version: 66.03
glider: 142
mission: 5
dive: 117
start: 4 29 108 1 30 57
data:
$ID,142
$MISSION,5
$DIVE,117
$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,-15019.298
$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,22
$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
$GPS1,011958,6054.031,-2317.882,32,99.0,51,-16.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-43.0
$GPS2,013039,6054.031,-2318.115,11,1.3,11,-16.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6102.304,-2321.476
$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,336.7,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.86,-194.7,0.0,0.0,0,160,0.00,0.00,-129.27,0.000,2,0.000,0.000,1432,2316,3518
$GC,163,-0.86,-194.7,3.7,-7.8,18,194,11.62,2.92,-9.15,0.000,4,0.255,0.058,2726,893,3867
$GC,338,-0.81,-194.7,35.8,-15.6,49,346,0.00,2.75,0.00,0.000,6,0.000,0.031,2726,2299,3868
$GC,472,-0.74,-194.7,55.8,-15.2,74,480,0.15,0.00,0.00,0.000,6,0.133,0.000,2750,2298,3868
$GC,807,-0.74,-194.7,95.0,-11.3,135,813,0.00,2.80,0.00,0.000,4,0.000,0.048,2751,892,3868
$GC,856,-0.74,-194.7,101.1,-11.9,144,864,0.00,2.70,0.00,0.000,6,0.000,0.030,2750,2281,3868
$GC,1191,-0.74,-194.7,140.6,-11.7,205,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2281,3868
$GC,1526,-0.74,-194.7,177.9,-10.6,266,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2281,3868
$GC,1865,-0.74,-194.7,215.7,-11.5,327,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2282,3868
$GC,2206,-0.74,-194.7,253.1,-10.3,388,2214,0.00,2.80,0.00,0.000,4,0.000,0.048,2750,890,3868
$GC,2253,-0.74,-194.7,258.4,-10.8,396,2261,0.00,2.67,0.00,0.000,6,0.000,0.030,2750,2273,3868
$GC,2598,-0.74,-194.7,295.2,-10.8,457,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2274,3868
$GC,2937,-0.74,-194.7,330.5,-10.5,518,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2274,3868
$GC,3275,-0.74,-194.7,365.9,-10.8,566,3279,0.00,2.83,0.00,0.000,4,0.000,0.045,2750,3712,3868
$GC,3340,-0.74,-194.7,373.1,-10.5,571,3347,0.00,2.80,0.00,0.000,6,0.000,0.033,2750,2266,3868
$GC,3666,-0.74,-194.7,408.1,-10.9,602,3671,0.00,2.72,0.00,0.000,4,0.000,0.050,2750,885,3868
$GC,3728,-0.74,-194.7,415.3,-11.2,607,3732,0.00,2.70,0.00,0.000,6,0.000,0.030,2750,2298,3868
$GC,4053,-0.74,-194.7,452.1,-11.3,637,4058,0.00,2.78,0.00,0.000,4,0.000,0.046,2750,3703,3868
$GC,4108,-0.74,-194.7,458.6,-11.1,641,4115,0.00,2.75,0.00,0.000,6,0.000,0.034,2750,2285,3868
$GC,4436,-0.74,-194.7,494.1,-10.9,672,4440,0.00,2.75,0.00,0.000,4,0.000,0.050,2750,892,3868
