version: 66.03
glider: 142
mission: 5
dive: 83
start: 4 21 108 8 33 45
data:
$ID,142
$MISSION,5
$DIVE,83
$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,-14307.193
$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,28
$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
$GPS1,082438,5912.432,-2226.298,32,1.4,32,-15.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-47.3
$GPS2,083326,5912.350,-2226.299,12,1.5,12,-15.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5912.350,-2220.771
$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,105.3,20000,-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,-194.7,0.0,0.0,0,159,0.00,0.00,-129.52,0.000,2,0.000,0.000,1429,2281,3495
$GC,162,-0.86,-194.7,3.1,-5.8,18,193,11.07,2.90,-10.93,0.000,4,0.242,0.051,2725,3710,3863
$GC,227,-0.79,-194.7,13.6,-14.5,28,235,0.10,2.80,0.00,0.000,6,0.133,0.033,2741,2305,3864
$GC,364,-0.74,-194.7,30.8,-13.0,53,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2305,3865
$GC,498,-0.69,-194.7,47.2,-11.2,78,506,0.15,2.85,0.00,0.000,4,0.137,0.050,2765,895,3865
$GC,543,-0.69,-194.7,52.4,-10.5,86,551,0.00,2.72,0.00,0.000,6,0.000,0.028,2765,2292,3865
$GC,683,-0.69,-194.7,67.1,-11.3,111,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2292,3865
$GC,819,-0.69,-194.7,82.1,-10.4,136,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2292,3865
$GC,959,-0.69,-194.7,96.4,-10.8,161,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2292,3865
$GC,1094,-0.69,-194.7,110.7,-10.3,186,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2292,3865
$GC,1233,-0.69,-194.7,124.7,-10.4,211,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2292,3865
$GC,1367,-0.69,-194.7,138.8,-10.7,236,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2292,3865
$GC,1506,-0.69,-194.7,152.9,-10.3,261,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2292,3865
$GC,1834,-0.69,-194.7,187.6,-10.6,322,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2292,3865
$GC,2169,-0.69,-194.7,222.4,-10.4,383,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2292,3865
$GC,2497,-0.69,-194.7,256.4,-10.5,444,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2292,3865
$GC,2832,-0.69,-194.7,291.1,-11.1,505,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2292,3865
$GC,3159,-0.69,-194.7,326.0,-10.2,566,3166,0.00,2.80,0.00,0.000,4,0.000,0.048,2765,896,3865
$GC,3190,-0.69,-194.7,329.1,-10.8,571,3196,0.00,2.67,0.00,0.000,6,0.000,0.031,2765,2297,3865
$GC,3525,-0.69,-194.7,363.7,-10.4,632,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2297,3865
$GC,3865,-0.69,-194.7,397.7,-9.8,693,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2297,3865
$GC,4209,-0.69,-194.7,431.3,-9.9,754,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2297,3865
$GC,4549,-0.69,-194.7,463.7,-9.0,815,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2298,3865
$GC,4891,-0.69,-194.7,495.1,-9.2,876,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2298,3865
$GC,5237,-0.69,-194.7,527.1,-9.5,937,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2298,3865
$GC,5578,-0.69,-194.7,558.8,-9.5,998,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2298,3865
$GC,5916,-0.69,-194.7,590.6,-9.5,1059,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2297,3865
$GC,6252,-0.69,-194.7,621.6,-9.3,1099,6256,0.00,2.80,0.00,0.000,4,0.000,0.053,2765,3702,3864
