version: 66.03
glider: 142
mission: 5
dive: 91
start: 4 23 108 3 52 45
data:
$ID,142
$MISSION,5
$DIVE,91
$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,20
$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,-14470.316
$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,38
$R_STBD_OVSHOOT,22
$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
$GPS1,034326,5939.005,-2212.331,41,1.4,41,-15.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-53.7
$GPS2,035227,5939.041,-2212.431,10,1.8,10,-15.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5949.188,-2210.574
$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,35.4,20000,-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,-194.7,0.0,0.0,0,159,0.00,0.00,-129.73,0.000,2,0.000,0.000,1439,2276,3704
$GC,162,-0.86,-194.7,3.6,-5.5,18,186,11.23,2.92,-3.95,0.000,4,0.249,0.052,2723,3711,3863
$GC,256,-0.79,-194.7,25.3,-15.7,34,264,0.10,2.80,0.00,0.000,6,0.134,0.035,2740,2312,3864
$GC,392,-0.74,-194.7,43.8,-12.4,59,400,0.00,2.88,0.00,0.000,4,0.000,0.050,2739,893,3865
$GC,462,-0.74,-194.7,53.1,-12.3,72,470,0.00,2.78,0.00,0.000,6,0.000,0.029,2740,2309,3865
$GC,602,-0.70,-194.7,70.4,-12.8,97,608,0.15,0.00,0.00,0.000,6,0.137,0.000,2763,2309,3865
$GC,736,-0.70,-194.7,86.5,-11.8,122,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2309,3865
$GC,875,-0.70,-194.7,102.2,-11.4,147,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2309,3865
$GC,1012,-0.70,-194.7,117.4,-11.2,172,1020,0.00,2.88,0.00,0.000,4,0.000,0.048,2763,885,3865
$GC,1049,-0.70,-194.7,121.6,-11.5,178,1056,0.00,2.72,0.00,0.000,6,0.000,0.030,2763,2289,3865
$GC,1188,-0.70,-194.7,136.2,-10.6,203,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2290,3865
$GC,1322,-0.70,-194.7,150.7,-10.9,228,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2290,3865
$GC,1664,-0.70,-194.7,185.7,-9.7,289,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2290,3865
$GC,2003,-0.70,-194.7,218.4,-9.5,350,2009,0.00,2.80,0.00,0.000,4,0.000,0.045,2763,3712,3865
$GC,2069,-0.70,-194.7,224.2,-9.4,361,2075,0.00,2.75,0.00,0.000,6,0.000,0.033,2763,2294,3865
$GC,2406,-0.70,-194.7,257.1,-9.9,422,2412,0.00,2.78,0.00,0.000,4,0.000,0.050,2763,885,3865
$GC,2440,-0.70,-194.7,260.7,-10.9,428,2448,0.00,2.72,0.00,0.000,6,0.000,0.030,2763,2298,3865
$GC,2785,-0.70,-194.7,296.2,-10.4,489,2792,0.00,2.75,0.00,0.000,4,0.000,0.045,2763,3700,3865
$GC,2847,-0.70,-194.7,302.9,-10.6,500,2855,0.00,2.75,0.00,0.000,6,0.000,0.034,2763,2297,3865
$GC,3192,-0.70,-194.7,339.1,-9.8,561,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2296,3865
$GC,3530,-0.70,-194.7,371.7,-9.4,622,3536,0.00,2.80,0.00,0.000,4,0.000,0.046,2764,3703,3865
$GC,3586,-0.70,-194.7,377.1,-9.1,632,3594,0.00,2.72,0.00,0.000,6,0.000,0.034,2763,2313,3865
$GC,3929,-0.70,-194.7,406.8,-9.2,693,3935,0.00,2.83,0.00,0.000,4,0.000,0.051,2764,884,3865
$GC,3975,-0.75,-194.7,411.2,-9.8,701,3982,0.00,2.72,0.00,0.000,6,0.000,0.030,2763,2310,3865
$GC,4316,-0.75,-194.7,442.1,-9.0,762,4322,0.00,2.75,0.00,0.000,4,0.000,0.047,2763,3706,3865
$GC,4368,-0.75,-194.7,447.0,-9.3,771,4374,0.00,2.72,0.00,0.000,6,0.000,0.035,2763,2303,3865
$GC,4709,-0.75,-194.7,478.4,-9.1,832,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2302,3865
$GC,5050,-0.75,-194.7,511.0,-9.4,893,5056,0.00,2.80,0.00,0.000,4,0.000,0.049,2763,3702,3865
$GC,5096,-0.75,-194.7,515.4,-9.9,901,5102,0.00,2.67,0.00,0.000,6,0.000,0.035,2763,2316,3865
$GC,5435,-0.75,-194.7,547.0,-9.0,962,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2316,3865