$GC,4486,-0.74,-194.7,499.8,-11.0,676,4491,0.00,2.67,0.00,0.000,6,0.000,0.030,2750,2290,3868
$GC,4812,-0.74,-194.7,533.3,-10.1,706,4816,0.00,2.80,0.00,0.000,4,0.000,0.048,2750,3705,3868
$GC,4874,-0.74,-194.7,539.8,-10.3,711,4879,0.00,2.75,0.00,0.000,6,0.000,0.034,2750,2292,3868
$GC,5199,-0.74,-194.7,573.1,-10.5,741,5204,0.00,2.80,0.00,0.000,4,0.000,0.053,2750,884,3868
$GC,5253,-0.74,-194.7,578.7,-11.0,745,5258,0.00,2.70,0.00,0.000,6,0.000,0.031,2750,2291,3867
$GC,5584,-0.74,-194.7,613.9,-10.7,770,5589,0.00,2.83,0.00,0.000,4,0.000,0.052,2750,3705,3868
$GC,5655,-0.74,-194.7,621.6,-10.6,773,5660,0.00,2.78,0.00,0.000,6,0.000,0.038,2750,2294,3867
$GC,5977,-0.74,-194.7,654.4,-10.3,789,5982,0.00,2.85,0.00,0.000,4,0.000,0.061,2750,885,3867
$GC,6043,-0.74,-194.7,661.5,-10.5,792,6048,0.00,2.75,0.00,0.000,6,0.000,0.034,2750,2300,3867
$GC,6364,-0.74,-194.7,693.8,-10.5,808,6369,0.00,2.88,0.00,0.000,4,0.000,0.064,2750,3709,3867
$GC,6436,-0.74,-194.7,701.8,-10.9,811,6441,0.00,2.83,0.00,0.000,6,0.000,0.048,2750,2304,3867
$GC,6751,-0.74,-194.7,735.6,-10.5,826,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2303,3867
$GC,7061,-0.74,-194.7,767.5,-10.3,841,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2303,3866
$GC,7370,-0.74,-194.7,799.6,-10.2,856,7374,0.00,3.12,0.00,0.000,4,0.000,0.093,2750,3707,3866
$GC,7453,-0.74,-194.7,808.3,-10.5,860,7458,0.00,3.03,0.00,0.000,6,0.000,0.081,2751,2316,3866
$GC,7779,-0.74,-194.7,839.4,-9.1,876,7785,0.00,3.35,0.00,0.000,4,0.000,0.122,2750,885,3866
$GC,7841,-0.74,-194.7,845.2,-9.3,879,7846,0.00,3.15,0.00,0.000,6,0.000,0.092,2750,2309,3865
$GC,8167,-0.74,-194.7,873.7,-8.5,895,8172,0.00,3.33,0.00,0.000,4,0.000,0.121,2750,3728,3865
$GC,8239,-0.74,-194.7,880.0,-8.6,898,8244,0.00,2.80,0.00,0.000,6,0.000,0.040,2750,2309,3865
$GC,8555,-0.74,-194.7,907.4,-8.8,913,8559,0.00,2.88,0.00,0.000,4,0.000,0.060,2750,887,3865
$GC,8599,-0.78,-194.7,911.5,-9.3,915,8603,0.00,2.83,0.00,0.000,6,0.000,0.033,2750,2342,3864
$GC,8919,-0.78,-194.7,939.7,-8.8,931,8924,0.00,2.78,0.00,0.000,4,0.000,0.058,2750,3709,3864
$GC,8974,-0.78,-194.7,944.9,-9.4,933,8981,0.00,2.72,0.00,0.000,6,0.000,0.041,2750,2332,3864
$GC,9290,-0.78,-194.7,973.4,-9.3,949,9295,0.00,2.95,0.00,0.000,4,0.000,0.062,2750,885,3863
$GC,9334,-0.82,-194.7,977.7,-10.5,951,9338,0.00,2.85,0.00,0.000,6,0.000,0.034,2750,2346,3863
$STATE,9488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9488,begin apogee
$GC,9494,-0.21,0.0,991.9,9.2,959,9699,0.73,0.00,201.95,1.592,6,0.121,0.000,2869,2759,3072
$STATE,9700,end apogee,CONTROL_FINISHED_OK
