version: 66.03
glider: 142
mission: 5
dive: 305
start: 6 7 108 18 44 40
data:
$ID,142
$MISSION,5
$DIVE,305
$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,-18693.625
$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,44
$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
$GPS1,183327,6145.051,-2558.921,26,2.1,45,-18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-56.1
$GPS2,184420,6145.105,-2558.923,10,2.0,15,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NW
$TGT_LATLONG,6156.130,-2622.980
$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,336.0,29262,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.86,-194.7,0.0,0.0,0,99,0.00,0.00,-72.95,0.000,2,0.000,0.000,1428,2270,3491
$GC,102,-0.86,-194.7,3.3,-4.5,10,133,12.12,2.72,-10.15,0.000,4,0.251,0.055,2726,914,3866
$GC,246,-0.86,-194.7,24.7,-11.9,34,254,0.00,2.67,0.00,0.000,6,0.000,0.029,2726,2309,3867
$GC,390,-0.77,-194.7,43.2,-13.1,59,398,0.15,2.75,0.00,0.000,4,0.144,0.042,2749,3704,3868
$GC,472,-0.77,-194.7,52.9,-10.9,73,479,0.00,2.70,0.00,0.000,6,0.000,0.032,2750,2322,3868
$GC,817,-0.77,-194.7,87.4,-9.7,134,824,0.00,2.85,0.00,0.000,4,0.000,0.048,2749,882,3868
$GC,876,-0.77,-194.7,93.6,-10.1,144,884,0.00,2.72,0.00,0.000,6,0.000,0.029,2749,2307,3868
$GC,1222,-0.77,-194.7,131.6,-10.8,205,1229,0.00,2.78,0.00,0.000,4,0.000,0.044,2750,3710,3868
$GC,1293,-0.77,-194.7,139.2,-10.7,217,1300,0.00,2.78,0.00,0.000,6,0.000,0.033,2750,2286,3869
$GC,1638,-0.77,-194.7,177.2,-11.3,278,1646,0.00,2.78,0.00,0.000,4,0.000,0.049,2749,889,3868
$GC,1710,-0.82,-194.7,185.1,-10.7,290,1717,0.00,2.70,0.00,0.000,6,0.000,0.030,2749,2294,3869
$GC,2055,-0.82,-194.7,223.7,-11.4,351,2062,0.00,2.80,0.00,0.000,4,0.000,0.044,2749,3706,3869
$GC,2136,-0.82,-194.7,232.8,-10.9,365,2144,0.00,2.78,0.00,0.000,6,0.000,0.034,2749,2281,3868
$GC,2482,-0.82,-194.7,270.9,-11.4,426,2489,0.00,2.75,0.00,0.000,4,0.000,0.048,2749,896,3869
$GC,2524,-0.82,-194.7,275.7,-11.1,433,2531,0.00,2.70,0.00,0.000,6,0.000,0.029,2749,2300,3868
$GC,2869,-0.82,-194.7,315.5,-11.8,494,2876,0.00,2.78,0.00,0.000,4,0.000,0.045,2749,3701,3868
$GC,2945,-0.82,-194.7,324.5,-11.6,507,2952,0.00,2.75,0.00,0.000,6,0.000,0.033,2749,2290,3869
$GC,3289,-0.82,-194.7,365.8,-12.1,557,3293,0.00,2.78,0.00,0.000,4,0.000,0.048,2749,890,3868
$GC,3333,-0.86,-194.7,371.2,-11.3,560,3341,0.00,2.67,0.00,0.000,6,0.000,0.030,2750,2294,3868
$GC,3660,-0.86,-194.7,409.1,-11.5,591,3664,0.00,2.80,0.00,0.000,4,0.000,0.051,2750,3701,3868
$GC,3722,-0.86,-194.7,416.2,-10.8,596,3726,0.00,2.75,0.00,0.000,6,0.000,0.034,2749,2293,3869
$GC,4048,-0.86,-194.7,451.7,-11.1,626,4052,0.00,2.80,0.00,0.000,4,0.000,0.049,2750,884,3868
$GC,4100,-0.90,-194.7,457.3,-10.3,630,4105,0.15,2.72,0.00,0.000,6,0.055,0.030,2716,2301,3868
$GC,4425,-0.82,-194.7,500.6,-14.0,660,4427,0.15,0.00,0.00,0.000,6,0.144,0.000,2736,2302,3867
$GC,4745,-0.82,-194.7,538.2,-11.6,690,4749,0.00,2.80,0.00,0.000,4,0.000,0.048,2736,3700,3867
$GC,4807,-0.82,-194.7,545.4,-11.1,695,4811,0.00,2.78,0.00,0.000,6,0.000,0.034,2737,2282,3867
$GC,5134,-0.82,-194.7,581.5,-10.3,725,5139,0.00,2.80,0.00,0.000,4,0.000,0.052,2736,884,3867
$GC,5178,-0.82,-194.7,586.5,-10.1,728,5186,0.00,2.72,0.00,0.000,6,0.000,0.031,2737,2292,3867
$GC,5499,-0.82,-194.7,619.0,-10.2,750,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2293,3867
