version: 66.03
glider: 142
mission: 5
dive: 114
start: 4 28 108 9 4 15
data:
$ID,142
$MISSION,5
$DIVE,114
$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,320
$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,-14974.941
$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,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
$GPS1,085625,6043.934,-2253.970,41,1.6,58,-16.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-45.2
$GPS2,090357,6043.909,-2254.015,11,1.6,11,-16.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6052.182,-2257.394
$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,336.3,20000,-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,26,-0.86,-194.7,0.0,0.0,0,165,0.00,0.00,-136.12,0.000,2,0.000,0.000,1431,2290,3569
$GC,168,-0.86,-194.7,3.6,-7.7,19,199,11.43,2.85,-7.75,0.000,4,0.249,0.056,2726,897,3867
$GC,297,-0.79,-194.7,24.9,-14.0,41,305,0.08,2.78,0.00,0.000,6,0.135,0.031,2738,2302,3867
$GC,433,-0.74,-194.7,42.0,-12.0,66,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2302,3868
$GC,571,-0.69,-194.7,59.3,-12.6,91,577,0.15,2.85,0.00,0.000,4,0.140,0.047,2762,884,3867
$GC,620,-0.69,-194.7,65.2,-10.8,100,628,0.00,2.72,0.00,0.000,6,0.000,0.030,2762,2281,3867
$GC,954,-0.69,-194.7,100.2,-10.1,161,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2282,3868
$GC,1284,-0.69,-194.7,134.3,-10.2,222,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2282,3868
$GC,1621,-0.69,-194.7,168.2,-10.3,283,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2282,3868
$GC,1960,-0.69,-194.7,204.9,-10.9,344,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2282,3867
$GC,2301,-0.69,-194.7,240.1,-10.3,405,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2282,3868
$GC,2638,-0.69,-194.7,273.1,-9.7,466,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2282,3868
$GC,2975,-0.69,-194.7,305.0,-9.6,527,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2283,3868
$GC,3315,-0.69,-194.7,337.7,-9.7,588,3323,0.00,2.83,0.00,0.000,4,0.000,0.045,2762,3700,3868
$GC,3379,-0.69,-194.7,343.8,-9.2,599,3385,0.00,2.75,0.00,0.000,6,0.000,0.033,2762,2279,3868
$GC,3711,-0.69,-194.7,375.4,-9.7,636,3716,0.00,2.75,0.00,0.000,4,0.000,0.050,2762,884,3868
$GC,3762,-0.73,-194.7,380.3,-9.8,640,3766,0.00,2.67,0.00,0.000,6,0.000,0.029,2762,2287,3868
$GC,4088,-0.73,-194.7,410.7,-9.5,670,4092,0.00,2.80,0.00,0.000,4,0.000,0.046,2762,3706,3867
$GC,4161,-0.73,-194.7,417.9,-9.6,676,4165,0.00,2.75,0.00,0.000,6,0.000,0.034,2762,2286,3868
$GC,4488,-0.73,-194.7,448.8,-9.4,706,4493,0.00,2.75,0.00,0.000,4,0.000,0.051,2762,894,3867
$GC,4533,-0.78,-194.7,453.6,-10.0,709,4539,0.00,2.67,0.00,0.000,6,0.000,0.029,2762,2296,3868
$GC,4858,-0.78,-194.7,484.7,-9.6,740,4863,0.00,2.78,0.00,0.000,4,0.000,0.047,2762,3701,3868
$GC,4925,-0.83,-194.7,491.2,-9.2,745,4931,0.00,2.72,0.00,0.000,6,0.000,0.034,2762,2295,3868
$GC,5253,-0.83,-194.7,521.3,-9.0,776,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2294,3868
$GC,5579,-0.83,-194.7,552.2,-9.6,807,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2294,3867
$GC,5896,-0.83,-194.7,583.5,-9.7,837,5900,0.00,2.83,0.00,0.000,4,0.000,0.050,2762,3700,3868
$GC,5957,-0.87,-194.7,589.5,-10.2,842,5962,0.17,2.70,0.00,0.000,6,0.064,0.035,2729,2315,3868
$GC,6276,-0.83,-194.7,630.5,-12.7,861,6280,0.00,2.88,0.00,0.000,4,0.000,0.058,2729,887,3867
$GC,6360,-0.83,-194.7,641.2,-12.5,865,6364,0.00,2.75,0.00,0.000,6,0.000,0.033,2729,2305,3867