$STATE,9700,begin climb
$GC,9702,0.86,194.7,999.3,0.0,969,9927,1.38,2.65,210.38,1.539,4,0.081,0.058,3099,3896,2276
$GC,10022,0.69,194.7,965.3,14.9,984,10027,0.20,2.40,0.00,0.000,6,0.128,0.035,3072,2744,2274
$GC,10343,0.58,194.7,926.6,11.9,1000,10347,0.17,2.42,0.00,0.000,4,0.121,0.054,3045,3899,2273
$GC,10391,0.58,194.7,921.1,10.1,1002,10396,0.00,2.30,0.00,0.000,6,0.000,0.034,3045,2761,2273
$GC,10714,0.56,214.6,890.7,9.3,1018,10736,0.00,0.00,20.65,1.401,6,0.000,0.000,3045,2761,2196
$GC,11042,0.60,241.8,860.9,9.1,1034,11076,0.00,2.45,28.73,1.437,4,0.000,0.056,3045,3893,2084
$GC,11122,0.60,244.3,853.0,9.9,1037,11129,0.00,2.25,0.00,0.000,6,0.000,0.032,3045,2769,2083
$GC,11437,0.60,247.2,822.8,9.9,1053,11446,0.00,0.00,6.65,1.119,6,0.000,0.000,3045,2767,2063
$GC,11747,0.61,257.7,792.0,9.6,1068,11761,0.00,0.00,12.30,1.289,6,0.000,0.000,3045,2767,2020
$GC,12056,0.62,264.2,762.4,9.8,1083,12066,0.00,0.00,8.35,1.186,6,0.000,0.000,3044,2767,1993
$GC,12365,0.62,264.2,731.8,10.1,1098,12366,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2767,1991
$GC,12674,0.63,273.4,701.8,9.7,1113,12690,0.00,2.33,10.70,1.220,4,0.000,0.059,3045,3900,1955
$GC,12695,0.65,290.3,699.6,9.4,1113,12720,0.00,2.17,18.95,1.325,6,0.000,0.034,3045,2786,1886
$GC,13043,0.66,292.6,665.2,9.9,1130,13044,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2785,1884
$GC,13351,0.68,307.5,634.8,9.5,1145,13376,0.12,2.97,18.05,1.270,4,0.063,0.053,3069,1344,1817
$GC,13382,0.62,307.5,631.4,11.2,1146,13386,0.00,2.90,0.00,0.000,6,0.000,0.033,3069,2799,1816
$GC,13698,0.57,307.5,593.6,12.3,1163,13700,0.15,0.00,0.00,0.000,6,0.110,0.000,3046,2800,1814
$GC,14020,0.59,322.6,562.2,9.5,1193,14042,0.00,2.97,16.27,1.212,4,0.000,0.045,3046,1340,1756
$GC,14047,0.62,343.9,559.1,9.3,1195,14077,0.00,2.88,23.70,1.255,6,0.000,0.033,3046,2780,1668
$GC,14403,0.67,382.1,526.8,8.7,1229,14450,0.00,3.05,40.33,1.252,4,0.000,0.046,3046,1348,1512
$GC,14469,0.79,435.3,521.3,8.2,1235,14534,0.22,2.88,57.25,1.246,6,0.044,0.031,3091,2769,1295
$GC,14850,0.72,435.3,463.3,16.3,1271,14854,0.00,2.28,0.00,0.000,4,0.000,0.049,3090,3893,1287
$GC,14860,0.65,435.3,461.3,16.3,1271,14867,0.17,2.17,0.00,0.000,6,0.110,0.030,3064,2777,1287
$GC,15184,0.65,435.3,424.0,10.8,1302,15189,0.00,2.88,0.00,0.000,4,0.000,0.047,3064,1346,1285
$GC,15200,0.65,435.3,422.3,10.4,1303,15205,0.00,2.80,0.00,0.000,6,0.000,0.031,3064,2772,1284
$GC,15525,0.65,435.3,387.8,10.6,1333,15529,0.00,2.90,0.00,0.000,4,0.000,0.045,3064,1338,1283
