version: 66.03
glider: 142
mission: 5
dive: 351
start: 6 16 108 17 56 25
data:
$ID,142
$MISSION,5
$DIVE,351
$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,-19563.486
$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,30
$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
$GPS1,174553,6145.852,-2618.401,28,1.4,43,-18.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-47.8
$GPS2,175605,6145.841,-2618.583,14,2.8,33,-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,125.3,16135,-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,-194.7,0.0,0.0,0,165,0.00,0.00,-140.30,0.000,2,0.000,0.000,1437,2264,3684
$GC,169,-0.86,-194.7,3.4,-4.7,19,193,12.18,2.72,-4.28,0.000,4,0.255,0.054,2724,898,3864
$GC,257,-0.76,-194.7,23.2,-14.8,33,265,0.17,2.70,0.00,0.000,6,0.142,0.030,2748,2305,3866
$GC,402,-0.76,-194.7,40.8,-12.6,58,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2306,3866
$GC,546,-0.72,-194.7,58.4,-11.9,83,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2306,3866
$GC,889,-0.72,-194.7,95.0,-11.3,144,896,0.00,2.80,0.00,0.000,4,0.000,0.044,2749,895,3866
$GC,948,-0.72,-194.7,101.4,-10.4,154,956,0.00,2.72,0.00,0.000,6,0.000,0.031,2748,2314,3866
$GC,1293,-0.72,-194.7,140.8,-11.3,215,1301,0.00,2.83,0.00,0.000,4,0.000,0.045,2748,897,3866
$GC,1314,-0.72,-194.7,143.2,-11.1,218,1321,0.00,2.72,0.00,0.000,6,0.000,0.031,2749,2310,3867
$GC,1659,-0.72,-194.7,180.2,-10.8,279,1666,0.00,2.83,0.00,0.000,4,0.000,0.045,2748,892,3866
$GC,1679,-0.72,-194.7,182.3,-10.6,282,1686,0.00,2.72,0.00,0.000,6,0.000,0.030,2748,2304,3866
$GC,2024,-0.72,-194.7,221.9,-11.7,343,2032,0.00,2.83,0.00,0.000,4,0.000,0.045,2749,890,3866
$GC,2054,-0.72,-194.7,225.6,-12.4,348,2062,0.00,2.72,0.00,0.000,6,0.000,0.031,2749,2305,3866
$GC,2400,-0.72,-194.7,265.9,-11.6,409,2407,0.00,2.80,0.00,0.000,4,0.000,0.045,2749,899,3866
$GC,2420,-0.72,-194.7,268.2,-11.7,412,2427,0.00,2.67,0.00,0.000,6,0.000,0.031,2748,2288,3866
$GC,2767,-0.72,-194.7,309.3,-11.6,473,2773,0.00,2.78,0.00,0.000,4,0.000,0.046,2749,897,3866
$GC,2792,-0.72,-194.7,312.2,-11.7,477,2799,0.00,2.67,0.00,0.000,6,0.000,0.031,2749,2282,3866
$GC,3137,-0.72,-194.7,351.2,-11.2,537,3142,0.00,2.78,0.00,0.000,4,0.000,0.046,2749,891,3866
$GC,3159,-0.72,-194.7,353.9,-11.9,538,3167,0.00,2.67,0.00,0.000,6,0.000,0.031,2749,2280,3866
$GC,3488,-0.72,-194.7,389.7,-10.8,569,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2281,3866
$GC,3813,-0.72,-194.7,425.5,-10.9,600,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2281,3866
$GC,4132,-0.72,-194.7,460.2,-10.6,630,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2281,3866
$GC,4450,-0.72,-194.7,493.6,-10.6,660,4455,0.00,2.78,0.00,0.000,4,0.000,0.046,2748,896,3866
$GC,4480,-0.72,-194.7,496.7,-11.0,662,4484,0.00,2.67,0.00,0.000,6,0.000,0.031,2749,2277,3866
$GC,4807,-0.72,-194.7,531.1,-10.7,692,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2277,3865
$GC,5124,-0.72,-194.7,565.8,-10.8,722,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2278,3865
$GC,5442,-0.72,-194.7,599.2,-10.0,752,5447,0.00,2.78,0.00,0.000,4,0.000,0.048,2749,899,3865
