version: 66.03
glider: 142
mission: 5
dive: 214
start: 5 20 108 13 47 46
data:
$ID,142
$MISSION,5
$DIVE,214
$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,100
$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,35
$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,-17059.652
$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,30
$R_STBD_OVSHOOT,16
$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
$GPS1,133626,6114.485,-2532.583,61,1.4,61,-18.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-53.0
$GPS2,134726,6114.551,-2532.711,10,1.8,15,-18.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6123.397,-2529.745
$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,53.1,20000,-21.7,-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,-1.03,-97.3,0.0,0.0,0,96,0.00,0.00,-66.38,0.000,2,0.000,0.000,1438,2285,3458
$GC,99,-1.03,-97.3,3.2,-4.4,12,118,11.57,2.88,0.00,0.000,4,0.252,0.041,2687,3719,3460
$GC,256,-0.98,-97.3,29.5,-14.4,39,263,0.00,2.78,0.00,0.000,6,0.000,0.033,2687,2307,3461
$GC,399,-0.93,-97.3,48.2,-11.9,64,406,0.15,2.85,0.00,0.000,4,0.162,0.048,2709,884,3461
$GC,474,-0.93,-97.3,57.4,-12.4,77,481,0.00,2.67,0.00,0.000,6,0.000,0.028,2709,2272,3461
$GC,819,-0.93,-97.3,97.2,-10.7,138,826,0.00,2.78,0.00,0.000,4,0.000,0.048,2709,887,3461
$GC,1045,-0.93,-97.3,123.7,-11.8,178,1051,0.00,2.58,0.00,0.000,6,0.000,0.030,2709,2229,3461
$GC,1389,-0.93,-97.3,161.3,-11.3,239,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2230,3462
$GC,1732,-0.93,-97.3,199.9,-11.0,300,1738,0.00,2.70,0.00,0.000,4,0.000,0.048,2709,884,3462
$GC,1834,-0.93,-97.3,212.0,-11.8,318,1840,0.00,2.58,0.00,0.000,6,0.000,0.030,2709,2227,3462
$GC,2178,-0.93,-97.3,249.4,-10.7,379,2184,0.00,2.70,0.00,0.000,4,0.000,0.048,2709,884,3462
$GC,2229,-0.93,-97.3,255.4,-11.8,388,2236,0.00,2.55,0.00,0.000,6,0.000,0.030,2709,2215,3462
$GC,2574,-0.93,-97.3,291.4,-10.0,449,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2221,3462
$GC,2916,-0.93,-97.3,326.9,-10.4,510,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2220,3462
$GC,3258,-0.93,-97.3,361.9,-9.9,561,3262,0.00,2.67,0.00,0.000,4,0.000,0.048,2709,886,3462
$GC,3319,-0.93,-97.3,368.2,-10.1,566,3323,0.00,2.55,0.00,0.000,6,0.000,0.031,2710,2213,3462
$GC,3645,-0.93,-97.3,398.5,-9.4,596,3649,0.00,2.67,0.00,0.000,4,0.000,0.054,2709,891,3462
$GC,3711,-0.93,-97.3,405.5,-10.5,601,3717,0.00,2.50,0.00,0.000,6,0.000,0.031,2709,2193,3462
$GC,4037,-0.93,-97.3,436.6,-9.7,632,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2198,3462
$GC,4354,-0.93,-97.3,466.4,-9.5,662,4359,0.00,3.00,0.00,0.000,4,0.000,0.046,2709,3707,3461
