version: 66.03
glider: 142
mission: 5
dive: 103
start: 4 25 108 21 9 39
data:
$ID,142
$MISSION,5
$DIVE,103
$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,350
$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,-14753.255
$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,28
$R_STBD_OVSHOOT,23
$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
$GPS1,205931,6013.512,-2227.664,35,1.4,40,-15.8
$_CALLS,1
$_XMS_NAKs,29
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-53.6
$GPS2,210921,6013.441,-2227.829,11,1.4,11,-15.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6024.076,-2228.755
$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,5.8,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.86,-194.7,0.0,0.0,0,173,0.00,0.00,-142.45,0.000,2,0.000,0.000,1430,2290,3678
$GC,175,-0.86,-194.7,3.3,-3.9,20,199,11.38,2.83,-4.85,0.000,4,0.250,0.051,2724,3707,3866
$GC,317,-0.79,-194.7,28.9,-14.0,45,326,0.10,2.78,0.00,0.000,6,0.139,0.034,2741,2309,3866
$GC,454,-0.73,-194.7,46.9,-12.8,70,462,0.00,2.88,0.00,0.000,4,0.000,0.050,2741,884,3866
$GC,571,-0.73,-194.7,62.5,-13.2,91,577,0.00,2.72,0.00,0.000,6,0.000,0.029,2741,2296,3866
$GC,900,-0.69,-194.7,104.6,-13.0,152,909,0.17,2.85,0.00,0.000,4,0.151,0.048,2766,887,3867
$GC,948,-0.69,-194.7,109.9,-10.4,160,956,0.00,2.70,0.00,0.000,6,0.000,0.029,2766,2280,3867
$GC,1282,-0.69,-194.7,143.5,-10.1,221,1288,0.00,2.80,0.00,0.000,4,0.000,0.044,2766,3703,3866
$GC,1351,-0.69,-194.7,150.7,-10.2,233,1358,0.00,2.78,0.00,0.000,6,0.000,0.034,2766,2277,3866
$GC,1690,-0.69,-194.7,185.5,-9.7,294,1697,0.00,2.72,0.00,0.000,4,0.000,0.050,2766,894,3866
$GC,1733,-0.73,-194.7,189.7,-10.5,301,1739,0.00,2.67,0.00,0.000,6,0.000,0.029,2766,2293,3867
$GC,2071,-0.73,-194.7,222.8,-9.5,362,2077,0.00,2.78,0.00,0.000,4,0.000,0.044,2766,3707,3866
$GC,2143,-0.73,-194.7,229.8,-9.7,375,2150,0.00,2.72,0.00,0.000,6,0.000,0.032,2766,2298,3866
$GC,2485,-0.73,-194.7,262.6,-10.2,436,2493,0.00,2.80,0.00,0.000,4,0.000,0.050,2766,887,3867
$GC,2540,-0.78,-194.7,268.1,-10.2,445,2546,0.00,2.70,0.00,0.000,6,0.000,0.030,2766,2305,3866
$GC,2879,-0.78,-194.7,300.8,-9.6,506,2885,0.00,2.75,0.00,0.000,4,0.000,0.044,2766,3704,3866
$GC,2944,-0.78,-194.7,306.8,-9.5,517,2950,0.00,2.72,0.00,0.000,6,0.000,0.032,2766,2294,3867
$GC,3281,-0.78,-194.7,338.5,-9.5,578,3287,0.00,2.78,0.00,0.000,4,0.000,0.050,2766,884,3866
$GC,3323,-0.84,-194.7,342.4,-9.7,585,3330,0.15,2.70,0.00,0.000,6,0.055,0.030,2736,2309,3866
$GC,3658,-0.79,-194.7,382.1,-11.9,622,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2309,3867
$GC,3978,-0.75,-194.7,418.9,-11.2,652,3983,0.12,2.83,0.00,0.000,4,0.128,0.048,2753,884,3866
