version: 66.03
glider: 142
mission: 5
dive: 112
start: 4 27 108 22 3 34
data:
$ID,142
$MISSION,5
$DIVE,112
$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,320
$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,-14947.456
$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,21
$R_STBD_OVSHOOT,21
$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
$GPS1,214608,6039.218,-2244.635,34,1.4,34,-16.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-37.4
$GPS2,220317,6039.242,-2244.669,12,2.9,31,-16.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6047.515,-2248.057
$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,336.2,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,208,0.00,0.00,-179.45,0.000,2,0.000,0.000,1433,2294,3576
$GC,211,-0.86,-194.7,3.1,-3.9,25,243,11.23,2.90,-8.07,0.000,4,0.245,0.055,2725,886,3866
$GC,297,-0.79,-194.7,18.8,-14.4,39,305,0.08,2.78,0.00,0.000,6,0.126,0.028,2738,2302,3867
$GC,434,-0.74,-194.7,36.6,-12.6,64,442,0.12,0.00,0.00,0.000,6,0.137,0.000,2756,2302,3867
$GC,570,-0.74,-194.7,52.0,-10.6,89,577,0.00,2.85,0.00,0.000,4,0.000,0.047,2756,883,3867
$GC,617,-0.74,-194.7,57.3,-11.0,97,623,0.00,2.75,0.00,0.000,6,0.000,0.030,2755,2304,3867
$GC,944,-0.74,-194.7,92.1,-10.2,158,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2304,3867
$GC,1278,-0.74,-194.7,127.7,-11.1,219,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2304,3867
$GC,1612,-0.74,-194.7,164.3,-10.4,280,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2304,3867
$GC,1957,-0.74,-194.7,200.2,-10.5,341,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2304,3867
$GC,2296,-0.74,-194.7,235.9,-10.3,402,2302,0.00,2.83,0.00,0.000,4,0.000,0.048,2755,885,3867
$GC,2342,-0.74,-194.7,240.6,-10.6,410,2348,0.00,2.67,0.00,0.000,6,0.000,0.029,2755,2287,3867
$GC,2681,-0.74,-194.7,275.4,-10.0,471,2688,0.00,2.78,0.00,0.000,4,0.000,0.044,2755,3700,3867
$GC,2741,-0.74,-194.7,281.4,-10.2,481,2747,0.00,2.78,0.00,0.000,6,0.000,0.034,2755,2269,3867
$GC,3079,-0.74,-194.7,316.3,-10.2,542,3085,0.00,2.72,0.00,0.000,4,0.000,0.051,2755,893,3867
$GC,3129,-0.74,-194.7,321.7,-10.4,551,3135,0.00,2.67,0.00,0.000,6,0.000,0.029,2755,2293,3867
$GC,3473,-0.74,-194.7,355.2,-9.6,608,3477,0.00,2.78,0.00,0.000,4,0.000,0.045,2755,3706,3867
$GC,3539,-0.74,-194.7,361.8,-9.6,613,3545,0.00,2.72,0.00,0.000,6,0.000,0.033,2756,2297,3867
$GC,3865,-0.74,-194.7,393.3,-9.7,644,3869,0.00,2.78,0.00,0.000,4,0.000,0.050,2755,887,3867
$GC,3928,-0.74,-194.7,399.7,-10.2,649,3933,0.00,2.70,0.00,0.000,6,0.000,0.030,2755,2300,3866
$GC,4254,-0.74,-194.7,432.2,-10.2,679,4258,0.00,2.75,0.00,0.000,4,0.000,0.045,2755,3700,3867
$GC,4319,-0.74,-194.7,439.0,-9.9,684,4325,0.00,2.72,0.00,0.000,6,0.000,0.034,2755,2294,3867
