version: 66.03
glider: 142
mission: 5
dive: 19
start: 4 7 108 10 34 3
data:
$ID,142
$MISSION,5
$DIVE,19
$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,135
$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,-12873.269
$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,21
$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
$GPS1,102437,5932.932,-1922.699,34,1.3,34,-13.9
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-45.1
$GPS2,103345,5932.810,-1922.500,14,1.3,14,-13.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5925.174,-1918.615
$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,148.9,20000,-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,-194.7,0.0,0.0,0,166,0.00,0.00,-136.77,0.000,2,0.000,0.000,1435,2242,3561
$GC,169,-0.86,-194.7,3.2,-4.2,19,200,10.65,2.88,-8.73,0.000,4,0.235,0.057,2725,837,3866
$GC,436,-0.80,-194.7,44.4,-13.5,68,444,0.00,2.75,0.00,0.000,6,0.000,0.027,2725,2256,3867
$GC,571,-0.72,-194.7,62.5,-12.6,93,579,0.17,2.88,0.00,0.000,4,0.133,0.046,2754,835,3867
$GC,638,-0.72,-194.7,70.0,-9.8,105,647,0.00,2.75,0.00,0.000,6,0.000,0.028,2754,2255,3867
$GC,773,-0.72,-194.7,82.8,-10.3,130,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2255,3867
$GC,906,-0.72,-194.7,97.0,-11.8,155,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2255,3867
$GC,1041,-0.72,-194.7,112.3,-11.2,180,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2255,3867
$GC,1175,-0.72,-194.7,127.5,-11.4,205,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2255,3867
$GC,1309,-0.72,-194.7,142.5,-11.0,230,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2255,3867
$GC,1445,-0.72,-194.7,157.8,-10.9,255,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2255,3867
$GC,1774,-0.72,-194.7,195.0,-11.2,316,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2255,3867
$GC,2107,-0.72,-194.7,233.2,-11.0,377,2113,0.00,2.80,0.00,0.000,4,0.000,0.048,2754,837,3867
$GC,2132,-0.72,-194.7,236.0,-11.7,381,2138,0.00,2.67,0.00,0.000,6,0.000,0.028,2754,2246,3867
$GC,2461,-0.72,-194.7,273.2,-11.2,442,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2247,3867
$GC,2794,-0.72,-194.7,310.6,-10.9,503,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2247,3867
$GC,3124,-0.72,-194.7,346.3,-10.3,564,3132,0.00,2.75,0.00,0.000,4,0.000,0.043,2754,3651,3867
$GC,3381,-0.72,-194.7,373.0,-10.7,610,3387,0.00,2.70,0.00,0.000,6,0.000,0.033,2754,2244,3867
$GC,3717,-0.72,-194.7,407.7,-9.7,671,3723,0.00,2.75,0.00,0.000,4,0.000,0.049,2754,837,3867
$GC,3734,-0.72,-194.7,409.5,-10.2,674,3740,0.00,2.67,0.00,0.000,6,0.000,0.027,2754,2258,3867
$GC,4073,-0.72,-194.7,444.3,-10.1,735,4079,0.00,2.80,0.00,0.000,4,0.000,0.047,2754,832,3867
