version: 66.03
glider: 142
mission: 5
dive: 44
start: 4 12 108 13 21 22
data:
$ID,142
$MISSION,5
$DIVE,44
$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,270
$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,636.79877
$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,-13378.676
$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,20
$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
$GPS1,130138,5910.076,-1906.088,31,1.4,31,-13.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-37.8
$GPS2,132103,5910.096,-1906.044,15,1.9,15,-13.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5910.096,-1911.578
$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,283.6,20000,-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,27,-0.86,-194.7,0.0,0.0,0,166,0.00,0.00,-136.70,0.000,2,0.000,0.000,1431,2242,3609
$GC,169,-0.86,-194.7,3.1,-3.8,19,193,10.98,2.83,-6.82,0.000,4,0.244,0.049,2725,3662,3866
$GC,352,-0.78,-194.7,34.2,-14.0,52,360,0.08,2.80,0.00,0.000,6,0.133,0.034,2738,2248,3866
$GC,490,-0.73,-194.7,50.7,-12.4,77,496,0.12,2.80,0.00,0.000,4,0.142,0.048,2755,843,3866
$GC,560,-0.73,-194.7,59.4,-12.1,89,566,0.00,2.75,0.00,0.000,6,0.000,0.028,2755,2273,3866
$GC,695,-0.73,-194.7,74.9,-11.7,114,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2273,3866
$GC,834,-0.73,-194.7,91.1,-11.9,139,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2273,3866
$GC,968,-0.73,-194.7,106.7,-10.6,164,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2273,3866
$GC,1107,-0.73,-194.7,121.6,-10.7,189,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2273,3866
$GC,1244,-0.73,-194.7,136.4,-10.4,214,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2273,3867
$GC,1383,-0.73,-194.7,151.6,-11.4,239,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2273,3867
$GC,1712,-0.73,-194.7,189.0,-11.8,300,1720,0.00,2.88,0.00,0.000,4,0.000,0.047,2755,837,3866
$GC,1755,-0.73,-194.7,193.9,-11.8,307,1761,0.00,2.70,0.00,0.000,6,0.000,0.028,2755,2255,3866
$GC,2087,-0.73,-194.7,232.0,-10.9,368,2095,0.00,2.75,0.00,0.000,4,0.000,0.043,2755,3651,3866
$GC,2133,-0.73,-194.7,237.2,-10.9,376,2141,0.00,2.72,0.00,0.000,6,0.000,0.032,2755,2253,3866
$GC,2467,-0.73,-194.7,271.3,-11.1,437,2473,0.00,2.78,0.00,0.000,4,0.000,0.050,2755,842,3866
$GC,2513,-0.73,-194.7,276.4,-11.1,445,2519,0.00,2.70,0.00,0.000,6,0.000,0.028,2755,2265,3866
$GC,2844,-0.73,-194.7,310.6,-10.6,506,2852,0.00,2.72,0.00,0.000,4,0.000,0.044,2755,3650,3866
$GC,2890,-0.73,-194.7,315.7,-10.3,514,2898,0.00,2.72,0.00,0.000,6,0.000,0.032,2755,2249,3866
$GC,3224,-0.73,-194.7,350.5,-10.7,575,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2249,3866
$GC,3567,-0.73,-194.7,385.8,-10.0,636,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2249,3866
