version: 66.03
glider: 142
mission: 5
dive: 329
start: 6 12 108 13 5 31
data:
$ID,142
$MISSION,5
$DIVE,329
$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,636.79877
$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,-19131.697
$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,25
$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
$GPS1,124857,6144.768,-2603.055,32,2.2,51,-18.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-54.4
$GPS2,130457,6144.774,-2603.223,11,1.4,11,-18.6
$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,91.7,2870,-16.3,-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,-0.88,-165.9,0.0,0.0,0,150,0.00,0.00,-125.62,0.000,2,0.000,0.000,1431,2283,3586
$GC,153,-0.92,-194.7,3.7,-4.7,17,184,11.98,2.83,-7.07,0.000,4,0.249,0.054,2711,897,3867
$GC,237,-0.85,-194.7,21.0,-16.5,30,245,0.12,2.70,0.00,0.000,6,0.133,0.029,2728,2306,3868
$GC,382,-0.80,-194.7,43.0,-15.3,55,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2306,3868
$GC,526,-0.80,-194.7,64.2,-14.5,80,533,0.00,2.75,0.00,0.000,4,0.000,0.043,2729,3709,3867
$GC,562,-0.80,-194.7,69.8,-14.6,86,570,0.00,2.78,0.00,0.000,6,0.000,0.031,2728,2279,3868
$GC,907,-0.80,-194.7,114.0,-13.0,147,915,0.00,2.85,0.00,0.000,4,0.000,0.043,2728,3709,3868
$GC,960,-0.80,-194.7,120.9,-12.4,156,968,0.00,2.75,0.00,0.000,6,0.000,0.033,2729,2296,3868
$GC,1307,-0.80,-194.7,166.7,-13.2,217,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2296,3868
$GC,1652,-0.80,-194.7,210.3,-12.2,278,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2296,3868
$GC,1996,-0.80,-194.7,252.0,-12.1,339,2003,0.00,2.83,0.00,0.000,4,0.000,0.044,2728,3709,3868
$GC,2027,-0.80,-194.7,255.6,-11.8,344,2034,0.00,2.78,0.00,0.000,6,0.000,0.034,2729,2282,3868
$GC,2373,-0.80,-194.7,296.2,-11.2,405,2379,0.00,2.85,0.00,0.000,4,0.000,0.044,2729,3704,3868
$GC,2409,-0.80,-194.7,300.4,-11.6,411,2416,0.00,2.75,0.00,0.000,6,0.000,0.032,2729,2294,3868
$GC,2755,-0.80,-194.7,338.5,-10.9,472,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2293,3868
$GC,3086,-0.80,-194.7,373.6,-10.6,512,3091,0.00,2.83,0.00,0.000,4,0.000,0.044,2729,3705,3868
$GC,3130,-0.80,-194.7,378.4,-10.6,515,3138,0.00,2.75,0.00,0.000,6,0.000,0.033,2728,2293,3868
$GC,3458,-0.80,-194.7,411.8,-10.1,546,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2292,3867
$GC,3773,-0.80,-194.7,444.8,-10.4,576,3778,0.00,2.85,0.00,0.000,4,0.000,0.046,2728,3709,3867
$GC,3814,-0.80,-194.7,449.1,-10.6,579,3818,0.00,2.75,0.00,0.000,6,0.000,0.034,2729,2302,3867
$GC,4141,-0.80,-194.7,484.8,-11.2,609,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2301,3866
$GC,4458,-0.80,-194.7,521.9,-11.9,639,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2301,3866
$GC,4776,-0.80,-194.7,560.4,-12.0,669,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2301,3866
$GC,5095,-0.80,-194.7,601.3,-13.3,699,5100,0.00,2.85,0.00,0.000,4,0.000,0.055,2728,3704,3866
$GC,5136,-0.80,-194.7,606.7,-13.4,701,5140,0.00,2.75,0.00,0.000,6,0.000,0.036,2728,2309,3866
$GC,5462,-0.80,-194.7,651.6,-14.1,717,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2308,3866
