version: 66.03
glider: 142
mission: 5
dive: 226
start: 5 23 108 5 32 33
data:
$ID,142
$MISSION,5
$DIVE,226
$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,25
$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,-17269.482
$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,25
$R_STBD_OVSHOOT,19
$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
$GPS1,052507,6121.526,-2604.914,35,1.5,40,-18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-58.1
$GPS2,053215,6121.500,-2604.955,11,1.0,11,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6131.288,-2602.779
$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,43.4,20000,-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,27,-0.86,-194.7,0.0,0.0,0,134,0.00,0.00,-104.62,0.000,2,0.000,0.000,1433,2287,3452
$GC,137,-0.86,-194.7,3.2,-4.4,19,167,12.10,2.88,-11.98,0.000,4,0.255,0.052,2722,3717,3866
$GC,294,-0.81,-194.7,26.6,-14.2,46,300,0.00,2.78,0.00,0.000,6,0.000,0.034,2723,2297,3866
$GC,438,-0.74,-194.7,47.8,-14.9,71,445,0.17,2.83,0.00,0.000,4,0.144,0.049,2751,885,3867
$GC,502,-0.74,-194.7,56.1,-12.2,82,508,0.00,2.70,0.00,0.000,6,0.000,0.029,2750,2292,3866
$GC,846,-0.74,-194.7,94.3,-10.7,143,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2292,3866
$GC,1187,-0.74,-194.7,129.6,-10.3,204,1194,0.00,2.80,0.00,0.000,4,0.000,0.048,2751,891,3867
$GC,1222,-0.74,-194.7,133.3,-10.7,210,1229,0.00,2.65,0.00,0.000,6,0.000,0.029,2750,2275,3867
$GC,1567,-0.74,-194.7,166.2,-8.7,271,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2276,3866
$GC,1909,-0.74,-194.7,197.5,-9.2,332,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2278,3866
$GC,2252,-0.74,-194.7,230.0,-10.2,393,2258,0.00,2.78,0.00,0.000,4,0.000,0.048,2751,886,3866
$GC,2281,-0.74,-194.7,233.0,-10.3,398,2287,0.00,2.67,0.00,0.000,6,0.000,0.031,2751,2280,3867
$GC,2625,-0.74,-194.7,267.6,-10.3,459,2631,0.00,2.83,0.00,0.000,4,0.000,0.044,2751,3704,3867
$GC,2676,-0.74,-194.7,272.9,-10.0,468,2683,0.00,2.80,0.00,0.000,6,0.000,0.033,2750,2266,3867
$GC,3021,-0.74,-194.7,308.3,-10.2,529,3027,0.00,2.75,0.00,0.000,4,0.000,0.050,2751,885,3867
$GC,3080,-0.78,-194.7,314.2,-10.1,539,3086,0.00,2.65,0.00,0.000,6,0.000,0.029,2750,2269,3867
$GC,3423,-0.78,-194.7,349.4,-10.2,600,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2270,3867
$GC,3755,-0.78,-194.7,382.9,-10.2,632,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2271,3867
$GC,4072,-0.78,-194.7,414.2,-9.7,662,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2272,3866
$GC,4391,-0.78,-194.7,444.6,-9.3,692,4396,0.00,2.83,0.00,0.000,4,0.000,0.046,2750,3698,3867
$GC,4441,-0.78,-194.7,449.3,-8.9,696,4446,0.00,2.80,0.00,0.000,6,0.000,0.034,2751,2264,3867
