version: 66.03
glider: 142
mission: 5
dive: 330
start: 6 12 108 18 17 54
data:
$ID,142
$MISSION,5
$DIVE,330
$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,-19165.998
$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
$GPS1,180252,6145.785,-2601.179,37,2.2,56,-18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-42.6
$GPS2,181735,6145.698,-2601.141,12,2.5,31,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NW
$TGT_LATLONG,6156.130,-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,354.8,27117,-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,21,begin dive
$GC,24,-0.86,-194.7,0.0,0.0,0,193,0.00,0.00,-166.23,0.000,2,0.000,0.000,1432,2285,3569
$GC,196,-0.86,-194.7,3.5,-4.7,22,227,11.70,2.88,-7.68,0.000,4,0.245,0.050,2727,3704,3867
$GC,274,-0.80,-194.7,18.4,-13.4,34,281,0.00,2.72,0.00,0.000,6,0.000,0.031,2727,2295,3868
$GC,418,-0.73,-194.7,37.6,-13.1,59,426,0.17,2.78,0.00,0.000,4,0.153,0.046,2753,888,3868
$GC,461,-0.73,-194.7,42.7,-10.8,66,469,0.00,2.72,0.00,0.000,6,0.000,0.029,2753,2310,3868
$GC,605,-0.73,-194.7,57.7,-10.3,91,612,0.00,2.75,0.00,0.000,4,0.000,0.042,2753,3707,3868
$GC,675,-0.73,-194.7,64.8,-10.4,103,682,0.00,2.75,0.00,0.000,6,0.000,0.031,2753,2293,3868
$GC,1019,-0.73,-194.7,102.0,-11.2,164,1026,0.00,2.78,0.00,0.000,4,0.000,0.049,2753,890,3868
$GC,1051,-0.73,-194.7,105.4,-10.8,169,1058,0.00,2.72,0.00,0.000,6,0.000,0.029,2753,2317,3868
$GC,1397,-0.73,-194.7,141.7,-10.5,230,1404,0.00,2.72,0.00,0.000,4,0.000,0.044,2753,3703,3868
$GC,1484,-0.73,-194.7,151.1,-10.5,245,1491,0.00,2.70,0.00,0.000,6,0.000,0.032,2753,2313,3868
$GC,1829,-0.73,-194.7,185.9,-9.8,306,1837,0.00,2.83,0.00,0.000,4,0.000,0.048,2753,884,3868
$GC,1873,-0.73,-194.7,190.0,-10.0,313,1881,0.00,2.78,0.00,0.000,6,0.000,0.030,2753,2327,3868
$GC,2219,-0.73,-194.7,223.4,-9.4,374,2226,0.00,2.72,0.00,0.000,4,0.000,0.044,2753,3707,3868
$GC,2296,-0.73,-194.7,230.7,-9.4,387,2303,0.00,2.70,0.00,0.000,6,0.000,0.032,2753,2318,3868
$GC,2641,-0.73,-194.7,264.4,-10.4,448,2649,0.00,2.83,0.00,0.000,4,0.000,0.048,2753,886,3867
$GC,2685,-0.78,-194.7,268.9,-10.4,455,2692,0.00,2.78,0.00,0.000,6,0.000,0.031,2753,2327,3867
$GC,3028,-0.78,-194.7,305.5,-10.9,516,3036,0.00,2.72,0.00,0.000,4,0.000,0.045,2753,3713,3867
$GC,3116,-0.78,-194.7,315.0,-10.6,531,3123,0.00,2.70,0.00,0.000,6,0.000,0.033,2753,2326,3867
$GC,3460,-0.78,-194.7,353.9,-12.0,589,3465,0.00,2.85,0.00,0.000,4,0.000,0.048,2753,889,3867
$GC,3500,-0.78,-194.7,358.6,-11.2,592,3504,0.00,2.78,0.00,0.000,6,0.000,0.030,2753,2327,3867
$GC,3826,-0.78,-194.7,394.4,-11.1,622,3831,0.00,2.72,0.00,0.000,4,0.000,0.045,2753,3703,3866