$GC,4397,-0.93,-97.3,470.8,-10.1,665,4404,0.00,2.97,0.00,0.000,6,0.000,0.035,2709,2190,3461
$GC,4723,-0.93,-97.3,502.3,-9.6,696,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2188,3461
$GC,5041,-0.93,-97.3,532.6,-9.6,726,5046,0.00,3.05,0.00,0.000,4,0.000,0.047,2709,3698,3461
$GC,5096,-0.93,-97.3,538.1,-9.7,730,5102,0.00,2.95,0.00,0.000,6,0.000,0.035,2709,2200,3461
$GC,5423,-0.93,-97.3,567.7,-9.5,761,5427,0.00,2.65,0.00,0.000,4,0.000,0.053,2709,884,3461
$GC,5506,-0.93,-97.3,576.3,-10.3,768,5510,0.00,2.53,0.00,0.000,6,0.000,0.030,2709,2192,3461
$GC,5839,-0.93,-97.3,608.9,-10.1,795,5843,0.00,2.65,0.00,0.000,4,0.000,0.052,2709,892,3461
$GC,5871,-0.93,-97.3,612.5,-10.8,796,5878,0.00,2.50,0.00,0.000,6,0.000,0.031,2709,2179,3461
$GC,6187,-0.93,-97.3,643.2,-9.7,812,6191,0.00,3.10,0.00,0.000,4,0.000,0.054,2709,3701,3461
$GC,6253,-0.93,-97.3,649.7,-9.9,815,6257,0.00,3.03,0.00,0.000,6,0.000,0.041,2709,2192,3460
$GC,6574,-0.93,-97.3,679.5,-9.1,831,6579,0.00,3.12,0.00,0.000,4,0.000,0.058,2709,3696,3461
$GC,6640,-0.93,-97.3,686.0,-9.7,834,6645,0.00,3.03,0.00,0.000,6,0.000,0.046,2709,2202,3460
$GC,6962,-0.93,-97.3,714.8,-9.4,850,6966,0.00,2.75,0.00,0.000,4,0.000,0.071,2709,897,3461
$GC,7010,-0.93,-97.3,720.0,-10.3,852,7015,0.00,2.60,0.00,0.000,6,0.000,0.043,2709,2175,3461
$GC,7332,-0.93,-97.3,749.7,-9.1,868,7333,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2176,3461
$GC,7642,-0.93,-97.3,778.8,-9.2,883,7647,0.00,3.33,0.00,0.000,4,0.000,0.083,2709,3692,3461
$GC,7697,-0.93,-97.3,784.2,-9.7,885,7704,0.00,3.17,0.00,0.000,6,0.000,0.069,2709,2213,3460
$GC,8013,-0.93,-97.3,813.0,-8.8,901,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2212,3460
$GC,8323,-0.93,-97.3,839.1,-8.6,916,8328,0.00,3.47,0.00,0.000,4,0.000,0.104,2709,3695,3460
$GC,8366,-0.93,-97.3,843.1,-9.3,918,8371,0.00,3.38,0.00,0.000,6,0.000,0.097,2709,2235,3459
$GC,8687,-0.93,-97.3,872.6,-9.9,934,8691,0.00,2.72,0.00,0.000,4,0.000,0.054,2709,885,3460
$GC,8726,-0.93,-97.3,876.7,-11.2,936,8731,0.00,2.60,0.00,0.000,6,0.000,0.031,2709,2225,3459
$GC,9052,-0.93,-97.3,909.4,-10.2,952,9054,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2226,3459
$GC,9362,-0.93,-97.3,940.3,-9.8,967,9367,0.00,3.05,0.00,0.000,4,0.000,0.058,2709,3704,3458
$GC,9411,-0.93,-97.3,945.3,-9.6,969,9416,0.00,2.97,0.00,0.000,6,0.000,0.042,2709,2222,3459
$GC,9727,-0.93,-97.3,974.5,-8.6,984,9731,0.00,2.75,0.00,0.000,4,0.000,0.063,2709,892,3458
$GC,9798,-0.93,-97.3,981.3,-10.3,987,9802,0.00,2.58,0.00,0.000,6,0.000,0.034,2709,2206,3458
$STATE,9905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9905,begin apogee
$GC,9912,-0.21,0.0,990.6,8.4,992,10017,1.08,0.00,101.53,1.620,6,0.149,0.000,2869,2741,3071