$GC,6268,-0.69,-194.7,623.1,-9.2,1100,6273,0.00,2.75,0.00,0.000,6,0.000,0.038,2765,2299,3865
$GC,6594,-0.69,-194.7,653.2,-9.1,1130,6599,0.00,2.85,0.00,0.000,4,0.000,0.056,2765,3700,3864
$GC,6615,-0.73,-194.7,655.5,-9.7,1131,6621,0.00,2.75,0.00,0.000,6,0.000,0.042,2765,2306,3864
$GC,6941,-0.77,-194.7,684.7,-9.0,1162,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2305,3864
$GC,7262,-0.82,-194.7,714.3,-9.4,1192,7267,0.12,2.90,0.00,0.000,4,0.067,0.064,2741,3701,3863
$GC,7283,-0.82,-194.7,717.0,-10.7,1193,7290,0.00,2.80,0.00,0.000,6,0.000,0.051,2741,2314,3863
$GC,7609,-0.82,-194.7,753.7,-11.2,1224,7610,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2314,3863
$GC,7926,-0.82,-194.7,789.7,-11.0,1254,7928,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2314,3862
$GC,8245,-0.82,-194.7,824.2,-10.6,1284,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2314,3862
$GC,8563,-0.82,-194.7,858.0,-10.5,1314,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2314,3862
$GC,8882,-0.82,-194.7,891.2,-10.6,1344,8887,0.00,3.55,0.00,0.000,4,0.000,0.150,2741,894,3861
$GC,8910,-0.82,-194.7,894.3,-11.6,1346,8915,0.00,2.72,0.00,0.000,6,0.000,0.032,2741,2304,3861
$GC,9236,-0.82,-194.7,927.1,-9.9,1376,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2304,3860
$GC,9553,-0.82,-194.7,959.6,-10.5,1406,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2304,3860
$STATE,9848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9848,begin apogee
$GC,9854,-0.21,0.0,990.2,10.3,1434,10061,0.75,0.00,200.35,1.600,6,0.132,0.000,2864,2757,3070
$STATE,10062,end apogee,CONTROL_FINISHED_OK
$STATE,10062,begin climb
$GC,10064,0.86,194.7,997.4,0.0,1455,10289,1.40,2.65,210.25,1.535,4,0.086,0.058,3099,3892,2276
$GC,10447,0.69,194.7,952.5,15.1,1491,10452,0.20,2.38,0.00,0.000,6,0.127,0.036,3072,2746,2274
$GC,10771,0.58,194.7,912.6,12.2,1521,10776,0.17,2.40,0.00,0.000,4,0.129,0.054,3045,3895,2273
$GC,10816,0.53,194.7,907.7,10.4,1524,10822,0.00,2.28,0.00,0.000,6,0.000,0.035,3045,2754,2273
$GC,11143,0.50,204.6,876.0,9.7,1555,11155,0.00,0.00,10.80,1.282,6,0.000,0.000,3045,2753,2236
$GC,11471,0.46,210.0,844.2,9.8,1586,11483,0.15,2.42,7.00,1.156,4,0.114,0.054,3022,3894,2214
$GC,11518,0.51,248.4,839.9,8.7,1590,11563,0.00,2.25,40.35,1.463,6,0.000,0.035,3022,2762,2058
$GC,11883,0.58,303.8,810.8,8.1,1624,11948,0.12,3.10,57.92,1.453,4,0.061,0.051,3046,1334,1831
$GC,11981,0.58,303.8,800.3,11.0,1633,11988,0.00,2.95,0.00,0.000,6,0.000,0.033,3046,2768,1829
$GC,12308,0.58,303.8,764.4,10.6,1664,12309,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2768,1826
$GC,12625,0.58,303.8,730.9,10.3,1694,12626,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2768,1825
$GC,12943,0.58,303.8,698.0,10.2,1724,12945,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2768,1824
$GC,13262,0.58,303.8,665.7,10.3,1754,13263,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2768,1824
$GC,13580,0.58,303.8,631.9,10.7,1784,13585,0.00,2.90,0.00,0.000,4,0.000,0.048,3046,1335,1824
$GC,13619,0.58,305.1,627.7,10.0,1787,13624,0.00,2.83,0.00,0.000,6,0.000,0.035,3047,2769,1823
$GC,13946,0.58,305.1,593.8,10.0,1822,13951,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2770,1822
$GC,14286,0.59,317.4,559.6,9.6,1883,14304,0.00,0.00,13.05,1.200,6,0.000,0.000,3046,2769,1777
$GC,14640,0.59,318.1,523.3,10.0,1946,14646,0.00,2.90,0.00,0.000,4,0.000,0.048,3046,1333,1775
$GC,14680,0.61,329.6,519.3,9.6,1953,14705,0.00,2.80,13.98,1.196,6,0.000,0.034,3046,2764,1727
