version: 66.03
glider: 142
mission: 5
dive: 326
start: 6 11 108 20 21 23
data:
$ID,142
$MISSION,5
$DIVE,326
$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,-19088.826
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,201307,6145.446,-2615.061,39,1.2,39,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-48.0
$GPS2,202102,6145.477,-2615.177,10,1.6,15,-18.7
$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,113.3,13128,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.86,-194.7,0.0,0.0,0,150,0.00,0.00,-125.40,0.000,2,0.000,0.000,1434,2286,3362
$GC,153,-0.86,-194.7,3.2,-6.2,16,191,12.02,2.85,-14.70,0.000,4,0.252,0.055,2725,895,3867
$GC,271,-0.86,-194.7,19.8,-12.2,35,279,0.00,2.70,0.00,0.000,6,0.000,0.028,2726,2305,3868
$GC,415,-0.78,-194.7,38.4,-13.1,60,423,0.15,2.78,0.00,0.000,4,0.145,0.042,2749,3713,3868
$GC,436,-0.72,-194.7,41.1,-12.5,63,443,0.00,2.72,0.00,0.000,6,0.000,0.032,2749,2309,3868
$GC,580,-0.72,-194.7,57.8,-11.6,88,587,0.00,2.78,0.00,0.000,4,0.000,0.043,2749,3704,3868
$GC,605,-0.72,-194.7,60.7,-11.3,92,613,0.00,2.70,0.00,0.000,6,0.000,0.032,2749,2313,3868
$GC,954,-0.72,-194.7,98.8,-10.8,153,961,0.00,2.78,0.00,0.000,4,0.000,0.044,2749,3704,3868
$GC,993,-0.72,-194.7,103.1,-10.9,159,1000,0.00,2.70,0.00,0.000,6,0.000,0.032,2749,2318,3868
$GC,1338,-0.72,-194.7,142.5,-11.5,220,1346,0.00,2.78,0.00,0.000,4,0.000,0.044,2749,3709,3868
$GC,1352,-0.72,-194.7,144.2,-11.0,222,1360,0.00,2.67,0.00,0.000,6,0.000,0.032,2749,2333,3868
$GC,1698,-0.72,-194.7,184.0,-11.8,283,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2332,3868
$GC,2043,-0.72,-194.7,227.2,-12.6,344,2050,0.00,2.75,0.00,0.000,4,0.000,0.044,2749,3710,3868
$GC,2057,-0.72,-194.7,229.0,-12.2,346,2065,0.00,2.67,0.00,0.000,6,0.000,0.031,2749,2330,3868
$GC,2403,-0.72,-194.7,270.5,-11.5,407,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2328,3868
$GC,2748,-0.72,-194.7,308.0,-11.1,468,2755,0.00,2.75,0.00,0.000,4,0.000,0.044,2749,3704,3868
$GC,2768,-0.72,-194.7,310.2,-11.1,471,2775,0.00,2.67,0.00,0.000,6,0.000,0.032,2749,2328,3868
$GC,3113,-0.72,-194.7,347.6,-10.4,532,3120,0.00,2.75,0.00,0.000,4,0.000,0.045,2749,3703,3868
$GC,3132,-0.72,-194.7,349.8,-10.8,535,3140,0.00,2.67,0.00,0.000,6,0.000,0.032,2749,2330,3868
$GC,3459,-0.72,-194.7,385.4,-10.7,566,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2329,3868
$GC,3776,-0.72,-194.7,419.8,-10.9,596,3781,0.00,2.78,0.00,0.000,4,0.000,0.046,2749,3710,3868
$GC,3793,-0.72,-194.7,421.8,-11.4,597,3798,0.00,2.65,0.00,0.000,6,0.000,0.032,2749,2342,3867
$GC,4121,-0.72,-194.7,457.7,-10.9,627,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2341,3867
$GC,4448,-0.72,-194.7,491.5,-10.0,658,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2341,3867
$GC,4765,-0.72,-194.7,522.8,-9.7,688,4770,0.00,2.75,0.00,0.000,4,0.000,0.048,2749,3704,3867
$GC,4783,-0.72,-194.7,524.6,-9.1,689,4787,0.00,2.65,0.00,0.000,6,0.000,0.033,2749,2346,3867
$GC,5111,-0.72,-194.7,554.6,-9.2,719,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2345,3867
$GC,5436,-0.72,-194.7,584.8,-8.6,750,5441,0.00,2.75,0.00,0.000,4,0.000,0.049,2749,3702,3866
$GC,5454,-0.72,-194.7,586.3,-8.6,751,5458,0.00,2.65,0.00,0.000,6,0.000,0.035,2749,2344,3866
