version: 66.03
glider: 142
mission: 5
dive: 301
start: 6 6 108 21 56 24
data:
$ID,142
$MISSION,5
$DIVE,301
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-18637.387
$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,42
$R_STBD_OVSHOOT,26
$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
$GPS1,214857,6145.998,-2619.259,40,2.8,59,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-40.1
$GPS2,215604,6146.019,-2619.395,14,2.0,15,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SE
$TGT_LATLONG,6145.370,-2600.200
$TGT_RADIUS,2000.000
$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,118.2,16866,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.86,-194.7,0.0,0.0,0,171,0.00,0.00,-144.60,0.000,2,0.000,0.000,1436,2264,3582
$GC,174,-0.86,-194.7,3.7,-6.3,19,198,11.88,2.95,-7.10,0.000,4,0.249,0.051,2726,3703,3867
$GC,267,-0.79,-194.7,21.4,-11.5,34,275,0.12,2.70,0.00,0.000,6,0.140,0.032,2743,2314,3868
$GC,413,-0.74,-194.7,38.2,-11.2,59,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2313,3868
$GC,556,-0.70,-194.7,54.2,-11.7,84,563,0.15,0.00,0.00,0.000,6,0.138,0.000,2766,2313,3868
$GC,900,-0.70,-194.7,89.7,-9.1,145,907,0.00,2.78,0.00,0.000,4,0.000,0.044,2766,3705,3868
$GC,915,-0.70,-194.7,90.9,-8.5,147,922,0.00,2.78,0.00,0.000,6,0.000,0.033,2766,2282,3869
$GC,1259,-0.70,-194.7,125.4,-10.4,208,1266,0.00,2.85,0.00,0.000,4,0.000,0.044,2766,3707,3869
$GC,1290,-0.70,-194.7,128.8,-11.2,213,1298,0.00,2.75,0.00,0.000,6,0.000,0.033,2766,2296,3869
$GC,1636,-0.70,-194.7,169.8,-11.9,274,1643,0.00,2.80,0.00,0.000,4,0.000,0.044,2766,3701,3869
$GC,1658,-0.70,-194.7,172.2,-12.1,277,1665,0.00,2.72,0.00,0.000,6,0.000,0.033,2766,2301,3869
$GC,2003,-0.70,-194.7,211.7,-10.3,338,2010,0.00,2.80,0.00,0.000,4,0.000,0.046,2766,3703,3869
$GC,2017,-0.70,-194.7,213.1,-10.3,340,2024,0.00,2.72,0.00,0.000,6,0.000,0.033,2766,2301,3869
$GC,2362,-0.70,-194.7,246.0,-8.8,401,2369,0.00,2.83,0.00,0.000,4,0.000,0.045,2766,3710,3869
$GC,2399,-0.74,-194.7,249.3,-8.8,407,2407,0.00,2.72,0.00,0.000,6,0.000,0.032,2766,2309,3869
$GC,2745,-0.74,-194.7,280.2,-9.0,468,2752,0.00,2.80,0.00,0.000,4,0.000,0.045,2766,3708,3869
$GC,2765,-0.74,-194.7,282.0,-8.7,471,2772,0.00,2.70,0.00,0.000,6,0.000,0.032,2766,2320,3869
$GC,3110,-0.74,-194.7,310.5,-7.1,532,3117,0.00,2.78,0.00,0.000,4,0.000,0.045,2766,3704,3869
$GC,3130,-0.74,-194.7,312.0,-7.1,535,3137,0.00,2.67,0.00,0.000,6,0.000,0.033,2766,2330,3869
$GC,3476,-0.74,-194.7,338.6,-8.0,596,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2329,3869
$GC,3816,-0.74,-194.7,366.9,-9.7,640,3820,0.00,2.75,0.00,0.000,4,0.000,0.044,2766,3703,3869
$GC,3833,-0.74,-194.7,368.7,-9.7,641,3838,0.00,2.67,0.00,0.000,6,0.000,0.033,2766,2331,3869
$GC,4160,-0.74,-194.7,401.8,-10.7,671,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2330,3868
$GC,4477,-0.74,-194.7,434.6,-9.7,701,4482,0.00,2.78,0.00,0.000,4,0.000,0.047,2766,3706,3868
$GC,4499,-0.78,-194.7,436.8,-9.5,702,4507,0.00,2.65,0.00,0.000,6,0.000,0.034,2766,2345,3869
$GC,4827,-0.78,-194.7,466.8,-9.1,733,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2343,3868
$GC,5152,-0.78,-194.7,496.0,-8.5,764,5156,0.00,2.75,0.00,0.000,4,0.000,0.047,2766,3709,3868