$GC,5482,-0.72,-194.7,603.2,-10.0,754,5486,0.00,2.65,0.00,0.000,6,0.000,0.031,2749,2261,3865
$GC,5809,-0.72,-194.7,636.8,-10.7,770,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2262,3865
$GC,6118,-0.72,-194.7,670.5,-10.8,785,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2262,3864
$GC,6429,-0.72,-194.7,702.0,-9.9,800,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2262,3865
$GC,6738,-0.72,-194.7,732.7,-9.6,815,6742,0.00,2.85,0.00,0.000,4,0.000,0.065,2748,905,3864
$GC,6759,-0.72,-194.7,735.1,-10.1,816,6763,0.00,2.75,0.00,0.000,6,0.000,0.046,2748,2264,3864
$GC,7080,-0.72,-194.7,769.1,-11.3,832,7081,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2264,3864
$GC,7390,-0.72,-194.7,804.2,-10.9,847,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2264,3864
$GC,7698,-0.72,-194.7,837.6,-10.7,862,7703,0.00,3.20,0.00,0.000,4,0.000,0.109,2748,908,3863
$GC,7741,-0.72,-194.7,842.3,-10.4,864,7746,0.00,3.05,0.00,0.000,6,0.000,0.090,2748,2255,3863
$GC,8065,-0.72,-194.7,874.4,-10.1,880,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2256,3863
$GC,8373,-0.93,-194.7,899.4,-1.2,895,8379,0.15,3.53,0.00,0.000,4,0.058,0.146,2716,906,3863
$STATE,8617,end dive,NO_VERTICAL_VELOCITY
$STATE,8617,begin apogee
$GC,8628,-0.21,0.0,899.3,0.0,906,8838,0.85,0.00,206.95,1.513,6,0.091,0.000,2866,2751,3071
$STATE,8839,end apogee,CONTROL_FINISHED_OK
$STATE,8839,begin climb
$GC,8842,0.86,194.7,899.2,0.0,916,9058,1.50,0.00,211.93,1.445,6,0.111,0.000,3097,2751,2277
$GC,9364,0.75,196.9,852.9,9.9,941,9369,0.00,3.30,0.00,0.000,4,0.000,0.107,3097,1353,2274
$GC,9451,0.66,203.6,844.1,9.8,945,9467,0.20,3.20,10.15,1.204,6,0.123,0.091,3069,2761,2241
$GC,9779,0.67,245.4,818.0,8.5,960,9831,0.00,3.20,43.75,1.418,4,0.000,0.086,3069,1358,2070
$GC,9883,0.71,276.8,808.6,8.9,964,9925,0.00,3.00,34.28,1.388,6,0.000,0.073,3069,2727,1942
$GC,10245,0.77,325.0,777.2,8.3,982,10303,0.00,3.10,51.08,1.399,4,0.000,0.073,3069,1358,1746
$GC,10357,0.87,375.1,768.2,8.3,987,10419,0.22,2.88,55.00,1.378,6,0.049,0.056,3115,2713,1541
$GC,10728,0.82,375.1,723.9,11.8,1004,10733,0.00,2.85,0.00,0.000,4,0.000,0.058,3115,1351,1533
$GC,10785,0.77,375.1,717.1,12.1,1006,10793,0.15,2.70,0.00,0.000,6,0.100,0.042,3093,2690,1532
$GC,11101,0.79,390.9,688.1,9.5,1022,11125,0.00,2.78,16.02,1.262,4,0.000,0.052,3092,1344,1478
$GC,11164,0.79,390.9,681.6,10.6,1024,11171,0.00,2.65,0.00,0.000,6,0.000,0.037,3092,2672,1477
$GC,11480,0.79,390.9,650.8,10.0,1040,11485,0.00,2.67,0.00,0.000,4,0.000,0.048,3092,1350,1475
$GC,11520,0.79,390.9,646.5,10.4,1042,11525,0.00,2.58,0.00,0.000,6,0.000,0.036,3092,2651,1475
$GC,11848,0.81,405.8,614.2,9.5,1058,11872,0.00,2.70,17.50,1.250,4,0.000,0.047,3092,1348,1416
$GC,11900,0.81,405.8,608.9,10.4,1060,11905,0.00,2.55,0.00,0.000,6,0.000,0.033,3092,2635,1414
$GC,12227,0.83,421.5,578.2,9.5,1085,12252,0.00,2.67,18.20,1.240,4,0.000,0.044,3092,1348,1351
$GC,12288,0.90,443.7,572.2,9.2,1090,12325,0.12,2.50,25.83,1.268,6,0.056,0.032,3119,2619,1261
$GC,12642,0.90,443.7,534.8,10.6,1123,12643,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2619,1257
$GC,12961,0.90,443.7,499.6,11.3,1153,12966,0.00,2.58,0.00,0.000,4,0.000,0.047,3119,1339,1256
