version: 66.03
glider: 142
mission: 5
dive: 195
start: 5 16 108 7 43 30
data:
$ID,142
$MISSION,5
$DIVE,195
$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,100
$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,5
$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,-16746.447
$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,23
$R_STBD_OVSHOOT,14
$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
$GPS1,073608,6121.476,-2625.402,36,1.1,36,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-64.3
$GPS2,074309,6121.556,-2625.439,14,1.6,14,-18.6
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6132.314,-2624.990
$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,23.6,20000,-21.7,-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,-1.03,-97.3,0.0,0.0,0,100,0.00,0.00,-67.97,0.000,6,0.000,0.000,1435,2286,3467
$GC,103,-1.03,-97.3,3.4,-4.6,13,121,11.73,0.00,0.00,0.000,6,0.255,0.000,2685,2286,3469
$GC,258,-0.97,-97.3,27.6,-14.1,40,265,0.15,2.83,0.00,0.000,4,0.165,0.048,2708,886,3470
$GC,322,-0.97,-97.3,36.0,-11.7,51,329,0.00,2.75,0.00,0.000,6,0.000,0.028,2708,2317,3470
$GC,464,-0.97,-97.3,50.8,-10.4,76,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2317,3471
$GC,807,-0.97,-97.3,87.7,-10.8,137,813,0.00,2.88,0.00,0.000,4,0.000,0.048,2708,889,3471
$GC,937,-0.97,-97.3,103.5,-12.8,160,944,0.00,2.67,0.00,0.000,6,0.000,0.031,2708,2277,3471
$GC,1281,-0.97,-97.3,143.8,-11.7,221,1287,0.00,2.78,0.00,0.000,4,0.000,0.048,2708,892,3471
$GC,1395,-0.97,-97.3,157.9,-12.6,241,1402,0.00,2.62,0.00,0.000,6,0.000,0.031,2708,2255,3471
$GC,1739,-0.97,-97.3,197.6,-11.3,302,1745,0.00,2.75,0.00,0.000,4,0.000,0.048,2708,883,3471
$GC,1813,-0.97,-97.3,206.4,-11.7,315,1819,0.00,2.60,0.00,0.000,6,0.000,0.030,2708,2237,3472
$GC,2157,-0.97,-97.3,244.3,-11.1,376,2164,0.00,2.70,0.00,0.000,4,0.000,0.048,2708,891,3471
$GC,2259,-0.97,-97.3,256.0,-11.8,394,2265,0.00,2.58,0.00,0.000,6,0.000,0.031,2708,2230,3472
$GC,2602,-0.97,-97.3,293.6,-11.5,455,2608,0.00,2.70,0.00,0.000,4,0.000,0.048,2708,885,3471
$GC,2684,-0.97,-97.3,303.4,-12.4,469,2689,0.00,2.55,0.00,0.000,6,0.000,0.030,2708,2216,3472
$GC,3026,-0.97,-97.3,342.6,-11.2,530,3032,0.00,2.67,0.00,0.000,4,0.000,0.048,2708,884,3471
$GC,3068,-0.97,-97.3,347.3,-11.9,537,3074,0.00,2.55,0.00,0.000,6,0.000,0.030,2707,2211,3472
$GC,3401,-0.97,-97.3,384.7,-11.0,570,3405,0.00,2.67,0.00,0.000,4,0.000,0.048,2708,883,3471
$GC,3531,-0.97,-97.3,400.0,-11.8,581,3536,0.00,2.53,0.00,0.000,6,0.000,0.030,2708,2195,3471
$GC,3858,-0.97,-97.3,434.8,-10.3,611,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2196,3472
