version: 66.03
glider: 142
mission: 5
dive: 58
start: 4 15 108 16 44 51
data:
$ID,142
$MISSION,5
$DIVE,58
$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,-13765.577
$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,33
$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
$GPS1,162811,5858.181,-2059.671,26,1.4,30,-14.5
$_CALLS,3
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-34.9
$GPS2,164432,5858.505,-2100.021,11,1.5,16,-14.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5906.142,-2103.942
$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,329.5,20000,-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,-194.7,0.0,0.0,0,166,0.00,0.00,-136.80,0.000,2,0.000,0.000,1432,2280,3496
$GC,169,-0.86,-194.7,3.2,-5.3,19,200,10.48,2.80,-10.10,0.000,4,0.229,0.054,2723,903,3866
$GC,436,-0.78,-194.7,44.6,-18.7,68,444,0.12,2.72,0.00,0.000,6,0.126,0.030,2745,2297,3868
$GC,576,-0.73,-194.7,65.1,-13.1,93,583,0.00,2.80,0.00,0.000,4,0.000,0.047,2745,897,3868
$GC,753,-0.73,-194.7,86.7,-14.0,125,759,0.00,2.72,0.00,0.000,6,0.000,0.030,2745,2309,3868
$GC,889,-0.69,-194.7,105.0,-14.5,150,897,0.15,0.00,0.00,0.000,6,0.127,0.000,2769,2309,3868
$GC,1028,-0.69,-194.7,120.2,-10.4,175,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2309,3868
$GC,1162,-0.69,-194.7,134.8,-10.7,200,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2309,3868
$GC,1301,-0.69,-194.7,149.3,-10.9,225,1308,0.00,2.80,0.00,0.000,4,0.000,0.047,2769,898,3867
$GC,1341,-0.73,-194.7,153.8,-11.2,232,1349,0.00,2.65,0.00,0.000,6,0.000,0.029,2769,2271,3867
$GC,1677,-0.73,-194.7,187.7,-9.8,293,1683,0.00,2.80,0.00,0.000,4,0.000,0.043,2769,3699,3868
$GC,1734,-0.73,-194.7,193.3,-9.8,303,1741,0.00,2.75,0.00,0.000,6,0.000,0.031,2769,2269,3868
$GC,2065,-0.73,-194.7,225.5,-9.7,364,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2269,3868
$GC,2398,-0.73,-194.7,258.5,-9.5,425,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2269,3868
$GC,2728,-0.73,-194.7,291.7,-10.1,486,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2269,3868
$GC,3061,-0.73,-194.7,325.4,-10.1,547,3067,0.00,2.83,0.00,0.000,4,0.000,0.044,2769,3700,3868
$GC,3133,-0.77,-194.7,332.9,-10.5,560,3141,0.00,2.78,0.00,0.000,6,0.000,0.032,2769,2276,3868
$GC,3471,-0.77,-194.7,367.4,-10.2,621,3478,0.00,2.70,0.00,0.000,4,0.000,0.048,2769,885,3868
$GC,3513,-0.82,-194.7,371.6,-10.2,628,3520,0.15,2.65,0.00,0.000,6,0.057,0.029,2738,2285,3868
$GC,3856,-0.78,-194.7,413.5,-11.9,689,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2286,3868
$GC,4196,-0.74,-194.7,454.0,-11.9,750,4203,0.00,2.72,0.00,0.000,4,0.000,0.047,2738,891,3868