$GC,13024,0.90,443.7,491.8,12.5,1158,13028,0.00,2.47,0.00,0.000,6,0.000,0.032,3119,2611,1255
$GC,13349,0.90,443.7,453.2,11.6,1188,13350,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2611,1255
$GC,13667,0.90,443.7,415.8,11.2,1218,13672,0.00,2.53,0.00,0.000,4,0.000,0.044,3119,1349,1255
$GC,13735,0.90,443.7,407.7,11.7,1223,13741,0.00,2.40,0.00,0.000,6,0.000,0.031,3119,2591,1254
$GC,14062,0.90,443.7,371.7,11.0,1254,14063,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2590,1254
$GC,14385,0.90,443.7,335.8,11.5,1295,14392,0.00,2.50,0.00,0.000,4,0.000,0.044,3119,1341,1254
$GC,14449,0.90,443.7,328.3,11.5,1306,14456,0.00,2.40,0.00,0.000,6,0.000,0.031,3119,2582,1254
$GC,14795,0.90,443.7,290.2,11.3,1367,14801,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2581,1254
$GC,15139,0.90,443.7,251.5,11.3,1428,15146,0.00,2.47,0.00,0.000,4,0.000,0.044,3119,1343,1254
$GC,15193,0.90,443.7,245.0,12.7,1437,15200,0.00,2.38,0.00,0.000,6,0.000,0.030,3119,2571,1254
$GC,15538,0.90,443.7,206.8,10.4,1498,15545,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2571,1254
$GC,15884,0.90,443.7,167.4,11.9,1559,15891,0.00,2.45,0.00,0.000,4,0.000,0.044,3119,1343,1254
$GC,15937,0.90,443.7,160.6,11.9,1568,15945,0.00,2.33,0.00,0.000,6,0.000,0.031,3119,2552,1253
$GC,16282,0.92,458.7,124.7,9.5,1629,16302,0.00,0.00,15.52,0.933,6,0.000,0.000,3119,2551,1201
$GC,16640,0.93,464.1,91.3,9.8,1692,16655,0.00,2.42,6.88,0.788,4,0.000,0.044,3119,1347,1179
$GC,16703,0.96,489.3,85.5,9.1,1702,16737,0.00,2.30,28.80,0.973,6,0.000,0.031,3119,2540,1076
$GC,17080,1.02,489.3,50.3,10.8,1767,17088,0.12,2.40,0.00,0.000,4,0.054,0.044,3149,1343,1071
$GC,17123,1.02,489.3,45.1,12.3,1774,17130,0.00,2.25,0.00,0.000,6,0.000,0.029,3149,2519,1071
$GC,17264,1.02,489.3,28.5,11.6,1799,17272,0.00,2.75,0.00,0.000,4,0.000,0.048,3149,3906,1070
$GC,17318,1.02,489.3,21.1,13.9,1808,17326,0.00,2.72,0.00,0.000,6,0.000,0.033,3149,2503,1070
$GC,17462,1.15,596.6,3.9,6.3,1833,17485,0.10,0.00,20.80,0.889,2,0.062,0.000,3172,2502,994
$STATE,17486,end climb,SURFACE_DEPTH_REACHED
$STATE,17486,begin surface coast
$FINISH,0.0,1.025721
$STATE,17503,end surface coast,CONTROL_FINISHED_OK
$STATE,17504,begin surface
$SM_CCo,17583,0.00,0.000,0,0,991,510.22
$SM_GC,0.55,8.85,0.00,0.00,0.044,0.000,0.000,1432,2305,991,-6.79,0.14,510.22
$IRIDIUM_FIX,6121.73,-2623.73,100997,121220
$TT8_MAMPS,0.026078
$HUMID,1834
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,14.90
$XPDR_PINGS,967
$24V_AH,19.0,109.048
$10V_AH,9.8,72.181
$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,24.625,159.925,762.675,0.000,0.000,28.702,32.872,367.205,241.750,0.000,0.000,35.693,3722.343,9236.752,953.792,3414.377,848.108,0.000,2507.031,0.000,3382.723,0.000,0.465
$DEVICE_MAMPS,254.644,145.730,1512.524,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1278.253,1371.053,708.534,1701.572,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136028,1839
$CAP_FILE_SIZE,172197,0
$CFSIZE,260165632,223571968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,356.2,1
$GPS,160608,225058,6146.059,-2613.262,32,99.0,51,-18.7