version: 66.03
glider: 142
mission: 5
dive: 86
start: 4 22 108 1 1 3
data:
$ID,142
$MISSION,5
$DIVE,86
$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,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,1
$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,-14373.053
$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,22
$R_STBD_OVSHOOT,18
$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
$GPS1,004502,5914.708,-2206.944,39,1.8,39,-15.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-33.6
$GPS2,010045,5914.861,-2206.947,12,1.3,12,-15.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5925.659,-2206.851
$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,16.2,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,188,0.00,0.00,-158.23,0.000,2,0.000,0.000,1436,2302,3525
$GC,190,-0.86,-194.7,3.1,-6.4,22,221,11.23,2.88,-10.05,0.000,4,0.248,0.053,2723,3712,3867
$GC,391,-0.81,-194.7,34.8,-14.7,58,399,0.00,2.83,0.00,0.000,6,0.000,0.034,2724,2295,3868
$GC,527,-0.74,-194.7,56.0,-16.1,83,534,0.17,2.78,0.00,0.000,4,0.143,0.050,2751,884,3868
$GC,660,-0.74,-194.7,74.2,-12.3,107,666,0.00,2.78,0.00,0.000,6,0.000,0.029,2751,2319,3868
$GC,795,-0.74,-194.7,89.5,-10.6,132,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2319,3868
$GC,934,-0.74,-194.7,104.8,-11.7,157,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2319,3868
$GC,1068,-0.74,-194.7,120.4,-11.6,182,1076,0.00,2.88,0.00,0.000,4,0.000,0.048,2751,894,3868
$GC,1122,-0.74,-194.7,126.6,-12.4,191,1128,0.00,2.72,0.00,0.000,6,0.000,0.030,2751,2309,3868
$GC,1257,-0.74,-194.7,142.6,-11.6,216,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2309,3868
$GC,1395,-0.74,-194.7,157.9,-11.5,241,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2309,3868
$GC,1723,-0.74,-194.7,195.5,-11.5,302,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2309,3868
$GC,2056,-0.74,-194.7,234.6,-11.8,363,2062,0.00,2.80,0.00,0.000,4,0.000,0.048,2751,891,3868
$GC,2135,-0.74,-194.7,244.3,-12.4,377,2141,0.00,2.70,0.00,0.000,6,0.000,0.031,2751,2301,3868
$GC,2463,-0.74,-194.7,282.0,-10.9,438,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2301,3868
$GC,2798,-0.74,-194.7,316.7,-10.0,499,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2301,3868
$GC,3127,-0.74,-194.7,351.5,-10.2,560,3134,0.00,2.80,0.00,0.000,4,0.000,0.049,2751,887,3868
$GC,3173,-0.74,-194.7,356.4,-10.5,568,3180,0.00,2.65,0.00,0.000,6,0.000,0.031,2751,2285,3868
$GC,3516,-0.74,-194.7,392.1,-10.0,629,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2286,3868
$GC,3855,-0.74,-194.7,428.8,-11.3,690,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2286,3868
$GC,4197,-0.74,-194.7,466.6,-10.7,751,4203,0.00,2.78,0.00,0.000,4,0.000,0.049,2751,893,3868
$GC,4236,-0.74,-194.7,471.2,-11.4,758,4243,0.00,2.67,0.00,0.000,6,0.000,0.031,2751,2287,3868
$GC,4577,-0.74,-194.7,508.2,-11.7,819,4584,0.00,2.83,0.00,0.000,4,0.000,0.049,2751,3700,3867
$GC,4636,-0.74,-194.7,514.6,-11.1,829,4642,0.00,2.75,0.00,0.000,6,0.000,0.035,2751,2284,3867
$GC,4977,-0.74,-194.7,553.3,-11.0,890,4984,0.00,2.78,0.00,0.000,4,0.000,0.054,2751,884,3867
$GC,5024,-0.74,-194.7,558.7,-12.1,898,5030,0.00,2.70,0.00,0.000,6,0.000,0.031,2751,2293,3867
$GC,5365,-0.74,-194.7,596.4,-10.7,959,5371,0.00,2.83,0.00,0.000,4,0.000,0.053,2751,3710,3866
$GC,5426,-0.74,-194.7,603.2,-10.8,967,5432,0.00,2.78,0.00,0.000,6,0.000,0.038,2751,2289,3866
$GC,5752,-0.74,-194.7,637.3,-10.3,998,5757,0.00,2.83,0.00,0.000,4,0.000,0.061,2751,887,3866
$GC,5813,-0.74,-194.7,644.0,-10.7,1003,5818,0.00,2.72,0.00,0.000,6,0.000,0.035,2751,2294,3866