$GC,4645,-0.74,-194.7,472.4,-10.6,715,4649,0.00,2.78,0.00,0.000,4,0.000,0.052,2755,883,3867
$GC,4699,-0.74,-194.7,478.4,-10.6,719,4706,0.00,2.70,0.00,0.000,6,0.000,0.030,2756,2299,3866
$GC,5025,-0.74,-194.7,511.9,-10.5,750,5030,0.00,2.78,0.00,0.000,4,0.000,0.048,2755,3707,3866
$GC,5098,-0.74,-194.7,519.9,-10.8,756,5103,0.00,2.72,0.00,0.000,6,0.000,0.035,2755,2299,3866
$GC,5426,-0.74,-194.7,554.1,-10.4,786,5430,0.00,2.80,0.00,0.000,4,0.000,0.053,2755,890,3866
$GC,5480,-0.74,-194.7,560.4,-10.5,790,5487,0.00,2.72,0.00,0.000,6,0.000,0.030,2756,2310,3866
$GC,5807,-0.74,-194.7,592.1,-9.6,821,5811,0.00,2.80,0.00,0.000,4,0.000,0.051,2756,3712,3865
$GC,5868,-0.74,-194.7,598.2,-10.0,826,5873,0.00,2.75,0.00,0.000,6,0.000,0.036,2755,2307,3865
$GC,6184,-0.74,-194.7,628.8,-9.6,842,6189,0.00,2.85,0.00,0.000,4,0.000,0.059,2755,888,3865
$GC,6255,-0.74,-194.7,636.1,-10.1,845,6260,0.00,2.75,0.00,0.000,6,0.000,0.033,2755,2307,3865
$GC,6571,-0.74,-194.7,666.2,-9.5,860,6576,0.00,2.85,0.00,0.000,4,0.000,0.060,2755,3709,3865
$GC,6655,-0.74,-194.7,674.2,-9.4,864,6660,0.00,2.78,0.00,0.000,6,0.000,0.044,2755,2319,3865
$GC,6981,-0.74,-194.7,704.6,-9.5,880,6986,0.00,2.97,0.00,0.000,4,0.000,0.071,2756,882,3864
$GC,7025,-0.78,-194.7,709.0,-10.0,882,7030,0.00,2.83,0.00,0.000,6,0.000,0.041,2755,2316,3864
$GC,7345,-0.78,-194.7,740.3,-10.0,898,7350,0.00,2.92,0.00,0.000,4,0.000,0.073,2755,3713,3864
$GC,7400,-0.78,-194.7,746.0,-10.0,900,7407,0.00,2.85,0.00,0.000,6,0.000,0.055,2755,2320,3864
$GC,7716,-0.78,-194.7,776.9,-9.8,916,7721,0.00,3.12,0.00,0.000,4,0.000,0.092,2755,883,3864
$GC,7765,-0.82,-194.7,782.0,-10.1,918,7770,0.00,3.00,0.00,0.000,6,0.000,0.064,2755,2320,3864
$GC,8081,-0.82,-194.7,810.5,-8.8,933,8085,0.00,3.08,0.00,0.000,4,0.000,0.096,2756,3714,3863
$GC,8158,-0.82,-194.7,817.5,-9.0,936,8164,0.00,3.03,0.00,0.000,6,0.000,0.084,2755,2328,3863
$GC,8473,-0.82,-194.7,843.9,-8.3,952,8479,0.00,3.33,0.00,0.000,4,0.000,0.117,2755,880,3863
$GC,8513,-0.87,-194.7,847.4,-9.1,954,8519,0.12,2.85,0.00,0.000,6,0.063,0.032,2732,2350,3862
$GC,8840,-0.87,-194.7,881.9,-10.8,970,8841,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2350,3862
$GC,9149,-0.87,-194.7,914.9,-10.7,985,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2350,3862
$GC,9458,-0.87,-194.7,948.1,-10.6,1000,9463,0.00,3.00,0.00,0.000,4,0.000,0.058,2731,882,3861
$GC,9521,-0.87,-194.7,954.9,-11.3,1003,9526,0.00,2.83,0.00,0.000,6,0.000,0.036,2731,2325,3861
$GC,9847,-0.87,-194.7,988.6,-10.0,1019,9848,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2325,3861
$STATE,9865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9865,begin apogee