$GC,4028,-0.75,-194.7,424.5,-10.3,656,4033,0.00,2.67,0.00,0.000,6,0.000,0.029,2753,2293,3866
$GC,4354,-0.75,-194.7,458.9,-10.8,686,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2294,3866
$GC,4671,-0.75,-194.7,492.9,-10.4,716,4676,0.00,2.78,0.00,0.000,4,0.000,0.047,2753,3704,3866
$GC,4726,-0.75,-194.7,498.8,-10.4,720,4735,0.00,2.75,0.00,0.000,6,0.000,0.033,2753,2298,3866
$GC,5053,-0.75,-194.7,531.0,-9.7,751,5058,0.00,2.80,0.00,0.000,4,0.000,0.052,2753,885,3866
$GC,5107,-0.75,-194.7,536.6,-9.8,755,5114,0.00,2.70,0.00,0.000,6,0.000,0.030,2753,2300,3866
$GC,5433,-0.75,-194.7,568.4,-10.0,786,5438,0.00,2.78,0.00,0.000,4,0.000,0.049,2753,3705,3866
$GC,5495,-0.75,-194.7,575.0,-10.7,791,5500,0.00,2.75,0.00,0.000,6,0.000,0.035,2753,2291,3866
$GC,5829,-0.75,-194.7,608.2,-9.9,818,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2290,3866
$GC,6136,-0.75,-194.7,639.9,-10.3,833,6138,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2290,3866
$GC,6446,-0.75,-194.7,670.3,-9.5,848,6447,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2290,3866
$GC,6756,-0.75,-194.7,699.9,-9.5,863,6760,0.00,2.90,0.00,0.000,4,0.000,0.063,2753,3701,3866
$GC,6844,-0.75,-194.7,708.7,-9.8,867,6849,0.00,2.83,0.00,0.000,6,0.000,0.048,2753,2298,3865
$GC,7165,-0.75,-194.7,740.6,-9.8,883,7170,0.00,2.97,0.00,0.000,4,0.000,0.079,2753,881,3865
$GC,7219,-0.75,-194.7,746.3,-10.5,885,7226,0.00,2.83,0.00,0.000,6,0.000,0.051,2753,2290,3865
$GC,7535,-0.75,-194.7,776.7,-9.9,901,7540,0.00,3.05,0.00,0.000,4,0.000,0.084,2753,3714,3865
$GC,7602,-0.75,-194.7,783.4,-9.7,904,7606,0.00,2.97,0.00,0.000,6,0.000,0.068,2753,2301,3865
$GC,7922,-0.75,-194.7,813.6,-9.1,920,7927,0.00,3.17,0.00,0.000,4,0.000,0.106,2753,884,3864
$GC,7961,-0.75,-194.7,817.2,-9.2,922,7966,0.00,3.08,0.00,0.000,6,0.000,0.080,2753,2313,3864
$GC,8287,-0.75,-194.7,846.5,-9.2,938,8292,0.00,3.22,0.00,0.000,4,0.000,0.114,2753,3717,3864
$GC,8359,-0.75,-194.7,853.5,-9.8,941,8364,0.00,3.20,0.00,0.000,6,0.000,0.103,2753,2315,3864
$GC,8675,-0.75,-194.7,883.5,-9.7,956,8679,0.00,2.88,0.00,0.000,4,0.000,0.055,2753,878,3863
$GC,8718,-0.75,-194.7,887.8,-9.9,958,8723,0.00,2.83,0.00,0.000,6,0.000,0.033,2753,2337,3863
$GC,9039,-0.75,-194.7,917.4,-9.2,974,9043,0.00,2.78,0.00,0.000,4,0.000,0.058,2753,3709,3863
$GC,9093,-0.75,-194.7,922.7,-9.3,976,9100,0.00,2.78,0.00,0.000,6,0.000,0.041,2753,2308,3863
$GC,9409,-0.75,-194.7,950.9,-9.0,992,9414,0.00,2.90,0.00,0.000,4,0.000,0.063,2753,880,3862
$GC,9448,-0.79,-194.7,954.6,-9.6,994,9453,0.00,2.83,0.00,0.000,6,0.000,0.035,2753,2331,3862
$GC,9775,-0.79,-194.7,985.3,-9.6,1010,9779,0.00,2.80,0.00,0.000,4,0.000,0.059,2753,3712,3861
$STATE,9821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9821,begin apogee
