version: 66.03
glider: 142
mission: 5
dive: 41
start: 4 11 108 20 27 33
data:
$ID,142
$MISSION,5
$DIVE,41
$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,270
$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,-13325.977
$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,37
$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
$GPS1,201838,5909.124,-1850.215,26,1.7,26,-13.4
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-46.2
$GPS2,202715,5909.094,-1850.229,13,1.8,13,-13.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5909.094,-1855.767
$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,283.4,20000,-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,-194.7,0.0,0.0,0,130,0.00,0.00,-101.15,0.000,2,0.000,0.000,1432,2236,3609
$GC,133,-0.86,-194.7,3.2,-4.7,14,157,11.07,2.85,-6.85,0.000,4,0.245,0.049,2725,3669,3865
$GC,270,-0.79,-194.7,28.0,-14.5,38,278,0.10,2.78,0.00,0.000,6,0.148,0.031,2741,2264,3866
$GC,406,-0.73,-194.7,48.6,-14.1,63,414,0.00,2.85,0.00,0.000,4,0.000,0.048,2741,846,3866
$GC,457,-0.73,-194.7,56.0,-12.5,72,465,0.00,2.75,0.00,0.000,6,0.000,0.028,2741,2265,3866
$GC,597,-0.69,-194.7,73.1,-12.7,97,603,0.15,0.00,0.00,0.000,6,0.140,0.000,2765,2269,3866
$GC,732,-0.69,-194.7,86.8,-9.5,122,740,0.00,2.85,0.00,0.000,4,0.000,0.044,2764,846,3866
$GC,768,-0.69,-194.7,90.7,-10.8,128,776,0.00,2.70,0.00,0.000,6,0.000,0.029,2764,2236,3866
$GC,908,-0.69,-194.7,105.0,-10.5,153,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2236,3866
$GC,1045,-0.69,-194.7,119.1,-9.9,178,1053,0.00,2.80,0.00,0.000,4,0.000,0.042,2764,3654,3866
$GC,1088,-0.69,-194.7,123.6,-10.1,185,1094,0.00,2.78,0.00,0.000,6,0.000,0.032,2765,2222,3867
$GC,1223,-0.69,-194.7,138.2,-11.2,210,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2222,3866
$GC,1362,-0.69,-194.7,152.7,-10.6,235,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2222,3866
$GC,1691,-0.69,-194.7,186.7,-10.4,296,1699,0.00,2.85,0.00,0.000,4,0.000,0.042,2764,3654,3866
$GC,1748,-0.69,-194.7,192.7,-10.3,306,1755,0.00,2.78,0.00,0.000,6,0.000,0.032,2764,2230,3866
$GC,2082,-0.69,-194.7,227.8,-10.0,367,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2229,3866
$GC,2412,-0.69,-194.7,262.5,-10.7,428,2420,0.00,2.83,0.00,0.000,4,0.000,0.042,2764,3652,3866
$GC,2455,-0.69,-194.7,266.7,-10.5,435,2461,0.00,2.72,0.00,0.000,6,0.000,0.031,2765,2231,3867
$GC,2787,-0.69,-194.7,300.9,-10.4,496,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2230,3866
$GC,3120,-0.69,-194.7,334.8,-10.1,557,3126,0.00,2.78,0.00,0.000,4,0.000,0.042,2765,3650,3866
$GC,3190,-0.69,-194.7,342.0,-10.6,569,3196,0.00,2.70,0.00,0.000,6,0.000,0.031,2765,2242,3866
$GC,3528,-0.69,-194.7,376.7,-9.9,630,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2241,3866
