version: 66.03
glider: 142
mission: 5
dive: 362
start: 6 19 108 4 31 40
data:
$ID,142
$MISSION,5
$DIVE,362
$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,-19804.779
$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,26
$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
$GPS1,042302,6152.346,-2610.814,40,1.1,40,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-52.1
$GPS2,043121,6152.322,-2610.771,11,1.4,11,-18.8
$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,318.2,12764,-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,-194.7,0.0,0.0,0,146,0.00,0.00,-121.20,0.000,2,0.000,0.000,1429,2267,3558
$GC,150,-0.86,-194.7,3.7,-5.7,16,180,12.20,2.92,-7.68,0.000,4,0.252,0.053,2725,3699,3867
$GC,278,-0.78,-194.7,27.3,-14.1,37,287,0.15,2.72,0.00,0.000,6,0.140,0.032,2746,2303,3868
$GC,424,-0.73,-194.7,46.2,-11.9,62,432,0.00,2.80,0.00,0.000,4,0.000,0.049,2746,892,3869
$GC,478,-0.73,-194.7,52.5,-10.9,71,486,0.00,2.75,0.00,0.000,6,0.000,0.028,2746,2320,3868
$GC,826,-0.73,-194.7,90.5,-11.4,132,834,0.00,2.72,0.00,0.000,4,0.000,0.044,2746,3704,3869
$GC,892,-0.73,-194.7,98.0,-11.0,143,899,0.00,2.72,0.00,0.000,6,0.000,0.033,2746,2309,3869
$GC,1235,-0.73,-194.7,137.5,-10.7,204,1242,0.00,2.83,0.00,0.000,4,0.000,0.049,2746,886,3869
$GC,1279,-0.73,-194.7,142.5,-11.2,211,1286,0.00,2.78,0.00,0.000,6,0.000,0.029,2746,2326,3869
$GC,1625,-0.73,-194.7,181.5,-11.0,272,1632,0.00,2.72,0.00,0.000,4,0.000,0.045,2746,3704,3869
$GC,1712,-0.73,-194.7,191.1,-10.6,287,1719,0.00,2.67,0.00,0.000,6,0.000,0.033,2746,2331,3869
$GC,2057,-0.73,-194.7,229.1,-10.7,348,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2330,3869
$GC,2403,-0.73,-194.7,266.2,-10.5,409,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2330,3869
$GC,2747,-0.73,-194.7,303.6,-11.7,470,2755,0.00,2.78,0.00,0.000,4,0.000,0.046,2746,3708,3869
$GC,2812,-0.73,-194.7,311.1,-11.6,481,2820,0.00,2.67,0.00,0.000,6,0.000,0.034,2746,2339,3868
$GC,3163,-0.73,-194.7,351.6,-11.6,542,3167,0.00,2.90,0.00,0.000,4,0.000,0.049,2746,884,3869
$GC,3191,-0.73,-194.7,355.2,-12.7,544,3196,0.00,2.85,0.00,0.000,6,0.000,0.030,2746,2355,3869
$GC,3518,-0.73,-194.7,393.6,-11.6,574,3522,0.00,2.67,0.00,0.000,4,0.000,0.046,2746,3703,3869
$GC,3581,-0.73,-194.7,401.3,-11.7,579,3585,0.00,2.65,0.00,0.000,6,0.000,0.033,2746,2346,3868
$GC,3908,-0.73,-194.7,442.3,-12.9,609,3913,0.00,2.90,0.00,0.000,4,0.000,0.049,2746,891,3868
$GC,3948,-0.73,-194.7,447.8,-13.0,612,3953,0.00,2.85,0.00,0.000,6,0.000,0.031,2746,2359,3868
$GC,4275,-0.73,-194.7,488.0,-12.2,642,4280,0.00,2.67,0.00,0.000,4,0.000,0.047,2746,3703,3868
$GC,4353,-0.73,-194.7,497.7,-11.5,648,4360,0.00,2.65,0.00,0.000,6,0.000,0.035,2746,2350,3867
$GC,4683,-0.73,-194.7,534.3,-10.8,679,4687,0.00,2.95,0.00,0.000,4,0.000,0.052,2746,885,3867
$GC,4722,-0.73,-194.7,539.0,-10.9,682,4727,0.00,2.88,0.00,0.000,6,0.000,0.031,2746,2362,3867
$GC,5050,-0.73,-194.7,574.2,-11.0,712,5054,0.00,2.70,0.00,0.000,4,0.000,0.050,2746,3706,3867
$GC,5112,-0.73,-194.7,581.1,-10.4,717,5117,0.00,2.65,0.00,0.000,6,0.000,0.035,2746,2359,3867
$GC,5433,-0.73,-194.7,617.3,-12.1,740,5438,0.00,3.00,0.00,0.000,4,0.000,0.056,2746,884,3867
