version: 66.03
glider: 142
mission: 5
dive: 77
start: 4 20 108 0 14 3
data:
$ID,142
$MISSION,5
$DIVE,77
$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,359
$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,-14199.265
$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,33
$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
$GPS1,000407,5916.072,-2256.031,40,1.4,45,-15.6
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-47.8
$GPS2,001345,5916.015,-2256.060,12,2.0,12,-15.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5926.812,-2256.156
$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,14.6,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.86,-194.7,0.0,0.0,0,160,0.00,0.00,-129.35,0.000,2,0.000,0.000,1434,2284,3539
$GC,163,-0.86,-194.7,3.3,-5.3,18,194,11.27,2.90,-9.00,0.000,4,0.248,0.052,2725,3706,3866
$GC,384,-0.80,-194.7,37.5,-12.1,58,392,0.08,2.78,0.00,0.000,6,0.145,0.033,2738,2307,3867
$GC,522,-0.73,-194.7,54.4,-12.7,83,528,0.12,2.83,0.00,0.000,4,0.140,0.048,2754,888,3867
$GC,624,-0.73,-194.7,67.2,-11.6,101,630,0.00,2.70,0.00,0.000,6,0.000,0.029,2754,2289,3867
$GC,759,-0.73,-194.7,82.8,-11.1,126,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2289,3867
$GC,898,-0.73,-194.7,98.0,-10.7,151,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2289,3867
$GC,1032,-0.73,-194.7,113.1,-10.7,176,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2289,3867
$GC,1171,-0.73,-194.7,127.9,-10.1,201,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2289,3867
$GC,1308,-0.73,-194.7,142.3,-10.2,226,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2289,3867
$GC,1447,-0.73,-194.7,157.0,-10.3,251,1453,0.00,2.78,0.00,0.000,4,0.000,0.048,2754,890,3867
$GC,1507,-0.73,-194.7,163.7,-10.9,262,1515,0.00,2.67,0.00,0.000,6,0.000,0.028,2754,2276,3867
$GC,1842,-0.73,-194.7,198.4,-10.6,323,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2276,3867
$GC,2171,-0.73,-194.7,235.8,-11.3,384,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2276,3867
$GC,2505,-0.73,-194.7,271.3,-11.3,445,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2276,3867
$GC,2835,-0.73,-194.7,307.7,-10.5,506,2843,0.00,2.78,0.00,0.000,4,0.000,0.048,2754,887,3867
$GC,2878,-0.73,-194.7,312.1,-10.7,513,2884,0.00,2.62,0.00,0.000,6,0.000,0.029,2754,2268,3867
$GC,3210,-0.73,-194.7,347.2,-10.6,574,3218,0.00,2.83,0.00,0.000,4,0.000,0.044,2754,3699,3867
$GC,3269,-0.73,-194.7,353.3,-10.1,584,3275,0.00,2.75,0.00,0.000,6,0.000,0.032,2754,2269,3867
$GC,3610,-0.73,-194.7,388.3,-10.2,645,3616,0.00,2.70,0.00,0.000,4,0.000,0.049,2754,885,3867
$GC,3688,-0.73,-194.7,396.7,-10.9,659,3694,0.00,2.62,0.00,0.000,6,0.000,0.028,2754,2270,3867
$GC,4029,-0.73,-194.7,430.9,-10.0,720,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2271,3867
$GC,4375,-0.73,-194.7,465.3,-10.1,781,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2271,3867
$GC,4715,-0.73,-194.7,499.5,-9.9,842,4721,0.00,2.80,0.00,0.000,4,0.000,0.044,2754,3700,3867
$GC,4780,-0.73,-194.7,505.9,-9.9,853,4786,0.00,2.75,0.00,0.000,6,0.000,0.033,2754,2276,3867
$GC,5121,-0.73,-194.7,540.4,-10.1,914,5128,0.00,2.72,0.00,0.000,4,0.000,0.051,2754,894,3867
$GC,5168,-0.73,-194.7,545.3,-10.6,922,5174,0.00,2.65,0.00,0.000,6,0.000,0.029,2754,2285,3867
$GC,5508,-0.73,-194.7,580.7,-10.0,983,5514,0.00,2.80,0.00,0.000,4,0.000,0.049,2754,3706,3867
$GC,5581,-0.73,-194.7,588.3,-10.7,996,5589,0.00,2.80,0.00,0.000,6,0.000,0.036,2754,2281,3867