$STATE,10017,end apogee,CONTROL_FINISHED_OK
$STATE,10017,begin climb
$GC,10019,1.03,97.3,992.5,0.0,997,10136,1.60,2.67,107.53,1.595,4,0.081,0.058,3140,3892,2674
$GC,10159,0.88,97.3,979.8,13.5,1004,10164,0.20,2.45,0.00,0.000,6,0.135,0.035,3114,2746,2674
$GC,10475,0.80,97.3,942.6,11.8,1019,10479,0.00,2.40,0.00,0.000,4,0.000,0.054,3114,3893,2673
$GC,10518,0.71,97.3,937.1,11.6,1021,10523,0.25,2.30,0.00,0.000,6,0.136,0.035,3079,2742,2673
$GC,10839,0.72,109.0,906.4,9.2,1037,10860,0.00,2.45,13.15,1.368,4,0.000,0.057,3079,3893,2625
$GC,10899,0.72,109.0,900.3,10.1,1039,10905,0.00,2.30,0.00,0.000,6,0.000,0.035,3079,2753,2625
$GC,11215,0.72,109.0,869.2,10.0,1055,11219,0.00,2.35,0.00,0.000,4,0.000,0.054,3079,3894,2625
$GC,11292,0.72,109.0,860.8,11.3,1058,11299,0.00,2.22,0.00,0.000,6,0.000,0.035,3079,2775,2625
$GC,11608,0.72,109.0,827.5,10.8,1074,11609,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2775,2624
$GC,11918,0.72,109.0,795.2,10.4,1089,11922,0.00,2.30,0.00,0.000,4,0.000,0.054,3079,3900,2624
$GC,11944,0.72,109.0,792.1,11.5,1090,11949,0.00,2.20,0.00,0.000,6,0.000,0.035,3079,2789,2624
$GC,12266,0.72,109.0,758.4,10.8,1106,12267,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2786,2623
$GC,12575,0.72,110.7,727.1,9.9,1121,12579,0.00,2.28,0.00,0.000,4,0.000,0.054,3079,3903,2623
$GC,12648,0.72,112.2,719.5,9.9,1124,12661,0.00,2.15,4.72,0.945,6,0.000,0.032,3079,2790,2613
$GC,12968,0.74,123.6,689.3,9.2,1140,12983,0.00,0.00,12.88,1.282,6,0.000,0.000,3079,2787,2567
$GC,13278,0.75,135.4,661.0,9.2,1155,13300,0.00,2.33,13.80,1.286,4,0.000,0.053,3079,3900,2518
$GC,13332,0.75,135.4,655.4,10.1,1157,13337,0.00,2.15,0.00,0.000,6,0.000,0.031,3079,2813,2517
$GC,13654,0.76,141.8,624.6,9.6,1173,13664,0.00,0.00,8.12,1.137,6,0.000,0.000,3079,2805,2491
$GC,13964,0.76,141.8,594.0,10.2,1190,13968,0.00,2.22,0.00,0.000,4,0.000,0.053,3078,3903,2491
$GC,14027,0.76,141.8,587.4,10.5,1195,14031,0.00,2.12,0.00,0.000,6,0.000,0.031,3079,2805,2491
$GC,14353,0.77,149.9,556.0,9.4,1225,14365,0.00,0.00,9.68,1.140,6,0.000,0.000,3079,2797,2459
$GC,14681,0.77,149.9,523.4,10.2,1256,14685,0.00,2.22,0.00,0.000,4,0.000,0.051,3079,3898,2458
$GC,14726,0.77,149.9,518.5,10.6,1259,14732,0.00,2.08,0.00,0.000,6,0.000,0.031,3079,2820,2458
$GC,15052,0.77,151.1,485.4,9.9,1290,15053,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2811,2458
$GC,15371,0.78,154.3,453.7,9.8,1320,15380,0.00,0.00,5.95,0.937,6,0.000,0.000,3079,2811,2442
$GC,15701,0.78,156.7,422.2,9.8,1351,15712,0.00,2.20,4.35,0.784,4,0.000,0.049,3079,3902,2432
$GC,15735,0.78,156.7,418.4,10.5,1354,15738,0.00,2.08,0.00,0.000,6,0.000,0.031,3079,2823,2432
