version: 66.03
glider: 142
mission: 5
dive: 23
start: 4 8 108 8 11 52
data:
$ID,142
$MISSION,5
$DIVE,23
$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,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,90
$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,-12954.839
$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,2250
$C_ROLL_CLIMB,2710
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$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
$GPS1,080315,5913.653,-1902.034,41,1.7,49,-13.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-46.6
$GPS2,081133,5913.512,-1902.058,13,1.6,13,-13.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5913.512,-1856.533
$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,103.6,20000,-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,-194.7,0.0,0.0,0,166,0.00,0.00,-136.65,0.000,2,0.000,0.000,1438,2236,3520
$GC,169,-0.86,-194.7,3.2,-6.2,19,200,10.80,2.88,-10.05,0.000,4,0.239,0.060,2725,844,3866
$GC,333,-0.79,-194.7,29.7,-14.2,48,341,0.08,2.78,0.00,0.000,6,0.114,0.031,2738,2257,3867
$GC,469,-0.73,-194.7,45.0,-10.9,73,478,0.12,2.85,0.00,0.000,4,0.143,0.046,2755,848,3867
$GC,501,-0.73,-194.7,48.6,-10.8,78,509,0.00,2.72,0.00,0.000,6,0.000,0.029,2755,2243,3867
$GC,635,-0.73,-194.7,62.6,-10.3,103,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2243,3868
$GC,769,-0.73,-194.7,78.9,-13.0,128,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2244,3867
$GC,902,-0.73,-194.7,94.5,-11.4,153,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2243,3867
$GC,1036,-0.73,-194.7,109.3,-11.5,178,1044,0.00,2.80,0.00,0.000,4,0.000,0.047,2755,849,3867
$GC,1067,-0.73,-194.7,113.2,-13.0,183,1075,0.00,2.70,0.00,0.000,6,0.000,0.028,2755,2245,3867
$GC,1201,-0.73,-194.7,128.7,-10.4,208,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2245,3867
$GC,1336,-0.73,-194.7,144.1,-12.2,233,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2245,3867
$GC,1470,-0.73,-194.7,158.5,-11.6,258,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2245,3867
$GC,1804,-0.73,-194.7,196.5,-10.0,319,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2245,3867
$GC,2131,-0.73,-194.7,235.4,-11.7,380,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2245,3867
$GC,2464,-0.73,-194.7,272.7,-10.5,441,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2246,3867
$GC,2793,-0.73,-194.7,309.2,-11.0,502,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2246,3867
$GC,3126,-0.73,-194.7,346.6,-10.8,563,3132,0.00,2.75,0.00,0.000,4,0.000,0.044,2755,3658,3867
$GC,3141,-0.73,-194.7,348.1,-10.8,565,3147,0.00,2.72,0.00,0.000,6,0.000,0.032,2755,2239,3867
$GC,3481,-0.73,-194.7,386.5,-10.8,626,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2238,3867
$GC,3820,-0.73,-194.7,422.0,-10.0,687,3826,0.00,2.78,0.00,0.000,4,0.000,0.043,2755,3654,3867
$GC,3833,-0.73,-194.7,423.1,-10.0,689,3839,0.00,2.72,0.00,0.000,6,0.000,0.033,2755,2238,3867
$GC,4173,-0.73,-194.7,456.9,-10.4,750,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2237,3867
$GC,4512,-0.73,-194.7,491.9,-10.1,811,4518,0.00,2.80,0.00,0.000,4,0.000,0.044,2755,3661,3867
$GC,4526,-0.73,-194.7,493.0,-10.1,813,4532,0.00,2.72,0.00,0.000,6,0.000,0.033,2755,2245,3867
$GC,4865,-0.73,-194.7,528.2,-10.5,874,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2245,3867
$GC,5204,-0.73,-194.7,563.6,-10.6,924,5209,0.00,2.80,0.00,0.000,4,0.000,0.047,2755,3661,3867
$GC,5226,-0.73,-194.7,565.9,-10.9,925,5233,0.00,2.72,0.00,0.000,6,0.000,0.035,2755,2249,3867
$GC,5552,-0.73,-194.7,598.6,-9.7,956,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2249,3867
$GC,5870,-0.73,-194.7,629.0,-9.5,986,5874,0.00,2.80,0.00,0.000,4,0.000,0.052,2755,3651,3867
