version: 66.03
glider: 142
mission: 5
dive: 88
start: 4 22 108 11 36 10
data:
$ID,142
$MISSION,5
$DIVE,88
$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,-14407.611
$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,20
$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
$GPS1,112708,5924.496,-2206.775,29,1.1,29,-15.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-41.3
$GPS2,113551,5924.611,-2206.848,15,1.2,15,-15.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5935.408,-2206.752
$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,16.3,20000,-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,-194.7,0.0,0.0,0,159,0.00,0.00,-129.68,0.000,2,0.000,0.000,1434,2281,3509
$GC,162,-0.86,-194.7,3.1,-4.7,18,193,11.45,2.95,-9.50,0.000,4,0.253,0.056,2728,3713,3867
$GC,337,-0.80,-194.7,32.8,-13.2,49,345,0.00,2.80,0.00,0.000,6,0.000,0.034,2728,2305,3867
$GC,469,-0.75,-194.7,51.4,-12.3,74,478,0.15,2.85,0.00,0.000,4,0.147,0.050,2751,895,3868
$GC,557,-0.75,-194.7,61.8,-11.7,89,564,0.00,2.70,0.00,0.000,6,0.000,0.029,2751,2295,3868
$GC,693,-0.75,-194.7,77.7,-11.2,114,701,0.00,2.85,0.00,0.000,4,0.000,0.048,2751,885,3868
$GC,736,-0.75,-194.7,82.2,-11.0,121,742,0.00,2.70,0.00,0.000,6,0.000,0.030,2751,2287,3868
$GC,870,-0.75,-194.7,96.4,-10.1,146,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2286,3868
$GC,1010,-0.75,-194.7,111.0,-11.1,171,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2287,3868
$GC,1145,-0.75,-194.7,126.6,-11.7,196,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2287,3868
$GC,1285,-0.75,-194.7,142.2,-11.2,221,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2286,3868
$GC,1420,-0.75,-194.7,158.6,-12.2,246,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2287,3868
$GC,1753,-0.75,-194.7,197.3,-11.9,307,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2287,3868
$GC,2081,-0.75,-194.7,237.1,-11.6,368,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2287,3868
$GC,2414,-0.75,-194.7,274.9,-11.6,429,2420,0.00,2.78,0.00,0.000,4,0.000,0.048,2750,889,3868
$GC,2450,-0.75,-194.7,279.1,-11.5,435,2456,0.00,2.67,0.00,0.000,6,0.000,0.031,2751,2293,3868
$GC,2779,-0.75,-194.7,316.4,-11.6,496,2787,0.00,2.80,0.00,0.000,4,0.000,0.046,2751,3700,3868
$GC,2833,-0.75,-194.7,322.4,-11.3,505,2839,0.00,2.75,0.00,0.000,6,0.000,0.034,2751,2280,3868
$GC,3165,-0.75,-194.7,360.2,-11.2,566,3171,0.00,2.75,0.00,0.000,4,0.000,0.051,2751,887,3868
$GC,3230,-0.75,-194.7,367.5,-11.7,577,3236,0.00,2.67,0.00,0.000,6,0.000,0.030,2751,2289,3868
$GC,3571,-0.75,-194.7,405.1,-11.5,638,3577,0.00,2.78,0.00,0.000,4,0.000,0.046,2751,3700,3868
$GC,3627,-0.75,-194.7,411.3,-11.0,648,3635,0.00,2.78,0.00,0.000,6,0.000,0.035,2751,2286,3868