$GC,5772,-0.80,-194.7,692.5,-12.5,732,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2308,3866
$GC,6081,-0.80,-194.7,728.7,-11.5,747,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2308,3865
$GC,6390,-0.80,-194.7,762.5,-10.9,762,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2307,3865
$GC,6700,-0.80,-194.7,797.2,-11.3,777,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2308,3865
$GC,7010,-0.80,-194.7,830.1,-10.5,792,7015,0.00,3.30,0.00,0.000,4,0.000,0.110,2728,3698,3864
$GC,7031,-0.80,-194.7,832.7,-10.4,793,7036,0.00,3.12,0.00,0.000,6,0.000,0.092,2728,2325,3864
$GC,7353,-0.80,-194.7,865.3,-10.3,809,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2325,3864
$GC,7662,-0.80,-194.7,899.4,-11.1,824,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2325,3863
$GC,7971,-0.80,-194.7,933.7,-10.9,839,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2325,3863
$GC,8282,-0.80,-194.7,967.3,-10.8,854,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2316,3862
$STATE,8504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8504,begin apogee
$GC,8512,-0.21,0.0,991.2,10.3,865,8728,0.93,0.00,211.30,1.587,6,0.141,0.000,2870,2747,3071
$STATE,8729,end apogee,CONTROL_FINISHED_OK
$STATE,8729,begin climb
$GC,8731,0.92,194.7,997.4,0.0,876,8960,1.48,2.62,216.93,1.525,4,0.084,0.057,3111,3896,2277
$GC,9100,0.77,194.7,952.5,15.7,892,9108,0.15,2.35,0.00,0.000,6,0.120,0.035,3091,2734,2275
$GC,9417,0.68,194.7,912.6,12.7,908,9418,0.15,0.00,0.00,0.000,6,0.123,0.000,3069,2733,2274
$GC,9727,0.63,194.7,877.7,11.9,923,9731,0.00,2.38,0.00,0.000,4,0.000,0.054,3069,3899,2274
$GC,9768,0.59,194.7,872.6,12.3,925,9772,0.00,2.22,0.00,0.000,6,0.000,0.034,3069,2754,2273
$GC,10096,0.56,203.6,838.2,9.6,941,10109,0.17,0.00,10.20,1.249,6,0.113,0.000,3042,2753,2240
$GC,10404,0.65,279.3,816.6,6.9,956,10493,0.00,2.97,79.85,1.470,4,0.000,0.049,3041,1346,1932
$GC,10529,0.83,357.4,808.4,6.8,961,10621,0.30,2.85,85.12,1.433,6,0.045,0.031,3101,2755,1614
$GC,10931,0.83,357.4,762.6,11.5,980,10935,0.00,2.33,0.00,0.000,4,0.000,0.052,3101,3902,1606
$GC,10965,0.83,357.4,758.7,10.8,981,10972,0.00,2.25,0.00,0.000,6,0.000,0.033,3100,2748,1605
$GC,11281,0.83,357.4,723.5,11.0,997,11285,0.00,2.83,0.00,0.000,4,0.000,0.048,3101,1340,1604
$GC,11302,0.83,357.4,721.0,11.4,998,11306,0.00,2.78,0.00,0.000,6,0.000,0.032,3101,2753,1603
$GC,11623,0.83,357.4,686.3,11.0,1014,11625,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2753,1603
$GC,11932,0.83,357.4,650.6,11.6,1029,11934,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2753,1602
$GC,12241,0.83,357.4,612.6,12.6,1044,12242,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2753,1602
$GC,12557,0.83,357.4,575.2,12.1,1068,12561,0.00,2.85,0.00,0.000,4,0.000,0.046,3101,1341,1602
$GC,12585,0.83,357.4,571.7,11.7,1070,12589,0.00,2.75,0.00,0.000,6,0.000,0.033,3101,2749,1601
$GC,12909,0.83,357.4,531.1,12.7,1100,12911,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2749,1601
