version: 66.03
glider: 142
mission: 5
dive: 327
start: 6 12 108 1 50 41
data:
$ID,142
$MISSION,5
$DIVE,327
$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,-19104.078
$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,22
$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
$GPS1,014207,6145.542,-2610.829,30,1.4,30,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-50.1
$GPS2,015021,6145.539,-2610.781,10,1.9,10,-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,117.5,9279,-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,-194.7,0.0,0.0,0,159,0.00,0.00,-134.07,0.000,2,0.000,0.000,1434,2290,3479
$GC,162,-0.86,-194.7,3.4,-5.3,18,193,11.98,2.83,-10.35,0.000,4,0.249,0.055,2725,883,3866
$GC,285,-0.82,-194.7,23.3,-13.3,38,293,0.00,2.72,0.00,0.000,6,0.000,0.029,2725,2307,3866
$GC,428,-0.74,-194.7,44.0,-14.2,63,436,0.17,2.75,0.00,0.000,4,0.143,0.042,2753,3704,3866
$GC,444,-0.67,-194.7,46.2,-14.5,65,452,0.12,2.72,0.00,0.000,6,0.143,0.031,2768,2300,3866
$GC,588,-0.67,-194.7,64.2,-12.1,90,595,0.00,2.80,0.00,0.000,4,0.000,0.044,2769,3707,3867
$GC,602,-0.67,-194.7,65.9,-11.8,92,609,0.00,2.70,0.00,0.000,6,0.000,0.031,2768,2315,3866
$GC,951,-0.67,-194.7,105.8,-10.8,153,958,0.00,2.78,0.00,0.000,4,0.000,0.044,2769,3704,3867
$GC,990,-0.72,-194.7,110.0,-11.1,159,997,0.00,2.70,0.00,0.000,6,0.000,0.031,2769,2316,3867
$GC,1335,-0.72,-194.7,145.2,-10.3,220,1343,0.00,2.78,0.00,0.000,4,0.000,0.044,2769,3707,3867
$GC,1368,-0.77,-194.7,148.4,-10.3,225,1375,0.00,2.67,0.00,0.000,6,0.000,0.032,2769,2330,3867
$GC,1713,-0.77,-194.7,182.6,-9.3,286,1720,0.00,2.75,0.00,0.000,4,0.000,0.044,2768,3709,3867
$GC,1734,-0.81,-194.7,184.5,-9.5,289,1742,0.12,2.67,0.00,0.000,6,0.066,0.032,2745,2331,3867
$GC,2079,-0.81,-194.7,223.3,-10.9,350,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2330,3867
$GC,2425,-0.81,-194.7,259.7,-9.6,411,2431,0.00,2.75,0.00,0.000,4,0.000,0.044,2745,3706,3867
$GC,2444,-0.81,-194.7,261.7,-9.9,414,2452,0.00,2.65,0.00,0.000,6,0.000,0.032,2745,2342,3867
$GC,2790,-0.81,-194.7,297.3,-11.0,475,2797,0.00,2.72,0.00,0.000,4,0.000,0.045,2745,3703,3867
$GC,2804,-0.81,-194.7,298.9,-10.9,477,2811,0.00,2.65,0.00,0.000,6,0.000,0.031,2744,2338,3867
$GC,3149,-0.81,-194.7,333.9,-9.6,538,3156,0.00,2.72,0.00,0.000,4,0.000,0.045,2745,3700,3867
$GC,3164,-0.81,-194.7,335.3,-9.5,540,3171,0.00,2.65,0.00,0.000,6,0.000,0.032,2745,2337,3867
$GC,3504,-0.81,-194.7,368.9,-9.9,584,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2337,3867
$GC,3823,-0.81,-194.7,400.9,-10.1,614,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2337,3867
$GC,4141,-0.81,-194.7,433.3,-9.9,644,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2337,3866
$GC,4460,-0.81,-194.7,466.8,-10.9,674,4465,0.00,2.75,0.00,0.000,4,0.000,0.046,2745,3707,3866
$GC,4477,-0.81,-194.7,468.7,-10.7,675,4482,0.00,2.65,0.00,0.000,6,0.000,0.032,2744,2345,3866
$GC,4804,-0.81,-194.7,504.0,-10.8,705,4809,0.00,2.75,0.00,0.000,4,0.000,0.047,2745,3709,3866
$GC,4822,-0.81,-194.7,506.0,-10.8,706,4826,0.00,2.65,0.00,0.000,6,0.000,0.033,2745,2349,3866
$GC,5150,-0.81,-194.7,542.8,-11.8,736,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2348,3866
$GC,5476,-0.81,-194.7,580.3,-11.9,767,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2348,3865
