version: 66.03
glider: 142
mission: 5
dive: 125
start: 4 30 108 20 38 22
data:
$ID,142
$MISSION,5
$DIVE,125
$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,345
$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,-15212.773
$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,29
$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
$GPS1,203037,6055.242,-2433.619,35,2.0,35,-17.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-41.6
$GPS2,203804,6055.215,-2433.792,11,2.0,12,-17.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6105.646,-2435.143
$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,2.3,20000,-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,-194.7,0.0,0.0,0,158,0.00,0.00,-129.02,0.000,2,0.000,0.000,1436,2278,3421
$GC,161,-0.86,-194.7,3.1,-6.4,18,192,11.57,2.88,-13.57,0.000,4,0.252,0.051,2725,3710,3865
$GC,331,-0.80,-194.7,22.5,-9.0,48,339,0.00,2.80,0.00,0.000,6,0.000,0.034,2725,2305,3866
$GC,466,-0.72,-194.7,38.8,-13.6,73,474,0.17,2.85,0.00,0.000,4,0.156,0.049,2752,894,3866
$GC,576,-0.72,-194.7,52.3,-12.6,93,582,0.00,2.67,0.00,0.000,6,0.000,0.028,2752,2287,3866
$GC,909,-0.72,-194.7,88.1,-8.6,154,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2293,3866
$GC,1241,-0.72,-194.7,125.5,-15.3,215,1247,0.00,2.80,0.00,0.000,4,0.000,0.047,2752,883,3866
$GC,1289,-0.72,-194.7,132.2,-13.4,223,1295,0.00,2.65,0.00,0.000,6,0.000,0.030,2753,2263,3866
$GC,1622,-0.72,-194.7,170.7,-12.3,284,1630,0.00,2.85,0.00,0.000,4,0.000,0.044,2752,3698,3866
$GC,1686,-0.72,-194.7,178.4,-12.2,295,1692,0.00,2.80,0.00,0.000,6,0.000,0.033,2752,2258,3866
$GC,2025,-0.72,-194.7,217.0,-10.7,356,2033,0.00,2.72,0.00,0.000,4,0.000,0.049,2752,891,3866
$GC,2116,-0.72,-194.7,227.1,-11.0,372,2123,0.00,2.65,0.00,0.000,6,0.000,0.029,2752,2265,3866
$GC,2459,-0.72,-194.7,261.5,-9.8,433,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2265,3866
$GC,2797,-0.72,-194.7,295.2,-10.2,494,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2265,3866
$GC,3138,-0.72,-194.7,329.1,-9.7,555,3145,0.00,2.83,0.00,0.000,4,0.000,0.044,2752,3701,3866
$GC,3198,-0.72,-194.7,334.9,-9.8,565,3205,0.00,2.80,0.00,0.000,6,0.000,0.033,2752,2256,3866
$GC,3531,-0.72,-194.7,369.6,-10.7,609,3536,0.00,2.70,0.00,0.000,4,0.000,0.049,2752,885,3866
$GC,3597,-0.72,-194.7,377.3,-11.3,614,3604,0.00,2.62,0.00,0.000,6,0.000,0.029,2752,2261,3866
$GC,3923,-0.72,-194.7,412.1,-10.5,645,3928,0.00,2.83,0.00,0.000,4,0.000,0.044,2752,3697,3866
$GC,3984,-0.72,-194.7,418.8,-10.7,650,3989,0.00,2.80,0.00,0.000,6,0.000,0.033,2752,2256,3866
$GC,4310,-0.72,-194.7,452.6,-10.4,680,4314,0.00,2.70,0.00,0.000,4,0.000,0.050,2752,887,3865