$GC,4767,-0.78,-194.7,478.9,-9.5,726,4772,0.00,2.75,0.00,0.000,4,0.000,0.051,2750,885,3867
$GC,4811,-0.83,-194.7,483.5,-10.2,729,4818,0.00,2.65,0.00,0.000,6,0.000,0.030,2751,2265,3867
$GC,5137,-0.83,-194.7,514.1,-9.2,760,5142,0.00,2.88,0.00,0.000,4,0.000,0.048,2750,3707,3867
$GC,5188,-0.83,-194.7,518.9,-9.5,764,5193,0.00,2.83,0.00,0.000,6,0.000,0.035,2750,2266,3866
$GC,5516,-0.83,-194.7,549.4,-9.2,794,5520,0.00,2.75,0.00,0.000,4,0.000,0.052,2750,894,3866
$GC,5548,-0.87,-194.7,552.9,-10.0,796,5555,0.00,2.65,0.00,0.000,6,0.000,0.031,2751,2272,3867
$GC,5875,-0.87,-194.7,585.6,-11.0,827,5876,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2273,3867
$GC,6186,-0.87,-194.7,617.7,-10.4,849,6191,0.00,2.88,0.00,0.000,4,0.000,0.052,2751,3700,3866
$GC,6282,-0.91,-194.7,627.7,-10.0,853,6287,0.17,2.83,0.00,0.000,6,0.067,0.040,2718,2278,3866
$GC,6597,-0.87,-194.7,665.9,-12.0,868,6602,0.00,2.85,0.00,0.000,4,0.000,0.061,2718,886,3866
$GC,6659,-0.87,-194.7,673.3,-12.3,871,6663,0.00,2.70,0.00,0.000,6,0.000,0.035,2718,2277,3865
$GC,6985,-0.82,-194.7,710.4,-11.2,887,6990,0.12,2.90,0.00,0.000,4,0.128,0.062,2735,891,3866
$GC,7029,-0.82,-194.7,715.2,-10.3,889,7033,0.00,2.75,0.00,0.000,6,0.000,0.042,2735,2269,3866
$GC,7351,-0.82,-194.7,744.9,-9.1,905,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2270,3866
$GC,7659,-0.82,-194.7,773.7,-9.2,920,7664,0.00,3.12,0.00,0.000,4,0.000,0.083,2735,3705,3865
$GC,7709,-0.82,-194.7,778.6,-9.9,922,7714,0.00,3.05,0.00,0.000,6,0.000,0.066,2735,2269,3865
$GC,8025,-0.82,-194.7,811.1,-10.5,937,8030,0.00,3.17,0.00,0.000,4,0.000,0.105,2735,885,3865
$GC,8073,-0.82,-194.7,816.6,-10.9,939,8078,0.00,3.03,0.00,0.000,6,0.000,0.077,2735,2274,3865
$GC,8390,-0.82,-194.7,847.5,-9.6,954,8395,0.00,3.38,0.00,0.000,4,0.000,0.110,2735,3717,3865
$GC,8433,-0.82,-194.7,852.1,-10.2,956,8439,0.00,3.33,0.00,0.000,6,0.000,0.099,2735,2278,3865
$GC,8754,-0.82,-194.7,881.7,-9.7,972,8759,0.00,2.85,0.00,0.000,4,0.000,0.055,2735,871,3865
$GC,8804,-0.82,-194.7,886.6,-9.8,974,8808,0.00,2.72,0.00,0.000,6,0.000,0.032,2735,2275,3864
$GC,9119,-0.82,-194.7,915.2,-8.7,989,9124,0.00,2.95,0.00,0.000,4,0.000,0.058,2735,3712,3864
$GC,9168,-0.82,-194.7,919.8,-9.3,991,9173,0.00,2.90,0.00,0.000,6,0.000,0.041,2735,2261,3864
$GC,9484,-0.82,-194.7,946.9,-8.8,1006,9489,0.00,2.83,0.00,0.000,4,0.000,0.061,2736,885,3864
$GC,9516,-0.82,-194.7,950.0,-9.7,1007,9523,0.00,2.75,0.00,0.000,6,0.000,0.034,2735,2290,3863
$GC,9832,-0.82,-194.7,978.2,-8.8,1023,9836,0.00,2.92,0.00,0.000,4,0.000,0.060,2735,3706,3864
$GC,9876,-0.82,-194.7,982.3,-8.6,1025,9880,0.00,2.85,0.00,0.000,6,0.000,0.041,2735,2281,3864
$STATE,9967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9967,begin apogee