$GC,5919,-0.73,-194.7,622.9,-10.0,1037,5924,0.00,2.78,0.00,0.000,4,0.000,0.058,2754,887,3867
$GC,5951,-0.73,-194.7,626.3,-11.0,1039,5958,0.00,2.70,0.00,0.000,6,0.000,0.032,2754,2294,3867
$GC,6278,-0.73,-194.7,658.5,-9.8,1070,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2294,3867
$GC,6595,-0.73,-194.7,689.6,-9.8,1100,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2294,3867
$GC,6913,-0.73,-194.7,721.0,-10.1,1130,6918,0.00,2.90,0.00,0.000,4,0.000,0.067,2754,3704,3867
$GC,6978,-0.73,-194.7,728.0,-10.2,1135,6985,0.00,2.88,0.00,0.000,6,0.000,0.053,2754,2286,3867
$GC,7307,-0.73,-194.7,760.1,-9.6,1166,7312,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2285,3866
$GC,7631,-0.73,-194.7,790.7,-9.3,1197,7632,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2285,3866
$GC,7950,-0.73,-194.7,820.5,-9.7,1227,7955,0.00,3.20,0.00,0.000,4,0.000,0.102,2754,3704,3865
$GC,8034,-0.73,-194.7,828.8,-9.9,1234,8039,0.00,3.10,0.00,0.000,6,0.000,0.093,2754,2307,3865
$GC,8360,-0.73,-194.7,859.0,-9.0,1264,8365,0.00,3.38,0.00,0.000,4,0.000,0.132,2754,885,3865
$GC,8410,-0.73,-194.7,864.0,-9.7,1268,8416,0.00,3.17,0.00,0.000,6,0.000,0.102,2754,2298,3864
$GC,8736,-0.73,-194.7,893.0,-8.9,1298,8741,0.00,3.40,0.00,0.000,4,0.000,0.135,2754,3712,3864
$GC,8803,-0.73,-194.7,899.2,-9.7,1303,8809,0.00,2.92,0.00,0.000,6,0.000,0.065,2754,2303,3864
$GC,9130,-0.73,-194.7,928.7,-9.2,1334,9135,0.00,2.88,0.00,0.000,4,0.000,0.061,2754,880,3863
$GC,9174,-0.77,-194.7,933.3,-10.4,1337,9180,0.00,2.83,0.00,0.000,6,0.000,0.033,2754,2340,3863
$GC,9499,-0.77,-194.7,962.6,-8.9,1368,9504,0.00,2.78,0.00,0.000,4,0.000,0.058,2754,3715,3863
$GC,9566,-0.77,-194.7,968.7,-9.5,1373,9572,0.00,2.78,0.00,0.000,6,0.000,0.042,2754,2313,3862
$STATE,9803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9803,begin apogee
$GC,9809,-0.21,0.0,990.5,9.1,1396,10017,0.68,0.00,200.62,1.577,6,0.131,0.000,2865,2750,3070
$STATE,10017,end apogee,CONTROL_FINISHED_OK
$STATE,10017,begin climb
$GC,10020,0.86,194.7,997.4,0.0,1417,10237,1.38,2.62,207.57,1.515,4,0.086,0.058,3097,3899,2277
$GC,10405,0.69,194.7,951.7,15.3,1453,10412,0.17,2.38,0.00,0.000,6,0.128,0.035,3073,2743,2274
$GC,10730,0.57,194.7,909.5,13.2,1484,10735,0.17,2.40,0.00,0.000,4,0.124,0.052,3046,3896,2274
$GC,10792,0.52,194.7,902.2,11.5,1489,10796,0.00,2.25,0.00,0.000,6,0.000,0.034,3046,2762,2274
$GC,11116,0.47,194.7,868.1,10.3,1519,11118,0.15,0.00,0.00,0.000,6,0.117,0.000,3024,2761,2273
$GC,11436,0.54,247.8,841.6,8.2,1549,11495,0.00,0.00,54.28,1.453,6,0.000,0.000,3024,2761,2059
$GC,11814,0.59,291.9,809.0,8.5,1585,11866,0.12,3.00,45.67,1.424,4,0.061,0.049,3048,1345,1881
$GC,11871,0.59,291.9,802.7,10.5,1590,11878,0.00,2.92,0.00,0.000,6,0.000,0.031,3047,2767,1880
$GC,12199,0.59,291.9,766.0,11.0,1621,12200,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2767,1876
$GC,12514,0.59,291.9,731.3,10.3,1651,12515,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2767,1875
$GC,12834,0.59,294.1,698.3,9.9,1681,12835,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2767,1874
$GC,13151,0.59,294.1,665.2,10.6,1711,13152,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2767,1874
$GC,13469,0.59,294.1,632.0,10.6,1741,13470,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2767,1873
$GC,13790,0.59,295.3,599.2,10.0,1771,13796,0.00,2.88,0.00,0.000,4,0.000,0.046,3048,1334,1873
$GC,13801,0.59,295.3,597.8,10.0,1773,13808,0.00,2.80,0.00,0.000,6,0.000,0.032,3047,2772,1873