$GC,3973,-0.75,-194.7,446.3,-10.4,709,3979,0.00,2.78,0.00,0.000,4,0.000,0.051,2751,883,3868
$GC,4036,-0.75,-194.7,453.0,-10.0,720,4044,0.00,2.72,0.00,0.000,6,0.000,0.031,2751,2295,3868
$GC,4381,-0.75,-194.7,487.9,-10.4,781,4387,0.00,2.80,0.00,0.000,4,0.000,0.048,2751,3712,3868
$GC,4438,-0.75,-194.7,494.1,-10.3,791,4444,0.00,2.75,0.00,0.000,6,0.000,0.035,2751,2296,3868
$GC,4778,-0.75,-194.7,527.8,-10.0,852,4786,0.00,2.83,0.00,0.000,4,0.000,0.054,2751,886,3867
$GC,4825,-0.75,-194.7,532.8,-10.2,860,4832,0.00,2.72,0.00,0.000,6,0.000,0.031,2751,2307,3867
$GC,5167,-0.75,-194.7,566.9,-9.9,921,5174,0.00,2.78,0.00,0.000,4,0.000,0.051,2751,3710,3867
$GC,5230,-0.75,-194.7,573.4,-9.9,932,5236,0.00,2.72,0.00,0.000,6,0.000,0.037,2751,2315,3867
$GC,5566,-0.75,-194.7,607.7,-10.0,986,5571,0.00,2.88,0.00,0.000,4,0.000,0.058,2751,885,3867
$GC,5621,-0.75,-194.7,613.4,-10.2,990,5627,0.00,2.78,0.00,0.000,6,0.000,0.033,2751,2319,3866
$GC,5947,-0.75,-194.7,645.8,-9.9,1021,5952,0.00,2.83,0.00,0.000,4,0.000,0.059,2751,3716,3866
$GC,6010,-0.75,-194.7,652.0,-10.2,1026,6014,0.00,2.78,0.00,0.000,6,0.000,0.043,2751,2319,3866
$GC,6336,-0.75,-194.7,682.2,-8.9,1056,6340,0.00,2.92,0.00,0.000,4,0.000,0.067,2751,888,3866
$GC,6390,-0.75,-194.7,687.5,-9.6,1060,6397,0.00,2.83,0.00,0.000,6,0.000,0.039,2751,2325,3865
$GC,6716,-0.75,-194.7,716.0,-8.8,1091,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2325,3865
$GC,7034,-0.75,-194.7,745.3,-9.5,1121,7038,0.00,2.92,0.00,0.000,4,0.000,0.078,2751,3710,3865
$GC,7088,-0.75,-194.7,750.7,-9.4,1125,7095,0.00,2.88,0.00,0.000,6,0.000,0.060,2751,2319,3865
$GC,7414,-0.75,-194.7,780.8,-9.2,1156,7419,0.00,3.12,0.00,0.000,4,0.000,0.095,2751,885,3864
$GC,7476,-0.75,-194.7,786.9,-10.0,1161,7481,0.00,3.00,0.00,0.000,6,0.000,0.067,2751,2321,3864
$GC,7803,-0.75,-194.7,818.1,-9.6,1191,7808,0.00,3.10,0.00,0.000,4,0.000,0.101,2751,3714,3863
$GC,7864,-0.75,-194.7,824.7,-10.4,1196,7869,0.00,3.05,0.00,0.000,6,0.000,0.088,2751,2328,3863
$GC,8190,-0.75,-194.7,856.0,-9.8,1226,8194,0.00,2.90,0.00,0.000,4,0.000,0.054,2751,878,3863
$GC,8228,-0.75,-194.7,860.2,-10.9,1229,8233,0.00,2.85,0.00,0.000,6,0.000,0.032,2751,2350,3862
$GC,8554,-0.75,-194.7,892.2,-10.2,1259,8558,0.00,2.75,0.00,0.000,4,0.000,0.058,2751,3712,3863
$GC,8603,-0.75,-194.7,897.5,-10.8,1263,8608,0.00,2.75,0.00,0.000,6,0.000,0.041,2751,2324,3863
$GC,8929,-0.75,-194.7,929.7,-10.0,1293,8934,0.00,2.92,0.00,0.000,4,0.000,0.063,2751,884,3862
$GC,8973,-0.79,-194.7,934.5,-10.9,1296,8979,0.00,2.85,0.00,0.000,6,0.000,0.035,2751,2345,3862
$GC,9299,-0.79,-194.7,966.5,-9.7,1327,9303,0.00,2.78,0.00,0.000,4,0.000,0.061,2751,3709,3862
$GC,9353,-0.79,-194.7,972.2,-10.3,1331,9360,0.00,2.72,0.00,0.000,6,0.000,0.042,2751,2341,3862
