version: 66.03
glider: 142
mission: 5
dive: 321
start: 6 10 108 21 24 1
data:
$ID,142
$MISSION,5
$DIVE,321
$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,-19003.918
$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,24
$R_STBD_OVSHOOT,18
$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
$GPS1,210707,6150.526,-2613.578,33,1.3,33,-18.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-48.3
$GPS2,212341,6150.450,-2613.459,11,4.1,30,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SW
$TGT_LATLONG,6145.370,-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,233.9,12575,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.86,-194.7,0.0,0.0,0,148,0.00,0.00,-123.35,0.000,2,0.000,0.000,1438,2292,3478
$GC,152,-0.86,-194.7,3.2,-4.7,16,182,11.98,2.83,-10.10,0.000,4,0.251,0.050,2724,3711,3866
$GC,298,-0.79,-194.7,27.0,-13.0,40,306,0.12,2.75,0.00,0.000,6,0.143,0.033,2741,2294,3867
$GC,445,-0.74,-194.7,43.3,-10.9,65,452,0.00,2.83,0.00,0.000,4,0.000,0.043,2740,3715,3867
$GC,493,-0.74,-194.7,49.1,-11.3,73,500,0.00,2.70,0.00,0.000,6,0.000,0.032,2740,2325,3867
$GC,636,-0.70,-194.7,64.7,-11.0,98,643,0.15,0.00,0.00,0.000,6,0.150,0.000,2763,2325,3867
$GC,983,-0.70,-194.7,96.9,-9.8,159,990,0.00,2.78,0.00,0.000,4,0.000,0.044,2764,3717,3867
$GC,1025,-0.70,-194.7,101.1,-9.3,166,1033,0.00,2.70,0.00,0.000,6,0.000,0.033,2764,2328,3867
$GC,1372,-0.70,-194.7,135.8,-8.7,227,1379,0.00,2.78,0.00,0.000,4,0.000,0.044,2764,3716,3868
$GC,1411,-0.70,-194.7,139.3,-9.4,233,1418,0.00,2.65,0.00,0.000,6,0.000,0.033,2763,2353,3868
$GC,1757,-0.70,-194.7,172.1,-9.0,294,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2352,3867
$GC,2101,-0.70,-194.7,205.8,-10.2,355,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2353,3867
$GC,2446,-0.70,-194.7,241.5,-9.9,416,2453,0.00,2.72,0.00,0.000,4,0.000,0.045,2763,3715,3867
$GC,2471,-0.70,-194.7,244.1,-10.1,420,2479,0.00,2.65,0.00,0.000,6,0.000,0.033,2764,2349,3867
$GC,2818,-0.70,-194.7,277.3,-9.1,481,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2348,3867
$GC,3163,-0.70,-194.7,307.4,-7.8,542,3171,0.00,2.75,0.00,0.000,4,0.000,0.045,2763,3718,3867
$GC,3189,-0.70,-194.7,309.5,-8.1,546,3196,0.00,2.65,0.00,0.000,6,0.000,0.032,2764,2356,3867
$GC,3536,-0.70,-194.7,337.9,-8.7,607,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2355,3867
$GC,3877,-0.70,-194.7,366.8,-8.7,651,3881,0.00,2.72,0.00,0.000,4,0.000,0.046,2763,3715,3866
$GC,3898,-0.70,-194.7,369.0,-8.7,652,3906,0.00,2.60,0.00,0.000,6,0.000,0.033,2763,2367,3866
$GC,4226,-0.70,-194.7,396.9,-8.6,683,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2366,3866
$GC,4551,-0.70,-194.7,426.3,-8.9,714,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2366,3866
$GC,4870,-0.70,-194.7,454.1,-8.5,744,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2366,3866
$GC,5188,-0.70,-194.7,481.7,-9.0,774,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2366,3865
$GC,5508,-0.70,-194.7,511.2,-8.9,804,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2366,3865
$GC,5827,-0.70,-194.7,536.9,-8.2,834,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2366,3865
$GC,6144,-0.70,-194.7,562.5,-7.8,864,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2366,3864
