version: 66.03
glider: 142
mission: 5
dive: 13
start: 4 6 108 1 32 14
data:
$ID,142
$MISSION,5
$DIVE,13
$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,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,15
$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,-12778.097
$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,1975
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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
$GPS1,012301,5928.998,-2016.501,37,1.6,42,-14.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-46.6
$GPS2,013156,5929.077,-2016.327,10,1.7,15,-14.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5939.508,-2014.915
$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,29.3,20000,-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,-194.7,0.0,0.0,0,151,0.00,0.00,-122.45,0.000,2,0.000,0.000,1432,1964,3470
$GC,154,-0.86,-194.7,3.1,-5.4,17,185,10.88,2.80,-12.15,0.000,4,0.241,0.047,2725,3385,3866
$GC,250,-0.78,-194.7,16.9,-13.8,33,258,0.00,2.80,0.00,0.000,6,0.000,0.034,2724,1979,3866
$GC,385,-0.70,-194.7,35.2,-13.6,58,393,0.22,2.88,0.00,0.000,4,0.148,0.054,2759,569,3867
$GC,401,-0.63,-194.7,37.5,-13.6,60,410,0.08,2.75,0.00,0.000,6,0.121,0.028,2773,1986,3867
$GC,538,-0.63,-194.7,51.1,-9.2,85,546,0.00,2.75,0.00,0.000,4,0.000,0.039,2773,3381,3866
$GC,606,-0.63,-194.7,57.6,-9.4,97,613,0.00,2.72,0.00,0.000,6,0.000,0.036,2773,2006,3866
$GC,739,-0.63,-194.7,70.2,-9.3,122,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2006,3866
$GC,874,-0.63,-194.7,82.7,-9.2,147,881,0.00,2.72,0.00,0.000,4,0.000,0.039,2773,3380,3867
$GC,946,-0.68,-194.7,89.2,-8.7,160,954,0.00,2.65,0.00,0.000,6,0.000,0.035,2773,2037,3866
$GC,1081,-0.68,-194.7,101.0,-9.0,185,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2037,3866
$GC,1215,-0.68,-194.7,113.4,-9.9,210,1222,0.00,2.65,0.00,0.000,4,0.000,0.038,2773,3378,3866
$GC,1282,-0.68,-194.7,119.9,-10.0,222,1290,0.00,2.60,0.00,0.000,6,0.000,0.033,2773,2052,3866
$GC,1417,-0.68,-194.7,133.3,-9.8,247,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2052,3866
$GC,1551,-0.68,-194.7,147.0,-10.2,272,1559,0.00,2.62,0.00,0.000,4,0.000,0.039,2773,3381,3866
$GC,1618,-0.72,-194.7,153.9,-10.2,284,1625,0.00,2.55,0.00,0.000,6,0.000,0.033,2773,2076,3866
$GC,1953,-0.72,-194.7,186.5,-8.9,345,1959,0.00,2.55,0.00,0.000,4,0.000,0.038,2773,3385,3866
$GC,2032,-0.76,-194.7,193.7,-8.8,359,2038,0.00,2.50,0.00,0.000,6,0.000,0.032,2773,2085,3866
$GC,2361,-0.76,-194.7,223.3,-9.3,420,2369,0.00,2.55,0.00,0.000,4,0.000,0.039,2773,3382,3866
$GC,2437,-0.80,-194.7,230.4,-9.6,433,2443,0.15,2.45,0.00,0.000,6,0.064,0.032,2745,2107,3867
$GC,2766,-0.80,-194.7,268.7,-11.3,494,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2106,3866
