version: 66.03
glider: 142
mission: 5
dive: 366
start: 6 19 108 22 52 17
data:
$ID,142
$MISSION,5
$DIVE,366
$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,-19884.283
$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,24
$R_STBD_OVSHOOT,17
$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
$GPS1,223656,6156.771,-2623.828,40,1.4,40,-18.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-65.1
$GPS2,225157,6156.741,-2623.853,12,1.4,12,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NE
$TGT_LATLONG,6156.130,-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,117.5,20640,-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,24,-0.86,-194.7,0.0,0.0,0,91,0.00,0.00,-64.78,0.000,2,0.000,0.000,1436,2295,3489
$GC,95,-0.86,-194.7,3.4,-5.2,9,125,12.10,2.83,-9.80,0.000,4,0.250,0.050,2726,3711,3867
$GC,282,-0.81,-194.7,31.7,-13.0,40,289,0.00,2.75,0.00,0.000,6,0.000,0.032,2726,2294,3868
$GC,424,-0.73,-194.7,48.8,-13.2,65,432,0.17,2.80,0.00,0.000,4,0.143,0.048,2753,894,3868
$GC,452,-0.73,-194.7,52.2,-13.0,69,459,0.00,2.72,0.00,0.000,6,0.000,0.028,2753,2313,3868
$GC,798,-0.73,-194.7,91.7,-12.0,130,806,0.00,2.75,0.00,0.000,4,0.000,0.043,2753,3706,3869
$GC,870,-0.73,-194.7,100.3,-11.7,142,877,0.00,2.72,0.00,0.000,6,0.000,0.033,2753,2311,3869
$GC,1216,-0.73,-194.7,139.4,-10.7,203,1223,0.00,2.80,0.00,0.000,4,0.000,0.044,2753,3709,3869
$GC,1276,-0.73,-194.7,145.6,-9.8,213,1283,0.00,2.70,0.00,0.000,6,0.000,0.033,2753,2326,3869
$GC,1622,-0.73,-194.7,180.6,-9.5,274,1629,0.00,2.78,0.00,0.000,4,0.000,0.044,2753,3706,3869
$GC,1659,-0.73,-194.7,184.2,-9.6,280,1667,0.00,2.67,0.00,0.000,6,0.000,0.034,2752,2335,3869
$GC,2005,-0.73,-194.7,218.7,-10.2,341,2012,0.00,2.75,0.00,0.000,4,0.000,0.046,2753,3703,3869
$GC,2055,-0.73,-194.7,223.4,-10.1,349,2063,0.00,2.65,0.00,0.000,6,0.000,0.034,2753,2346,3869
$GC,2402,-0.73,-194.7,257.0,-9.7,410,2409,0.00,2.72,0.00,0.000,4,0.000,0.045,2753,3701,3869
$GC,2433,-0.73,-194.7,260.1,-10.3,415,2440,0.00,2.62,0.00,0.000,6,0.000,0.034,2753,2358,3869
$GC,2779,-0.73,-194.7,295.9,-10.6,476,2787,0.00,2.70,0.00,0.000,4,0.000,0.046,2753,3700,3869
$GC,2812,-0.73,-194.7,299.2,-10.6,481,2819,0.00,2.60,0.00,0.000,6,0.000,0.034,2753,2367,3869
$GC,3158,-0.73,-194.7,332.8,-9.2,542,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2366,3869
$GC,3494,-0.73,-194.7,362.5,-8.8,590,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2366,3869
$GC,3812,-0.73,-194.7,394.1,-10.8,620,3817,0.00,2.70,0.00,0.000,4,0.000,0.047,2754,3704,3869
$GC,3831,-0.73,-194.7,396.0,-10.3,621,3835,0.00,2.60,0.00,0.000,6,0.000,0.034,2753,2371,3869
$GC,4160,-0.73,-194.7,430.1,-10.4,651,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2369,3868
$GC,4486,-0.73,-194.7,463.3,-10.2,682,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2369,3868
$GC,4804,-0.73,-194.7,497.5,-10.6,712,4808,0.00,2.70,0.00,0.000,4,0.000,0.048,2753,3706,3868
$GC,4813,-0.73,-194.7,498.6,-10.1,712,4821,0.00,2.60,0.00,0.000,6,0.000,0.034,2753,2373,3868
$GC,5142,-0.73,-194.7,529.7,-9.0,743,5146,0.00,2.70,0.00,0.000,4,0.000,0.049,2753,3701,3868
$GC,5171,-0.73,-194.7,532.4,-8.8,745,5175,0.00,2.58,0.00,0.000,6,0.000,0.034,2753,2386,3868
$GC,5499,-0.73,-194.7,563.2,-10.0,775,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2384,3868