$GC,9829,-0.21,0.0,990.2,9.8,1012,10033,0.70,0.00,201.45,1.600,6,0.130,0.000,2868,2741,3071
$STATE,10034,end apogee,CONTROL_FINISHED_OK
$STATE,10034,begin climb
$GC,10036,0.86,194.7,998.1,0.0,1022,10262,1.38,2.72,210.70,1.546,4,0.084,0.056,3097,3899,2275
$GC,10399,0.68,194.7,958.1,15.9,1039,10404,0.20,2.38,0.00,0.000,6,0.128,0.035,3071,2750,2273
$GC,10725,0.57,194.7,916.7,12.4,1055,10730,0.15,2.40,0.00,0.000,4,0.122,0.053,3046,3900,2273
$GC,10769,0.52,194.7,911.5,11.2,1057,10773,0.00,2.28,0.00,0.000,6,0.000,0.034,3045,2757,2273
$GC,11096,0.48,194.7,878.7,10.1,1073,11101,0.12,2.35,0.00,0.000,4,0.115,0.053,3027,3897,2272
$GC,11106,0.43,194.7,877.5,10.2,1073,11112,0.00,2.22,0.00,0.000,6,0.000,0.033,3027,2761,2272
$GC,11421,0.49,242.4,851.1,8.3,1089,11476,0.00,2.47,48.00,1.481,4,0.000,0.059,3027,3895,2082
$GC,11488,0.54,283.2,845.2,8.6,1092,11537,0.00,2.25,44.05,1.463,6,0.000,0.031,3027,2781,1916
$GC,11856,0.64,329.7,813.5,8.4,1110,11911,0.15,3.08,48.65,1.445,4,0.058,0.050,3060,1342,1726
$GC,11917,0.64,329.7,806.7,10.9,1113,11922,0.00,2.97,0.00,0.000,6,0.000,0.032,3059,2781,1725
$GC,12242,0.64,329.7,766.9,12.0,1129,12243,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2781,1721
$GC,12552,0.64,329.7,730.5,11.8,1144,12553,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2781,1720
$GC,12861,0.64,329.7,694.4,11.5,1159,12866,0.00,2.92,0.00,0.000,4,0.000,0.046,3060,1337,1719
$GC,12877,0.64,329.7,692.4,11.6,1160,12882,0.00,2.85,0.00,0.000,6,0.000,0.033,3060,2783,1718
$GC,13203,0.64,329.7,656.5,10.9,1176,13204,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2784,1718
$GC,13512,0.64,329.7,620.2,11.7,1191,13513,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2785,1718
$GC,13825,0.64,329.7,584.7,11.0,1212,13829,0.00,2.90,0.00,0.000,4,0.000,0.046,3060,1342,1718
$GC,13834,0.64,329.7,583.5,11.1,1212,13841,0.00,2.83,0.00,0.000,6,0.000,0.032,3060,2791,1718
$GC,14160,0.64,329.7,548.3,10.8,1243,14165,0.00,2.92,0.00,0.000,4,0.000,0.046,3060,1335,1718
$GC,14170,0.64,329.7,546.9,10.8,1243,14176,0.00,2.83,0.00,0.000,6,0.000,0.031,3060,2785,1718
$GC,14496,0.64,329.7,511.6,11.2,1274,14501,0.00,2.90,0.00,0.000,4,0.000,0.045,3060,1338,1717
$GC,14512,0.64,329.7,509.6,11.1,1275,14517,0.00,2.78,0.00,0.000,6,0.000,0.031,3060,2766,1717
$GC,14840,0.64,329.7,474.0,10.8,1305,14845,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2766,1717
$GC,15166,0.64,329.7,438.4,10.6,1336,15167,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2766,1717
$GC,15483,0.64,329.7,404.4,10.1,1366,15487,0.00,2.85,0.00,0.000,4,0.000,0.044,3060,1334,1717
$GC,15492,0.64,329.7,403.2,10.2,1366,15499,0.00,2.78,0.00,0.000,6,0.000,0.030,3060,2767,1717
