version: 66.03
glider: 142
mission: 5
dive: 360
start: 6 18 108 17 42 47
data:
$ID,142
$MISSION,5
$DIVE,360
$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,-19773.738
$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,28
$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
$GPS1,173408,6149.766,-2604.479,31,1.7,31,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-49.2
$GPS2,174226,6149.746,-2604.473,12,1.8,29,-18.7
$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,315.5,19995,-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,22,-0.86,-194.7,0.0,0.0,0,157,0.00,0.00,-132.48,0.000,2,0.000,0.000,1436,2278,3510
$GC,160,-0.86,-194.7,3.5,-4.8,18,190,12.07,2.85,-9.23,0.000,4,0.250,0.050,2725,3712,3865
$GC,338,-0.78,-194.7,30.9,-12.7,48,347,0.12,2.72,0.00,0.000,6,0.137,0.031,2742,2298,3866
$GC,485,-0.73,-194.7,47.8,-11.8,73,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2298,3866
$GC,629,-0.68,-194.7,64.2,-11.4,98,636,0.15,2.83,0.00,0.000,4,0.145,0.041,2765,3714,3867
$GC,688,-0.68,-194.7,70.1,-9.2,108,696,0.00,2.70,0.00,0.000,6,0.000,0.031,2765,2317,3867
$GC,1034,-0.68,-194.7,101.1,-9.1,169,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2317,3867
$GC,1379,-0.68,-194.7,134.3,-10.2,230,1386,0.00,2.78,0.00,0.000,4,0.000,0.044,2765,3710,3867
$GC,1450,-0.68,-194.7,141.7,-10.2,242,1457,0.00,2.67,0.00,0.000,6,0.000,0.033,2765,2335,3867
$GC,1797,-0.68,-194.7,176.0,-9.4,303,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2334,3867
$GC,2143,-0.68,-194.7,208.1,-9.4,364,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2334,3867
$GC,2489,-0.68,-194.7,239.2,-9.1,425,2496,0.00,2.75,0.00,0.000,4,0.000,0.045,2765,3706,3867
$GC,2554,-0.68,-194.7,245.0,-8.9,436,2561,0.00,2.65,0.00,0.000,6,0.000,0.033,2766,2343,3867
$GC,2900,-0.68,-194.7,276.1,-9.3,497,2908,0.00,2.90,0.00,0.000,4,0.000,0.050,2765,891,3867
$GC,2938,-0.74,-194.7,279.6,-9.4,503,2945,0.00,2.83,0.00,0.000,6,0.000,0.030,2765,2353,3867
$GC,3283,-0.74,-194.7,311.8,-9.4,564,3291,0.00,2.67,0.00,0.000,4,0.000,0.045,2765,3705,3867
$GC,3360,-0.78,-194.7,318.9,-9.5,577,3368,0.00,2.65,0.00,0.000,6,0.000,0.032,2765,2344,3866
$GC,3712,-0.78,-194.7,351.3,-9.4,638,3716,0.00,2.90,0.00,0.000,4,0.000,0.049,2765,889,3867
$GC,3753,-0.84,-194.7,355.0,-9.4,641,3759,0.15,2.85,0.00,0.000,6,0.056,0.031,2731,2359,3866
$GC,4079,-0.78,-194.7,392.9,-11.4,671,4084,0.00,2.67,0.00,0.000,4,0.000,0.045,2731,3709,3866
$GC,4158,-0.74,-194.7,402.1,-11.1,677,4166,0.17,2.62,0.00,0.000,6,0.140,0.033,2755,2359,3866
$GC,4484,-0.74,-194.7,433.4,-10.0,708,4488,0.00,2.95,0.00,0.000,4,0.000,0.050,2755,883,3866
$GC,4528,-0.78,-194.7,437.9,-9.9,711,4536,0.00,2.88,0.00,0.000,6,0.000,0.030,2755,2373,3866