$GC,6685,-0.83,-194.7,678.8,-11.2,881,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2305,3866
$GC,6995,-0.83,-194.7,714.5,-11.7,896,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2307,3867
$GC,7304,-0.83,-194.7,750.2,-11.6,911,7309,0.00,3.03,0.00,0.000,4,0.000,0.080,2729,897,3866
$GC,7358,-0.83,-194.7,756.8,-11.8,913,7365,0.00,2.85,0.00,0.000,6,0.000,0.055,2729,2295,3866
$GC,7674,-0.83,-194.7,792.6,-11.4,929,7675,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2296,3866
$GC,7983,-0.83,-194.7,828.1,-11.2,944,7988,0.00,3.22,0.00,0.000,4,0.000,0.108,2729,891,3866
$GC,8038,-0.83,-194.7,834.5,-11.3,946,8044,0.00,3.08,0.00,0.000,6,0.000,0.088,2729,2289,3866
$GC,8353,-0.83,-194.7,868.8,-11.4,962,8354,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2289,3865
$GC,8663,-0.83,-194.7,903.9,-11.3,977,8664,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2289,3865
$GC,8972,-0.83,-194.7,937.6,-10.7,992,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2292,3864
$GC,9281,-0.83,-194.7,970.9,-10.8,1007,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2292,3863
$STATE,9465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9465,begin apogee
$GC,9471,-0.21,0.0,991.2,11.2,1016,9677,0.85,0.00,202.80,1.606,6,0.123,0.000,2868,2764,3071
$STATE,9678,end apogee,CONTROL_FINISHED_OK
$STATE,9678,begin climb
$GC,9680,0.86,194.7,999.1,0.0,1026,9905,1.40,2.62,210.88,1.552,4,0.084,0.058,3100,3891,2277
$GC,10025,0.69,194.7,961.6,15.8,1042,10030,0.20,2.38,0.00,0.000,6,0.129,0.035,3074,2744,2275
$GC,10345,0.58,194.7,921.4,12.4,1058,10350,0.17,2.42,0.00,0.000,4,0.124,0.054,3046,3902,2274
$GC,10384,0.54,194.7,917.1,10.3,1060,10389,0.00,2.28,0.00,0.000,6,0.000,0.034,3046,2761,2274
$GC,10711,0.53,219.8,886.2,9.1,1076,10739,0.00,0.00,25.85,1.440,6,0.000,0.000,3046,2760,2175
$GC,11040,0.55,239.8,855.4,9.3,1092,11064,0.00,0.00,21.55,1.422,6,0.000,0.000,3046,2760,2093
$GC,11369,0.56,249.6,823.9,9.7,1108,11390,0.00,2.42,11.48,1.308,4,0.000,0.054,3046,3894,2052
$GC,11395,0.56,249.6,821.1,11.3,1109,11399,0.00,2.25,0.00,0.000,6,0.000,0.034,3046,2762,2051
$GC,11722,0.56,249.6,788.5,10.1,1125,11723,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2762,2051
$GC,12031,0.58,266.9,758.4,9.4,1140,12055,0.00,2.40,18.88,1.368,4,0.000,0.061,3046,3897,1981
$GC,12077,0.61,290.0,753.8,9.2,1142,12107,0.00,2.25,25.12,1.403,6,0.000,0.033,3046,2765,1888
$GC,12423,0.63,301.2,720.2,9.6,1159,12437,0.00,0.00,12.27,1.267,6,0.000,0.000,3046,2764,1843
$GC,12754,0.64,309.4,688.1,9.7,1175,12766,0.00,0.00,9.88,1.211,6,0.000,0.000,3046,2764,1809
$GC,13064,0.66,327.0,658.2,9.4,1190,13089,0.00,2.95,19.52,1.312,4,0.000,0.055,3046,1335,1737
$GC,13094,0.66,327.0,655.1,10.3,1191,13100,0.00,2.90,0.00,0.000,6,0.000,0.032,3046,2778,1736
$GC,13409,0.66,327.0,623.2,10.3,1207,13414,0.00,2.92,0.00,0.000,4,0.000,0.046,3046,1335,1734
$GC,13425,0.66,327.0,621.4,10.8,1208,13430,0.00,2.83,0.00,0.000,6,0.000,0.032,3046,2760,1734
$GC,13744,0.66,332.5,590.0,9.8,1228,13756,0.00,2.95,6.47,1.033,4,0.000,0.046,3046,1335,1715
$GC,13761,0.67,334.6,588.2,9.9,1229,13767,0.00,2.80,0.00,0.000,6,0.000,0.033,3046,2751,1714
$GC,14087,0.69,357.1,557.5,9.2,1260,14120,0.12,2.92,26.67,1.284,4,0.061,0.046,3071,1338,1614
$GC,14125,0.65,357.1,552.9,12.3,1263,14132,0.00,2.83,0.00,0.000,6,0.000,0.032,3071,2748,1614