$GC,3913,-0.78,-194.7,404.0,-11.1,629,3917,0.00,2.67,0.00,0.000,6,0.000,0.033,2753,2331,3866
$GC,4241,-0.78,-194.7,439.3,-10.7,659,4246,0.00,2.88,0.00,0.000,4,0.000,0.049,2753,890,3866
$GC,4286,-0.82,-194.7,444.6,-10.5,662,4294,0.00,2.80,0.00,0.000,6,0.000,0.030,2753,2340,3865
$GC,4614,-0.82,-194.7,477.2,-9.5,693,4618,0.00,2.70,0.00,0.000,4,0.000,0.046,2753,3701,3865
$GC,4680,-0.82,-194.7,484.0,-9.8,698,4687,0.00,2.67,0.00,0.000,6,0.000,0.033,2753,2328,3865
$GC,5007,-0.82,-194.7,517.1,-10.1,729,5012,0.00,2.88,0.00,0.000,4,0.000,0.050,2753,886,3865
$GC,5051,-0.87,-194.7,521.9,-10.3,732,5059,0.12,2.80,0.00,0.000,6,0.058,0.030,2725,2337,3864
$GC,5377,-0.82,-194.7,561.9,-12.2,763,5381,0.00,2.75,0.00,0.000,4,0.000,0.049,2725,3713,3864
$GC,5462,-0.78,-194.7,572.3,-12.1,770,5467,0.15,2.70,0.00,0.000,6,0.147,0.035,2744,2335,3864
$GC,5790,-0.78,-194.7,604.6,-9.6,798,5794,0.00,2.92,0.00,0.000,4,0.000,0.054,2744,890,3864
$GC,5830,-0.78,-194.7,608.7,-9.3,800,5835,0.00,2.83,0.00,0.000,6,0.000,0.031,2744,2341,3864
$GC,6157,-0.78,-194.7,638.0,-9.0,816,6162,0.00,2.78,0.00,0.000,4,0.000,0.055,2745,3710,3863
$GC,6229,-0.78,-194.7,644.3,-8.1,819,6234,0.00,2.72,0.00,0.000,6,0.000,0.040,2744,2343,3864
$GC,6545,-0.78,-194.7,672.0,-9.3,834,6550,0.00,3.00,0.00,0.000,4,0.000,0.062,2744,890,3863
$GC,6586,-0.78,-194.7,675.7,-9.1,836,6591,0.00,2.85,0.00,0.000,6,0.000,0.035,2744,2340,3863
$GC,6913,-0.78,-194.7,706.1,-9.5,852,6917,0.00,2.85,0.00,0.000,4,0.000,0.064,2744,3710,3863
$GC,6979,-0.78,-194.7,712.6,-9.9,855,6984,0.00,2.80,0.00,0.000,6,0.000,0.049,2744,2337,3863
$GC,7302,-0.78,-194.7,741.7,-9.2,871,7306,0.00,3.10,0.00,0.000,4,0.000,0.076,2744,891,3863
$GC,7364,-0.82,-194.7,747.7,-9.0,874,7369,0.00,2.95,0.00,0.000,6,0.000,0.051,2744,2330,3862
$GC,7692,-0.82,-194.7,780.4,-9.5,890,7697,0.00,3.05,0.00,0.000,4,0.000,0.087,2744,3716,3862
$GC,7781,-0.82,-194.7,788.7,-8.6,894,7786,0.00,2.92,0.00,0.000,6,0.000,0.067,2744,2342,3861
$GC,8102,-0.82,-194.7,817.6,-9.6,910,8107,0.00,3.33,0.00,0.000,4,0.000,0.102,2744,884,3861
$GC,8175,-0.88,-194.7,825.3,-10.6,913,8180,0.00,3.20,0.00,0.000,6,0.000,0.083,2744,2330,3861
$GC,8490,-0.88,-194.7,859.8,-11.3,928,8495,0.00,3.30,0.00,0.000,4,0.000,0.117,2744,3712,3861
$GC,8562,-0.88,-194.7,868.1,-11.4,931,8567,0.00,3.28,0.00,0.000,6,0.000,0.107,2744,2332,3861
$GC,8878,-0.88,-194.7,904.1,-11.1,946,8883,0.00,2.92,0.00,0.000,4,0.000,0.051,2744,874,3860
$GC,8919,-0.93,-194.7,908.4,-10.9,948,8924,0.15,2.90,0.00,0.000,6,0.055,0.032,2712,2358,3860
$GC,9247,-0.86,-194.7,951.5,-13.6,964,9252,0.12,2.83,0.00,0.000,4,0.138,0.059,2728,3725,3860
$GC,9313,-0.86,-194.7,960.0,-12.2,967,9318,0.00,2.83,0.00,0.000,6,0.000,0.042,2728,2325,3860
