version: 66.03
glider: 142
mission: 5
dive: 27
start: 4 9 108 5 40 37
data:
$ID,142
$MISSION,5
$DIVE,27
$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,150
$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,90
$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,-13096.033
$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,25
$R_STBD_OVSHOOT,19
$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
$GPS1,052837,5909.981,-1844.286,35,1.4,35,-13.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-50.7
$GPS2,054017,5909.939,-1844.210,14,2.5,33,-13.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,5909.939,-1838.675
$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,103.4,20000,-17.5,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.91,-146.0,0.0,0.0,0,122,0.00,0.00,-93.47,0.000,2,0.000,0.000,1431,2241,3625
$GC,125,-0.91,-146.0,3.4,-6.1,13,149,10.77,2.85,-1.10,0.000,4,0.242,0.057,2712,844,3669
$GC,157,-0.30,-146.0,11.8,-24.0,17,166,0.85,2.75,0.00,0.000,6,0.139,0.028,2848,2256,3670
$GC,294,-0.55,-146.0,22.3,-4.7,42,303,0.22,2.85,0.00,0.000,4,0.044,0.043,2799,845,3670
$GC,419,-0.67,-146.0,30.6,-6.7,65,427,0.10,2.78,0.00,0.000,6,0.046,0.028,2771,2275,3670
$GC,556,-0.72,-146.0,41.5,-8.4,90,564,0.00,2.72,0.00,0.000,4,0.000,0.042,2771,3649,3670
$GC,572,-0.77,-146.0,43.1,-8.9,92,580,0.00,2.72,0.00,0.000,6,0.000,0.033,2771,2267,3670
$GC,709,-0.83,-146.0,55.6,-8.9,117,716,0.15,0.00,0.00,0.000,6,0.061,0.000,2736,2267,3670
$GC,847,-0.83,-146.0,71.0,-11.5,142,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2267,3670
$GC,985,-0.83,-146.0,86.6,-10.5,167,991,0.00,2.83,0.00,0.000,4,0.000,0.050,2737,838,3670
$GC,1021,-0.83,-146.0,90.6,-11.6,173,1027,0.00,2.75,0.00,0.000,6,0.000,0.028,2736,2281,3670
$GC,1156,-0.83,-146.0,106.0,-11.8,198,1164,0.00,2.88,0.00,0.000,4,0.000,0.047,2736,844,3670
$GC,1188,-0.83,-146.0,109.7,-12.4,203,1194,0.00,2.70,0.00,0.000,6,0.000,0.028,2736,2261,3670
$GC,1323,-0.83,-146.0,126.2,-12.7,228,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2262,3670
$GC,1461,-0.83,-146.0,142.8,-12.3,253,1467,0.00,2.80,0.00,0.000,4,0.000,0.047,2736,844,3670
$GC,1489,-0.83,-146.0,146.6,-12.8,258,1496,0.00,2.70,0.00,0.000,6,0.000,0.028,2736,2249,3670
$GC,1628,-0.83,-146.0,162.8,-11.8,283,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2250,3670
$GC,1958,-0.83,-146.0,201.7,-11.9,344,1965,0.00,2.80,0.00,0.000,4,0.000,0.048,2736,846,3670
$GC,1983,-0.83,-146.0,204.6,-11.8,348,1991,0.00,2.70,0.00,0.000,6,0.000,0.028,2736,2253,3670
$GC,2316,-0.83,-146.0,244.1,-11.9,409,2322,0.00,2.78,0.00,0.000,4,0.000,0.047,2736,845,3670
$GC,2353,-0.83,-146.0,248.5,-12.3,415,2359,0.00,2.65,0.00,0.000,6,0.000,0.028,2736,2241,3670
$GC,2684,-0.83,-146.0,287.2,-11.3,476,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2242,3670
$GC,3019,-0.83,-146.0,327.8,-12.3,537,3025,0.00,2.75,0.00,0.000,4,0.000,0.047,2736,846,3670
$GC,3079,-0.83,-146.0,335.6,-12.5,548,3087,0.00,2.67,0.00,0.000,6,0.000,0.028,2736,2241,3670
$GC,3418,-0.83,-146.0,374.8,-10.3,609,3425,0.00,2.75,0.00,0.000,4,0.000,0.047,2736,837,3670
$GC,3464,-0.83,-146.0,379.7,-10.9,617,3470,0.00,2.60,0.00,0.000,6,0.000,0.028,2736,2224,3670
$GC,3805,-0.83,-146.0,417.7,-11.1,678,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2224,3670
$GC,4146,-0.83,-146.0,455.7,-10.8,739,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2225,3670
$GC,4485,-0.83,-146.0,492.7,-10.4,800,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2225,3669
$GC,4827,-0.83,-146.0,528.8,-11.3,861,4833,0.00,2.72,0.00,0.000,4,0.000,0.048,2737,836,3670
