version: 66.03
glider: 142
mission: 5
dive: 47
start: 4 13 108 5 43 33
data:
$ID,142
$MISSION,5
$DIVE,47
$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,-13459.209
$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,26
$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
$GPS1,053408,5904.861,-1921.552,32,1.0,32,-13.7
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-50.6
$GPS2,054315,5904.831,-1921.672,14,1.6,14,-13.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5857.194,-1925.610
$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,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,-143.98,0.000,2,0.000,0.000,1434,2240,3668
$GC,176,-0.86,-194.7,3.6,-4.9,20,200,10.98,2.83,-5.15,0.000,4,0.245,0.058,2729,837,3866
$GC,436,-0.79,-194.7,44.4,-13.7,68,444,0.00,2.75,0.00,0.000,6,0.000,0.029,2729,2251,3866
$GC,574,-0.72,-194.7,62.6,-12.5,93,582,0.15,2.83,0.00,0.000,4,0.136,0.045,2753,830,3866
$GC,697,-0.72,-194.7,76.6,-10.3,115,703,0.00,2.70,0.00,0.000,6,0.000,0.029,2753,2238,3866
$GC,832,-0.72,-194.7,91.2,-12.1,140,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2238,3866
$GC,970,-0.72,-194.7,107.3,-11.6,165,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2238,3866
$GC,1107,-0.72,-194.7,124.2,-12.2,190,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2239,3866
$GC,1246,-0.72,-194.7,140.6,-12.5,215,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2239,3866
$GC,1381,-0.72,-194.7,157.7,-13.5,240,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2239,3866
$GC,1713,-0.72,-194.7,198.6,-12.8,301,1719,0.00,2.78,0.00,0.000,4,0.000,0.042,2753,3661,3866
$GC,1731,-0.72,-194.7,201.0,-13.2,304,1738,0.00,2.78,0.00,0.000,6,0.000,0.033,2753,2239,3866
$GC,2065,-0.72,-194.7,245.3,-12.0,365,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2239,3866
$GC,2395,-0.72,-194.7,281.7,-10.7,426,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2239,3866
$GC,2728,-0.72,-194.7,319.3,-10.9,487,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2239,3866
$GC,3061,-0.72,-194.7,361.4,-13.2,548,3067,0.00,2.78,0.00,0.000,4,0.000,0.043,2753,3654,3866
$GC,3092,-0.72,-194.7,365.4,-14.3,553,3098,0.00,2.72,0.00,0.000,6,0.000,0.032,2753,2237,3866
$GC,3432,-0.72,-194.7,403.7,-10.4,614,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2237,3866
$GC,3770,-0.72,-194.7,440.7,-10.7,675,3777,0.00,2.78,0.00,0.000,4,0.000,0.044,2753,3654,3866
$GC,3805,-0.72,-194.7,444.6,-11.0,681,3812,0.00,2.70,0.00,0.000,6,0.000,0.034,2753,2248,3866
$GC,4147,-0.72,-194.7,481.6,-10.7,742,4153,0.00,2.78,0.00,0.000,4,0.000,0.044,2753,3658,3866
$GC,4166,-0.72,-194.7,483.6,-10.4,745,4173,0.00,2.70,0.00,0.000,6,0.000,0.033,2753,2256,3866
