version: 66.03
glider: 142
mission: 5
dive: 52
start: 4 14 108 8 48 4
data:
$ID,142
$MISSION,5
$DIVE,52
$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,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,-13614.919
$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,23
$R_STBD_OVSHOOT,32
$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
$GPS1,083531,5847.707,-2007.245,40,1.3,40,-13.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-49.5
$GPS2,084745,5847.627,-2007.421,12,1.0,12,-14.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5847.627,-2013.016
$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,284.0,20000,-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,-194.7,0.0,0.0,0,173,0.00,0.00,-143.80,0.000,2,0.000,0.000,1432,2272,3617
$GC,176,-0.86,-194.7,3.6,-5.7,20,200,10.85,2.88,-6.60,0.000,4,0.239,0.057,2723,842,3864
$GC,285,-0.79,-194.7,22.3,-13.0,39,293,0.10,2.75,0.00,0.000,6,0.116,0.029,2740,2242,3865
$GC,422,-0.75,-194.7,38.6,-12.5,64,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2242,3865
$GC,557,-0.69,-194.7,56.3,-12.5,89,563,0.15,0.00,0.00,0.000,6,0.140,0.000,2764,2242,3866
$GC,692,-0.69,-194.7,71.3,-9.3,114,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2242,3866
$GC,831,-0.69,-194.7,85.0,-10.1,139,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2242,3865
$GC,965,-0.69,-194.7,97.5,-8.9,164,973,0.00,2.80,0.00,0.000,4,0.000,0.043,2764,3655,3865
$GC,1000,-0.69,-194.7,100.6,-10.0,169,1006,0.00,2.75,0.00,0.000,6,0.000,0.034,2764,2245,3865
$GC,1135,-0.69,-194.7,114.7,-11.1,194,1143,0.00,2.80,0.00,0.000,4,0.000,0.049,2764,842,3865
$GC,1177,-0.69,-194.7,119.3,-11.3,201,1184,0.00,2.72,0.00,0.000,6,0.000,0.029,2764,2269,3866
$GC,1315,-0.69,-194.7,133.6,-9.9,226,1323,0.00,2.72,0.00,0.000,4,0.000,0.043,2764,3649,3865
$GC,1361,-0.69,-194.7,138.5,-10.2,234,1369,0.00,2.75,0.00,0.000,6,0.000,0.034,2764,2250,3865
$GC,1501,-0.69,-194.7,152.6,-10.1,259,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2250,3865
$GC,1830,-0.69,-194.7,186.0,-10.3,320,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2250,3865
$GC,2163,-0.69,-194.7,218.9,-9.9,381,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2250,3865
$GC,2493,-0.69,-194.7,252.7,-10.2,442,2501,0.00,2.78,0.00,0.000,4,0.000,0.044,2764,3647,3865
$GC,2539,-0.69,-194.7,257.3,-10.3,450,2548,0.00,2.70,0.00,0.000,6,0.000,0.032,2764,2260,3865
$GC,2873,-0.69,-194.7,290.6,-10.1,511,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2259,3865
$GC,3203,-0.69,-194.7,323.6,-9.7,572,3211,0.00,2.75,0.00,0.000,4,0.000,0.043,2764,3647,3865
$GC,3246,-0.69,-194.7,327.5,-9.7,579,3252,0.00,2.65,0.00,0.000,6,0.000,0.032,2764,2265,3865
$GC,3582,-0.69,-194.7,360.2,-10.3,640,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2264,3865
