version: 66.03
glider: 142
mission: 5
dive: 116
start: 4 28 108 19 56 29
data:
$ID,142
$MISSION,5
$DIVE,116
$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,-15005.917
$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,25
$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
$GPS1,194907,6049.917,-2309.276,31,1.1,31,-16.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-48.1
$GPS2,195610,6049.948,-2309.460,11,1.1,12,-16.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6058.221,-2312.829
$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,336.5,20000,-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,-129.57,0.000,2,0.000,0.000,1432,2268,3470
$GC,162,-0.86,-194.7,3.0,-5.6,18,193,11.45,2.88,-11.68,0.000,4,0.251,0.051,2725,3707,3866
$GC,295,-0.79,-194.7,24.3,-13.5,41,303,0.08,2.75,0.00,0.000,6,0.139,0.033,2738,2319,3866
$GC,432,-0.74,-194.7,42.7,-12.6,66,440,0.00,2.88,0.00,0.000,4,0.000,0.050,2738,897,3866
$GC,548,-0.74,-194.7,57.8,-13.1,87,555,0.00,2.67,0.00,0.000,6,0.000,0.030,2738,2283,3866
$GC,878,-0.69,-194.7,99.5,-12.2,148,886,0.15,0.00,0.00,0.000,6,0.134,0.000,2762,2284,3866
$GC,1212,-0.69,-194.7,134.8,-10.3,209,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2284,3866
$GC,1545,-0.69,-194.7,169.9,-10.4,270,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2284,3866
$GC,1885,-0.69,-194.7,205.1,-10.4,331,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2284,3866
$GC,2226,-0.69,-194.7,238.8,-9.7,392,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2284,3866
$GC,2568,-0.69,-194.7,271.2,-9.6,453,2574,0.00,2.80,0.00,0.000,4,0.000,0.044,2762,3709,3866
$GC,2624,-0.69,-194.7,276.8,-9.3,463,2631,0.00,2.78,0.00,0.000,6,0.000,0.033,2762,2273,3866
$GC,2966,-0.69,-194.7,310.3,-10.3,524,2974,0.00,2.75,0.00,0.000,4,0.000,0.050,2762,895,3867
$GC,3014,-0.74,-194.7,315.3,-10.6,532,3021,0.00,2.67,0.00,0.000,6,0.000,0.030,2762,2283,3867
$GC,3361,-0.74,-194.7,351.5,-10.8,593,3365,0.00,2.78,0.00,0.000,4,0.000,0.044,2762,3698,3866
$GC,3444,-0.74,-194.7,360.7,-10.6,600,3449,0.00,2.72,0.00,0.000,6,0.000,0.032,2762,2289,3866
$GC,3771,-0.74,-194.7,394.4,-10.6,630,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2288,3866
$GC,4088,-0.74,-194.7,427.8,-10.4,660,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2288,3866
$GC,4405,-0.74,-194.7,460.5,-10.0,690,4409,0.00,2.80,0.00,0.000,4,0.000,0.045,2762,3698,3867
$GC,4470,-0.74,-194.7,467.1,-10.1,695,4477,0.00,2.72,0.00,0.000,6,0.000,0.033,2762,2305,3866
$GC,4798,-0.74,-194.7,498.5,-9.6,726,4802,0.00,2.80,0.00,0.000,4,0.000,0.051,2762,889,3866
$GC,4852,-0.79,-194.7,504.1,-9.6,730,4859,0.00,2.70,0.00,0.000,6,0.000,0.028,2762,2307,3866
$GC,5180,-0.79,-194.7,535.1,-9.7,761,5185,0.00,2.78,0.00,0.000,4,0.000,0.048,2762,3707,3866
$GC,5253,-0.83,-194.7,542.6,-9.9,767,5258,0.12,2.72,0.00,0.000,6,0.070,0.034,2739,2304,3866
$GC,5577,-0.83,-194.7,579.6,-11.2,797,5582,0.00,2.80,0.00,0.000,4,0.000,0.054,2739,893,3866
$GC,5672,-0.83,-194.7,590.7,-11.9,805,5677,0.00,2.70,0.00,0.000,6,0.000,0.031,2739,2304,3866
$GC,5990,-0.83,-194.7,625.8,-10.7,824,5994,0.00,2.83,0.00,0.000,4,0.000,0.054,2738,3712,3866
$GC,6067,-0.83,-194.7,634.1,-10.6,827,6073,0.00,2.75,0.00,0.000,6,0.000,0.040,2739,2314,3866
