version: 66.03
glider: 142
mission: 5
dive: 46
start: 4 13 108 0 23 46
data:
$ID,142
$MISSION,5
$DIVE,46
$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,225
$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,-13442.744
$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,18
$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
$GPS1,001037,5907.914,-1916.653,35,1.7,35,-13.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-43.8
$GPS2,002329,5907.801,-1916.726,10,2.6,29,-13.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5900.165,-1920.659
$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,238.7,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.86,-194.7,0.0,0.0,0,179,0.00,0.00,-149.30,0.000,2,0.000,0.000,1432,2238,3612
$GC,182,-0.86,-194.7,3.2,-3.9,21,207,10.98,2.83,-7.00,0.000,4,0.244,0.056,2722,829,3867
$GC,443,-0.78,-194.7,47.8,-13.4,69,451,0.12,2.78,0.00,0.000,6,0.130,0.029,2743,2254,3868
$GC,582,-0.78,-194.7,64.5,-12.3,94,590,0.00,2.88,0.00,0.000,4,0.000,0.048,2743,836,3868
$GC,807,-0.78,-194.7,93.2,-12.1,135,814,0.00,2.72,0.00,0.000,6,0.000,0.029,2743,2257,3868
$GC,945,-0.78,-194.7,109.3,-10.2,160,953,0.00,2.78,0.00,0.000,4,0.000,0.043,2743,3655,3868
$GC,967,-0.74,-194.7,111.8,-11.4,163,973,0.00,2.72,0.00,0.000,6,0.000,0.034,2743,2258,3868
$GC,1102,-0.70,-194.7,130.4,-13.8,188,1110,0.15,0.00,0.00,0.000,6,0.137,0.000,2767,2258,3868
$GC,1242,-0.70,-194.7,145.3,-12.1,213,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2258,3867
$GC,1378,-0.70,-194.7,158.3,-8.4,238,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2258,3868
$GC,1710,-0.70,-194.7,186.3,-10.1,299,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2258,3868
$GC,2040,-0.70,-194.7,222.9,-9.6,360,2047,0.00,2.78,0.00,0.000,4,0.000,0.043,2767,3651,3868
$GC,2072,-0.70,-194.7,225.8,-9.9,365,2078,0.00,2.70,0.00,0.000,6,0.000,0.033,2767,2254,3868
$GC,2403,-0.70,-194.7,258.6,-9.5,426,2411,0.00,2.78,0.00,0.000,4,0.000,0.043,2767,3648,3868
$GC,2437,-0.70,-194.7,261.5,-9.7,431,2443,0.00,2.67,0.00,0.000,6,0.000,0.032,2767,2261,3868
$GC,2768,-0.70,-194.7,290.9,-8.3,492,2775,0.00,2.78,0.00,0.000,4,0.000,0.044,2767,3654,3868
$GC,2789,-0.70,-194.7,292.5,-8.4,495,2796,0.00,2.65,0.00,0.000,6,0.000,0.031,2767,2268,3868
$GC,3119,-0.70,-194.7,321.9,-9.7,556,3127,0.00,2.75,0.00,0.000,4,0.000,0.043,2767,3652,3868
$GC,3152,-0.70,-194.7,324.8,-10.1,561,3158,0.00,2.65,0.00,0.000,6,0.000,0.032,2768,2274,3868
$GC,3486,-0.70,-194.7,356.5,-9.6,622,3492,0.00,2.72,0.00,0.000,4,0.000,0.043,2767,3659,3868
$GC,3515,-0.70,-194.7,359.3,-9.6,627,3522,0.00,2.62,0.00,0.000,6,0.000,0.032,2767,2287,3868
$GC,3859,-0.70,-194.7,389.8,-8.7,688,3866,0.00,2.67,0.00,0.000,4,0.000,0.044,2767,3651,3868