$GC,4174,-0.97,-97.3,468.5,-10.8,641,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2198,3471
$GC,4493,-0.97,-97.3,502.6,-10.3,671,4497,0.00,2.62,0.00,0.000,4,0.000,0.049,2708,886,3471
$GC,4681,-0.97,-97.3,523.9,-11.0,687,4688,0.00,2.50,0.00,0.000,6,0.000,0.031,2708,2182,3471
$GC,5009,-0.97,-97.3,554.5,-8.9,718,5013,0.00,2.62,0.00,0.000,4,0.000,0.050,2708,887,3471
$GC,5063,-0.97,-97.3,560.0,-9.5,722,5070,0.00,2.47,0.00,0.000,6,0.000,0.031,2708,2168,3471
$GC,5392,-0.97,-97.3,589.0,-9.1,753,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2170,3471
$GC,5721,-0.97,-97.3,620.9,-9.9,775,5726,0.00,2.60,0.00,0.000,4,0.000,0.053,2708,896,3471
$GC,5754,-0.97,-97.3,624.5,-10.8,776,5761,0.00,2.45,0.00,0.000,6,0.000,0.032,2708,2141,3471
$GC,6070,-0.97,-97.3,659.1,-11.6,792,6075,0.00,3.20,0.00,0.000,4,0.000,0.057,2708,3703,3471
$GC,6141,-0.97,-97.3,667.8,-12.0,795,6146,0.00,3.12,0.00,0.000,6,0.000,0.048,2708,2158,3471
$GC,6457,-0.97,-97.3,702.6,-10.8,810,6462,0.00,2.62,0.00,0.000,4,0.000,0.067,2707,897,3470
$GC,6496,-0.97,-97.3,707.0,-11.0,812,6501,0.00,2.50,0.00,0.000,6,0.000,0.038,2708,2160,3470
$GC,6823,-0.97,-97.3,738.8,-9.6,828,6828,0.00,3.25,0.00,0.000,4,0.000,0.070,2708,3694,3470
$GC,6885,-0.97,-97.3,744.8,-10.0,831,6890,0.00,3.10,0.00,0.000,6,0.000,0.054,2708,2191,3470
$GC,7212,-0.97,-97.3,774.8,-8.6,847,7216,0.00,2.88,0.00,0.000,4,0.000,0.092,2708,897,3470
$GC,7453,-0.97,-97.3,799.9,-9.6,858,7458,0.00,2.70,0.00,0.000,6,0.000,0.070,2708,2154,3470
$GC,7779,-0.97,-97.3,831.3,-10.1,874,7785,0.00,3.55,0.00,0.000,4,0.000,0.104,2708,3691,3470
$GC,7846,-0.97,-97.3,838.5,-11.1,877,7851,0.00,3.47,0.00,0.000,6,0.000,0.095,2708,2180,3469
$GC,8167,-0.97,-97.3,871.6,-10.2,893,8171,0.00,2.60,0.00,0.000,4,0.000,0.054,2708,894,3469
$GC,8328,-0.97,-97.3,890.0,-11.2,900,8332,0.00,2.50,0.00,0.000,6,0.000,0.032,2707,2171,3469
$GC,8650,-0.97,-97.3,920.6,-9.2,916,8655,0.00,3.12,0.00,0.000,4,0.000,0.056,2708,3696,3469
$GC,8721,-0.97,-97.3,927.5,-10.2,919,8726,0.00,3.03,0.00,0.000,6,0.000,0.042,2708,2191,3469
$GC,9037,-0.97,-97.3,955.2,-8.9,934,9041,0.00,2.65,0.00,0.000,4,0.000,0.061,2708,896,3468
$GC,9092,-0.97,-97.3,960.5,-9.8,936,9098,0.00,2.53,0.00,0.000,6,0.000,0.033,2708,2188,3468
$GC,9407,-0.97,-97.3,987.7,-8.1,952,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2188,3468
$STATE,9446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9446,begin apogee
$GC,9452,-0.21,0.0,991.1,8.1,954,9560,1.08,0.00,103.85,1.634,6,0.149,0.000,2868,2749,3071
$STATE,9560,end apogee,CONTROL_FINISHED_OK
$STATE,9560,begin climb
$GC,9563,1.03,97.3,993.0,0.0,959,9675,1.58,0.00,108.12,1.606,6,0.083,0.000,3137,2748,2674