$GC,5897,-0.73,-194.7,631.7,-10.3,988,5901,0.00,2.72,0.00,0.000,6,0.000,0.038,2755,2249,3867
$GC,6222,-0.73,-194.7,661.9,-9.6,1018,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2249,3867
$GC,6541,-0.73,-194.7,690.2,-8.9,1048,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2249,3867
$GC,6858,-0.73,-194.7,723.1,-10.8,1078,6863,0.00,2.90,0.00,0.000,4,0.000,0.066,2755,3655,3867
$GC,6874,-0.73,-194.7,724.8,-10.9,1079,6879,0.00,2.83,0.00,0.000,6,0.000,0.051,2755,2246,3867
$GC,7200,-0.73,-194.7,759.2,-10.0,1109,7204,0.00,2.95,0.00,0.000,4,0.000,0.074,2755,3654,3867
$GC,7209,-0.73,-194.7,760.3,-9.3,1109,7216,0.00,2.85,0.00,0.000,6,0.000,0.059,2755,2261,3867
$GC,7535,-0.73,-194.7,792.0,-9.1,1140,7540,0.00,3.00,0.00,0.000,4,0.000,0.087,2755,3645,3867
$GC,7556,-0.73,-194.7,794.0,-9.1,1141,7562,0.00,2.92,0.00,0.000,6,0.000,0.074,2755,2258,3867
$GC,7882,-0.73,-194.7,825.4,-9.9,1172,7887,0.00,3.10,0.00,0.000,4,0.000,0.102,2755,3646,3867
$GC,7899,-0.73,-194.7,827.2,-9.5,1173,7903,0.00,3.03,0.00,0.000,6,0.000,0.091,2755,2264,3866
$GC,8224,-0.73,-194.7,857.4,-8.2,1203,8225,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2263,3867
$GC,8541,-0.73,-194.7,888.5,-10.9,1233,8546,0.00,3.33,0.00,0.000,4,0.000,0.133,2755,3644,3866
$GC,8562,-0.73,-194.7,891.0,-11.2,1234,8569,0.00,3.05,0.00,0.000,6,0.000,0.097,2755,2257,3866
$GC,8888,-0.73,-194.7,926.0,-10.3,1265,8893,0.00,2.83,0.00,0.000,4,0.000,0.054,2755,3657,3866
$GC,8910,-0.73,-194.7,928.4,-10.2,1266,8916,0.00,2.70,0.00,0.000,6,0.000,0.040,2755,2279,3866
$GC,9236,-0.73,-194.7,959.2,-9.5,1297,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2279,3866
$GC,9555,-0.73,-194.7,988.0,-9.2,1327,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2278,3866
$STATE,9583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9583,begin apogee
$GC,9589,-0.21,0.0,990.9,9.3,1330,9796,0.68,0.00,200.12,1.528,6,0.115,0.000,2869,2710,3071
$STATE,9797,end apogee,CONTROL_FINISHED_OK
$STATE,9797,begin climb
$GC,9799,0.86,194.7,997.5,0.0,1351,10014,1.33,2.65,202.93,1.481,4,0.079,0.057,3098,3893,2277
$GC,10178,0.69,194.7,951.7,15.2,1386,10184,0.17,2.42,0.00,0.000,6,0.126,0.034,3074,2706,2274
$GC,10502,0.56,194.7,910.0,12.8,1417,10507,0.17,2.47,0.00,0.000,4,0.120,0.050,3047,3896,2274
$GC,10577,0.51,194.7,901.6,10.8,1423,10581,0.00,2.33,0.00,0.000,6,0.000,0.033,3047,2725,2273
$GC,10903,0.45,194.7,868.2,10.5,1453,10908,0.15,2.42,0.00,0.000,4,0.122,0.051,3021,3903,2273
$GC,10935,0.49,224.2,864.8,9.0,1455,10972,0.00,2.30,30.10,1.391,6,0.000,0.032,3022,2730,2156
$GC,11290,0.59,303.9,836.3,7.2,1489,11376,0.15,0.00,82.85,1.412,6,0.058,0.000,3050,2729,1832
$GC,11690,0.59,307.4,794.5,9.9,1527,11691,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2729,1826
$GC,12008,0.59,307.4,763.1,10.3,1557,12012,0.00,2.38,0.00,0.000,4,0.000,0.050,3050,3899,1825
$GC,12054,0.59,307.4,758.5,10.8,1561,12058,0.00,2.25,0.00,0.000,6,0.000,0.031,3050,2743,1824
$GC,12378,0.59,307.4,722.1,11.4,1591,12379,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2743,1823
$GC,12696,0.59,307.4,685.2,11.1,1621,12698,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2743,1823
$GC,13015,0.59,307.4,652.4,10.1,1651,13016,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2743,1823
$GC,13334,0.59,307.4,620.5,10.1,1681,13335,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2742,1822
$GC,13652,0.59,307.4,588.9,10.5,1711,13653,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2743,1822
$GC,13971,0.59,307.4,554.9,10.4,1741,13972,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2743,1823
$GC,14302,0.60,314.2,519.4,9.8,1796,14315,0.00,0.00,9.55,1.048,6,0.000,0.000,3050,2743,1790
