version: 66.03
glider: 142
mission: 5
dive: 56
start: 4 15 108 6 0 38
data:
$ID,142
$MISSION,5
$DIVE,56
$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,315
$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,-13711.967
$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,2300
$C_ROLL_CLIMB,2750
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$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
$GPS1,055107,5847.180,-2041.808,40,1.4,52,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-37.9
$GPS2,060020,5847.278,-2041.957,10,1.6,15,-14.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5854.914,-2045.899
$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,329.2,20000,-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,28,-0.86,-194.7,0.0,0.0,0,167,0.00,0.00,-136.85,0.000,2,0.000,0.000,1431,2290,3508
$GC,170,-0.86,-194.7,3.2,-4.6,19,201,10.88,2.85,-10.27,0.000,4,0.242,0.058,2722,890,3866
$GC,438,-0.79,-194.7,43.8,-13.6,68,446,0.10,2.75,0.00,0.000,6,0.123,0.030,2740,2304,3867
$GC,578,-0.74,-194.7,60.7,-12.2,93,584,0.00,2.83,0.00,0.000,4,0.000,0.048,2740,891,3867
$GC,699,-0.74,-194.7,75.7,-12.8,115,706,0.00,2.70,0.00,0.000,6,0.000,0.028,2740,2298,3867
$GC,835,-0.69,-194.7,92.3,-11.8,140,843,0.15,0.00,0.00,0.000,6,0.139,0.000,2764,2298,3867
$GC,975,-0.69,-194.7,106.5,-10.1,165,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2298,3867
$GC,1112,-0.69,-194.7,120.6,-10.1,190,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2298,3867
$GC,1251,-0.69,-194.7,134.8,-10.1,215,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2298,3867
$GC,1385,-0.69,-194.7,148.8,-10.5,240,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2298,3867
$GC,1524,-0.69,-194.7,162.8,-10.3,265,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2298,3867
$GC,1853,-0.69,-194.7,198.5,-10.7,326,1860,0.00,2.80,0.00,0.000,4,0.000,0.047,2764,898,3867
$GC,1899,-0.69,-194.7,203.5,-11.2,334,1907,0.00,2.67,0.00,0.000,6,0.000,0.029,2764,2287,3867
$GC,2232,-0.69,-194.7,238.6,-10.0,395,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2288,3867
$GC,2561,-0.69,-194.7,272.7,-10.2,456,2569,0.00,2.80,0.00,0.000,4,0.000,0.044,2764,3704,3867
$GC,2615,-0.69,-194.7,278.0,-9.9,465,2622,0.00,2.75,0.00,0.000,6,0.000,0.033,2764,2276,3867
$GC,2945,-0.69,-194.7,311.6,-10.1,526,2953,0.00,2.75,0.00,0.000,4,0.000,0.050,2763,887,3867
$GC,3002,-0.69,-194.7,317.6,-10.5,536,3010,0.00,2.67,0.00,0.000,6,0.000,0.029,2764,2283,3867
$GC,3334,-0.69,-194.7,351.3,-10.4,597,3341,0.00,2.75,0.00,0.000,4,0.000,0.044,2764,3700,3867
$GC,3392,-0.69,-194.7,357.0,-9.9,607,3398,0.00,2.72,0.00,0.000,6,0.000,0.032,2764,2281,3867
$GC,3734,-0.69,-194.7,391.1,-10.6,668,3740,0.00,2.72,0.00,0.000,4,0.000,0.049,2764,888,3867
$GC,3790,-0.69,-194.7,396.8,-10.0,678,3797,0.00,2.65,0.00,0.000,6,0.000,0.028,2764,2295,3867
$GC,4132,-0.69,-194.7,431.6,-10.4,739,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2295,3867
$GC,4471,-0.69,-194.7,466.7,-10.2,800,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2295,3867
$GC,4811,-0.69,-194.7,502.1,-10.2,861,4818,0.00,2.75,0.00,0.000,4,0.000,0.045,2764,3708,3867
$GC,4896,-0.69,-194.7,511.1,-10.4,876,4904,0.00,2.72,0.00,0.000,6,0.000,0.032,2764,2305,3867
$GC,5242,-0.69,-194.7,546.7,-10.1,937,5248,0.00,2.78,0.00,0.000,4,0.000,0.051,2764,889,3867
$GC,5299,-0.74,-194.7,553.0,-10.2,947,5306,0.00,2.67,0.00,0.000,6,0.000,0.028,2764,2299,3867
$GC,5641,-0.74,-194.7,586.7,-9.7,1008,5649,0.00,2.78,0.00,0.000,4,0.000,0.048,2764,3697,3867