$GC,4271,-0.74,-194.7,463.2,-12.8,763,4277,0.00,2.62,0.00,0.000,6,0.000,0.029,2738,2275,3868
$GC,4613,-0.70,-194.7,505.7,-12.6,824,4619,0.15,0.00,0.00,0.000,6,0.120,0.000,2764,2276,3867
$GC,4953,-0.70,-194.7,539.5,-9.5,885,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2276,3867
$GC,5295,-0.70,-194.7,572.6,-9.7,946,5301,0.00,2.80,0.00,0.000,4,0.000,0.048,2764,3700,3867
$GC,5364,-0.70,-194.7,579.4,-9.7,958,5370,0.00,2.78,0.00,0.000,6,0.000,0.035,2764,2266,3868
$GC,5699,-0.70,-194.7,611.1,-9.2,1008,5704,0.00,2.72,0.00,0.000,4,0.000,0.054,2764,887,3867
$GC,5751,-0.74,-194.7,616.0,-9.5,1012,5755,0.00,2.62,0.00,0.000,6,0.000,0.030,2764,2269,3867
$GC,6076,-0.74,-194.7,646.7,-9.5,1042,6081,0.00,2.88,0.00,0.000,4,0.000,0.054,2764,3712,3867
$GC,6142,-0.74,-194.7,653.2,-9.4,1047,6149,0.00,2.83,0.00,0.000,6,0.000,0.040,2764,2267,3867
$GC,6469,-0.74,-194.7,684.4,-9.7,1078,6473,0.00,2.78,0.00,0.000,4,0.000,0.064,2764,891,3867
$GC,6513,-0.79,-194.7,688.9,-9.8,1081,6519,0.00,2.67,0.00,0.000,6,0.000,0.036,2764,2276,3867
$GC,6840,-0.79,-194.7,719.6,-9.5,1112,6845,0.00,2.92,0.00,0.000,4,0.000,0.064,2764,3712,3867
$GC,6901,-0.79,-194.7,725.7,-9.3,1117,6906,0.00,2.85,0.00,0.000,6,0.000,0.049,2764,2288,3867
$GC,7227,-0.79,-194.7,755.1,-9.4,1147,7232,0.00,2.95,0.00,0.000,4,0.000,0.081,2764,884,3866
$GC,7271,-0.83,-194.7,759.7,-10.1,1150,7278,0.15,2.83,0.00,0.000,6,0.055,0.054,2733,2288,3867
$GC,7595,-0.79,-194.7,797.5,-11.7,1181,7597,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2288,3866
$GC,7914,-0.79,-194.7,834.6,-11.7,1211,7915,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2288,3866
$GC,8233,-0.79,-194.7,871.5,-11.7,1241,8238,0.00,3.35,0.00,0.000,4,0.000,0.130,2733,886,3866
$GC,8298,-0.79,-194.7,879.5,-12.2,1246,8305,0.00,3.15,0.00,0.000,6,0.000,0.107,2733,2273,3865
$GC,8625,-0.79,-194.7,916.4,-11.1,1277,8629,0.00,2.88,0.00,0.000,4,0.000,0.051,2733,3720,3865
$GC,8679,-0.79,-194.7,922.8,-11.2,1281,8686,0.00,2.83,0.00,0.000,6,0.000,0.038,2733,2279,3865
$GC,9005,-0.79,-194.7,959.0,-11.3,1312,9010,0.00,2.80,0.00,0.000,4,0.000,0.061,2733,886,3865
$GC,9089,-0.79,-194.7,968.8,-11.3,1319,9093,0.00,2.72,0.00,0.000,6,0.000,0.033,2733,2299,3865
$STATE,9283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9283,begin apogee
$GC,9290,-0.21,0.0,990.6,11.2,1337,9497,0.80,0.00,200.35,1.546,6,0.125,0.000,2867,2754,3070
$STATE,9498,end apogee,CONTROL_FINISHED_OK
$STATE,9498,begin climb
$GC,9500,0.86,194.7,997.7,0.0,1358,9715,1.35,2.58,205.05,1.491,4,0.082,0.057,3098,3896,2276
$GC,9840,0.69,194.7,958.2,15.6,1390,9845,0.17,2.38,0.00,0.000,6,0.123,0.035,3074,2746,2273