$GC,5808,-0.82,-194.7,649.2,-9.3,765,5812,0.00,2.88,0.00,0.000,4,0.000,0.055,2736,3703,3867
$GC,5885,-0.82,-194.7,656.8,-9.6,768,5893,0.00,2.85,0.00,0.000,6,0.000,0.041,2737,2270,3867
$GC,6202,-0.82,-194.7,688.8,-10.8,784,6206,0.00,2.88,0.00,0.000,4,0.000,0.065,2736,885,3866
$GC,6264,-0.82,-194.7,696.1,-11.5,787,6269,0.00,2.75,0.00,0.000,6,0.000,0.038,2736,2276,3866
$GC,6591,-0.82,-194.7,737.6,-13.1,803,6595,0.00,3.03,0.00,0.000,4,0.000,0.069,2736,3709,3866
$GC,6657,-0.82,-194.7,746.3,-13.1,806,6662,0.00,2.92,0.00,0.000,6,0.000,0.053,2736,2287,3866
$GC,6978,-0.82,-194.7,787.4,-12.3,822,6983,0.00,3.15,0.00,0.000,4,0.000,0.097,2737,886,3866
$GC,7018,-0.82,-194.7,792.2,-12.4,824,7023,0.00,2.97,0.00,0.000,6,0.000,0.067,2736,2286,3866
$GC,7344,-0.82,-194.7,828.2,-10.8,840,7349,0.00,3.28,0.00,0.000,4,0.000,0.103,2736,3709,3866
$GC,7411,-0.82,-194.7,835.6,-11.0,843,7416,0.00,3.20,0.00,0.000,6,0.000,0.090,2736,2294,3866
$GC,7732,-0.82,-194.7,867.7,-10.2,859,7737,0.00,3.42,0.00,0.000,4,0.000,0.126,2736,886,3865
$GC,7774,-0.82,-194.7,871.9,-11.0,861,7779,0.00,3.30,0.00,0.000,6,0.000,0.104,2736,2299,3865
$GC,8100,-0.82,-194.7,906.9,-10.4,877,8105,0.00,3.38,0.00,0.000,4,0.000,0.116,2737,3719,3865
$GC,8167,-0.82,-194.7,913.5,-9.8,880,8172,0.00,2.88,0.00,0.000,6,0.000,0.041,2737,2277,3865
$GC,8489,-0.82,-194.7,945.9,-10.5,896,8493,0.00,2.85,0.00,0.000,4,0.000,0.060,2736,884,3864
$GC,8521,-0.82,-194.7,949.5,-11.0,897,8529,0.00,2.80,0.00,0.000,6,0.000,0.033,2737,2317,3864
$GC,8837,-0.82,-194.7,980.8,-10.2,913,8841,0.00,2.85,0.00,0.000,4,0.000,0.059,2737,3707,3864
$GC,8887,-0.82,-194.7,986.1,-10.9,915,8892,0.00,2.85,0.00,0.000,6,0.000,0.042,2736,2287,3864
$STATE,8932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8932,begin apogee
$GC,8939,-0.21,0.0,991.1,10.8,917,9156,0.88,0.00,211.65,1.589,6,0.146,0.000,2867,2750,3071
$STATE,9156,end apogee,CONTROL_FINISHED_OK
$STATE,9156,begin climb
$GC,9159,0.86,194.7,1001.8,0.0,928,9388,1.45,2.65,216.55,1.519,4,0.093,0.058,3099,3897,2277
$GC,9569,0.71,194.7,964.4,12.9,946,9574,0.15,2.33,0.00,0.000,6,0.125,0.035,3079,2744,2274
$GC,9885,0.62,194.7,929.5,11.1,961,9890,0.15,2.38,0.00,0.000,4,0.112,0.054,3053,3896,2273
$GC,9930,0.65,215.7,925.0,9.3,963,9957,0.00,2.25,22.42,1.428,6,0.000,0.035,3053,2750,2190
$GC,10274,0.68,244.1,895.3,9.0,980,10307,0.00,0.00,31.05,1.465,6,0.000,0.000,3053,2749,2075
$GC,10602,0.71,264.6,865.6,9.3,996,10626,0.00,0.00,22.45,1.421,6,0.000,0.000,3053,2749,1992
$GC,10932,0.71,264.6,831.3,11.1,1012,10933,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2749,1989
$GC,11241,0.74,290.1,800.3,9.1,1027,11271,0.15,0.00,27.70,1.419,6,0.058,0.000,3083,2749,1888
$GC,11571,0.68,296.3,766.1,9.8,1043,11585,0.00,2.40,7.62,1.159,4,0.000,0.052,3082,3900,1863
$GC,11603,0.63,301.7,762.6,9.8,1044,11617,0.15,2.20,7.32,1.156,6,0.109,0.032,3061,2766,1841
$GC,11926,0.68,341.5,736.1,8.6,1060,11977,0.00,2.95,43.95,1.414,4,0.000,0.048,3061,1346,1676
$GC,11984,0.75,397.8,730.6,8.0,1062,12058,0.12,2.88,61.92,1.389,6,0.058,0.031,3086,2772,1447
$GC,12366,0.75,397.8,685.6,12.1,1081,12370,0.00,2.90,0.00,0.000,4,0.000,0.045,3086,1342,1439
$GC,12398,0.75,397.8,681.3,12.5,1082,12406,0.00,2.78,0.00,0.000,6,0.000,0.033,3086,2749,1439
$GC,12715,0.75,397.8,639.7,13.1,1098,12717,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2749,1438