$STATE,9591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9591,begin apogee
$GC,9598,-0.21,0.0,990.5,10.7,981,9814,0.95,0.00,210.07,1.576,6,0.149,0.000,2869,2765,3071
$STATE,9816,end apogee,CONTROL_FINISHED_OK
$STATE,9816,begin climb
$GC,9818,0.86,194.7,997.3,0.0,992,10047,1.42,2.62,215.95,1.513,4,0.091,0.057,3099,3896,2277
$GC,10159,0.72,194.7,963.3,13.3,1007,10164,0.15,2.35,0.00,0.000,6,0.123,0.035,3079,2739,2274
$GC,10476,0.63,194.7,927.8,10.9,1022,10478,0.12,0.00,0.00,0.000,6,0.120,0.000,3061,2739,2274
$GC,10786,0.61,224.8,899.9,9.0,1037,10823,0.00,2.42,31.88,1.457,4,0.000,0.053,3061,3897,2153
$GC,10834,0.63,241.0,895.2,9.4,1038,10857,0.00,2.30,18.35,1.382,6,0.000,0.033,3061,2742,2088
$GC,11175,0.63,241.0,860.7,10.6,1055,11177,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2741,2085
$GC,11484,0.67,273.3,830.7,8.9,1070,11528,0.00,2.92,34.58,1.434,4,0.000,0.050,3061,1347,1955
$GC,11534,0.73,317.1,826.1,8.5,1072,11587,0.00,2.83,47.67,1.434,6,0.000,0.033,3061,2752,1777
$GC,11909,0.80,378.8,796.5,7.9,1090,11982,0.15,2.97,66.12,1.431,4,0.058,0.047,3095,1346,1526
$GC,12009,0.80,378.8,785.5,10.7,1094,12017,0.00,2.83,0.00,0.000,6,0.000,0.033,3095,2733,1522
$GC,12326,0.80,378.8,753.3,10.1,1110,12330,0.00,2.83,0.00,0.000,4,0.000,0.047,3095,1344,1518
$GC,12336,0.80,378.8,752.1,10.4,1110,12343,0.00,2.70,0.00,0.000,6,0.000,0.033,3095,2718,1518
$GC,12652,0.81,381.9,721.7,9.9,1126,12657,0.00,2.78,0.00,0.000,4,0.000,0.047,3095,1340,1517
$GC,12662,0.81,384.8,720.4,9.9,1126,12673,0.00,2.67,6.00,1.022,6,0.000,0.033,3095,2711,1502
$GC,13004,0.81,384.8,685.9,10.5,1143,13005,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2711,1500
$GC,13313,0.81,384.8,653.5,10.3,1158,13317,0.00,2.75,0.00,0.000,4,0.000,0.046,3095,1343,1500
$GC,13323,0.81,384.8,652.1,10.6,1158,13330,0.00,2.67,0.00,0.000,6,0.000,0.033,3095,2713,1500
$GC,13639,0.81,384.8,618.4,11.2,1174,13640,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2713,1500
$GC,13952,0.81,384.8,585.0,11.3,1195,13953,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2713,1499
$GC,14271,0.81,384.8,548.4,11.3,1225,14272,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2713,1499
$GC,14589,0.81,384.8,513.4,11.2,1255,14594,0.00,2.75,0.00,0.000,4,0.000,0.046,3095,1340,1499
$GC,14599,0.81,384.8,512.1,11.2,1255,14606,0.00,2.65,0.00,0.000,6,0.000,0.031,3095,2705,1499
$GC,14926,0.81,384.8,478.6,10.3,1286,14931,0.00,2.72,0.00,0.000,4,0.000,0.045,3095,1345,1499
$GC,14946,0.81,384.8,476.5,10.5,1287,14950,0.00,2.62,0.00,0.000,6,0.000,0.031,3096,2694,1498
$GC,15273,0.81,384.8,443.1,10.0,1317,15274,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2694,1498
