version: 66.03
glider: 142
mission: 5
dive: 364
start: 6 19 108 13 53 16
data:
$ID,142
$MISSION,5
$DIVE,364
$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,-19833.967
$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,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
$GPS1,134058,6154.339,-2617.284,29,99.0,48,-18.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-54.2
$GPS2,135256,6154.245,-2617.184,9,0.8,14,-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,325.6,6139,-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,-194.7,0.0,0.0,0,143,0.00,0.00,-118.05,0.000,2,0.000,0.000,1430,2273,3392
$GC,147,-0.86,-194.7,3.0,-4.9,15,177,12.00,0.00,-13.38,0.000,6,0.249,0.000,2727,2273,3867
$GC,315,-0.76,-194.7,27.8,-13.3,43,322,0.15,0.00,0.00,0.000,6,0.147,0.000,2750,2273,3868
$GC,458,-0.76,-194.7,45.4,-11.3,68,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2273,3868
$GC,601,-0.76,-194.7,60.9,-10.2,93,608,0.00,2.85,0.00,0.000,4,0.000,0.043,2749,3710,3868
$GC,694,-0.76,-194.7,70.1,-9.7,109,701,0.00,2.72,0.00,0.000,6,0.000,0.031,2750,2303,3868
$GC,1038,-0.76,-194.7,105.2,-10.0,170,1046,0.00,2.80,0.00,0.000,4,0.000,0.044,2750,3707,3868
$GC,1098,-0.76,-194.7,111.1,-9.7,180,1105,0.00,2.70,0.00,0.000,6,0.000,0.032,2749,2316,3868
$GC,1446,-0.76,-194.7,149.3,-11.4,241,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2315,3868
$GC,1792,-0.76,-194.7,187.5,-10.9,302,1799,0.00,2.78,0.00,0.000,4,0.000,0.044,2750,3703,3868
$GC,1857,-0.76,-194.7,194.3,-10.6,313,1864,0.00,2.67,0.00,0.000,6,0.000,0.032,2750,2329,3868
$GC,2203,-0.76,-194.7,230.4,-10.8,374,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2329,3868
$GC,2548,-0.76,-194.7,268.0,-10.8,435,2556,0.00,2.78,0.00,0.000,4,0.000,0.045,2750,3712,3868
$GC,2602,-0.76,-194.7,273.9,-10.5,444,2610,0.00,2.67,0.00,0.000,6,0.000,0.032,2749,2336,3868
$GC,2949,-0.76,-194.7,311.0,-10.1,505,2956,0.00,2.90,0.00,0.000,4,0.000,0.049,2750,882,3868
$GC,2986,-0.76,-194.7,314.8,-10.6,511,2993,0.00,2.85,0.00,0.000,6,0.000,0.031,2750,2356,3868
$GC,3330,-0.76,-194.7,349.1,-9.7,572,3338,0.00,2.67,0.00,0.000,4,0.000,0.046,2749,3707,3867
$GC,3405,-0.76,-194.7,356.4,-9.7,579,3412,0.00,2.65,0.00,0.000,6,0.000,0.033,2750,2343,3867
$GC,3733,-0.76,-194.7,386.8,-9.3,610,3737,0.00,2.90,0.00,0.000,4,0.000,0.048,2749,885,3867
$GC,3774,-0.76,-194.7,390.5,-9.1,613,3778,0.00,2.85,0.00,0.000,6,0.000,0.030,2750,2359,3867
$GC,4101,-0.76,-194.7,418.0,-8.4,643,4106,0.00,2.67,0.00,0.000,4,0.000,0.046,2750,3707,3867
$GC,4176,-0.76,-194.7,424.4,-8.2,649,4180,0.00,2.65,0.00,0.000,6,0.000,0.034,2750,2351,3867
$GC,4504,-0.76,-194.7,450.5,-7.8,679,4508,0.00,2.92,0.00,0.000,4,0.000,0.050,2749,888,3866
$GC,4548,-0.76,-194.7,454.3,-7.9,682,4555,0.00,2.83,0.00,0.000,6,0.000,0.030,2749,2354,3866
$GC,4878,-0.76,-194.7,479.4,-7.6,713,4882,0.00,2.70,0.00,0.000,4,0.000,0.048,2750,3709,3866
$GC,4955,-0.76,-194.7,485.7,-7.6,719,4962,0.00,2.65,0.00,0.000,6,0.000,0.034,2750,2353,3866