$GC,4359,-0.72,-194.7,458.1,-10.7,684,4363,0.00,2.62,0.00,0.000,6,0.000,0.030,2752,2262,3866
$GC,4684,-0.72,-194.7,493.3,-10.8,714,4689,0.00,2.85,0.00,0.000,4,0.000,0.046,2752,3703,3865
$GC,4746,-0.72,-194.7,500.1,-10.5,719,4750,0.00,2.80,0.00,0.000,6,0.000,0.034,2752,2263,3865
$GC,5072,-0.72,-194.7,534.4,-10.4,749,5076,0.00,2.72,0.00,0.000,4,0.000,0.051,2752,885,3865
$GC,5123,-0.72,-194.7,539.7,-10.5,753,5128,0.00,2.67,0.00,0.000,6,0.000,0.029,2752,2282,3865
$GC,5449,-0.72,-194.7,570.1,-9.0,783,5454,0.00,2.83,0.00,0.000,4,0.000,0.049,2752,3703,3865
$GC,5515,-0.72,-194.7,576.4,-9.3,788,5521,0.00,2.80,0.00,0.000,6,0.000,0.035,2752,2268,3865
$GC,5839,-0.72,-194.7,606.4,-9.6,816,5844,0.00,2.78,0.00,0.000,4,0.000,0.057,2752,889,3865
$GC,5894,-0.72,-194.7,612.3,-10.6,818,5901,0.00,2.67,0.00,0.000,6,0.000,0.032,2753,2275,3865
$GC,6210,-0.72,-194.7,644.8,-10.2,834,6214,0.00,2.90,0.00,0.000,4,0.000,0.056,2752,3711,3865
$GC,6287,-0.72,-194.7,652.9,-10.8,837,6293,0.00,2.85,0.00,0.000,6,0.000,0.042,2752,2276,3864
$GC,6602,-0.72,-194.7,682.8,-9.0,853,6607,0.00,2.85,0.00,0.000,4,0.000,0.065,2752,885,3864
$GC,6674,-0.72,-194.7,689.5,-9.2,856,6679,0.00,2.72,0.00,0.000,6,0.000,0.037,2752,2277,3864
$GC,6990,-0.72,-194.7,718.0,-9.5,871,6995,0.00,2.97,0.00,0.000,4,0.000,0.068,2752,3707,3864
$GC,7079,-0.72,-194.7,726.8,-9.7,875,7083,0.00,2.88,0.00,0.000,6,0.000,0.051,2752,2294,3864
$GC,7400,-0.72,-194.7,756.8,-9.5,891,7405,0.00,3.03,0.00,0.000,4,0.000,0.084,2752,884,3863
$GC,7438,-0.72,-194.7,760.7,-10.2,893,7443,0.00,2.90,0.00,0.000,6,0.000,0.054,2752,2303,3863
$GC,7764,-0.72,-194.7,792.7,-9.8,909,7769,0.00,3.08,0.00,0.000,4,0.000,0.088,2752,3713,3863
$GC,7826,-0.72,-194.7,798.9,-10.2,912,7831,0.00,3.00,0.00,0.000,6,0.000,0.074,2752,2310,3863
$GC,8152,-0.72,-194.7,831.7,-9.9,928,8153,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2309,3863
$GC,8461,-0.72,-194.7,861.9,-9.6,943,8465,0.00,2.88,0.00,0.000,4,0.000,0.054,2752,872,3862
$GC,8493,-0.77,-194.7,865.3,-10.2,944,8499,0.00,2.83,0.00,0.000,6,0.000,0.032,2752,2330,3862
$GC,8808,-0.77,-194.7,895.6,-9.5,960,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2330,3862
$GC,9118,-0.77,-194.7,924.7,-9.6,975,9122,0.00,2.80,0.00,0.000,4,0.000,0.058,2752,3706,3862
$GC,9172,-0.77,-194.7,930.1,-9.6,977,9179,0.00,2.78,0.00,0.000,6,0.000,0.041,2752,2306,3861
$GC,9488,-0.77,-194.7,958.8,-8.8,993,9492,0.00,2.90,0.00,0.000,4,0.000,0.061,2753,882,3861
$GC,9527,-0.81,-194.7,962.3,-9.3,995,9532,0.00,2.83,0.00,0.000,6,0.000,0.035,2752,2327,3861
$STATE,9851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9851,begin apogee
$GC,9857,-0.21,0.0,990.1,8.5,1011,10063,0.73,0.00,202.25,1.596,6,0.128,0.000,2869,2749,3072