$GC,15591,0.81,384.8,412.0,10.0,1347,15592,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2695,1498
$GC,15908,0.81,384.8,379.0,10.9,1377,15909,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2694,1498
$GC,16228,0.81,384.8,344.7,10.3,1411,16235,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2694,1498
$GC,16573,0.84,413.6,310.0,9.0,1472,16612,0.00,2.78,31.23,1.118,4,0.000,0.045,3095,1344,1383
$GC,16620,0.87,435.8,305.6,9.2,1479,16654,0.00,2.65,25.33,1.092,6,0.000,0.031,3095,2686,1293
$GC,16992,0.89,449.2,272.8,9.5,1544,17014,0.00,2.72,14.65,1.020,4,0.000,0.044,3095,1344,1238
$GC,17027,0.95,464.3,269.6,9.5,1549,17056,0.17,2.62,17.58,1.045,6,0.047,0.031,3134,2681,1177
$GC,17398,0.95,464.3,222.4,13.2,1613,17405,0.00,2.70,0.00,0.000,4,0.000,0.045,3135,1342,1173
$GC,17412,0.95,464.3,220.0,13.5,1615,17419,0.00,2.58,0.00,0.000,6,0.000,0.030,3135,2667,1173
$GC,17757,0.95,464.3,175.2,13.2,1676,17763,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2667,1172
$GC,18101,0.95,464.3,127.2,15.3,1737,18108,0.00,2.65,0.00,0.000,4,0.000,0.045,3134,1343,1171
$GC,18120,0.95,464.3,124.2,15.4,1740,18128,0.00,2.53,0.00,0.000,6,0.000,0.030,3134,2654,1171
$GC,18465,0.95,464.3,75.4,13.3,1801,18471,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2654,1171
$GC,18808,0.95,464.3,32.3,12.2,1862,18815,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2653,1170
$GC,18950,0.95,464.3,14.6,11.7,1887,18957,0.00,2.62,0.00,0.000,4,0.000,0.045,3135,1333,1171
$GC,18964,0.95,464.3,12.8,12.3,1889,18972,0.00,2.53,0.00,0.000,6,0.000,0.030,3135,2649,1170
$STATE,19057,end climb,SURFACE_DEPTH_REACHED
$STATE,19057,begin surface coast
$FINISH,0.4,1.025948
$STATE,19074,end surface coast,CONTROL_FINISHED_OK
$STATE,19074,begin surface
$SM_CCo,19154,0.00,0.000,0,0,1169,466.56
$SM_GC,0.92,8.62,0.00,0.00,0.046,0.000,0.000,1435,2297,1169,-6.79,-0.08,466.56
$IRIDIUM_FIX,6121.73,-2557.31,060997,181808
$TT8_MAMPS,0.026078
$HUMID,1861
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,15.00
$XPDR_PINGS,995
$24V_AH,18.9,103.151
$10V_AH,9.8,68.914
$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,24.025,218.575,719.400,0.000,0.000,57.365,61.730,522.314,248.750,0.000,0.000,33.672,3903.140,10471.334,966.189,3598.064,1081.023,0.000,2639.170,0.000,3560.030,0.000,0.465
$DEVICE_MAMPS,245.440,117.351,1576.185,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1324.234,1416.224,683.599,1689.335,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139028,1908
$CAP_FILE_SIZE,194941,0
$CFSIZE,260165632,225402880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.136,256.3,1
$GPS,120608,233827,6147.932,-2606.004,22,2.2,41,-18.7