version: 66.03
glider: 142
mission: 5
dive: 93
start: 4 23 108 14 48 15
data:
$ID,142
$MISSION,5
$DIVE,93
$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,-14519.627
$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,24
$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
$GPS1,143838,5946.908,-2212.272,36,1.0,36,-15.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-51.8
$GPS2,144757,5946.926,-2212.417,12,1.2,12,-15.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5957.074,-2210.568
$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,35.5,20000,-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,26,-0.86,-194.7,0.0,0.0,0,158,0.00,0.00,-128.85,0.000,2,0.000,0.000,1438,2290,3672
$GC,161,-0.86,-194.7,3.6,-5.8,18,185,11.35,2.83,-4.90,0.000,4,0.250,0.050,2729,3706,3865
$GC,323,-0.81,-194.7,32.0,-13.7,47,331,0.00,2.80,0.00,0.000,6,0.000,0.033,2729,2299,3865
$GC,457,-0.74,-194.7,50.9,-14.0,72,466,0.15,2.85,0.00,0.000,4,0.147,0.050,2753,893,3866
$GC,554,-0.74,-194.7,63.1,-12.1,89,560,0.00,2.70,0.00,0.000,6,0.000,0.028,2753,2294,3866
$GC,689,-0.74,-194.7,79.6,-12.1,114,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2294,3866
$GC,828,-0.74,-194.7,96.2,-12.5,139,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2294,3866
$GC,962,-0.74,-194.7,112.4,-11.6,164,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2294,3866
$GC,1102,-0.74,-194.7,128.8,-12.3,189,1108,0.00,2.80,0.00,0.000,4,0.000,0.048,2753,887,3866
$GC,1137,-0.74,-194.7,133.2,-12.3,195,1144,0.00,2.67,0.00,0.000,6,0.000,0.030,2753,2288,3866
$GC,1275,-0.74,-194.7,149.0,-11.5,220,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2289,3866
$GC,1418,-0.74,-194.7,165.2,-11.1,245,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2289,3866
$GC,1757,-0.74,-194.7,203.5,-11.1,306,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2289,3866
$GC,2096,-0.74,-194.7,241.0,-11.4,367,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2289,3866
$GC,2433,-0.74,-194.7,277.6,-10.4,428,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2289,3866
$GC,2775,-0.74,-194.7,311.8,-9.8,489,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2289,3866
$GC,3112,-0.74,-194.7,346.7,-10.2,550,3118,0.00,2.78,0.00,0.000,4,0.000,0.045,2753,3700,3866
$GC,3168,-0.74,-194.7,352.6,-10.2,560,3176,0.00,2.78,0.00,0.000,6,0.000,0.034,2753,2283,3866
$GC,3510,-0.74,-194.7,388.2,-10.0,621,3516,0.00,2.75,0.00,0.000,4,0.000,0.051,2753,889,3866
$GC,3555,-0.74,-194.7,393.1,-10.8,629,3561,0.00,2.67,0.00,0.000,6,0.000,0.030,2753,2292,3866
$GC,3894,-0.74,-194.7,429.1,-10.6,690,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2292,3866
$GC,4235,-0.74,-194.7,466.3,-10.6,751,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2292,3866
$GC,4573,-0.74,-194.7,502.1,-10.7,812,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2292,3866
$GC,4916,-0.74,-194.7,536.3,-9.6,873,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2292,3866
$GC,5255,-0.74,-194.7,568.5,-9.2,934,5261,0.00,2.80,0.00,0.000,4,0.000,0.051,2752,3703,3866
$GC,5306,-0.74,-194.7,573.4,-9.2,943,5313,0.00,2.75,0.00,0.000,6,0.000,0.035,2753,2292,3866
$GC,5645,-0.74,-194.7,604.9,-9.4,999,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2292,3866
$GC,5964,-0.74,-194.7,635.1,-9.4,1029,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2292,3866
$GC,6282,-0.74,-194.7,664.7,-9.4,1059,6287,0.00,2.88,0.00,0.000,4,0.000,0.058,2752,3698,3866
$GC,6337,-0.74,-194.7,669.9,-9.3,1063,6343,0.00,2.78,0.00,0.000,6,0.000,0.045,2753,2306,3865