$GC,6382,-0.83,-194.7,667.6,-10.7,843,6387,0.00,2.90,0.00,0.000,4,0.000,0.063,2739,887,3866
$GC,6472,-0.83,-194.7,677.2,-11.1,847,6476,0.00,2.78,0.00,0.000,6,0.000,0.035,2739,2314,3865
$GC,6792,-0.83,-194.7,710.9,-10.5,863,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2317,3865
$GC,7101,-0.83,-194.7,743.5,-10.6,878,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2317,3865
$GC,7410,-0.83,-194.7,776.3,-10.4,893,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2317,3865
$GC,7719,-0.83,-194.7,808.4,-10.5,908,7724,0.00,3.25,0.00,0.000,4,0.000,0.107,2739,895,3864
$GC,7763,-0.83,-194.7,813.3,-10.8,910,7768,0.00,3.08,0.00,0.000,6,0.000,0.080,2739,2318,3864
$GC,8084,-0.83,-194.7,845.0,-9.7,926,8085,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2319,3864
$GC,8394,-0.83,-194.7,875.1,-9.8,941,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2320,3863
$GC,8703,-0.83,-194.7,905.1,-9.6,956,8704,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2320,3863
$GC,9012,-0.83,-194.7,935.9,-10.2,971,9013,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2322,3863
$GC,9321,-0.83,-194.7,968.2,-10.5,986,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2322,3862
$STATE,9546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9546,begin apogee
$GC,9552,-0.21,0.0,992.1,10.4,997,9758,0.80,0.00,202.20,1.601,6,0.123,0.000,2870,2758,3071
$STATE,9758,end apogee,CONTROL_FINISHED_OK
$STATE,9758,begin climb
$GC,9760,0.86,194.7,999.7,0.0,1007,9985,1.38,2.60,210.02,1.542,4,0.084,0.059,3098,3899,2278
$GC,10080,0.70,194.7,966.4,15.4,1022,10085,0.17,2.40,0.00,0.000,6,0.127,0.035,3075,2748,2277
$GC,10401,0.59,194.7,927.7,12.0,1038,10405,0.15,2.42,0.00,0.000,4,0.125,0.054,3050,3903,2276
$GC,10440,0.53,194.7,923.3,10.6,1040,10444,0.00,2.28,0.00,0.000,6,0.000,0.034,3050,2762,2276
$GC,10767,0.48,200.0,891.5,9.8,1056,10776,0.15,0.00,6.85,1.136,6,0.122,0.000,3029,2761,2255
$GC,11075,0.55,259.7,866.5,7.9,1071,11139,0.00,0.00,62.08,1.486,6,0.000,0.000,3029,2760,2012
$GC,11445,0.61,307.4,836.1,8.3,1089,11498,0.12,0.00,50.22,1.454,6,0.061,0.000,3053,2760,1817
$GC,11794,0.61,307.4,798.4,10.7,1106,11798,0.00,2.90,0.00,0.000,4,0.000,0.049,3053,1341,1812
$GC,11803,0.61,307.4,797.2,10.7,1106,11810,0.00,2.85,0.00,0.000,6,0.000,0.032,3053,2766,1811
$GC,12119,0.61,307.4,762.3,11.4,1122,12120,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2767,1811
$GC,12428,0.61,307.4,727.5,11.3,1137,12429,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2767,1810
$GC,12737,0.61,307.4,692.8,11.1,1152,12742,0.00,2.88,0.00,0.000,4,0.000,0.047,3053,1334,1809
$GC,12747,0.61,307.4,691.5,11.3,1152,12753,0.00,2.83,0.00,0.000,6,0.000,0.033,3053,2772,1809
$GC,13062,0.61,307.4,656.0,11.4,1168,13063,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2771,1808
$GC,13371,0.61,307.4,621.2,11.1,1183,13376,0.00,2.90,0.00,0.000,4,0.000,0.047,3053,1333,1808
$GC,13380,0.61,307.4,620.1,10.9,1183,13387,0.00,2.80,0.00,0.000,6,0.000,0.033,3053,2765,1808
$GC,13700,0.61,307.4,585.9,10.8,1205,13705,0.00,2.88,0.00,0.000,4,0.000,0.047,3053,1337,1808
$GC,13710,0.61,307.4,584.7,11.0,1205,13716,0.00,2.78,0.00,0.000,6,0.000,0.032,3053,2755,1807
$GC,14036,0.61,307.4,551.2,10.0,1236,14037,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2755,1807
