version: 66.03
glider: 142
mission: 5
dive: 108
start: 4 26 108 23 56 56
data:
$ID,142
$MISSION,5
$DIVE,108
$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,350
$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,-14863.27
$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,29
$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
$GPS1,234907,6025.329,-2240.477,40,1.7,40,-16.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-51.1
$GPS2,235638,6025.350,-2240.489,13,1.7,30,-16.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6035.985,-2241.409
$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,6.1,20000,-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,-194.7,0.0,0.0,0,180,0.00,0.00,-150.52,0.000,2,0.000,0.000,1435,2278,3689
$GC,182,-0.86,-194.7,3.4,-4.3,21,206,11.27,0.00,-4.57,0.000,6,0.249,0.000,2725,2278,3866
$GC,334,-0.77,-194.7,31.1,-13.6,48,342,0.15,0.00,0.00,0.000,6,0.153,0.000,2748,2278,3866
$GC,468,-0.77,-194.7,48.0,-12.5,73,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2278,3866
$GC,603,-0.77,-194.7,64.8,-12.6,98,612,0.00,2.78,0.00,0.000,4,0.000,0.049,2748,900,3867
$GC,657,-0.77,-194.7,71.3,-12.4,107,663,0.00,2.70,0.00,0.000,6,0.000,0.030,2748,2301,3866
$GC,988,-0.77,-194.7,109.8,-11.3,168,996,0.00,2.83,0.00,0.000,4,0.000,0.048,2748,900,3866
$GC,1031,-0.77,-194.7,114.7,-11.5,175,1037,0.00,2.67,0.00,0.000,6,0.000,0.030,2748,2294,3867
$GC,1361,-0.77,-194.7,151.3,-10.7,236,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2294,3867
$GC,1702,-0.77,-194.7,189.6,-10.9,297,1708,0.00,2.78,0.00,0.000,4,0.000,0.048,2748,894,3866
$GC,1775,-0.77,-194.7,198.2,-11.6,310,1781,0.00,2.67,0.00,0.000,6,0.000,0.030,2748,2290,3867
$GC,2113,-0.77,-194.7,236.7,-10.9,371,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2290,3867
$GC,2450,-0.77,-194.7,274.5,-11.3,432,2458,0.00,2.80,0.00,0.000,4,0.000,0.048,2748,897,3867
$GC,2492,-0.77,-194.7,279.2,-11.9,439,2498,0.00,2.67,0.00,0.000,6,0.000,0.031,2748,2292,3866
$GC,2831,-0.77,-194.7,317.6,-11.0,500,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2293,3867
$GC,3174,-0.77,-194.7,355.2,-10.9,558,3179,0.00,2.78,0.00,0.000,4,0.000,0.048,2748,889,3866
$GC,3215,-0.77,-194.7,359.5,-11.6,561,3219,0.00,2.65,0.00,0.000,6,0.000,0.031,2748,2276,3867
$GC,3542,-0.77,-194.7,394.5,-10.7,591,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2276,3867
$GC,3858,-0.77,-194.7,428.7,-10.8,621,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2276,3867
$GC,4176,-0.77,-194.7,463.7,-10.7,651,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2276,3866
$GC,4496,-0.77,-194.7,497.1,-10.4,681,4501,0.00,2.75,0.00,0.000,4,0.000,0.049,2748,895,3866
$GC,4546,-0.77,-194.7,502.9,-11.4,685,4551,0.00,2.62,0.00,0.000,6,0.000,0.031,2748,2264,3867
$GC,4871,-0.77,-194.7,537.5,-10.6,715,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2264,3867
$GC,5191,-0.77,-194.7,572.5,-11.1,745,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2264,3866
$GC,5515,-0.77,-194.7,607.4,-10.4,773,5520,0.00,2.88,0.00,0.000,4,0.000,0.051,2748,3706,3866
$GC,5577,-0.77,-194.7,613.7,-10.3,776,5581,0.00,2.78,0.00,0.000,6,0.000,0.037,2748,2281,3866
$GC,5902,-0.77,-194.7,646.1,-9.7,792,5907,0.00,2.80,0.00,0.000,4,0.000,0.059,2748,885,3866