$GC,6663,-0.74,-194.7,699.9,-9.1,1094,6667,0.00,2.92,0.00,0.000,4,0.000,0.069,2753,885,3865
$GC,6706,-0.74,-194.7,704.4,-10.1,1097,6712,0.00,2.78,0.00,0.000,6,0.000,0.040,2753,2297,3865
$GC,7032,-0.74,-194.7,735.8,-9.9,1128,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2297,3865
$GC,7349,-0.74,-194.7,766.7,-9.5,1158,7354,0.00,3.03,0.00,0.000,4,0.000,0.082,2753,3712,3864
$GC,7393,-0.74,-194.7,770.9,-9.4,1161,7399,0.00,2.92,0.00,0.000,6,0.000,0.066,2753,2317,3864
$GC,7719,-0.74,-194.7,801.3,-9.2,1192,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2316,3864
$GC,8036,-0.74,-194.7,830.4,-8.8,1222,8037,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2316,3863
$GC,8355,-0.74,-194.7,859.6,-9.2,1252,8356,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2316,3863
$GC,8673,-0.74,-194.7,887.9,-8.6,1282,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2316,3862
$GC,8992,-0.74,-194.7,916.1,-9.0,1312,8997,0.00,2.85,0.00,0.000,4,0.000,0.054,2753,3717,3861
$GC,9042,-0.74,-194.7,920.6,-8.7,1316,9047,0.00,2.78,0.00,0.000,6,0.000,0.039,2753,2310,3861
$GC,9368,-0.74,-194.7,950.0,-9.3,1346,9372,0.00,2.90,0.00,0.000,4,0.000,0.061,2753,882,3861
$GC,9411,-0.74,-194.7,954.5,-10.0,1349,9417,0.00,2.80,0.00,0.000,6,0.000,0.033,2753,2322,3861
$GC,9739,-0.74,-194.7,985.0,-9.5,1380,9743,0.00,2.83,0.00,0.000,4,0.000,0.065,2753,3712,3861
$STATE,9787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9787,begin apogee
$GC,9794,-0.21,0.0,990.1,9.8,1384,10001,0.70,0.00,201.48,1.599,6,0.135,0.000,2867,2742,3071
$STATE,10002,end apogee,CONTROL_FINISHED_OK
$STATE,10002,begin climb
$GC,10004,0.86,194.7,997.6,0.0,1405,10228,1.40,2.60,211.35,1.544,4,0.085,0.056,3099,3898,2276
$GC,10397,0.70,194.7,951.9,15.6,1442,10402,0.17,2.38,0.00,0.000,6,0.127,0.035,3075,2749,2274
$GC,10724,0.58,194.7,911.0,12.8,1472,10728,0.15,2.42,0.00,0.000,4,0.127,0.054,3051,3906,2273
$GC,10758,0.51,194.7,906.8,11.4,1474,10764,0.00,2.30,0.00,0.000,6,0.000,0.035,3051,2752,2273
$GC,11083,0.46,194.7,872.1,10.4,1505,11088,0.15,2.38,0.00,0.000,4,0.122,0.053,3026,3899,2272
$GC,11100,0.42,194.8,870.3,10.0,1506,11104,0.00,2.25,0.00,0.000,6,0.000,0.033,3026,2759,2272
$GC,11426,0.49,249.4,844.5,8.1,1536,11485,0.00,0.00,55.62,1.478,6,0.000,0.000,3026,2759,2054
$GC,11803,0.57,322.3,814.5,7.5,1572,11886,0.00,2.55,76.82,1.465,4,0.000,0.054,3025,3900,1756
$GC,11898,0.75,410.9,807.4,6.9,1581,12004,0.30,2.35,97.90,1.439,6,0.048,0.033,3082,2762,1394
$GC,12330,0.68,410.9,744.2,15.1,1622,12334,0.00,2.40,0.00,0.000,4,0.000,0.052,3083,3903,1383
$GC,12362,0.64,410.9,739.0,15.1,1624,12369,0.15,2.28,0.00,0.000,6,0.109,0.033,3062,2770,1383
$GC,12686,0.64,410.9,700.7,11.6,1655,12691,0.00,2.92,0.00,0.000,4,0.000,0.051,3061,1338,1380
$GC,12702,0.64,410.9,698.8,12.0,1656,12707,0.00,2.88,0.00,0.000,6,0.000,0.032,3062,2780,1380
$GC,13026,0.64,410.9,660.6,11.7,1686,13031,0.00,2.95,0.00,0.000,4,0.000,0.048,3062,1339,1379
$GC,13036,0.64,410.9,659.3,11.4,1686,13042,0.00,2.83,0.00,0.000,6,0.000,0.032,3061,2767,1379
$GC,13362,0.64,410.9,621.8,11.3,1717,13363,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2768,1379
$GC,13684,0.64,410.9,584.4,12.3,1759,13691,0.00,2.90,0.00,0.000,4,0.000,0.048,3061,1337,1378
$GC,13708,0.64,410.9,581.8,11.2,1763,13715,0.00,2.80,0.00,0.000,6,0.000,0.033,3061,2761,1378
$GC,14048,0.64,410.9,544.3,10.6,1824,14056,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2761,1378
$GC,14389,0.64,410.9,506.3,11.7,1885,14395,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2762,1378