$GC,14355,0.61,308.9,519.4,9.9,1266,14359,0.00,2.85,0.00,0.000,4,0.000,0.046,3053,1332,1808
$GC,14364,0.62,315.3,518.1,9.8,1266,14381,0.00,2.75,7.53,1.029,6,0.000,0.032,3053,2746,1785
$GC,14699,0.62,318.8,484.8,9.9,1298,14709,0.00,0.00,5.32,0.898,6,0.000,0.000,3053,2747,1770
$GC,15031,0.62,318.8,452.0,10.1,1329,15036,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2746,1770
$GC,15356,0.62,318.8,418.6,10.4,1360,15358,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2746,1770
$GC,15677,0.63,320.9,385.9,9.9,1390,15682,0.00,2.83,0.00,0.000,4,0.000,0.045,3053,1332,1770
$GC,15687,0.63,323.6,384.5,9.9,1390,15698,0.00,2.72,6.78,0.931,6,0.000,0.031,3053,2737,1751
$GC,16018,0.65,339.0,352.6,9.5,1421,16040,0.00,2.90,16.50,1.095,4,0.000,0.045,3053,1333,1688
$GC,16045,0.66,348.1,349.8,9.7,1423,16065,0.00,2.72,10.85,1.045,6,0.000,0.031,3053,2727,1652
$GC,16399,0.66,350.9,316.4,9.9,1486,16405,0.00,0.00,4.03,0.686,6,0.000,0.000,3053,2727,1640
$GC,16738,0.67,353.4,283.0,9.9,1547,16744,0.00,0.00,4.32,0.706,6,0.000,0.000,3053,2727,1630
$GC,17078,0.68,366.1,250.2,9.6,1608,17102,0.00,2.88,14.43,1.005,4,0.000,0.044,3053,1333,1577
$GC,17110,0.69,370.8,247.2,9.8,1613,17123,0.00,2.75,6.38,0.864,6,0.000,0.031,3053,2734,1559
$GC,17459,0.78,409.8,216.3,8.6,1675,17505,0.15,0.00,40.60,1.054,6,0.054,0.000,3090,2734,1399
$GC,17838,0.71,409.8,161.1,14.5,1743,17845,0.00,2.33,0.00,0.000,4,0.000,0.047,3090,3898,1393
$GC,17856,0.64,409.8,158.2,15.7,1746,17863,0.17,2.35,0.00,0.000,6,0.110,0.032,3064,2712,1393
$GC,18192,0.66,421.6,124.1,9.6,1807,18212,0.00,2.80,11.60,0.887,4,0.000,0.046,3063,1335,1351
$GC,18221,0.71,427.1,121.4,9.8,1811,18234,0.00,2.70,7.28,0.825,6,0.000,0.030,3064,2714,1329
$GC,18563,0.78,441.6,87.7,9.5,1873,18583,0.12,0.00,15.90,0.910,6,0.054,0.000,3091,2715,1270
$GC,18906,0.73,441.6,37.8,14.9,1936,18914,0.00,2.35,0.00,0.000,4,0.000,0.047,3091,3887,1266
$GC,18927,0.68,441.6,35.1,12.8,1939,18936,0.10,2.35,0.00,0.000,6,0.098,0.033,3073,2698,1266
$GC,19065,0.69,446.3,21.7,9.8,1964,19073,0.00,0.00,5.55,0.686,6,0.000,0.000,3073,2697,1251
$GC,19200,0.69,446.3,6.3,10.7,1989,19208,0.00,2.75,0.00,0.000,4,0.000,0.049,3072,1336,1250
$STATE,19230,end climb,SURFACE_DEPTH_REACHED
$STATE,19230,begin surface coast
$FINISH,0.2,1.026255
$STATE,19242,end surface coast,CONTROL_FINISHED_OK
$STATE,19242,begin surface
$SM_CCo,19321,0.00,0.000,0,0,1248,447.18
$SM_GC,0.74,8.27,0.00,0.00,0.044,0.000,0.000,1432,2316,1248,-6.79,0.45,447.18
$IRIDIUM_FIX,6037.25,-1842.98,230797,141408
$TT8_MAMPS,0.026845
$HUMID,1745
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,11.60
$XPDR_PINGS,913
$24V_AH,19.6,40.702
$10V_AH,9.7,32.566
$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,23.400,142.625,688.425,0.000,0.000,24.599,29.216,233.677,228.250,0.000,0.000,14.163,3130.406,10752.298,804.826,4415.179,623.828,0.000,2477.761,0.000,4421.991,0.000,0.465
$DEVICE_MAMPS,250.809,107.380,1600.729,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1385.649,1441.953,726.425,997.793,1822.610,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145239,1996
$CAP_FILE_SIZE,180244,0
$CFSIZE,260165632,245260288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290408,011958,6054.031,-2317.882,32,99.0,51,-16.7