version: 66.03
glider: 142
mission: 5
dive: 338
start: 6 14 108 7 14 18
data:
$ID,142
$MISSION,5
$DIVE,338
$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,-19303.062
$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,25
$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
$GPS1,070607,6155.979,-2612.986,37,1.0,42,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-53.9
$GPS2,071357,6155.981,-2612.908,12,1.0,12,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NE
$TGT_LATLONG,6156.130,-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,129.7,11076,-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,-194.7,0.0,0.0,0,141,0.00,0.00,-116.97,0.000,2,0.000,0.000,1432,2290,3397
$GC,144,-0.86,-194.7,3.1,-5.1,15,176,11.75,2.88,-13.43,0.000,4,0.245,0.054,2726,889,3867
$GC,292,-0.81,-194.7,24.8,-14.4,39,300,0.00,2.70,0.00,0.000,6,0.000,0.028,2726,2302,3868
$GC,436,-0.72,-194.7,47.7,-15.8,64,443,0.17,0.00,0.00,0.000,6,0.142,0.000,2753,2302,3868
$GC,579,-0.72,-194.7,65.6,-11.8,89,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2302,3868
$GC,923,-0.72,-194.7,99.1,-9.4,150,931,0.00,2.78,0.00,0.000,4,0.000,0.043,2753,3712,3868
$GC,990,-0.72,-194.7,105.1,-9.5,161,997,0.00,2.75,0.00,0.000,6,0.000,0.031,2753,2297,3868
$GC,1333,-0.72,-194.7,136.4,-10.1,222,1340,0.00,2.80,0.00,0.000,4,0.000,0.043,2753,3703,3868
$GC,1355,-0.72,-194.7,138.4,-9.8,225,1363,0.00,2.72,0.00,0.000,6,0.000,0.032,2753,2302,3868
$GC,1700,-0.72,-194.7,175.4,-11.2,286,1708,0.00,2.83,0.00,0.000,4,0.000,0.045,2754,3712,3868
$GC,1726,-0.72,-194.7,178.3,-10.9,290,1734,0.00,2.72,0.00,0.000,6,0.000,0.032,2753,2312,3869
$GC,2072,-0.72,-194.7,216.9,-11.5,351,2079,0.00,2.80,0.00,0.000,4,0.000,0.044,2753,3707,3869
$GC,2097,-0.72,-194.7,219.9,-11.1,355,2104,0.00,2.70,0.00,0.000,6,0.000,0.032,2753,2321,3869
$GC,2443,-0.72,-194.7,256.8,-10.3,416,2450,0.00,2.78,0.00,0.000,4,0.000,0.045,2753,3706,3868
$GC,2465,-0.72,-194.7,258.9,-10.2,419,2472,0.00,2.70,0.00,0.000,6,0.000,0.033,2753,2320,3869
$GC,2810,-0.72,-194.7,294.1,-9.4,480,2818,0.00,2.78,0.00,0.000,4,0.000,0.045,2753,3703,3868
$GC,2825,-0.72,-194.7,295.5,-9.3,482,2832,0.00,2.67,0.00,0.000,6,0.000,0.033,2753,2332,3869
$GC,3171,-0.72,-194.7,328.5,-9.6,543,3178,0.00,2.78,0.00,0.000,4,0.000,0.046,2753,3709,3869
$GC,3201,-0.72,-194.7,331.7,-10.5,548,3209,0.00,2.67,0.00,0.000,6,0.000,0.034,2753,2336,3869
$GC,3544,-0.72,-194.7,367.0,-10.7,595,3548,0.00,2.75,0.00,0.000,4,0.000,0.046,2753,3711,3868
$GC,3553,-0.72,-194.7,368.2,-10.5,595,3560,0.00,2.67,0.00,0.000,6,0.000,0.032,2753,2339,3868
$GC,3881,-0.72,-194.7,404.2,-11.4,626,3886,0.00,2.75,0.00,0.000,4,0.000,0.046,2753,3704,3868
$GC,3899,-0.72,-194.7,406.4,-11.4,627,3903,0.00,2.65,0.00,0.000,6,0.000,0.033,2753,2347,3868
$GC,4228,-0.72,-194.7,443.5,-11.0,657,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2346,3867