$GC,5789,-0.81,-194.7,617.4,-11.7,790,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2348,3865
$GC,6099,-0.81,-194.7,652.9,-11.4,805,6103,0.00,2.80,0.00,0.000,4,0.000,0.057,2745,3701,3865
$GC,6120,-0.81,-194.7,655.4,-10.7,806,6125,0.00,2.65,0.00,0.000,6,0.000,0.038,2745,2362,3865
$GC,6442,-0.81,-194.7,691.4,-11.2,822,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2361,3865
$GC,6751,-0.81,-194.7,725.6,-10.6,837,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2361,3865
$GC,7061,-0.81,-194.7,752.7,-8.5,852,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2361,3864
$GC,7370,-0.81,-194.7,782.5,-11.2,867,7371,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2361,3864
$GC,7679,-0.81,-194.7,816.6,-11.9,882,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2361,3864
$GC,7989,-0.81,-194.7,850.1,-10.3,897,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2361,3864
$GC,8298,-0.81,-194.7,878.6,-8.7,912,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2361,3863
$GC,8607,-0.81,-194.7,900.4,-6.5,927,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2361,3863
$GC,8917,-0.81,-194.7,922.4,-7.7,942,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2361,3862
$GC,9225,-0.81,-194.7,948.8,-8.9,957,9226,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2361,3862
$GC,9534,-0.81,-194.7,978.9,-10.5,972,9539,0.00,2.75,0.00,0.000,4,0.000,0.055,2744,3698,3862
$GC,9545,-0.81,-194.7,980.2,-10.7,972,9552,0.00,2.65,0.00,0.000,6,0.000,0.038,2745,2360,3862
$STATE,9652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9652,begin apogee
$GC,9659,-0.21,0.0,991.9,10.5,978,9876,0.80,0.00,211.75,1.592,6,0.134,0.000,2868,2747,3071
$STATE,9877,end apogee,CONTROL_FINISHED_OK
$STATE,9877,begin climb
$GC,9879,0.86,194.7,1000.9,0.0,989,10108,1.45,2.60,217.75,1.530,4,0.094,0.057,3100,3888,2276
$GC,10256,0.72,194.7,964.7,13.3,1006,10261,0.15,2.30,0.00,0.000,6,0.123,0.035,3080,2749,2274
$GC,10578,0.62,194.7,930.8,10.4,1022,10579,0.15,0.00,0.00,0.000,6,0.120,0.000,3058,2748,2273
$GC,10887,0.62,227.2,903.2,8.9,1037,10931,0.00,2.95,34.22,1.465,4,0.000,0.050,3057,1344,2143
$GC,10959,0.65,251.0,896.3,9.2,1040,10991,0.00,2.80,26.50,1.442,6,0.000,0.033,3058,2746,2047
$GC,11304,0.69,281.0,865.3,9.0,1056,11342,0.00,0.00,32.38,1.448,6,0.000,0.000,3057,2746,1924
$GC,11652,0.76,339.0,835.3,8.0,1073,11717,0.15,0.00,62.47,1.463,6,0.059,0.000,3088,2746,1689
$GC,12021,0.76,339.0,792.9,12.3,1091,12025,0.00,2.85,0.00,0.000,4,0.000,0.048,3088,1342,1683
$GC,12061,0.76,339.0,787.9,12.0,1093,12065,0.00,2.78,0.00,0.000,6,0.000,0.034,3088,2746,1682
$GC,12388,0.76,339.0,748.3,11.2,1109,12390,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2747,1681
$GC,12698,0.76,339.0,713.3,11.2,1124,12699,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2747,1680
$GC,13006,0.76,339.0,680.9,10.4,1139,13007,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2747,1680
$GC,13317,0.77,346.6,650.2,9.7,1154,13327,0.00,0.00,7.70,1.098,6,0.000,0.000,3088,2747,1658
$GC,13625,0.79,366.7,621.5,9.3,1169,13655,0.00,2.95,23.08,1.309,4,0.000,0.046,3088,1335,1575
$GC,13684,0.79,369.3,615.5,9.9,1171,13695,0.00,2.75,4.57,0.875,6,0.000,0.032,3088,2723,1564