$GC,15046,0.61,329.6,484.6,10.0,2017,15051,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2763,1724
$GC,15386,0.65,363.1,452.3,8.8,2078,15425,0.00,0.00,34.95,1.232,6,0.000,0.000,3046,2764,1590
$GC,15761,0.74,403.7,420.5,8.6,2145,15813,0.15,3.03,42.53,1.203,4,0.054,0.047,3082,1346,1424
$GC,15842,0.74,403.7,410.2,13.0,2159,15848,0.00,2.85,0.00,0.000,6,0.000,0.031,3082,2751,1422
$GC,16184,0.69,403.7,360.5,14.4,2220,16192,0.00,2.33,0.00,0.000,4,0.000,0.050,3082,3897,1418
$GC,16231,0.69,403.7,353.5,14.0,2228,16237,0.00,2.22,0.00,0.000,6,0.000,0.032,3082,2758,1416
$GC,16565,0.64,403.7,305.7,15.4,2289,16572,0.15,0.00,0.00,0.000,6,0.107,0.000,3056,2757,1416
$GC,16898,0.71,426.0,272.9,9.2,2350,16930,0.00,2.90,22.10,1.070,4,0.000,0.046,3056,1343,1333
$GC,16958,0.83,463.0,267.4,8.7,2360,17004,0.20,2.85,39.80,1.102,6,0.040,0.031,3103,2766,1183
$GC,17332,0.73,463.0,203.8,18.1,2427,17339,0.15,2.28,0.00,0.000,4,0.115,0.047,3082,3906,1176
$GC,17390,0.73,463.0,194.7,14.5,2437,17396,0.00,2.20,0.00,0.000,6,0.000,0.031,3082,2776,1175
$GC,17721,0.73,463.0,150.7,15.5,2498,17729,0.00,2.90,0.00,0.000,4,0.000,0.047,3082,1342,1173
$GC,17775,0.73,463.0,143.9,11.9,2507,17781,0.00,2.80,0.00,0.000,6,0.000,0.031,3082,2773,1173
$GC,17910,0.73,463.0,126.3,12.9,2532,17918,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2774,1173
$GC,18049,0.73,463.0,108.0,14.6,2557,18054,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2774,1173
$GC,18184,0.73,463.0,90.7,14.5,2582,18191,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2774,1172
$GC,18323,0.73,463.0,73.2,12.5,2607,18329,0.00,2.88,0.00,0.000,4,0.000,0.046,3082,1344,1173
$GC,18359,0.73,463.0,68.6,12.1,2613,18366,0.00,2.75,0.00,0.000,6,0.000,0.031,3082,2760,1172
$GC,18497,0.73,463.0,52.9,11.3,2638,18505,0.00,2.28,0.00,0.000,4,0.000,0.048,3082,3896,1172
$GC,18529,0.73,463.0,48.8,13.1,2643,18537,0.00,2.25,0.00,0.000,6,0.000,0.033,3082,2747,1172
$GC,18664,0.73,463.0,33.0,12.2,2668,18672,0.00,2.83,0.00,0.000,4,0.000,0.048,3082,1342,1172
$GC,18701,0.73,463.0,28.1,13.4,2674,18709,0.00,2.72,0.00,0.000,6,0.000,0.030,3082,2737,1171
$GC,18836,0.73,463.0,11.0,10.2,2699,18844,0.00,2.30,0.00,0.000,4,0.000,0.048,3082,3888,1171
$GC,18883,0.73,463.0,4.1,13.5,2707,18891,0.00,2.22,0.00,0.000,6,0.000,0.031,3082,2747,1171
$STATE,18902,end climb,SURFACE_DEPTH_REACHED
$STATE,18902,begin surface coast
$FINISH,0.1,1.026250
$STATE,18919,end surface coast,CONTROL_FINISHED_OK
$STATE,18919,begin surface
$SM_CCo,18998,0.00,0.000,0,0,1170,466.32
$SM_GC,0.57,8.30,0.00,0.00,0.046,0.000,0.000,1433,2290,1170,-6.80,-0.31,466.32
$IRIDIUM_FIX,5850.29,-2231.04,160797,030323
$TT8_MAMPS,0.026078
$HUMID,1747
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,11.90
$XPDR_PINGS,908
$24V_AH,19.6,29.866
$10V_AH,9.7,25.174
$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,23.200,120.125,693.075,0.000,0.000,26.069,35.668,311.776,227.000,0.000,0.000,14.012,4085.359,7977.048,804.816,5876.842,751.932,0.000,2950.961,0.000,5884.005,0.000,0.466
$DEVICE_MAMPS,241.605,150.332,1599.962,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1883.829,1985.084,1199.431,1102.596,2845.180,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202781,2713
$CAP_FILE_SIZE,210490,0
$CFSIZE,260165632,248668160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210408,135138,5910.945,-2218.463,40,0.9,40,-15.3