$GC,4507,-0.72,-194.7,520.9,-11.0,806,4514,0.00,2.78,0.00,0.000,4,0.000,0.045,2753,3660,3866
$GC,4520,-0.72,-194.7,522.3,-11.4,808,4526,0.00,2.72,0.00,0.000,6,0.000,0.033,2753,2246,3866
$GC,4862,-0.72,-194.7,559.8,-10.7,869,4868,0.00,2.78,0.00,0.000,4,0.000,0.046,2753,3652,3866
$GC,4880,-0.72,-194.7,561.7,-10.9,872,4886,0.00,2.67,0.00,0.000,6,0.000,0.035,2753,2258,3866
$GC,5219,-0.72,-194.7,597.9,-10.5,933,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2258,3866
$GC,5550,-0.72,-194.7,633.3,-10.5,966,5555,0.00,2.80,0.00,0.000,4,0.000,0.051,2753,3659,3866
$GC,5571,-0.72,-194.7,635.6,-10.5,967,5577,0.00,2.72,0.00,0.000,6,0.000,0.039,2753,2261,3866
$GC,5897,-0.72,-194.7,669.0,-10.2,998,5901,0.00,2.80,0.00,0.000,4,0.000,0.054,2753,3651,3866
$GC,5918,-0.72,-194.7,671.3,-9.9,999,5924,0.00,2.70,0.00,0.000,6,0.000,0.041,2753,2271,3866
$GC,6245,-0.72,-194.7,703.0,-9.9,1030,6250,0.00,2.80,0.00,0.000,4,0.000,0.059,2753,3649,3866
$GC,6262,-0.72,-194.7,705.0,-9.9,1031,6267,0.00,2.72,0.00,0.000,6,0.000,0.048,2753,2280,3866
$GC,6587,-0.72,-194.7,738.4,-10.7,1061,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2280,3866
$GC,6907,-0.72,-194.7,770.6,-9.7,1091,6911,0.00,2.90,0.00,0.000,4,0.000,0.077,2753,3651,3866
$GC,6938,-0.72,-194.7,774.0,-10.3,1093,6945,0.00,2.83,0.00,0.000,6,0.000,0.062,2753,2283,3866
$GC,7265,-0.72,-194.7,802.8,-8.8,1124,7269,0.00,2.97,0.00,0.000,4,0.000,0.089,2753,3650,3866
$GC,7293,-0.72,-194.7,805.4,-9.4,1126,7297,0.00,2.90,0.00,0.000,6,0.000,0.078,2753,2292,3866
$GC,7618,-0.72,-194.7,835.6,-9.5,1156,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2292,3866
$GC,7937,-0.72,-194.7,865.2,-9.2,1186,7938,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2292,3866
$GC,8255,-0.72,-194.7,894.1,-9.3,1216,8260,0.00,3.28,0.00,0.000,4,0.000,0.135,2753,3645,3866
$GC,8272,-0.72,-194.7,895.8,-9.5,1217,8277,0.00,3.10,0.00,0.000,6,0.000,0.112,2753,2284,3865
$GC,8598,-0.72,-194.7,927.7,-9.8,1247,8602,0.00,2.75,0.00,0.000,4,0.000,0.054,2753,3650,3865
$GC,8629,-0.72,-194.7,931.1,-10.7,1249,8636,0.00,2.65,0.00,0.000,6,0.000,0.041,2753,2306,3865
$GC,8958,-0.72,-194.7,963.1,-9.6,1280,8962,0.00,2.72,0.00,0.000,4,0.000,0.055,2753,3652,3865
$GC,8978,-0.72,-194.7,965.5,-9.5,1281,8985,0.00,2.65,0.00,0.000,6,0.000,0.041,2753,2315,3865
$STATE,9237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9237,begin apogee
$GC,9243,-0.21,0.0,990.1,9.8,1306,9451,0.65,0.00,200.12,1.549,6,0.114,0.000,2865,2705,3070
$STATE,9452,end apogee,CONTROL_FINISHED_OK
$STATE,9452,begin climb
$GC,9454,0.86,194.7,997.3,0.0,1327,9669,1.38,2.67,204.40,1.497,4,0.084,0.056,3099,3890,2276