$GC,4553,-0.72,-194.7,480.6,-11.1,688,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2346,3867
$GC,4871,-0.72,-194.7,515.9,-11.0,718,4876,0.00,2.75,0.00,0.000,4,0.000,0.048,2753,3706,3867
$GC,4889,-0.72,-194.7,517.8,-11.1,719,4894,0.00,2.62,0.00,0.000,6,0.000,0.032,2753,2354,3867
$GC,5217,-0.72,-194.7,551.5,-9.5,749,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2353,3867
$GC,5543,-0.72,-194.7,584.3,-10.0,780,5547,0.00,2.75,0.00,0.000,4,0.000,0.051,2753,3703,3866
$GC,5564,-0.72,-194.7,586.7,-10.1,781,5571,0.00,2.65,0.00,0.000,6,0.000,0.035,2753,2354,3867
$GC,5884,-0.72,-194.7,618.7,-10.1,803,5889,0.00,2.75,0.00,0.000,4,0.000,0.052,2754,3700,3866
$GC,5907,-0.72,-194.7,621.0,-9.7,804,5911,0.00,2.62,0.00,0.000,6,0.000,0.035,2753,2362,3866
$GC,6229,-0.72,-194.7,652.7,-9.4,820,6230,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2362,3866
$GC,6538,-0.72,-194.7,682.4,-9.1,835,6542,0.00,2.80,0.00,0.000,4,0.000,0.061,2754,3704,3866
$GC,6549,-0.72,-194.7,683.4,-9.1,835,6556,0.00,2.67,0.00,0.000,6,0.000,0.042,2753,2365,3865
$GC,6865,-0.72,-194.7,718.9,-12.9,851,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2365,3866
$GC,7173,-0.72,-194.7,755.7,-11.7,866,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2365,3865
$GC,7484,-0.72,-194.7,788.6,-10.5,881,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2365,3865
$GC,7793,-0.79,-194.7,814.8,-5.7,896,7798,0.00,3.40,0.00,0.000,4,0.000,0.107,2753,899,3864
$STATE,8043,end dive,NO_VERTICAL_VELOCITY
$STATE,8043,begin apogee
$GC,8054,-0.21,0.0,814.8,0.0,907,8266,0.65,0.00,204.10,1.453,6,0.100,0.000,2867,2735,3071
$STATE,8267,end apogee,CONTROL_FINISHED_OK
$STATE,8267,begin climb
$GC,8269,0.86,194.7,814.6,0.0,918,8482,1.42,0.00,207.85,1.391,6,0.090,0.000,3100,2735,2277
$GC,8792,0.73,194.7,759.8,14.3,943,8796,0.00,2.50,0.00,0.000,4,0.000,0.076,3100,3903,2275
$GC,8836,0.60,194.7,752.9,14.8,945,8841,0.30,2.38,0.00,0.000,6,0.121,0.053,3054,2750,2275
$GC,9158,0.67,246.8,722.3,8.2,961,9217,0.00,0.00,53.75,1.355,6,0.000,0.000,3054,2749,2063
$GC,9527,0.74,302.6,696.9,8.1,979,9594,0.12,3.03,57.42,1.344,4,0.062,0.060,3079,1336,1836
$GC,9622,0.74,302.6,685.4,12.7,983,9627,0.00,2.90,0.00,0.000,6,0.000,0.037,3079,2756,1834
$GC,9946,0.74,302.6,646.6,11.3,999,9950,0.00,2.33,0.00,0.000,4,0.000,0.059,3079,3900,1831
$GC,9979,0.74,302.6,642.2,11.8,1000,9987,0.00,2.30,0.00,0.000,6,0.000,0.035,3079,2724,1830
$GC,10296,0.77,328.1,610.0,9.1,1016,10325,0.00,0.00,26.70,1.273,6,0.000,0.000,3080,2723,1733
$GC,10633,0.80,355.4,580.2,9.1,1042,10664,0.00,0.00,29.52,1.269,6,0.000,0.000,3079,2723,1622
$GC,10979,0.81,358.5,547.6,9.9,1075,10989,0.00,0.00,4.20,0.779,6,0.000,0.000,3080,2723,1609
$GC,11309,0.83,380.0,514.8,9.3,1106,11338,0.00,0.00,24.52,1.219,6,0.000,0.000,3079,2722,1521
