version: 66.03
glider: 142
mission: 5
dive: 331
start: 6 12 108 23 47 3
data:
$ID,142
$MISSION,5
$DIVE,331
$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,-19198.518
$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,24
$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
$GPS1,233827,6147.932,-2606.004,22,2.2,41,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-54.7
$GPS2,234644,6147.937,-2606.139,11,1.6,28,-18.7
$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,358.2,21108,-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,19,begin dive
$GC,21,-0.86,-194.7,0.0,0.0,0,154,0.00,0.00,-129.48,0.000,2,0.000,0.000,1435,2288,3509
$GC,157,-0.86,-194.7,3.7,-5.8,17,188,12.00,2.80,-9.32,0.000,4,0.249,0.055,2727,895,3866
$GC,242,-0.81,-194.7,18.3,-13.3,30,250,0.00,2.72,0.00,0.000,6,0.000,0.030,2726,2309,3867
$GC,386,-0.74,-194.7,38.2,-12.7,55,394,0.15,2.75,0.00,0.000,4,0.136,0.043,2750,3703,3868
$GC,513,-0.74,-194.7,51.3,-10.2,77,520,0.00,2.60,0.00,0.000,6,0.000,0.031,2750,2366,3868
$GC,856,-0.74,-194.7,85.6,-10.5,138,864,0.00,2.92,0.00,0.000,4,0.000,0.048,2750,888,3868
$GC,915,-0.74,-194.7,91.8,-10.1,148,922,0.00,2.88,0.00,0.000,6,0.000,0.030,2750,2378,3868
$GC,1260,-0.74,-194.7,128.0,-10.1,209,1266,0.00,2.62,0.00,0.000,4,0.000,0.044,2750,3712,3868
$GC,1331,-0.74,-194.7,135.3,-10.2,221,1338,0.00,2.60,0.00,0.000,6,0.000,0.032,2750,2372,3868
$GC,1676,-0.74,-194.7,170.2,-10.0,282,1684,0.00,2.95,0.00,0.000,4,0.000,0.048,2750,889,3869
$GC,1730,-0.79,-194.7,175.6,-9.9,291,1737,0.00,2.88,0.00,0.000,6,0.000,0.031,2750,2374,3869
$GC,2075,-0.79,-194.7,209.5,-9.5,352,2082,0.00,2.62,0.00,0.000,4,0.000,0.045,2750,3709,3869
$GC,2140,-0.79,-194.7,216.0,-9.7,363,2147,0.00,2.60,0.00,0.000,6,0.000,0.032,2750,2371,3869
$GC,2486,-0.79,-194.7,252.5,-10.6,424,2493,0.00,2.95,0.00,0.000,4,0.000,0.048,2750,883,3869
$GC,2541,-0.84,-194.7,258.3,-10.5,433,2548,0.00,2.90,0.00,0.000,6,0.000,0.031,2750,2379,3868
$GC,2885,-0.84,-194.7,295.6,-10.8,494,2893,0.00,2.62,0.00,0.000,4,0.000,0.046,2750,3710,3869
$GC,2955,-0.84,-194.7,303.2,-10.6,506,2963,0.00,2.60,0.00,0.000,6,0.000,0.033,2750,2372,3869
$GC,3300,-0.84,-194.7,342.3,-11.4,567,3307,0.00,2.95,0.00,0.000,4,0.000,0.048,2750,891,3868
$GC,3354,-0.88,-194.7,348.4,-11.3,576,3361,0.00,2.88,0.00,0.000,6,0.000,0.031,2750,2373,3868
$GC,3688,-0.88,-194.7,387.4,-11.9,608,3693,0.00,2.65,0.00,0.000,4,0.000,0.046,2750,3709,3868
$GC,3755,-0.88,-194.7,395.6,-11.7,613,3762,0.00,2.62,0.00,0.000,6,0.000,0.034,2750,2363,3868
$GC,4082,-0.88,-194.7,434.1,-11.7,644,4087,0.00,2.95,0.00,0.000,4,0.000,0.050,2750,885,3868