$STATE,10063,end apogee,CONTROL_FINISHED_OK
$STATE,10064,begin climb
$GC,10066,0.86,194.7,995.8,0.0,1021,10291,1.40,2.67,211.05,1.544,4,0.084,0.058,3100,3897,2277
$GC,10359,0.69,194.7,963.6,15.5,1035,10364,0.20,2.42,0.00,0.000,6,0.126,0.035,3073,2745,2275
$GC,10686,0.58,194.7,924.9,11.3,1051,10691,0.15,2.42,0.00,0.000,4,0.124,0.054,3048,3898,2274
$GC,10748,0.54,197.5,918.8,9.9,1054,10752,0.00,2.25,0.00,0.000,6,0.000,0.034,3048,2768,2274
$GC,11075,0.53,223.0,889.3,9.1,1070,11109,0.00,2.42,29.17,1.445,4,0.000,0.059,3048,3890,2161
$GC,11121,0.54,223.5,884.7,10.0,1072,11125,0.00,2.22,0.00,0.000,6,0.000,0.033,3048,2784,2160
$GC,11448,0.54,223.5,851.7,10.5,1088,11449,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2783,2159
$GC,11757,0.54,230.0,820.2,9.8,1103,11772,0.00,2.33,7.97,1.186,4,0.000,0.054,3048,3888,2133
$GC,11778,0.54,230.0,818.0,10.3,1104,11783,0.00,2.15,0.00,0.000,6,0.000,0.033,3048,2793,2132
$GC,12105,0.55,232.3,786.2,9.9,1120,12109,0.00,2.28,0.00,0.000,4,0.000,0.054,3048,3902,2132
$GC,12121,0.56,243.0,784.6,9.6,1121,12143,0.00,2.15,14.55,1.330,6,0.000,0.032,3048,2797,2080
$GC,12451,0.56,246.4,751.7,9.9,1137,12458,0.00,0.00,4.90,0.968,6,0.000,0.000,3048,2794,2066
$GC,12761,0.59,271.6,723.3,9.1,1152,12794,0.00,2.38,27.05,1.379,4,0.000,0.054,3048,3901,1962
$GC,12807,0.63,298.2,719.0,9.1,1154,12843,0.00,2.17,28.83,1.378,6,0.000,0.031,3048,2801,1854
$GC,13152,0.65,316.9,686.4,9.4,1171,13174,0.00,0.00,19.85,1.307,6,0.000,0.000,3048,2799,1779
$GC,13482,0.67,330.1,655.2,9.5,1187,13504,0.00,3.00,14.82,1.252,4,0.000,0.054,3048,1343,1724
$GC,13508,0.67,330.1,652.5,10.1,1188,13513,0.00,2.92,0.00,0.000,6,0.000,0.031,3048,2802,1724
$GC,13829,0.68,338.3,620.8,9.7,1204,13845,0.00,3.00,9.68,1.147,4,0.000,0.050,3048,1344,1691
$GC,13850,0.69,352.7,618.7,9.5,1204,13875,0.12,2.90,16.83,1.258,6,0.059,0.033,3074,2798,1633
$GC,14192,0.65,352.7,576.6,13.0,1229,14196,0.00,2.22,0.00,0.000,4,0.000,0.053,3074,3902,1629
$GC,14220,0.65,352.7,572.7,13.3,1231,14224,0.00,2.15,0.00,0.000,6,0.000,0.031,3073,2798,1629
$GC,14546,0.61,352.7,529.1,13.5,1261,14548,0.12,0.00,0.00,0.000,6,0.113,0.000,3056,2790,1628
$GC,14864,0.61,352.7,493.6,10.8,1291,14865,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2790,1628
$GC,15186,0.61,356.0,461.2,9.9,1321,15191,0.00,2.90,0.00,0.000,4,0.000,0.047,3055,1342,1627
$GC,15195,0.61,356.0,459.5,10.2,1321,15202,0.00,2.88,0.00,0.000,6,0.000,0.031,3055,2817,1627
$GC,15522,0.63,368.9,427.9,9.6,1352,15546,0.00,3.00,17.27,1.137,4,0.000,0.044,3055,1338,1564
$GC,15569,0.67,400.8,423.4,8.9,1356,15611,0.00,2.88,33.72,1.202,6,0.000,0.031,3055,2795,1437