$GC,3100,-0.80,-194.7,305.9,-11.3,555,3106,0.00,2.47,0.00,0.000,4,0.000,0.038,2745,3387,3866
$GC,3192,-0.80,-194.7,316.6,-11.1,572,3199,0.00,2.45,0.00,0.000,6,0.000,0.034,2745,2125,3867
$GC,3527,-0.80,-194.7,355.0,-11.4,633,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2125,3866
$GC,3865,-0.80,-194.7,394.6,-11.5,694,3871,0.00,2.45,0.00,0.000,4,0.000,0.040,2745,3388,3866
$GC,3937,-0.80,-194.7,402.9,-11.3,707,3943,0.00,2.40,0.00,0.000,6,0.000,0.034,2744,2138,3866
$GC,4276,-0.80,-194.7,442.0,-11.5,768,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2138,3866
$GC,4620,-0.80,-194.7,480.1,-11.2,829,4626,0.00,2.42,0.00,0.000,4,0.000,0.042,2745,3384,3866
$GC,4697,-0.80,-194.7,488.9,-10.8,843,4703,0.00,2.38,0.00,0.000,6,0.000,0.034,2745,2147,3867
$GC,5036,-0.80,-194.7,527.0,-11.2,904,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2146,3866
$GC,5371,-0.80,-194.7,564.3,-11.1,953,5374,0.00,2.42,0.00,0.000,4,0.000,0.044,2745,3389,3866
$GC,5449,-0.80,-194.7,572.9,-11.1,960,5453,0.00,2.38,0.00,0.000,6,0.000,0.035,2744,2158,3866
$GC,5774,-0.80,-194.7,607.1,-10.3,990,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2157,3866
$GC,6092,-0.80,-194.7,638.4,-9.6,1020,6096,0.00,2.42,0.00,0.000,4,0.000,0.050,2745,3386,3866
$GC,6152,-0.80,-194.7,644.5,-10.1,1025,6158,0.00,2.38,0.00,0.000,6,0.000,0.038,2745,2181,3867
$GC,6480,-0.80,-194.7,677.2,-10.2,1056,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2181,3867
$GC,6795,-0.80,-194.7,710.5,-10.8,1086,6799,0.00,2.45,0.00,0.000,4,0.000,0.061,2745,3382,3867
$GC,6850,-0.80,-194.7,716.5,-11.0,1090,6856,0.00,2.40,0.00,0.000,6,0.000,0.049,2745,2181,3866
$GC,7176,-0.80,-194.7,750.6,-10.6,1121,7180,0.00,2.47,0.00,0.000,4,0.000,0.069,2745,3376,3867
$GC,7226,-0.80,-194.7,756.2,-11.1,1125,7231,0.00,2.40,0.00,0.000,6,0.000,0.062,2745,2209,3866
$GC,7552,-0.80,-194.7,790.6,-10.4,1155,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2207,3866
$GC,7869,-0.80,-194.7,825.4,-11.2,1185,7873,0.00,2.60,0.00,0.000,4,0.000,0.102,2745,3373,3866
$GC,7923,-0.80,-194.7,831.6,-11.0,1189,7930,0.00,2.58,0.00,0.000,6,0.000,0.100,2745,2222,3866
$GC,8249,-0.80,-194.7,867.4,-10.6,1220,8259,0.00,3.95,0.00,0.000,4,0.000,0.141,2744,574,3865
$GC,8286,-0.80,-194.7,871.7,-11.7,1223,8293,0.00,3.58,0.00,0.000,6,0.000,0.097,2745,2211,3865
$GC,8612,-0.80,-194.7,905.5,-10.4,1254,8616,0.00,2.30,0.00,0.000,4,0.000,0.051,2744,3377,3865
$GC,8684,-0.80,-194.7,913.3,-10.9,1260,8688,0.00,2.28,0.00,0.000,6,0.000,0.041,2744,2215,3866
$GC,9009,-0.80,-194.7,946.2,-10.3,1290,9013,0.00,2.33,0.00,0.000,4,0.000,0.052,2744,3377,3865
$GC,9065,-0.80,-194.7,952.2,-10.2,1295,9069,0.00,2.25,0.00,0.000,6,0.000,0.041,2744,2233,3865
$GC,9390,-0.80,-194.7,985.2,-10.3,1325,9396,0.00,3.38,0.00,0.000,4,0.000,0.066,2745,570,3864