$GC,5706,-0.78,-194.7,593.1,-9.7,1019,5713,0.00,2.70,0.00,0.000,6,0.000,0.035,2764,2300,3867
$GC,6034,-0.78,-194.7,623.0,-8.4,1056,6039,0.00,2.80,0.00,0.000,4,0.000,0.055,2764,887,3867
$GC,6085,-0.83,-194.7,627.5,-9.1,1060,6090,0.12,2.70,0.00,0.000,6,0.059,0.031,2738,2303,3867
$GC,6409,-0.83,-194.7,662.9,-11.1,1090,6410,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2303,3868
$GC,6729,-0.83,-194.7,698.3,-11.2,1120,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2303,3867
$GC,7046,-0.83,-194.7,733.7,-11.3,1150,7050,0.00,2.92,0.00,0.000,4,0.000,0.067,2738,887,3867
$GC,7096,-0.83,-194.7,739.8,-12.1,1154,7100,0.00,2.80,0.00,0.000,6,0.000,0.052,2738,2298,3867
$GC,7421,-0.83,-194.7,778.2,-11.8,1184,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2299,3867
$GC,7738,-0.83,-194.7,814.8,-11.6,1214,7743,0.00,3.12,0.00,0.000,4,0.000,0.100,2738,890,3867
$GC,7788,-0.83,-194.7,820.8,-12.3,1218,7793,0.00,2.97,0.00,0.000,6,0.000,0.078,2738,2292,3867
$GC,8114,-0.83,-194.7,856.3,-11.0,1248,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2292,3867
$GC,8431,-0.83,-194.7,890.3,-10.5,1278,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2292,3867
$GC,8749,-0.83,-194.7,923.8,-10.8,1308,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2292,3867
$GC,9068,-0.83,-194.7,957.5,-10.9,1338,9073,0.00,2.80,0.00,0.000,4,0.000,0.053,2738,887,3866
$GC,9123,-0.83,-194.7,964.1,-11.8,1342,9130,0.00,2.70,0.00,0.000,6,0.000,0.031,2738,2300,3866
$STATE,9372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9372,begin apogee
$GC,9378,-0.21,0.0,990.9,10.4,1366,9585,0.75,0.00,199.45,1.537,6,0.117,0.000,2866,2753,3071
$STATE,9586,end apogee,CONTROL_FINISHED_OK
$STATE,9586,begin climb
$GC,9588,0.86,194.7,997.0,0.0,1387,9804,1.38,2.58,204.12,1.485,4,0.081,0.058,3101,3894,2276
$GC,9910,0.69,194.7,959.0,16.1,1417,9917,0.20,2.38,0.00,0.000,6,0.122,0.034,3074,2743,2274
$GC,10235,0.57,194.7,919.2,12.1,1448,10240,0.15,2.40,0.00,0.000,4,0.123,0.051,3049,3906,2273
$GC,10274,0.51,194.7,915.0,10.5,1451,10278,0.00,2.28,0.00,0.000,6,0.000,0.031,3049,2751,2274
$GC,10604,0.48,212.3,882.8,9.4,1482,10629,0.15,2.42,18.10,1.328,4,0.117,0.051,3023,3896,2205
$GC,10651,0.57,289.2,878.9,7.3,1486,10739,0.00,2.25,80.53,1.434,6,0.000,0.031,3023,2764,1891
$GC,11057,0.71,356.4,847.2,7.7,1525,11134,0.22,3.03,69.90,1.404,4,0.048,0.048,3072,1342,1618
$GC,11146,0.65,356.4,835.8,14.8,1533,11151,0.00,2.95,0.00,0.000,6,0.000,0.031,3072,2767,1616
$GC,11471,0.59,356.4,790.7,12.8,1563,11475,0.15,2.30,0.00,0.000,4,0.107,0.050,3047,3904,1611
$GC,11497,0.59,356.4,787.6,11.0,1565,11504,0.00,2.25,0.00,0.000,6,0.000,0.031,3047,2760,1611
$GC,11824,0.62,381.8,758.5,9.1,1596,11856,0.00,2.97,26.40,1.313,4,0.000,0.046,3046,1342,1513
$GC,11867,0.65,406.9,754.3,9.1,1600,11901,0.00,2.85,27.83,1.318,6,0.000,0.031,3046,2754,1413
$GC,12228,0.73,433.0,722.9,9.1,1634,12263,0.15,2.97,28.42,1.296,4,0.054,0.046,3082,1342,1305
$GC,12274,0.69,433.0,717.2,12.1,1638,12280,0.00,2.85,0.00,0.000,6,0.000,0.031,3082,2747,1303
$GC,12600,0.62,433.0,664.3,16.9,1669,12605,0.15,2.33,0.00,0.000,4,0.109,0.049,3057,3903,1299
$GC,12620,0.62,433.0,660.6,15.0,1670,12627,0.00,2.28,0.00,0.000,6,0.000,0.030,3057,2749,1298
$GC,12947,0.62,433.0,625.3,10.7,1701,12951,0.00,2.83,0.00,0.000,4,0.000,0.046,3056,1336,1297
$GC,12963,0.66,433.0,623.5,10.7,1702,12968,0.00,2.75,0.00,0.000,6,0.000,0.029,3057,2750,1297
$GC,13294,0.68,451.9,589.8,9.3,1741,13321,0.00,2.90,19.65,1.197,4,0.000,0.045,3057,1346,1227