$GC,5964,-0.77,-194.7,652.4,-9.8,795,5969,0.00,2.67,0.00,0.000,6,0.000,0.033,2748,2269,3866
$GC,6291,-0.77,-194.7,684.7,-9.9,811,6296,0.00,2.92,0.00,0.000,4,0.000,0.061,2748,3706,3866
$GC,6352,-0.77,-194.7,690.9,-9.9,814,6357,0.00,2.88,0.00,0.000,6,0.000,0.045,2748,2269,3866
$GC,6678,-0.77,-194.7,723.1,-10.0,830,6683,0.00,2.88,0.00,0.000,4,0.000,0.074,2748,885,3866
$GC,6727,-0.77,-194.7,728.4,-10.7,832,6732,0.00,2.75,0.00,0.000,6,0.000,0.045,2748,2272,3865
$GC,7048,-0.77,-194.7,761.0,-10.2,848,7053,0.00,3.05,0.00,0.000,4,0.000,0.077,2748,3713,3865
$GC,7109,-0.77,-194.7,767.2,-10.3,851,7114,0.00,2.97,0.00,0.000,6,0.000,0.063,2748,2277,3865
$GC,7435,-0.77,-194.7,799.1,-9.7,867,7440,0.00,3.08,0.00,0.000,4,0.000,0.101,2748,893,3865
$GC,7496,-0.77,-194.7,805.4,-10.4,870,7501,0.00,2.95,0.00,0.000,6,0.000,0.074,2748,2282,3865
$GC,7823,-0.77,-194.7,836.2,-9.3,886,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2282,3865
$GC,8131,-0.77,-194.7,864.9,-9.4,901,8137,0.00,3.35,0.00,0.000,4,0.000,0.120,2748,3714,3865
$GC,8198,-0.77,-194.7,871.3,-9.5,904,8202,0.00,2.85,0.00,0.000,6,0.000,0.041,2748,2273,3865
$GC,8519,-0.77,-194.7,901.6,-9.6,920,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2271,3864
$GC,8827,-0.77,-194.7,930.6,-9.4,935,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2271,3864
$GC,9137,-0.77,-194.7,958.8,-8.9,950,9138,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2272,3864
$GC,9446,-0.77,-194.7,985.6,-8.5,965,9451,0.00,2.97,0.00,0.000,4,0.000,0.058,2748,3721,3863
$STATE,9493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9493,begin apogee
$GC,9500,-0.21,0.0,990.1,9.5,967,9705,0.70,0.00,201.73,1.604,6,0.118,0.000,2866,2740,3071
$STATE,9706,end apogee,CONTROL_FINISHED_OK
$STATE,9706,begin climb
$GC,9709,0.86,194.7,995.8,0.0,977,9931,1.40,2.58,210.00,1.549,4,0.081,0.058,3099,3902,2277
$GC,10073,0.69,194.7,951.0,16.3,994,10078,0.20,2.38,0.00,0.000,6,0.130,0.035,3073,2749,2274
$GC,10394,0.58,194.7,909.7,12.7,1010,10398,0.15,2.42,0.00,0.000,4,0.122,0.053,3048,3911,2274
$GC,10433,0.53,194.7,904.9,11.9,1012,10437,0.00,2.30,0.00,0.000,6,0.000,0.034,3048,2755,2274
$GC,10759,0.47,194.7,870.7,10.4,1028,10764,0.15,2.38,0.00,0.000,4,0.117,0.053,3022,3906,2273
$GC,10798,0.51,223.9,867.0,9.0,1030,10833,0.00,2.22,29.70,1.447,6,0.000,0.034,3022,2772,2158
$GC,11151,0.57,272.3,837.8,8.3,1047,11204,0.12,0.00,50.97,1.470,6,0.062,0.000,3046,2772,1960
$GC,11499,0.58,277.4,803.1,9.8,1064,11507,0.00,0.00,5.62,1.042,6,0.000,0.000,3046,2771,1940
$GC,11809,0.58,281.8,773.0,9.8,1079,11817,0.00,0.00,6.30,1.089,6,0.000,0.000,3046,2772,1922
$GC,12118,0.58,281.8,742.0,10.2,1094,12119,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2772,1920
$GC,12428,0.59,285.4,711.2,9.9,1109,12435,0.00,0.00,5.20,0.986,6,0.000,0.000,3046,2772,1907
$GC,12737,0.60,298.0,681.0,9.6,1124,12757,0.00,0.00,14.50,1.286,6,0.000,0.000,3046,2771,1855
$GC,13066,0.63,316.9,649.8,9.3,1140,13091,0.00,2.92,20.02,1.312,4,0.000,0.053,3046,1340,1780
$GC,13097,0.65,338.6,646.8,9.2,1141,13127,0.00,2.92,24.33,1.328,6,0.000,0.032,3046,2798,1690
$GC,13455,0.67,352.5,613.8,9.5,1159,13477,0.00,3.03,15.50,1.240,4,0.000,0.050,3046,1337,1632