$GC,5824,-0.73,-194.7,598.5,-11.2,806,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2384,3868
$GC,6135,-0.73,-194.7,635.2,-11.5,822,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2384,3866
$GC,6444,-0.73,-194.7,667.5,-9.9,837,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2384,3867
$GC,6753,-0.73,-194.7,695.6,-8.7,852,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2384,3867
$GC,7063,-0.73,-194.7,722.7,-8.8,867,7068,0.00,3.15,0.00,0.000,4,0.000,0.070,2753,896,3866
$GC,7107,-0.79,-194.7,726.9,-8.9,869,7112,0.00,3.03,0.00,0.000,6,0.000,0.046,2753,2390,3866
$GC,7429,-0.79,-194.7,753.9,-8.7,885,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2390,3866
$GC,7739,-0.79,-194.7,782.6,-8.9,900,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2390,3865
$GC,8048,-0.79,-194.7,811.7,-10.2,915,8053,0.00,3.45,0.00,0.000,4,0.000,0.097,2753,891,3865
$GC,8081,-0.83,-194.7,815.3,-10.2,916,8089,0.00,3.25,0.00,0.000,6,0.000,0.076,2753,2377,3865
$GC,8398,-0.83,-194.7,845.8,-9.8,932,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2376,3865
$GC,8707,-0.83,-194.7,875.8,-9.6,947,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2376,3865
$GC,9015,-0.83,-194.7,904.5,-8.6,962,9017,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2378,3864
$GC,9327,-0.83,-194.7,931.4,-8.4,977,9328,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2378,3864
$GC,9634,-1.09,-194.7,935.3,-0.0,992,9640,0.35,3.47,0.00,0.000,4,0.048,0.150,2679,3691,3864
$STATE,9688,end dive,NO_VERTICAL_VELOCITY
$STATE,9688,begin apogee
$GC,9697,-0.21,0.0,935.3,0.0,994,9912,1.10,0.00,210.65,1.549,6,0.100,0.000,2867,2755,3071
$STATE,9912,end apogee,CONTROL_FINISHED_OK
$STATE,9912,begin climb
$GC,9916,0.86,194.7,935.2,0.0,1005,10141,1.48,0.00,215.35,1.486,6,0.100,0.000,3100,2756,2277
$GC,10450,0.73,194.7,881.2,11.9,1031,10455,0.00,2.30,0.00,0.000,4,0.000,0.053,3100,3885,2274
$GC,10486,0.61,194.7,876.8,12.2,1032,10494,0.30,2.25,0.00,0.000,6,0.115,0.033,3054,2734,2274
$GC,10802,0.67,243.3,849.6,8.3,1048,10855,0.00,0.00,50.97,1.440,6,0.000,0.000,3054,2734,2079
$GC,11152,0.74,303.6,822.0,7.9,1065,11222,0.15,2.92,63.78,1.443,4,0.059,0.049,3084,1344,1832
$GC,11256,0.74,303.6,810.9,12.0,1069,11264,0.00,2.85,0.00,0.000,6,0.000,0.031,3084,2754,1830
$GC,11572,0.74,303.6,777.9,10.3,1085,11576,0.00,2.30,0.00,0.000,4,0.000,0.054,3084,3900,1827
$GC,11600,0.74,303.6,774.9,10.1,1086,11604,0.00,2.25,0.00,0.000,6,0.000,0.032,3084,2739,1826
$GC,11916,0.74,303.6,742.8,10.3,1101,11920,0.00,2.80,0.00,0.000,4,0.000,0.048,3084,1342,1826
$GC,11948,0.74,303.6,739.2,10.2,1102,11956,0.00,2.78,0.00,0.000,6,0.000,0.033,3084,2760,1825
$GC,12265,0.74,303.6,706.8,10.2,1118,12266,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2760,1824
$GC,12574,0.74,304.3,676.5,10.0,1133,12579,0.00,2.85,0.00,0.000,4,0.000,0.045,3084,1340,1824
$GC,12614,0.74,304.3,672.3,10.6,1135,12619,0.00,2.75,0.00,0.000,6,0.000,0.034,3084,2743,1824
$GC,12943,0.75,314.7,640.2,9.6,1151,12961,0.00,0.00,11.48,1.188,6,0.000,0.000,3084,2743,1787
$GC,13270,0.75,314.7,606.9,10.2,1167,13272,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2743,1785
$GC,13587,0.77,325.7,576.2,9.6,1193,13607,0.00,0.00,12.62,1.179,6,0.000,0.000,3084,2743,1744