$GC,9817,0.69,194.7,955.3,15.4,1361,9822,0.17,2.42,0.00,0.000,6,0.129,0.036,3075,2709,2274
$GC,10141,0.57,194.7,915.1,12.0,1391,10146,0.17,2.47,0.00,0.000,4,0.120,0.051,3047,3896,2273
$GC,10215,0.53,205.7,907.5,9.6,1397,10236,0.00,2.33,11.88,1.260,6,0.000,0.034,3047,2726,2232
$GC,10554,0.48,205.7,873.1,10.8,1429,10558,0.12,2.40,0.00,0.000,4,0.124,0.051,3030,3890,2231
$GC,10586,0.48,205.7,869.6,10.0,1431,10592,0.00,2.30,0.00,0.000,6,0.000,0.033,3029,2740,2230
$GC,10912,0.54,249.0,841.3,8.5,1462,10961,0.00,0.00,44.67,1.418,6,0.000,0.000,3029,2738,2056
$GC,11279,0.60,302.0,811.1,8.2,1497,11342,0.12,3.08,55.25,1.404,4,0.061,0.049,3054,1299,1838
$GC,11359,0.60,302.0,802.5,10.9,1504,11365,0.00,2.97,0.00,0.000,6,0.000,0.030,3054,2747,1837
$GC,11686,0.60,302.0,765.3,11.6,1535,11690,0.00,2.33,0.00,0.000,4,0.000,0.051,3054,3891,1833
$GC,11740,0.60,302.0,758.4,11.3,1539,11747,0.00,2.28,0.00,0.000,6,0.000,0.032,3054,2738,1832
$GC,12066,0.60,302.0,722.6,11.0,1570,12068,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2738,1831
$GC,12384,0.60,302.0,686.9,11.3,1600,12385,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2738,1831
$GC,12702,0.60,302.0,650.5,11.4,1630,12706,0.00,2.35,0.00,0.000,4,0.000,0.050,3054,3899,1831
$GC,12746,0.60,302.0,645.3,11.2,1633,12753,0.00,2.22,0.00,0.000,6,0.000,0.031,3054,2746,1830
$GC,13074,0.60,302.0,608.3,11.2,1664,13075,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2745,1830
$GC,13403,0.60,302.0,572.1,11.0,1717,13408,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2744,1830
$GC,13742,0.61,305.0,536.8,9.9,1778,13748,0.00,2.30,0.00,0.000,4,0.000,0.048,3054,3898,1830
$GC,13782,0.61,305.0,532.6,10.2,1785,13789,0.00,2.22,0.00,0.000,6,0.000,0.031,3054,2753,1830
$GC,14124,0.63,324.0,499.7,9.3,1846,14148,0.00,0.00,21.02,1.167,6,0.000,0.000,3054,2751,1750
$GC,14481,0.63,324.0,463.6,10.9,1910,14487,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2752,1748
$GC,14824,0.63,324.0,429.0,10.3,1971,14831,0.00,2.30,0.00,0.000,4,0.000,0.048,3054,3890,1747
$GC,14849,0.63,324.0,426.4,10.3,1975,14855,0.00,2.17,0.00,0.000,6,0.000,0.031,3054,2756,1747
$GC,15192,0.63,324.0,390.6,11.7,2036,15198,0.00,2.88,0.00,0.000,4,0.000,0.046,3054,1301,1747
$GC,15226,0.63,324.0,386.5,11.1,2042,15232,0.00,2.83,0.00,0.000,6,0.000,0.028,3054,2766,1746
$GC,15567,0.63,324.0,351.4,10.7,2103,15574,0.00,2.22,0.00,0.000,4,0.000,0.046,3054,3893,1746
$GC,15593,0.63,324.0,348.7,11.6,2107,15599,0.00,2.17,0.00,0.000,6,0.000,0.030,3054,2751,1746
$GC,15925,0.63,324.0,313.4,10.7,2168,15933,0.00,2.88,0.00,0.000,4,0.000,0.047,3054,1307,1746
$GC,15957,0.65,344.0,310.3,9.3,2173,15984,0.00,2.83,20.50,1.051,6,0.000,0.029,3054,2772,1668