$GC,4861,-0.83,-146.0,532.9,-12.2,867,4868,0.00,2.62,0.00,0.000,6,0.000,0.029,2736,2230,3670
$GC,5204,-0.83,-146.0,570.6,-10.8,928,5210,0.00,2.75,0.00,0.000,4,0.000,0.049,2736,839,3670
$GC,5232,-0.83,-146.0,573.9,-11.4,933,5239,0.00,2.60,0.00,0.000,6,0.000,0.030,2736,2216,3670
$GC,5574,-0.83,-146.0,610.2,-10.3,986,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2217,3670
$GC,5892,-0.83,-146.0,645.0,-11.0,1016,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2217,3670
$GC,6211,-0.83,-146.0,681.6,-11.6,1046,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2217,3670
$GC,6529,-0.83,-146.0,716.0,-10.5,1076,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2217,3670
$GC,6848,-0.83,-146.0,748.3,-10.1,1106,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2217,3670
$GC,7166,-0.83,-146.0,781.5,-10.5,1136,7171,0.00,3.05,0.00,0.000,4,0.000,0.084,2736,3653,3669
$GC,7176,-0.83,-146.0,782.5,-10.1,1136,7183,0.00,2.97,0.00,0.000,6,0.000,0.067,2736,2223,3669
$GC,7504,-0.83,-146.0,814.7,-9.7,1167,7509,0.00,3.12,0.00,0.000,4,0.000,0.094,2736,3647,3669
$GC,7525,-0.83,-146.0,817.2,-9.5,1168,7531,0.00,3.10,0.00,0.000,6,0.000,0.085,2736,2209,3669
$GC,7853,-0.83,-146.0,847.7,-9.5,1199,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2209,3669
$GC,8169,-0.83,-146.0,878.1,-9.7,1229,8174,0.00,3.40,0.00,0.000,4,0.000,0.126,2736,3646,3669
$GC,8191,-0.83,-146.0,880.3,-9.3,1230,8197,0.00,3.30,0.00,0.000,6,0.000,0.119,2736,2228,3669
$GC,8516,-0.83,-146.0,912.1,-9.8,1261,8521,0.00,2.85,0.00,0.000,4,0.000,0.051,2736,3650,3668
$GC,8537,-0.83,-146.0,914.5,-11.0,1262,8544,0.00,2.83,0.00,0.000,6,0.000,0.039,2736,2207,3668
$GC,8865,-0.83,-146.0,947.7,-10.1,1293,8866,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2205,3669
$GC,9181,-0.83,-146.0,979.9,-9.7,1323,9186,0.00,2.92,0.00,0.000,4,0.000,0.054,2736,3653,3668
$GC,9202,-0.83,-146.0,982.2,-10.2,1324,9209,0.00,2.80,0.00,0.000,6,0.000,0.041,2736,2225,3668
$STATE,9280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9280,begin apogee
$GC,9286,-0.21,0.0,990.2,10.1,1332,9444,0.77,0.00,150.15,1.536,6,0.119,0.000,2868,2709,3071
$STATE,9445,end apogee,CONTROL_FINISHED_OK
$STATE,9445,begin climb
$GC,9447,0.91,146.0,994.3,0.0,1348,9611,1.42,2.65,152.20,1.490,4,0.081,0.058,3113,3889,2474
$GC,9684,0.74,146.0,968.1,15.8,1370,9690,0.20,2.42,0.00,0.000,6,0.126,0.034,3086,2709,2473
$GC,10008,0.63,146.0,927.7,12.2,1401,10013,0.17,2.47,0.00,0.000,4,0.127,0.052,3059,3900,2472
$GC,10070,0.58,146.0,920.6,11.6,1406,10074,0.00,2.35,0.00,0.000,6,0.000,0.032,3059,2710,2472
$GC,10395,0.54,146.0,887.9,10.2,1436,10399,0.00,2.42,0.00,0.000,4,0.000,0.052,3059,3893,2471
$GC,10434,0.49,146.0,883.8,10.5,1439,10439,0.20,2.28,0.00,0.000,6,0.130,0.032,3029,2728,2471
$GC,10758,0.57,205.9,858.9,7.2,1469,10824,0.00,2.53,59.83,1.436,4,0.000,0.052,3029,3896,2230
$GC,10851,0.67,241.3,851.7,8.4,1477,10899,0.20,2.35,37.60,1.390,6,0.057,0.031,3066,2736,2087
$GC,11216,0.67,241.3,809.7,11.4,1512,11220,0.00,2.40,0.00,0.000,4,0.000,0.051,3066,3893,2082
$GC,11243,0.67,241.3,806.5,11.7,1514,11247,0.00,2.28,0.00,0.000,6,0.000,0.031,3066,2739,2081
$GC,11569,0.67,241.3,768.8,12.1,1544,11572,0.00,2.35,0.00,0.000,4,0.000,0.051,3066,3896,2081
$GC,11618,0.67,241.3,762.3,12.0,1548,11624,0.00,2.20,0.00,0.000,6,0.000,0.031,3066,2766,2081
$GC,11944,0.67,241.3,722.0,13.0,1579,11945,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2764,2081
$GC,12261,0.67,241.3,680.5,12.8,1609,12265,0.00,2.28,0.00,0.000,4,0.000,0.051,3066,3892,2080
$GC,12299,0.67,241.3,675.3,13.3,1612,12303,0.00,2.17,0.00,0.000,6,0.000,0.031,3066,2765,2080