$GC,3869,-0.69,-194.7,410.6,-9.5,691,3875,0.00,2.75,0.00,0.000,4,0.000,0.042,2764,3651,3866
$GC,3921,-0.69,-194.7,415.6,-9.6,700,3927,0.00,2.70,0.00,0.000,6,0.000,0.032,2765,2244,3866
$GC,4264,-0.69,-194.7,448.2,-9.9,761,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2243,3866
$GC,4604,-0.69,-194.7,482.4,-9.9,822,4611,0.00,2.75,0.00,0.000,4,0.000,0.044,2764,3651,3866
$GC,4649,-0.69,-194.7,487.1,-10.3,830,4656,0.00,2.70,0.00,0.000,6,0.000,0.033,2765,2247,3866
$GC,4991,-0.69,-194.7,521.0,-9.6,891,4998,0.00,2.75,0.00,0.000,4,0.000,0.044,2765,3651,3866
$GC,5038,-0.69,-194.7,525.6,-9.7,899,5044,0.00,2.67,0.00,0.000,6,0.000,0.033,2764,2260,3866
$GC,5377,-0.69,-194.7,557.6,-9.5,960,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2260,3866
$GC,5722,-0.69,-194.7,591.4,-10.2,1021,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2260,3866
$GC,6054,-0.69,-194.7,625.5,-10.4,1060,6059,0.00,2.78,0.00,0.000,4,0.000,0.051,2765,3654,3866
$GC,6127,-0.69,-194.7,632.9,-10.0,1066,6132,0.00,2.67,0.00,0.000,6,0.000,0.037,2764,2276,3866
$GC,6453,-0.69,-194.7,665.2,-9.9,1096,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2276,3866
$GC,6771,-0.69,-194.7,695.2,-9.6,1126,6775,0.00,2.80,0.00,0.000,4,0.000,0.059,2765,3654,3866
$GC,6833,-0.73,-194.7,701.2,-9.5,1131,6837,0.00,2.72,0.00,0.000,6,0.000,0.044,2765,2269,3866
$GC,7159,-0.73,-194.7,731.7,-9.2,1161,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2269,3866
$GC,7477,-0.73,-194.7,761.5,-9.2,1191,7482,0.00,2.90,0.00,0.000,4,0.000,0.074,2765,3651,3866
$GC,7528,-0.77,-194.7,766.3,-9.1,1195,7532,0.00,2.80,0.00,0.000,6,0.000,0.060,2765,2285,3866
$GC,7853,-0.77,-194.7,793.9,-8.3,1225,7858,0.00,2.92,0.00,0.000,4,0.000,0.085,2764,3643,3865
$GC,7886,-0.81,-194.7,796.8,-8.7,1227,7892,0.00,2.85,0.00,0.000,6,0.000,0.074,2765,2297,3866
$GC,8212,-0.81,-194.7,824.1,-8.2,1258,8213,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2296,3865
$GC,8530,-0.81,-194.7,849.6,-7.6,1288,8535,0.00,3.08,0.00,0.000,4,0.000,0.117,2765,3641,3865
$GC,8603,-0.85,-194.7,855.6,-8.1,1294,8609,0.15,3.05,0.00,0.000,6,0.068,0.105,2737,2294,3865
$GC,8927,-0.85,-194.7,889.3,-10.9,1324,8932,0.00,3.55,0.00,0.000,4,0.000,0.146,2736,837,3865
$GC,8971,-0.85,-194.7,894.3,-11.1,1327,8978,0.00,3.35,0.00,0.000,6,0.000,0.119,2736,2276,3864
$GC,9297,-0.85,-194.7,929.2,-10.9,1358,9302,0.00,3.22,0.00,0.000,4,0.000,0.120,2736,3679,3864
$GC,9336,-0.85,-194.7,933.7,-11.1,1361,9340,0.00,2.75,0.00,0.000,6,0.000,0.041,2736,2285,3864
$GC,9661,-0.85,-194.7,969.9,-11.0,1391,9666,0.00,2.95,0.00,0.000,4,0.000,0.064,2736,829,3864
$GC,9704,-0.85,-194.7,975.1,-12.1,1394,9711,0.00,2.88,0.00,0.000,6,0.000,0.033,2736,2320,3864
$STATE,9846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9846,begin apogee
$GC,9853,-0.21,0.0,990.3,10.3,1408,10060,0.77,0.00,199.65,1.550,6,0.124,0.000,2867,2731,3072