$GC,9407,-0.80,-194.7,987.1,-9.9,1326,9412,0.00,3.22,0.00,0.000,6,0.000,0.032,2745,2250,3864
$STATE,9442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9442,begin apogee
$GC,9448,-0.21,0.0,990.9,10.3,1329,9656,0.75,0.00,200.07,1.523,6,0.120,0.000,2870,2601,3071
$STATE,9657,end apogee,CONTROL_FINISHED_OK
$STATE,9657,begin climb
$GC,9659,0.86,194.7,997.4,0.0,1350,9874,1.38,2.88,203.27,1.480,4,0.084,0.058,3101,3890,2277
$GC,10010,0.68,194.7,954.6,15.4,1383,10016,0.22,2.65,0.00,0.000,6,0.131,0.035,3071,2597,2275
$GC,10335,0.57,194.7,914.3,12.2,1413,10340,0.15,2.70,0.00,0.000,4,0.127,0.051,3050,3899,2273
$GC,10442,0.52,194.7,902.3,11.2,1422,10446,0.00,2.53,0.00,0.000,6,0.000,0.035,3049,2625,2273
$GC,10766,0.46,194.7,869.5,10.2,1452,10771,0.17,2.60,0.00,0.000,4,0.125,0.051,3021,3891,2273
$GC,10839,0.50,225.0,863.0,8.9,1458,10875,0.00,2.40,30.88,1.394,6,0.000,0.033,3021,2671,2153
$GC,11193,0.57,284.8,834.8,7.9,1491,11266,0.12,2.70,61.97,1.404,4,0.064,0.051,3045,3888,1908
$GC,11271,0.57,286.3,827.2,9.9,1498,11277,0.00,2.50,0.00,0.000,6,0.000,0.031,3045,2676,1908
$GC,11596,0.57,286.3,794.3,10.3,1529,11601,0.00,2.50,0.00,0.000,4,0.000,0.051,3045,3891,1904
$GC,11647,0.58,288.9,788.9,9.9,1533,11658,0.00,2.38,4.70,0.911,6,0.000,0.033,3045,2693,1893
$GC,11976,0.58,288.9,757.2,10.2,1564,11980,0.00,2.45,0.00,0.000,4,0.000,0.050,3045,3894,1892
$GC,11997,0.58,292.9,754.9,9.9,1565,12008,0.00,2.33,5.75,1.008,6,0.000,0.031,3045,2707,1876
$GC,12327,0.58,292.9,720.1,11.2,1596,12331,0.00,2.42,0.00,0.000,4,0.000,0.050,3045,3897,1875
$GC,12359,0.58,292.9,716.2,11.2,1598,12365,0.00,2.33,0.00,0.000,6,0.000,0.031,3045,2721,1875
$GC,12687,0.59,295.6,683.1,9.9,1629,12698,0.00,2.40,4.07,0.813,4,0.000,0.051,3045,3896,1866
$GC,12703,0.59,295.6,681.0,10.2,1630,12709,0.00,2.28,0.00,0.000,6,0.000,0.031,3045,2722,1865
$GC,13029,0.61,314.4,649.9,9.3,1661,13055,0.00,2.42,20.70,1.258,4,0.000,0.049,3045,3899,1788
$GC,13071,0.65,350.4,645.7,8.7,1664,13118,0.00,2.30,38.55,1.289,6,0.000,0.031,3045,2729,1641
$GC,13436,0.69,381.2,613.7,8.9,1699,13471,0.12,0.00,32.30,1.247,6,0.059,0.000,3072,2728,1516
$GC,13785,0.64,381.2,568.8,13.0,1732,13789,0.00,2.38,0.00,0.000,4,0.000,0.048,3071,3890,1511
$GC,13823,0.64,381.2,563.7,12.5,1735,13828,0.00,2.28,0.00,0.000,6,0.000,0.031,3071,2730,1510
$GC,14162,0.60,381.2,519.5,13.7,1785,14168,0.00,2.35,0.00,0.000,4,0.000,0.048,3071,3894,1509
$GC,14187,0.60,381.2,516.0,13.6,1789,14193,0.00,2.22,0.00,0.000,6,0.000,0.031,3071,2748,1509
$GC,14526,0.60,381.2,471.7,13.1,1850,14532,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2746,1509
$GC,14865,0.60,381.2,426.7,13.0,1911,14871,0.00,2.30,0.00,0.000,4,0.000,0.047,3071,3898,1509
$GC,14893,0.60,381.2,422.9,13.6,1916,14900,0.00,2.22,0.00,0.000,6,0.000,0.031,3071,2752,1508