$GC,5483,-0.73,-194.7,623.3,-11.3,742,5487,0.00,2.88,0.00,0.000,6,0.000,0.032,2746,2357,3866
$GC,5799,-0.73,-194.7,659.4,-11.2,757,5803,0.00,2.75,0.00,0.000,4,0.000,0.057,2746,3706,3866
$GC,5865,-0.73,-194.7,666.9,-11.2,760,5869,0.00,2.67,0.00,0.000,6,0.000,0.041,2746,2363,3866
$GC,6187,-0.73,-194.7,703.7,-11.5,776,6192,0.00,3.08,0.00,0.000,4,0.000,0.067,2746,896,3866
$GC,6227,-0.73,-194.7,708.4,-11.8,778,6232,0.00,2.95,0.00,0.000,6,0.000,0.042,2746,2362,3866
$GC,6554,-0.73,-194.7,746.8,-11.7,794,6558,0.00,2.85,0.00,0.000,4,0.000,0.074,2746,3701,3866
$GC,6604,-0.73,-194.7,752.8,-11.7,796,6608,0.00,2.75,0.00,0.000,6,0.000,0.054,2746,2371,3866
$GC,6920,-0.73,-194.7,786.8,-10.4,811,6925,0.00,3.28,0.00,0.000,4,0.000,0.091,2746,898,3865
$GC,6961,-0.73,-194.7,791.0,-10.5,813,6965,0.00,3.12,0.00,0.000,6,0.000,0.068,2746,2356,3865
$GC,7288,-0.73,-194.7,828.8,-12.3,829,7293,0.00,3.08,0.00,0.000,4,0.000,0.101,2746,3698,3865
$GC,7351,-0.73,-194.7,836.1,-10.3,832,7355,0.00,2.97,0.00,0.000,6,0.000,0.089,2746,2376,3865
$GC,7677,-0.73,-194.7,870.5,-10.1,848,7683,0.00,3.60,0.00,0.000,4,0.000,0.125,2746,901,3864
$GC,7734,-0.73,-194.7,876.7,-10.5,850,7742,0.00,3.40,0.00,0.000,6,0.000,0.106,2746,2340,3865
$GC,8050,-1.03,-194.7,885.5,0.0,866,8052,0.28,0.00,0.00,0.000,6,0.058,0.000,2694,2340,3864
$STATE,8151,end dive,NO_VERTICAL_VELOCITY
$STATE,8151,begin apogee
$GC,8159,-0.21,0.0,885.5,0.0,871,8373,1.00,0.00,207.18,1.511,6,0.081,0.000,2874,2751,3072
$STATE,8374,end apogee,CONTROL_FINISHED_OK
$STATE,8374,begin climb
$GC,8377,0.86,194.7,885.4,0.0,882,8600,1.40,3.78,210.95,1.440,4,0.085,0.114,3101,1355,2277
$GC,8606,0.73,194.7,868.7,10.2,892,8615,0.15,3.55,0.00,0.000,6,0.114,0.099,3082,2754,2276
$GC,8923,0.66,201.1,837.2,9.8,908,8932,0.00,0.00,7.75,1.113,6,0.000,0.000,3082,2755,2251
$GC,9233,0.61,222.3,808.3,9.3,923,9263,0.15,2.62,23.12,1.353,4,0.113,0.089,3056,3909,2163
$GC,9270,0.72,311.8,805.2,6.9,924,9370,0.00,2.45,94.20,1.417,6,0.000,0.066,3056,2770,1800
$GC,9700,0.84,371.6,773.6,7.9,945,9771,0.20,3.22,63.97,1.391,4,0.052,0.074,3100,1327,1554
$GC,9816,0.84,371.6,761.2,11.1,950,9821,0.00,3.00,0.00,0.000,6,0.000,0.051,3099,2751,1551
$GC,10133,0.84,373.1,729.7,9.9,965,10137,0.00,3.00,0.00,0.000,4,0.000,0.062,3100,1327,1548
$GC,10151,0.84,373.1,727.8,10.0,966,10155,0.00,2.85,0.00,0.000,6,0.000,0.044,3100,2734,1548
$GC,10477,0.86,391.5,696.2,9.4,982,10504,0.00,2.95,21.12,1.299,4,0.000,0.057,3100,1332,1474
$GC,10510,0.89,412.8,693.0,9.3,983,10540,0.00,2.83,24.58,1.328,6,0.000,0.038,3100,2731,1388
$GC,10848,0.91,428.7,662.3,9.4,1000,10872,0.00,2.97,17.88,1.270,4,0.000,0.052,3099,1327,1322
$GC,10883,0.92,439.5,658.8,9.6,1001,10904,0.00,2.80,13.43,1.225,6,0.000,0.035,3099,2725,1278
$GC,11230,0.97,478.9,629.0,8.6,1018,11280,0.15,2.92,44.20,1.324,4,0.052,0.054,3132,1328,1117
$GC,11315,0.97,478.9,619.4,11.7,1022,11320,0.00,2.75,0.00,0.000,6,0.000,0.032,3132,2700,1115
$GC,11638,0.97,479.1,585.4,10.0,1044,11643,0.00,2.78,0.00,0.000,4,0.000,0.047,3132,1326,1111
$GC,11656,0.98,485.2,583.4,9.8,1045,11669,0.00,2.67,6.88,1.004,6,0.000,0.032,3132,2684,1093
$GC,11986,0.98,485.2,548.9,11.0,1076,11991,0.00,2.75,0.00,0.000,4,0.000,0.047,3132,1319,1091
