version: 66.03
glider: 142
mission: 5
dive: 18
start: 4 7 108 4 58 46
data:
$ID,142
$MISSION,5
$DIVE,18
$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,45
$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,-12856.416
$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,2250
$C_ROLL_CLIMB,2710
$HEAD_ERRBAND,10
$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
$GPS1,044956,5932.620,-1933.186,39,1.6,39,-14.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-43.4
$GPS2,045827,5932.543,-1933.020,9,1.9,9,-14.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5940.180,-1929.164
$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,59.0,20000,-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,-194.7,0.0,0.0,0,173,0.00,0.00,-143.57,0.000,2,0.000,0.000,1433,2226,3534
$GC,176,-0.86,-194.7,3.4,-6.4,20,207,10.90,2.83,-9.38,0.000,4,0.241,0.058,2724,849,3866
$GC,236,-0.79,-194.7,13.7,-13.1,29,244,0.10,2.75,0.00,0.000,6,0.124,0.028,2740,2255,3867
$GC,372,-0.74,-194.7,31.8,-13.8,54,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2255,3867
$GC,506,-0.69,-194.7,49.3,-11.7,79,514,0.15,0.00,0.00,0.000,6,0.137,0.000,2764,2255,3867
$GC,640,-0.69,-194.7,62.6,-11.2,104,648,0.00,2.85,0.00,0.000,4,0.000,0.049,2764,849,3867
$GC,671,-0.69,-194.7,66.0,-11.0,109,679,0.00,2.70,0.00,0.000,6,0.000,0.028,2764,2236,3868
$GC,807,-0.69,-194.7,77.1,-6.9,134,814,0.00,2.80,0.00,0.000,4,0.000,0.043,2764,3649,3867
$GC,838,-0.69,-194.7,79.6,-7.7,139,846,0.00,2.78,0.00,0.000,6,0.000,0.033,2764,2241,3867
$GC,972,-0.69,-194.7,92.9,-10.7,164,979,0.00,2.80,0.00,0.000,4,0.000,0.051,2764,846,3867
$GC,997,-0.69,-194.7,95.9,-12.3,168,1005,0.00,2.70,0.00,0.000,6,0.000,0.028,2764,2242,3867
$GC,1132,-0.69,-194.7,112.5,-12.4,193,1140,0.00,2.78,0.00,0.000,4,0.000,0.043,2765,3645,3867
$GC,1158,-0.69,-194.7,115.9,-13.2,197,1166,0.00,2.78,0.00,0.000,6,0.000,0.033,2764,2232,3868
$GC,1293,-0.69,-194.7,135.8,-13.4,222,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2232,3867
$GC,1426,-0.69,-194.7,150.7,-10.7,247,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2233,3867
$GC,1755,-0.69,-194.7,186.6,-9.8,308,1763,0.00,2.83,0.00,0.000,4,0.000,0.041,2764,3651,3867
$GC,1787,-0.69,-194.7,189.2,-8.6,313,1793,0.00,2.70,0.00,0.000,6,0.000,0.032,2764,2252,3867
$GC,2118,-0.69,-194.7,220.2,-9.7,374,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2252,3867
$GC,2452,-0.69,-194.7,254.5,-10.6,435,2458,0.00,2.75,0.00,0.000,4,0.000,0.042,2764,3655,3867
$GC,2481,-0.69,-194.7,257.7,-11.3,440,2489,0.00,2.70,0.00,0.000,6,0.000,0.031,2764,2260,3867
$GC,2816,-0.69,-194.7,290.6,-9.3,501,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2259,3867
$GC,3143,-0.69,-194.7,324.4,-10.3,562,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2259,3867
$GC,3478,-0.69,-194.7,357.3,-9.6,623,3484,0.00,2.72,0.00,0.000,4,0.000,0.043,2764,3652,3867
$GC,3522,-0.69,-194.7,361.5,-9.6,631,3528,0.00,2.67,0.00,0.000,6,0.000,0.032,2764,2254,3867
$GC,3861,-0.69,-194.7,392.3,-8.5,692,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2253,3867
$GC,4205,-0.69,-194.7,423.2,-8.8,753,4211,0.00,2.72,0.00,0.000,4,0.000,0.042,2764,3649,3867
$GC,4245,-0.69,-194.7,427.1,-9.4,760,4253,0.00,2.67,0.00,0.000,6,0.000,0.033,2764,2268,3867
$GC,4590,-0.69,-194.7,458.8,-9.4,821,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2268,3867
$GC,4929,-0.69,-194.7,490.5,-9.3,882,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2268,3867
$GC,5270,-0.69,-194.7,522.8,-9.6,943,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2268,3867
$GC,5611,-0.69,-194.7,555.5,-9.4,1000,5615,0.00,2.72,0.00,0.000,4,0.000,0.046,2764,3653,3867