$STATE,9538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9538,begin apogee
$GC,9544,-0.21,0.0,990.3,9.6,1349,9751,0.73,0.00,201.27,1.604,6,0.118,0.000,2871,2750,3071
$STATE,9752,end apogee,CONTROL_FINISHED_OK
$STATE,9753,begin climb
$GC,9755,0.86,194.7,997.9,0.0,1370,9979,1.38,2.67,210.65,1.544,4,0.081,0.058,3100,3893,2277
$GC,10148,0.70,194.7,954.0,14.9,1407,10153,0.17,2.38,0.00,0.000,6,0.131,0.037,3077,2747,2274
$GC,10473,0.59,194.7,916.3,11.7,1437,10478,0.15,2.42,0.00,0.000,4,0.125,0.054,3052,3902,2274
$GC,10523,0.55,194.7,910.8,10.4,1441,10527,0.00,2.28,0.00,0.000,6,0.000,0.035,3052,2764,2274
$GC,10848,0.50,200.3,879.1,9.8,1471,10860,0.12,2.42,6.68,1.137,4,0.119,0.055,3035,3899,2254
$GC,10872,0.53,222.6,876.8,9.2,1473,10904,0.00,2.22,24.17,1.434,6,0.000,0.034,3034,2776,2162
$GC,11222,0.57,252.6,846.5,9.0,1506,11255,0.00,0.00,31.62,1.450,6,0.000,0.000,3034,2776,2041
$GC,11570,0.58,260.3,813.3,9.7,1539,11581,0.00,0.00,9.23,1.242,6,0.000,0.000,3034,2776,2009
$GC,11900,0.60,274.6,781.6,9.5,1570,11919,0.00,0.00,15.88,1.351,6,0.000,0.000,3034,2775,1951
$GC,12238,0.61,284.3,748.8,9.7,1602,12251,0.00,0.00,11.23,1.271,6,0.000,0.000,3034,2775,1911
$GC,12566,0.65,315.1,718.2,8.9,1633,12609,0.15,3.05,33.10,1.391,4,0.059,0.051,3067,1345,1786
$GC,12614,0.59,315.1,712.5,12.0,1637,12620,0.00,2.95,0.00,0.000,6,0.000,0.033,3067,2784,1785
$GC,12940,0.59,315.1,674.6,11.0,1668,12941,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2785,1782
$GC,13257,0.59,315.1,638.9,11.8,1698,13258,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2785,1781
$GC,13575,0.59,315.1,600.5,12.5,1728,13576,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2785,1780
$GC,13909,0.59,315.1,559.7,11.6,1787,13915,0.00,2.22,0.00,0.000,4,0.000,0.053,3067,3902,1780
$GC,13928,0.59,315.1,557.7,12.2,1790,13934,0.00,2.17,0.00,0.000,6,0.000,0.033,3067,2779,1780
$GC,14268,0.59,315.1,517.7,11.3,1851,14275,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2777,1779
$GC,14610,0.59,315.1,479.1,10.7,1912,14615,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2777,1779
$GC,14950,0.59,315.1,440.2,10.9,1973,14955,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2777,1780
$GC,15289,0.59,315.1,401.0,11.0,2034,15295,0.00,2.28,0.00,0.000,4,0.000,0.051,3067,3896,1780
$GC,15314,0.59,315.1,398.2,12.5,2038,15319,0.00,2.12,0.00,0.000,6,0.000,0.032,3067,2789,1779
$GC,15654,0.59,315.1,358.2,11.3,2099,15660,0.00,2.88,0.00,0.000,4,0.000,0.048,3067,1340,1779
$GC,15669,0.59,315.1,356.7,11.8,2101,15675,0.00,2.85,0.00,0.000,6,0.000,0.031,3067,2808,1779
$GC,16001,0.59,315.1,319.1,10.8,2162,16008,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2809,1779
$GC,16334,0.59,315.1,283.4,11.0,2223,16341,0.00,2.92,0.00,0.000,4,0.000,0.044,3067,1339,1779