$GC,13348,0.78,478.6,584.6,9.1,1750,13385,0.17,2.75,30.25,1.236,6,0.048,0.030,3095,2737,1119
$GC,13721,0.67,478.6,517.7,17.4,1816,13728,0.15,2.30,0.00,0.000,4,0.110,0.046,3071,3890,1113
$GC,13775,0.67,478.6,509.7,12.5,1825,13782,0.00,2.22,0.00,0.000,6,0.000,0.030,3070,2742,1113
$GC,14117,0.67,478.6,470.6,11.8,1886,14123,0.00,2.78,0.00,0.000,4,0.000,0.044,3070,1344,1112
$GC,14140,0.67,478.6,467.8,11.5,1890,14147,0.00,2.70,0.00,0.000,6,0.000,0.029,3071,2742,1111
$GC,14483,0.67,478.6,429.1,11.6,1951,14489,0.00,2.78,0.00,0.000,4,0.000,0.044,3070,1345,1111
$GC,14501,0.67,478.6,426.9,11.6,1954,14507,0.00,2.67,0.00,0.000,6,0.000,0.030,3070,2725,1111
$GC,14840,0.67,478.6,388.9,11.4,2015,14847,0.00,2.75,0.00,0.000,4,0.000,0.044,3070,1342,1111
$GC,14855,0.67,478.6,387.4,11.3,2017,14861,0.00,2.65,0.00,0.000,6,0.000,0.030,3070,2715,1110
$GC,15195,0.67,478.6,349.4,10.1,2078,15202,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2715,1111
$GC,15528,0.67,478.6,313.9,11.0,2139,15535,0.00,2.72,0.00,0.000,4,0.000,0.044,3070,1339,1110
$GC,15547,0.67,478.6,311.7,10.7,2142,15555,0.00,2.67,0.00,0.000,6,0.000,0.031,3070,2712,1110
$GC,15881,0.67,478.6,276.1,10.9,2203,15887,0.00,2.72,0.00,0.000,4,0.000,0.044,3070,1337,1110
$GC,15896,0.67,478.6,274.7,10.7,2205,15902,0.00,2.62,0.00,0.000,6,0.000,0.030,3070,2705,1110
$GC,16225,0.67,478.6,238.7,11.5,2266,16233,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2704,1110
$GC,16561,0.71,478.6,203.1,10.8,2327,16567,0.00,2.70,0.00,0.000,4,0.000,0.044,3070,1339,1110
$GC,16586,0.77,478.6,200.4,10.5,2331,16592,0.00,2.60,0.00,0.000,6,0.000,0.030,3070,2698,1110
$GC,16918,0.81,478.6,164.6,11.0,2392,16925,0.12,0.00,0.00,0.000,6,0.054,0.000,3097,2699,1110
$GC,17252,0.72,478.6,106.1,17.1,2453,17258,0.00,2.33,0.00,0.000,4,0.000,0.045,3098,3891,1110
$GC,17299,0.67,478.6,97.5,17.2,2461,17305,0.20,2.33,0.00,0.000,6,0.106,0.031,3066,2676,1110
$GC,17437,0.74,478.6,81.5,10.0,2486,17444,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2675,1110
$GC,17577,0.92,555.4,69.0,7.3,2511,17658,0.22,0.00,75.88,0.946,6,0.045,0.000,3120,2675,805
$GC,17788,0.76,555.4,28.0,22.5,2548,17797,0.17,2.50,0.00,0.000,4,0.112,0.045,3091,3887,801
$GC,17825,0.76,555.4,21.9,13.9,2554,17833,0.00,2.40,0.00,0.000,6,0.000,0.031,3092,2682,801
$GC,17960,0.76,555.4,3.8,15.4,2579,17968,0.00,2.72,0.00,0.000,4,0.000,0.052,3091,1354,799
$STATE,17974,end climb,SURFACE_DEPTH_REACHED
$STATE,17974,begin surface coast
$FINISH,1.3,1.026198
$STATE,17981,end surface coast,CONTROL_FINISHED_OK
$STATE,17981,begin surface
$SM_CCo,18060,0.00,0.000,0,0,798,557.57
$SM_GC,0.56,8.52,0.00,0.00,0.049,0.000,0.000,1435,2321,798,-6.80,0.59,557.57
$IRIDIUM_FIX,5821.32,-2030.46,100797,000010
$TT8_MAMPS,0.026845
$HUMID,1734
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,12.30
$XPDR_PINGS,664
$24V_AH,19.8,20.890
$10V_AH,9.7,17.633
$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,24.125,181.925,780.525,0.000,0.000,28.592,33.503,342.790,166.000,0.000,0.000,17.342,3906.168,7336.422,888.129,5672.750,780.654,0.000,2997.409,0.000,5679.447,0.000,0.466
$DEVICE_MAMPS,241.605,100.477,1537.068,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1787.970,1871.701,1140.389,1050.921,2735.336,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,193069,2582
$CAP_FILE_SIZE,213157,0
$CFSIZE,260165632,251969536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150408,110238,5851.837,-2050.485,24,1.5,24,-14.4