$GC,15818,0.64,329.7,369.0,10.9,1397,15819,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2769,1717
$GC,16141,0.64,329.7,332.9,11.6,1440,16149,0.00,2.88,0.00,0.000,4,0.000,0.044,3060,1339,1717
$GC,16155,0.64,329.7,331.4,10.9,1442,16161,0.00,2.75,0.00,0.000,6,0.000,0.031,3060,2761,1717
$GC,16493,0.64,329.7,296.0,10.3,1503,16499,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2761,1717
$GC,16833,0.64,329.7,260.5,10.3,1564,16841,0.00,2.85,0.00,0.000,4,0.000,0.044,3060,1340,1717
$GC,16847,0.64,329.7,258.8,10.5,1566,16853,0.00,2.72,0.00,0.000,6,0.000,0.031,3060,2754,1717
$GC,17187,0.64,329.7,223.4,10.1,1627,17192,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2754,1717
$GC,17527,0.65,341.0,190.1,9.6,1688,17546,0.00,2.88,10.85,0.918,4,0.000,0.044,3060,1336,1679
$GC,17552,0.66,347.9,187.6,9.8,1692,17565,0.00,2.78,8.48,0.905,6,0.000,0.031,3060,2750,1652
$GC,17898,0.68,360.8,153.7,9.6,1754,17917,0.00,0.00,13.98,0.955,6,0.000,0.000,3060,2750,1600
$GC,18242,0.70,382.7,119.4,9.2,1817,18273,0.00,2.90,23.23,0.973,4,0.000,0.044,3060,1342,1509
$GC,18281,0.73,405.0,115.4,9.2,1823,18313,0.00,2.78,23.45,0.969,6,0.000,0.030,3060,2750,1419
$GC,18639,0.81,420.8,81.4,9.5,1888,18661,0.15,2.92,16.10,0.907,4,0.049,0.044,3097,1340,1355
$GC,18667,0.81,420.8,77.8,10.9,1892,18674,0.00,2.78,0.00,0.000,6,0.000,0.030,3097,2730,1354
$GC,18994,0.73,420.8,25.9,15.3,1953,19002,0.00,2.33,0.00,0.000,4,0.000,0.047,3097,3888,1352
$GC,19015,0.65,420.8,22.3,16.7,1956,19023,0.17,2.28,0.00,0.000,6,0.097,0.031,3066,2735,1351
$GC,19151,0.74,445.1,7.8,9.2,1981,19181,0.00,0.00,24.75,0.895,6,0.000,0.000,3066,2735,1256
$STATE,19213,end climb,SURFACE_DEPTH_REACHED
$STATE,19213,begin surface coast
$FINISH,-0.0,1.013279
$STATE,19235,end surface coast,CONTROL_FINISHED_OK
$STATE,19235,begin surface
$SM_CCo,19314,0.00,0.000,0,0,1252,446.20
$SM_GC,0.53,8.35,0.00,0.00,0.044,0.000,0.000,1432,2297,1252,-6.80,-0.08,446.20
$IRIDIUM_FIX,5949.48,-2220.22,200797,151501
$TT8_MAMPS,0.026845
$HUMID,1737
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,12.30
$XPDR_PINGS,848
$24V_AH,19.6,36.365
$10V_AH,9.7,29.882
$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,23.300,211.025,673.675,0.000,0.000,25.252,38.027,394.036,212.000,0.000,0.000,12.901,3162.885,10618.726,797.778,4514.436,789.960,0.000,2574.548,0.000,4508.832,0.000,0.465
$DEVICE_MAMPS,250.042,113.516,1599.962,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1381.993,1435.017,722.916,987.223,1811.743,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145327,1995
$CAP_FILE_SIZE,194888,0
$CFSIZE,260165632,246517760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260408,023238,6014.863,-2231.548,29,2.0,29,-15.9