$GC,3912,-0.73,-194.7,422.4,-10.8,697,3918,0.00,2.75,0.00,0.000,4,0.000,0.044,2755,3650,3866
$GC,3965,-0.73,-194.7,428.2,-10.7,706,3971,0.00,2.67,0.00,0.000,6,0.000,0.032,2755,2260,3866
$GC,4305,-0.73,-194.7,463.4,-10.6,767,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2259,3866
$GC,4645,-0.73,-194.7,499.6,-10.9,828,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2259,3866
$GC,4990,-0.73,-194.7,535.5,-9.9,889,4996,0.00,2.75,0.00,0.000,4,0.000,0.046,2755,3650,3866
$GC,5035,-0.73,-194.7,540.4,-10.2,897,5042,0.00,2.67,0.00,0.000,6,0.000,0.034,2755,2257,3866
$GC,5377,-0.73,-194.7,577.7,-11.1,958,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2255,3866
$GC,5716,-0.73,-194.7,613.0,-9.7,1008,5721,0.00,2.78,0.00,0.000,4,0.000,0.050,2755,3649,3866
$GC,5755,-0.73,-194.7,616.9,-9.8,1011,5760,0.00,2.67,0.00,0.000,6,0.000,0.036,2755,2270,3866
$GC,6081,-0.73,-194.7,649.1,-10.3,1041,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2268,3866
$GC,6397,-0.73,-194.7,681.7,-10.4,1071,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2268,3867
$GC,6718,-0.73,-194.7,713.2,-9.6,1101,6722,0.00,2.83,0.00,0.000,4,0.000,0.062,2755,3647,3866
$GC,6779,-0.73,-194.7,719.6,-10.6,1106,6783,0.00,2.72,0.00,0.000,6,0.000,0.051,2755,2288,3866
$GC,7105,-0.73,-194.7,751.2,-9.9,1136,7109,0.00,2.83,0.00,0.000,4,0.000,0.070,2755,3643,3865
$GC,7143,-0.73,-194.7,755.3,-10.5,1139,7148,0.00,2.75,0.00,0.000,6,0.000,0.057,2755,2292,3865
$GC,7469,-0.73,-194.7,786.4,-9.4,1169,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2292,3865
$GC,7789,-0.73,-194.7,814.9,-9.0,1199,7794,0.00,2.97,0.00,0.000,4,0.000,0.096,2755,3642,3865
$GC,7844,-0.73,-194.7,820.4,-9.9,1203,7850,0.00,2.90,0.00,0.000,6,0.000,0.086,2755,2308,3865
$GC,8170,-0.73,-194.7,852.1,-9.7,1234,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2307,3865
$GC,8488,-0.73,-194.7,882.9,-9.9,1264,8489,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2306,3865
$GC,8805,-0.73,-194.7,915.0,-10.0,1294,8810,0.00,3.33,0.00,0.000,4,0.000,0.146,2755,3642,3865
$GC,8849,-0.73,-194.7,919.6,-10.3,1297,8855,0.00,2.70,0.00,0.000,6,0.000,0.052,2755,2299,3864
$GC,9175,-0.73,-194.7,950.3,-9.2,1328,9176,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2297,3864
$GC,9493,-0.73,-194.7,980.1,-9.5,1358,9498,0.00,2.75,0.00,0.000,4,0.000,0.057,2755,3650,3864
$GC,9570,-0.73,-194.7,988.0,-10.2,1364,9577,0.00,2.65,0.00,0.000,6,0.000,0.043,2755,2315,3863
$STATE,9596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9596,begin apogee
$GC,9602,-0.21,0.0,990.6,9.9,1367,9809,0.65,0.00,200.70,1.555,6,0.122,0.000,2866,2706,3070
$STATE,9810,end apogee,CONTROL_FINISHED_OK
$STATE,9810,begin climb
$GC,9812,0.86,194.7,998.7,0.0,1388,10028,1.38,2.67,205.20,1.502,4,0.083,0.056,3102,3892,2277
$GC,10220,0.69,194.7,949.6,16.0,1426,10225,0.20,2.45,0.00,0.000,6,0.127,0.034,3074,2697,2273