$STATE,10061,end apogee,CONTROL_FINISHED_OK
$STATE,10061,begin climb
$GC,10063,0.86,194.7,996.5,0.0,1429,10279,1.38,2.62,204.18,1.499,4,0.084,0.058,3101,3895,2276
$GC,10441,0.68,194.7,949.4,15.0,1464,10448,0.20,2.45,0.00,0.000,6,0.126,0.035,3074,2704,2274
$GC,10766,0.57,194.7,909.5,11.9,1495,10771,0.17,2.47,0.00,0.000,4,0.123,0.051,3046,3892,2273
$GC,10855,0.53,200.1,900.2,9.8,1502,10866,0.00,2.30,6.50,1.080,6,0.000,0.034,3046,2731,2255
$GC,11185,0.48,200.1,868.4,10.2,1533,11190,0.12,2.40,0.00,0.000,4,0.124,0.051,3029,3897,2254
$GC,11224,0.53,237.0,864.8,8.7,1536,11268,0.00,2.25,38.58,1.421,6,0.000,0.033,3029,2752,2103
$GC,11593,0.60,297.3,835.0,7.9,1571,11663,0.00,0.00,63.60,1.422,6,0.000,0.000,3029,2752,1857
$GC,11982,0.68,331.2,803.1,8.8,1608,12023,0.20,0.00,35.78,1.374,6,0.051,0.000,3068,2752,1720
$GC,12341,0.63,331.2,756.4,12.9,1642,12345,0.00,2.35,0.00,0.000,4,0.000,0.051,3068,3894,1714
$GC,12384,0.63,331.2,750.6,12.3,1645,12390,0.00,2.25,0.00,0.000,6,0.000,0.031,3068,2767,1714
$GC,12710,0.58,331.2,708.6,13.4,1676,12714,0.00,2.30,0.00,0.000,4,0.000,0.051,3068,3893,1713
$GC,12727,0.54,331.2,706.1,13.6,1677,12732,0.20,2.17,0.00,0.000,6,0.110,0.031,3037,2773,1712
$GC,13052,0.54,331.2,673.4,10.2,1707,13056,0.00,2.95,0.00,0.000,4,0.000,0.048,3037,1304,1712
$GC,13079,0.59,331.2,670.7,10.6,1709,13084,0.00,2.85,0.00,0.000,6,0.000,0.030,3037,2761,1711
$GC,13404,0.64,337.0,639.3,9.8,1739,13416,0.12,2.92,5.25,0.929,4,0.056,0.044,3063,1304,1698
$GC,13428,0.64,337.0,636.6,10.8,1741,13432,0.00,2.85,0.00,0.000,6,0.000,0.031,3063,2755,1697
$GC,13752,0.64,337.0,597.2,11.7,1773,13759,0.00,2.28,0.00,0.000,4,0.000,0.051,3063,3890,1696
$GC,13779,0.64,337.0,594.1,12.5,1777,13785,0.00,2.22,0.00,0.000,6,0.000,0.031,3063,2738,1696
$GC,14119,0.64,337.0,552.3,12.6,1838,14125,0.00,2.33,0.00,0.000,4,0.000,0.049,3063,3896,1696
$GC,14142,0.64,337.0,549.3,13.1,1842,14149,0.00,2.22,0.00,0.000,6,0.000,0.031,3063,2757,1696
$GC,14486,0.64,337.0,507.7,12.5,1903,14492,0.00,2.88,0.00,0.000,4,0.000,0.048,3063,1305,1696
$GC,14506,0.64,337.0,505.4,11.9,1906,14512,0.00,2.83,0.00,0.000,6,0.000,0.030,3063,2764,1696
$GC,14847,0.64,337.0,465.1,11.5,1967,14853,0.00,2.22,0.00,0.000,4,0.000,0.048,3063,3901,1696
$GC,14861,0.64,337.0,463.7,11.7,1969,14867,0.00,2.20,0.00,0.000,6,0.000,0.030,3063,2746,1696
$GC,15201,0.64,337.0,425.4,12.0,2030,15207,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2745,1696
$GC,15545,0.64,337.0,385.7,10.8,2091,15551,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2745,1696
$GC,15885,0.64,337.0,344.3,12.6,2152,15893,0.00,2.30,0.00,0.000,4,0.000,0.048,3063,3893,1695
$GC,15899,0.64,337.0,342.5,11.7,2154,15907,0.00,2.20,0.00,0.000,6,0.000,0.031,3063,2752,1695