$GC,14145,0.61,308.4,563.5,9.5,1834,14164,0.00,0.00,16.25,1.208,6,0.000,0.000,3047,2772,1813
$GC,14502,0.63,324.0,529.4,9.5,1897,14526,0.00,2.92,16.45,1.193,4,0.000,0.045,3048,1333,1752
$GC,14543,0.64,329.0,525.1,9.8,1904,14556,0.00,2.83,7.50,1.044,6,0.000,0.031,3047,2759,1729
$GC,14892,0.64,336.8,491.2,9.7,1966,14911,0.00,2.92,8.80,1.049,4,0.000,0.045,3048,1339,1698
$GC,15051,0.69,341.3,475.7,9.8,1993,15063,0.12,2.78,6.50,0.960,6,0.054,0.031,3074,2750,1679
$GC,15401,0.63,341.3,428.9,14.1,2055,15408,0.00,2.83,0.00,0.000,4,0.000,0.044,3074,1337,1677
$GC,15493,0.63,341.3,417.0,13.1,2071,15499,0.00,2.78,0.00,0.000,6,0.000,0.031,3074,2758,1677
$GC,15834,0.57,341.3,370.1,13.8,2132,15841,0.15,2.25,0.00,0.000,4,0.112,0.047,3048,3901,1677
$GC,15866,0.57,341.3,366.3,12.8,2137,15872,0.00,2.17,0.00,0.000,6,0.000,0.030,3048,2764,1676
$GC,16201,0.57,341.3,331.6,10.5,2198,16209,0.00,2.83,0.00,0.000,4,0.000,0.046,3048,1349,1676
$GC,16222,0.57,341.3,329.6,11.0,2201,16228,0.00,2.75,0.00,0.000,6,0.000,0.031,3048,2767,1676
$GC,16553,0.58,352.3,296.2,9.6,2262,16574,0.00,2.88,12.55,0.999,4,0.000,0.044,3048,1349,1633
$GC,16581,0.62,352.3,293.5,10.1,2266,16588,0.00,2.78,0.00,0.000,6,0.000,0.030,3048,2755,1632
$GC,16915,0.71,389.7,261.8,8.7,2327,16960,0.12,2.90,38.50,1.081,4,0.058,0.044,3074,1348,1481
$GC,16968,0.71,389.7,255.6,11.1,2335,16974,0.00,2.80,0.00,0.000,6,0.000,0.030,3074,2750,1479
$GC,17296,0.71,389.7,212.8,12.3,2396,17303,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2750,1476
$GC,17629,0.71,389.7,169.5,12.1,2457,17635,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2750,1476
$GC,17961,0.71,389.7,126.1,11.8,2518,17968,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2750,1475
$GC,18100,0.71,389.7,107.6,13.9,2543,18105,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2750,1475
$GC,18234,0.71,389.7,88.8,12.9,2568,18242,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2751,1475
$GC,18373,0.71,389.7,71.3,14.2,2593,18378,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2750,1475
$GC,18508,0.71,389.7,53.8,13.3,2618,18515,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2751,1475
$GC,18643,0.71,389.7,37.3,15.5,2643,18651,0.00,2.83,0.00,0.000,4,0.000,0.046,3074,1347,1475
$GC,18659,0.71,389.7,34.9,14.9,2645,18667,0.00,2.70,0.00,0.000,6,0.000,0.030,3074,2735,1474
$GC,18794,0.71,389.7,16.9,15.1,2670,18802,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2735,1474
$STATE,18921,end climb,SURFACE_DEPTH_REACHED
$STATE,18921,begin surface coast
$FINISH,0.1,1.013909
$STATE,18940,end surface coast,CONTROL_FINISHED_OK
$STATE,18940,begin surface
$SM_CCo,19017,0.00,0.000,0,0,1471,392.23
$SM_GC,0.76,8.25,0.00,0.00,0.048,0.000,0.000,1435,2296,1471,-6.79,-0.11,392.23
$IRIDIUM_FIX,5850.29,-2253.69,140797,181821
$TT8_MAMPS,0.026845
$HUMID,1730
$INTERNAL_PRESSURE,8.92658
$TCM_TEMP,12.40
$XPDR_PINGS,910
$24V_AH,19.6,27.949
$10V_AH,9.7,23.494
$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,22.800,158.125,614.700,0.000,0.000,28.620,34.793,355.624,227.500,0.000,0.000,13.825,4085.042,8016.791,775.003,5854.868,829.866,0.000,2895.035,0.000,5883.724,0.000,0.465
$DEVICE_MAMPS,247.741,134.992,1576.952,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1866.094,1983.003,1193.913,1092.329,2824.669,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202480,2697
$CAP_FILE_SIZE,212617,0
$CFSIZE,260165632,249401344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200408,053208,5916.945,-2255.644,33,1.4,33,-15.6