$GC,5775,-0.72,-194.7,616.6,-10.0,773,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2343,3866
$GC,6083,-0.72,-194.7,649.8,-10.7,788,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2343,3866
$GC,6393,-0.72,-194.7,685.8,-12.5,803,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2343,3866
$GC,6702,-0.72,-194.7,724.3,-11.6,818,6703,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2343,3865
$GC,7012,-0.72,-194.7,754.6,-9.7,833,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2343,3865
$GC,7320,-0.72,-194.7,783.8,-9.4,848,7325,0.00,3.03,0.00,0.000,4,0.000,0.086,2749,3700,3865
$GC,7331,-0.72,-194.7,784.8,-9.1,848,7339,0.00,2.85,0.00,0.000,6,0.000,0.067,2749,2353,3865
$GC,7647,-0.72,-194.7,810.1,-7.5,864,7652,0.00,3.05,0.00,0.000,4,0.000,0.093,2749,3697,3865
$GC,7665,-0.72,-194.7,811.5,-7.3,865,7670,0.00,2.95,0.00,0.000,6,0.000,0.080,2749,2361,3865
$GC,7993,-0.72,-194.7,840.0,-9.0,881,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2359,3865
$GC,8301,-0.72,-194.7,876.2,-10.9,896,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2359,3864
$GC,8610,-0.72,-194.7,906.0,-9.2,911,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2359,3864
$GC,8920,-0.72,-194.7,936.8,-9.6,926,8921,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2358,3863
$GC,9229,-0.72,-194.7,963.7,-8.7,941,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2358,3863
$STATE,9494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9494,begin apogee
$GC,9501,-0.21,0.0,991.3,10.7,954,9718,0.77,0.00,211.73,1.590,6,0.133,0.000,2869,2730,3071
$STATE,9719,end apogee,CONTROL_FINISHED_OK
$STATE,9719,begin climb
$GC,9722,0.86,194.7,996.3,0.0,965,9951,1.40,3.75,217.43,1.529,4,0.084,0.180,3099,3902,2276
$GC,10097,0.74,194.7,960.3,11.5,982,10102,0.00,2.58,0.00,0.000,6,0.000,0.079,3099,2745,2274
$GC,10419,0.59,194.7,922.7,11.5,998,10421,0.30,0.00,0.00,0.000,6,0.120,0.000,3053,2743,2273
$GC,10729,0.64,232.5,895.3,8.7,1013,10771,0.00,0.00,39.75,1.470,6,0.000,0.000,3053,2744,2123
$GC,11077,0.71,285.7,869.9,8.2,1030,11139,0.00,0.00,56.95,1.482,6,0.000,0.000,3053,2744,1906
$GC,11447,0.80,359.8,840.6,7.4,1048,11536,0.17,3.00,79.62,1.465,4,0.056,0.049,3092,1339,1603
$GC,11577,0.80,359.8,825.5,12.7,1053,11585,0.00,2.92,0.00,0.000,6,0.000,0.031,3091,2780,1600
$GC,11894,0.80,359.8,788.9,11.4,1069,11895,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2780,1597
$GC,12203,0.80,359.8,756.4,11.1,1084,12207,0.00,2.92,0.00,0.000,4,0.000,0.046,3091,1337,1595
$GC,12242,0.80,359.8,751.9,11.3,1086,12246,0.00,2.80,0.00,0.000,6,0.000,0.032,3092,2764,1595
$GC,12568,0.80,359.8,713.2,12.0,1102,12569,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2764,1594
$GC,12878,0.80,359.8,676.2,11.8,1117,12879,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2764,1594
$GC,13186,0.80,359.8,640.0,11.1,1132,13191,0.00,2.88,0.00,0.000,4,0.000,0.047,3091,1340,1594
$GC,13236,0.80,359.8,634.5,10.7,1134,13240,0.00,2.72,0.00,0.000,6,0.000,0.033,3091,2742,1593
$GC,13553,0.81,369.5,601.9,9.7,1149,13567,0.00,2.35,9.52,1.131,4,0.000,0.059,3091,3900,1564
$GC,13597,0.81,369.5,597.4,10.1,1152,13601,0.00,2.28,0.00,0.000,6,0.000,0.032,3091,2725,1563
$GC,13923,0.81,369.5,563.0,10.7,1182,13927,0.00,2.75,0.00,0.000,4,0.000,0.047,3092,1344,1562
$GC,13977,0.81,369.5,556.4,11.5,1186,13985,0.00,2.70,0.00,0.000,6,0.000,0.031,3091,2730,1562