$GC,10544,0.57,194.7,906.4,13.1,1456,10549,0.15,2.50,0.00,0.000,4,0.126,0.051,3049,3899,2273
$GC,10656,0.52,194.7,893.2,11.2,1465,10662,0.00,2.30,0.00,0.000,6,0.000,0.033,3049,2737,2273
$GC,10982,0.46,194.7,858.0,10.9,1496,10983,0.17,0.00,0.00,0.000,6,0.118,0.000,3023,2737,2272
$GC,11300,0.53,244.6,831.4,8.3,1526,11356,0.00,2.47,50.33,1.420,4,0.000,0.055,3022,3895,2072
$GC,11390,0.53,250.3,823.6,9.8,1534,11402,0.00,2.30,7.18,1.122,6,0.000,0.031,3022,2753,2050
$GC,11719,0.60,305.8,796.6,8.1,1565,11780,0.15,0.00,58.20,1.399,6,0.056,0.000,3052,2752,1824
$GC,12098,0.60,305.8,755.0,10.7,1601,12099,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2752,1818
$GC,12417,0.60,305.8,720.3,10.3,1631,12421,0.00,2.33,0.00,0.000,4,0.000,0.050,3052,3893,1817
$GC,12456,0.60,305.8,716.1,10.6,1634,12460,0.00,2.22,0.00,0.000,6,0.000,0.031,3052,2751,1816
$GC,12780,0.60,305.8,680.6,10.5,1664,12784,0.00,2.90,0.00,0.000,4,0.000,0.047,3052,1305,1816
$GC,12796,0.60,305.8,678.9,10.7,1665,12800,0.00,2.88,0.00,0.000,6,0.000,0.030,3052,2772,1815
$GC,13120,0.60,305.8,643.0,10.7,1695,13124,0.00,2.22,0.00,0.000,4,0.000,0.050,3052,3891,1815
$GC,13135,0.60,305.8,641.1,11.2,1696,13142,0.00,2.22,0.00,0.000,6,0.000,0.031,3052,2755,1815
$GC,13462,0.60,305.8,606.0,10.6,1727,13466,0.00,2.30,0.00,0.000,4,0.000,0.050,3051,3893,1815
$GC,13478,0.60,305.8,604.0,11.1,1728,13482,0.00,2.17,0.00,0.000,6,0.000,0.031,3052,2764,1814
$GC,13816,0.60,305.8,568.0,10.2,1784,13822,0.00,2.90,0.00,0.000,4,0.000,0.047,3052,1305,1814
$GC,13832,0.60,305.8,566.2,10.4,1787,13839,0.00,2.85,0.00,0.000,6,0.000,0.030,3052,2771,1814
$GC,14174,0.62,322.6,532.2,9.4,1848,14193,0.00,0.00,16.45,1.164,6,0.000,0.000,3052,2771,1755
$GC,14528,0.62,322.6,496.5,10.8,1911,14535,0.00,2.92,0.00,0.000,4,0.000,0.044,3052,1305,1752
$GC,14541,0.62,322.6,495.0,10.9,1913,14547,0.00,2.85,0.00,0.000,6,0.000,0.030,3052,2765,1752
$GC,14883,0.62,323.4,459.4,10.0,1974,14889,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2764,1752
$GC,15224,0.62,323.4,424.3,10.3,2035,15231,0.00,2.90,0.00,0.000,4,0.000,0.044,3052,1301,1752
$GC,15244,0.63,326.1,422.4,9.9,2038,15256,0.00,2.80,4.65,0.792,6,0.000,0.031,3052,2750,1741
$GC,15587,0.63,329.8,387.5,9.9,2100,15596,0.00,0.00,5.55,0.853,6,0.000,0.000,3052,2751,1726
$GC,15935,0.64,339.6,352.4,9.7,2161,15953,0.00,2.90,11.10,1.017,4,0.000,0.044,3052,1303,1685
$GC,15964,0.64,339.6,349.0,10.6,2166,15972,0.00,2.85,0.00,0.000,6,0.000,0.031,3052,2746,1685
$GC,16299,0.64,339.6,313.6,11.7,2227,16305,0.00,2.25,0.00,0.000,4,0.000,0.048,3052,3888,1684
$GC,16313,0.64,339.6,312.1,11.0,2229,16319,0.00,2.20,0.00,0.000,6,0.000,0.029,3052,2742,1684
$GC,16643,0.66,353.5,278.5,9.5,2290,16663,0.00,0.00,15.15,1.012,6,0.000,0.000,3052,2740,1629
$GC,16988,0.67,361.0,245.2,9.7,2353,17001,0.00,0.00,8.80,0.907,6,0.000,0.000,3052,2738,1598
