version: 66.03
glider: 142
mission: 5
dive: 29
start: 4 9 108 16 8 55
data:
$ID,142
$MISSION,5
$DIVE,29
$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,150
$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,-13149.107
$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,23
$R_STBD_OVSHOOT,19
$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
$GPS1,155607,5911.258,-1830.395,30,2.0,30,-13.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-49.7
$GPS2,160835,5911.248,-1830.263,14,2.3,33,-13.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,5911.248,-1824.731
$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,103.3,20000,-17.5,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.91,-146.0,0.0,0.0,0,129,0.00,0.00,-100.57,0.000,2,0.000,0.000,1436,2231,3517
$GC,132,-0.91,-146.0,3.0,-5.4,14,155,10.88,2.83,-4.35,0.000,4,0.245,0.057,2708,847,3667
$GC,391,-0.82,-146.0,46.5,-15.4,62,400,0.15,2.75,0.00,0.000,6,0.129,0.028,2732,2264,3668
$GC,531,-0.82,-146.0,65.2,-12.6,87,537,0.00,2.83,0.00,0.000,4,0.000,0.046,2733,841,3668
$GC,674,-0.82,-146.0,83.3,-12.0,113,680,0.00,2.67,0.00,0.000,6,0.000,0.028,2733,2233,3668
$GC,809,-0.78,-146.0,98.6,-10.2,138,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2239,3668
$GC,948,-0.74,-146.0,115.3,-13.1,163,955,0.15,2.78,0.00,0.000,4,0.139,0.047,2756,843,3668
$GC,1006,-0.74,-146.0,122.3,-12.0,173,1012,0.00,2.62,0.00,0.000,6,0.000,0.028,2756,2214,3668
$GC,1141,-0.74,-146.0,137.1,-10.8,198,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2214,3668
$GC,1280,-0.74,-146.0,150.7,-9.3,223,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2214,3668
$GC,1609,-0.74,-146.0,183.2,-10.0,284,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2214,3668
$GC,1942,-0.74,-146.0,216.6,-9.9,345,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2214,3668
$GC,2273,-0.74,-146.0,249.1,-9.3,406,2280,0.00,2.83,0.00,0.000,4,0.000,0.043,2756,3649,3668
$GC,2286,-0.74,-146.0,250.4,-9.4,408,2294,0.00,2.78,0.00,0.000,6,0.000,0.032,2756,2222,3668
$GC,2619,-0.74,-146.0,282.0,-9.9,469,2625,0.00,2.83,0.00,0.000,4,0.000,0.044,2756,3656,3668
$GC,2634,-0.74,-146.0,283.4,-9.5,471,2640,0.00,2.75,0.00,0.000,6,0.000,0.032,2757,2224,3668
$GC,2964,-0.74,-146.0,314.8,-9.1,532,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2224,3668
$GC,3299,-0.74,-146.0,346.4,-9.4,593,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2224,3668
$GC,3637,-0.74,-146.0,379.4,-9.8,654,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2223,3668
$GC,3979,-0.74,-146.0,412.6,-9.2,715,3986,0.00,2.70,0.00,0.000,4,0.000,0.050,2756,843,3668
$GC,3999,-0.74,-146.0,414.5,-9.3,718,4005,0.00,2.62,0.00,0.000,6,0.000,0.027,2756,2236,3668
$GC,4340,-0.74,-146.0,446.0,-9.4,779,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2236,3668
