version: 66.03
glider: 142
mission: 5
dive: 322
start: 6 11 108 2 43 29
data:
$ID,142
$MISSION,5
$DIVE,322
$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,-19020.443
$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,25
$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
$GPS1,023431,6149.160,-2618.987,35,1.2,41,-18.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-49.4
$GPS2,024309,6149.149,-2619.107,14,1.8,14,-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,199.9,7779,-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,-194.7,0.0,0.0,0,149,0.00,0.00,-124.70,0.000,2,0.000,0.000,1433,2284,3455
$GC,152,-0.86,-194.7,3.2,-4.8,16,183,12.00,2.85,-11.38,0.000,4,0.251,0.050,2726,3711,3866
$GC,355,-0.79,-194.7,33.4,-13.4,50,363,0.12,2.75,0.00,0.000,6,0.141,0.032,2742,2298,3866
$GC,500,-0.75,-194.7,50.8,-11.7,75,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2298,3867
$GC,842,-0.75,-194.7,89.6,-11.6,136,849,0.00,2.80,0.00,0.000,4,0.000,0.044,2742,3707,3867
$GC,856,-0.75,-194.7,91.2,-10.8,138,863,0.00,2.80,0.00,0.000,6,0.000,0.033,2742,2266,3867
$GC,1203,-0.75,-194.7,131.3,-10.8,199,1210,0.00,2.88,0.00,0.000,4,0.000,0.044,2742,3707,3868
$GC,1222,-0.75,-194.7,133.8,-11.1,202,1230,0.00,2.80,0.00,0.000,6,0.000,0.033,2742,2270,3867
$GC,1570,-0.75,-194.7,174.7,-11.4,263,1577,0.00,2.88,0.00,0.000,4,0.000,0.044,2742,3707,3868
$GC,1618,-0.75,-194.7,180.0,-11.0,271,1625,0.00,2.75,0.00,0.000,6,0.000,0.033,2742,2287,3868
$GC,1964,-0.75,-194.7,218.4,-11.4,332,1971,0.00,2.83,0.00,0.000,4,0.000,0.044,2742,3703,3867
$GC,1984,-0.75,-194.7,220.7,-11.6,335,1991,0.00,2.75,0.00,0.000,6,0.000,0.033,2742,2291,3868
$GC,2329,-0.75,-194.7,260.5,-12.0,396,2336,0.00,2.83,0.00,0.000,4,0.000,0.044,2742,3709,3868
$GC,2360,-0.75,-194.7,264.1,-11.7,401,2367,0.00,2.75,0.00,0.000,6,0.000,0.033,2742,2299,3867
$GC,2706,-0.75,-194.7,303.7,-10.9,462,2713,0.00,2.83,0.00,0.000,4,0.000,0.044,2742,3707,3868
$GC,2737,-0.75,-194.7,307.3,-11.6,467,2744,0.00,2.75,0.00,0.000,6,0.000,0.033,2742,2296,3867
$GC,3082,-0.75,-194.7,348.8,-11.4,528,3090,0.00,2.83,0.00,0.000,4,0.000,0.045,2742,3706,3867
$GC,3112,-0.75,-194.7,352.5,-11.9,531,3119,0.00,2.72,0.00,0.000,6,0.000,0.032,2742,2306,3867
$GC,3439,-0.75,-194.7,388.9,-11.2,562,3444,0.00,2.80,0.00,0.000,4,0.000,0.044,2742,3705,3867
$GC,3461,-0.75,-194.7,391.7,-11.4,563,3468,0.00,2.72,0.00,0.000,6,0.000,0.033,2742,2306,3867
$GC,3789,-0.75,-194.7,428.7,-11.3,594,3793,0.00,2.80,0.00,0.000,4,0.000,0.045,2742,3701,3867
$GC,3807,-0.75,-194.7,430.9,-11.2,595,3811,0.00,2.72,0.00,0.000,6,0.000,0.034,2742,2310,3867
$GC,4134,-0.75,-194.7,467.2,-10.9,625,4138,0.00,2.80,0.00,0.000,4,0.000,0.046,2742,3701,3866
$GC,4151,-0.75,-194.7,469.4,-11.0,626,4155,0.00,2.72,0.00,0.000,6,0.000,0.035,2742,2311,3866
$GC,4479,-0.75,-194.7,507.0,-11.9,656,4484,0.00,2.83,0.00,0.000,4,0.000,0.048,2742,3709,3866