$GC,4858,-0.78,-194.7,468.4,-9.6,742,4862,0.00,2.65,0.00,0.000,4,0.000,0.047,2755,3705,3866
$GC,4921,-0.78,-194.7,474.6,-9.1,747,4926,0.00,2.62,0.00,0.000,6,0.000,0.033,2755,2361,3866
$GC,5251,-0.78,-194.7,505.0,-9.4,777,5256,0.00,2.95,0.00,0.000,4,0.000,0.051,2755,891,3865
$GC,5314,-0.82,-194.7,511.2,-9.3,782,5319,0.00,2.85,0.00,0.000,6,0.000,0.030,2755,2362,3865
$GC,5642,-0.82,-194.7,540.5,-9.4,812,5647,0.00,2.70,0.00,0.000,4,0.000,0.049,2755,3712,3865
$GC,5739,-0.82,-194.7,549.8,-9.3,820,5744,0.00,2.65,0.00,0.000,6,0.000,0.034,2755,2358,3865
$GC,6067,-0.82,-194.7,579.8,-9.2,850,6072,0.00,2.97,0.00,0.000,4,0.000,0.054,2755,885,3865
$GC,6112,-0.86,-194.7,584.4,-9.9,853,6119,0.00,2.85,0.00,0.000,6,0.000,0.031,2755,2352,3865
$GC,6434,-0.86,-194.7,612.9,-8.8,877,6439,0.12,2.75,0.00,0.000,4,0.066,0.051,2729,3710,3864
$GC,6501,-0.82,-194.7,620.2,-10.7,880,6506,0.00,2.67,0.00,0.000,6,0.000,0.037,2729,2358,3865
$GC,6823,-0.77,-194.7,656.6,-11.7,896,6828,0.15,3.03,0.00,0.000,4,0.140,0.058,2751,886,3864
$GC,6868,-0.81,-194.7,661.5,-10.2,898,6873,0.00,2.85,0.00,0.000,6,0.000,0.035,2751,2341,3864
$GC,7190,-0.81,-194.7,692.5,-9.4,914,7194,0.00,2.83,0.00,0.000,4,0.000,0.062,2751,3709,3864
$GC,7284,-0.81,-194.7,701.6,-9.6,918,7289,0.00,2.72,0.00,0.000,6,0.000,0.045,2752,2357,3864
$GC,7601,-0.81,-194.7,731.6,-9.7,933,7605,0.00,3.12,0.00,0.000,4,0.000,0.076,2752,897,3864
$GC,7645,-0.86,-194.7,736.0,-9.4,935,7649,0.00,2.97,0.00,0.000,6,0.000,0.046,2751,2359,3863
$GC,7967,-0.86,-194.7,765.8,-9.1,951,7971,0.00,2.92,0.00,0.000,4,0.000,0.081,2751,3709,3864
$GC,8016,-0.86,-194.7,770.5,-9.1,953,8021,0.00,2.80,0.00,0.000,6,0.000,0.059,2751,2368,3863
$GC,8334,-0.86,-194.7,799.6,-9.2,968,8339,0.00,3.30,0.00,0.000,4,0.000,0.096,2751,902,3864
$GC,8390,-0.92,-194.7,805.1,-9.4,970,8399,0.17,3.12,0.00,0.000,6,0.053,0.072,2713,2353,3863
$GC,8706,-0.83,-194.7,844.2,-12.4,986,8712,0.15,3.17,0.00,0.000,4,0.140,0.107,2737,3710,3863
$GC,8757,-0.83,-194.7,849.7,-9.7,988,8762,0.00,3.10,0.00,0.000,6,0.000,0.097,2737,2366,3863
$GC,9073,-0.83,-194.7,881.8,-10.8,1003,9079,0.00,3.53,0.00,0.000,4,0.000,0.121,2737,886,3862
$GC,9135,-0.83,-194.7,888.5,-10.5,1006,9140,0.00,2.85,0.00,0.000,6,0.000,0.031,2737,2345,3862
$GC,9463,-0.83,-194.7,922.6,-10.6,1022,9467,0.00,2.80,0.00,0.000,4,0.000,0.057,2737,3715,3862
$GC,9525,-0.83,-194.7,929.4,-10.7,1025,9529,0.00,2.75,0.00,0.000,6,0.000,0.041,2737,2343,3862
$GC,9851,-0.83,-194.7,964.6,-10.6,1041,9856,0.00,3.03,0.00,0.000,4,0.000,0.062,2737,882,3861
$GC,9901,-0.83,-194.7,970.2,-11.1,1043,9906,0.00,2.90,0.00,0.000,6,0.000,0.035,2737,2351,3861
$GC,10218,-1.18,-194.7,988.3,-0.0,1058,10223,0.38,2.83,0.00,0.000,4,0.067,0.059,2667,3715,3861