$GC,4133,-0.93,-194.7,440.3,-11.2,648,4139,0.17,2.88,0.00,0.000,6,0.051,0.030,2712,2369,3868
$GC,4459,-0.84,-194.7,486.9,-14.6,678,4464,0.15,2.65,0.00,0.000,4,0.136,0.046,2736,3703,3867
$GC,4522,-0.84,-194.7,495.0,-12.2,683,4526,0.00,2.62,0.00,0.000,6,0.000,0.035,2736,2363,3867
$GC,4849,-0.84,-194.7,534.9,-12.2,713,4854,0.00,2.95,0.00,0.000,4,0.000,0.051,2736,891,3868
$GC,4911,-0.84,-194.7,542.4,-11.2,718,4916,0.00,2.85,0.00,0.000,6,0.000,0.031,2736,2358,3867
$GC,5238,-0.84,-194.7,578.1,-10.9,748,5243,0.00,2.70,0.00,0.000,4,0.000,0.050,2736,3706,3867
$GC,5301,-0.84,-194.7,585.0,-10.8,753,5305,0.00,2.65,0.00,0.000,6,0.000,0.035,2736,2354,3867
$GC,5631,-0.84,-194.7,620.9,-11.3,775,5636,0.00,2.97,0.00,0.000,4,0.000,0.056,2736,886,3867
$GC,5687,-0.84,-194.7,627.5,-11.1,777,5694,0.00,2.80,0.00,0.000,6,0.000,0.033,2736,2352,3866
$GC,6003,-0.84,-194.7,662.8,-11.1,793,6007,0.00,2.78,0.00,0.000,4,0.000,0.059,2736,3709,3867
$GC,6080,-0.84,-194.7,671.0,-10.0,796,6088,0.00,2.70,0.00,0.000,6,0.000,0.043,2736,2360,3866
$GC,6397,-0.84,-194.7,701.3,-9.4,812,6402,0.00,3.05,0.00,0.000,4,0.000,0.065,2736,895,3866
$GC,6453,-0.84,-194.7,706.6,-9.2,814,6460,0.00,2.90,0.00,0.000,6,0.000,0.041,2736,2351,3866
$GC,6768,-0.84,-194.7,738.0,-10.8,830,6773,0.00,2.85,0.00,0.000,4,0.000,0.071,2736,3702,3865
$GC,6841,-0.84,-194.7,746.3,-11.1,833,6845,0.00,2.72,0.00,0.000,6,0.000,0.053,2736,2376,3865
$GC,7156,-0.84,-194.7,780.5,-10.4,848,7161,0.00,3.30,0.00,0.000,4,0.000,0.092,2736,895,3866
$GC,7228,-0.84,-194.7,788.5,-10.4,851,7233,0.00,3.10,0.00,0.000,6,0.000,0.067,2736,2349,3865
$GC,7545,-0.84,-194.7,821.5,-10.7,866,7550,0.00,3.12,0.00,0.000,4,0.000,0.102,2736,3715,3865
$GC,7608,-0.84,-194.7,828.0,-10.1,869,7612,0.00,3.08,0.00,0.000,6,0.000,0.089,2736,2357,3865
$GC,7937,-0.84,-194.7,862.8,-11.5,885,7942,0.00,3.55,0.00,0.000,4,0.000,0.126,2736,901,3865
$GC,8004,-0.84,-194.7,870.8,-10.6,888,8009,0.00,3.42,0.00,0.000,6,0.000,0.105,2736,2353,3865
$GC,8326,-0.84,-194.7,908.2,-11.9,904,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2354,3864
$GC,8634,-0.84,-194.7,942.1,-11.3,919,8636,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2356,3863
$GC,8943,-0.84,-194.7,977.6,-11.8,934,8948,0.00,2.80,0.00,0.000,4,0.000,0.056,2736,3724,3863
$GC,9005,-0.84,-194.7,984.1,-10.4,937,9010,0.00,2.75,0.00,0.000,6,0.000,0.041,2736,2348,3863
$STATE,9061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9061,begin apogee
$GC,9069,-0.21,0.0,990.2,10.5,940,9285,0.88,0.00,211.55,1.574,6,0.146,0.000,2868,2768,3071