$GC,13229,0.83,357.4,488.9,13.6,1130,13230,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2749,1601
$GC,13547,0.83,357.4,446.9,12.8,1160,13551,0.00,2.83,0.00,0.000,4,0.000,0.044,3101,1343,1601
$GC,13575,0.83,357.4,443.2,13.0,1162,13580,0.00,2.72,0.00,0.000,6,0.000,0.031,3101,2745,1601
$GC,13900,0.83,357.4,401.0,12.5,1192,13904,0.00,2.28,0.00,0.000,4,0.000,0.049,3101,3890,1601
$GC,13929,0.83,357.4,397.4,12.6,1194,13933,0.00,2.22,0.00,0.000,6,0.000,0.031,3101,2731,1600
$GC,14254,0.83,357.4,358.1,11.3,1224,14258,0.00,2.78,0.00,0.000,4,0.000,0.045,3100,1336,1600
$GC,14282,0.83,357.4,354.8,11.8,1226,14286,0.00,2.75,0.00,0.000,6,0.000,0.031,3101,2749,1600
$GC,14623,0.83,357.4,317.2,10.3,1282,14629,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2750,1600
$GC,14967,0.83,357.4,280.1,10.2,1343,14973,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2750,1600
$GC,15312,0.83,357.4,243.9,11.3,1404,15319,0.00,2.83,0.00,0.000,4,0.000,0.044,3101,1337,1600
$GC,15343,0.83,357.4,240.5,11.1,1409,15351,0.00,2.72,0.00,0.000,6,0.000,0.030,3101,2743,1600
$GC,15688,0.83,357.4,203.3,10.8,1470,15695,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2743,1600
$GC,16033,0.83,357.4,164.1,11.4,1531,16040,0.00,2.80,0.00,0.000,4,0.000,0.044,3101,1341,1600
$GC,16064,0.83,357.4,160.2,12.6,1536,16071,0.00,2.70,0.00,0.000,6,0.000,0.031,3101,2740,1600
$GC,16407,0.83,357.4,118.6,12.4,1597,16413,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2740,1600
$GC,16751,0.83,357.4,77.6,12.4,1658,16759,0.00,2.80,0.00,0.000,4,0.000,0.044,3101,1336,1600
$GC,16790,0.83,357.4,73.1,14.0,1664,16797,0.00,2.70,0.00,0.000,6,0.000,0.030,3101,2734,1600
$GC,17136,0.83,357.4,32.6,10.8,1725,17143,0.00,2.78,0.00,0.000,4,0.000,0.044,3100,1344,1600
$GC,17178,0.87,357.4,28.0,12.1,1732,17185,0.00,2.65,0.00,0.000,6,0.000,0.031,3101,2721,1600
$GC,17321,0.88,364.9,13.2,9.7,1757,17337,0.00,2.33,6.65,0.719,4,0.000,0.047,3101,3889,1583
$GC,17361,0.93,364.9,9.1,10.0,1763,17369,0.00,2.25,0.00,0.000,6,0.000,0.031,3101,2715,1582
$STATE,17437,end climb,SURFACE_DEPTH_REACHED
$STATE,17437,begin surface coast
$FINISH,0.3,1.010366
$STATE,17455,end surface coast,CONTROL_FINISHED_OK
$STATE,17455,begin surface
$SM_CCo,17475,269.17,0.917,0,0,475,636.80
$SM_GC,0.78,0.00,0.00,269.17,0.000,0.000,0.917,1432,2285,475,-6.84,-0.42,636.80
$IRIDIUM_FIX,6121.73,-2555.32,060997,131328
$TT8_MAMPS,0.026845
$HUMID,1786
$INTERNAL_PRESSURE,8.84845
$TCM_TEMP,15.00
$XPDR_PINGS,921
$24V_AH,18.9,102.791
$10V_AH,9.8,68.738
$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,23.800,126.100,610.050,269.175,0.000,143.010,417.155,0.000,230.250,0.000,0.000,13.377,3602.713,9916.867,1056.111,3189.753,936.337,0.000,2505.144,0.000,3184.092,0.000,0.466
$DEVICE_MAMPS,249.275,109.681,1586.923,916.565,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1229.399,1341.781,648.889,1576.229,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129866,1779
$CAP_FILE_SIZE,154673,0
$CFSIZE,260165632,225505280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.177,279.3,1
$GPS,120608,180252,6145.785,-2601.179,37,2.2,56,-18.6