$GC,14649,0.61,323.0,484.2,9.7,1858,14668,0.00,2.35,10.35,1.067,4,0.000,0.048,3050,3891,1754
$GC,14685,0.61,323.0,480.4,10.5,1864,14693,0.00,2.22,0.00,0.000,6,0.000,0.030,3051,2751,1753
$GC,15029,0.61,323.0,445.8,10.3,1925,15035,0.00,2.88,0.00,0.000,4,0.000,0.046,3050,1298,1753
$GC,15068,0.61,327.2,441.7,9.9,1932,15082,0.00,2.85,5.78,0.881,6,0.000,0.030,3051,2753,1737
$GC,15415,0.63,342.9,408.1,9.5,1994,15439,0.00,2.30,17.05,1.095,4,0.000,0.048,3050,3900,1672
$GC,15467,0.67,370.4,403.2,9.0,2003,15503,0.00,2.25,29.23,1.129,6,0.000,0.030,3050,2739,1560
$GC,15841,0.68,378.3,368.1,9.7,2069,15858,0.00,2.92,8.90,0.952,4,0.000,0.048,3050,1300,1527
$GC,15888,0.78,409.7,363.6,8.9,2077,15928,0.20,2.85,33.30,1.098,6,0.045,0.028,3094,2748,1400
$GC,16254,0.68,409.7,302.3,17.4,2144,16262,0.15,2.33,0.00,0.000,4,0.113,0.046,3069,3897,1394
$GC,16322,0.68,409.7,292.7,11.1,2156,16330,0.00,2.22,0.00,0.000,6,0.000,0.030,3069,2763,1393
$GC,16655,0.68,409.7,252.5,11.6,2217,16661,0.00,2.90,0.00,0.000,4,0.000,0.045,3069,1306,1392
$GC,16702,0.69,417.8,247.3,9.7,2225,16716,0.00,2.83,7.88,0.866,6,0.000,0.028,3069,2761,1367
$GC,17043,0.69,417.8,205.7,12.2,2287,17048,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2762,1365
$GC,17371,0.69,417.8,164.9,12.9,2348,17379,0.00,2.92,0.00,0.000,4,0.000,0.044,3069,1307,1364
$GC,17414,0.69,417.8,159.8,11.7,2355,17420,0.00,2.80,0.00,0.000,6,0.000,0.029,3069,2753,1364
$GC,17737,0.69,417.8,121.9,12.1,2416,17745,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2754,1364
$GC,17872,0.69,417.8,105.7,13.2,2441,17880,0.00,2.92,0.00,0.000,4,0.000,0.045,3069,1302,1364
$GC,17898,0.69,417.8,102.5,11.8,2445,17906,0.00,2.80,0.00,0.000,6,0.000,0.029,3069,2742,1364
$GC,18033,0.69,417.8,87.4,10.4,2470,18041,0.00,2.28,0.00,0.000,4,0.000,0.047,3069,3890,1364
$GC,18059,0.69,417.8,84.3,11.5,2474,18067,0.00,2.25,0.00,0.000,6,0.000,0.031,3069,2733,1363
$GC,18193,0.69,417.8,69.9,10.7,2499,18201,0.00,2.85,0.00,0.000,4,0.000,0.048,3069,1302,1363
$GC,18230,0.69,417.8,65.8,10.1,2505,18238,0.00,2.78,0.00,0.000,6,0.000,0.028,3069,2732,1363
$GC,18364,0.69,417.8,50.6,11.2,2530,18373,0.00,2.30,0.00,0.000,4,0.000,0.048,3069,3891,1363
$GC,18391,0.69,417.8,47.3,12.7,2534,18399,0.00,2.28,0.00,0.000,6,0.000,0.032,3069,2722,1363
$GC,18525,0.69,417.8,32.5,11.2,2559,18534,0.00,2.83,0.00,0.000,4,0.000,0.048,3069,1302,1363
$GC,18562,0.69,417.8,28.3,10.9,2565,18570,0.00,2.72,0.00,0.000,6,0.000,0.028,3069,2708,1363
$GC,18696,0.69,417.8,12.7,10.2,2590,18704,0.00,2.35,0.00,0.000,4,0.000,0.048,3069,3891,1363
$GC,18722,0.69,417.8,9.5,11.8,2594,18730,0.00,2.33,0.00,0.000,6,0.000,0.032,3069,2697,1363
$STATE,18793,end climb,SURFACE_DEPTH_REACHED
$STATE,18793,begin surface coast
$FINISH,0.5,1.026238
$STATE,18811,end surface coast,CONTROL_FINISHED_OK
$STATE,18811,begin surface
$SM_CCo,18888,0.00,0.000,0,0,1362,419.46
$SM_GC,0.76,8.23,0.00,0.00,0.050,0.000,0.000,1436,2247,1362,-6.79,-0.08,419.46
$IRIDIUM_FIX,5858.64,-1906.07,030797,020222
$TT8_MAMPS,0.026845
$HUMID,1755
$INTERNAL_PRESSURE,8.91681
$TCM_TEMP,12.60
$XPDR_PINGS,862
$24V_AH,20.0,12.067
$10V_AH,9.7,8.598
$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,22.225,168.050,638.025,0.000,0.000,25.817,36.479,285.114,215.500,0.000,0.000,14.841,3965.061,7900.123,801.148,5964.814,723.538,0.000,2887.343,0.000,5984.790,0.000,0.466
$DEVICE_MAMPS,238.537,133.458,1527.864,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1806.626,1872.766,1176.692,1643.243,3225.054,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,192921,2610
$CAP_FILE_SIZE,211810,0
$CFSIZE,260165632,255803392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080408,132755,5911.013,-1857.246,40,1.6,40,-13.5