$GC,3872,-0.70,-194.7,391.0,-8.5,690,3879,0.00,2.62,0.00,0.000,6,0.000,0.032,2767,2300,3868
$GC,4214,-0.70,-194.7,420.3,-8.8,751,4220,0.00,2.67,0.00,0.000,4,0.000,0.044,2767,3657,3868
$GC,4237,-0.70,-194.7,422.5,-8.9,755,4244,0.00,2.62,0.00,0.000,6,0.000,0.032,2767,2292,3868
$GC,4580,-0.70,-194.7,453.0,-9.2,816,4587,0.00,2.70,0.00,0.000,4,0.000,0.044,2767,3648,3868
$GC,4606,-0.70,-194.7,455.5,-9.1,820,4612,0.00,2.60,0.00,0.000,6,0.000,0.033,2767,2296,3868
$GC,4947,-0.70,-194.7,486.7,-9.3,881,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2296,3868
$GC,5287,-0.70,-194.7,519.1,-9.5,942,5293,0.00,2.67,0.00,0.000,4,0.000,0.045,2767,3658,3868
$GC,5312,-0.70,-194.7,521.3,-9.3,946,5318,0.00,2.62,0.00,0.000,6,0.000,0.032,2767,2295,3868
$GC,5653,-0.70,-194.7,554.2,-9.7,1007,5659,0.00,2.67,0.00,0.000,4,0.000,0.045,2767,3652,3868
$GC,5676,-0.70,-194.7,556.3,-9.2,1011,5683,0.00,2.60,0.00,0.000,6,0.000,0.034,2767,2297,3868
$GC,6018,-0.70,-194.7,587.7,-8.9,1072,6025,0.00,2.67,0.00,0.000,4,0.000,0.048,2767,3650,3868
$GC,6037,-0.70,-194.7,589.5,-9.1,1075,6044,0.00,2.60,0.00,0.000,6,0.000,0.035,2767,2305,3868
$GC,6370,-0.70,-194.7,619.9,-9.4,1116,6374,0.00,2.70,0.00,0.000,4,0.000,0.051,2767,3657,3868
$GC,6409,-0.74,-194.7,623.8,-9.6,1119,6413,0.00,2.60,0.00,0.000,6,0.000,0.037,2767,2321,3868
$GC,6735,-0.74,-194.7,654.7,-9.5,1149,6739,0.00,2.67,0.00,0.000,4,0.000,0.054,2767,3655,3867
$GC,6751,-0.74,-194.7,656.4,-9.4,1150,6755,0.00,2.60,0.00,0.000,6,0.000,0.038,2768,2325,3868
$GC,7077,-0.74,-194.7,687.8,-9.9,1180,7081,0.00,2.70,0.00,0.000,4,0.000,0.057,2767,3658,3868
$GC,7109,-0.74,-194.7,691.5,-10.3,1182,7115,0.00,2.60,0.00,0.000,6,0.000,0.044,2767,2340,3868
$GC,7435,-0.74,-194.7,723.8,-10.1,1213,7440,0.00,2.70,0.00,0.000,4,0.000,0.063,2767,3657,3868
$GC,7456,-0.74,-194.7,726.2,-10.1,1214,7463,0.00,2.60,0.00,0.000,6,0.000,0.048,2767,2350,3867
$GC,7783,-0.74,-194.7,756.4,-9.2,1245,7784,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2349,3868
$GC,8101,-0.74,-194.7,783.8,-8.2,1275,8106,0.00,2.78,0.00,0.000,4,0.000,0.082,2767,3648,3868
$GC,8123,-0.78,-194.7,785.7,-8.6,1276,8129,0.00,2.70,0.00,0.000,6,0.000,0.067,2767,2350,3868
$GC,8449,-0.83,-194.7,811.1,-7.6,1307,8451,0.15,0.00,0.00,0.000,6,0.062,0.000,2738,2349,3867
$GC,8766,-0.83,-194.7,842.5,-10.3,1337,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2349,3867
$GC,9084,-0.83,-194.7,876.8,-10.7,1367,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2349,3867
$GC,9402,-0.83,-194.7,910.5,-10.4,1397,9404,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2349,3867
$GC,9721,-0.83,-194.7,943.5,-10.2,1427,9722,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2342,3866
$GC,10039,-0.83,-194.7,976.2,-10.3,1457,10041,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2342,3866