$GC,12004,0.98,485.2,547.0,11.1,1077,12009,0.00,2.62,0.00,0.000,6,0.000,0.031,3132,2662,1090
$GC,12330,0.98,485.2,512.1,10.9,1107,12331,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2662,1090
$GC,12649,0.98,485.2,478.8,10.6,1137,12653,0.00,2.67,0.00,0.000,4,0.000,0.047,3132,1329,1089
$GC,12660,0.98,485.2,477.4,10.7,1137,12667,0.00,2.58,0.00,0.000,6,0.000,0.031,3132,2656,1089
$GC,12990,0.98,485.2,442.4,10.9,1168,12994,0.00,2.67,0.00,0.000,4,0.000,0.046,3131,1324,1088
$GC,13007,0.98,485.2,440.0,10.8,1169,13012,0.00,2.58,0.00,0.000,6,0.000,0.031,3132,2652,1089
$GC,13333,0.98,485.2,403.7,11.4,1199,13334,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2652,1088
$GC,13652,0.98,485.2,367.4,11.8,1229,13656,0.00,2.67,0.00,0.000,4,0.000,0.048,3132,1319,1088
$GC,13669,0.98,485.2,365.2,12.1,1230,13673,0.00,2.55,0.00,0.000,6,0.000,0.031,3132,2635,1088
$GC,14007,0.98,485.2,324.2,12.7,1278,14014,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2635,1088
$GC,14353,0.98,485.2,281.7,12.0,1339,14359,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2635,1087
$GC,14697,0.98,485.2,242.0,11.2,1400,14705,0.00,2.62,0.00,0.000,4,0.000,0.045,3132,1322,1087
$GC,14713,0.98,485.2,240.4,11.0,1402,14720,0.00,2.53,0.00,0.000,6,0.000,0.031,3132,2630,1087
$GC,15059,0.98,485.2,202.2,10.3,1463,15065,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2631,1087
$GC,15403,0.98,490.4,166.1,9.8,1524,15412,0.00,0.00,6.38,0.789,6,0.000,0.000,3132,2631,1071
$GC,15749,0.99,492.9,132.3,9.9,1585,15763,0.00,2.67,4.35,0.659,4,0.000,0.045,3132,1325,1061
$GC,15771,1.00,499.0,130.0,9.8,1588,15785,0.00,2.53,8.35,0.853,6,0.000,0.031,3132,2631,1036
$GC,16123,1.00,499.0,94.3,10.4,1650,16131,0.00,2.62,0.00,0.000,4,0.000,0.046,3132,1319,1034
$GC,16138,1.00,501.7,92.7,9.9,1652,16152,0.00,2.50,4.28,0.639,6,0.000,0.031,3132,2616,1025
$GC,16488,1.04,501.7,56.3,10.8,1714,16495,0.00,2.58,0.00,0.000,4,0.000,0.046,3132,1328,1024
$GC,16521,1.04,501.7,52.7,10.6,1719,16528,0.00,2.42,0.00,0.000,6,0.000,0.029,3132,2587,1024
$GC,16867,1.09,501.7,17.8,10.1,1780,16875,0.12,0.00,0.00,0.000,6,0.057,0.000,3159,2587,1023
$STATE,16997,end climb,SURFACE_DEPTH_REACHED
$STATE,16997,begin surface coast
$FINISH,0.2,1.025502
$STATE,17017,end surface coast,CONTROL_FINISHED_OK
$STATE,17017,begin surface
$SM_CCo,17096,0.00,0.000,0,0,1023,502.13
$SM_GC,0.65,8.70,0.00,0.00,0.041,0.000,0.000,1428,2277,1023,-6.80,-0.65,502.13
$IRIDIUM_FIX,6126.23,-2601.30,120997,232333
$TT8_MAMPS,0.026078
$HUMID,1864
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,16.60
$XPDR_PINGS,904
$24V_AH,19.0,112.560
$10V_AH,9.8,74.045
$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,24.500,199.175,758.600,0.000,0.000,31.649,33.143,269.503,226.000,0.000,0.000,15.592,3719.432,8769.819,931.192,3385.737,766.603,0.000,2500.258,0.000,3367.190,0.000,0.465
$DEVICE_MAMPS,251.576,125.021,1510.990,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1266.275,1330.821,701.854,1681.251,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,133005,1806
$CAP_FILE_SIZE,173809,0
$CFSIZE,260165632,222502912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023, 58.1,1
$GPS,190608,091755,6153.918,-2614.789,24,1.2,41,-18.8