
$IRIDIUM_FIX,5854.46,-2232.66,150797,212156
$TT8_MAMPS,0.026845
$HUMID,1732
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,12.20
$XPDR_PINGS,906
$24V_AH,19.6,29.537
$10V_AH,9.6,24.894
$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,23.450,161.875,662.000,0.000,0.000,31.504,33.241,328.690,226.500,0.000,0.000,13.110,4033.890,7816.601,818.487,5772.132,792.705,0.000,2903.709,0.000,5788.141,0.000,0.466
$DEVICE_MAMPS,247.741,102.011,1597.661,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1835.383,1942.165,1180.685,1088.625,2802.464,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,199374,2652
$CAP_FILE_SIZE,213338,0
$CFSIZE,260165632,248791040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210408,082438,5912.432,-2226.298,32,1.4,32,-15.3