version: 66.03
glider: 142
mission: 5
dive: 328
start: 6 12 108 7 22 58
data:
$ID,142
$MISSION,5
$DIVE,328
$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,-19117.691
$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,24
$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
$GPS1,071502,6145.052,-2606.458,38,2.0,38,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-53.1
$GPS2,072238,6145.008,-2606.559,9,1.7,9,-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,105.0,5613,-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,-194.7,0.0,0.0,0,153,0.00,0.00,-128.15,0.000,2,0.000,0.000,1431,2280,3583
$GC,156,-0.86,-194.7,3.6,-4.1,17,186,11.98,2.85,-7.20,0.000,4,0.248,0.054,2725,884,3867
$GC,245,-0.82,-194.7,20.8,-13.5,31,252,0.00,2.72,0.00,0.000,6,0.000,0.029,2725,2307,3867
$GC,389,-0.74,-194.7,43.0,-15.6,56,396,0.15,0.00,0.00,0.000,6,0.146,0.000,2749,2307,3867
$GC,532,-0.74,-194.7,62.1,-13.2,81,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2307,3868
$GC,874,-0.74,-194.7,100.8,-11.8,142,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2307,3868
$GC,1219,-0.74,-194.7,140.0,-11.0,203,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2307,3868
$GC,1564,-0.74,-194.7,178.7,-11.4,264,1571,0.00,2.75,0.00,0.000,4,0.000,0.044,2749,3703,3868
$GC,1595,-0.74,-194.7,182.3,-12.0,269,1603,0.00,2.75,0.00,0.000,6,0.000,0.032,2749,2288,3868
$GC,1940,-0.74,-194.7,222.7,-11.8,330,1947,0.00,2.83,0.00,0.000,4,0.000,0.044,2749,3702,3868
$GC,1960,-0.74,-194.7,225.0,-11.4,333,1967,0.00,2.72,0.00,0.000,6,0.000,0.032,2750,2300,3868
$GC,2305,-0.74,-194.7,264.8,-10.9,394,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2299,3868
$GC,2650,-0.74,-194.7,303.6,-11.3,455,2657,0.00,2.83,0.00,0.000,4,0.000,0.044,2749,3710,3868
$GC,2686,-0.74,-194.7,307.7,-11.7,461,2693,0.00,2.75,0.00,0.000,6,0.000,0.032,2749,2297,3868
$GC,3031,-0.74,-194.7,345.2,-10.8,522,3040,0.00,2.83,0.00,0.000,4,0.000,0.044,2749,3710,3868
$GC,3053,-0.74,-194.7,347.4,-10.3,525,3060,0.00,2.72,0.00,0.000,6,0.000,0.033,2749,2311,3868
$GC,3388,-0.74,-194.7,382.2,-11.1,558,3392,0.00,2.80,0.00,0.000,4,0.000,0.044,2749,3709,3867
$GC,3409,-0.74,-194.7,384.9,-10.9,559,3416,0.00,2.70,0.00,0.000,6,0.000,0.032,2749,2318,3868
$GC,3736,-0.74,-194.7,418.7,-10.1,590,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2316,3868
$GC,4053,-0.74,-194.7,449.7,-9.7,620,4058,0.00,2.80,0.00,0.000,4,0.000,0.046,2749,3707,3868
$GC,4071,-0.74,-194.7,451.3,-9.1,621,4076,0.00,2.72,0.00,0.000,6,0.000,0.033,2749,2310,3868
$GC,4399,-0.74,-194.7,480.1,-8.3,651,4403,0.00,2.80,0.00,0.000,4,0.000,0.047,2749,3701,3868
$GC,4429,-0.74,-194.7,482.8,-8.6,653,4433,0.00,2.70,0.00,0.000,6,0.000,0.032,2749,2317,3868
$GC,4757,-0.74,-194.7,507.9,-7.4,683,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2316,3868
$GC,5082,-0.74,-194.7,532.2,-7.7,714,5087,0.00,2.80,0.00,0.000,4,0.000,0.047,2749,3705,3867
$GC,5104,-0.74,-194.7,534.0,-7.6,715,5111,0.00,2.70,0.00,0.000,6,0.000,0.032,2749,2318,3867
$GC,5433,-0.74,-194.7,558.5,-7.6,746,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2317,3867
$GC,5759,-0.74,-194.7,586.4,-9.0,777,5763,0.00,2.83,0.00,0.000,4,0.000,0.050,2749,3709,3867
$GC,5793,-0.74,-194.7,589.6,-9.7,779,5801,0.00,2.70,0.00,0.000,6,0.000,0.034,2749,2330,3867