$STATE,10395,end dive,NO_VERTICAL_VELOCITY
$STATE,10395,begin apogee
$GC,10403,-0.21,0.0,988.3,0.0,1066,10621,1.08,0.00,211.30,1.589,6,0.063,0.000,2872,2738,3071
$STATE,10622,end apogee,CONTROL_FINISHED_OK
$STATE,10622,begin climb
$GC,10624,0.86,194.7,988.1,0.0,1077,10854,1.38,3.20,216.23,1.519,4,0.079,0.053,3101,1350,2277
$GC,10871,0.73,194.7,968.8,11.2,1088,10877,0.15,3.03,0.00,0.000,6,0.115,0.037,3081,2747,2276
$GC,11196,0.66,202.0,937.3,9.7,1104,11210,0.00,2.40,8.73,1.214,4,0.000,0.058,3081,3895,2247
$GC,11233,0.57,202.0,933.0,10.3,1105,11241,0.22,2.25,0.00,0.000,6,0.109,0.035,3046,2755,2246
$GC,11550,0.61,234.3,904.3,8.9,1121,11594,0.00,2.97,34.65,1.463,4,0.000,0.053,3047,1346,2115
$GC,11601,0.71,312.9,900.2,7.3,1123,11693,0.15,2.88,85.40,1.486,6,0.056,0.034,3074,2770,1794
$GC,12016,0.71,313.1,856.4,10.0,1143,12021,0.00,2.90,0.00,0.000,4,0.000,0.047,3074,1344,1787
$GC,12043,0.71,313.1,853.0,10.5,1144,12048,0.00,2.75,0.00,0.000,6,0.000,0.033,3074,2742,1787
$GC,12360,0.71,315.1,820.8,9.9,1159,12365,0.00,2.83,0.00,0.000,4,0.000,0.047,3075,1343,1786
$GC,12378,0.72,318.4,818.9,9.9,1160,12389,0.00,2.75,5.15,0.990,6,0.000,0.035,3075,2737,1774
$GC,12707,0.72,325.8,788.3,9.7,1176,12723,0.00,2.85,10.00,1.241,4,0.000,0.047,3074,1338,1742
$GC,12739,0.73,328.7,784.6,9.9,1176,12750,0.00,2.75,4.97,0.991,6,0.000,0.034,3074,2730,1729
$GC,13081,0.77,362.5,752.9,8.8,1193,13126,0.00,2.90,37.83,1.416,4,0.000,0.046,3075,1338,1592
$GC,13132,0.83,410.7,748.3,8.3,1195,13195,0.12,2.78,54.75,1.403,6,0.058,0.033,3100,2719,1395
$GC,13503,0.84,421.1,712.1,9.6,1213,13519,0.00,2.80,10.73,1.203,4,0.000,0.047,3100,1346,1355
$GC,13536,0.88,449.9,708.7,9.0,1213,13575,0.00,2.70,33.67,1.359,6,0.000,0.032,3100,2710,1237
$GC,13895,0.89,458.1,675.8,9.7,1231,13910,0.00,2.83,9.48,1.154,4,0.000,0.048,3100,1336,1203
$GC,13927,0.89,458.1,672.0,10.8,1231,13934,0.00,2.65,0.00,0.000,6,0.000,0.031,3100,2683,1202
$GC,14243,0.89,458.1,639.6,10.1,1247,14248,0.00,2.72,0.00,0.000,4,0.000,0.047,3100,1334,1200
$GC,14260,0.89,458.1,637.8,10.2,1248,14265,0.00,2.60,0.00,0.000,6,0.000,0.032,3100,2664,1199
$GC,14588,0.89,463.6,605.0,9.8,1264,14597,0.00,0.00,7.05,1.037,6,0.000,0.000,3100,2663,1181
$GC,14907,0.95,473.2,575.3,9.7,1291,14925,0.12,2.70,12.27,1.174,4,0.056,0.047,3128,1340,1140
$GC,14931,0.95,473.2,572.4,10.1,1292,14939,0.00,2.60,0.00,0.000,6,0.000,0.031,3127,2665,1140
$GC,15259,0.95,473.2,536.7,10.5,1323,15265,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2666,1138
$GC,15585,0.95,473.2,502.2,11.0,1354,15589,0.00,2.67,0.00,0.000,4,0.000,0.048,3127,1337,1138
$GC,15602,0.95,473.2,500.2,11.1,1355,15607,0.00,2.58,0.00,0.000,6,0.000,0.031,3127,2658,1137