$GC,9978,0.90,97.3,943.6,13.3,980,9983,0.00,2.40,0.00,0.000,4,0.000,0.056,3137,3902,2672
$GC,10067,0.76,97.3,930.7,15.3,984,10072,0.32,2.30,0.00,0.000,6,0.132,0.035,3090,2750,2672
$GC,10388,0.76,97.3,897.0,10.1,1000,10392,0.00,2.38,0.00,0.000,4,0.000,0.055,3090,3899,2672
$GC,10437,0.72,97.3,891.8,10.5,1002,10441,0.00,2.25,0.00,0.000,6,0.000,0.034,3090,2753,2672
$GC,10759,0.72,99.5,860.9,9.9,1018,10763,0.00,2.33,0.00,0.000,4,0.000,0.053,3090,3893,2671
$GC,10791,0.67,99.5,857.4,10.9,1019,10796,0.15,2.20,0.00,0.000,6,0.142,0.033,3070,2761,2671
$GC,11113,0.69,111.4,828.5,9.2,1035,11134,0.00,2.38,14.80,1.379,4,0.000,0.058,3070,3902,2617
$GC,11151,0.71,128.0,824.8,8.9,1036,11178,0.00,2.22,18.65,1.445,6,0.000,0.034,3070,2770,2550
$GC,11487,0.72,137.6,793.5,9.3,1053,11508,0.00,2.40,11.62,1.325,4,0.000,0.053,3070,3899,2509
$GC,11553,0.72,137.6,786.9,10.5,1056,11557,0.00,2.22,0.00,0.000,6,0.000,0.034,3070,2770,2509
$GC,11885,0.73,144.7,755.2,9.5,1072,11895,0.00,0.00,8.62,1.222,6,0.000,0.000,3071,2769,2481
$GC,12194,0.73,144.7,723.8,10.3,1087,12195,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2768,2481
$GC,12503,0.73,144.7,692.0,10.2,1102,12507,0.00,2.30,0.00,0.000,4,0.000,0.052,3070,3898,2480
$GC,12542,0.73,144.7,688.0,10.1,1104,12546,0.00,2.20,0.00,0.000,6,0.000,0.032,3071,2766,2480
$GC,12868,0.74,149.5,656.4,9.7,1120,12876,0.00,0.00,6.57,1.083,6,0.000,0.000,3071,2764,2461
$GC,13178,0.74,156.9,626.5,9.5,1135,13192,0.00,2.33,9.20,1.184,4,0.000,0.054,3070,3895,2431
$GC,13254,0.74,156.9,618.4,10.9,1138,13258,0.00,2.22,0.00,0.000,6,0.000,0.034,3071,2777,2430
$GC,13580,0.79,160.3,586.0,9.8,1160,13592,0.12,2.28,5.25,0.956,4,0.070,0.051,3093,3893,2416
$GC,13642,0.79,160.3,578.3,12.0,1165,13649,0.00,2.17,0.00,0.000,6,0.000,0.032,3093,2792,2416
$GC,13969,0.79,160.3,540.1,11.7,1196,13973,0.00,2.25,0.00,0.000,4,0.000,0.051,3093,3897,2416
$GC,14031,0.79,160.3,532.5,12.2,1201,14035,0.00,2.10,0.00,0.000,6,0.000,0.032,3093,2814,2416
$GC,14364,0.79,160.3,493.1,12.0,1232,14368,0.00,2.20,0.00,0.000,4,0.000,0.054,3093,3893,2416
$GC,14392,0.79,160.3,489.2,12.9,1234,14395,0.00,2.08,0.00,0.000,6,0.000,0.031,3093,2818,2416
$GC,14723,0.79,160.3,449.3,12.2,1265,14727,0.00,2.20,0.00,0.000,4,0.000,0.051,3093,3902,2416
$GC,14773,0.79,160.3,442.7,12.3,1269,14779,0.00,2.10,0.00,0.000,6,0.000,0.031,3093,2824,2416
$GC,15099,0.79,160.3,405.1,11.4,1300,15103,0.00,2.17,0.00,0.000,4,0.000,0.050,3093,3899,2416
$GC,15156,0.79,160.3,398.4,11.6,1305,15159,0.00,2.05,0.00,0.000,6,0.000,0.031,3093,2832,2416
$GC,15489,0.79,160.3,362.4,11.1,1336,15493,0.00,2.15,0.00,0.000,4,0.000,0.056,3093,3894,2416