$GC,9871,-0.21,0.0,990.6,10.0,1020,10077,0.85,0.00,201.90,1.610,6,0.121,0.000,2871,2750,3072
$STATE,10078,end apogee,CONTROL_FINISHED_OK
$STATE,10078,begin climb
$GC,10080,0.86,194.7,995.5,0.0,1030,10305,1.38,2.67,211.07,1.554,4,0.082,0.058,3100,3899,2277
$GC,10426,0.69,194.7,953.7,15.4,1046,10431,0.20,2.40,0.00,0.000,6,0.130,0.035,3073,2738,2274
$GC,10747,0.57,194.7,913.2,12.4,1062,10752,0.15,2.42,0.00,0.000,4,0.123,0.054,3048,3894,2274
$GC,10802,0.52,194.7,907.0,10.6,1064,10808,0.00,2.25,0.00,0.000,6,0.000,0.033,3048,2760,2273
$GC,11118,0.50,212.4,876.6,9.4,1080,11138,0.00,0.00,18.50,1.397,6,0.000,0.000,3048,2757,2205
$GC,11447,0.46,219.0,844.8,9.8,1096,11462,0.15,2.40,8.05,1.220,4,0.115,0.060,3023,3893,2178
$GC,11468,0.48,234.7,842.8,9.5,1097,11493,0.00,2.22,17.67,1.403,6,0.000,0.033,3022,2764,2113
$GC,11821,0.58,317.2,817.3,7.1,1114,11911,0.12,0.00,86.97,1.485,6,0.062,0.000,3046,2762,1777
$GC,12209,0.59,322.8,780.0,9.8,1133,12220,0.00,2.38,6.05,1.071,4,0.000,0.053,3046,3902,1754
$GC,12226,0.59,323.3,778.2,10.0,1134,12230,0.00,2.25,0.00,0.000,6,0.000,0.032,3046,2767,1754
$GC,12552,0.59,323.3,744.8,10.6,1150,12553,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2764,1752
$GC,12861,0.59,323.3,712.7,10.0,1165,12866,0.00,2.88,0.00,0.000,4,0.000,0.049,3046,1338,1752
$GC,12871,0.59,328.0,711.6,9.8,1165,12885,0.00,2.80,6.60,1.094,6,0.000,0.032,3046,2767,1733
$GC,13207,0.60,334.3,678.2,9.8,1182,13222,0.00,2.95,7.70,1.136,4,0.000,0.048,3046,1343,1708
$GC,13228,0.60,334.3,676.1,10.1,1183,13232,0.00,2.80,0.00,0.000,6,0.000,0.035,3046,2755,1707
$GC,13554,0.60,334.3,643.0,10.1,1199,13555,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2755,1707
$GC,13863,0.63,356.7,613.3,9.2,1214,13893,0.00,2.92,24.52,1.320,4,0.000,0.050,3046,1342,1615
$GC,13899,0.65,375.1,609.9,9.4,1216,13927,0.00,2.83,21.05,1.305,6,0.000,0.038,3046,2748,1541
$GC,14246,0.66,381.0,577.3,9.8,1243,14258,0.00,2.95,6.85,1.048,4,0.000,0.047,3046,1338,1517
$GC,14263,0.68,394.3,575.5,9.5,1244,14284,0.00,2.80,15.65,1.236,6,0.000,0.033,3046,2743,1463
$GC,14604,0.78,431.2,544.9,8.7,1276,14651,0.17,2.95,40.12,1.286,4,0.050,0.047,3086,1342,1311
$GC,14656,0.72,431.2,538.2,13.5,1280,14664,0.00,2.85,0.00,0.000,6,0.000,0.032,3086,2733,1310
$GC,14983,0.65,431.2,486.9,16.5,1311,14987,0.15,2.35,0.00,0.000,4,0.110,0.049,3061,3897,1306
$GC,14999,0.59,431.2,484.0,15.7,1312,15003,0.00,2.25,0.00,0.000,6,0.000,0.031,3062,2746,1305
$GC,15329,0.59,431.2,446.4,10.9,1343,15333,0.00,2.83,0.00,0.000,4,0.000,0.048,3061,1340,1304
$GC,15345,0.59,431.2,444.6,10.8,1344,15349,0.00,2.75,0.00,0.000,6,0.000,0.031,3061,2744,1304
$GC,15669,0.59,431.2,409.3,10.9,1374,15673,0.00,2.83,0.00,0.000,4,0.000,0.046,3061,1344,1303