$GC,13024,0.75,397.8,599.9,12.3,1113,13025,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2750,1437
$GC,13345,0.76,400.5,565.1,9.9,1143,13349,0.00,2.83,0.00,0.000,4,0.000,0.046,3086,1343,1437
$GC,13355,0.76,403.1,563.7,9.9,1143,13365,0.00,2.72,4.57,0.843,6,0.000,0.032,3086,2743,1426
$GC,13693,0.79,424.9,532.1,9.2,1175,13729,0.00,2.92,25.08,1.253,4,0.000,0.046,3086,1341,1337
$GC,13734,0.82,451.1,528.1,9.1,1178,13770,0.00,2.75,29.92,1.258,6,0.000,0.032,3086,2730,1231
$GC,14091,0.89,476.5,496.3,9.1,1211,14128,0.15,2.88,27.80,1.226,4,0.052,0.046,3124,1344,1126
$GC,14134,0.85,476.5,490.9,12.7,1214,14142,0.00,2.75,0.00,0.000,6,0.000,0.032,3123,2726,1126
$GC,14463,0.85,476.5,448.1,12.9,1245,14469,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2725,1123
$GC,14788,0.85,476.5,403.9,12.9,1276,14789,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2725,1122
$GC,15107,0.85,476.5,362.6,13.1,1306,15108,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2725,1121
$GC,15437,0.85,476.5,320.0,12.6,1356,15443,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2725,1121
$GC,15782,0.85,476.5,276.2,13.6,1417,15788,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2725,1121
$GC,16126,0.85,476.5,229.4,13.6,1478,16133,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2725,1120
$GC,16472,0.85,476.5,180.8,13.5,1539,16479,0.00,2.78,0.00,0.000,4,0.000,0.044,3124,1339,1120
$GC,16486,0.85,476.5,178.7,14.3,1541,16493,0.00,2.67,0.00,0.000,6,0.000,0.031,3124,2719,1119
$GC,16830,0.85,476.5,128.0,14.6,1602,16837,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2719,1120
$GC,17176,0.85,476.5,83.1,13.4,1663,17182,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2720,1120
$GC,17519,0.85,476.5,38.9,12.2,1724,17527,0.00,2.75,0.00,0.000,4,0.000,0.044,3124,1338,1119
$GC,17545,0.85,476.5,35.8,11.6,1728,17553,0.00,2.62,0.00,0.000,6,0.000,0.031,3124,2704,1119
$GC,17688,0.85,476.8,20.3,10.0,1753,17696,0.00,2.70,0.00,0.000,4,0.000,0.045,3124,1346,1119
$GC,17709,0.85,476.8,18.2,10.2,1756,17716,0.00,2.58,0.00,0.000,6,0.000,0.031,3124,2685,1119
$GC,17852,0.85,476.8,2.3,10.8,1781,17859,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2686,1119
$STATE,17863,end climb,SURFACE_DEPTH_REACHED
$STATE,17863,begin surface coast
$FINISH,-0.1,1.019422
$STATE,17881,end surface coast,CONTROL_FINISHED_OK
$STATE,17881,begin surface
$SM_CCo,17961,0.00,0.000,0,0,1117,479.32
$SM_GC,0.59,8.52,0.00,0.00,0.044,0.000,0.000,1436,2292,1117,-6.79,-0.25,479.32
$IRIDIUM_FIX,6121.73,-2557.31,010997,181831
$TT8_MAMPS,0.026078
$HUMID,1816
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,16.50
$XPDR_PINGS,923
$24V_AH,18.9,95.526
$10V_AH,9.8,64.897
$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,24.300,186.300,740.025,0.000,0.000,62.531,65.489,311.100,230.750,0.000,0.000,17.347,3687.845,9832.253,915.277,3347.584,817.041,0.000,2459.410,0.000,3320.311,0.000,0.465
$DEVICE_MAMPS,250.809,125.788,1589.224,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1244.892,1320.997,662.030,1570.899,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129568,1786
$CAP_FILE_SIZE,176945,0
$CFSIZE,260165632,227680256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.120,280.3,1
$GPS,070608,234508,6147.225,-2605.193,30,1.5,30,-18.7