$GC,3923,-0.69,-194.7,394.8,-9.9,701,3929,0.00,2.72,0.00,0.000,4,0.000,0.043,2764,3652,3865
$GC,3970,-0.69,-194.7,399.5,-10.0,709,3976,0.00,2.67,0.00,0.000,6,0.000,0.032,2764,2258,3865
$GC,4311,-0.69,-194.7,433.2,-9.5,770,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2258,3865
$GC,4651,-0.69,-194.7,466.8,-10.1,831,4658,0.00,2.72,0.00,0.000,4,0.000,0.044,2764,3651,3865
$GC,4688,-0.69,-194.7,470.5,-11.0,837,4694,0.00,2.65,0.00,0.000,6,0.000,0.033,2764,2265,3865
$GC,5030,-0.69,-194.7,505.2,-9.5,898,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2265,3865
$GC,5370,-0.69,-194.7,538.2,-9.9,959,5376,0.00,2.75,0.00,0.000,4,0.000,0.045,2764,3659,3865
$GC,5404,-0.69,-194.7,541.5,-9.8,965,5410,0.00,2.67,0.00,0.000,6,0.000,0.033,2764,2270,3865
$GC,5745,-0.69,-194.7,574.5,-9.9,1026,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2270,3865
$GC,6088,-0.69,-194.7,608.8,-10.0,1080,6092,0.00,2.75,0.00,0.000,4,0.000,0.049,2764,3653,3865
$GC,6126,-0.69,-194.7,612.6,-10.1,1083,6131,0.00,2.67,0.00,0.000,6,0.000,0.035,2764,2272,3865
$GC,6452,-0.69,-194.7,644.2,-10.3,1113,6453,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2272,3865
$GC,6771,-0.69,-194.7,675.5,-9.4,1143,6775,0.00,2.78,0.00,0.000,4,0.000,0.056,2764,3649,3865
$GC,6815,-0.73,-194.7,680.1,-9.9,1146,6821,0.00,2.67,0.00,0.000,6,0.000,0.042,2764,2288,3865
$GC,7143,-0.73,-194.7,709.6,-8.8,1177,7148,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2287,3865
$GC,7468,-0.73,-194.7,739.2,-9.0,1208,7473,0.00,2.83,0.00,0.000,4,0.000,0.066,2764,3654,3865
$GC,7508,-0.77,-194.7,742.9,-9.7,1211,7513,0.00,2.75,0.00,0.000,6,0.000,0.051,2764,2288,3865
$GC,7834,-0.77,-194.7,772.6,-9.3,1241,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2287,3865
$GC,8152,-0.77,-194.7,801.8,-9.0,1271,8157,0.00,2.95,0.00,0.000,4,0.000,0.091,2764,3649,3865
$GC,8196,-0.82,-194.7,806.0,-9.2,1274,8202,0.00,2.85,0.00,0.000,6,0.000,0.075,2764,2303,3864
$GC,8523,-0.82,-194.7,834.7,-8.2,1305,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2302,3864
$GC,8848,-0.82,-194.7,861.6,-8.1,1336,8853,0.00,3.10,0.00,0.000,4,0.000,0.114,2764,3648,3864
$GC,8899,-0.87,-194.7,865.7,-8.0,1340,8904,0.17,3.03,0.00,0.000,6,0.064,0.104,2730,2309,3864
$GC,9223,-0.82,-194.7,900.9,-11.2,1370,9228,0.00,2.92,0.00,0.000,4,0.000,0.054,2730,832,3864
$GC,9300,-0.82,-194.7,910.1,-11.7,1376,9307,0.00,2.80,0.00,0.000,6,0.000,0.031,2730,2295,3864
$GC,9627,-0.78,-194.7,946.9,-11.5,1407,9628,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2296,3864
$GC,9944,-0.78,-194.7,984.1,-11.5,1437,9948,0.00,2.72,0.00,0.000,4,0.000,0.056,2730,3655,3864
$GC,9975,-0.78,-194.7,987.9,-11.8,1439,9982,0.00,2.67,0.00,0.000,6,0.000,0.041,2730,2297,3863
