version: 66.03
glider: 142
mission: 5
dive: 353
start: 6 17 108 4 41 41
data:
$ID,142
$MISSION,5
$DIVE,353
$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,-19615.57
$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,21
$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
$GPS1,042932,6144.935,-2608.624,39,1.9,39,-18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-49.2
$GPS2,044123,6144.918,-2608.805,12,2.1,31,-18.7
$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,111.3,7588,-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,-194.7,0.0,0.0,0,154,0.00,0.00,-129.12,0.000,2,0.000,0.000,1430,2270,3478
$GC,158,-0.86,-194.7,3.3,-5.8,17,189,11.80,2.78,-10.35,0.000,4,0.245,0.054,2724,883,3865
$GC,225,-0.77,-194.7,16.2,-15.9,27,233,0.15,2.75,0.00,0.000,6,0.136,0.029,2745,2311,3865
$GC,372,-0.72,-194.7,33.4,-12.8,52,379,0.00,2.75,0.00,0.000,4,0.000,0.043,2745,3712,3866
$GC,393,-0.67,-194.7,36.3,-12.4,55,401,0.15,2.72,0.00,0.000,6,0.127,0.032,2766,2306,3866
$GC,537,-0.67,-194.7,51.5,-10.4,80,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2306,3866
$GC,882,-0.67,-194.7,85.6,-10.2,141,889,0.00,2.80,0.00,0.000,4,0.000,0.044,2766,3709,3867
$GC,930,-0.67,-194.7,90.2,-9.5,149,937,0.00,2.75,0.00,0.000,6,0.000,0.033,2766,2297,3867
$GC,1275,-0.67,-194.7,124.0,-9.6,210,1283,0.00,2.83,0.00,0.000,4,0.000,0.044,2766,3711,3866
$GC,1320,-0.67,-194.7,128.2,-10.1,217,1328,0.00,2.72,0.00,0.000,6,0.000,0.034,2766,2314,3867
$GC,1665,-0.67,-194.7,161.8,-9.4,278,1672,0.00,2.80,0.00,0.000,4,0.000,0.045,2766,3712,3867
$GC,1691,-0.67,-194.7,164.3,-9.6,282,1699,0.00,2.70,0.00,0.000,6,0.000,0.033,2766,2316,3867
$GC,2037,-0.67,-194.7,197.6,-10.1,343,2044,0.00,2.80,0.00,0.000,4,0.000,0.045,2766,3713,3867
$GC,2063,-0.67,-194.7,200.4,-10.8,347,2070,0.00,2.70,0.00,0.000,6,0.000,0.032,2767,2324,3866
$GC,2409,-0.67,-194.7,237.1,-10.7,408,2417,0.00,2.78,0.00,0.000,4,0.000,0.046,2766,3710,3867
$GC,2452,-0.67,-194.7,241.8,-10.5,415,2459,0.00,2.67,0.00,0.000,6,0.000,0.033,2766,2336,3867
$GC,2798,-0.67,-194.7,277.6,-10.7,476,2805,0.00,2.75,0.00,0.000,4,0.000,0.045,2766,3712,3867
$GC,2829,-0.67,-194.7,280.9,-10.4,481,2837,0.00,2.67,0.00,0.000,6,0.000,0.033,2766,2338,3866
$GC,3175,-0.67,-194.7,317.1,-10.2,542,3183,0.00,2.75,0.00,0.000,4,0.000,0.046,2767,3707,3866
$GC,3207,-0.67,-194.7,320.3,-10.5,547,3214,0.00,2.65,0.00,0.000,6,0.000,0.033,2767,2345,3866
$GC,3550,-0.67,-194.7,355.4,-10.0,603,3554,0.00,2.75,0.00,0.000,4,0.000,0.047,2766,3709,3866
$GC,3571,-0.67,-194.7,357.8,-10.4,604,3579,0.00,2.62,0.00,0.000,6,0.000,0.033,2766,2361,3866
$GC,3899,-0.67,-194.7,390.2,-10.2,635,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2360,3866
$GC,4224,-0.67,-194.7,423.4,-9.9,666,4229,0.00,2.72,0.00,0.000,4,0.000,0.048,2767,3710,3866
$GC,4247,-0.67,-194.7,425.7,-10.0,667,4254,0.00,2.62,0.00,0.000,6,0.000,0.034,2766,2363,3866
$GC,4576,-0.67,-194.7,458.6,-10.2,698,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2362,3866
$GC,4902,-0.67,-194.7,491.5,-9.9,729,4906,0.00,2.72,0.00,0.000,4,0.000,0.054,2766,3709,3865
$GC,4936,-0.67,-194.7,494.9,-10.5,731,4943,0.00,2.62,0.00,0.000,6,0.000,0.033,2767,2361,3865
$GC,5265,-0.67,-194.7,528.8,-9.9,762,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2361,3865
$GC,5591,-0.67,-194.7,561.0,-9.5,793,5596,0.00,2.72,0.00,0.000,4,0.000,0.049,2766,3710,3865
$GC,5625,-0.72,-194.7,564.4,-9.5,795,5632,0.00,2.62,0.00,0.000,6,0.000,0.035,2766,2368,3865