$GC,9973,-0.21,0.0,990.5,9.0,1030,10190,0.85,0.00,209.45,1.613,6,0.132,0.000,2868,2749,3071
$STATE,10190,end apogee,CONTROL_FINISHED_OK
$STATE,10191,begin climb
$GC,10193,0.86,194.7,997.1,0.0,1041,10419,1.38,2.58,216.23,1.556,4,0.077,0.061,3098,3895,2277
$GC,10594,0.70,194.7,951.6,13.8,1059,10600,0.15,2.33,0.00,0.000,6,0.127,0.034,3078,2747,2274
$GC,10909,0.60,194.7,913.7,12.2,1075,10914,0.15,2.40,0.00,0.000,4,0.120,0.054,3053,3901,2274
$GC,10935,0.53,194.7,910.6,11.0,1076,10939,0.00,2.28,0.00,0.000,6,0.000,0.033,3053,2745,2274
$GC,11257,0.49,194.7,878.4,10.1,1092,11262,0.15,2.38,0.00,0.000,4,0.115,0.052,3027,3902,2273
$GC,11289,0.52,224.0,875.1,9.0,1093,11325,0.00,2.25,30.67,1.460,6,0.000,0.033,3027,2749,2157
$GC,11643,0.56,255.0,844.5,8.9,1111,11681,0.00,0.00,32.60,1.460,6,0.000,0.000,3027,2748,2033
$GC,11991,0.62,272.6,811.6,9.4,1128,12017,0.15,2.42,19.92,1.393,4,0.059,0.057,3060,3889,1959
$GC,12044,0.62,272.6,805.1,12.1,1130,12048,0.00,2.25,0.00,0.000,6,0.000,0.033,3060,2756,1957
$GC,12366,0.62,272.6,767.2,11.2,1146,12370,0.00,2.35,0.00,0.000,4,0.000,0.054,3060,3902,1955
$GC,12383,0.62,272.6,765.2,11.3,1147,12387,0.00,2.20,0.00,0.000,6,0.000,0.032,3060,2775,1955
$GC,12709,0.62,272.6,730.6,10.3,1163,12713,0.00,2.28,0.00,0.000,4,0.000,0.053,3060,3892,1955
$GC,12741,0.62,272.6,726.9,10.6,1164,12748,0.00,2.17,0.00,0.000,6,0.000,0.033,3060,2790,1955
$GC,13057,0.62,272.6,694.4,10.3,1180,13058,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2789,1954
$GC,13366,0.62,272.6,662.6,10.1,1195,13370,0.00,2.25,0.00,0.000,4,0.000,0.053,3061,3899,1954
$GC,13383,0.62,272.6,660.9,10.1,1196,13387,0.00,2.15,0.00,0.000,6,0.000,0.032,3060,2783,1954
$GC,13709,0.62,272.6,628.8,10.1,1212,13713,0.00,2.25,0.00,0.000,4,0.000,0.053,3060,3893,1954
$GC,13731,0.62,273.7,626.4,10.0,1213,13735,0.00,2.12,0.00,0.000,6,0.000,0.039,3060,2795,1953
$GC,14049,0.63,274.4,594.8,10.0,1230,14050,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2792,1953
$GC,14366,0.63,274.4,562.8,10.1,1260,14368,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2792,1953
$GC,14687,0.64,285.8,531.9,9.6,1290,14705,0.00,0.00,13.95,1.179,6,0.000,0.000,3061,2790,1905
$GC,15025,0.64,285.8,496.3,10.7,1322,15029,0.00,2.22,0.00,0.000,4,0.000,0.051,3060,3894,1904
$GC,15048,0.64,285.8,493.7,11.2,1323,15054,0.00,2.10,0.00,0.000,6,0.000,0.031,3061,2802,1903
$GC,15373,0.64,285.8,459.2,10.6,1354,15375,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2801,1903
$GC,15691,0.64,285.8,424.7,10.6,1384,15692,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2798,1903
$GC,16009,0.64,285.8,390.7,10.5,1414,16010,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2795,1903