$GC,4683,-0.74,-146.0,479.2,-9.6,840,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2236,3668
$GC,5028,-0.74,-146.0,512.2,-9.2,901,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2236,3668
$GC,5368,-0.74,-146.0,544.9,-10.0,962,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2236,3668
$GC,5706,-0.74,-146.0,576.3,-9.5,1023,5714,0.00,2.80,0.00,0.000,4,0.000,0.049,2756,837,3668
$GC,5748,-0.74,-146.0,580.5,-10.6,1030,5755,0.00,2.62,0.00,0.000,6,0.000,0.028,2757,2229,3668
$GC,6090,-0.74,-146.0,612.2,-9.4,1080,6091,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2229,3668
$GC,6409,-0.74,-146.0,640.2,-8.4,1110,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2229,3668
$GC,6730,-0.74,-146.0,668.5,-9.4,1140,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2228,3668
$GC,7046,-0.74,-146.0,698.4,-9.5,1170,7051,0.00,2.88,0.00,0.000,4,0.000,0.061,2756,3657,3668
$GC,7079,-0.74,-146.0,701.8,-10.1,1172,7086,0.00,2.83,0.00,0.000,6,0.000,0.046,2757,2232,3668
$GC,7405,-0.74,-146.0,733.3,-9.8,1203,7407,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2231,3668
$GC,7724,-0.74,-146.0,762.4,-8.8,1233,7728,0.00,2.97,0.00,0.000,4,0.000,0.074,2756,3649,3668
$GC,7763,-0.74,-146.0,766.1,-9.5,1236,7767,0.00,2.90,0.00,0.000,6,0.000,0.060,2757,2234,3667
$GC,8090,-0.74,-146.0,794.9,-8.8,1266,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2234,3668
$GC,8415,-0.74,-146.0,824.0,-8.9,1297,8420,0.00,3.12,0.00,0.000,4,0.000,0.099,2756,3643,3667
$GC,8443,-0.78,-146.0,826.6,-9.4,1299,8448,0.00,3.03,0.00,0.000,6,0.000,0.089,2757,2249,3668
$GC,8769,-0.82,-146.0,855.7,-9.0,1329,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2249,3667
$GC,9088,-0.86,-146.0,883.4,-8.8,1359,9094,0.12,3.33,0.00,0.000,4,0.069,0.129,2733,3645,3667
$GC,9099,-0.86,-146.0,884.6,-8.6,1359,9105,0.00,3.25,0.00,0.000,6,0.000,0.119,2733,2254,3667
$GC,9425,-0.86,-146.0,917.2,-10.1,1390,9429,0.00,2.83,0.00,0.000,4,0.000,0.054,2733,828,3667
$GC,9468,-0.86,-146.0,922.1,-10.7,1393,9474,0.00,2.70,0.00,0.000,6,0.000,0.030,2733,2242,3666
$GC,9796,-0.86,-146.0,954.1,-9.9,1424,9797,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2243,3666
$GC,10112,-0.86,-146.0,985.0,-9.4,1454,10117,0.00,2.88,0.00,0.000,4,0.000,0.058,2733,823,3666
$GC,10140,-0.86,-146.0,987.9,-10.7,1456,10145,0.00,2.72,0.00,0.000,6,0.000,0.032,2733,2241,3666
$STATE,10165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10165,begin apogee
$GC,10171,-0.21,0.0,990.6,9.8,1458,10328,0.80,0.00,149.40,1.536,6,0.124,0.000,2867,2713,3070
$STATE,10329,end apogee,CONTROL_FINISHED_OK
$STATE,10329,begin climb
$GC,10331,0.91,146.0,993.9,0.0,1474,10496,1.40,2.62,152.73,1.492,4,0.080,0.058,3110,3896,2474