$STATE,10175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10176,begin apogee
$GC,10182,-0.21,0.0,991.0,10.8,1470,10389,0.75,0.00,200.95,1.549,6,0.129,0.000,2866,2705,3071
$STATE,10390,end apogee,CONTROL_FINISHED_OK
$STATE,10390,begin climb
$GC,10392,0.86,194.7,998.5,0.0,1491,10608,1.38,2.67,204.77,1.496,4,0.084,0.057,3099,3888,2277
$GC,10788,0.69,194.7,950.3,15.8,1528,10793,0.17,2.42,0.00,0.000,6,0.127,0.035,3075,2708,2274
$GC,11112,0.57,194.7,907.8,12.3,1558,11117,0.17,2.47,0.00,0.000,4,0.118,0.051,3047,3898,2273
$GC,11190,0.53,196.2,899.6,9.9,1564,11196,0.00,2.33,0.00,0.000,6,0.000,0.034,3047,2727,2273
$GC,11518,0.50,217.3,869.6,9.3,1595,11546,0.00,2.50,22.92,1.379,4,0.000,0.051,3047,3890,2185
$GC,11574,0.46,220.5,863.9,9.9,1600,11584,0.17,2.33,4.82,0.956,6,0.120,0.033,3022,2731,2172
$GC,11903,0.55,291.2,839.7,7.5,1631,11985,0.00,3.05,74.25,1.429,4,0.000,0.048,3021,1305,1882
$GC,12008,0.69,348.6,831.4,8.0,1641,12081,0.25,2.97,61.25,1.398,6,0.043,0.030,3071,2750,1649
$GC,12398,0.63,348.6,777.1,13.7,1678,12402,0.00,2.35,0.00,0.000,4,0.000,0.051,3071,3896,1641
$GC,12464,0.63,348.6,768.0,12.6,1683,12470,0.00,2.28,0.00,0.000,6,0.000,0.032,3071,2747,1640
$GC,12790,0.57,348.6,725.6,12.8,1714,12795,0.15,2.35,0.00,0.000,4,0.112,0.050,3046,3894,1640
$GC,12829,0.60,378.7,721.5,9.0,1717,12864,0.00,2.20,30.65,1.317,6,0.000,0.031,3045,2770,1527
$GC,13184,0.64,409.4,691.3,8.9,1750,13225,0.00,3.10,33.15,1.305,4,0.000,0.048,3045,1306,1400
$GC,13265,0.77,449.7,684.1,8.6,1757,13315,0.22,2.95,44.03,1.307,6,0.044,0.029,3092,2769,1237
$GC,13635,0.67,449.7,621.1,17.8,1792,13640,0.15,2.30,0.00,0.000,4,0.117,0.049,3068,3903,1229
$GC,13707,0.67,449.7,610.6,12.0,1798,13711,0.00,2.22,0.00,0.000,6,0.000,0.031,3068,2767,1229
$GC,14043,0.67,449.7,569.8,11.7,1849,14049,0.00,2.95,0.00,0.000,4,0.000,0.047,3068,1300,1227
$GC,14084,0.67,449.7,564.9,10.9,1856,14090,0.00,2.90,0.00,0.000,6,0.000,0.030,3068,2776,1227
$GC,14425,0.67,449.7,524.6,10.9,1917,14431,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2777,1226
$GC,14766,0.67,449.7,485.8,11.6,1978,14773,0.00,2.97,0.00,0.000,4,0.000,0.044,3068,1298,1226
$GC,14801,0.67,449.7,481.8,10.9,1984,14808,0.00,2.88,0.00,0.000,6,0.000,0.031,3068,2772,1225
$GC,15141,0.67,449.7,441.4,12.1,2045,15148,0.00,2.95,0.00,0.000,4,0.000,0.044,3068,1301,1225
$GC,15167,0.67,449.7,438.3,12.4,2049,15174,0.00,2.80,0.00,0.000,6,0.000,0.030,3067,2753,1225
$GC,15509,0.67,449.7,396.4,11.6,2110,15516,0.00,2.28,0.00,0.000,4,0.000,0.048,3067,3894,1225
$GC,15529,0.67,449.7,394.2,12.2,2113,15535,0.00,2.22,0.00,0.000,6,0.000,0.030,3068,2732,1225
$GC,15869,0.67,449.7,353.9,11.5,2174,15875,0.00,2.83,0.00,0.000,4,0.000,0.046,3067,1303,1225
$GC,15912,0.71,449.7,349.1,12.0,2181,15918,0.00,2.78,0.00,0.000,6,0.000,0.029,3068,2743,1225