$GC,11657,0.92,420.0,483.7,8.6,1139,11707,0.17,2.90,43.05,1.226,4,0.049,0.047,3121,1341,1358
$GC,11746,0.92,420.0,472.7,12.8,1146,11754,0.00,2.83,0.00,0.000,6,0.000,0.030,3121,2764,1355
$GC,12076,0.92,420.0,432.4,12.9,1177,12082,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2764,1352
$GC,12401,0.92,420.0,389.6,12.7,1208,12405,0.00,2.85,0.00,0.000,4,0.000,0.044,3121,1340,1351
$GC,12452,0.92,420.0,382.8,13.4,1212,12457,0.00,2.72,0.00,0.000,6,0.000,0.031,3122,2743,1350
$GC,12779,0.92,420.0,343.2,11.5,1247,12786,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2743,1350
$GC,13125,0.92,420.0,304.0,11.3,1308,13131,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2743,1349
$GC,13470,0.92,420.0,264.2,12.0,1369,13477,0.00,2.83,0.00,0.000,4,0.000,0.044,3121,1331,1349
$GC,13523,0.92,420.0,257.4,12.9,1378,13531,0.00,2.72,0.00,0.000,6,0.000,0.030,3122,2738,1349
$GC,13870,0.92,420.0,214.5,12.9,1439,13876,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2738,1349
$GC,14212,0.92,420.0,169.4,13.0,1500,14220,0.00,2.80,0.00,0.000,4,0.000,0.044,3122,1336,1349
$GC,14249,0.92,420.0,164.4,13.8,1506,14256,0.00,2.70,0.00,0.000,6,0.000,0.030,3122,2730,1349
$GC,14596,0.92,420.0,121.1,11.7,1567,14602,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2730,1349
$GC,14939,0.92,420.0,79.5,11.8,1628,14946,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2730,1349
$GC,15283,0.92,420.0,42.3,10.1,1689,15291,0.00,2.78,0.00,0.000,4,0.000,0.044,3122,1340,1349
$GC,15342,0.92,420.0,35.9,11.0,1699,15350,0.00,2.65,0.00,0.000,6,0.000,0.030,3122,2716,1349
$GC,15486,0.92,420.0,20.9,10.8,1724,15492,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2715,1349
$GC,15630,0.92,420.0,5.9,10.2,1749,15637,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2716,1348
$STATE,15669,end climb,SURFACE_DEPTH_REACHED
$STATE,15669,begin surface coast
$FINISH,0.2,1.022082
$STATE,15693,end surface coast,CONTROL_FINISHED_OK
$STATE,15693,begin surface
$SM_CCo,15773,0.00,0.000,0,0,1347,422.90
$SM_GC,0.92,8.55,0.00,0.00,0.045,0.000,0.000,1436,2276,1347,-6.79,-0.68,422.90
$IRIDIUM_FIX,6130.75,-2617.54,080997,020208
$TT8_MAMPS,0.026078
$HUMID,1862
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,15.20
$XPDR_PINGS,826
$24V_AH,19.1,105.461
$10V_AH,9.9,70.170
$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,23.150,128.025,651.125,0.000,0.000,27.719,33.771,255.456,206.500,0.000,0.000,13.639,3533.272,7976.883,880.028,3145.555,692.917,0.000,2287.459,0.000,3139.840,0.000,0.465
$DEVICE_MAMPS,245.440,106.613,1453.465,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1229.307,1309.596,705.695,1641.641,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129570,1760
$CAP_FILE_SIZE,152406,0
$CFSIZE,260165632,224735232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094, 80.1,1
$GPS,140608,113831,6154.991,-2606.636,38,1.2,43,-18.8