$GC,6112,-0.74,-194.7,620.4,-9.8,800,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2329,3867
$GC,6423,-0.74,-194.7,648.5,-8.5,815,6427,0.00,2.83,0.00,0.000,4,0.000,0.056,2749,3700,3866
$GC,6455,-0.74,-194.7,651.7,-9.7,816,6463,0.00,2.70,0.00,0.000,6,0.000,0.038,2749,2335,3866
$GC,6771,-0.74,-194.7,682.5,-10.2,832,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2334,3866
$GC,7081,-0.74,-194.7,715.6,-9.9,847,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2334,3866
$GC,7390,-0.74,-194.7,744.2,-9.3,862,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2334,3866
$GC,7699,-0.74,-194.7,773.6,-10.0,877,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2334,3866
$GC,8008,-0.74,-194.7,805.3,-10.2,892,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2333,3865
$GC,8318,-0.74,-194.7,836.1,-10.5,907,8319,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2334,3865
$GC,8626,-0.74,-194.7,869.6,-10.8,922,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2334,3865
$GC,8937,-0.74,-194.7,902.4,-10.6,937,8939,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2334,3865
$GC,9245,-0.74,-194.7,934.9,-10.3,952,9247,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2333,3864
$GC,9554,-0.74,-194.7,965.2,-10.2,967,9555,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2327,3863
$STATE,9820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9820,begin apogee
$GC,9827,-0.21,0.0,992.0,9.7,980,10043,0.77,0.00,212.43,1.588,6,0.140,0.000,2868,2744,3071
$STATE,10044,end apogee,CONTROL_FINISHED_OK
$STATE,10044,begin climb
$GC,10047,0.86,194.7,999.5,0.0,991,10276,1.42,2.62,217.75,1.529,4,0.084,0.057,3101,3894,2276
$GC,10373,0.72,194.7,966.9,13.8,1006,10378,0.15,2.35,0.00,0.000,6,0.122,0.035,3081,2747,2274
$GC,10700,0.62,194.7,926.8,12.1,1022,10702,0.15,0.00,0.00,0.000,6,0.114,0.000,3059,2746,2273
$GC,11010,0.62,194.7,893.7,10.7,1037,11011,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2746,2272
$GC,11319,0.57,194.7,860.0,10.6,1052,11320,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2746,2272
$GC,11628,0.57,194.7,826.5,11.1,1067,11629,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2746,2272
$GC,11938,0.53,194.7,790.7,11.4,1082,11940,0.12,0.00,0.00,0.000,6,0.115,0.000,3040,2745,2271
$GC,12247,0.61,259.0,763.8,7.8,1097,12316,0.00,0.00,66.85,1.441,6,0.000,0.000,3039,2745,2015
$GC,12617,0.78,349.7,737.4,6.9,1115,12720,0.22,3.00,95.85,1.410,4,0.048,0.048,3090,1333,1644
$GC,12759,0.78,349.7,722.9,11.2,1121,12764,0.00,2.90,0.00,0.000,6,0.000,0.032,3090,2755,1640
$GC,13075,0.78,349.7,692.9,10.4,1136,13079,0.00,2.30,0.00,0.000,4,0.000,0.052,3090,3896,1637
$GC,13103,0.78,349.7,689.8,10.5,1137,13107,0.00,2.25,0.00,0.000,6,0.000,0.032,3090,2737,1636
$GC,13418,0.78,349.7,657.3,10.0,1152,13423,0.00,2.80,0.00,0.000,4,0.000,0.047,3090,1336,1635
$GC,13451,0.78,349.7,653.7,10.4,1153,13459,0.00,2.78,0.00,0.000,6,0.000,0.033,3090,2754,1634
$GC,13769,0.81,374.3,623.5,9.1,1169,13796,0.00,0.00,25.17,1.295,6,0.000,0.000,3090,2754,1545
$GC,14098,0.89,440.1,596.7,7.7,1187,14181,0.12,3.03,72.22,1.325,4,0.057,0.046,3117,1341,1275
$GC,14210,0.89,440.1,585.2,10.6,1196,14217,0.00,2.83,0.00,0.000,6,0.000,0.031,3117,2746,1272
$GC,14537,0.89,440.1,551.5,10.9,1227,14538,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2747,1267