$GC,5776,-0.75,-194.7,579.1,-9.2,1023,5782,0.00,2.80,0.00,0.000,4,0.000,0.051,2763,3706,3865
$GC,5827,-0.80,-194.7,584.2,-10.2,1032,5835,0.00,2.72,0.00,0.000,6,0.000,0.037,2763,2326,3865
$GC,6161,-0.80,-194.7,616.1,-8.9,1077,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2325,3864
$GC,6480,-0.80,-194.7,644.6,-9.7,1107,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2325,3864
$GC,6799,-0.80,-194.7,676.9,-10.2,1137,6804,0.00,2.83,0.00,0.000,4,0.000,0.061,2763,3700,3864
$GC,6872,-0.84,-194.7,684.6,-10.4,1143,6877,0.15,2.72,0.00,0.000,6,0.068,0.046,2736,2340,3864
$GC,7196,-0.84,-194.7,724.0,-11.7,1173,7201,0.00,3.03,0.00,0.000,4,0.000,0.074,2736,887,3863
$GC,7259,-0.84,-194.7,731.1,-11.6,1178,7264,0.00,2.85,0.00,0.000,6,0.000,0.046,2736,2316,3863
$GC,7585,-0.84,-194.7,766.2,-10.6,1208,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2317,3863
$GC,7901,-0.84,-194.7,799.1,-10.1,1238,7906,0.00,3.08,0.00,0.000,4,0.000,0.097,2736,3709,3863
$GC,7952,-0.84,-194.7,804.4,-10.7,1242,7956,0.00,3.00,0.00,0.000,6,0.000,0.081,2736,2325,3863
$GC,8277,-0.84,-194.7,837.5,-10.3,1272,8282,0.00,3.33,0.00,0.000,4,0.000,0.120,2736,887,3862
$GC,8327,-0.84,-194.7,843.0,-10.9,1276,8332,0.00,3.17,0.00,0.000,6,0.000,0.093,2736,2321,3862
$GC,8652,-0.84,-194.7,877.3,-10.3,1306,8653,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2321,3861
$GC,8969,-0.84,-194.7,910.9,-10.7,1336,8974,0.00,2.83,0.00,0.000,4,0.000,0.056,2736,3721,3861
$GC,9013,-0.84,-194.7,915.7,-10.9,1339,9019,0.00,2.80,0.00,0.000,6,0.000,0.040,2735,2306,3861
$GC,9340,-0.84,-194.7,949.2,-10.4,1370,9341,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2306,3860
$GC,9656,-0.84,-194.7,981.6,-10.0,1400,9661,0.00,2.90,0.00,0.000,4,0.000,0.058,2736,3718,3860
$GC,9699,-0.84,-194.7,986.3,-10.9,1403,9706,0.00,2.75,0.00,0.000,6,0.000,0.042,2735,2334,3860
$STATE,9735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9735,begin apogee
$GC,9741,-0.21,0.0,990.1,10.6,1407,9949,0.77,0.00,201.15,1.599,6,0.124,0.000,2865,2766,3071
$STATE,9950,end apogee,CONTROL_FINISHED_OK
$STATE,9950,begin climb
$GC,9952,0.86,194.7,996.4,0.0,1428,10175,1.40,2.55,210.45,1.541,4,0.083,0.059,3099,3896,2277
$GC,10333,0.70,194.7,952.5,15.9,1464,10339,0.17,2.40,0.00,0.000,6,0.125,0.036,3075,2740,2274
$GC,10658,0.59,194.7,911.2,13.0,1494,10663,0.15,2.42,0.00,0.000,4,0.120,0.054,3050,3899,2274
$GC,10708,0.54,194.7,905.2,11.4,1498,10712,0.00,2.28,0.00,0.000,6,0.000,0.035,3050,2764,2274
$GC,11035,0.49,196.3,870.9,9.9,1528,11039,0.15,2.35,0.00,0.000,4,0.119,0.057,3025,3902,2273
$GC,11067,0.54,233.0,867.7,8.7,1530,11114,0.00,2.22,39.03,1.461,6,0.000,0.034,3024,2774,2121
$GC,11432,0.61,290.9,839.3,8.0,1565,11496,0.15,0.00,61.12,1.472,6,0.059,0.000,3054,2775,1885
$GC,11810,0.61,290.9,797.1,11.0,1601,11811,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2774,1879
$GC,12128,0.61,290.9,762.5,10.7,1631,12132,0.00,2.30,0.00,0.000,4,0.000,0.054,3054,3894,1878
$GC,12172,0.61,290.9,757.9,10.4,1634,12178,0.00,2.20,0.00,0.000,6,0.000,0.033,3054,2791,1877
$GC,12498,0.61,290.9,724.5,10.3,1665,12499,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2788,1877
$GC,12815,0.61,290.9,690.8,10.6,1695,12816,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2787,1876
$GC,13134,0.61,290.9,657.5,10.9,1725,13138,0.00,2.28,0.00,0.000,4,0.000,0.054,3054,3906,1876
$GC,13155,0.61,290.9,655.0,11.5,1726,13161,0.00,2.17,0.00,0.000,6,0.000,0.032,3053,2797,1876
$GC,13481,0.61,290.9,619.3,10.8,1757,13482,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2793,1876