$GC,4288,-0.72,-194.7,466.7,-10.3,774,4294,0.00,2.70,0.00,0.000,6,0.000,0.028,2754,2264,3867
$GC,4627,-0.72,-194.7,499.8,-10.1,835,4633,0.00,2.70,0.00,0.000,4,0.000,0.044,2754,3654,3867
$GC,4642,-0.72,-194.7,500.9,-9.6,837,4648,0.00,2.67,0.00,0.000,6,0.000,0.032,2754,2257,3867
$GC,4981,-0.72,-194.7,535.2,-9.9,898,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2256,3867
$GC,5311,-0.72,-194.7,568.8,-10.3,942,5315,0.00,2.75,0.00,0.000,4,0.000,0.047,2754,3650,3867
$GC,5320,-0.72,-194.7,569.8,-10.4,942,5327,0.00,2.67,0.00,0.000,6,0.000,0.034,2754,2261,3866
$GC,5646,-0.72,-194.7,602.9,-10.1,973,5651,0.00,2.75,0.00,0.000,4,0.000,0.049,2754,3654,3867
$GC,5657,-0.72,-194.7,604.1,-10.0,973,5663,0.00,2.67,0.00,0.000,6,0.000,0.034,2754,2262,3867
$GC,5984,-0.72,-194.7,636.2,-9.6,1004,5989,0.00,2.78,0.00,0.000,4,0.000,0.052,2754,3651,3867
$GC,5994,-0.72,-194.7,637.6,-9.6,1004,6001,0.00,2.67,0.00,0.000,6,0.000,0.036,2754,2268,3867
$GC,6321,-0.72,-194.7,668.4,-9.3,1035,6325,0.00,2.78,0.00,0.000,4,0.000,0.055,2754,3648,3867
$GC,6330,-0.72,-194.7,669.6,-9.5,1035,6337,0.00,2.67,0.00,0.000,6,0.000,0.039,2754,2275,3867
$GC,6656,-0.72,-194.7,700.5,-9.6,1066,6661,0.00,2.80,0.00,0.000,4,0.000,0.060,2754,3651,3867
$GC,6666,-0.72,-194.7,701.7,-9.3,1066,6673,0.00,2.72,0.00,0.000,6,0.000,0.044,2754,2269,3867
$GC,6992,-0.72,-194.7,734.5,-10.6,1097,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2269,3867
$GC,7310,-0.72,-194.7,769.2,-11.1,1127,7314,0.00,2.92,0.00,0.000,4,0.000,0.080,2754,3646,3866
$GC,7320,-0.72,-194.7,770.2,-10.8,1127,7327,0.00,2.80,0.00,0.000,6,0.000,0.062,2754,2279,3866
$GC,7645,-0.72,-194.7,805.5,-10.5,1158,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2278,3866
$GC,7965,-0.72,-194.7,836.7,-9.6,1188,7969,0.00,3.10,0.00,0.000,4,0.000,0.108,2754,3646,3866
$GC,7976,-0.72,-194.7,837.8,-9.4,1188,7982,0.00,3.03,0.00,0.000,6,0.000,0.097,2754,2281,3866
$GC,8301,-0.72,-194.7,869.7,-10.1,1219,8306,0.00,3.20,0.00,0.000,4,0.000,0.123,2754,3639,3866
$GC,8319,-0.72,-194.7,871.5,-9.9,1220,8324,0.00,2.70,0.00,0.000,6,0.000,0.040,2754,2257,3866
$GC,8645,-0.72,-194.7,903.9,-10.0,1250,8649,0.00,2.80,0.00,0.000,4,0.000,0.054,2754,3650,3865
$GC,8665,-0.72,-194.7,906.2,-10.3,1251,8672,0.00,2.70,0.00,0.000,6,0.000,0.039,2754,2271,3866
$GC,8991,-0.72,-194.7,936.3,-8.7,1282,8996,0.00,2.78,0.00,0.000,4,0.000,0.055,2754,3646,3865
$GC,9001,-0.72,-194.7,937.3,-8.5,1282,9007,0.00,2.70,0.00,0.000,6,0.000,0.039,2754,2268,3865
$GC,9327,-0.72,-194.7,966.8,-9.1,1313,9332,0.00,2.80,0.00,0.000,4,0.000,0.055,2754,3654,3864
$GC,9355,-0.72,-194.7,969.5,-9.8,1315,9359,0.00,2.70,0.00,0.000,6,0.000,0.040,2754,2282,3864
