version: 66.03
glider: 142
mission: 5
dive: 50
start: 4 13 108 21 57 52
data:
$ID,142
$MISSION,5
$DIVE,50
$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,-13565.49
$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,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
$GPS1,214557,5856.095,-1947.794,39,2.3,58,-13.8
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-51.2
$GPS2,215735,5856.006,-1947.905,13,3.0,32,-13.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5848.370,-1951.860
$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,238.8,20000,-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,-194.7,0.0,0.0,0,152,0.00,0.00,-121.90,0.000,2,0.000,0.000,1436,2272,3569
$GC,155,-0.86,-194.7,3.3,-5.1,17,179,10.80,2.80,-8.32,0.000,4,0.240,0.050,2724,3653,3867
$GC,208,-0.77,-194.7,13.9,-16.8,25,217,0.12,2.78,0.00,0.000,6,0.136,0.034,2745,2257,3868
$GC,345,-0.73,-194.7,31.6,-15.2,50,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2257,3868
$GC,479,-0.73,-194.7,48.8,-12.5,75,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2257,3868
$GC,617,-0.73,-194.7,66.5,-12.5,100,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2257,3868
$GC,756,-0.73,-194.7,83.8,-12.4,125,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2257,3868
$GC,890,-0.73,-194.7,100.1,-11.5,150,898,0.00,2.83,0.00,0.000,4,0.000,0.050,2745,842,3868
$GC,925,-0.73,-194.7,104.4,-12.1,156,933,0.00,2.70,0.00,0.000,6,0.000,0.028,2745,2239,3868
$GC,1065,-0.73,-194.7,120.4,-11.8,181,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2239,3868
$GC,1199,-0.73,-194.7,136.3,-12.3,206,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2239,3868
$GC,1337,-0.73,-194.7,152.5,-11.6,231,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2239,3868
$GC,1668,-0.73,-194.7,192.8,-12.2,292,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2240,3868
$GC,2000,-0.73,-194.7,233.2,-12.0,353,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2239,3868
$GC,2330,-0.73,-194.7,273.4,-12.0,414,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2239,3868
$GC,2663,-0.73,-194.7,313.2,-12.1,475,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2240,3868
$GC,2994,-0.73,-194.7,353.1,-11.8,536,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2240,3868
$GC,3334,-0.73,-194.7,394.1,-11.6,597,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2240,3868
$GC,3676,-0.73,-194.7,433.2,-11.7,658,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2240,3868
$GC,4015,-0.73,-194.7,470.6,-11.1,719,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2240,3868
$GC,4357,-0.73,-194.7,508.7,-11.1,780,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2240,3868
$GC,4702,-0.73,-194.7,548.1,-11.4,841,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2240,3868
$GC,5042,-0.73,-194.7,587.1,-11.3,902,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2241,3868
$GC,5371,-0.73,-194.7,623.5,-11.0,943,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2241,3868
$GC,5691,-0.73,-194.7,657.0,-10.0,973,5695,0.00,2.80,0.00,0.000,4,0.000,0.054,2745,3653,3868
$GC,5711,-0.73,-194.7,659.2,-10.1,974,5718,0.00,2.78,0.00,0.000,6,0.000,0.040,2745,2236,3868
$GC,6039,-0.73,-194.7,691.1,-9.7,1005,6044,0.00,2.88,0.00,0.000,4,0.000,0.057,2745,3654,3868
$GC,6056,-0.73,-194.7,693.0,-9.6,1006,6060,0.00,2.80,0.00,0.000,6,0.000,0.044,2745,2239,3868
$GC,6381,-0.73,-194.7,726.2,-10.3,1036,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2239,3868