$GC,16234,0.64,337.0,302.7,10.4,2215,16239,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2751,1695
$GC,16562,0.64,337.0,266.1,11.4,2276,16569,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2751,1696
$GC,16896,0.64,337.0,228.6,10.7,2337,16903,0.00,2.28,0.00,0.000,4,0.000,0.048,3063,3890,1696
$GC,16915,0.64,337.0,226.3,11.1,2340,16923,0.00,2.17,0.00,0.000,6,0.000,0.030,3063,2758,1696
$GC,17249,0.64,337.0,188.6,12.1,2401,17255,0.00,2.85,0.00,0.000,4,0.000,0.044,3063,1295,1695
$GC,17266,0.64,337.0,186.3,11.5,2404,17274,0.00,2.83,0.00,0.000,6,0.000,0.029,3063,2755,1696
$GC,17598,0.65,345.2,148.4,9.7,2465,17612,0.00,0.00,9.88,0.862,6,0.000,0.000,3063,2755,1663
$GC,17743,0.65,345.2,133.4,10.4,2491,17748,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2755,1662
$GC,17877,0.65,345.2,120.5,10.1,2516,17885,0.00,2.90,0.00,0.000,4,0.000,0.044,3063,1307,1662
$GC,17891,0.65,345.2,118.9,10.9,2518,17899,0.00,2.80,0.00,0.000,6,0.000,0.030,3063,2747,1662
$GC,18033,0.67,356.0,104.1,9.6,2543,18052,0.00,2.28,12.05,0.884,4,0.000,0.048,3063,3893,1619
$GC,18071,0.67,356.0,100.3,10.0,2549,18077,0.00,2.22,0.00,0.000,6,0.000,0.031,3063,2738,1618
$GC,18206,0.67,362.3,84.2,9.8,2574,18220,0.00,2.83,7.25,0.793,4,0.000,0.046,3063,1305,1595
$GC,18232,0.67,362.3,81.1,12.6,2578,18239,0.00,2.80,0.00,0.000,6,0.000,0.029,3063,2734,1594
$GC,18372,0.67,362.3,65.8,12.3,2603,18377,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2734,1594
$GC,18508,0.67,362.3,49.2,11.5,2628,18516,0.00,2.30,0.00,0.000,4,0.000,0.048,3063,3887,1593
$GC,18535,0.67,362.6,46.3,10.0,2632,18543,0.00,2.30,0.00,0.000,6,0.000,0.032,3063,2711,1593
$GC,18671,0.83,492.5,36.0,5.5,2657,18803,0.15,0.00,127.10,0.913,6,0.060,0.000,3098,2711,1062
$STATE,18878,end climb,SURFACE_DEPTH_REACHED
$STATE,18878,begin surface coast
$FINISH,0.1,1.026275
$STATE,18890,end surface coast,CONTROL_FINISHED_OK
$STATE,18890,begin surface
$SM_CCo,18968,0.00,0.000,0,0,1052,495.02
$SM_GC,0.52,8.73,0.00,0.00,0.049,0.000,0.000,1433,2239,1052,-6.80,-0.28,495.02
$IRIDIUM_FIX,5846.12,-1835.39,060797,161621
$TT8_MAMPS,0.026845
$HUMID,1737
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,12.30
$XPDR_PINGS,767
$24V_AH,19.9,15.920
$10V_AH,9.7,13.466
$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,23.525,193.725,709.800,0.000,0.000,29.072,33.261,312.435,191.750,0.000,0.000,14.795,4113.270,7846.678,834.740,5898.795,767.882,0.000,3020.027,0.000,5905.854,0.000,0.467
$DEVICE_MAMPS,244.673,146.497,1550.107,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1864.114,1964.516,1198.707,1080.132,2821.422,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202661,2691
$CAP_FILE_SIZE,224348,0
$CFSIZE,260165632,253788160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120408,014455,5909.459,-1854.783,39,1.3,39,-13.5