$GC,5952,-0.72,-194.7,593.7,-8.7,826,5957,0.00,2.72,0.00,0.000,4,0.000,0.051,2766,3705,3864
$GC,5971,-0.72,-194.7,595.5,-8.8,827,5975,0.00,2.62,0.00,0.000,6,0.000,0.034,2766,2366,3865
$GC,6300,-0.72,-194.7,625.1,-8.9,845,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2365,3864
$GC,6610,-0.72,-194.7,651.2,-8.3,860,6615,0.00,2.78,0.00,0.000,4,0.000,0.056,2766,3710,3864
$GC,6634,-0.76,-194.7,653.2,-8.2,861,6638,0.00,2.65,0.00,0.000,6,0.000,0.038,2766,2370,3864
$GC,6956,-0.76,-194.7,682.6,-9.5,877,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2369,3864
$GC,7265,-0.76,-194.7,709.4,-8.4,892,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2369,3864
$GC,7575,-0.80,-194.7,733.8,-7.9,907,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2369,3864
$GC,7883,-0.84,-194.7,756.4,-6.8,922,7885,0.15,0.00,0.00,0.000,6,0.066,0.000,2738,2369,3864
$GC,8193,-0.84,-194.7,784.9,-9.2,937,8194,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2369,3864
$GC,8503,-0.84,-194.7,815.4,-9.9,952,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2369,3863
$GC,8811,-0.84,-194.7,844.8,-9.5,967,8817,0.00,3.58,0.00,0.000,4,0.000,0.123,2738,896,3863
$GC,8834,-0.84,-194.7,847.2,-9.9,968,8839,0.00,3.38,0.00,0.000,6,0.000,0.094,2738,2370,3863
$GC,9155,-0.84,-194.7,881.1,-10.8,984,9157,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2371,3863
$GC,9464,-0.84,-194.7,914.5,-10.8,999,9466,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2371,3862
$GC,9774,-0.84,-194.7,946.9,-10.4,1014,9782,0.00,4.18,0.00,0.000,4,0.000,0.170,2738,899,3862
$GC,9806,-0.84,-194.7,950.5,-11.2,1015,9812,0.00,3.90,0.00,0.000,6,0.000,0.148,2738,2358,3862
$GC,10122,-0.84,-194.7,983.7,-10.4,1030,10123,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2360,3861
$STATE,10181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10181,begin apogee
$GC,10189,-0.21,0.0,990.2,10.5,1033,10405,0.85,0.00,211.68,1.580,6,0.133,0.000,2869,2733,3071
$STATE,10406,end apogee,CONTROL_FINISHED_OK
$STATE,10406,begin climb
$GC,10409,0.86,194.7,998.5,0.0,1044,10637,1.45,3.83,216.48,1.516,4,0.099,0.186,3098,3900,2276
$GC,10781,0.74,194.7,963.6,12.8,1060,10788,0.00,3.10,0.00,0.000,6,0.000,0.155,3098,2767,2274
$GC,11097,0.62,194.7,924.7,12.7,1076,11099,0.28,0.00,0.00,0.000,6,0.117,0.000,3055,2765,2274
$GC,11407,0.62,201.1,894.1,9.8,1091,11421,0.00,3.55,7.40,1.160,4,0.000,0.130,3055,1334,2251
$GC,11461,0.62,201.1,888.4,10.5,1093,11466,0.00,3.40,0.00,0.000,6,0.000,0.110,3055,2771,2251
$GC,11777,0.62,201.1,856.1,10.5,1108,11778,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2771,2250
$GC,12087,0.62,201.1,825.3,10.0,1123,12088,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2771,2250
$GC,12397,0.62,201.1,792.7,10.5,1138,12398,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2771,2250
$GC,12706,0.62,201.1,761.0,10.5,1153,12711,0.00,3.12,0.00,0.000,4,0.000,0.074,3055,1322,2249
$GC,12761,0.62,201.1,754.9,10.5,1155,12768,0.00,2.97,0.00,0.000,6,0.000,0.052,3055,2768,2249
$GC,13077,0.62,201.1,720.6,11.1,1171,13081,0.00,2.35,0.00,0.000,4,0.000,0.068,3055,3905,2249
$GC,13109,0.62,201.1,716.7,11.5,1172,13113,0.00,2.33,0.00,0.000,6,0.000,0.043,3055,2739,2249
$GC,13434,0.64,210.8,684.4,9.7,1188,13456,0.00,2.92,11.25,1.222,4,0.000,0.060,3055,1328,2210
$GC,13495,0.65,221.8,678.2,9.6,1190,13515,0.00,2.83,12.93,1.273,6,0.000,0.038,3055,2749,2166
$GC,13835,0.70,259.2,648.0,8.7,1207,13877,0.00,0.00,39.78,1.357,6,0.000,0.000,3055,2749,2014
$GC,14181,0.76,310.5,619.1,8.2,1224,14242,0.15,2.97,53.72,1.327,4,0.057,0.048,3086,1332,1805