$GC,13803,0.61,290.9,584.8,11.2,1799,13810,0.00,2.90,0.00,0.000,4,0.000,0.048,3054,1346,1875
$GC,13817,0.61,290.9,583.4,11.0,1801,13824,0.00,2.83,0.00,0.000,6,0.000,0.032,3054,2798,1875
$GC,14157,0.61,290.9,547.3,11.3,1862,14162,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2797,1875
$GC,14495,0.61,290.9,510.5,10.7,1923,14501,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2797,1875
$GC,14834,0.61,290.9,474.9,10.2,1984,14841,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2797,1875
$GC,15175,0.61,290.9,438.6,11.4,2045,15181,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2797,1875
$GC,15516,0.61,292.6,401.6,9.9,2106,15523,0.00,2.92,0.00,0.000,4,0.000,0.047,3054,1336,1875
$GC,15534,0.61,292.6,399.6,10.3,2109,15540,0.00,2.83,0.00,0.000,6,0.000,0.031,3054,2792,1875
$GC,15873,0.65,320.0,365.6,9.0,2170,15905,0.00,0.00,27.55,1.154,6,0.000,0.000,3054,2792,1767
$GC,16238,0.69,352.2,331.2,8.9,2236,16280,0.00,3.05,33.33,1.142,4,0.000,0.045,3054,1340,1635
$GC,16294,0.71,370.5,326.1,9.4,2245,16323,0.00,2.90,20.40,1.103,6,0.000,0.031,3054,2784,1559
$GC,16657,0.71,374.1,293.3,9.9,2310,16664,0.00,2.95,0.00,0.000,4,0.000,0.045,3054,1338,1554
$GC,16677,0.73,390.1,291.4,9.4,2313,16707,0.12,2.83,20.27,1.066,6,0.053,0.031,3081,2768,1480
$GC,17040,0.73,390.1,244.4,12.1,2378,17045,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2769,1476
$GC,17377,0.73,390.1,198.6,13.5,2439,17383,0.00,2.25,0.00,0.000,4,0.000,0.049,3081,3903,1475
$GC,17391,0.73,390.1,196.9,14.8,2441,17398,0.00,2.20,0.00,0.000,6,0.000,0.031,3081,2763,1475
$GC,17730,0.69,390.1,150.2,13.6,2502,17736,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2759,1474
$GC,18060,0.69,390.1,104.2,12.8,2563,18066,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2758,1474
$GC,18195,0.69,390.1,85.4,13.7,2588,18203,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2758,1474
$GC,18335,0.69,390.1,67.5,11.1,2613,18341,0.00,2.25,0.00,0.000,4,0.000,0.048,3082,3896,1474
$GC,18352,0.69,390.1,64.9,13.0,2616,18360,0.00,2.20,0.00,0.000,6,0.000,0.032,3081,2770,1474
$GC,18491,0.69,390.1,47.6,13.8,2641,18499,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2770,1473
$GC,18626,0.69,390.1,29.6,12.6,2666,18634,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2771,1474
$GC,18760,0.69,390.1,12.2,10.6,2691,18768,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2770,1474
$STATE,18845,end climb,SURFACE_DEPTH_REACHED
$STATE,18846,begin surface coast
$FINISH,-0.1,1.004734
$STATE,18863,end surface coast,CONTROL_FINISHED_OK
$STATE,18863,begin surface
$SM_CCo,18941,0.00,0.000,0,0,1471,392.48
$SM_GC,0.56,8.32,0.00,0.00,0.048,0.000,0.000,1434,2283,1471,-6.80,-0.51,392.48
$IRIDIUM_FIX,5911.23,-2211.73,170797,222225
$TT8_MAMPS,0.026078
$HUMID,1744
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,11.40
$XPDR_PINGS,957
$24V_AH,19.5,32.477
$10V_AH,9.7,27.324
$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,22.875,153.500,613.300,0.000,0.000,30.327,35.159,322.421,239.250,0.000,0.000,13.129,4093.417,8362.802,774.750,5459.932,760.472,0.000,2894.222,0.000,5458.142,0.000,0.465
$DEVICE_MAMPS,249.275,119.652,1599.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1874.753,1973.412,927.929,1095.971,1903.106,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,195855,2710
$CAP_FILE_SIZE,211749,0
$CFSIZE,260165632,247697408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230408,090955,5943.055,-2212.581,36,1.2,53,-15.5