$STATE,9286,end apogee,CONTROL_FINISHED_OK
$STATE,9286,begin climb
$GC,9288,0.86,194.7,994.6,0.0,951,9516,1.45,2.60,216.45,1.510,4,0.093,0.058,3101,3890,2276
$GC,9620,0.72,194.7,961.3,12.0,966,9625,0.15,2.35,0.00,0.000,6,0.121,0.035,3081,2742,2274
$GC,9947,0.63,194.7,927.5,10.7,982,9952,0.15,2.38,0.00,0.000,4,0.114,0.052,3055,3897,2273
$GC,9959,0.55,194.7,926.1,11.1,982,9966,0.00,2.25,0.00,0.000,6,0.000,0.033,3054,2744,2273
$GC,10275,0.57,213.3,897.7,9.4,998,10301,0.00,2.90,19.83,1.398,4,0.000,0.051,3055,1350,2201
$GC,10454,0.60,234.6,880.0,9.3,1006,10484,0.00,2.78,23.50,1.426,6,0.000,0.034,3054,2750,2114
$GC,10809,0.67,289.7,850.0,8.1,1023,10875,0.00,2.97,58.72,1.466,4,0.000,0.048,3054,1348,1888
$GC,10881,0.76,362.6,844.3,7.5,1026,10969,0.15,2.88,79.75,1.434,6,0.057,0.035,3084,2750,1591
$GC,11296,0.76,362.6,803.0,10.8,1046,11300,0.00,2.88,0.00,0.000,4,0.000,0.048,3084,1344,1583
$GC,11404,0.76,362.6,791.2,10.8,1051,11408,0.00,2.78,0.00,0.000,6,0.000,0.035,3084,2754,1582
$GC,11731,0.76,362.6,754.9,11.0,1067,11735,0.00,2.88,0.00,0.000,4,0.000,0.047,3084,1337,1581
$GC,11740,0.76,362.6,753.6,11.0,1067,11748,0.00,2.78,0.00,0.000,6,0.000,0.034,3084,2750,1581
$GC,12057,0.76,362.6,717.9,12.2,1083,12062,0.00,2.85,0.00,0.000,4,0.000,0.053,3084,1337,1580
$GC,12074,0.76,362.6,715.6,12.8,1084,12079,0.00,2.75,0.00,0.000,6,0.000,0.034,3084,2739,1580
$GC,12402,0.76,362.6,678.3,11.3,1100,12403,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2739,1580
$GC,12711,0.76,362.6,643.5,11.0,1115,12716,0.00,2.83,0.00,0.000,4,0.000,0.047,3084,1337,1579
$GC,12737,0.76,362.6,640.4,10.5,1116,12742,0.00,2.70,0.00,0.000,6,0.000,0.034,3084,2723,1579
$GC,13055,0.77,374.7,610.0,9.6,1131,13077,0.00,2.85,11.48,1.173,4,0.000,0.046,3084,1348,1542
$GC,13195,0.77,374.7,594.8,10.7,1138,13203,0.00,2.67,0.00,0.000,6,0.000,0.033,3084,2716,1540
$GC,13522,0.80,400.2,562.7,9.1,1169,13558,0.00,2.80,28.73,1.276,4,0.000,0.045,3084,1346,1438
$GC,13650,0.84,430.4,550.7,9.0,1180,13689,0.00,2.72,34.12,1.274,6,0.000,0.032,3084,2724,1316
$GC,14017,0.91,445.8,516.7,9.5,1214,14043,0.15,2.83,17.25,1.182,4,0.053,0.044,3120,1342,1252
$GC,14067,0.91,445.8,510.6,13.1,1218,14072,0.00,2.70,0.00,0.000,6,0.000,0.032,3120,2706,1251
$GC,14392,0.91,445.8,468.7,12.9,1248,14396,0.00,2.75,0.00,0.000,4,0.000,0.045,3120,1337,1249
$GC,14404,0.91,445.8,467.2,13.1,1248,14411,0.00,2.65,0.00,0.000,6,0.000,0.031,3120,2697,1248
$GC,14733,0.91,445.8,426.5,11.8,1279,14737,0.00,2.72,0.00,0.000,4,0.000,0.045,3120,1340,1247
$GC,14742,0.91,445.8,424.6,11.8,1279,14750,0.00,2.62,0.00,0.000,6,0.000,0.031,3120,2686,1247