$GC,14305,0.81,369.5,520.8,11.0,1217,14306,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2730,1561
$GC,14622,0.81,369.5,485.2,11.3,1247,14623,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2730,1562
$GC,14939,0.81,369.5,450.8,10.6,1277,14944,0.00,2.78,0.00,0.000,4,0.000,0.044,3091,1345,1562
$GC,14980,0.81,369.5,446.5,10.8,1280,14984,0.00,2.70,0.00,0.000,6,0.000,0.031,3091,2733,1561
$GC,15306,0.81,369.5,412.5,10.3,1310,15307,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2733,1561
$GC,15623,0.81,369.5,380.0,10.5,1340,15624,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2733,1561
$GC,15943,0.83,386.4,349.8,9.4,1370,15970,0.00,2.83,19.27,1.092,4,0.000,0.044,3091,1346,1494
$GC,16001,0.85,403.2,344.3,9.4,1379,16028,0.00,2.70,19.45,1.134,6,0.000,0.031,3091,2724,1427
$GC,16368,0.87,420.3,309.8,9.4,1443,16394,0.00,0.00,19.15,1.081,6,0.000,0.000,3091,2724,1356
$GC,16733,0.95,454.8,276.4,8.8,1507,16777,0.15,2.90,37.08,1.101,4,0.052,0.044,3129,1342,1217
$GC,16818,0.95,454.8,266.4,12.3,1520,16825,0.00,2.72,0.00,0.000,6,0.000,0.031,3129,2721,1214
$GC,17164,0.95,454.8,223.4,12.2,1581,17170,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2720,1211
$GC,17508,0.95,454.8,180.0,11.6,1642,17515,0.00,2.75,0.00,0.000,4,0.000,0.045,3129,1346,1210
$GC,17556,0.95,454.8,173.8,12.9,1650,17563,0.00,2.62,0.00,0.000,6,0.000,0.031,3129,2702,1209
$GC,17904,0.95,454.8,131.4,12.5,1711,17910,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2702,1209
$GC,18248,0.95,454.8,88.4,11.4,1772,18256,0.00,2.72,0.00,0.000,4,0.000,0.045,3129,1338,1208
$GC,18280,0.95,454.8,84.7,12.8,1777,18287,0.00,2.62,0.00,0.000,6,0.000,0.030,3129,2695,1208
$GC,18626,0.99,487.2,50.2,8.9,1838,18667,0.00,0.00,33.40,0.958,6,0.000,0.000,3129,2694,1085
$GC,18804,0.99,487.2,32.3,10.2,1868,18811,0.00,2.72,0.00,0.000,4,0.000,0.044,3129,1340,1081
$GC,18841,0.99,487.2,27.8,11.3,1874,18849,0.00,2.62,0.00,0.000,6,0.000,0.030,3129,2691,1081
$GC,18984,0.99,487.2,12.7,10.5,1899,18991,0.00,2.38,0.00,0.000,4,0.000,0.048,3129,3895,1080
$GC,19011,0.99,487.2,9.5,12.1,1903,19019,0.00,2.38,0.00,0.000,6,0.000,0.032,3129,2663,1079
$STATE,19079,end climb,SURFACE_DEPTH_REACHED
$STATE,19079,begin surface coast
$FINISH,0.4,1.002507
$STATE,19097,end surface coast,CONTROL_FINISHED_OK
$STATE,19097,begin surface
$SM_CCo,19177,0.00,0.000,0,0,1079,488.88
$SM_GC,0.79,8.60,0.00,0.00,0.044,0.000,0.000,1434,2292,1079,-6.79,-0.23,488.88
$IRIDIUM_FIX,6121.73,-2623.73,050997,151540
$TT8_MAMPS,0.026078
$HUMID,1845
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,16.50
$XPDR_PINGS,1028
$24V_AH,18.9,101.737
$10V_AH,9.8,68.235
$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,23.575,144.800,743.350,0.000,0.000,30.192,32.248,250.587,257.000,0.000,0.000,19.090,3845.455,10730.216,940.094,3398.719,720.003,0.000,2495.180,0.000,3391.113,0.000,0.466
$DEVICE_MAMPS,251.576,180.245,1589.991,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1332.086,1437.510,700.929,1692.855,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139348,1918
$CAP_FILE_SIZE,170722,0
$CFSIZE,260165632,225796096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.095,293.5,1
$GPS,120608,014207,6145.542,-2610.829,30,1.4,30,-18.7