version: 66.03
glider: 142
mission: 5
dive: 87
start: 4 22 108 6 18 9
data:
$ID,142
$MISSION,5
$DIVE,87
$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,-14389.85
$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,21
$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
$GPS1,060839,5919.427,-2206.380,42,1.6,43,-15.2
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-37.6
$GPS2,061751,5919.520,-2206.402,14,1.5,14,-15.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5930.317,-2206.306
$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,-194.7,0.0,0.0,0,181,0.00,0.00,-151.40,0.000,2,0.000,0.000,1430,2281,3650
$GC,184,-0.86,-194.7,3.7,-5.6,21,208,11.23,2.88,-5.35,0.000,4,0.248,0.054,2726,3712,3865
$GC,413,-0.81,-194.7,45.2,-13.5,63,421,0.00,2.80,0.00,0.000,6,0.000,0.034,2726,2302,3866
$GC,552,-0.74,-194.7,64.1,-13.8,88,560,0.15,2.85,0.00,0.000,4,0.141,0.049,2751,889,3866
$GC,673,-0.74,-194.7,79.2,-12.0,110,680,0.00,2.72,0.00,0.000,6,0.000,0.030,2750,2286,3866
$GC,813,-0.74,-194.7,94.8,-11.6,135,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2287,3866
$GC,948,-0.74,-194.7,110.6,-11.8,160,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2287,3866
$GC,1089,-0.74,-194.7,126.7,-11.2,185,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2287,3866
$GC,1223,-0.74,-194.7,143.1,-11.9,210,1231,0.00,2.83,0.00,0.000,4,0.000,0.048,2751,887,3866
$GC,1266,-0.74,-194.7,148.0,-12.1,217,1272,0.00,2.70,0.00,0.000,6,0.000,0.030,2751,2292,3866
$GC,1403,-0.74,-194.7,163.5,-11.4,242,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2292,3866
$GC,1738,-0.74,-194.7,201.6,-11.3,303,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2293,3866
$GC,2068,-0.74,-194.7,238.0,-11.0,364,2076,0.00,2.83,0.00,0.000,4,0.000,0.049,2750,889,3866
$GC,2122,-0.74,-194.7,243.8,-10.8,373,2129,0.00,2.65,0.00,0.000,6,0.000,0.030,2751,2275,3866
$GC,2453,-0.74,-194.7,279.6,-10.6,434,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2276,3866
$GC,2788,-0.74,-194.7,315.0,-10.4,495,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2276,3866
$GC,3116,-0.74,-194.7,349.2,-10.6,556,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2276,3866
$GC,3459,-0.74,-194.7,387.2,-11.0,617,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2276,3866
$GC,3798,-0.74,-194.7,426.4,-11.9,678,3805,0.00,2.80,0.00,0.000,4,0.000,0.047,2751,3701,3866
$GC,3856,-0.74,-194.7,433.1,-11.3,688,3863,0.00,2.80,0.00,0.000,6,0.000,0.035,2750,2260,3866
$GC,4199,-0.74,-194.7,471.3,-10.8,749,4205,0.00,2.72,0.00,0.000,4,0.000,0.053,2750,885,3866
$GC,4246,-0.74,-194.7,476.3,-10.7,757,4252,0.00,2.65,0.00,0.000,6,0.000,0.030,2751,2269,3866
$GC,4587,-0.74,-194.7,511.9,-10.3,818,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2271,3866
$GC,4927,-0.74,-194.7,546.2,-9.7,879,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2271,3866
$GC,5270,-0.74,-194.7,580.3,-9.5,940,5276,0.00,2.85,0.00,0.000,4,0.000,0.051,2751,3702,3866
$GC,5348,-0.74,-194.7,588.2,-10.3,954,5355,0.00,2.80,0.00,0.000,6,0.000,0.038,2750,2264,3866
$GC,5686,-0.74,-194.7,621.6,-9.9,996,5690,0.00,2.78,0.00,0.000,4,0.000,0.060,2750,885,3865
$GC,5724,-0.74,-194.7,625.6,-10.6,999,5729,0.00,2.67,0.00,0.000,6,0.000,0.034,2751,2272,3865
$GC,6050,-0.74,-194.7,656.9,-9.4,1029,6054,0.00,2.90,0.00,0.000,4,0.000,0.060,2751,3704,3865
$GC,6116,-0.74,-194.7,663.3,-9.7,1034,6122,0.00,2.85,0.00,0.000,6,0.000,0.045,2751,2271,3865