$GC,15070,0.91,445.8,385.9,11.5,1310,15074,0.00,2.70,0.00,0.000,4,0.000,0.045,3121,1339,1247
$GC,15080,0.91,445.8,384.2,11.6,1310,15087,0.00,2.60,0.00,0.000,6,0.000,0.031,3120,2681,1247
$GC,15408,0.91,445.8,347.7,10.6,1342,15415,0.00,2.67,0.00,0.000,4,0.000,0.045,3120,1345,1246
$GC,15424,0.91,445.8,345.9,10.9,1344,15431,0.00,2.58,0.00,0.000,6,0.000,0.031,3120,2672,1246
$GC,15769,0.91,445.8,309.8,10.7,1405,15775,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2672,1247
$GC,16113,0.91,445.8,270.5,12.2,1466,16120,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2671,1246
$GC,16459,0.91,445.8,227.0,12.2,1527,16466,0.00,2.67,0.00,0.000,4,0.000,0.044,3120,1335,1246
$GC,16473,0.91,445.8,225.2,11.7,1529,16480,0.00,2.58,0.00,0.000,6,0.000,0.031,3121,2664,1246
$GC,16819,0.91,445.8,184.8,12.0,1590,16826,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2664,1246
$GC,17164,0.91,445.8,144.4,11.7,1651,17170,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2664,1246
$GC,17508,0.91,445.8,106.1,10.4,1712,17515,0.00,2.65,0.00,0.000,4,0.000,0.045,3120,1337,1246
$GC,17522,0.91,445.8,104.6,11.6,1714,17529,0.00,2.55,0.00,0.000,6,0.000,0.030,3120,2659,1246
$GC,17869,0.94,465.4,64.7,9.3,1775,17895,0.00,0.00,20.75,0.934,6,0.000,0.000,3120,2660,1173
$GC,18231,0.94,465.4,24.4,11.9,1839,18238,0.00,2.62,0.00,0.000,4,0.000,0.044,3120,1341,1169
$GC,18291,0.94,465.4,17.1,12.0,1849,18299,0.00,2.47,0.00,0.000,6,0.000,0.029,3120,2632,1169
$STATE,18431,end climb,SURFACE_DEPTH_REACHED
$STATE,18432,begin surface coast
$FINISH,0.3,1.025944
$STATE,18453,end surface coast,CONTROL_FINISHED_OK
$STATE,18453,begin surface
$SM_CCo,18532,0.00,0.000,0,0,1167,467.05
$SM_GC,0.86,8.50,0.00,0.00,0.042,0.000,0.000,1433,2279,1167,-6.79,-0.59,467.05
$IRIDIUM_FIX,6121.73,-2557.31,060997,181843
$TT8_MAMPS,0.026078
$HUMID,1844
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,16.50
$XPDR_PINGS,992
$24V_AH,18.9,103.495
$10V_AH,9.8,69.085
$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,23.900,223.825,722.125,0.000,0.000,22.900,32.813,260.604,248.000,0.000,0.000,31.891,3856.637,9841.528,950.092,3604.137,753.957,0.000,2627.976,0.000,3568.827,0.000,0.465
$DEVICE_MAMPS,249.275,125.788,1573.884,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1302.310,1400.989,714.243,1658.766,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139160,1877
$CAP_FILE_SIZE,184140,0
$CFSIZE,260165632,225312768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,309.1,1
$GPS,130608,045708,6150.623,-2609.111,36,1.0,36,-18.7