$GC,15236,0.60,381.2,377.1,13.2,1977,15242,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2752,1508
$GC,15573,0.60,381.2,331.6,13.9,2038,15581,0.00,2.30,0.00,0.000,4,0.000,0.046,3071,3895,1508
$GC,15587,0.60,381.2,329.6,13.3,2040,15594,0.00,2.20,0.00,0.000,6,0.000,0.030,3071,2758,1508
$GC,15920,0.60,381.2,285.2,13.0,2101,15925,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2756,1508
$GC,16249,0.60,381.2,241.1,12.7,2162,16257,0.00,2.28,0.00,0.000,4,0.000,0.046,3071,3890,1508
$GC,16263,0.60,381.2,239.3,13.3,2164,16271,0.00,2.17,0.00,0.000,6,0.000,0.029,3071,2761,1508
$GC,16596,0.60,381.2,197.7,13.6,2225,16601,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2759,1508
$GC,16924,0.60,381.2,157.2,11.8,2286,16932,0.00,3.12,0.00,0.000,4,0.000,0.048,3071,1189,1508
$GC,16938,0.60,381.2,155.4,12.2,2288,16946,0.00,3.05,0.00,0.000,6,0.000,0.029,3071,2767,1508
$GC,17261,0.60,381.2,114.4,13.0,2349,17269,0.00,2.22,0.00,0.000,4,0.000,0.047,3071,3894,1508
$GC,17277,0.60,381.2,112.3,12.9,2351,17284,0.00,2.17,0.00,0.000,6,0.000,0.031,3071,2767,1508
$GC,17410,0.60,381.2,95.8,11.9,2376,17418,0.00,3.12,0.00,0.000,4,0.000,0.048,3071,1191,1508
$GC,17427,0.60,381.2,93.7,12.2,2378,17435,0.08,3.05,0.00,0.000,6,0.096,0.028,3056,2768,1508
$GC,17563,0.65,381.2,80.1,11.0,2403,17571,0.00,2.22,0.00,0.000,4,0.000,0.048,3056,3894,1508
$GC,17705,0.70,383.5,65.7,9.9,2429,17713,0.00,2.20,0.00,0.000,6,0.000,0.032,3056,2758,1507
$GC,17842,0.76,393.8,53.1,9.6,2454,17865,0.15,2.33,11.82,0.827,4,0.054,0.046,3089,3902,1465
$GC,17946,0.76,393.8,39.0,16.4,2472,17953,0.00,2.25,0.00,0.000,6,0.000,0.033,3090,2746,1463
$GC,18080,0.70,393.8,20.0,12.3,2497,18088,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2746,1463
$STATE,18197,end climb,SURFACE_DEPTH_REACHED
$STATE,18197,begin surface coast
$FINISH,0.4,1.026239
$STATE,18209,end surface coast,CONTROL_FINISHED_OK
$STATE,18209,begin surface
$SM_CCo,18288,0.00,0.000,0,0,1461,394.93
$SM_GC,0.94,8.30,0.00,0.00,0.047,0.000,0.000,1436,1967,1461,-6.79,-0.23,394.93
$IRIDIUM_FIX,5858.64,-2019.53,300697,202006
$TT8_MAMPS,0.026845
$HUMID,1755
$INTERNAL_PRESSURE,8.92658
$TCM_TEMP,12.50
$XPDR_PINGS,815
$24V_AH,20.1,8.987
$10V_AH,9.6,5.482
$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,22.775,200.350,614.100,0.000,0.000,29.577,33.170,317.398,203.750,0.000,0.000,16.528,3873.986,7424.589,800.185,5950.325,742.043,0.000,2880.738,0.000,5951.290,0.000,0.466
$DEVICE_MAMPS,240.838,141.128,1523.262,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1749.123,1803.652,1174.877,1653.530,3242.496,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,186772,2521
$CAP_FILE_SIZE,214117,0
$CFSIZE,260165632,257036288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060408,063827,5934.478,-2012.380,31,1.7,50,-14.3