$GC,6442,-0.74,-194.7,694.1,-9.3,1065,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2271,3864
$GC,6759,-0.74,-194.7,723.6,-9.5,1095,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2271,3865
$GC,7078,-0.74,-194.7,753.4,-9.6,1125,7082,0.00,3.05,0.00,0.000,4,0.000,0.076,2750,3710,3864
$GC,7128,-0.74,-194.7,758.4,-10.0,1129,7133,0.00,2.95,0.00,0.000,6,0.000,0.062,2750,2289,3864
$GC,7453,-0.74,-194.7,789.2,-9.7,1159,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2289,3863
$GC,7770,-0.74,-194.7,820.6,-10.2,1189,7772,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2289,3863
$GC,8089,-0.74,-194.7,853.7,-10.4,1219,8090,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2289,3862
$GC,8408,-0.74,-194.7,887.1,-10.6,1249,8413,0.00,3.42,0.00,0.000,4,0.000,0.132,2751,3697,3862
$GC,8473,-0.74,-194.7,894.1,-10.1,1254,8480,0.00,3.00,0.00,0.000,6,0.000,0.076,2751,2286,3861
$GC,8800,-0.74,-194.7,927.0,-10.1,1285,8801,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2285,3861
$GC,9117,-0.74,-194.7,958.1,-9.5,1315,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2284,3861
$GC,9436,-0.74,-194.7,988.0,-9.2,1345,9441,0.00,2.92,0.00,0.000,4,0.000,0.058,2751,3710,3861
$STATE,9455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9455,begin apogee
$GC,9462,-0.21,0.0,990.1,9.6,1346,9669,0.70,0.00,201.32,1.601,6,0.134,0.000,2865,2743,3071
$STATE,9670,end apogee,CONTROL_FINISHED_OK
$STATE,9670,begin climb
$GC,9672,0.86,194.7,997.0,0.0,1367,9897,1.42,2.72,210.55,1.544,4,0.087,0.057,3101,3889,2277
$GC,10045,0.69,194.7,952.6,15.9,1402,10050,0.20,2.35,0.00,0.000,6,0.127,0.036,3074,2750,2274
$GC,10369,0.59,194.7,911.0,12.1,1432,10374,0.15,2.40,0.00,0.000,4,0.131,0.054,3050,3890,2273
$GC,10431,0.53,194.7,904.2,10.7,1437,10435,0.00,2.25,0.00,0.000,6,0.000,0.035,3050,2764,2274
$GC,10758,0.50,200.3,872.2,9.8,1467,10768,0.12,0.00,6.62,1.130,6,0.119,0.000,3032,2763,2254
$GC,11084,0.55,248.6,844.4,8.3,1498,11139,0.00,2.45,50.33,1.474,4,0.000,0.054,3032,3898,2056
$GC,11151,0.65,325.7,838.7,7.3,1504,11243,0.15,2.30,82.40,1.470,6,0.061,0.033,3059,2770,1742
$GC,11561,0.65,325.7,791.8,11.9,1543,11565,0.00,2.38,0.00,0.000,4,0.000,0.053,3059,3899,1735
$GC,11578,0.65,325.7,789.9,11.8,1544,11582,0.00,2.22,0.00,0.000,6,0.000,0.034,3059,2784,1734
$GC,11904,0.65,325.7,751.8,11.9,1574,11905,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2783,1733
$GC,12222,0.65,325.7,714.1,10.2,1604,12227,0.00,2.92,0.00,0.000,4,0.000,0.050,3059,1340,1732
$GC,12250,0.71,327.0,711.1,10.0,1606,12255,0.00,2.80,0.00,0.000,6,0.000,0.032,3059,2755,1731
$GC,12578,0.80,330.6,679.0,9.9,1636,12590,0.15,2.88,3.97,0.836,4,0.054,0.047,3095,1342,1723
$GC,12658,0.69,330.6,668.7,14.2,1643,12663,0.15,2.38,0.00,0.000,6,0.117,0.032,3074,2553,1723
$GC,12982,0.64,330.6,628.7,12.4,1673,12987,0.00,2.45,0.00,0.000,4,0.000,0.049,3074,1340,1722
$GC,12993,0.58,330.6,627.3,12.6,1673,12999,0.17,2.38,0.00,0.000,6,0.116,0.032,3047,2556,1722
$GC,13319,0.63,371.5,597.5,8.6,1706,13369,0.00,2.80,43.83,1.344,4,0.000,0.052,3047,3891,1555
$GC,13376,0.74,425.6,592.4,8.1,1716,13444,0.12,2.75,59.00,1.332,6,0.052,0.035,3076,2555,1334
$GC,13778,0.74,425.6,544.9,11.8,1788,13786,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2555,1326
$GC,14123,0.74,425.6,502.7,11.6,1849,14129,0.00,2.75,0.00,0.000,4,0.000,0.051,3076,3896,1324