$GC,16241,0.71,449.7,309.7,11.8,2242,16249,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2743,1224
$GC,16576,0.71,449.7,268.9,11.8,2303,16582,0.00,2.85,0.00,0.000,4,0.000,0.044,3067,1305,1224
$GC,16605,0.76,449.7,265.2,12.0,2308,16613,0.00,2.75,0.00,0.000,6,0.000,0.030,3068,2722,1224
$GC,16940,0.81,488.2,229.1,8.7,2369,16984,0.15,0.00,37.58,1.036,6,0.054,0.000,3105,2722,1081
$GC,17310,0.69,488.2,158.3,18.4,2436,17319,0.17,2.35,0.00,0.000,4,0.110,0.044,3076,3893,1077
$GC,17387,0.75,488.2,146.2,14.7,2449,17393,0.00,2.30,0.00,0.000,6,0.000,0.031,3077,2710,1076
$GC,17522,0.75,488.2,129.3,12.8,2474,17530,0.00,2.83,0.00,0.000,4,0.000,0.047,3076,1303,1076
$GC,17565,0.80,488.2,124.1,11.6,2481,17572,0.00,2.72,0.00,0.000,6,0.000,0.029,3076,2713,1075
$GC,17703,0.80,488.2,106.6,13.1,2506,17711,0.00,2.35,0.00,0.000,4,0.000,0.045,3076,3893,1075
$GC,17725,0.80,488.2,103.5,13.5,2509,17730,0.00,2.33,0.00,0.000,6,0.000,0.032,3076,2693,1075
$GC,17860,0.80,488.2,86.3,12.7,2534,17867,0.00,2.78,0.00,0.000,4,0.000,0.048,3076,1305,1075
$GC,17891,0.84,488.2,82.4,12.2,2539,17898,0.15,2.70,0.00,0.000,6,0.051,0.029,3109,2706,1075
$GC,18029,0.74,488.2,57.1,20.1,2564,18038,0.15,2.35,0.00,0.000,4,0.116,0.045,3084,3887,1075
$GC,18084,0.74,488.2,48.4,12.1,2573,18091,0.00,2.30,0.00,0.000,6,0.000,0.033,3084,2713,1075
$GC,18218,0.74,488.2,32.2,12.7,2598,18226,0.00,2.83,0.00,0.000,4,0.000,0.048,3084,1301,1075
$GC,18255,0.74,488.2,27.2,14.7,2604,18262,0.00,2.72,0.00,0.000,6,0.000,0.028,3084,2704,1074
$GC,18389,0.74,488.2,9.2,12.4,2629,18397,0.00,2.35,0.00,0.000,4,0.000,0.047,3084,3887,1075
$GC,18425,0.74,488.2,4.8,13.2,2635,18433,0.00,2.33,0.00,0.000,6,0.000,0.034,3084,2701,1075
$STATE,18454,end climb,SURFACE_DEPTH_REACHED
$STATE,18454,begin surface coast
$FINISH,0.2,1.018479
$STATE,18477,end surface coast,CONTROL_FINISHED_OK
$STATE,18477,begin surface
$SM_CCo,18555,0.00,0.000,0,0,1072,490.35
$SM_GC,0.73,8.35,0.00,0.00,0.050,0.000,0.000,1434,2241,1072,-6.79,-0.25,490.35
$IRIDIUM_FIX,5841.97,-1604.21,080797,000006
$TT8_MAMPS,0.026078
$HUMID,1742
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,11.90
$XPDR_PINGS,757
$24V_AH,19.8,17.656
$10V_AH,9.7,14.884
$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,23.800,212.725,714.375,0.000,0.000,59.664,88.359,387.667,189.250,0.000,0.000,31.613,4042.859,7616.191,879.642,5820.633,935.071,0.000,3039.031,0.000,5809.258,0.000,0.465
$DEVICE_MAMPS,243.906,82.069,1549.340,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1829.130,1923.988,1151.841,1074.907,2775.095,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,196124,2644
$CAP_FILE_SIZE,228608,0
$CFSIZE,260165632,253165568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130408,053408,5904.861,-1921.552,32,1.0,32,-13.7