$GC,15928,0.95,473.2,463.6,11.7,1385,15929,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2659,1137
$GC,16247,0.95,473.2,426.8,11.5,1415,16248,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2659,1137
$GC,16565,0.95,473.2,390.0,11.6,1445,16566,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2659,1137
$GC,16884,0.95,473.2,352.7,12.2,1475,16888,0.00,2.65,0.00,0.000,4,0.000,0.045,3127,1337,1137
$GC,16894,0.95,473.2,351.1,11.5,1475,16901,0.00,2.55,0.00,0.000,6,0.000,0.031,3127,2652,1137
$GC,17237,0.95,473.2,309.5,12.3,1535,17244,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2653,1137
$GC,17582,0.95,473.2,267.9,11.8,1596,17589,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2652,1137
$GC,17928,0.95,473.2,226.6,12.0,1657,17935,0.00,2.62,0.00,0.000,4,0.000,0.045,3127,1344,1137
$GC,17942,0.95,473.2,224.7,11.7,1659,17950,0.00,2.53,0.00,0.000,6,0.000,0.030,3127,2650,1137
$GC,18288,0.95,473.2,183.3,12.0,1720,18295,0.00,2.62,0.00,0.000,4,0.000,0.045,3127,1337,1137
$GC,18302,0.95,473.2,181.5,11.9,1722,18309,0.00,2.53,0.00,0.000,6,0.000,0.030,3127,2642,1136
$GC,18649,0.95,473.2,142.2,10.8,1783,18655,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2643,1136
$GC,18993,0.95,473.2,102.0,11.2,1844,19001,0.00,2.60,0.00,0.000,4,0.000,0.045,3127,1338,1137
$GC,19007,0.95,473.2,100.1,11.6,1846,19015,0.00,2.47,0.00,0.000,6,0.000,0.031,3127,2624,1136
$GC,19354,0.95,473.2,59.2,13.0,1907,19360,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2625,1136
$GC,19699,1.00,485.8,20.8,9.6,1968,19720,0.00,0.00,14.27,0.872,6,0.000,0.000,3127,2625,1089
$GC,19859,1.00,485.8,3.5,11.2,1995,19867,0.00,2.58,0.00,0.000,4,0.000,0.044,3127,1334,1087
$STATE,19872,end climb,SURFACE_DEPTH_REACHED
$STATE,19872,begin surface coast
$FINISH,0.2,1.013442
$STATE,19890,end surface coast,CONTROL_FINISHED_OK
$STATE,19891,begin surface
$SM_CCo,19972,0.00,0.000,0,0,1085,487.17
$SM_GC,0.76,8.62,0.00,0.00,0.045,0.000,0.000,1433,2335,1085,-6.79,0.99,487.17
$IRIDIUM_FIX,6126.23,-2536.82,120997,121246
$TT8_MAMPS,0.027612
$HUMID,1851
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,15.00
$XPDR_PINGS,1037
$24V_AH,18.8,111.910
$10V_AH,9.8,73.708
$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,25.500,227.275,756.475,0.000,0.000,28.470,33.078,256.089,259.250,0.000,0.000,32.577,4179.103,10697.207,972.167,3807.559,794.743,0.000,2746.862,0.000,3766.113,0.000,0.465
$DEVICE_MAMPS,250.042,121.186,1589.224,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1392.139,1500.881,735.194,1756.712,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145338,2000
$CAP_FILE_SIZE,202393,0
$CFSIZE,260165632,222666752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063, 69.3,1
$GPS,180608,231655,6151.573,-2608.090,39,1.3,39,-18.7