version: 66.03
glider: 142
mission: 5
dive: 333
start: 6 13 108 10 12 20
data:
$ID,142
$MISSION,5
$DIVE,333
$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,-19229.744
$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,29
$R_STBD_OVSHOOT,23
$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
$GPS1,100357,6153.043,-2611.675,40,1.3,42,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-51.2
$GPS2,101202,6152.993,-2611.663,8,1.3,13,-18.8
$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,302.4,11445,-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,-194.7,0.0,0.0,0,157,0.00,0.00,-132.40,0.000,2,0.000,0.000,1430,2285,3436
$GC,160,-0.86,-194.7,3.5,-6.4,17,192,12.18,2.92,-11.73,0.000,4,0.253,0.051,2724,3712,3866
$GC,280,-0.79,-194.7,21.4,-12.9,36,288,0.12,2.75,0.00,0.000,6,0.143,0.032,2741,2298,3866
$GC,426,-0.75,-194.7,39.4,-12.4,61,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2298,3867
$GC,566,-0.75,-194.7,56.5,-11.8,86,574,0.00,2.80,0.00,0.000,4,0.000,0.043,2740,3704,3867
$GC,638,-0.75,-194.7,64.5,-10.9,98,646,0.00,2.65,0.00,0.000,6,0.000,0.032,2741,2340,3867
$GC,987,-0.75,-194.7,102.3,-10.6,159,994,0.00,2.88,0.00,0.000,4,0.000,0.048,2740,894,3867
$GC,1035,-0.75,-194.7,107.7,-10.4,167,1042,0.00,2.80,0.00,0.000,6,0.000,0.031,2741,2342,3867
$GC,1381,-0.75,-194.7,145.1,-11.6,228,1388,0.00,2.70,0.00,0.000,4,0.000,0.044,2740,3711,3867
$GC,1446,-0.75,-194.7,152.6,-11.5,239,1453,0.00,2.67,0.00,0.000,6,0.000,0.032,2741,2335,3867
$GC,1791,-0.75,-194.7,192.2,-11.1,300,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2334,3867
$GC,2136,-0.75,-194.7,228.9,-11.0,361,2144,0.00,2.88,0.00,0.000,4,0.000,0.048,2741,888,3867
$GC,2173,-0.75,-194.7,232.9,-10.8,367,2180,0.00,2.83,0.00,0.000,6,0.000,0.031,2741,2349,3867
$GC,2518,-0.75,-194.7,269.5,-10.7,428,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2349,3867
$GC,2862,-0.75,-194.7,306.3,-10.3,489,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2349,3867
$GC,3207,-0.75,-194.7,343.4,-11.0,550,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2349,3867
$GC,3538,-0.75,-194.7,381.0,-11.7,586,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2349,3867
$GC,3854,-0.75,-194.7,418.3,-11.6,616,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2349,3867
$GC,4173,-0.75,-194.7,455.0,-11.6,646,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2349,3866
$GC,4491,-0.75,-194.7,490.2,-11.0,676,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2349,3866
$GC,4810,-0.75,-194.7,524.5,-10.6,706,4815,0.00,2.92,0.00,0.000,4,0.000,0.048,2740,896,3866
$GC,4842,-0.75,-194.7,528.2,-10.5,708,4851,0.00,2.78,0.00,0.000,6,0.000,0.031,2741,2327,3865
$GC,5170,-0.75,-194.7,562.6,-10.5,739,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2328,3865
$GC,5486,-0.75,-194.7,595.6,-10.3,769,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2328,3865
$GC,5796,-0.75,-194.7,630.0,-11.7,786,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2328,3865
$GC,6105,-0.75,-194.7,666.7,-11.6,801,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2328,3865