$GC,16349,0.59,315.1,281.8,10.6,2225,16355,0.00,2.85,0.00,0.000,6,0.000,0.031,3067,2808,1779
$GC,16679,0.59,315.1,247.3,11.6,2286,16687,0.00,2.95,0.00,0.000,4,0.000,0.045,3067,1340,1779
$GC,16693,0.59,315.1,245.9,10.7,2288,16701,0.00,2.83,0.00,0.000,6,0.000,0.031,3067,2782,1779
$GC,17029,0.59,315.1,211.3,12.0,2349,17034,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2782,1779
$GC,17360,0.59,315.1,173.8,11.6,2410,17367,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2782,1779
$GC,17692,0.59,315.1,135.0,11.3,2471,17698,0.00,2.88,0.00,0.000,4,0.000,0.046,3067,1338,1779
$GC,17706,0.59,315.1,133.4,10.9,2473,17712,0.00,2.80,0.00,0.000,6,0.000,0.031,3067,2786,1779
$GC,17842,0.59,315.1,118.1,10.1,2498,17849,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2787,1779
$GC,17981,0.59,316.2,103.0,10.0,2523,17987,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2787,1779
$GC,18117,0.59,316.2,88.4,11.3,2548,18125,0.00,2.90,0.00,0.000,4,0.000,0.045,3067,1343,1779
$GC,18130,0.59,316.2,86.7,12.4,2550,18138,0.00,2.78,0.00,0.000,6,0.000,0.030,3067,2768,1779
$GC,18270,0.59,316.2,70.6,10.1,2575,18276,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2768,1779
$GC,18405,0.59,316.2,54.8,11.9,2600,18413,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2768,1779
$GC,18541,0.59,316.2,41.1,10.8,2625,18548,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2768,1779
$GC,18676,0.59,316.2,25.9,10.1,2650,18683,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2768,1779
$GC,18809,0.59,316.2,10.6,11.5,2675,18817,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2768,1779
$STATE,18906,end climb,SURFACE_DEPTH_REACHED
$STATE,18906,begin surface coast
$FINISH,0.2,1.026279
$STATE,18923,end surface coast,CONTROL_FINISHED_OK
$STATE,18923,begin surface
$SM_CCo,19001,0.00,0.000,0,0,1777,317.42
$SM_GC,0.66,8.12,0.00,0.00,0.044,0.000,0.000,1437,2287,1777,-6.79,-0.37,317.42
$IRIDIUM_FIX,5854.46,-2137.92,170797,060656
$TT8_MAMPS,0.026845
$HUMID,1752
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,11.20
$XPDR_PINGS,971
$24V_AH,19.5,31.538
$10V_AH,9.8,26.563
$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,22.425,178.175,543.825,0.000,0.000,31.428,32.452,303.674,242.750,0.000,0.000,17.133,4107.062,7929.234,757.945,5930.487,770.026,0.000,2882.782,0.000,5940.809,0.000,0.465
$DEVICE_MAMPS,253.110,101.244,1603.797,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1870.630,1980.885,1212.127,1113.171,2864.298,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202648,2696
$CAP_FILE_SIZE,214478,0
$CFSIZE,260165632,248053760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220408,165422,5929.620,-2207.875,36,2.1,55,-15.3