$GC,5665,-0.69,-194.7,560.9,-9.6,1004,5672,0.00,2.65,0.00,0.000,6,0.000,0.034,2764,2275,3867
$GC,5992,-0.69,-194.7,591.5,-9.5,1035,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2274,3867
$GC,6309,-0.69,-194.7,621.7,-9.4,1065,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2274,3867
$GC,6627,-0.69,-194.7,650.9,-8.8,1095,6632,0.00,2.75,0.00,0.000,4,0.000,0.054,2764,3648,3867
$GC,6660,-0.69,-194.7,653.7,-8.9,1097,6666,0.00,2.65,0.00,0.000,6,0.000,0.038,2764,2277,3867
$GC,6987,-0.69,-194.7,683.1,-9.3,1128,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2277,3867
$GC,7302,-0.69,-194.7,714.1,-9.9,1158,7307,0.00,2.80,0.00,0.000,4,0.000,0.064,2764,3646,3867
$GC,7341,-0.69,-194.7,718.0,-10.0,1161,7346,0.00,2.70,0.00,0.000,6,0.000,0.048,2764,2288,3867
$GC,7667,-0.69,-194.7,748.2,-9.2,1191,7672,0.00,3.05,0.00,0.000,4,0.000,0.084,2764,836,3867
$GC,7688,-0.69,-194.7,750.6,-9.7,1192,7694,0.00,2.90,0.00,0.000,6,0.000,0.053,2764,2282,3866
$GC,8014,-0.69,-194.7,779.8,-8.3,1223,8018,0.00,2.92,0.00,0.000,4,0.000,0.084,2764,3661,3867
$GC,8069,-0.74,-194.7,784.9,-9.0,1227,8075,0.00,2.85,0.00,0.000,6,0.000,0.071,2764,2296,3866
$GC,8394,-0.74,-194.7,814.7,-9.2,1258,8396,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2295,3866
$GC,8713,-0.74,-194.7,843.0,-9.2,1288,8718,0.00,3.10,0.00,0.000,4,0.000,0.111,2764,3657,3866
$GC,8752,-0.78,-194.7,846.9,-10.5,1291,8757,0.00,3.03,0.00,0.000,6,0.000,0.101,2764,2309,3866
$GC,9078,-0.78,-194.7,877.8,-9.3,1321,9079,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2309,3866
$GC,9397,-0.82,-194.7,906.5,-9.1,1351,9402,0.12,2.72,0.00,0.000,4,0.067,0.052,2740,3664,3865
$GC,9429,-0.82,-194.7,910.1,-11.1,1353,9436,0.00,2.67,0.00,0.000,6,0.000,0.039,2740,2295,3865
$GC,9755,-0.82,-194.7,946.0,-11.2,1384,9760,0.00,2.95,0.00,0.000,4,0.000,0.062,2740,832,3865
$GC,9793,-0.82,-194.7,950.6,-11.8,1387,9798,0.00,2.85,0.00,0.000,6,0.000,0.032,2740,2317,3864
$GC,10119,-0.82,-194.7,985.2,-10.5,1417,10120,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2317,3864
$STATE,10170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10170,begin apogee
$GC,10176,-0.21,0.0,990.6,10.4,1422,10383,0.73,0.00,199.70,1.525,6,0.120,0.000,2864,2716,3071
$STATE,10384,end apogee,CONTROL_FINISHED_OK
$STATE,10384,begin climb
$GC,10386,0.86,194.7,996.6,0.0,1443,10601,1.40,2.62,202.85,1.479,4,0.088,0.058,3099,3890,2277
$GC,10775,0.68,194.7,947.0,16.4,1479,10782,0.20,2.40,0.00,0.000,6,0.130,0.034,3071,2709,2274
$GC,11100,0.56,194.7,904.2,13.1,1510,11105,0.17,2.47,0.00,0.000,4,0.127,0.051,3044,3902,2273
$GC,11155,0.52,194.7,897.5,11.8,1514,11161,0.00,2.33,0.00,0.000,6,0.000,0.033,3044,2722,2273
$GC,11481,0.47,194.7,863.9,10.4,1545,11486,0.12,2.40,0.00,0.000,4,0.117,0.051,3026,3892,2272
$GC,11513,0.49,215.7,860.4,9.3,1547,11540,0.00,2.25,21.38,1.356,6,0.000,0.032,3026,2742,2190
$GC,11858,0.54,255.6,829.7,8.6,1580,11909,0.00,3.05,41.53,1.394,4,0.000,0.051,3026,1297,2027
$GC,11915,0.61,306.7,824.6,8.2,1585,11976,0.15,2.95,54.42,1.380,6,0.056,0.030,3055,2739,1820
$GC,12295,0.61,306.7,781.3,11.8,1621,12299,0.00,2.35,0.00,0.000,4,0.000,0.051,3055,3890,1813
$GC,12338,0.61,306.7,776.1,11.2,1624,12345,0.00,2.30,0.00,0.000,6,0.000,0.031,3055,2744,1813
$GC,12664,0.61,306.7,741.0,10.6,1655,12665,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2743,1812
$GC,12983,0.61,306.7,707.1,11.1,1685,12984,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2743,1811
$GC,13300,0.61,306.7,668.9,11.3,1715,13304,0.00,2.35,0.00,0.000,4,0.000,0.052,3055,3901,1811
$GC,13316,0.61,306.7,667.0,11.5,1716,13320,0.00,2.22,0.00,0.000,6,0.000,0.031,3054,2748,1810
$GC,13640,0.61,306.7,629.5,11.7,1746,13641,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2747,1810