$GC,6414,-0.75,-194.7,699.4,-10.1,816,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2328,3865
$GC,6724,-0.75,-194.7,730.5,-10.6,831,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2328,3864
$GC,7034,-0.75,-194.7,766.5,-12.3,846,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2328,3864
$GC,7342,-0.75,-194.7,801.6,-10.7,861,7347,0.00,3.08,0.00,0.000,4,0.000,0.094,2741,3700,3864
$GC,7398,-0.75,-194.7,807.3,-9.7,863,7405,0.00,3.00,0.00,0.000,6,0.000,0.077,2741,2327,3864
$GC,7714,-0.75,-194.7,839.4,-10.5,879,7720,0.00,3.38,0.00,0.000,4,0.000,0.113,2741,886,3864
$GC,7755,-0.75,-194.7,843.9,-11.2,881,7760,0.00,3.22,0.00,0.000,6,0.000,0.091,2741,2311,3864
$GC,8083,-0.75,-194.7,880.5,-11.1,897,8088,0.00,3.42,0.00,0.000,4,0.000,0.124,2741,3715,3863
$GC,8340,-0.75,-194.7,880.5,0.3,908,8348,0.00,3.38,0.00,0.000,6,0.000,0.114,2741,2310,3862
$STATE,8366,end dive,NO_VERTICAL_VELOCITY
$STATE,8366,begin apogee
$GC,8373,-0.21,0.0,880.6,0.0,910,8588,0.82,0.00,206.55,1.496,6,0.139,0.000,2867,2749,3071
$STATE,8589,end apogee,CONTROL_FINISHED_OK
$STATE,8589,begin climb
$GC,8592,0.86,194.7,880.3,0.0,921,8814,1.42,3.80,210.48,1.434,4,0.088,0.109,3100,1323,2277
$GC,8876,0.74,194.7,858.9,12.0,933,8884,0.00,3.00,0.00,0.000,6,0.000,0.035,3099,2759,2275
$GC,9193,0.60,194.7,820.0,11.7,949,9198,0.28,2.33,0.00,0.000,4,0.111,0.054,3055,3903,2273
$GC,9235,0.64,227.6,816.1,8.9,951,9279,0.00,2.30,34.35,1.378,6,0.000,0.034,3055,2730,2142
$GC,9589,0.73,297.6,790.0,7.6,968,9670,0.12,2.55,72.70,1.408,4,0.064,0.052,3079,3896,1857
$GC,9687,0.73,297.6,780.2,10.3,972,9691,0.00,2.28,0.00,0.000,6,0.000,0.032,3079,2767,1855
$GC,10009,0.73,297.6,745.9,10.5,988,10014,0.00,2.88,0.00,0.000,4,0.000,0.048,3079,1339,1851
$GC,10026,0.73,297.6,744.0,10.7,989,10031,0.00,2.85,0.00,0.000,6,0.000,0.033,3079,2779,1850
$GC,10353,0.73,297.6,710.8,10.2,1005,10358,0.00,2.90,0.00,0.000,4,0.000,0.046,3079,1342,1850
$GC,10364,0.73,299.9,709.5,9.9,1005,10372,0.00,2.80,0.00,0.000,6,0.000,0.033,3079,2771,1850
$GC,10681,0.74,305.3,678.7,9.8,1021,10695,0.00,2.95,7.78,1.095,4,0.000,0.046,3079,1337,1826
$GC,10702,0.74,305.3,676.3,10.8,1022,10707,0.00,2.80,0.00,0.000,6,0.000,0.033,3079,2759,1826
$GC,11030,0.74,305.3,641.8,10.7,1038,11034,0.00,2.85,0.00,0.000,4,0.000,0.045,3079,1340,1825
$GC,11047,0.74,305.3,640.0,10.5,1039,11052,0.00,2.75,0.00,0.000,6,0.000,0.031,3079,2747,1825
$GC,11374,0.74,305.3,605.4,10.6,1055,11375,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2747,1825
$GC,11691,0.75,316.5,574.4,9.6,1082,11714,0.00,2.38,13.20,1.179,4,0.000,0.051,3079,3901,1780
$GC,11720,0.75,316.5,571.1,10.3,1084,11727,0.00,2.28,0.00,0.000,6,0.000,0.031,3079,2726,1779
$GC,12049,0.75,316.5,533.6,11.7,1115,12055,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2725,1778
$GC,12376,0.77,331.5,499.2,9.5,1146,12395,0.00,0.00,16.88,1.183,6,0.000,0.000,3079,2723,1719
$GC,12715,0.81,358.6,466.7,9.1,1178,12746,0.00,0.00,29.42,1.218,6,0.000,0.000,3079,2722,1609