$GC,10541,0.74,146.0,972.0,15.8,1494,10546,0.20,2.50,0.00,0.000,6,0.130,0.036,3084,2695,2473
$GC,10866,0.64,146.0,931.2,12.6,1524,10871,0.15,2.50,0.00,0.000,4,0.132,0.052,3059,3891,2472
$GC,10977,0.58,146.0,918.3,11.6,1533,10983,0.00,2.33,0.00,0.000,6,0.000,0.034,3059,2718,2472
$GC,11303,0.59,155.6,886.7,9.6,1564,11315,0.00,0.00,10.70,1.254,6,0.000,0.000,3059,2717,2436
$GC,11629,0.55,155.6,853.4,10.4,1595,11634,0.00,2.42,0.00,0.000,4,0.000,0.051,3059,3903,2435
$GC,11673,0.51,155.6,848.3,11.8,1598,11680,0.17,2.33,0.00,0.000,6,0.124,0.033,3034,2715,2434
$GC,11998,0.54,183.5,819.5,8.7,1629,12033,0.00,2.53,28.45,1.388,4,0.000,0.051,3034,3898,2322
$GC,12062,0.58,214.4,813.8,8.6,1635,12103,0.00,2.33,32.35,1.381,6,0.000,0.032,3034,2730,2196
$GC,12422,0.67,252.5,783.2,8.2,1669,12464,0.17,0.00,39.62,1.371,6,0.059,0.000,3066,2730,2041
$GC,12780,0.67,252.5,740.4,12.3,1703,12784,0.00,2.40,0.00,0.000,4,0.000,0.050,3066,3894,2036
$GC,12823,0.67,252.5,734.7,12.3,1706,12829,0.00,2.30,0.00,0.000,6,0.000,0.031,3066,2741,2035
$GC,13149,0.67,252.5,693.5,13.0,1737,13153,0.00,2.35,0.00,0.000,4,0.000,0.051,3066,3894,2036
$GC,13181,0.67,252.5,688.9,13.6,1739,13187,0.00,2.28,0.00,0.000,6,0.000,0.031,3067,2740,2035
$GC,13507,0.67,252.5,649.0,11.7,1770,13511,0.00,2.35,0.00,0.000,4,0.000,0.051,3066,3903,2035
$GC,13550,0.67,252.5,643.3,12.7,1773,13557,0.00,2.22,0.00,0.000,6,0.000,0.031,3066,2763,2035
$GC,13875,0.67,252.5,605.5,11.5,1804,13876,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2761,2035
$GC,14207,0.67,252.5,565.9,12.7,1859,14213,0.00,2.28,0.00,0.000,4,0.000,0.049,3066,3899,2035
$GC,14241,0.67,252.5,561.7,12.6,1865,14247,0.00,2.17,0.00,0.000,6,0.000,0.031,3066,2765,2035
$GC,14584,0.67,252.5,520.0,13.0,1926,14590,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2764,2034
$GC,14925,0.67,252.5,479.3,11.6,1987,14931,0.00,2.28,0.00,0.000,4,0.000,0.049,3066,3906,2035
$GC,14953,0.67,252.5,475.8,12.2,1992,14961,0.00,2.20,0.00,0.000,6,0.000,0.030,3066,2769,2035
$GC,15298,0.67,252.5,438.0,10.3,2053,15304,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2768,2035
$GC,15640,0.67,252.5,399.9,10.6,2114,15646,0.00,2.25,0.00,0.000,4,0.000,0.048,3066,3903,2035
$GC,15674,0.67,252.5,395.8,11.9,2120,15680,0.00,2.15,0.00,0.000,6,0.000,0.031,3066,2771,2035
$GC,16015,0.67,252.5,356.1,12.1,2181,16021,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2771,2035
$GC,16346,0.67,252.5,317.0,11.7,2242,16353,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2770,2035
$GC,16678,0.67,252.5,279.3,10.7,2303,16684,0.00,2.25,0.00,0.000,4,0.000,0.048,3066,3906,2035
$GC,16735,0.67,252.5,272.7,10.8,2313,16741,0.00,2.12,0.00,0.000,6,0.000,0.029,3066,2781,2035
$GC,17065,0.67,252.5,237.1,10.1,2374,17073,0.00,2.90,0.00,0.000,4,0.000,0.044,3067,1307,2035