$GC,4502,-0.75,-194.7,510.2,-11.8,657,4509,0.00,2.70,0.00,0.000,6,0.000,0.034,2742,2325,3866
$GC,4831,-0.75,-194.7,548.0,-11.5,688,4835,0.00,2.80,0.00,0.000,4,0.000,0.048,2742,3709,3866
$GC,4871,-0.75,-194.7,553.1,-11.8,691,4875,0.00,2.70,0.00,0.000,6,0.000,0.033,2742,2330,3866
$GC,5198,-0.75,-194.7,588.9,-10.6,721,5202,0.00,2.80,0.00,0.000,4,0.000,0.050,2742,3707,3866
$GC,5215,-0.75,-194.7,590.9,-10.4,722,5220,0.00,2.70,0.00,0.000,6,0.000,0.035,2742,2333,3866
$GC,5534,-0.75,-194.7,623.2,-9.6,741,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2331,3865
$GC,5843,-0.75,-194.7,651.9,-9.9,756,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2331,3865
$GC,6153,-0.75,-194.7,684.5,-10.2,771,6157,0.00,2.88,0.00,0.000,4,0.000,0.062,2742,3703,3865
$GC,6172,-0.75,-194.7,686.3,-9.9,772,6177,0.00,2.75,0.00,0.000,6,0.000,0.044,2742,2341,3864
$GC,6498,-0.75,-194.7,720.1,-10.8,788,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2340,3864
$GC,6808,-0.75,-194.7,753.2,-10.8,803,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2340,3864
$GC,7117,-1.04,-194.7,753.4,-0.0,818,7123,0.22,2.95,0.00,0.000,4,0.054,0.074,2694,3701,3864
$STATE,7134,end dive,NO_VERTICAL_VELOCITY
$STATE,7134,begin apogee
$GC,7143,-0.21,0.0,753.3,0.0,819,7349,1.00,0.00,202.27,1.424,6,0.081,0.000,2874,2751,3071
$STATE,7350,end apogee,CONTROL_FINISHED_OK
$STATE,7350,begin climb
$GC,7352,0.86,194.7,753.3,0.0,829,7574,1.35,3.35,206.12,1.364,4,0.080,0.068,3100,1337,2277
$GC,7711,0.73,194.7,722.2,11.0,845,7716,0.00,2.92,0.00,0.000,6,0.000,0.044,3100,2738,2275
$GC,8039,0.60,194.7,687.0,10.8,861,8044,0.28,2.40,0.00,0.000,4,0.120,0.063,3055,3899,2273
$GC,8094,0.65,239.0,681.9,8.5,863,8146,0.00,2.30,44.88,1.318,6,0.000,0.041,3055,2742,2096
$GC,8456,0.73,299.5,654.1,7.9,881,8525,0.12,3.05,61.83,1.323,4,0.062,0.056,3080,1335,1850
$GC,8575,0.73,299.5,641.1,11.3,886,8580,0.00,2.88,0.00,0.000,6,0.000,0.034,3080,2754,1847
$GC,8896,0.73,299.5,604.6,10.9,902,8900,0.00,2.30,0.00,0.000,4,0.000,0.055,3080,3896,1844
$GC,8936,0.73,299.5,600.2,10.9,904,8940,0.00,2.28,0.00,0.000,6,0.000,0.033,3080,2728,1843
$GC,9261,0.74,310.5,569.0,9.6,934,9278,0.00,2.83,11.57,1.130,4,0.000,0.049,3080,1334,1805
$GC,9313,0.74,310.5,563.9,10.1,938,9318,0.00,2.78,0.00,0.000,6,0.000,0.031,3080,2748,1804
$GC,9640,0.76,324.4,533.0,9.5,968,9665,0.00,2.33,15.93,1.176,4,0.000,0.052,3080,3893,1747
$GC,9704,0.76,324.4,526.3,10.5,973,9711,0.00,2.28,0.00,0.000,6,0.000,0.031,3080,2723,1746
$GC,10033,0.78,342.1,495.8,9.4,1004,10058,0.00,2.85,19.23,1.180,4,0.000,0.047,3080,1341,1676
$GC,10105,0.78,342.1,487.8,11.3,1010,10109,0.00,2.75,0.00,0.000,6,0.000,0.031,3080,2735,1675
$GC,10431,0.78,342.1,453.3,10.9,1040,10435,0.00,2.30,0.00,0.000,4,0.000,0.050,3080,3891,1673
$GC,10463,0.78,342.1,449.4,11.4,1042,10471,0.00,2.30,0.00,0.000,6,0.000,0.031,3080,2717,1672
$GC,10791,0.82,373.9,418.2,8.9,1073,10831,0.00,2.80,34.28,1.184,4,0.000,0.046,3080,1344,1545