$GC,10164,0.57,194.7,915.6,12.8,1420,10169,0.17,2.40,0.00,0.000,4,0.118,0.051,3046,3898,2273
$GC,10192,0.50,194.7,912.2,11.8,1422,10196,0.00,2.28,0.00,0.000,6,0.000,0.032,3046,2753,2272
$GC,10516,0.45,194.7,878.7,10.3,1452,10518,0.17,0.00,0.00,0.000,6,0.110,0.000,3019,2753,2272
$GC,10836,0.55,273.2,854.1,7.3,1482,10918,0.00,0.00,80.00,1.439,6,0.000,0.000,3019,2753,1957
$GC,11234,0.68,331.9,824.7,8.0,1520,11306,0.22,3.00,61.00,1.406,4,0.049,0.048,3066,1342,1716
$GC,11311,0.63,331.9,815.4,13.1,1527,11317,0.00,2.95,0.00,0.000,6,0.000,0.031,3066,2771,1715
$GC,11637,0.58,331.9,773.4,12.9,1558,11638,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2771,1711
$GC,11956,0.54,331.9,733.1,12.5,1588,11960,0.15,2.28,0.00,0.000,4,0.107,0.051,3040,3905,1710
$GC,11972,0.54,331.9,730.9,12.3,1589,11976,0.00,2.22,0.00,0.000,6,0.000,0.031,3040,2761,1709
$GC,12303,0.55,340.5,699.8,9.7,1620,12317,0.00,2.90,8.57,1.114,4,0.000,0.048,3040,1343,1682
$GC,12324,0.56,350.3,697.6,9.7,1622,12345,0.00,2.80,12.00,1.210,6,0.000,0.031,3040,2762,1641
$GC,12664,0.65,379.4,665.4,9.0,1654,12705,0.00,3.03,31.50,1.301,4,0.000,0.044,3040,1335,1522
$GC,12711,0.77,431.0,661.1,8.2,1658,12778,0.25,2.85,56.33,1.308,6,0.043,0.031,3091,2749,1312
$GC,13096,0.69,431.0,598.4,16.3,1695,13103,0.00,2.35,0.00,0.000,4,0.000,0.051,3091,3893,1304
$GC,13123,0.62,431.0,594.2,17.0,1699,13130,0.22,2.22,0.00,0.000,6,0.107,0.031,3056,2758,1304
$GC,13464,0.66,431.0,558.6,10.1,1760,13471,0.00,2.85,0.00,0.000,4,0.000,0.046,3056,1334,1301
$GC,13495,0.72,431.0,555.7,10.1,1765,13502,0.00,2.78,0.00,0.000,6,0.000,0.030,3056,2750,1301
$GC,13837,0.77,433.6,522.4,9.9,1826,13844,0.15,2.83,0.00,0.000,4,0.053,0.044,3092,1342,1301
$GC,13867,0.77,433.6,518.8,12.6,1831,13873,0.00,2.72,0.00,0.000,6,0.000,0.031,3092,2740,1300
$GC,14209,0.69,433.6,463.3,15.7,1892,14216,0.15,2.28,0.00,0.000,4,0.108,0.047,3066,3894,1300
$GC,14256,0.69,433.6,457.0,12.1,1900,14262,0.00,2.20,0.00,0.000,6,0.000,0.031,3066,2745,1300
$GC,14598,0.69,433.6,420.8,10.6,1961,14604,0.00,2.78,0.00,0.000,4,0.000,0.046,3066,1340,1300
$GC,14622,0.69,433.6,418.0,10.6,1965,14629,0.00,2.70,0.00,0.000,6,0.000,0.030,3066,2747,1299
$GC,14963,0.69,433.6,381.9,11.1,2026,14969,0.00,2.78,0.00,0.000,4,0.000,0.044,3066,1348,1299
$GC,14985,0.69,433.6,379.7,11.2,2029,14991,0.00,2.67,0.00,0.000,6,0.000,0.030,3066,2735,1299
$GC,15323,0.69,433.6,341.6,10.6,2090,15330,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2735,1299
$GC,15657,0.69,433.6,305.3,11.3,2151,15664,0.00,2.75,0.00,0.000,4,0.000,0.044,3066,1337,1299
$GC,15682,0.69,433.6,302.5,10.8,2155,15688,0.00,2.67,0.00,0.000,6,0.000,0.030,3066,2729,1299