$GC,15510,0.79,160.3,359.5,11.6,1337,15516,0.00,2.08,0.00,0.000,6,0.000,0.032,3093,2835,2416
$GC,15848,0.79,160.3,321.6,11.2,1390,15854,0.00,2.15,0.00,0.000,4,0.000,0.049,3093,3902,2416
$GC,15916,0.79,160.3,313.5,11.9,1402,15922,0.00,2.03,0.00,0.000,6,0.000,0.031,3093,2847,2416
$GC,16259,0.79,160.3,274.5,11.1,1463,16265,0.00,2.12,0.00,0.000,4,0.000,0.049,3093,3902,2417
$GC,16283,0.79,160.3,271.8,11.6,1467,16289,0.00,2.00,0.00,0.000,6,0.000,0.031,3093,2859,2417
$GC,16626,0.79,160.3,234.1,10.0,1528,16632,0.00,2.10,0.00,0.000,4,0.000,0.050,3093,3902,2417
$GC,16638,0.79,161.2,232.7,9.9,1530,16645,0.00,2.00,0.00,0.000,6,0.000,0.030,3093,2870,2417
$GC,16982,0.79,161.2,193.6,11.4,1591,16988,0.00,2.08,0.00,0.000,4,0.000,0.049,3093,3901,2417
$GC,17030,0.79,161.2,188.1,12.6,1599,17036,0.00,1.98,0.00,0.000,6,0.000,0.030,3093,2870,2417
$GC,17373,0.79,161.2,148.0,11.4,1660,17379,0.00,2.05,0.00,0.000,4,0.000,0.048,3093,3894,2417
$GC,17396,0.79,161.2,145.2,11.7,1664,17403,0.00,1.98,0.00,0.000,6,0.000,0.030,3093,2879,2418
$GC,17741,0.79,161.2,105.8,10.5,1725,17746,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2874,2418
$GC,18083,0.79,161.2,68.4,10.6,1786,18090,0.00,2.08,0.00,0.000,4,0.000,0.049,3093,3893,2418
$GC,18102,0.79,161.2,66.3,11.7,1789,18108,0.00,1.95,0.00,0.000,6,0.000,0.031,3093,2873,2418
$GC,18445,0.79,161.2,30.5,10.4,1850,18451,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2868,2418
$GC,18586,0.79,161.2,15.7,11.1,1875,18593,0.00,2.08,0.00,0.000,4,0.000,0.048,3093,3888,2418
$GC,18616,0.79,161.2,12.4,11.4,1880,18623,0.00,1.92,0.00,0.000,6,0.000,0.031,3093,2899,2418
$STATE,18716,end climb,SURFACE_DEPTH_REACHED
$STATE,18717,begin surface coast
$FINISH,0.2,1.013442
$STATE,18735,end surface coast,CONTROL_FINISHED_OK
$STATE,18735,begin surface
$SM_CCo,18753,35.83,0.959,0,0,2254,200.16
$SM_GC,1.40,0.00,0.00,35.83,0.000,0.000,0.959,1436,2289,2254,-6.83,-0.31,200.16
$IRIDIUM_FIX,6050.49,-2623.91,100897,020203
$TT8_MAMPS,0.026845
$HUMID,1773
$INTERNAL_PRESSURE,8.95588
$TCM_TEMP,14.70
$XPDR_PINGS,1061
$24V_AH,19.4,64.961
$10V_AH,9.8,47.618
$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,23.600,193.725,286.700,35.825,0.000,24.677,30.984,228.416,265.250,0.000,0.000,16.253,3095.347,11317.874,557.656,3582.311,645.600,0.000,2136.667,0.000,3574.624,0.000,0.465
$DEVICE_MAMPS,255.411,103.545,1633.710,958.750,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1334.375,1389.333,710.740,1689.049,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139291,1901
$CAP_FILE_SIZE,182586,0
$CFSIZE,260165632,237740032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160508,125755,6125.557,-2628.150,37,1.9,37,-18.7