$GC,15929,0.72,441.8,391.0,8.6,1390,15978,0.00,3.05,43.38,1.169,4,0.000,0.044,3055,1339,1268
$GC,16002,0.85,491.6,384.7,8.3,1396,16065,0.25,2.92,52.97,1.157,6,0.041,0.030,3104,2787,1066
$GC,16389,0.77,491.6,319.5,18.1,1447,16395,0.00,2.22,0.00,0.000,4,0.000,0.048,3105,3893,1058
$GC,16426,0.70,491.6,313.3,20.1,1453,16432,0.17,2.15,0.00,0.000,6,0.108,0.031,3079,2790,1058
$GC,16765,0.70,491.6,268.6,13.3,1514,16771,0.00,2.90,0.00,0.000,4,0.000,0.046,3078,1340,1057
$GC,16785,0.70,491.6,266.3,13.9,1517,16791,0.00,2.85,0.00,0.000,6,0.000,0.030,3078,2795,1056
$GC,17124,0.70,491.6,221.6,13.5,1578,17130,0.00,2.92,0.00,0.000,4,0.000,0.044,3078,1339,1055
$GC,17144,0.70,491.6,219.2,11.8,1581,17150,0.00,2.80,0.00,0.000,6,0.000,0.031,3078,2772,1054
$GC,17485,0.70,491.6,175.0,13.6,1642,17492,0.00,2.88,0.00,0.000,4,0.000,0.044,3078,1338,1054
$GC,17515,0.70,491.6,170.9,13.5,1647,17522,0.00,2.78,0.00,0.000,6,0.000,0.030,3078,2769,1053
$GC,17851,0.70,491.6,126.7,12.0,1708,17859,0.00,2.88,0.00,0.000,4,0.000,0.044,3078,1349,1053
$GC,17872,0.70,491.6,124.0,12.6,1711,17879,0.00,2.72,0.00,0.000,6,0.000,0.030,3078,2754,1052
$GC,18200,0.70,491.6,81.4,14.6,1772,18208,0.00,2.85,0.00,0.000,4,0.000,0.045,3078,1348,1052
$GC,18214,0.70,491.6,79.6,12.5,1774,18222,0.00,2.72,0.00,0.000,6,0.000,0.031,3078,2741,1052
$GC,18546,0.70,491.6,37.6,14.2,1835,18554,0.00,2.83,0.00,0.000,4,0.000,0.046,3078,1345,1052
$GC,18562,0.70,491.6,35.4,13.9,1837,18569,0.00,2.72,0.00,0.000,6,0.000,0.030,3078,2738,1052
$GC,18696,0.70,491.6,17.1,11.7,1862,18704,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2738,1052
$STATE,18813,end climb,SURFACE_DEPTH_REACHED
$STATE,18813,begin surface coast
$FINISH,1.3,1.026289
$STATE,18831,end surface coast,CONTROL_FINISHED_OK
$STATE,18832,begin surface
$SM_CCo,18910,0.00,0.000,0,0,1049,496.00
$SM_GC,0.66,8.43,0.00,0.00,0.054,0.000,0.000,1436,2297,1049,-6.80,-0.06,496.00
$IRIDIUM_FIX,6032.86,-2421.14,250797,151540
$TT8_MAMPS,0.026845
$HUMID,1750
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,11.60
$XPDR_PINGS,838
$24V_AH,19.5,43.669
$10V_AH,9.8,34.404
$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,23.325,219.575,734.300,0.000,0.000,26.467,32.718,255.007,209.500,0.000,0.000,13.558,3023.058,10455.474,864.888,4354.209,641.448,0.000,2592.939,0.000,4340.098,0.000,0.466
$DEVICE_MAMPS,252.343,88.205,1596.127,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1307.595,1356.670,692.305,937.208,1732.053,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139071,1887
$CAP_FILE_SIZE,188939,0
$CFSIZE,260165632,244387840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,010508,015438,6058.594,-2439.794,30,1.3,30,-17.4