$GC,6462,-0.70,-194.7,589.6,-9.3,894,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2365,3864
$GC,6786,-0.70,-194.7,618.1,-8.7,915,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2365,3864
$GC,7096,-0.74,-194.7,645.3,-8.6,930,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2365,3863
$GC,7404,-0.74,-194.7,670.3,-8.5,945,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2365,3863
$GC,7715,-0.78,-194.7,696.8,-8.9,960,7716,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2365,3863
$GC,8023,-0.82,-194.7,721.7,-7.9,975,8028,0.12,2.85,0.00,0.000,4,0.069,0.067,2740,3708,3863
$GC,8064,-0.82,-194.7,725.5,-9.9,977,8069,0.00,2.75,0.00,0.000,6,0.000,0.051,2740,2363,3863
$GC,8392,-0.82,-194.7,757.4,-10.3,993,8396,0.00,3.20,0.00,0.000,4,0.000,0.084,2739,894,3863
$GC,8424,-0.82,-194.7,760.9,-10.3,994,8432,0.00,3.03,0.00,0.000,6,0.000,0.055,2739,2355,3863
$GC,8740,-0.82,-194.7,793.9,-10.5,1010,8741,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2357,3862
$GC,9051,-0.82,-194.7,827.4,-9.9,1025,9052,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2356,3862
$GC,9358,-0.82,-194.7,861.0,-10.9,1040,9364,0.00,3.55,0.00,0.000,4,0.000,0.119,2739,895,3862
$GC,9399,-0.82,-194.7,865.4,-11.4,1042,9404,0.00,3.38,0.00,0.000,6,0.000,0.100,2739,2345,3862
$GC,9727,-1.16,-194.7,871.5,0.0,1058,9729,0.40,0.00,0.00,0.000,6,0.061,0.000,2665,2345,3862
$STATE,9786,end dive,NO_VERTICAL_VELOCITY
$STATE,9786,begin apogee
$GC,9793,-0.21,0.0,871.5,0.0,1061,10008,1.12,0.00,206.77,1.503,6,0.067,0.000,2873,2751,3071
$STATE,10009,end apogee,CONTROL_FINISHED_OK
$STATE,10009,begin climb
$GC,10011,0.86,194.7,871.4,0.0,1072,10236,1.33,3.70,211.52,1.443,4,0.071,0.107,3100,1351,2277
$GC,10261,0.73,194.7,852.3,10.6,1083,10266,0.00,3.47,0.00,0.000,6,0.000,0.095,3100,2750,2276
$GC,10589,0.59,194.7,814.1,11.9,1099,10594,0.30,2.60,0.00,0.000,4,0.122,0.095,3052,3906,2274
$GC,10633,0.59,194.7,809.1,10.3,1101,10637,0.00,2.47,0.00,0.000,6,0.000,0.070,3053,2755,2274
$GC,10957,0.64,233.6,781.6,8.6,1117,11005,0.00,3.17,40.25,1.388,4,0.000,0.078,3053,1339,2117
$GC,11028,0.73,304.2,775.4,7.5,1120,11114,0.15,3.05,74.78,1.401,6,0.058,0.061,3082,2763,1829
$GC,11424,0.73,308.9,736.8,9.8,1139,11431,0.00,0.00,5.10,0.924,6,0.000,0.000,3082,2763,1811
$GC,11730,0.73,308.9,703.6,11.0,1154,11735,0.00,3.00,0.00,0.000,4,0.000,0.059,3082,1324,1810
$GC,11770,0.73,308.9,699.1,10.6,1156,11775,0.00,2.85,0.00,0.000,6,0.000,0.039,3082,2749,1809
$GC,12097,0.73,308.9,662.7,11.6,1172,12101,0.00,2.35,0.00,0.000,4,0.000,0.061,3082,3903,1809
$GC,12136,0.73,308.9,658.1,10.9,1174,12141,0.00,2.30,0.00,0.000,6,0.000,0.038,3082,2731,1808
$GC,12463,0.73,308.9,624.5,10.5,1190,12468,0.00,2.83,0.00,0.000,4,0.000,0.054,3082,1333,1807
$GC,12507,0.73,308.9,619.7,10.5,1192,12512,0.00,2.78,0.00,0.000,6,0.000,0.034,3082,2747,1807
$GC,12832,0.73,308.9,584.8,11.2,1214,12833,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2747,1807
$GC,13151,0.73,308.9,549.1,10.6,1244,13152,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2747,1806
$GC,13469,0.73,308.9,514.9,11.2,1274,13470,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2747,1806