$GC,14022,0.81,382.0,582.3,9.6,1195,14040,0.00,0.00,15.12,1.223,6,0.000,0.000,3088,2723,1513
$GC,14360,0.84,403.2,549.1,9.3,1227,14388,0.00,0.00,24.00,1.250,6,0.000,0.000,3088,2723,1427
$GC,14706,0.88,441.4,517.9,8.7,1260,14756,0.12,2.88,42.30,1.259,4,0.057,0.045,3116,1340,1270
$GC,14807,0.88,441.4,506.4,11.5,1268,14814,0.00,2.75,0.00,0.000,6,0.000,0.031,3116,2727,1267
$GC,15134,0.88,441.4,469.2,11.8,1299,15135,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2727,1264
$GC,15451,0.88,441.4,429.9,12.5,1329,15455,0.00,2.80,0.00,0.000,4,0.000,0.046,3116,1340,1263
$GC,15502,0.88,441.4,423.3,13.2,1333,15506,0.00,2.67,0.00,0.000,6,0.000,0.031,3115,2716,1262
$GC,15829,0.88,441.4,384.4,11.7,1363,15836,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2715,1262
$GC,16160,0.88,441.4,345.6,11.2,1397,16167,0.00,2.78,0.00,0.000,4,0.000,0.045,3116,1334,1262
$GC,16202,0.88,441.4,340.3,11.5,1404,16209,0.00,2.65,0.00,0.000,6,0.000,0.031,3116,2700,1262
$GC,16547,0.88,441.4,301.8,10.9,1465,16554,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2700,1262
$GC,16891,0.88,441.4,263.9,10.0,1526,16899,0.00,2.72,0.00,0.000,4,0.000,0.045,3116,1341,1261
$GC,16922,0.88,441.4,260.4,10.6,1531,16929,0.00,2.62,0.00,0.000,6,0.000,0.030,3116,2698,1261
$GC,17268,0.88,441.4,221.6,12.6,1592,17276,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2698,1261
$GC,17615,0.88,441.4,182.8,11.3,1653,17622,0.00,2.72,0.00,0.000,4,0.000,0.044,3116,1339,1261
$GC,17656,0.88,441.4,177.9,11.4,1660,17664,0.00,2.60,0.00,0.000,6,0.000,0.031,3116,2684,1261
$GC,18004,0.88,441.4,138.9,11.4,1721,18010,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2684,1261
$GC,18348,0.88,441.4,100.3,10.2,1782,18355,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2684,1261
$GC,18693,0.88,441.4,63.9,10.7,1843,18700,0.00,2.70,0.00,0.000,4,0.000,0.045,3116,1341,1261
$GC,18746,0.88,441.4,58.1,11.1,1852,18753,0.00,2.58,0.00,0.000,6,0.000,0.031,3116,2674,1261
$GC,19090,0.88,441.4,21.9,10.1,1913,19096,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2674,1261
$GC,19231,0.88,441.4,7.2,10.4,1938,19238,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2675,1261
$STATE,19282,end climb,SURFACE_DEPTH_REACHED
$STATE,19282,begin surface coast
$FINISH,0.4,1.016398
$STATE,19306,end surface coast,CONTROL_FINISHED_OK
$STATE,19306,begin surface
$SM_CCo,19386,0.00,0.000,0,0,1259,444.48
$SM_GC,0.98,8.50,0.00,0.00,0.044,0.000,0.000,1431,2288,1259,-6.79,-0.31,444.48
$IRIDIUM_FIX,6121.73,-2615.63,050997,202026
$TT8_MAMPS,0.026078
$HUMID,1828
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,16.50
$XPDR_PINGS,1013
$24V_AH,18.9,102.078
$10V_AH,9.8,68.406
$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,23.725,126.750,701.850,0.000,0.000,29.663,44.307,263.015,253.250,0.000,0.000,14.624,3929.014,10832.087,912.995,3450.913,736.406,0.000,2468.910,0.000,3442.236,0.000,0.465
$DEVICE_MAMPS,249.275,56.758,1591.525,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1355.214,1455.797,716.626,1715.415,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142486,1951
$CAP_FILE_SIZE,170779,0
$CFSIZE,260165632,225701888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,273.5,1
$GPS,120608,071502,6145.052,-2606.458,38,2.0,38,-18.7