$GC,17329,0.69,374.3,214.5,9.5,2415,17349,0.00,2.92,14.45,0.965,4,0.000,0.045,3052,1307,1544
$GC,17357,0.78,412.6,211.9,8.7,2419,17409,0.17,2.80,40.22,1.028,6,0.047,0.029,3090,2739,1387
$GC,17738,0.71,412.6,155.4,15.1,2487,17744,0.00,2.33,0.00,0.000,4,0.000,0.045,3091,3887,1380
$GC,17774,0.67,412.6,149.9,15.2,2493,17781,0.15,2.22,0.00,0.000,6,0.105,0.031,3068,2746,1379
$GC,17912,0.67,412.6,133.9,10.5,2518,17920,0.00,2.92,0.00,0.000,4,0.000,0.047,3068,1303,1378
$GC,17934,0.67,412.6,131.4,10.6,2521,17940,0.00,2.80,0.00,0.000,6,0.000,0.029,3068,2737,1377
$GC,18069,0.67,412.6,115.9,10.9,2546,18077,0.00,2.33,0.00,0.000,4,0.000,0.048,3068,3890,1377
$GC,18083,0.67,412.6,114.3,11.0,2548,18091,0.00,2.28,0.00,0.000,6,0.000,0.031,3068,2734,1378
$GC,18224,0.67,412.6,98.5,11.1,2573,18230,0.00,2.85,0.00,0.000,4,0.000,0.047,3068,1303,1377
$GC,18238,0.67,412.6,96.8,10.7,2575,18245,0.00,2.78,0.00,0.000,6,0.000,0.028,3068,2736,1377
$GC,18375,0.70,431.5,83.0,9.3,2600,18401,0.00,2.33,17.65,0.901,4,0.000,0.045,3068,3884,1311
$GC,18413,0.75,440.5,79.4,9.7,2606,18433,0.00,2.22,10.75,0.860,6,0.000,0.032,3068,2760,1274
$GC,18566,0.75,440.5,63.0,13.5,2633,18572,0.00,2.92,0.00,0.000,4,0.000,0.047,3068,1300,1271
$GC,18592,0.80,440.5,59.9,12.1,2637,18599,0.12,2.85,0.00,0.000,6,0.054,0.029,3095,2755,1270
$GC,18730,0.74,440.5,40.2,13.4,2662,18737,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2755,1270
$GC,18864,0.69,440.5,21.3,16.9,2687,18873,0.15,2.28,0.00,0.000,4,0.107,0.047,3070,3888,1270
$GC,18886,0.69,440.5,17.6,16.6,2690,18893,0.00,2.25,0.00,0.000,6,0.000,0.032,3070,2748,1270
$GC,19020,0.69,440.5,2.1,12.2,2715,19028,0.00,2.90,0.00,0.000,4,0.000,0.045,3071,1302,1269
$STATE,19035,end climb,SURFACE_DEPTH_REACHED
$STATE,19036,begin surface coast
$FINISH,0.2,1.026289
$STATE,19053,end surface coast,CONTROL_FINISHED_OK
$STATE,19053,begin surface
$SM_CCo,19072,190.68,0.890,0,0,475,636.80
$SM_GC,0.53,0.00,0.00,190.68,0.000,0.000,0.890,1435,2276,475,-6.83,0.74,636.80
$IRIDIUM_FIX,5846.12,-1909.88,070797,131311
$TT8_MAMPS,0.026845
$HUMID,1693
$INTERNAL_PRESSURE,8.83869
$TCM_TEMP,11.60
$XPDR_PINGS,877
$24V_AH,19.8,16.968
$10V_AH,9.7,14.325
$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,22.750,185.950,666.375,190.675,0.000,143.833,283.580,323.844,219.250,0.000,0.000,16.863,4152.670,8098.191,1008.585,5955.940,1183.451,0.000,3190.609,0.000,5963.930,0.000,0.465
$DEVICE_MAMPS,243.906,146.497,1554.709,890.487,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1878.201,1994.522,1209.799,1107.375,2867.342,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202426,2720
$CAP_FILE_SIZE,228972,0
$CFSIZE,260165632,253378560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120408,184338,5909.530,-1911.159,36,1.0,36,-13.6