$GC,5181,-0.83,-194.7,498.4,-8.3,766,5187,0.15,2.67,0.00,0.000,6,0.064,0.034,2738,2341,3868
$GC,5508,-0.83,-194.7,533.6,-11.0,796,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2340,3868
$GC,5825,-0.83,-194.7,568.6,-11.6,826,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2340,3867
$GC,6141,-0.83,-194.7,608.1,-12.5,853,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2339,3867
$GC,6450,-0.83,-194.7,645.2,-11.3,868,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2340,3867
$GC,6760,-0.83,-194.7,676.9,-10.6,883,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2340,3867
$GC,7069,-0.83,-194.7,710.0,-10.7,898,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2339,3867
$GC,7379,-0.83,-194.7,740.9,-9.8,913,7384,0.00,2.92,0.00,0.000,4,0.000,0.078,2738,3696,3866
$GC,7397,-0.83,-194.7,742.6,-9.4,914,7402,0.00,2.78,0.00,0.000,6,0.000,0.054,2738,2348,3866
$GC,7724,-0.83,-194.7,775.8,-9.9,930,7725,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2348,3866
$GC,8033,-0.83,-194.7,805.6,-9.6,945,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2347,3866
$GC,8344,-0.83,-194.7,836.8,-10.3,960,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2348,3865
$GC,8652,-0.83,-194.7,871.9,-11.3,975,8657,0.00,3.58,0.00,0.000,4,0.000,0.129,2738,894,3865
$GC,8679,-0.83,-194.7,875.4,-12.4,976,8684,0.00,3.35,0.00,0.000,6,0.000,0.106,2738,2318,3865
$GC,8995,-0.83,-194.7,911.3,-11.0,991,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2320,3864
$GC,9305,-1.09,-194.7,926.6,-0.0,1006,9307,0.30,0.00,0.00,0.000,6,0.054,0.000,2680,2320,3864
$STATE,9466,end dive,NO_VERTICAL_VELOCITY
$STATE,9467,begin apogee
$GC,9473,-0.21,0.0,926.6,0.0,1014,9690,1.08,0.00,208.55,1.539,6,0.087,0.000,2869,2751,3071
$STATE,9691,end apogee,CONTROL_FINISHED_OK
$STATE,9691,begin climb
$GC,9694,0.86,194.7,926.3,0.0,1025,9912,1.38,0.00,213.55,1.467,6,0.081,0.000,3098,2751,2277
$GC,10211,0.72,194.7,873.9,12.9,1050,10215,0.00,2.80,0.00,0.000,4,0.000,0.123,3098,3908,2274
$GC,10266,0.59,194.7,866.3,13.8,1052,10275,0.30,2.67,0.00,0.000,6,0.120,0.098,3053,2750,2274
$GC,10582,0.62,216.6,836.0,9.2,1068,10607,0.00,0.00,22.77,1.379,6,0.000,0.000,3053,2749,2188
$GC,10914,0.70,280.1,808.1,7.8,1084,10988,0.00,3.30,66.50,1.434,4,0.000,0.087,3053,1331,1929
$GC,11016,0.79,354.2,800.1,7.4,1088,11104,0.20,3.12,80.53,1.405,6,0.048,0.067,3092,2749,1626
$GC,11422,0.73,354.2,755.7,11.2,1108,11426,0.00,2.45,0.00,0.000,4,0.000,0.073,3091,3900,1618
$GC,11462,0.69,354.2,751.0,11.1,1110,11467,0.12,2.42,0.00,0.000,6,0.114,0.052,3074,2726,1617
$GC,11789,0.69,354.2,716.7,11.7,1126,11794,0.00,2.92,0.00,0.000,4,0.000,0.067,3074,1332,1616
$GC,11829,0.69,354.2,711.9,12.3,1128,11833,0.00,2.85,0.00,0.000,6,0.000,0.042,3074,2748,1615
$GC,12155,0.69,354.2,674.1,11.0,1144,12156,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2748,1615
$GC,12465,0.69,354.2,641.7,10.2,1159,12466,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2748,1615
$GC,12775,0.73,390.7,612.7,8.7,1174,12815,0.00,0.00,37.75,1.324,6,0.000,0.000,3074,2748,1478
$GC,13131,0.86,458.3,583.8,7.7,1200,13216,0.15,3.05,73.60,1.309,4,0.055,0.048,3110,1330,1201
$GC,13251,0.86,458.3,570.7,11.4,1210,13256,0.00,2.83,0.00,0.000,6,0.000,0.031,3110,2733,1198