$GC,16067,0.78,156.7,385.5,10.1,1385,16068,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2815,2432
$GC,16386,0.83,164.2,354.6,9.5,1415,16397,0.12,0.00,9.10,1.010,6,0.067,0.000,3102,2815,2401
$GC,16727,0.83,164.2,313.0,13.5,1472,16734,0.00,2.20,0.00,0.000,4,0.000,0.049,3103,3895,2400
$GC,16774,0.83,164.2,307.1,12.5,1480,16780,0.00,2.08,0.00,0.000,6,0.000,0.031,3102,2833,2400
$GC,17118,0.83,164.2,266.1,11.0,1541,17124,0.00,2.15,0.00,0.000,4,0.000,0.049,3102,3898,2400
$GC,17175,0.83,164.2,259.0,13.4,1551,17181,0.00,2.03,0.00,0.000,6,0.000,0.031,3102,2840,2400
$GC,17518,0.83,164.2,219.1,11.9,1612,17524,0.00,2.12,0.00,0.000,4,0.000,0.049,3102,3897,2400
$GC,17570,0.83,164.2,212.8,10.8,1621,17575,0.00,2.00,0.00,0.000,6,0.000,0.031,3103,2850,2401
$GC,17912,0.83,164.2,171.6,11.9,1682,17918,0.00,2.10,0.00,0.000,4,0.000,0.048,3102,3897,2401
$GC,17946,0.83,164.2,167.1,12.6,1688,17953,0.00,2.00,0.00,0.000,6,0.000,0.031,3102,2868,2401
$GC,18290,0.83,164.2,125.3,11.9,1749,18295,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2861,2401
$GC,18632,0.83,164.2,85.1,11.7,1810,18638,0.00,2.05,0.00,0.000,4,0.000,0.049,3102,3897,2401
$GC,18655,0.83,164.2,82.2,13.9,1814,18661,0.00,1.98,0.00,0.000,6,0.000,0.031,3102,2880,2401
$GC,18999,0.83,164.2,43.8,10.5,1875,19005,0.00,2.08,0.00,0.000,4,0.000,0.049,3102,3900,2401
$GC,19056,0.83,164.2,37.0,12.3,1885,19063,0.00,1.92,0.00,0.000,6,0.000,0.031,3103,2905,2401
$GC,19200,0.83,164.2,20.8,13.2,1910,19206,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2904,2401
$GC,19341,0.83,164.2,4.1,11.3,1935,19348,0.00,2.03,0.00,0.000,4,0.000,0.048,3103,3900,2401
$STATE,19363,end climb,SURFACE_DEPTH_REACHED
$STATE,19363,begin surface coast
$FINISH,0.2,1.026208
$STATE,19377,end surface coast,CONTROL_FINISHED_OK
$STATE,19377,begin surface
$SM_CCo,19398,32.17,0.946,0,0,2255,200.16
$SM_GC,0.70,0.00,0.00,32.17,0.000,0.000,0.946,1437,2288,2255,-6.82,-0.37,200.16
$IRIDIUM_FIX,6050.49,-2533.95,140897,131329
$TT8_MAMPS,0.026845
$HUMID,1791
$INTERNAL_PRESSURE,8.96564
$TCM_TEMP,16.30
$XPDR_PINGS,1059
$24V_AH,19.3,68.459
$10V_AH,9.8,50.669
$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,23.375,183.850,290.800,32.175,0.000,56.640,72.947,323.373,264.750,0.000,0.000,17.025,3136.396,12045.660,546.854,3563.432,784.058,0.000,2106.652,0.000,3532.503,0.000,0.465
$DEVICE_MAMPS,252.343,104.312,1619.904,946.478,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1375.786,1396.430,689.295,1711.813,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142601,1941
$CAP_FILE_SIZE,186273,0
$CFSIZE,260165632,235913216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200508,191256,6117.171,-2533.041,41,1.4,41,-18.1