$GC,15552,0.70,435.3,384.8,10.1,1335,15557,0.00,2.75,0.00,0.000,6,0.000,0.031,3064,2747,1283
$GC,15878,0.70,435.3,351.3,11.0,1365,15883,0.00,2.83,0.00,0.000,4,0.000,0.046,3064,1340,1283
$GC,15896,0.74,435.3,349.3,10.8,1366,15902,0.00,2.70,0.00,0.000,6,0.000,0.031,3064,2731,1282
$GC,16236,0.74,435.3,313.4,10.3,1427,16242,0.00,2.78,0.00,0.000,4,0.000,0.046,3064,1346,1282
$GC,16250,0.74,435.3,312.1,10.2,1429,16256,0.00,2.67,0.00,0.000,6,0.000,0.030,3064,2725,1282
$GC,16590,0.79,435.3,277.4,10.8,1490,16596,0.15,2.78,0.00,0.000,4,0.053,0.044,3098,1336,1282
$GC,16604,0.79,435.3,276.0,10.4,1492,16612,0.00,2.70,0.00,0.000,6,0.000,0.031,3098,2715,1282
$GC,16947,0.70,435.3,221.4,15.0,1553,16953,0.15,2.33,0.00,0.000,4,0.110,0.047,3072,3897,1282
$GC,16995,0.70,435.3,214.6,11.7,1561,17001,0.00,2.22,0.00,0.000,6,0.000,0.031,3072,2736,1281
$GC,17334,0.70,435.3,175.7,11.7,1622,17340,0.00,2.75,0.00,0.000,4,0.000,0.045,3072,1342,1281
$GC,17347,0.70,435.3,174.2,11.2,1624,17356,0.00,2.72,0.00,0.000,6,0.000,0.031,3072,2737,1281
$GC,17688,0.70,435.3,134.3,11.7,1685,17694,0.00,2.78,0.00,0.000,4,0.000,0.044,3072,1344,1281
$GC,17701,0.70,435.3,132.7,11.5,1687,17707,0.00,2.67,0.00,0.000,6,0.000,0.030,3072,2731,1281
$GC,18032,0.70,435.3,93.5,11.0,1748,18040,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2730,1281
$GC,18366,0.72,447.1,56.2,9.6,1809,18380,0.00,0.00,10.07,0.824,6,0.000,0.000,3072,2731,1248
$GC,18698,0.87,571.0,22.7,5.7,1871,18829,0.15,0.00,123.30,0.933,6,0.054,0.000,3110,2730,742
$STATE,18835,end climb,SURFACE_DEPTH_REACHED
$STATE,18835,begin surface coast
$FINISH,0.1,1.002932
$STATE,18849,end surface coast,CONTROL_FINISHED_OK
$STATE,18849,begin surface
$SM_CCo,18927,0.00,0.000,0,0,737,572.53
$SM_GC,0.62,8.80,0.00,0.00,0.046,0.000,0.000,1436,2278,737,-6.79,-0.62,572.53
$IRIDIUM_FIX,6032.86,-2333.97,240797,010101
$TT8_MAMPS,0.026845
$HUMID,1735
$INTERNAL_PRESSURE,8.83869
$TCM_TEMP,11.60
$XPDR_PINGS,888
$24V_AH,19.6,41.062
$10V_AH,9.7,32.770
$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,24.175,188.475,807.625,0.000,0.000,50.475,72.230,316.215,222.000,0.000,0.000,12.750,3007.301,10566.622,867.831,4327.541,777.744,0.000,2612.127,0.000,4324.527,0.000,0.466
$DEVICE_MAMPS,254.644,121.953,1592.292,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1315.744,1353.600,686.167,920.591,1699.983,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139036,1892
$CAP_FILE_SIZE,188200,0
$CFSIZE,260165632,245161984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290408,064738,6057.775,-2325.913,38,1.0,38,-16.8