version: 66.03
glider: 142
mission: 5
dive: 350
start: 6 16 108 12 44 34
data:
$ID,142
$MISSION,5
$DIVE,350
$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,-19527.162
$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,27
$R_STBD_OVSHOOT,22
$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
$GPS1,123708,6145.223,-2621.928,30,1.7,30,-18.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-58.8
$GPS2,124414,6145.142,-2622.044,10,1.8,15,-18.8
$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,103.7,19149,-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,24,-0.86,-194.7,0.0,0.0,0,90,0.00,0.00,-64.05,0.000,2,0.000,0.000,1433,2285,3426
$GC,94,-0.86,-194.7,3.1,-5.1,9,125,12.68,2.88,-11.55,0.000,4,0.260,0.056,2726,895,3867
$GC,189,-0.79,-194.7,21.8,-14.7,24,197,0.12,2.72,0.00,0.000,6,0.146,0.029,2742,2313,3868
$GC,336,-0.73,-194.7,38.7,-10.1,49,344,0.00,2.75,0.00,0.000,4,0.000,0.044,2743,3710,3868
$GC,368,-0.67,-194.7,42.5,-11.5,54,376,0.17,2.67,0.00,0.000,6,0.138,0.031,2767,2327,3868
$GC,512,-0.67,-194.7,57.2,-10.7,79,519,0.00,2.75,0.00,0.000,4,0.000,0.042,2767,3706,3868
$GC,576,-0.67,-194.7,64.2,-10.6,90,583,0.00,2.58,0.00,0.000,6,0.000,0.032,2767,2374,3868
$GC,923,-0.67,-194.7,96.8,-9.2,151,930,0.00,2.65,0.00,0.000,4,0.000,0.044,2767,3704,3869
$GC,1033,-0.67,-194.7,106.6,-8.4,170,1041,0.00,2.53,0.00,0.000,6,0.000,0.031,2767,2398,3869
$GC,1381,-0.67,-194.7,137.6,-9.7,231,1388,0.00,2.62,0.00,0.000,4,0.000,0.044,2767,3712,3869
$GC,1496,-0.67,-194.7,149.3,-10.3,251,1503,0.00,2.50,0.00,0.000,6,0.000,0.031,2766,2423,3870
$GC,1841,-0.67,-194.7,183.7,-10.2,312,1848,0.00,2.55,0.00,0.000,4,0.000,0.044,2767,3702,3869
$GC,1956,-0.67,-194.7,195.6,-10.0,332,1963,0.00,2.42,0.00,0.000,6,0.000,0.031,2767,2447,3870
$GC,2301,-0.67,-194.7,231.9,-10.7,393,2308,0.00,2.53,0.00,0.000,4,0.000,0.046,2767,3707,3869
$GC,2377,-0.67,-194.7,240.1,-10.8,406,2384,0.00,2.40,0.00,0.000,6,0.000,0.032,2767,2468,3870
$GC,2723,-0.67,-194.7,275.8,-9.6,467,2730,0.00,2.47,0.00,0.000,4,0.000,0.047,2767,3703,3869
$GC,2805,-0.67,-194.7,283.8,-9.8,481,2812,0.00,2.38,0.00,0.000,6,0.000,0.033,2767,2481,3869
$GC,3150,-0.67,-194.7,313.6,-8.1,542,3157,0.00,2.45,0.00,0.000,4,0.000,0.048,2767,3705,3870
$GC,3204,-0.67,-194.7,318.1,-8.5,551,3211,0.00,2.35,0.00,0.000,6,0.000,0.033,2767,2496,3869
$GC,3550,-0.67,-194.7,347.5,-9.0,612,3558,0.00,2.42,0.00,0.000,4,0.000,0.047,2767,3703,3869
$GC,3614,-0.67,-194.7,353.5,-9.2,620,3621,0.00,2.30,0.00,0.000,6,0.000,0.032,2767,2513,3869
$GC,3944,-0.67,-194.7,382.7,-8.9,651,3948,0.00,2.40,0.00,0.000,4,0.000,0.047,2767,3709,3869
$GC,4006,-0.67,-194.7,388.7,-9.0,656,4010,0.00,2.30,0.00,0.000,6,0.000,0.032,2767,2517,3869
$GC,4341,-0.67,-194.7,418.8,-9.1,687,4345,0.00,2.40,0.00,0.000,4,0.000,0.047,2767,3712,3869
$GC,4392,-0.67,-194.7,424.0,-9.4,691,4396,0.00,2.28,0.00,0.000,6,0.000,0.032,2767,2537,3869
$GC,4720,-0.67,-194.7,456.6,-10.6,721,4724,0.00,2.35,0.00,0.000,4,0.000,0.047,2767,3707,3869
$GC,4772,-0.67,-194.7,462.5,-10.6,725,4776,0.00,2.25,0.00,0.000,6,0.000,0.031,2767,2544,3869
$GC,5102,-0.67,-194.7,497.9,-11.2,755,5106,0.00,2.35,0.00,0.000,4,0.000,0.048,2767,3710,3869