$GC,16330,0.64,288.1,358.7,9.9,1444,16334,0.00,2.90,0.00,0.000,4,0.000,0.046,3060,1346,1904
$GC,16339,0.64,289.4,357.4,10.0,1444,16349,0.00,2.85,5.07,0.818,6,0.000,0.031,3060,2815,1892
$GC,16684,0.64,289.4,321.9,10.3,1499,16690,0.00,2.95,0.00,0.000,4,0.000,0.044,3061,1341,1891
$GC,16697,0.64,289.4,320.5,10.9,1501,16703,0.00,2.88,0.00,0.000,6,0.000,0.031,3061,2813,1891
$GC,17040,0.64,289.4,284.0,11.4,1562,17047,0.00,2.95,0.00,0.000,4,0.000,0.043,3061,1339,1891
$GC,17054,0.65,291.9,282.6,9.9,1564,17066,0.00,2.85,4.22,0.707,6,0.000,0.031,3060,2803,1881
$GC,17404,0.65,291.9,245.9,10.1,1626,17410,0.00,2.92,0.00,0.000,4,0.000,0.044,3061,1341,1881
$GC,17422,0.65,291.9,244.0,10.9,1629,17428,0.00,2.83,0.00,0.000,6,0.000,0.031,3061,2790,1881
$GC,17765,0.67,307.7,208.9,9.5,1690,17787,0.00,0.00,17.52,1.031,6,0.000,0.000,3060,2790,1816
$GC,18124,0.70,331.4,173.0,9.2,1754,18152,0.00,0.00,24.67,1.042,6,0.000,0.000,3061,2790,1720
$GC,18489,0.70,331.4,136.9,11.4,1819,18495,0.00,2.92,0.00,0.000,4,0.000,0.044,3061,1340,1716
$GC,18518,0.72,349.2,134.0,9.4,1824,18546,0.00,2.83,18.92,0.986,6,0.000,0.031,3060,2784,1646
$GC,18885,0.73,362.1,98.6,9.6,1889,18908,0.00,2.97,13.95,0.929,4,0.000,0.044,3060,1340,1593
$GC,18915,0.74,369.5,95.7,9.7,1894,18932,0.00,2.83,9.27,0.877,6,0.000,0.032,3061,2772,1563
$GC,19271,0.81,391.8,63.6,9.2,1957,19304,0.15,2.95,23.35,0.953,4,0.052,0.044,3097,1350,1472
$GC,19316,0.77,391.8,58.2,13.4,1965,19323,0.00,2.83,0.00,0.000,6,0.000,0.031,3097,2771,1471
$GC,19660,0.71,391.8,11.1,13.2,2026,19666,0.15,0.00,0.00,0.000,6,0.103,0.000,3071,2771,1468
$STATE,19743,end climb,SURFACE_DEPTH_REACHED
$STATE,19743,begin surface coast
$FINISH,0.2,1.001281
$STATE,19767,end surface coast,CONTROL_FINISHED_OK
$STATE,19767,begin surface
$SM_CCo,19846,0.00,0.000,0,0,1466,393.71
$SM_GC,0.94,8.35,0.00,0.00,0.048,0.000,0.000,1436,2294,1466,-6.79,-0.17,393.71
$IRIDIUM_FIX,6054.92,-2607.86,170897,000028
$TT8_MAMPS,0.026078
$HUMID,1779
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,16.40
$XPDR_PINGS,1076
$24V_AH,19.1,71.084
$10V_AH,9.8,52.592
$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,24.050,197.350,639.825,0.000,0.000,30.402,29.929,230.677,269.000,0.000,0.000,13.481,3231.972,11825.238,796.449,3762.525,642.192,0.000,2517.908,0.000,3735.485,0.000,0.465
$DEVICE_MAMPS,254.644,109.681,1613.001,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1430.224,1482.576,750.091,1793.748,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,148659,2045
$CAP_FILE_SIZE,193027,0
$CFSIZE,260165632,234737664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230508,110431,6123.828,-2604.226,36,1.9,36,-18.4