$GC,5283,-0.76,-194.7,513.3,-9.7,750,5288,0.00,2.95,0.00,0.000,4,0.000,0.051,2749,882,3866
$GC,5316,-0.76,-194.7,517.0,-10.5,752,5324,0.00,2.88,0.00,0.000,6,0.000,0.031,2750,2364,3865
$GC,5644,-0.76,-194.7,549.2,-9.5,783,5648,0.00,2.70,0.00,0.000,4,0.000,0.050,2750,3710,3865
$GC,5706,-0.76,-194.7,555.4,-9.5,788,5711,0.00,2.62,0.00,0.000,6,0.000,0.034,2749,2368,3865
$GC,6034,-0.76,-194.7,588.5,-10.8,818,6039,0.00,3.00,0.00,0.000,4,0.000,0.053,2750,884,3865
$GC,6078,-0.76,-194.7,593.6,-10.6,821,6085,0.00,2.90,0.00,0.000,6,0.000,0.031,2750,2370,3865
$GC,6397,-0.76,-194.7,626.3,-10.3,840,6402,0.00,2.70,0.00,0.000,4,0.000,0.054,2749,3704,3865
$GC,6447,-0.76,-194.7,631.5,-9.5,842,6452,0.00,2.65,0.00,0.000,6,0.000,0.037,2749,2365,3864
$GC,6764,-0.76,-194.7,662.1,-9.9,857,6769,0.00,3.03,0.00,0.000,4,0.000,0.060,2749,893,3865
$GC,6805,-0.76,-194.7,666.1,-9.5,859,6809,0.00,2.90,0.00,0.000,6,0.000,0.036,2749,2359,3864
$GC,7133,-0.76,-194.7,696.6,-9.8,875,7138,0.00,2.78,0.00,0.000,4,0.000,0.061,2749,3703,3864
$GC,7196,-0.76,-194.7,702.3,-9.1,878,7200,0.00,2.70,0.00,0.000,6,0.000,0.044,2749,2363,3864
$GC,7523,-1.07,-194.7,718.8,-0.0,894,7525,0.32,0.00,0.00,0.000,6,0.055,0.000,2688,2362,3864
$STATE,7684,end dive,NO_VERTICAL_VELOCITY
$STATE,7685,begin apogee
$GC,7692,-0.21,0.0,718.8,0.0,902,7897,1.00,0.00,200.68,1.407,6,0.072,0.000,2869,2751,3071
$STATE,7898,end apogee,CONTROL_FINISHED_OK
$STATE,7898,begin climb
$GC,7900,0.86,194.7,718.7,0.0,912,8115,1.45,2.60,203.88,1.346,4,0.110,0.063,3097,3903,2276
$GC,8123,0.74,194.7,703.2,10.6,923,8128,0.00,2.47,0.00,0.000,6,0.000,0.041,3097,2755,2275
$GC,8446,0.63,194.7,666.3,11.6,939,8451,0.22,2.95,0.00,0.000,4,0.124,0.058,3061,1331,2274
$GC,8457,0.53,194.7,664.8,11.7,939,8465,0.15,2.83,0.00,0.000,6,0.108,0.037,3038,2745,2274
$GC,8774,0.60,247.6,638.2,8.2,955,8834,0.00,2.97,53.50,1.310,4,0.000,0.048,3038,1330,2060
$GC,8851,0.78,344.3,632.1,6.6,957,8958,0.28,2.85,99.70,1.308,6,0.044,0.034,3094,2740,1667
$GC,9278,0.78,344.3,586.0,10.9,984,9282,0.00,2.85,0.00,0.000,4,0.000,0.047,3094,1334,1661
$GC,9306,0.78,344.3,582.6,11.5,986,9310,0.00,2.72,0.00,0.000,6,0.000,0.032,3094,2717,1659
$GC,9633,0.78,344.3,546.4,11.0,1016,9637,0.00,2.35,0.00,0.000,4,0.000,0.051,3094,3891,1659
$GC,9651,0.78,344.3,544.1,11.3,1017,9656,0.00,2.30,0.00,0.000,6,0.000,0.033,3094,2707,1658
$GC,9981,0.78,344.3,506.1,11.9,1047,9987,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2705,1657
$GC,10306,0.78,344.3,466.6,11.4,1078,10310,0.00,2.40,0.00,0.000,4,0.000,0.051,3094,3893,1657
$GC,10318,0.78,344.3,465.3,11.7,1079,10322,0.00,2.25,0.00,0.000,6,0.000,0.031,3094,2724,1656
$GC,10643,0.78,344.3,428.5,11.1,1109,10648,0.00,2.75,0.00,0.000,4,0.000,0.046,3094,1346,1656
$GC,10653,0.78,344.3,427.2,11.2,1109,10661,0.00,2.67,0.00,0.000,6,0.000,0.031,3094,2724,1656
$GC,10981,0.78,344.3,392.2,10.7,1140,10982,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2723,1656