$STATE,10001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10001,begin apogee
$GC,10007,-0.21,0.0,990.9,11.2,1442,10214,0.80,0.00,199.35,1.539,6,0.121,0.000,2866,2712,3071
$STATE,10215,end apogee,CONTROL_FINISHED_OK
$STATE,10215,begin climb
$GC,10217,0.86,194.7,997.8,0.0,1463,10433,1.35,2.65,204.25,1.491,4,0.081,0.055,3098,3889,2277
$GC,10606,0.69,194.7,952.1,14.9,1499,10613,0.17,2.42,0.00,0.000,6,0.127,0.035,3074,2706,2274
$GC,10931,0.58,194.7,911.0,12.4,1530,10936,0.15,2.47,0.00,0.000,4,0.120,0.050,3049,3900,2274
$GC,10997,0.53,194.7,903.7,10.5,1535,11004,0.00,2.33,0.00,0.000,6,0.000,0.033,3049,2727,2273
$GC,11324,0.49,208.8,872.2,9.5,1566,11346,0.12,2.45,14.73,1.295,4,0.114,0.052,3031,3900,2218
$GC,11369,0.55,260.3,868.0,8.2,1570,11431,0.00,2.30,53.47,1.425,6,0.000,0.032,3031,2738,2010
$GC,11749,0.63,321.4,837.0,7.9,1606,11821,0.15,3.08,63.92,1.406,4,0.060,0.050,3063,1301,1759
$GC,11827,0.57,321.4,828.5,11.7,1613,11833,0.00,2.97,0.00,0.000,6,0.000,0.030,3064,2742,1758
$GC,12153,0.53,321.4,790.3,11.8,1644,12158,0.15,2.33,0.00,0.000,4,0.107,0.048,3038,3894,1753
$GC,12192,0.54,334.5,786.1,9.5,1647,12213,0.00,2.25,13.40,1.238,6,0.000,0.032,3038,2749,1707
$GC,12532,0.65,386.2,757.5,8.2,1679,12595,0.12,3.05,55.45,1.362,4,0.058,0.048,3063,1308,1495
$GC,12610,0.65,386.2,748.5,11.7,1686,12617,0.00,2.95,0.00,0.000,6,0.000,0.030,3063,2748,1492
$GC,12938,0.65,386.2,709.1,12.5,1717,12940,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2749,1488
$GC,13253,0.65,386.2,668.8,12.7,1747,13254,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2749,1487
$GC,13574,0.65,386.2,628.6,12.7,1777,13575,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2749,1487
$GC,13894,0.65,386.2,588.8,12.2,1815,13901,0.00,2.90,0.00,0.000,4,0.000,0.045,3063,1299,1486
$GC,13907,0.65,386.2,587.1,12.6,1817,13913,0.00,2.83,0.00,0.000,6,0.000,0.030,3063,2749,1485
$GC,14247,0.65,386.2,545.6,12.4,1878,14254,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2749,1485
$GC,14589,0.65,386.2,505.5,11.5,1939,14595,0.00,2.90,0.00,0.000,4,0.000,0.044,3063,1297,1485
$GC,14608,0.65,386.2,503.3,11.6,1942,14614,0.00,2.78,0.00,0.000,6,0.000,0.030,3063,2731,1485
$GC,14948,0.65,386.2,464.1,11.5,2003,14954,0.00,2.30,0.00,0.000,4,0.000,0.048,3063,3897,1485
$GC,14965,0.65,386.2,462.1,12.6,2006,14971,0.00,2.25,0.00,0.000,6,0.000,0.030,3063,2720,1485
$GC,15306,0.65,386.2,422.9,11.7,2067,15312,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2719,1485
$GC,15648,0.65,386.2,384.6,11.6,2128,15654,0.00,2.35,0.00,0.000,4,0.000,0.048,3063,3898,1485
$GC,15666,0.65,386.2,382.5,11.6,2131,15672,0.00,2.22,0.00,0.000,6,0.000,0.030,3063,2729,1485
$GC,16007,0.65,386.2,344.8,10.1,2192,16015,0.00,2.83,0.00,0.000,4,0.000,0.047,3063,1310,1485