$GC,13576,0.86,458.3,534.3,11.5,1240,13580,0.00,2.35,0.00,0.000,4,0.000,0.051,3110,3900,1194
$GC,13608,0.86,458.3,530.1,11.6,1242,13616,0.00,2.33,0.00,0.000,6,0.000,0.032,3110,2715,1194
$GC,13935,0.86,458.3,489.7,12.9,1273,13940,0.00,2.75,0.00,0.000,4,0.000,0.052,3110,1336,1193
$GC,13976,0.86,458.3,484.0,13.9,1276,13981,0.00,2.72,0.00,0.000,6,0.000,0.031,3110,2736,1191
$GC,14302,0.86,458.3,442.5,12.2,1306,14306,0.00,2.30,0.00,0.000,4,0.000,0.049,3110,3891,1191
$GC,14331,0.86,458.3,438.6,13.1,1308,14335,0.00,2.25,0.00,0.000,6,0.000,0.031,3110,2724,1191
$GC,14656,0.86,458.3,400.6,11.6,1338,14660,0.00,2.75,0.00,0.000,4,0.000,0.048,3110,1346,1190
$GC,14697,0.86,458.3,395.9,12.0,1341,14702,0.00,2.70,0.00,0.000,6,0.000,0.030,3110,2739,1190
$GC,15025,0.86,458.3,359.1,11.1,1371,15026,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2739,1190
$GC,15354,0.86,458.3,319.9,11.9,1423,15360,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2739,1190
$GC,15697,0.86,458.3,280.2,10.8,1484,15705,0.00,2.80,0.00,0.000,4,0.000,0.044,3110,1339,1190
$GC,15740,0.86,458.3,275.5,10.9,1491,15747,0.00,2.70,0.00,0.000,6,0.000,0.031,3110,2730,1189
$GC,16085,0.86,458.3,238.7,11.1,1552,16092,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2730,1190
$GC,16430,0.86,458.3,200.0,12.0,1613,16436,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2730,1189
$GC,16774,0.90,490.1,162.7,8.9,1674,16814,0.00,2.85,32.35,1.033,4,0.000,0.046,3110,1341,1071
$GC,16850,0.90,490.1,155.2,10.0,1686,16857,0.00,2.72,0.00,0.000,6,0.000,0.031,3110,2724,1070
$GC,17196,0.91,501.2,119.9,9.6,1747,17210,0.00,0.00,12.43,0.924,6,0.000,0.000,3110,2724,1027
$GC,17547,0.95,501.2,80.6,12.5,1809,17554,0.00,2.78,0.00,0.000,4,0.000,0.046,3110,1345,1024
$GC,17595,0.99,501.2,74.8,11.7,1817,17603,0.12,2.65,0.00,0.000,6,0.053,0.031,3138,2707,1023
$GC,17941,0.99,501.2,29.1,13.8,1878,17948,0.00,2.33,0.00,0.000,4,0.000,0.047,3138,3893,1023
$GC,17978,0.99,501.2,24.2,14.9,1884,17985,0.00,2.28,0.00,0.000,6,0.000,0.032,3138,2710,1023
$GC,18124,0.94,501.2,6.4,12.1,1909,18131,0.00,2.72,0.00,0.000,4,0.000,0.048,3138,1336,1023
$STATE,18149,end climb,SURFACE_DEPTH_REACHED
$STATE,18149,begin surface coast
$FINISH,-0.1,1.004568
$STATE,18161,end surface coast,CONTROL_FINISHED_OK
$STATE,18161,begin surface
$SM_CCo,18241,0.00,0.000,0,0,1021,502.86
$SM_GC,0.48,8.65,0.00,0.00,0.045,0.000,0.000,1433,2328,1021,-6.80,0.79,502.86
$IRIDIUM_FIX,6121.73,-2617.64,310897,171729
$TT8_MAMPS,0.026078
$HUMID,1831
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,16.40
$XPDR_PINGS,963
$24V_AH,19.0,94.216
$10V_AH,9.8,64.243
$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,24.600,148.700,748.025,0.000,0.000,25.777,39.563,221.932,240.750,0.000,0.000,17.131,3858.722,9766.631,955.843,3413.584,659.299,0.000,2493.718,0.000,3399.632,0.000,0.464
$DEVICE_MAMPS,249.275,140.361,1539.369,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1346.617,1404.530,715.170,1725.235,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139111,1915
$CAP_FILE_SIZE,170714,0
$CFSIZE,260165632,228057088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.014,152.6,1
$GPS,070608,030138,6145.278,-2613.470,36,1.6,36,-18.7