$GC,13960,0.61,306.7,591.4,12.0,1776,13961,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2747,1810
$GC,14277,0.61,306.7,552.6,12.0,1806,14278,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2747,1811
$GC,14610,0.61,306.7,514.3,10.9,1863,14616,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2747,1810
$GC,14949,0.63,325.1,480.2,9.4,1924,14973,0.00,0.00,17.60,1.130,6,0.000,0.000,3055,2747,1744
$GC,15306,0.63,325.1,442.8,10.7,1988,15313,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2747,1743
$GC,15649,0.63,325.1,407.7,11.1,2049,15654,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2747,1742
$GC,15989,0.63,325.1,370.1,10.6,2110,15995,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2746,1742
$GC,16325,0.63,325.1,333.2,12.4,2171,16331,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2746,1742
$GC,16657,0.63,325.1,296.3,10.8,2232,16664,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2745,1742
$GC,16989,0.65,340.9,261.1,9.5,2293,17016,0.00,2.90,16.05,0.991,4,0.000,0.045,3055,1304,1680
$GC,17021,0.65,340.9,257.5,11.2,2298,17029,0.00,2.85,0.00,0.000,6,0.000,0.028,3055,2759,1680
$GC,17355,0.65,340.9,224.5,11.2,2359,17360,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2758,1678
$GC,17684,0.65,340.9,191.6,10.1,2420,17692,0.00,2.92,0.00,0.000,4,0.000,0.044,3055,1300,1678
$GC,17716,0.65,340.9,188.6,10.1,2425,17722,0.00,2.80,0.00,0.000,6,0.000,0.028,3055,2754,1678
$GC,18046,0.72,399.8,157.8,8.0,2486,18108,0.00,0.00,57.70,0.992,6,0.000,0.000,3055,2754,1441
$GC,18424,0.83,438.0,125.3,8.7,2556,18470,0.20,3.00,37.83,0.943,4,0.047,0.043,3100,1305,1285
$GC,18499,0.77,438.0,114.9,15.0,2567,18507,0.00,2.90,0.00,0.000,6,0.000,0.028,3100,2743,1282
$GC,18635,0.68,438.0,93.4,18.1,2592,18644,0.17,2.33,0.00,0.000,4,0.110,0.045,3071,3887,1279
$GC,18657,0.62,438.0,89.8,16.0,2595,18665,0.00,2.25,0.00,0.000,6,0.000,0.030,3071,2756,1279
$GC,18792,0.62,438.0,74.7,10.4,2620,18800,0.00,2.95,0.00,0.000,4,0.000,0.048,3071,1303,1278
$GC,18810,0.67,477.1,73.3,8.6,2622,18854,0.00,2.85,39.03,0.910,6,0.000,0.028,3071,2747,1125
$GC,18983,0.72,486.3,57.5,9.7,2652,18998,0.00,0.00,9.82,0.803,6,0.000,0.000,3071,2747,1087
$GC,19125,0.78,486.3,42.5,12.3,2678,19133,0.00,2.97,0.00,0.000,4,0.000,0.045,3071,1301,1084
$GC,19146,0.84,486.3,39.8,12.7,2681,19154,0.12,2.83,0.00,0.000,6,0.041,0.028,3102,2726,1084
$GC,19282,0.77,486.3,17.9,17.3,2706,19290,0.00,2.35,0.00,0.000,4,0.000,0.046,3102,3890,1083
$GC,19303,0.70,486.3,14.1,16.5,2709,19312,0.15,2.30,0.00,0.000,6,0.100,0.031,3076,2730,1083
$STATE,19385,end climb,SURFACE_DEPTH_REACHED
$STATE,19385,begin surface coast
$FINISH,0.4,1.025732
$STATE,19403,end surface coast,CONTROL_FINISHED_OK
$STATE,19404,begin surface
$SM_CCo,19482,0.00,0.000,0,0,1081,488.15
$SM_GC,0.73,8.48,0.00,0.00,0.053,0.000,0.000,1435,2250,1081,-6.79,0.00,488.15
$IRIDIUM_FIX,5911.23,-1941.23,010797,232317
$TT8_MAMPS,0.026845
$HUMID,1732
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,12.50
$XPDR_PINGS,863
$24V_AH,20.1,10.515
$10V_AH,9.6,7.064
$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,23.175,164.525,697.900,0.000,0.000,31.501,37.581,297.486,215.750,0.000,0.000,11.387,4139.620,7963.674,819.738,6291.886,748.162,0.000,3044.165,0.000,6307.715,0.000,0.465
$DEVICE_MAMPS,240.838,111.215,1524.796,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1889.520,1953.572,1227.674,1737.737,3408.745,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202524,2727
$CAP_FILE_SIZE,220011,0
$CFSIZE,260165632,256393216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070408,102437,5932.932,-1922.699,34,1.3,34,-13.9