$GC,12625,0.67,241.3,634.3,12.5,1642,12626,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2763,2080
$GC,12946,0.67,241.3,594.8,11.5,1675,12953,0.00,2.30,0.00,0.000,4,0.000,0.051,3066,3915,2080
$GC,13003,0.67,241.3,587.5,12.3,1685,13009,0.00,2.17,0.00,0.000,6,0.000,0.031,3066,2779,2080
$GC,13345,0.67,241.3,546.9,11.7,1746,13351,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2779,2080
$GC,13686,0.67,241.3,505.9,11.5,1807,13691,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2779,2080
$GC,14025,0.67,241.3,465.9,12.0,1868,14031,0.00,2.22,0.00,0.000,4,0.000,0.048,3066,3903,2080
$GC,14059,0.67,241.3,461.8,12.2,1874,14065,0.00,2.12,0.00,0.000,6,0.000,0.030,3066,2782,2080
$GC,14399,0.67,241.3,423.7,11.4,1935,14405,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2781,2080
$GC,14740,0.67,241.3,385.2,11.6,1996,14746,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2780,2080
$GC,15081,0.67,241.3,346.5,11.9,2057,15086,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2778,2080
$GC,15410,0.67,241.3,309.1,10.7,2118,15418,0.00,2.22,0.00,0.000,4,0.000,0.048,3066,3892,2080
$GC,15453,0.67,241.3,304.4,12.0,2125,15459,0.00,2.10,0.00,0.000,6,0.000,0.029,3066,2782,2080
$GC,15785,0.67,241.3,268.7,10.3,2186,15792,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2774,2080
$GC,16119,0.67,241.3,234.4,10.3,2247,16125,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2774,2081
$GC,16451,0.67,241.3,196.0,13.0,2308,16458,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2774,2081
$GC,16783,0.67,241.3,153.3,14.8,2369,16788,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2774,2081
$GC,17112,0.67,241.3,115.0,12.5,2430,17120,0.00,2.22,0.00,0.000,4,0.000,0.048,3066,3898,2081
$GC,17148,0.67,241.3,110.9,11.0,2436,17156,0.00,2.12,0.00,0.000,6,0.000,0.031,3066,2790,2081
$GC,17287,0.67,241.3,98.2,11.0,2461,17294,0.00,2.92,0.00,0.000,4,0.000,0.046,3066,1294,2081
$GC,17328,0.71,273.1,94.4,8.5,2468,17366,0.00,2.90,29.60,0.934,6,0.000,0.030,3066,2792,1956
$GC,17497,0.75,306.7,78.2,8.4,2498,17536,0.00,2.25,32.30,0.936,4,0.000,0.048,3066,3903,1819
$GC,17591,0.86,338.9,69.3,8.5,2514,17629,0.17,2.22,31.75,0.913,6,0.046,0.031,3106,2782,1689
$GC,17760,0.79,338.9,45.4,15.4,2544,17769,0.00,3.05,0.00,0.000,4,0.000,0.047,3106,1297,1683
$GC,17787,0.79,338.9,40.9,16.8,2548,17794,0.00,2.97,0.00,0.000,6,0.000,0.031,3106,2777,1682
$GC,17923,0.72,338.9,17.3,17.3,2573,17931,0.15,2.25,0.00,0.000,4,0.107,0.046,3080,3892,1681
$GC,17976,0.78,338.9,10.5,10.8,2582,17983,0.00,2.17,0.00,0.000,6,0.000,0.032,3080,2796,1681
$STATE,18056,end climb,SURFACE_DEPTH_REACHED
$STATE,18056,begin surface coast
$FINISH,0.3,1.026270
$STATE,18068,end surface coast,CONTROL_FINISHED_OK
$STATE,18069,begin surface
$SM_CCo,18147,0.00,0.000,0,0,1677,341.95
$SM_GC,0.58,8.48,0.00,0.00,0.051,0.000,0.000,1437,2235,1677,-6.79,-0.42,341.95
$IRIDIUM_FIX,5902.83,-2630.09,040797,050547
$TT8_MAMPS,0.026078
$HUMID,1752
$INTERNAL_PRESSURE,8.93635
$TCM_TEMP,12.20
$XPDR_PINGS,799
$24V_AH,20.2,13.067
$10V_AH,9.7,9.760
$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,23.875,169.600,493.425,0.000,0.000,48.208,84.693,340.233,199.750,0.000,0.000,35.768,3976.306,7610.484,661.764,5732.534,842.869,0.000,2698.026,0.000,5719.939,0.000,0.466
$DEVICE_MAMPS,241.605,125.788,1535.534,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1805.884,1882.457,1187.183,1102.266,2826.634,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,192978,2599
$CAP_FILE_SIZE,212227,0
$CFSIZE,260165632,255332352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090408,104407,5910.647,-1837.661,28,1.7,28,-13.3