$GC,14276,0.76,311.3,609.4,10.0,1227,14281,0.00,2.85,0.00,0.000,6,0.000,0.032,3086,2750,1803
$GC,14601,0.76,313.7,577.1,9.9,1252,14607,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2751,1799
$GC,14929,0.78,331.1,544.5,9.4,1283,14956,0.00,0.00,21.92,1.223,6,0.000,0.000,3086,2750,1720
$GC,15275,0.78,331.1,510.3,10.0,1316,15279,0.00,2.85,0.00,0.000,4,0.000,0.044,3086,1332,1717
$GC,15330,0.78,331.1,504.5,10.3,1320,15338,0.00,2.75,0.00,0.000,6,0.000,0.031,3086,2743,1717
$GC,15658,0.79,333.7,472.3,9.9,1351,15664,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2743,1717
$GC,15986,0.79,336.8,439.6,9.9,1382,15999,0.00,2.85,6.75,0.948,4,0.000,0.044,3086,1330,1697
$GC,16045,0.79,336.8,433.1,10.5,1387,16050,0.00,2.72,0.00,0.000,6,0.000,0.031,3086,2725,1697
$GC,16375,0.79,336.8,398.8,10.7,1417,16381,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2725,1696
$GC,16700,0.79,336.8,363.7,10.4,1448,16704,0.00,2.78,0.00,0.000,4,0.000,0.044,3085,1333,1696
$GC,16740,0.79,336.8,359.4,11.7,1451,16745,0.00,2.70,0.00,0.000,6,0.000,0.031,3086,2721,1696
$GC,17078,0.79,338.6,323.4,9.9,1503,17084,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2721,1696
$GC,17422,0.79,338.6,288.7,10.1,1564,17430,0.00,2.78,0.00,0.000,4,0.000,0.044,3086,1329,1696
$GC,17459,0.79,338.6,284.9,10.9,1570,17466,0.00,2.67,0.00,0.000,6,0.000,0.031,3086,2707,1696
$GC,17805,0.80,345.0,250.5,9.8,1631,17819,0.00,0.00,9.98,0.941,6,0.000,0.000,3086,2708,1664
$GC,18158,0.80,345.0,213.9,11.1,1693,18165,0.00,2.78,0.00,0.000,4,0.000,0.044,3086,1323,1663
$GC,18200,0.80,345.0,209.3,11.8,1700,18207,0.00,2.65,0.00,0.000,6,0.000,0.031,3086,2697,1663
$GC,18547,0.80,345.0,174.1,10.1,1761,18553,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2697,1662
$GC,18890,0.82,363.4,141.4,9.4,1822,18916,0.00,0.00,19.75,0.984,6,0.000,0.000,3086,2697,1591
$GC,19255,0.85,381.5,106.6,9.4,1886,19283,0.00,2.78,20.33,0.969,4,0.000,0.044,3086,1326,1515
$GC,19325,0.90,381.5,99.7,10.2,1897,19332,0.15,2.65,0.00,0.000,6,0.050,0.031,3119,2679,1513
$GC,19670,0.90,381.5,59.0,10.8,1958,19677,0.00,2.40,0.00,0.000,4,0.000,0.048,3119,3894,1512
$GC,19702,0.90,381.5,55.0,13.5,1963,19709,0.00,2.38,0.00,0.000,6,0.000,0.032,3119,2665,1511
$GC,20047,0.91,388.9,16.8,9.7,2024,20062,0.00,2.67,8.15,0.787,4,0.000,0.046,3119,1324,1485
$GC,20099,0.91,388.9,11.3,10.5,2032,20107,0.00,2.62,0.00,0.000,6,0.000,0.030,3119,2684,1484
$STATE,20184,end climb,SURFACE_DEPTH_REACHED
$STATE,20184,begin surface coast
$FINISH,0.1,1.025606
$STATE,20201,end surface coast,CONTROL_FINISHED_OK
$STATE,20201,begin surface
$SM_CCo,20281,0.00,0.000,0,0,1481,389.78
$SM_GC,0.84,8.57,0.00,0.00,0.046,0.000,0.000,1435,2279,1481,-6.79,-0.59,389.78
$IRIDIUM_FIX,6121.73,-2609.55,110997,040455
$TT8_MAMPS,0.026078
$HUMID,1843
$INTERNAL_PRESSURE,8.91681
$TCM_TEMP,16.40
$XPDR_PINGS,1060
$24V_AH,18.9,109.702
$10V_AH,9.8,72.540
$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,23.700,177.800,640.100,0.000,0.000,61.834,63.973,337.123,265.000,0.000,0.000,33.712,4160.784,11302.817,896.621,3692.091,916.502,0.000,2562.529,0.000,3661.182,0.000,0.466
$DEVICE_MAMPS,244.673,185.614,1580.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1427.497,1527.201,756.218,1814.814,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,148435,2050
$CAP_FILE_SIZE,189015,0
$CFSIZE,260165632,223346688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,311.4,1
$GPS,170608,102101,6145.575,-2604.762,36,1.1,41,-18.6