$GC,16312,0.70,383.4,279.7,8.6,2237,16362,0.00,2.30,40.08,1.064,4,0.000,0.045,3054,3888,1507
$GC,16381,0.79,414.5,272.9,8.9,2248,16420,0.15,2.28,32.42,1.040,6,0.040,0.029,3091,2749,1381
$GC,16746,0.72,414.5,217.1,18.6,2314,16754,0.00,2.35,0.00,0.000,4,0.000,0.047,3091,3891,1373
$GC,16779,0.66,414.5,211.9,17.0,2319,16786,0.17,2.17,0.00,0.000,6,0.106,0.029,3064,2767,1373
$GC,17112,0.66,414.5,174.2,12.5,2380,17120,0.00,2.92,0.00,0.000,4,0.000,0.044,3064,1311,1371
$GC,17156,0.71,414.5,169.6,12.4,2387,17162,0.00,2.85,0.00,0.000,6,0.000,0.028,3064,2778,1370
$GC,17486,0.72,422.5,131.7,9.7,2448,17499,0.00,0.00,7.55,0.798,6,0.000,0.000,3064,2778,1347
$GC,17630,0.77,422.5,115.8,10.9,2474,17639,0.12,3.00,0.00,0.000,4,0.054,0.044,3091,1301,1347
$GC,17665,0.77,422.5,111.9,13.1,2479,17671,0.00,2.85,0.00,0.000,6,0.000,0.028,3091,2769,1346
$GC,17802,0.71,422.5,90.9,18.1,2504,17810,0.00,2.25,0.00,0.000,4,0.000,0.048,3091,3896,1346
$GC,17866,0.71,422.5,81.2,14.0,2515,17872,0.00,2.17,0.00,0.000,6,0.000,0.031,3091,2768,1346
$GC,18003,0.64,422.5,60.9,14.8,2540,18011,0.15,2.92,0.00,0.000,4,0.110,0.048,3065,1311,1346
$GC,18035,0.64,422.5,56.5,13.0,2545,18041,0.00,2.88,0.00,0.000,6,0.000,0.030,3064,2799,1345
$GC,18171,0.69,422.5,42.9,10.9,2570,18180,0.00,2.17,0.00,0.000,4,0.000,0.048,3065,3894,1345
$GC,18199,0.74,422.5,40.1,10.2,2574,18207,0.00,2.17,0.00,0.000,6,0.000,0.031,3065,2778,1345
$GC,18335,0.82,442.7,27.4,9.3,2599,18366,0.15,3.00,20.98,0.881,4,0.054,0.048,3100,1306,1265
$GC,18400,0.82,442.7,18.7,15.3,2609,18407,0.00,2.90,0.00,0.000,6,0.000,0.029,3100,2772,1264
$STATE,18506,end climb,SURFACE_DEPTH_REACHED
$STATE,18506,begin surface coast
$FINISH,0.2,1.026240
$STATE,18520,end surface coast,CONTROL_FINISHED_OK
$STATE,18520,begin surface
$SM_CCo,18598,0.00,0.000,0,0,1261,443.99
$SM_GC,0.84,8.35,0.00,0.00,0.040,0.000,0.000,1431,2255,1261,-6.79,0.14,443.99
$IRIDIUM_FIX,5841.97,-1916.41,080797,000047
$TT8_MAMPS,0.026845
$HUMID,1726
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,11.80
$XPDR_PINGS,823
$24V_AH,19.8,17.961
$10V_AH,9.7,15.157
$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,22.850,187.075,658.875,0.000,0.000,31.117,31.371,328.529,205.750,0.000,0.000,15.839,4003.194,7777.004,818.858,5727.020,786.419,0.000,2933.281,0.000,5736.200,0.000,0.468
$DEVICE_MAMPS,244.673,134.992,1548.573,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1823.711,1908.985,1155.490,1064.619,2746.688,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,196536,2631
$CAP_FILE_SIZE,216536,0
$CFSIZE,260165632,253054976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130408,105457,5902.461,-1929.150,31,2.1,50,-13.7