$GC,11299,0.78,344.3,357.3,11.5,1170,11303,0.00,2.78,0.00,0.000,4,0.000,0.044,3094,1341,1656
$GC,11327,0.78,344.3,353.7,12.3,1172,11331,0.00,2.65,0.00,0.000,6,0.000,0.031,3094,2704,1656
$GC,11669,0.78,344.3,316.8,10.1,1229,11676,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2704,1655
$GC,12014,0.78,344.3,282.5,10.0,1290,12020,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2705,1656
$GC,12360,0.78,344.3,248.7,10.1,1351,12367,0.00,2.72,0.00,0.000,4,0.000,0.044,3094,1346,1656
$GC,12374,0.78,344.3,247.2,10.3,1353,12381,0.00,2.62,0.00,0.000,6,0.000,0.031,3094,2696,1655
$GC,12720,0.78,344.3,212.2,10.4,1414,12727,0.00,2.38,0.00,0.000,4,0.000,0.049,3094,3889,1655
$GC,12734,0.78,344.3,210.7,10.7,1416,12741,0.00,2.33,0.00,0.000,6,0.000,0.031,3094,2695,1655
$GC,13079,0.80,361.2,175.8,9.4,1477,13101,0.00,2.78,16.12,0.973,4,0.000,0.044,3094,1338,1598
$GC,13109,0.82,376.8,173.0,9.5,1481,13136,0.00,2.67,17.75,1.006,6,0.000,0.031,3094,2705,1535
$GC,13478,0.82,377.7,139.2,10.0,1545,13485,0.00,2.72,0.00,0.000,4,0.000,0.044,3094,1347,1531
$GC,13492,0.82,377.7,137.4,10.1,1547,13499,0.00,2.62,0.00,0.000,6,0.000,0.031,3094,2695,1531
$GC,13839,0.83,385.4,103.3,9.7,1608,13854,0.00,2.80,9.88,0.864,4,0.000,0.044,3094,1337,1499
$GC,13862,0.87,413.2,101.2,9.0,1611,13902,0.00,2.62,30.23,0.989,6,0.000,0.031,3094,2683,1385
$GC,14243,0.97,450.5,71.0,8.7,1677,14291,0.15,2.78,38.58,0.969,4,0.052,0.046,3131,1342,1233
$GC,14310,0.97,450.5,63.2,12.0,1687,14317,0.00,2.62,0.00,0.000,6,0.000,0.030,3131,2671,1231
$GC,14656,1.01,484.8,26.9,8.8,1748,14699,0.00,2.70,35.45,0.935,4,0.000,0.045,3131,1347,1092
$GC,14737,1.05,484.8,19.2,10.2,1760,14744,0.00,2.50,0.00,0.000,6,0.000,0.030,3131,2630,1090
$GC,14880,1.05,484.8,4.5,10.1,1785,14887,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2629,1089
$STATE,14903,end climb,SURFACE_DEPTH_REACHED
$STATE,14903,begin surface coast
$FINISH,0.2,1.014401
$STATE,14920,end surface coast,CONTROL_FINISHED_OK
$STATE,14921,begin surface
$SM_CCo,15000,0.00,0.000,0,0,1087,486.68
$SM_GC,0.81,8.60,0.00,0.00,0.042,0.000,0.000,1430,2291,1087,-6.79,-0.25,486.68
$IRIDIUM_FIX,6130.75,-2617.54,130997,131317
$TT8_MAMPS,0.026078
$HUMID,1854
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,16.60
$XPDR_PINGS,773
$24V_AH,19.2,113.147
$10V_AH,9.8,74.367
$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,24.325,169.825,705.750,0.000,0.000,60.064,64.336,360.929,193.250,0.000,0.000,16.065,3626.467,7017.913,918.497,3235.981,901.463,0.000,2388.329,0.000,3222.268,0.000,0.466
$DEVICE_MAMPS,249.275,62.894,1407.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1244.292,1335.681,752.513,1677.639,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129667,1792
$CAP_FILE_SIZE,164954,0
$CFSIZE,260165632,222330880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,213.8,1
$GPS,190608,180452,6155.282,-2620.972,39,2.7,58,-18.9