$STATE,9581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9581,begin apogee
$GC,9587,-0.21,0.0,990.1,9.2,1336,9795,0.65,0.00,200.05,1.526,6,0.120,0.000,2866,2700,3070
$STATE,9795,end apogee,CONTROL_FINISHED_OK
$STATE,9796,begin climb
$GC,9798,0.86,194.7,995.8,0.0,1357,10013,1.38,2.67,202.88,1.482,4,0.087,0.057,3099,3898,2277
$GC,10153,0.68,194.7,950.9,16.9,1390,10160,0.20,2.42,0.00,0.000,6,0.130,0.033,3072,2707,2274
$GC,10478,0.56,194.7,910.0,12.3,1421,10483,0.17,2.47,0.00,0.000,4,0.123,0.051,3045,3896,2274
$GC,10555,0.51,194.7,901.4,10.7,1427,10561,0.00,2.33,0.00,0.000,6,0.000,0.032,3045,2720,2273
$GC,10883,0.47,203.2,869.9,9.7,1458,10895,0.15,0.00,9.38,1.212,6,0.120,0.000,3022,2718,2242
$GC,11209,0.55,268.5,844.2,7.7,1489,11282,0.00,2.60,67.25,1.422,4,0.000,0.051,3022,3890,1976
$GC,11322,0.63,294.1,835.0,9.1,1499,11359,0.20,2.35,28.38,1.358,6,0.054,0.031,3059,2731,1870
$GC,11677,0.58,294.1,791.7,12.5,1533,11678,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2731,1865
$GC,11998,0.53,294.1,755.6,10.9,1563,12003,0.15,2.38,0.00,0.000,4,0.109,0.049,3037,3893,1863
$GC,12041,0.54,304.7,750.8,9.6,1566,12058,0.00,2.25,10.60,1.191,6,0.000,0.031,3037,2741,1828
$GC,12376,0.57,329.3,721.4,9.1,1598,12408,0.00,3.03,26.48,1.315,4,0.000,0.048,3037,1305,1728
$GC,12447,0.67,358.3,714.7,9.0,1604,12485,0.15,2.88,31.73,1.310,6,0.052,0.029,3068,2744,1610
$GC,12803,0.62,358.3,666.5,13.7,1638,12807,0.00,2.33,0.00,0.000,4,0.000,0.048,3068,3894,1604
$GC,12857,0.62,358.3,658.6,13.4,1642,12864,0.00,2.28,0.00,0.000,6,0.000,0.031,3068,2750,1603
$GC,13184,0.58,358.3,615.5,13.1,1673,13189,0.12,2.92,0.00,0.000,4,0.112,0.048,3049,1298,1602
$GC,13216,0.58,358.3,611.4,10.6,1675,13223,0.00,2.85,0.00,0.000,6,0.000,0.028,3049,2751,1601
$GC,13544,0.58,358.3,578.1,10.1,1706,13548,0.00,2.28,0.00,0.000,4,0.000,0.049,3050,3892,1601
$GC,13577,0.62,358.3,574.2,10.8,1708,13583,0.00,2.22,0.00,0.000,6,0.000,0.031,3049,2743,1600
$GC,13905,0.62,358.3,537.6,11.3,1748,13914,0.00,2.90,0.00,0.000,4,0.000,0.048,3049,1302,1600
$GC,13961,0.66,358.3,531.6,11.0,1757,13967,0.00,2.80,0.00,0.000,6,0.000,0.029,3049,2746,1600
$GC,14300,0.66,358.3,493.9,11.2,1818,14306,0.00,2.28,0.00,0.000,4,0.000,0.048,3049,3899,1601
$GC,14334,0.71,358.3,490.1,10.6,1824,14343,0.10,2.25,0.00,0.000,6,0.050,0.031,3076,2742,1600
$GC,14681,0.65,358.3,439.6,14.2,1885,14686,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2740,1600
$GC,15021,0.59,358.3,390.8,14.1,1946,15027,0.15,2.30,0.00,0.000,4,0.110,0.047,3050,3896,1600
$GC,15063,0.59,358.3,386.0,11.1,1953,15069,0.00,2.22,0.00,0.000,6,0.000,0.030,3050,2731,1600
$GC,15403,0.60,370.7,353.5,9.6,2014,15422,0.00,2.83,12.00,1.000,4,0.000,0.048,3049,1305,1558