$GC,6698,-0.73,-194.7,759.9,-10.6,1066,6703,0.00,2.95,0.00,0.000,4,0.000,0.074,2744,3652,3868
$GC,6738,-0.73,-194.7,764.1,-10.8,1069,6743,0.00,2.88,0.00,0.000,6,0.000,0.060,2745,2248,3868
$GC,7064,-0.73,-194.7,798.3,-10.3,1099,7065,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2247,3868
$GC,7383,-0.73,-194.7,829.1,-9.5,1129,7388,0.00,3.12,0.00,0.000,4,0.000,0.100,2745,3648,3868
$GC,7410,-0.73,-194.7,831.9,-10.7,1131,7415,0.00,3.05,0.00,0.000,6,0.000,0.091,2745,2258,3868
$GC,7736,-0.73,-194.7,864.3,-10.6,1161,7741,0.00,3.22,0.00,0.000,4,0.000,0.117,2745,3646,3868
$GC,7768,-0.73,-194.7,868.0,-11.0,1163,7774,0.00,3.17,0.00,0.000,6,0.000,0.108,2745,2256,3868
$GC,8094,-0.73,-194.7,902.2,-10.9,1194,8098,0.00,2.83,0.00,0.000,4,0.000,0.053,2745,3657,3868
$GC,8110,-0.73,-194.7,904.0,-10.8,1195,8114,0.00,2.78,0.00,0.000,6,0.000,0.039,2745,2239,3868
$GC,8435,-0.73,-194.7,938.8,-10.4,1225,8440,0.00,2.88,0.00,0.000,4,0.000,0.054,2745,3661,3867
$GC,8456,-0.73,-194.7,941.1,-10.3,1226,8463,0.00,2.75,0.00,0.000,6,0.000,0.041,2745,2265,3867
$GC,8784,-0.73,-194.7,972.9,-10.0,1257,8789,0.00,2.83,0.00,0.000,4,0.000,0.055,2745,3658,3867
$GC,8806,-0.73,-194.7,975.5,-9.6,1258,8812,0.00,2.72,0.00,0.000,6,0.000,0.041,2745,2272,3867
$STATE,8958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8958,begin apogee
$GC,8965,-0.21,0.0,990.3,9.5,1273,9172,0.73,0.00,200.45,1.542,6,0.130,0.000,2865,2714,3070
$STATE,9173,end apogee,CONTROL_FINISHED_OK
$STATE,9173,begin climb
$GC,9175,0.86,194.7,996.4,0.0,1294,9390,1.38,2.67,204.35,1.493,4,0.081,0.056,3101,3897,2277
$GC,9554,0.68,194.7,950.1,15.5,1329,9561,0.20,2.45,0.00,0.000,6,0.130,0.033,3074,2700,2274
$GC,9879,0.57,194.7,909.7,12.0,1360,9884,0.17,2.47,0.00,0.000,4,0.127,0.050,3046,3892,2273
$GC,9952,0.57,194.7,901.8,10.5,1366,9956,0.00,2.30,0.00,0.000,6,0.000,0.032,3046,2727,2273
$GC,10284,0.54,209.4,869.8,9.5,1397,10305,0.00,2.45,15.23,1.307,4,0.000,0.052,3046,3900,2217
$GC,10332,0.54,209.4,864.7,10.3,1401,10339,0.00,2.33,0.00,0.000,6,0.000,0.031,3046,2741,2216
$GC,10659,0.53,231.8,834.5,9.2,1432,10691,0.00,2.45,23.60,1.360,4,0.000,0.058,3046,3890,2125
$GC,10718,0.54,245.1,828.7,9.5,1437,10739,0.00,2.28,15.18,1.309,6,0.000,0.031,3046,2749,2071
$GC,11058,0.55,251.2,796.0,9.8,1469,11069,0.00,0.00,7.35,1.109,6,0.000,0.000,3046,2747,2047
$GC,11388,0.55,251.2,762.3,10.5,1500,11392,0.00,2.35,0.00,0.000,4,0.000,0.050,3046,3903,2046
$GC,11420,0.55,251.2,758.6,10.8,1502,11426,0.00,2.25,0.00,0.000,6,0.000,0.031,3046,2763,2046
$GC,11748,0.55,251.2,725.1,10.4,1533,11749,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2762,2045
$GC,12063,0.55,251.2,693.5,10.1,1563,12064,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2762,2045
$GC,12383,0.56,261.9,662.1,9.6,1593,12401,0.00,0.00,11.95,1.177,6,0.000,0.000,3046,2761,2002
$GC,12720,0.58,276.7,629.4,9.5,1625,12742,0.00,2.33,15.98,1.212,4,0.000,0.049,3046,3898,1943
$GC,12770,0.59,284.6,624.5,9.7,1629,12786,0.00,2.20,9.73,1.134,6,0.000,0.029,3046,2768,1910
$GC,13108,0.59,287.1,591.8,9.9,1668,13117,0.00,2.97,0.00,0.000,4,0.000,0.047,3046,1300,1908
$GC,13139,0.61,299.9,588.6,9.6,1673,13162,0.00,2.92,16.33,1.185,6,0.000,0.029,3046,2791,1848
$GC,13497,0.63,316.4,553.1,9.4,1737,13522,0.00,3.05,17.95,1.171,4,0.000,0.044,3046,1304,1780
$GC,13545,0.63,319.7,548.1,9.9,1745,13558,0.00,2.92,5.05,0.867,6,0.000,0.031,3046,2772,1766
$GC,13893,0.64,321.8,513.4,9.9,1807,13898,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2772,1765