$GC,14454,0.61,357.1,511.2,12.8,1294,14458,0.00,2.33,0.00,0.000,4,0.000,0.052,3071,3902,1611
$GC,14470,0.61,357.1,508.5,12.9,1295,14474,0.00,2.28,0.00,0.000,6,0.000,0.031,3071,2736,1610
$GC,14794,0.56,357.1,468.5,12.3,1325,14799,0.15,2.35,0.00,0.000,4,0.108,0.048,3046,3897,1610
$GC,14811,0.56,357.1,466.6,11.8,1326,14815,0.00,2.22,0.00,0.000,6,0.000,0.031,3045,2748,1610
$GC,15136,0.64,383.9,437.4,9.1,1356,15166,0.00,0.00,27.88,1.203,6,0.000,0.000,3045,2744,1506
$GC,15484,0.76,424.8,406.8,8.6,1389,15538,0.17,2.90,43.22,1.198,4,0.051,0.047,3085,1344,1338
$GC,15544,0.71,424.8,399.5,12.6,1394,15550,0.00,2.85,0.00,0.000,6,0.000,0.030,3086,2759,1337
$GC,15871,0.65,424.8,351.3,16.1,1425,15878,0.15,0.00,0.00,0.000,6,0.110,0.000,3064,2759,1333
$GC,16213,0.65,424.8,313.1,10.2,1486,16220,0.00,2.85,0.00,0.000,4,0.000,0.044,3064,1344,1332
$GC,16233,0.65,424.8,311.3,10.5,1489,16239,0.00,2.75,0.00,0.000,6,0.000,0.031,3064,2749,1331
$GC,16573,0.65,429.2,277.4,9.8,1550,16585,0.00,2.85,4.70,0.753,4,0.000,0.045,3063,1338,1320
$GC,16593,0.65,429.2,275.5,11.0,1553,16599,0.00,2.72,0.00,0.000,6,0.000,0.031,3064,2737,1320
$GC,16935,0.71,440.7,241.3,9.6,1614,16955,0.00,2.83,13.43,1.005,4,0.000,0.044,3063,1340,1274
$GC,16967,0.76,440.7,238.0,10.2,1619,16973,0.00,2.72,0.00,0.000,6,0.000,0.030,3064,2731,1272
$GC,17306,0.80,440.7,205.5,10.2,1680,17314,0.15,2.83,0.00,0.000,4,0.053,0.044,3099,1339,1270
$GC,17320,0.80,440.7,203.9,10.6,1682,17326,0.00,2.67,0.00,0.000,6,0.000,0.031,3099,2714,1270
$GC,17661,0.71,440.7,148.6,17.8,1743,17667,0.15,2.33,0.00,0.000,4,0.113,0.047,3073,3893,1270
$GC,17686,0.66,440.7,144.6,15.9,1747,17693,0.00,2.28,0.00,0.000,6,0.000,0.032,3073,2719,1269
$GC,18016,0.66,440.7,108.1,10.5,1808,18024,0.00,2.75,0.00,0.000,4,0.000,0.048,3073,1342,1269
$GC,18030,0.66,440.7,106.6,10.9,1810,18038,0.00,2.70,0.00,0.000,6,0.000,0.029,3073,2724,1269
$GC,18365,0.67,443.9,71.9,9.9,1871,18370,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2723,1269
$GC,18693,0.67,443.9,37.4,11.1,1932,18700,0.00,2.78,0.00,0.000,4,0.000,0.045,3073,1343,1269
$GC,18708,0.67,443.9,35.6,11.0,1934,18715,0.00,2.67,0.00,0.000,6,0.000,0.031,3073,2713,1268
$GC,18843,0.67,443.9,20.9,10.7,1959,18851,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2713,1269
$GC,18978,0.67,443.9,4.9,10.7,1984,18985,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2713,1268
$STATE,19006,end climb,SURFACE_DEPTH_REACHED
$STATE,19007,begin surface coast
$FINISH,0.1,1.021868
$STATE,19029,end surface coast,CONTROL_FINISHED_OK
$STATE,19029,begin surface
$SM_CCo,19107,0.00,0.000,0,0,1267,442.52
$SM_GC,0.61,8.25,0.00,0.00,0.047,0.000,0.000,1435,2272,1267,-6.79,-0.79,442.52
$IRIDIUM_FIX,6015.40,-2236.18,230797,030322
$TT8_MAMPS,0.026845
$HUMID,1768
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,12.00
$XPDR_PINGS,880
$24V_AH,19.6,40.067
$10V_AH,9.8,32.152
$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,23.600,158.600,680.600,0.000,0.000,29.275,28.046,261.313,220.000,0.000,0.000,13.186,3147.339,10432.745,820.797,4475.446,663.393,0.000,2529.570,0.000,4489.183,0.000,0.465
$DEVICE_MAMPS,249.275,108.147,1606.098,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1385.236,1443.943,755.345,1014.928,1880.489,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145442,1993
$CAP_FILE_SIZE,185675,0
$CFSIZE,260165632,245452800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280408,142356,6046.653,-2300.902,38,1.5,38,-16.4