$GC,13788,0.73,308.9,477.7,11.3,1304,13792,0.00,2.83,0.00,0.000,4,0.000,0.045,3082,1337,1806
$GC,13828,0.73,308.9,473.1,11.4,1307,13832,0.00,2.72,0.00,0.000,6,0.000,0.032,3082,2736,1806
$GC,14153,0.73,308.9,437.6,10.7,1337,14157,0.00,2.30,0.00,0.000,4,0.000,0.051,3082,3895,1806
$GC,14193,0.73,308.9,433.0,11.3,1340,14197,0.00,2.28,0.00,0.000,6,0.000,0.032,3082,2714,1806
$GC,14518,0.75,320.2,399.7,9.6,1370,14536,0.00,2.75,12.57,1.066,4,0.000,0.047,3082,1346,1764
$GC,14570,0.75,320.2,394.3,10.2,1374,14575,0.00,2.70,0.00,0.000,6,0.000,0.031,3082,2734,1764
$GC,14895,0.76,333.3,362.3,9.5,1404,14919,0.00,2.35,14.68,1.083,4,0.000,0.048,3082,3885,1711
$GC,14948,0.78,347.3,357.0,9.5,1408,14970,0.00,2.28,16.17,1.108,6,0.000,0.031,3082,2726,1655
$GC,15307,0.78,347.3,319.7,11.2,1465,15314,0.00,2.78,0.00,0.000,4,0.000,0.047,3081,1336,1651
$GC,15355,0.78,347.3,314.5,11.0,1473,15363,0.00,2.70,0.00,0.000,6,0.000,0.030,3082,2727,1651
$GC,15701,0.78,349.5,279.7,9.9,1534,15708,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2726,1651
$GC,16046,0.78,349.5,245.5,10.4,1595,16052,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2726,1651
$GC,16390,0.81,373.2,213.0,9.2,1656,16424,0.00,2.88,27.62,1.052,4,0.000,0.044,3082,1341,1548
$GC,16449,0.85,405.0,207.8,8.9,1665,16493,0.12,2.70,33.95,1.066,6,0.055,0.031,3110,2715,1420
$GC,16835,0.85,405.0,168.2,10.4,1731,16842,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2715,1414
$GC,17180,0.85,405.0,131.4,10.3,1792,17186,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2715,1414
$GC,17524,0.85,405.0,95.4,10.5,1853,17531,0.00,2.75,0.00,0.000,4,0.000,0.045,3110,1343,1413
$GC,17565,0.85,405.0,90.9,10.5,1860,17573,0.00,2.62,0.00,0.000,6,0.000,0.031,3109,2703,1412
$GC,17913,0.85,405.0,56.2,10.0,1921,17920,0.00,2.35,0.00,0.000,4,0.000,0.048,3110,3893,1412
$GC,17949,0.85,405.0,52.0,10.2,1927,17956,0.00,2.30,0.00,0.000,6,0.000,0.032,3110,2699,1411
$GC,18293,0.85,405.0,16.4,10.2,1988,18300,0.00,2.67,0.00,0.000,4,0.000,0.046,3110,1345,1411
$GC,18341,0.90,446.1,11.6,8.6,1996,18391,0.00,2.60,41.67,0.938,6,0.000,0.030,3110,2699,1251
$STATE,18452,end climb,SURFACE_DEPTH_REACHED
$STATE,18452,begin surface coast
$FINISH,0.2,1.011947
$STATE,18472,end surface coast,CONTROL_FINISHED_OK
$STATE,18472,begin surface
$SM_CCo,18552,0.00,0.000,0,0,1245,447.92
$SM_GC,0.73,8.57,0.00,0.00,0.044,0.000,0.000,1433,2284,1245,-6.80,-0.45,447.92
$IRIDIUM_FIX,6121.73,-2603.39,040997,212145
$TT8_MAMPS,0.026078
$HUMID,1831
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,16.50
$XPDR_PINGS,1012
$24V_AH,19.0,100.303
$10V_AH,9.8,67.455
$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,24.375,139.800,685.100,0.000,0.000,113.502,278.330,248.411,253.000,0.000,0.000,32.555,4098.578,9882.012,866.359,3638.539,1041.860,0.000,2487.608,0.000,3605.635,0.000,0.466
$DEVICE_MAMPS,250.809,118.885,1503.320,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1398.922,1504.911,767.279,1871.848,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,148590,2017
$CAP_FILE_SIZE,178105,0
$CFSIZE,260165632,226226176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,307.6,1
$GPS,110608,023431,6149.160,-2618.987,35,1.2,41,-18.8