$GC,10878,0.90,404.8,410.5,8.9,1080,10919,0.17,2.72,33.80,1.172,6,0.049,0.030,3118,2727,1419
$GC,11245,0.90,404.8,369.2,11.3,1114,11249,0.00,2.33,0.00,0.000,4,0.000,0.048,3118,3894,1413
$GC,11286,0.90,404.8,364.6,11.8,1117,11291,0.00,2.28,0.00,0.000,6,0.000,0.031,3118,2719,1412
$GC,11624,0.85,404.8,326.7,10.7,1165,11631,0.00,2.75,0.00,0.000,4,0.000,0.046,3118,1336,1411
$GC,11671,0.85,404.8,321.3,11.0,1173,11678,0.00,2.70,0.00,0.000,6,0.000,0.030,3118,2728,1410
$GC,12015,0.85,404.8,281.6,11.5,1234,12023,0.00,2.30,0.00,0.000,4,0.000,0.048,3118,3890,1410
$GC,12052,0.85,404.8,277.3,11.9,1240,12059,0.00,2.28,0.00,0.000,6,0.000,0.031,3118,2709,1410
$GC,12397,0.85,404.8,235.8,11.8,1301,12404,0.00,2.72,0.00,0.000,4,0.000,0.046,3118,1336,1409
$GC,12444,0.85,404.8,230.0,11.6,1309,12452,0.00,2.67,0.00,0.000,6,0.000,0.030,3118,2719,1409
$GC,12790,0.85,404.8,190.1,12.4,1370,12797,0.00,2.33,0.00,0.000,4,0.000,0.048,3117,3891,1409
$GC,12827,0.85,404.8,185.8,12.3,1376,12834,0.00,2.28,0.00,0.000,6,0.000,0.031,3118,2706,1409
$GC,13174,0.85,404.8,142.9,12.3,1437,13181,0.00,2.72,0.00,0.000,4,0.000,0.047,3118,1335,1409
$GC,13228,0.85,404.8,136.0,12.7,1446,13236,0.00,2.67,0.00,0.000,6,0.000,0.030,3117,2721,1409
$GC,13575,0.85,404.8,90.2,13.4,1507,13581,0.00,2.33,0.00,0.000,4,0.000,0.048,3118,3898,1408
$GC,13611,0.85,404.8,85.4,12.7,1513,13619,0.00,2.30,0.00,0.000,6,0.000,0.031,3118,2704,1408
$GC,13957,0.85,404.8,49.2,10.9,1574,13964,0.00,2.70,0.00,0.000,4,0.000,0.046,3118,1337,1408
$GC,14017,0.85,404.8,42.2,12.0,1584,14024,0.00,2.62,0.00,0.000,6,0.000,0.030,3118,2704,1408
$GC,14159,0.85,404.8,26.4,10.9,1609,14167,0.00,2.33,0.00,0.000,4,0.000,0.047,3118,3887,1408
$GC,14196,0.85,404.8,22.1,11.2,1615,14205,0.00,2.35,0.00,0.000,6,0.000,0.032,3118,2663,1408
$GC,14341,0.85,404.8,5.6,12.2,1640,14349,0.00,2.62,0.00,0.000,4,0.000,0.048,3118,1339,1408
$STATE,14376,end climb,SURFACE_DEPTH_REACHED
$STATE,14376,begin surface coast
$FINISH,0.3,1.016832
$STATE,14400,end surface coast,CONTROL_FINISHED_OK
$STATE,14400,begin surface
$SM_CCo,14481,0.00,0.000,0,0,1406,408.42
$SM_GC,0.89,8.52,0.00,0.00,0.045,0.000,0.000,1435,2312,1406,-6.79,0.37,408.42
$IRIDIUM_FIX,6126.23,-2617.59,040997,212132
$TT8_MAMPS,0.026078
$HUMID,1837
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,15.20
$XPDR_PINGS,722
$24V_AH,19.1,100.583
$10V_AH,9.9,67.607
$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,23.800,184.975,629.900,0.000,0.000,31.636,41.602,282.523,180.500,0.000,0.000,15.897,3388.125,6983.209,843.370,3043.886,719.213,0.000,2251.410,0.000,3020.292,0.000,0.465
$DEVICE_MAMPS,250.809,73.632,1424.319,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1151.491,1224.294,665.437,1548.805,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120378,1650
$CAP_FILE_SIZE,157413,0
$CFSIZE,260165632,226172928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.006,263.4,1
$GPS,110608,064607,6147.207,-2620.076,40,1.4,40,-18.8