$GC,14854,0.89,440.1,516.3,11.4,1257,14855,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2747,1267
$GC,15171,0.89,440.1,480.5,10.8,1287,15176,0.00,2.83,0.00,0.000,4,0.000,0.045,3117,1336,1266
$GC,15215,0.89,440.1,475.2,12.2,1290,15223,0.00,2.72,0.00,0.000,6,0.000,0.031,3117,2743,1265
$GC,15543,0.89,440.1,439.4,10.9,1321,15549,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2743,1265
$GC,15868,0.89,440.1,403.8,10.9,1352,15873,0.00,2.83,0.00,0.000,4,0.000,0.044,3117,1335,1264
$GC,15912,0.89,440.1,398.5,11.5,1355,15919,0.00,2.70,0.00,0.000,6,0.000,0.031,3117,2727,1264
$GC,16239,0.89,440.1,362.7,11.3,1386,16240,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2727,1264
$GC,16567,0.89,440.1,325.1,11.2,1435,16574,0.00,2.78,0.00,0.000,4,0.000,0.045,3117,1343,1264
$GC,16597,0.89,440.1,321.2,11.8,1440,16605,0.00,2.67,0.00,0.000,6,0.000,0.031,3117,2722,1264
$GC,16943,0.89,440.1,280.7,12.7,1501,16950,0.00,2.33,0.00,0.000,4,0.000,0.048,3117,3895,1264
$GC,16968,0.89,440.1,277.5,12.7,1505,16976,0.00,2.28,0.00,0.000,6,0.000,0.030,3117,2708,1263
$GC,17314,0.89,440.1,234.5,12.4,1566,17322,0.00,2.70,0.00,0.000,4,0.000,0.045,3117,1347,1263
$GC,17351,0.89,440.1,229.9,12.4,1572,17359,0.00,2.62,0.00,0.000,6,0.000,0.029,3117,2709,1263
$GC,17698,0.89,440.1,189.1,12.6,1633,17704,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2709,1263
$GC,18041,0.89,440.1,147.3,13.3,1694,18049,0.00,2.75,0.00,0.000,4,0.000,0.045,3118,1337,1263
$GC,18073,0.89,440.1,143.6,12.7,1699,18081,0.00,2.65,0.00,0.000,6,0.000,0.031,3117,2706,1263
$GC,18418,0.89,440.1,103.3,11.6,1760,18424,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2706,1263
$GC,18762,0.89,440.1,64.5,11.8,1821,18769,0.00,2.72,0.00,0.000,4,0.000,0.045,3118,1348,1263
$GC,18794,0.89,440.1,61.2,11.1,1826,18802,0.00,2.60,0.00,0.000,6,0.000,0.030,3117,2699,1263
$GC,19138,0.89,440.1,25.8,10.3,1887,19145,0.00,2.35,0.00,0.000,4,0.000,0.047,3118,3894,1263
$GC,19169,0.89,440.1,22.5,10.9,1892,19177,0.00,2.30,0.00,0.000,6,0.000,0.031,3117,2689,1262
$GC,19312,0.89,440.1,7.9,10.5,1917,19319,0.00,2.67,0.00,0.000,4,0.000,0.047,3118,1338,1262
$GC,19360,0.89,440.1,2.6,11.7,1925,19368,0.00,2.55,0.00,0.000,6,0.000,0.030,3118,2667,1262
$STATE,19373,end climb,SURFACE_DEPTH_REACHED
$STATE,19373,begin surface coast
$FINISH,0.3,1.025209
$STATE,19390,end surface coast,CONTROL_FINISHED_OK
$STATE,19390,begin surface
$SM_CCo,19470,0.00,0.000,0,0,1262,443.75
$SM_GC,0.93,8.52,0.00,0.00,0.044,0.000,0.000,1432,2292,1262,-6.79,-0.23,443.75
$IRIDIUM_FIX,6121.73,-2603.39,060997,010132
$TT8_MAMPS,0.026845
$HUMID,1843
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,15.20
$XPDR_PINGS,1048
$24V_AH,18.9,102.414
$10V_AH,9.9,68.575
$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,23.625,136.375,690.275,0.000,0.000,25.265,31.640,243.472,262.000,0.000,0.000,12.986,3880.381,10999.898,904.685,3425.439,695.482,0.000,2458.742,0.000,3418.428,0.000,0.465
$DEVICE_MAMPS,247.741,56.758,1588.457,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1333.252,1447.363,692.794,1701.484,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139143,1930
$CAP_FILE_SIZE,170284,0
$CFSIZE,260165632,225611776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,259.5,1
$GPS,120608,124857,6144.768,-2603.055,32,2.2,51,-18.6