$GC,14176,0.74,425.6,496.1,12.3,1858,14182,0.00,2.65,0.00,0.000,6,0.000,0.035,3076,2555,1323
$GC,14517,0.74,425.6,454.4,12.6,1919,14523,0.00,2.72,0.00,0.000,4,0.000,0.049,3075,3897,1322
$GC,14568,0.74,425.6,447.9,12.0,1928,14574,0.00,2.58,0.00,0.000,6,0.000,0.035,3076,2585,1322
$GC,14908,0.74,425.6,404.7,12.8,1989,14916,0.00,2.67,0.00,0.000,4,0.000,0.050,3076,3888,1322
$GC,14938,0.74,425.6,400.8,13.0,1994,14944,0.00,2.50,0.00,0.000,6,0.000,0.033,3076,2606,1322
$GC,15278,0.74,425.6,359.5,12.1,2055,15285,0.00,2.58,0.00,0.000,4,0.000,0.049,3076,3893,1321
$GC,15296,0.74,425.6,357.2,12.0,2058,15303,0.00,2.50,0.00,0.000,6,0.000,0.033,3076,2620,1321
$GC,15631,0.74,425.6,317.3,12.6,2119,15636,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2620,1321
$GC,15960,0.74,425.6,278.6,11.6,2180,15968,0.00,2.58,0.00,0.000,4,0.000,0.048,3076,3888,1321
$GC,15986,0.74,425.6,275.7,11.4,2184,15994,0.00,2.47,0.00,0.000,6,0.000,0.033,3076,2626,1321
$GC,16319,0.74,425.6,237.9,11.6,2245,16324,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2626,1321
$GC,16649,0.74,425.6,198.1,12.7,2306,16657,0.00,2.58,0.00,0.000,4,0.000,0.048,3076,3897,1321
$GC,16670,0.74,425.6,195.8,12.0,2309,16676,0.00,2.42,0.00,0.000,6,0.000,0.032,3076,2637,1321
$GC,17000,0.74,425.6,158.6,12.6,2370,17008,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2637,1321
$GC,17334,0.74,425.6,120.3,10.8,2431,17339,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2637,1321
$GC,17468,0.74,425.6,104.3,11.2,2456,17475,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2637,1320
$GC,17607,0.74,425.6,88.4,11.3,2481,17613,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2637,1321
$GC,17744,0.74,425.6,71.1,12.9,2506,17752,0.00,2.53,0.00,0.000,4,0.000,0.047,3075,3891,1321
$GC,17757,0.74,425.6,69.4,11.5,2508,17765,0.00,2.42,0.00,0.000,6,0.000,0.032,3076,2646,1321
$GC,17897,0.74,425.6,56.1,10.4,2533,17902,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2646,1321
$GC,18031,0.74,425.6,39.2,13.3,2558,18038,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2646,1321
$GC,18165,0.74,425.6,24.6,11.0,2583,18173,0.00,2.53,0.00,0.000,4,0.000,0.048,3076,3894,1321
$GC,18186,0.74,425.6,22.3,10.9,2586,18194,0.00,2.42,0.00,0.000,6,0.000,0.032,3076,2649,1321
$GC,18321,0.78,425.6,7.6,11.2,2611,18329,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2649,1320
$STATE,18381,end climb,SURFACE_DEPTH_REACHED
$STATE,18381,begin surface coast
$FINISH,0.3,1.026272
$STATE,18398,end surface coast,CONTROL_FINISHED_OK
$STATE,18398,begin surface
$SM_CCo,18475,0.00,0.000,0,0,1318,430.01
$SM_GC,0.59,8.20,0.00,0.00,0.044,0.000,0.000,1435,2282,1318,-6.79,-0.51,430.01
$IRIDIUM_FIX,5854.46,-2208.39,170797,010131
$TT8_MAMPS,0.026078
$HUMID,1747
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,11.70
$XPDR_PINGS,937
$24V_AH,19.5,31.255
$10V_AH,9.8,26.281
$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,22.925,149.375,658.025,0.000,0.000,29.808,36.860,326.009,234.250,0.000,0.000,16.168,3964.260,7677.396,801.727,5765.513,787.353,0.000,2899.364,0.000,5780.081,0.000,0.465
$DEVICE_MAMPS,247.741,131.924,1601.496,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1818.913,1928.132,1178.103,1082.100,2793.310,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,195960,2625
$CAP_FILE_SIZE,206702,0
$CFSIZE,260165632,248188928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220408,112708,5924.496,-2206.775,29,1.1,29,-15.3