$GC,15458,0.68,382.5,348.1,9.6,2023,15478,0.00,2.80,13.50,1.044,6,0.000,0.028,3050,2750,1511
$GC,15804,0.77,411.4,315.2,9.0,2086,15838,0.15,0.00,29.92,1.075,6,0.054,0.000,3086,2750,1394
$GC,16165,0.69,411.4,260.4,16.5,2151,16171,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2751,1389
$GC,16494,0.62,411.4,208.5,14.8,2212,16503,0.17,2.28,0.00,0.000,4,0.107,0.046,3056,3890,1388
$GC,16527,0.62,411.4,204.4,12.5,2217,16533,0.00,2.22,0.00,0.000,6,0.000,0.029,3056,2731,1387
$GC,16858,0.74,459.6,172.4,8.3,2278,16916,0.12,2.95,48.03,0.994,4,0.058,0.045,3083,1308,1196
$GC,16965,0.74,459.6,159.2,11.7,2296,16973,0.00,2.83,0.00,0.000,6,0.000,0.029,3083,2719,1193
$GC,17290,0.74,459.6,115.7,15.4,2357,17298,0.00,2.35,0.00,0.000,4,0.000,0.046,3082,3888,1190
$GC,17331,0.74,459.6,110.2,11.2,2364,17339,0.00,2.30,0.00,0.000,6,0.000,0.031,3082,2724,1189
$GC,17467,0.74,459.6,92.7,14.3,2389,17475,0.00,2.88,0.00,0.000,4,0.000,0.047,3082,1304,1189
$GC,17503,0.74,459.6,87.6,14.5,2395,17511,0.00,2.78,0.00,0.000,6,0.000,0.029,3083,2717,1189
$GC,17638,0.74,459.6,70.1,13.8,2420,17646,0.00,2.35,0.00,0.000,4,0.000,0.048,3082,3885,1189
$GC,17685,0.74,459.6,64.6,14.9,2428,17692,0.00,2.30,0.00,0.000,6,0.000,0.032,3082,2713,1188
$GC,17819,0.74,459.6,47.5,14.5,2453,17827,0.00,2.83,0.00,0.000,4,0.000,0.047,3082,1304,1188
$GC,17855,0.74,459.6,42.4,15.2,2459,17864,0.00,2.75,0.00,0.000,6,0.000,0.028,3083,2713,1188
$GC,17990,0.74,459.6,23.0,13.8,2484,17998,0.00,2.35,0.00,0.000,4,0.000,0.047,3082,3888,1188
$GC,18026,0.74,459.6,17.2,17.8,2490,18034,0.00,2.30,0.00,0.000,6,0.000,0.032,3082,2715,1188
$STATE,18159,end climb,SURFACE_DEPTH_REACHED
$STATE,18161,begin surface coast
$FINISH,0.2,1.025745
$STATE,18183,end surface coast,CONTROL_FINISHED_OK
$STATE,18183,begin surface
$SM_CCo,18261,0.00,0.000,0,0,1184,462.64
$SM_GC,0.79,8.40,0.00,0.00,0.052,0.000,0.000,1437,2237,1184,-6.79,-0.37,462.64
$IRIDIUM_FIX,5911.23,-1937.23,020797,050511
$TT8_MAMPS,0.026078
$HUMID,1750
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,12.60
$XPDR_PINGS,803
$24V_AH,20.1,10.828
$10V_AH,9.7,7.361
$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,23.100,197.875,680.175,0.000,0.000,29.855,33.149,332.470,200.750,0.000,0.000,16.224,3856.244,7513.263,838.422,5799.052,770.296,0.000,2908.726,0.000,5812.204,0.000,0.466
$DEVICE_MAMPS,234.702,123.487,1526.330,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1742.580,1811.333,1134.482,1583.116,3106.413,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,186444,2519
$CAP_FILE_SIZE,215075,0
$CFSIZE,260165632,256290816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070408,153957,5928.669,-1913.415,38,2.3,57,-13.8