$GC,5123,-0.67,-194.7,501.0,-11.3,756,5131,0.00,2.28,0.00,0.000,6,0.000,0.031,2767,2551,3869
$GC,5451,-0.67,-194.7,535.1,-10.0,787,5456,0.00,3.35,0.00,0.000,4,0.000,0.055,2767,892,3869
$GC,5503,-0.73,-194.7,540.5,-10.2,791,5508,0.00,3.20,0.00,0.000,6,0.000,0.031,2767,2534,3869
$GC,5832,-0.73,-194.7,572.1,-9.5,821,5837,0.00,3.33,0.00,0.000,4,0.000,0.048,2767,897,3869
$GC,5861,-0.73,-194.7,575.2,-9.9,823,5866,0.00,3.17,0.00,0.000,6,0.000,0.032,2767,2521,3869
$GC,6187,-0.73,-194.7,606.0,-9.8,850,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2521,3869
$GC,6494,-0.73,-194.7,636.1,-9.7,865,6499,0.00,3.35,0.00,0.000,4,0.000,0.053,2767,888,3869
$GC,6545,-0.80,-194.7,641.3,-10.0,867,6550,0.00,3.20,0.00,0.000,6,0.000,0.035,2767,2514,3868
$GC,6863,-0.80,-194.7,670.5,-8.8,882,6868,0.00,3.35,0.00,0.000,4,0.000,0.060,2767,897,3868
$GC,6891,-0.84,-194.7,673.3,-8.9,883,6897,0.17,3.17,0.00,0.000,6,0.052,0.037,2730,2501,3868
$GC,7208,-0.78,-194.7,708.7,-11.4,898,7213,0.00,3.35,0.00,0.000,4,0.000,0.061,2730,899,3868
$GC,7271,-0.78,-194.7,715.9,-11.2,901,7276,0.00,3.17,0.00,0.000,6,0.000,0.044,2730,2468,3868
$GC,7599,-0.72,-194.7,755.4,-12.7,917,7605,0.15,3.40,0.00,0.000,4,0.137,0.074,2754,895,3868
$GC,7617,-0.72,-194.7,757.8,-12.7,918,7622,0.00,3.25,0.00,0.000,6,0.000,0.057,2754,2454,3867
$GC,7944,-0.72,-194.7,795.0,-11.1,934,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2454,3867
$GC,8254,-0.72,-194.7,828.6,-10.6,949,8259,0.00,3.67,0.00,0.000,4,0.000,0.107,2754,898,3867
$GC,8299,-0.76,-194.7,833.3,-9.7,951,8305,0.00,3.47,0.00,0.000,6,0.000,0.088,2754,2442,3867
$GC,8621,-0.76,-194.7,864.1,-10.0,967,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2443,3867
$GC,8931,-1.03,-194.7,885.6,0.0,982,8933,0.32,0.00,0.00,0.000,6,0.057,0.000,2693,2443,3867
$STATE,9155,end dive,NO_VERTICAL_VELOCITY
$STATE,9155,begin apogee
$GC,9161,-0.21,0.0,885.6,0.0,993,9378,1.00,0.00,208.38,1.503,6,0.082,0.000,2870,2732,3070
$STATE,9378,end apogee,CONTROL_FINISHED_OK
$STATE,9378,begin climb
$GC,9381,0.86,194.7,885.5,0.0,1004,9599,1.45,0.00,211.73,1.438,6,0.094,0.000,3102,2731,2277
$GC,9910,0.74,194.7,834.2,11.7,1030,9911,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2732,2274
$GC,10217,0.63,194.7,798.9,11.1,1045,10222,0.25,2.60,0.00,0.000,4,0.115,0.089,3060,3910,2273
$GC,10268,0.66,222.5,793.8,9.0,1047,10303,0.00,2.38,29.20,1.374,6,0.000,0.063,3060,2773,2163
$GC,10611,0.69,246.5,763.6,9.2,1064,10642,0.00,3.12,25.42,1.358,4,0.000,0.078,3060,1337,2066
$GC,10678,0.71,263.1,757.3,9.4,1067,10704,0.00,3.00,18.80,1.312,6,0.000,0.053,3060,2770,1998
$GC,11035,0.73,280.0,723.5,9.4,1084,11055,0.00,0.00,18.67,1.299,6,0.000,0.000,3060,2770,1929
$GC,11362,0.74,282.3,691.8,9.9,1100,11366,0.00,2.97,0.00,0.000,4,0.000,0.054,3060,1327,1926
$GC,11412,0.78,282.3,686.7,10.4,1102,11417,0.15,2.88,0.00,0.000,6,0.055,0.038,3090,2766,1926
$GC,11729,0.74,282.3,649.7,11.5,1117,11730,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2767,1925
$GC,12039,0.74,282.3,614.7,11.2,1132,12040,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2767,1925
$GC,12352,0.74,282.3,580.9,10.9,1155,12356,0.00,2.90,0.00,0.000,4,0.000,0.047,3091,1326,1924