$GC,6139,-0.74,-194.7,675.6,-9.8,1033,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2295,3866
$GC,6458,-0.74,-194.7,705.8,-9.6,1063,6462,0.00,2.90,0.00,0.000,4,0.000,0.069,2751,3706,3865
$GC,6519,-0.74,-194.7,712.0,-9.8,1068,6524,0.00,2.85,0.00,0.000,6,0.000,0.051,2751,2298,3865
$GC,6845,-0.74,-194.7,743.3,-9.6,1098,6850,0.00,2.97,0.00,0.000,4,0.000,0.082,2751,890,3865
$GC,6883,-0.74,-194.7,747.3,-10.3,1101,6888,0.00,2.85,0.00,0.000,6,0.000,0.052,2751,2301,3864
$GC,7209,-0.74,-194.7,777.6,-9.4,1131,7214,0.00,3.03,0.00,0.000,4,0.000,0.084,2751,3712,3864
$GC,7270,-0.74,-194.7,783.6,-9.6,1136,7275,0.00,2.95,0.00,0.000,6,0.000,0.070,2751,2315,3864
$GC,7596,-0.74,-194.7,812.8,-9.1,1166,7601,0.00,3.20,0.00,0.000,4,0.000,0.106,2751,882,3863
$GC,7651,-0.74,-194.7,818.2,-9.4,1170,7657,0.00,3.08,0.00,0.000,6,0.000,0.080,2751,2314,3863
$GC,7977,-0.74,-194.7,848.2,-9.5,1201,7982,0.00,3.20,0.00,0.000,4,0.000,0.113,2751,3715,3863
$GC,8027,-0.74,-194.7,853.2,-9.8,1205,8033,0.00,3.20,0.00,0.000,6,0.000,0.100,2751,2287,3863
$GC,8353,-0.74,-194.7,884.8,-9.7,1235,8358,0.00,2.80,0.00,0.000,4,0.000,0.058,2751,890,3862
$GC,8396,-0.74,-194.7,889.4,-10.6,1238,8403,0.00,2.80,0.00,0.000,6,0.000,0.033,2751,2332,3862
$GC,8722,-0.74,-194.7,921.2,-9.9,1269,8724,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2331,3862
$GC,9040,-0.74,-194.7,952.8,-9.8,1299,9041,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2331,3862
$GC,9360,-0.74,-194.7,984.0,-9.8,1329,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2331,3861
$STATE,9420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9420,begin apogee
$GC,9425,-0.21,0.0,990.2,10.0,1335,9633,0.73,0.00,200.60,1.604,6,0.122,0.000,2871,2749,3072
$STATE,9634,end apogee,CONTROL_FINISHED_OK
$STATE,9634,begin climb
$GC,9636,0.86,194.7,998.2,0.0,1356,9861,1.38,2.67,210.88,1.541,4,0.082,0.058,3100,3888,2277
$GC,9957,0.69,194.7,964.6,15.1,1386,9963,0.20,2.38,0.00,0.000,6,0.129,0.035,3074,2752,2274
$GC,10282,0.58,194.7,925.5,12.0,1417,10286,0.15,2.40,0.00,0.000,4,0.129,0.054,3050,3891,2273
$GC,10336,0.53,194.7,919.1,10.7,1421,10343,0.00,2.28,0.00,0.000,6,0.000,0.035,3050,2756,2273
$GC,10663,0.47,194.7,885.8,10.4,1452,10667,0.17,2.38,0.00,0.000,4,0.123,0.054,3021,3900,2272
$GC,10679,0.47,194.7,884.0,10.3,1453,10683,0.00,2.22,0.00,0.000,6,0.000,0.034,3021,2774,2272
$GC,11003,0.54,247.3,857.4,8.2,1483,11063,0.00,0.00,54.00,1.483,6,0.000,0.000,3021,2773,2061
$GC,11382,0.63,292.8,825.8,8.4,1519,11433,0.20,0.00,47.78,1.458,6,0.053,0.000,3061,2773,1877
$GC,11751,0.58,292.8,780.3,12.6,1554,11755,0.00,2.33,0.00,0.000,4,0.000,0.054,3061,3891,1872
$GC,11769,0.54,292.8,778.1,12.5,1555,11774,0.15,2.22,0.00,0.000,6,0.112,0.034,3039,2771,1871
$GC,12094,0.57,316.5,746.9,9.2,1585,12125,0.00,3.00,24.65,1.376,4,0.000,0.054,3039,1337,1780
$GC,12131,0.60,341.8,743.3,9.1,1588,12167,0.00,2.92,28.35,1.388,6,0.000,0.033,3039,2773,1676
$GC,12486,0.62,359.9,711.0,9.4,1622,12511,0.00,3.03,19.42,1.329,4,0.000,0.048,3039,1337,1603
$GC,12527,0.72,399.7,706.9,8.6,1625,12578,0.20,2.88,44.17,1.385,6,0.049,0.033,3080,2753,1441
$GC,12903,0.67,399.7,653.2,14.4,1661,12907,0.00,2.33,0.00,0.000,4,0.000,0.054,3080,3893,1434
$GC,12932,0.63,399.7,649.1,14.3,1663,12936,0.15,2.25,0.00,0.000,6,0.114,0.039,3059,2756,1433
$GC,13256,0.63,399.7,612.7,10.7,1693,13257,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2754,1431
$GC,13583,0.63,399.7,576.8,10.5,1742,13589,0.00,2.85,0.00,0.000,4,0.000,0.049,3059,1342,1430