$GC,15678,0.59,431.2,408.1,10.8,1374,15685,0.00,2.70,0.00,0.000,6,0.000,0.031,3061,2729,1303
$GC,16005,0.59,431.2,373.6,10.7,1405,16009,0.00,2.80,0.00,0.000,4,0.000,0.046,3061,1336,1303
$GC,16014,0.59,431.2,372.2,10.9,1405,16021,0.00,2.70,0.00,0.000,6,0.000,0.031,3061,2725,1302
$GC,16343,0.59,431.2,337.9,10.2,1446,16349,0.00,2.78,0.00,0.000,4,0.000,0.046,3061,1341,1302
$GC,16357,0.63,431.2,336.6,10.2,1448,16364,0.00,2.67,0.00,0.000,6,0.000,0.031,3061,2704,1302
$GC,16700,0.67,431.2,301.6,10.1,1509,16705,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2704,1302
$GC,17038,0.74,446.3,267.7,9.5,1570,17056,0.00,0.00,14.70,1.030,6,0.000,0.000,3061,2704,1251
$GC,17392,0.81,464.9,235.5,9.4,1633,17422,0.17,2.80,20.38,1.058,4,0.051,0.045,3100,1346,1175
$GC,17428,0.81,464.9,230.8,13.0,1639,17435,0.00,2.67,0.00,0.000,6,0.000,0.031,3100,2702,1174
$GC,17768,0.72,464.9,173.6,18.4,1700,17777,0.15,2.38,0.00,0.000,4,0.114,0.046,3075,3884,1172
$GC,17817,0.72,464.9,166.8,14.2,1708,17824,0.00,2.28,0.00,0.000,6,0.000,0.031,3075,2726,1171
$GC,18155,0.72,464.9,130.3,11.6,1769,18161,0.00,2.75,0.00,0.000,4,0.000,0.046,3075,1337,1170
$GC,18180,0.72,464.9,127.5,11.4,1773,18186,0.00,2.67,0.00,0.000,6,0.000,0.031,3075,2718,1170
$GC,18513,0.72,464.9,90.2,10.3,1834,18520,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2719,1170
$GC,18844,0.72,464.9,53.1,11.6,1895,18850,0.00,2.75,0.00,0.000,4,0.000,0.046,3075,1338,1170
$GC,18858,0.72,464.9,51.5,11.1,1897,18864,0.00,2.67,0.00,0.000,6,0.000,0.030,3075,2724,1169
$GC,19179,0.80,528.4,15.3,7.8,1958,19246,0.00,0.00,63.92,0.953,6,0.000,0.000,3075,2724,916
$STATE,19298,end climb,SURFACE_DEPTH_REACHED
$STATE,19298,begin surface coast
$FINISH,0.2,1.026272
$STATE,19315,end surface coast,CONTROL_FINISHED_OK
$STATE,19317,begin surface
$SM_CCo,19395,0.00,0.000,0,0,910,530.09
$SM_GC,0.52,8.65,0.00,0.00,0.055,0.000,0.000,1439,2293,910,-6.79,-0.20,530.09
$IRIDIUM_FIX,6015.40,-2240.23,220797,212106
$TT8_MAMPS,0.026078
$HUMID,1754
$INTERNAL_PRESSURE,8.84845
$TCM_TEMP,12.00
$XPDR_PINGS,890
$24V_AH,19.6,39.417
$10V_AH,9.7,31.732
$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,23.700,210.375,771.725,0.000,0.000,48.488,130.337,630.914,222.500,0.000,0.000,34.341,3150.848,10595.390,917.905,4578.565,1160.014,0.000,2720.893,0.000,4549.037,0.000,0.466
$DEVICE_MAMPS,244.673,117.351,1609.933,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1369.581,1427.500,741.346,1000.466,1859.051,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145346,1980
$CAP_FILE_SIZE,205590,0
$CFSIZE,260165632,245633024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280408,032822,6041.833,-2249.117,37,2.8,56,-16.3