$GC,14233,0.65,335.6,479.7,9.5,1868,14256,0.00,2.97,16.83,1.121,4,0.000,0.044,3046,1303,1702
$GC,14280,0.70,336.6,475.3,10.0,1876,14286,0.12,2.90,0.00,0.000,6,0.054,0.030,3072,2770,1701
$GC,14621,0.65,336.6,432.3,13.2,1937,14627,0.00,2.22,0.00,0.000,4,0.000,0.048,3072,3896,1699
$GC,14677,0.65,336.6,424.9,12.7,1947,14684,0.00,2.22,0.00,0.000,6,0.000,0.030,3072,2756,1699
$GC,15020,0.60,336.6,382.1,12.3,2008,15026,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2749,1699
$GC,15361,0.56,336.6,340.8,12.1,2069,15368,0.17,2.28,0.00,0.000,4,0.107,0.046,3043,3897,1698
$GC,15409,0.66,372.7,335.6,8.7,2077,15453,0.00,2.15,37.65,1.098,6,0.000,0.028,3043,2768,1551
$GC,15781,0.82,437.4,305.2,7.8,2144,15857,0.25,3.10,65.65,1.079,4,0.044,0.043,3099,1304,1285
$GC,15909,0.82,437.4,286.4,14.0,2165,15915,0.00,2.92,0.00,0.000,6,0.000,0.028,3099,2763,1282
$GC,16241,0.72,437.4,230.1,16.6,2226,16250,0.15,2.28,0.00,0.000,4,0.112,0.045,3077,3893,1278
$GC,16328,0.72,437.4,218.8,11.4,2241,16335,0.00,2.20,0.00,0.000,6,0.000,0.029,3077,2770,1277
$GC,16662,0.72,437.4,178.7,12.1,2302,16670,0.00,2.92,0.00,0.000,4,0.000,0.044,3077,1309,1276
$GC,16716,0.76,468.1,172.6,8.9,2311,16754,0.00,2.83,29.92,0.971,6,0.000,0.028,3077,2767,1161
$GC,17083,0.76,468.1,126.8,13.9,2377,17088,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2768,1156
$GC,17217,0.76,468.1,106.6,13.9,2402,17225,0.00,2.97,0.00,0.000,4,0.000,0.044,3077,1301,1156
$GC,17250,0.76,468.1,102.8,12.0,2407,17256,0.00,2.85,0.00,0.000,6,0.000,0.029,3077,2764,1155
$GC,17385,0.76,468.1,85.7,12.8,2432,17393,0.00,2.25,0.00,0.000,4,0.000,0.046,3077,3894,1155
$GC,17409,0.76,468.1,82.9,11.2,2436,17417,0.00,2.25,0.00,0.000,6,0.000,0.031,3077,2745,1155
$GC,17549,0.76,468.1,67.0,11.6,2461,17555,0.00,2.88,0.00,0.000,4,0.000,0.047,3077,1298,1155
$GC,17589,0.76,468.1,62.2,11.3,2468,17597,0.00,2.80,0.00,0.000,6,0.000,0.030,3077,2729,1154
$GC,17728,0.76,468.1,46.1,11.8,2493,17736,0.00,2.33,0.00,0.000,4,0.000,0.046,3077,3891,1154
$GC,17760,0.76,468.1,42.3,11.5,2498,17766,0.00,2.30,0.00,0.000,6,0.000,0.032,3077,2716,1153
$GC,17893,0.76,468.1,26.3,10.9,2523,17901,0.00,2.83,0.00,0.000,4,0.000,0.047,3077,1305,1154
$GC,17929,0.76,468.1,21.8,13.7,2529,17937,0.00,2.75,0.00,0.000,6,0.000,0.029,3077,2715,1153
$GC,18064,0.76,468.1,5.6,12.0,2554,18072,0.00,2.35,0.00,0.000,4,0.000,0.046,3077,3893,1153
$GC,18090,0.76,468.1,2.3,12.4,2558,18098,0.00,2.30,0.00,0.000,6,0.000,0.031,3077,2713,1153
$STATE,18104,end climb,SURFACE_DEPTH_REACHED
$STATE,18104,begin surface coast
$FINISH,0.2,1.015480
$STATE,18122,end surface coast,CONTROL_FINISHED_OK
$STATE,18122,begin surface
$SM_CCo,18200,0.00,0.000,0,0,1152,470.73
$SM_GC,0.75,8.32,0.00,0.00,0.049,0.000,0.000,1429,2244,1152,-6.80,-0.17,470.73
$IRIDIUM_FIX,5837.82,-1940.07,080797,161616
$TT8_MAMPS,0.026078
$HUMID,1730
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,12.30
$XPDR_PINGS,823
$24V_AH,19.8,18.894
$10V_AH,9.7,15.981
$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,22.425,161.625,693.175,0.000,0.000,60.482,61.398,343.705,205.750,0.000,0.000,34.436,3883.455,7702.199,819.641,5595.950,864.898,0.000,2898.886,0.000,5598.287,0.000,0.466
$DEVICE_MAMPS,240.071,117.351,1542.437,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1777.451,1866.932,1137.078,1042.393,2676.694,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,189961,2563
$CAP_FILE_SIZE,210549,0
$CFSIZE,260165632,252694528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140408,030225,5851.896,-1957.383,38,1.4,38,-13.9