$GC,13062,0.82,367.4,435.0,9.7,1211,13077,0.00,2.80,10.27,1.065,4,0.000,0.046,3079,1349,1572
$GC,13085,0.82,367.4,432.7,10.1,1213,13090,0.00,2.75,0.00,0.000,6,0.000,0.030,3079,2749,1572
$GC,13413,0.83,383.0,402.3,9.5,1243,13439,0.12,2.88,18.02,1.131,4,0.058,0.050,3106,1341,1508
$GC,13464,0.83,383.0,396.4,11.8,1247,13468,0.00,2.72,0.00,0.000,6,0.000,0.031,3106,2725,1507
$GC,13789,0.83,383.0,361.2,10.8,1277,13793,0.00,2.33,0.00,0.000,4,0.000,0.048,3106,3896,1505
$GC,13808,0.83,383.0,359.2,11.3,1278,13812,0.00,2.28,0.00,0.000,6,0.000,0.031,3106,2715,1505
$GC,14147,0.83,383.0,319.9,12.3,1331,14154,0.00,2.72,0.00,0.000,4,0.000,0.046,3106,1343,1504
$GC,14161,0.83,383.0,318.2,11.4,1333,14168,0.00,2.67,0.00,0.000,6,0.000,0.030,3106,2723,1504
$GC,14507,0.83,383.0,278.9,10.9,1394,14514,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2723,1503
$GC,14853,0.85,391.9,242.4,9.7,1455,14868,0.00,2.85,9.82,0.939,4,0.000,0.044,3106,1338,1473
$GC,14876,0.85,397.0,240.1,9.8,1458,14891,0.00,2.70,7.15,0.888,6,0.000,0.031,3106,2724,1451
$GC,15229,0.85,397.0,205.1,10.3,1520,15236,0.00,2.75,0.00,0.000,4,0.000,0.044,3106,1346,1450
$GC,15243,0.86,400.7,203.6,9.9,1522,15258,0.00,2.65,5.05,0.742,6,0.000,0.037,3106,2709,1437
$GC,15595,0.86,400.7,165.2,10.6,1584,15602,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2709,1437
$GC,15939,0.86,400.7,129.0,10.8,1645,15946,0.00,2.72,0.00,0.000,4,0.000,0.045,3106,1346,1436
$GC,15959,0.86,400.7,126.8,10.1,1648,15966,0.00,2.62,0.00,0.000,6,0.000,0.030,3106,2703,1436
$GC,16304,0.86,407.1,91.9,9.8,1709,16318,0.00,0.00,8.45,0.828,6,0.000,0.000,3106,2703,1411
$GC,16657,0.86,407.1,53.8,11.6,1771,16664,0.00,2.72,0.00,0.000,4,0.000,0.044,3106,1342,1409
$GC,16676,0.86,407.1,51.6,11.2,1774,16684,0.00,2.60,0.00,0.000,6,0.000,0.030,3106,2692,1409
$GC,17021,0.89,426.3,17.7,9.3,1835,17050,0.00,2.72,20.83,0.917,4,0.000,0.044,3106,1346,1334
$GC,17071,0.95,435.8,13.2,9.7,1842,17093,0.00,2.58,11.57,0.861,6,0.000,0.029,3106,2677,1294
$STATE,17194,end climb,SURFACE_DEPTH_REACHED
$STATE,17194,begin surface coast
$FINISH,0.3,1.016483
$STATE,17219,end surface coast,CONTROL_FINISHED_OK
$STATE,17219,begin surface
$SM_CCo,17298,0.00,0.000,0,0,1289,437.12
$SM_GC,0.84,8.60,0.00,0.00,0.049,0.000,0.000,1434,2285,1289,-6.79,-0.42,437.12
$IRIDIUM_FIX,6126.23,-2605.39,070997,050526
$TT8_MAMPS,0.026845
$HUMID,1827
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,16.70
$XPDR_PINGS,889
$24V_AH,19.0,104.135
$10V_AH,9.8,69.425
$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,23.675,146.700,682.525,0.000,0.000,30.319,34.438,256.155,222.250,0.000,0.000,16.808,3779.421,8987.409,881.046,3393.735,719.146,0.000,2422.382,0.000,3379.286,0.000,0.466
$DEVICE_MAMPS,253.110,124.254,1496.417,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1294.742,1396.676,727.570,1747.982,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135969,1867
$CAP_FILE_SIZE,165860,0
$CFSIZE,260165632,225136640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.083,  9.6,1
$GPS,130608,150216,6154.608,-2616.596,41,2.3,60,-18.8