$GC,14730,0.64,410.9,468.2,11.5,1946,14736,0.00,2.85,0.00,0.000,4,0.000,0.047,3061,1340,1377
$GC,14747,0.64,410.9,466.2,11.7,1949,14753,0.00,2.75,0.00,0.000,6,0.000,0.031,3061,2753,1377
$GC,15087,0.64,410.9,429.4,10.7,2010,15094,0.00,2.85,0.00,0.000,4,0.000,0.047,3062,1336,1377
$GC,15105,0.64,410.9,427.4,10.9,2013,15112,0.00,2.75,0.00,0.000,6,0.000,0.032,3062,2749,1377
$GC,15445,0.64,410.9,391.8,10.0,2074,15451,0.00,2.83,0.00,0.000,4,0.000,0.047,3061,1340,1377
$GC,15457,0.64,410.9,390.4,10.3,2076,15464,0.00,2.70,0.00,0.000,6,0.000,0.032,3062,2732,1377
$GC,15801,0.65,419.9,355.2,9.7,2137,15812,0.00,0.00,6.53,0.913,6,0.000,0.000,3061,2732,1359
$GC,16147,0.65,419.9,319.9,10.3,2199,16154,0.00,2.80,0.00,0.000,4,0.000,0.046,3061,1332,1358
$GC,16161,0.65,419.9,318.5,10.6,2201,16167,0.00,2.70,0.00,0.000,6,0.000,0.031,3061,2726,1358
$GC,16502,0.69,419.9,281.9,10.5,2262,16508,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2726,1358
$GC,16842,0.76,436.5,247.3,9.4,2323,16868,0.12,2.80,18.75,1.046,4,0.058,0.045,3089,1340,1290
$GC,16874,0.76,436.5,243.4,12.3,2328,16882,0.00,2.72,0.00,0.000,6,0.000,0.031,3089,2716,1289
$GC,17218,0.70,436.5,194.4,14.3,2389,17224,0.00,2.33,0.00,0.000,4,0.000,0.048,3089,3890,1288
$GC,17254,0.70,436.5,189.1,12.4,2395,17260,0.00,2.28,0.00,0.000,6,0.000,0.031,3089,2714,1288
$GC,17592,0.64,436.5,139.1,15.6,2456,17600,0.15,2.38,0.00,0.000,4,0.106,0.045,3063,3887,1287
$GC,17614,0.64,436.5,136.2,14.0,2459,17620,0.00,2.22,0.00,0.000,6,0.000,0.031,3063,2736,1287
$GC,17752,0.70,437.1,122.7,10.0,2484,17759,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2735,1287
$GC,17892,0.81,482.6,109.0,8.4,2509,17949,0.15,2.88,47.55,1.004,4,0.054,0.048,3099,1348,1102
$GC,17957,0.76,482.6,100.1,16.2,2519,17963,0.00,2.78,0.00,0.000,6,0.000,0.029,3100,2741,1101
$GC,18093,0.68,482.6,77.0,16.7,2544,18102,0.15,2.33,0.00,0.000,4,0.110,0.045,3074,3885,1098
$GC,18116,0.64,482.6,73.7,15.8,2547,18122,0.00,2.25,0.00,0.000,6,0.000,0.032,3074,2740,1098
$GC,18254,0.72,503.8,58.1,9.3,2572,18281,0.00,2.92,21.50,0.922,4,0.000,0.048,3073,1334,1017
$GC,18290,0.77,503.8,54.4,11.0,2577,18296,0.00,2.78,0.00,0.000,6,0.000,0.028,3074,2741,1015
$GC,18425,0.85,503.8,40.9,11.5,2602,18433,0.15,0.00,0.00,0.000,6,0.051,0.000,3110,2741,1013
$GC,18560,0.77,503.8,18.2,19.8,2627,18569,0.15,2.88,0.00,0.000,4,0.108,0.045,3084,1338,1013
$GC,18579,0.70,503.8,15.1,18.2,2629,18587,0.00,2.75,0.00,0.000,6,0.000,0.030,3084,2727,1013
$STATE,18675,end climb,SURFACE_DEPTH_REACHED
$STATE,18675,begin surface coast
$FINISH,0.6,1.026256
$STATE,18692,end surface coast,CONTROL_FINISHED_OK
$STATE,18693,begin surface
$SM_CCo,18771,0.00,0.000,0,0,1010,505.32
$SM_GC,0.47,8.43,0.00,0.00,0.048,0.000,0.000,1437,2281,1010,-6.79,-0.54,505.32
$IRIDIUM_FIX,5919.67,-2212.61,180797,090905
$TT8_MAMPS,0.026078
$HUMID,1728
$INTERNAL_PRESSURE,8.85822
$TCM_TEMP,11.80
$XPDR_PINGS,1000
$24V_AH,19.5,33.143
$10V_AH,9.7,27.811
$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,23.825,167.125,737.500,0.000,0.000,27.369,39.486,337.193,250.000,0.000,0.000,13.645,4005.913,8298.812,861.163,5344.678,789.863,0.000,2977.694,0.000,5343.263,0.000,0.466
$DEVICE_MAMPS,250.042,82.069,1599.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1830.639,1928.755,905.567,1054.805,1840.382,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,189714,2650
$CAP_FILE_SIZE,214079,0
$CFSIZE,260165632,247451648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230408,200208,5950.761,-2212.174,27,1.1,27,-15.5