$GC,17098,0.67,252.5,233.9,11.3,2379,17104,0.00,2.85,0.00,0.000,6,0.000,0.029,3066,2791,2035
$GC,17429,0.67,252.5,199.7,11.9,2440,17437,0.00,2.17,0.00,0.000,4,0.000,0.048,3066,3894,2035
$GC,17475,0.67,252.5,194.8,11.2,2448,17483,0.00,2.15,0.00,0.000,6,0.000,0.031,3066,2776,2035
$GC,17809,0.67,255.1,159.8,9.9,2509,17814,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2768,2035
$GC,18138,0.67,255.1,123.0,10.8,2570,18145,0.00,2.22,0.00,0.000,4,0.000,0.048,3066,3890,2036
$GC,18171,0.67,255.1,119.5,12.8,2575,18177,0.00,2.10,0.00,0.000,6,0.000,0.031,3066,2784,2036
$GC,18307,0.67,255.1,103.7,12.5,2600,18314,0.00,2.92,0.00,0.000,4,0.000,0.047,3067,1305,2036
$GC,18338,0.67,255.1,100.2,11.7,2605,18345,0.00,2.88,0.00,0.000,6,0.000,0.031,3066,2804,2036
$GC,18474,0.67,255.1,85.4,10.1,2630,18482,0.00,2.15,0.00,0.000,4,0.000,0.048,3066,3893,2036
$GC,18516,0.67,255.1,80.5,13.3,2637,18523,0.00,2.10,0.00,0.000,6,0.000,0.031,3066,2784,2036
$GC,18654,0.68,258.3,67.2,9.9,2662,18668,0.00,2.92,6.00,0.728,4,0.000,0.045,3066,1297,2018
$GC,18690,0.68,260.2,63.3,9.9,2668,18698,0.00,2.92,0.00,0.000,6,0.000,0.031,3066,2793,2018
$GC,18829,0.68,260.2,47.3,13.0,2693,18837,0.00,2.17,0.00,0.000,4,0.000,0.048,3067,3895,2018
$GC,18866,0.68,260.2,42.6,13.2,2699,18874,0.00,2.12,0.00,0.000,6,0.000,0.031,3067,2795,2017
$GC,19000,0.68,260.2,27.0,11.3,2724,19009,0.00,2.95,0.00,0.000,4,0.000,0.045,3066,1303,2017
$GC,19027,0.68,260.2,24.2,10.7,2728,19035,0.00,2.92,0.00,0.000,6,0.000,0.031,3066,2805,2017
$GC,19162,0.68,260.2,10.3,12.0,2753,19170,0.00,2.15,0.00,0.000,4,0.000,0.050,3066,3893,2018
$GC,19193,0.68,260.2,6.7,13.0,2758,19201,0.00,2.12,0.00,0.000,6,0.000,0.031,3067,2791,2017
$STATE,19238,end climb,SURFACE_DEPTH_REACHED
$STATE,19238,begin surface coast
$FINISH,0.1,1.026274
$STATE,19256,end surface coast,CONTROL_FINISHED_OK
$STATE,19256,begin surface
$SM_CCo,19334,0.00,0.000,0,0,2017,258.55
$SM_GC,0.73,8.27,0.00,0.00,0.053,0.000,0.000,1435,2250,2017,-6.80,-0.03,258.55
$IRIDIUM_FIX,5850.29,-1826.10,040797,161616
$TT8_MAMPS,0.026078
$HUMID,1736
$INTERNAL_PRESSURE,8.96564
$TCM_TEMP,12.40
$XPDR_PINGS,900
$24V_AH,20.2,13.526
$10V_AH,9.7,10.318
$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,22.475,171.750,419.250,0.000,0.000,64.439,151.009,301.206,225.000,0.000,0.000,35.658,4250.274,8182.930,642.965,6050.480,929.103,0.000,2766.309,0.000,6056.092,0.000,0.465
$DEVICE_MAMPS,244.673,128.856,1535.534,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1925.237,2023.534,1237.302,1133.112,2946.507,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,205783,2769
$CAP_FILE_SIZE,222028,0
$CFSIZE,260165632,255070208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090408,213225,5911.472,-1823.466,24,1.8,41,-13.2