$GC,12384,0.74,282.3,577.2,10.3,1157,12391,0.00,2.80,0.00,0.000,6,0.000,0.032,3091,2756,1925
$GC,12711,0.74,282.3,541.5,11.1,1188,12712,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2757,1924
$GC,13029,0.74,287.9,508.6,9.8,1218,13040,0.00,0.00,9.10,1.052,6,0.000,0.000,3091,2757,1897
$GC,13356,0.77,309.2,476.6,9.3,1249,13386,0.00,0.00,23.60,1.212,6,0.000,0.000,3091,2757,1809
$GC,13704,0.79,325.6,444.3,9.4,1282,13730,0.00,2.90,18.05,1.163,4,0.000,0.044,3090,1328,1743
$GC,13768,0.79,325.6,438.3,10.3,1287,13773,0.00,2.80,0.00,0.000,6,0.000,0.031,3091,2746,1742
$GC,14095,0.80,332.9,406.8,9.7,1317,14106,0.00,0.00,8.80,1.010,6,0.000,0.000,3090,2746,1713
$GC,14421,0.80,332.9,373.9,10.2,1348,14426,0.00,2.85,0.00,0.000,4,0.000,0.044,3090,1327,1711
$GC,14450,0.80,332.9,370.9,10.6,1350,14454,0.00,2.78,0.00,0.000,6,0.000,0.031,3090,2746,1711
$GC,14782,0.82,346.7,338.0,9.5,1391,14803,0.00,0.00,15.38,1.072,6,0.000,0.000,3090,2746,1657
$GC,15140,0.84,369.6,303.2,9.2,1454,15174,0.00,2.92,25.00,1.101,4,0.000,0.044,3091,1330,1563
$GC,15210,0.90,384.6,296.7,9.5,1465,15239,0.12,2.78,17.10,1.058,6,0.054,0.031,3118,2737,1503
$GC,15581,0.91,387.6,256.7,9.9,1529,15587,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2737,1499
$GC,15925,0.91,387.6,220.7,10.6,1590,15932,0.00,2.83,0.00,0.000,4,0.000,0.044,3118,1327,1498
$GC,15967,0.91,387.6,216.1,11.1,1597,15974,0.00,2.70,0.00,0.000,6,0.000,0.031,3118,2715,1497
$GC,16312,0.91,387.6,177.5,12.0,1658,16319,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2715,1497
$GC,16659,0.91,387.6,138.8,10.7,1719,16665,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2715,1497
$GC,17003,0.91,387.6,99.1,11.5,1780,17010,0.00,2.78,0.00,0.000,4,0.000,0.045,3118,1328,1497
$GC,17047,0.91,387.6,94.0,12.2,1787,17054,0.00,2.70,0.00,0.000,6,0.000,0.031,3118,2717,1497
$GC,17393,0.91,387.6,54.8,10.6,1848,17400,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2717,1496
$GC,17734,0.91,393.8,18.6,9.8,1909,17750,0.00,2.88,9.80,0.813,4,0.000,0.044,3118,1324,1464
$GC,17831,0.98,449.1,10.0,8.1,1925,17894,0.00,2.65,57.75,0.938,6,0.000,0.031,3118,2695,1239
$STATE,17899,end climb,SURFACE_DEPTH_REACHED
$STATE,17899,begin surface coast
$FINISH,0.1,1.025980
$STATE,17917,end surface coast,CONTROL_FINISHED_OK
$STATE,17917,begin surface
$SM_CCo,17998,0.00,0.000,0,0,1232,451.11
$SM_GC,0.63,8.93,0.00,0.00,0.056,0.000,0.000,1437,2265,1232,-6.79,-0.99,451.11
$IRIDIUM_FIX,6126.23,-2625.76,100997,090955
$TT8_MAMPS,0.026845
$HUMID,1823
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,16.60
$XPDR_PINGS,976
$24V_AH,19.0,108.699
$10V_AH,9.8,72.012
$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,25.525,173.775,696.775,0.000,0.000,33.039,42.250,210.248,244.000,0.000,0.000,16.828,3935.455,9430.784,890.174,3460.027,697.996,0.000,2425.830,0.000,3447.824,0.000,0.465
$DEVICE_MAMPS,260.013,118.885,1502.553,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1341.244,1452.400,737.378,1794.480,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142075,1938
$CAP_FILE_SIZE,175183,0
$CFSIZE,260165632,223662080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$CURRENT,0.118,308.4,1
$GPS,160608,174553,6145.852,-2618.401,28,1.4,43,-18.8