$GC,16012,0.69,433.6,266.3,11.1,2216,16020,0.00,2.75,0.00,0.000,4,0.000,0.044,3066,1350,1299
$GC,16026,0.69,433.6,264.7,10.7,2218,16034,0.00,2.65,0.00,0.000,6,0.000,0.030,3066,2715,1299
$GC,16362,0.69,433.6,229.4,10.8,2279,16367,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2715,1299
$GC,16690,0.73,466.6,193.1,8.9,2340,16730,0.00,2.78,34.10,1.006,4,0.000,0.044,3066,1348,1167
$GC,16741,0.79,466.6,187.8,10.7,2348,16749,0.08,2.70,0.00,0.000,6,0.045,0.029,3090,2709,1166
$GC,17076,0.79,466.6,137.7,15.7,2409,17082,0.00,2.33,0.00,0.000,4,0.000,0.046,3090,3890,1164
$GC,17112,0.79,466.6,132.3,13.9,2415,17119,0.00,2.30,0.00,0.000,6,0.000,0.031,3090,2717,1163
$GC,17252,0.75,466.6,112.8,13.1,2440,17259,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2717,1163
$GC,17391,0.75,466.6,89.7,14.9,2465,17396,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2717,1162
$GC,17525,0.69,466.6,73.9,15.4,2490,17533,0.00,2.38,0.00,0.000,4,0.000,0.048,3090,3893,1162
$GC,17539,0.63,466.6,71.3,17.0,2492,17547,0.15,2.28,0.00,0.000,6,0.093,0.031,3062,2728,1162
$GC,17681,0.80,529.9,56.5,7.8,2517,17757,0.15,2.88,63.72,0.933,4,0.049,0.047,3099,1349,908
$GC,17765,0.75,529.9,48.2,14.6,2530,17773,0.00,2.75,0.00,0.000,6,0.000,0.030,3099,2708,908
$GC,17902,0.78,554.3,27.1,9.2,2555,17933,0.00,2.38,24.67,0.871,4,0.000,0.041,3099,3891,810
$GC,17961,0.80,566.6,21.5,9.6,2564,17985,0.00,2.35,13.50,0.821,6,0.000,0.034,3098,2730,761
$GC,18113,0.88,566.6,2.3,15.9,2591,18121,0.00,2.85,0.00,0.000,4,0.000,0.050,3099,1346,757
$STATE,18127,end climb,SURFACE_DEPTH_REACHED
$STATE,18127,begin surface coast
$FINISH,0.1,1.014377
$STATE,18134,end surface coast,CONTROL_FINISHED_OK
$STATE,18134,begin surface
$SM_CCo,18213,0.00,0.000,0,0,756,567.87
$SM_GC,0.33,8.43,0.00,0.00,0.038,0.000,0.000,1432,2328,756,-6.80,0.79,567.87
$IRIDIUM_FIX,5833.68,-2101.65,100797,161637
$TT8_MAMPS,0.026078
$HUMID,1730
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,12.40
$XPDR_PINGS,701
$24V_AH,19.8,21.577
$10V_AH,9.7,18.189
$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,23.825,194.125,790.800,0.000,0.000,82.927,179.075,436.227,175.250,0.000,0.000,17.470,3943.066,7482.681,917.795,5724.906,1095.348,0.000,3046.908,0.000,5726.517,0.000,0.465
$DEVICE_MAMPS,229.333,130.390,1546.272,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1793.222,1885.236,1149.475,1064.800,2762.439,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,196256,2594
$CAP_FILE_SIZE,223093,0
$CFSIZE,260165632,251719680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150408,214937,5905.360,-2107.947,38,1.3,38,-14.6