$GC,13493,0.69,369.6,610.0,9.4,1160,13521,0.12,2.90,19.25,1.272,6,0.053,0.032,3073,2779,1563
$GC,13836,0.64,369.6,564.4,13.9,1189,13838,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2779,1560
$GC,14156,0.58,369.6,520.7,13.8,1219,14158,0.15,0.00,0.00,0.000,6,0.112,0.000,3051,2779,1558
$GC,14477,0.59,373.1,487.9,9.9,1249,14481,0.00,2.90,0.00,0.000,4,0.000,0.046,3051,1343,1558
$GC,14498,0.66,391.1,485.4,9.4,1250,14526,0.00,2.80,22.50,1.207,6,0.000,0.031,3050,2772,1476
$GC,14846,0.72,394.6,452.5,9.9,1283,14858,0.12,2.92,4.50,0.807,4,0.057,0.046,3077,1343,1462
$GC,14874,0.72,394.6,448.9,11.9,1285,14881,0.00,2.78,0.00,0.000,6,0.000,0.031,3077,2750,1461
$GC,15200,0.72,394.6,405.0,13.5,1316,15204,0.00,2.28,0.00,0.000,4,0.000,0.050,3077,3896,1461
$GC,15217,0.72,394.6,402.4,13.9,1317,15221,0.00,2.20,0.00,0.000,6,0.000,0.031,3077,2757,1460
$GC,15543,0.72,394.6,359.7,12.4,1347,15547,0.00,2.30,0.00,0.000,4,0.000,0.049,3077,3901,1460
$GC,15564,0.72,394.6,356.6,13.2,1348,15570,0.00,2.22,0.00,0.000,6,0.000,0.031,3077,2760,1460
$GC,15899,0.72,394.6,311.8,13.3,1404,15907,0.00,2.30,0.00,0.000,4,0.000,0.049,3077,3894,1459
$GC,15932,0.72,394.6,307.5,14.0,1409,15938,0.00,2.12,0.00,0.000,6,0.000,0.031,3077,2785,1460
$GC,16272,0.72,394.6,262.6,13.2,1470,16277,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2777,1459
$GC,16613,0.72,394.6,217.2,12.9,1531,16619,0.00,2.22,0.00,0.000,4,0.000,0.048,3077,3903,1459
$GC,16630,0.72,394.6,214.8,12.7,1534,16636,0.00,2.12,0.00,0.000,6,0.000,0.031,3077,2786,1459
$GC,16970,0.72,394.6,171.4,12.8,1595,16975,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2779,1459
$GC,17301,0.72,394.6,129.5,11.7,1656,17309,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2778,1459
$GC,17636,0.72,394.6,89.1,12.2,1717,17641,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2778,1459
$GC,17964,0.72,394.6,47.7,12.3,1778,17972,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2778,1459
$GC,18099,0.72,394.6,30.9,12.5,1803,18107,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2778,1460
$GC,18233,0.72,394.6,15.1,11.4,1828,18241,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2778,1459
$STATE,18340,end climb,SURFACE_DEPTH_REACHED
$STATE,18340,begin surface coast
$FINISH,0.1,1.015550
$STATE,18358,end surface coast,CONTROL_FINISHED_OK
$STATE,18358,begin surface
$SM_CCo,18436,0.00,0.000,0,0,1457,395.91
$SM_GC,0.75,8.25,0.00,0.00,0.046,0.000,0.000,1435,2288,1457,-6.79,-0.34,395.91
$IRIDIUM_FIX,5958.08,-2240.53,210797,181853
$TT8_MAMPS,0.026078
$HUMID,1756
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,11.40
$XPDR_PINGS,859
$24V_AH,19.6,37.982
$10V_AH,9.8,30.885
$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,22.800,134.600,630.125,0.000,0.000,27.618,32.516,237.483,214.750,0.000,0.000,31.811,2928.759,10363.914,760.679,4204.610,611.998,0.000,2368.709,0.000,4184.313,0.000,0.466
$DEVICE_MAMPS,248.508,120.419,1603.797,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1293.918,1329.102,681.563,915.276,1703.156,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135899,1851
$CAP_FILE_SIZE,169807,0
$CFSIZE,260165632,246067200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270408,050526,6028.904,-2242.152,38,1.9,38,-16.1