$GC,13925,0.82,365.1,545.6,8.6,1225,13976,0.00,2.95,43.40,1.286,4,0.000,0.045,3084,1343,1581
$GC,14007,0.84,381.8,538.3,9.4,1232,14032,0.00,2.78,19.27,1.212,6,0.000,0.031,3084,2735,1514
$GC,14350,0.88,419.3,508.3,8.7,1264,14393,0.15,0.00,40.70,1.244,6,0.055,0.000,3117,2735,1361
$GC,14708,0.88,419.3,469.3,11.2,1298,14712,0.00,2.83,0.00,0.000,4,0.000,0.045,3117,1335,1354
$GC,14750,0.88,419.3,464.7,11.6,1301,14754,0.00,2.72,0.00,0.000,6,0.000,0.032,3117,2725,1354
$GC,15079,0.88,419.3,425.9,12.1,1331,15085,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2726,1353
$GC,15404,0.88,419.3,387.8,11.7,1362,15406,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2725,1352
$GC,15724,0.88,419.3,351.2,11.3,1392,15728,0.00,2.80,0.00,0.000,4,0.000,0.045,3117,1335,1352
$GC,15775,0.88,419.3,345.1,11.4,1399,15782,0.00,2.70,0.00,0.000,6,0.000,0.031,3117,2724,1351
$GC,16120,0.88,419.3,307.1,11.3,1460,16126,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2723,1351
$GC,16465,0.89,421.5,269.3,9.9,1521,16472,0.00,2.78,0.00,0.000,4,0.000,0.044,3117,1337,1351
$GC,16501,0.89,421.5,265.2,11.5,1527,16508,0.00,2.67,0.00,0.000,6,0.000,0.031,3117,2713,1351
$GC,16848,0.89,421.5,228.1,10.3,1588,16854,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2713,1351
$GC,17193,0.89,421.5,190.3,11.0,1649,17200,0.00,2.75,0.00,0.000,4,0.000,0.045,3117,1339,1350
$GC,17230,0.89,421.5,186.3,10.1,1655,17237,0.00,2.65,0.00,0.000,6,0.000,0.031,3117,2704,1350
$GC,17576,0.89,421.5,150.4,10.4,1716,17583,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2704,1350
$GC,17921,0.89,421.5,111.8,10.5,1777,17928,0.00,2.75,0.00,0.000,4,0.000,0.045,3117,1335,1350
$GC,17960,0.89,421.5,107.3,11.2,1783,17967,0.00,2.62,0.00,0.000,6,0.000,0.031,3117,2688,1350
$GC,18306,0.89,421.5,66.5,11.4,1844,18313,0.00,2.38,0.00,0.000,4,0.000,0.048,3117,3888,1350
$GC,18331,0.89,421.5,63.4,11.8,1848,18338,0.00,2.35,0.00,0.000,6,0.000,0.032,3117,2671,1350
$GC,18676,0.99,474.5,28.0,8.2,1909,18739,0.00,2.78,56.05,0.963,4,0.000,0.047,3116,1342,1135
$GC,18781,1.08,499.3,18.7,9.1,1925,18818,0.20,2.62,26.45,0.925,6,0.044,0.029,3159,2681,1035
$STATE,18925,end climb,SURFACE_DEPTH_REACHED
$STATE,18925,begin surface coast
$FINISH,0.2,1.004783
$STATE,18942,end surface coast,CONTROL_FINISHED_OK
$STATE,18942,begin surface
$SM_CCo,19022,0.00,0.000,0,0,1029,500.90
$SM_GC,0.84,8.90,0.00,0.00,0.048,0.000,0.000,1435,2298,1029,-6.79,-0.03,500.90
$IRIDIUM_FIX,6130.75,-2621.64,130997,222247
$TT8_MAMPS,0.026078
$HUMID,1845
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,16.40
$XPDR_PINGS,984
$24V_AH,18.9,113.688
$10V_AH,9.8,74.693
$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,24.900,148.200,750.725,0.000,0.000,84.582,111.153,416.666,246.000,0.000,0.000,14.329,3927.634,10569.491,944.145,3420.248,1046.033,0.000,2464.609,0.000,3410.731,0.000,0.465
$DEVICE_MAMPS,250.042,149.565,1549.340,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1357.317,1458.015,705.870,1749.225,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142487,1952
$CAP_FILE_SIZE,176569,0
$CFSIZE,260165632,222121984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054, 47.6,1
$GPS,200608,041038,6156.443,-2617.153,41,1.1,41,-18.9