$GC,16021,0.65,386.2,343.1,10.3,2194,16029,0.00,2.78,0.00,0.000,6,0.000,0.030,3063,2737,1485
$GC,16354,0.65,386.2,305.4,11.1,2255,16359,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2737,1484
$GC,16681,0.65,386.2,268.8,11.3,2316,16689,0.00,2.88,0.00,0.000,4,0.000,0.044,3063,1300,1484
$GC,16695,0.65,386.2,267.3,10.8,2318,16703,0.00,2.78,0.00,0.000,6,0.000,0.029,3063,2734,1484
$GC,17030,0.65,386.2,230.3,10.4,2379,17036,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2734,1484
$GC,17360,0.65,386.2,194.3,10.1,2440,17368,0.00,2.85,0.00,0.000,4,0.000,0.044,3063,1306,1484
$GC,17374,0.66,394.5,192.8,9.7,2442,17387,0.00,2.75,7.12,0.820,6,0.000,0.029,3063,2727,1462
$GC,17712,0.67,404.1,157.9,9.7,2504,17726,0.00,0.00,11.18,0.904,6,0.000,0.000,3063,2727,1423
$GC,18049,0.67,406.5,124.1,9.9,2566,18058,0.00,2.90,3.60,0.566,4,0.000,0.043,3063,1297,1414
$GC,18075,0.72,406.5,121.4,10.3,2570,18083,0.00,2.78,0.00,0.000,6,0.000,0.029,3063,2721,1414
$GC,18216,0.78,455.0,107.9,8.3,2595,18272,0.12,0.00,49.60,0.969,6,0.055,0.000,3090,2721,1215
$GC,18403,0.72,455.0,81.1,16.2,2628,18410,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2721,1211
$GC,18543,0.67,455.0,60.6,14.9,2653,18549,0.15,2.33,0.00,0.000,4,0.105,0.044,3064,3893,1209
$GC,18557,0.63,455.0,58.3,15.2,2655,18564,0.00,2.30,0.00,0.000,6,0.000,0.031,3064,2711,1209
$GC,18695,0.76,504.0,45.2,8.3,2680,18755,0.00,2.95,48.85,0.915,4,0.000,0.047,3064,1300,1014
$GC,18774,0.86,504.0,38.0,10.0,2691,18782,0.17,2.83,0.00,0.000,6,0.036,0.028,3108,2703,1012
$GC,18911,0.76,504.0,16.2,18.8,2716,18919,0.12,2.40,0.00,0.000,4,0.112,0.044,3090,3885,1010
$GC,18938,0.70,504.0,11.0,19.5,2720,18946,0.00,2.35,0.00,0.000,6,0.000,0.032,3090,2707,1010
$STATE,18998,end climb,SURFACE_DEPTH_REACHED
$STATE,18999,begin surface coast
$FINISH,0.3,1.017514
$STATE,19016,end surface coast,CONTROL_FINISHED_OK
$STATE,19017,begin surface
$SM_CCo,19095,0.00,0.000,0,0,1008,506.05
$SM_GC,0.72,8.50,0.00,0.00,0.048,0.000,0.000,1433,2239,1008,-6.79,-0.34,506.05
$IRIDIUM_FIX,5825.43,-2007.14,090797,080843
$TT8_MAMPS,0.026845
$HUMID,1743
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,12.20
$XPDR_PINGS,692
$24V_AH,19.8,19.538
$10V_AH,9.7,16.554
$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,23.375,180.000,724.925,0.000,0.000,59.852,68.924,388.423,173.000,0.000,0.000,13.575,4154.744,7831.289,867.608,6028.053,914.987,0.000,3090.304,0.000,6027.726,0.000,0.466
$DEVICE_MAMPS,239.304,114.283,1539.369,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1889.878,1986.773,1224.491,1122.994,2920.742,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,205566,2734
$CAP_FILE_SIZE,228812,0
$CFSIZE,260165632,252428288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140408,140731,5846.315,-2017.910,37,1.9,37,-14.0