$GC,13596,0.63,399.7,575.5,11.1,1744,13603,0.00,2.83,0.00,0.000,6,0.000,0.032,3059,2775,1430
$GC,13937,0.63,399.7,538.7,11.0,1805,13943,0.00,2.90,0.00,0.000,4,0.000,0.048,3059,1346,1430
$GC,13950,0.63,399.7,537.2,11.2,1807,13957,0.00,2.78,0.00,0.000,6,0.000,0.033,3059,2755,1430
$GC,14291,0.63,399.7,499.9,11.1,1868,14297,0.00,2.88,0.00,0.000,4,0.000,0.048,3059,1336,1430
$GC,14308,0.63,399.7,497.9,11.2,1871,14315,0.00,2.78,0.00,0.000,6,0.000,0.032,3059,2751,1429
$GC,14648,0.63,399.7,460.8,10.7,1932,14656,0.00,2.88,0.00,0.000,4,0.000,0.048,3059,1340,1429
$GC,14667,0.63,399.7,458.5,11.2,1935,14674,0.00,2.72,0.00,0.000,6,0.000,0.032,3059,2744,1429
$GC,15010,0.63,399.7,420.8,10.8,1996,15016,0.00,2.83,0.00,0.000,4,0.000,0.048,3059,1340,1429
$GC,15022,0.63,399.7,419.2,11.4,1998,15028,0.00,2.70,0.00,0.000,6,0.000,0.032,3059,2732,1428
$GC,15365,0.63,399.7,380.4,11.3,2059,15370,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2732,1429
$GC,15702,0.63,399.7,342.6,10.5,2120,15710,0.00,2.83,0.00,0.000,4,0.000,0.048,3059,1338,1429
$GC,15716,0.63,399.7,341.0,11.4,2122,15725,0.00,2.72,0.00,0.000,6,0.000,0.032,3059,2727,1428
$GC,16055,0.63,401.9,306.6,9.9,2183,16060,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2727,1429
$GC,16385,0.67,439.1,274.8,8.7,2244,16431,0.00,2.85,38.33,1.119,4,0.000,0.047,3059,1342,1281
$GC,16438,0.78,485.0,270.0,8.4,2252,16496,0.12,2.78,49.60,1.111,6,0.040,0.031,3092,2719,1093
$GC,16823,0.74,485.0,215.6,15.7,2321,16829,0.00,2.38,0.00,0.000,4,0.000,0.049,3092,3902,1086
$GC,16840,0.74,485.0,212.5,15.9,2324,16848,0.00,2.33,0.00,0.000,6,0.000,0.031,3092,2729,1085
$GC,17176,0.74,485.0,161.4,15.3,2385,17182,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2729,1084
$GC,17504,0.74,485.0,111.5,15.5,2446,17511,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2728,1083
$GC,17645,0.74,485.0,90.3,16.5,2471,17651,0.00,2.35,0.00,0.000,4,0.000,0.048,3092,3894,1084
$GC,17659,0.74,485.0,87.8,16.8,2473,17665,0.00,2.28,0.00,0.000,6,0.000,0.031,3093,2720,1083
$GC,17794,0.74,485.0,66.5,15.3,2498,17802,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2720,1083
$GC,17934,0.74,485.0,46.8,14.2,2523,17941,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2720,1083
$GC,18067,0.74,485.0,27.6,12.6,2548,18075,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2720,1083
$GC,18202,0.74,485.0,9.3,13.7,2573,18210,0.00,2.38,0.00,0.000,4,0.000,0.047,3092,3894,1082
$GC,18217,0.74,485.0,7.9,10.1,2575,18225,0.00,2.25,0.00,0.000,6,0.000,0.031,3092,2740,1082
$STATE,18272,end climb,SURFACE_DEPTH_REACHED
$STATE,18273,begin surface coast
$FINISH,0.0,1.026296
$STATE,18300,end surface coast,CONTROL_FINISHED_OK
$STATE,18300,begin surface
$SM_CCo,18378,0.00,0.000,0,0,1080,488.15
$SM_GC,0.57,8.35,0.00,0.00,0.046,0.000,0.000,1432,2283,1080,-6.79,-0.51,488.15
$IRIDIUM_FIX,5850.29,-2206.81,170797,010150
$TT8_MAMPS,0.026845
$HUMID,1751
$INTERNAL_PRESSURE,8.84845
$TCM_TEMP,11.70
$XPDR_PINGS,913
$24V_AH,19.5,30.927
$10V_AH,9.7,26.006
$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,23.200,181.550,717.775,0.000,0.000,85.983,102.910,462.569,228.250,0.000,0.000,13.562,3912.983,7789.616,877.074,5645.711,1062.988,0.000,2979.298,0.000,5657.992,0.000,0.465
$DEVICE_MAMPS,247.741,112.749,1603.797,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1794.660,1906.262,1129.379,1040.700,2687.909,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,193331,2590
$CAP_FILE_SIZE,216697,0
$CFSIZE,260165632,248303616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220408,060839,5919.427,-2206.380,42,1.6,43,-15.2