version: 66.03
glider: 142
mission: 5
dive: 371
start: 6 20 108 22 3 59
data:
$ID,142
$MISSION,5
$DIVE,371
$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,-19960.965
$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,30
$R_STBD_OVSHOOT,4
$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
$GPS1,215637,6156.993,-2601.090,27,0.8,27,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-63.3
$GPS2,220339,6157.007,-2601.032,12,1.0,12,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SW
$TGT_LATLONG,6145.370,-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,228.1,28887,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.86,-194.7,0.0,0.0,0,94,0.00,0.00,-67.00,0.000,2,0.000,0.000,1433,2290,3509
$GC,98,-0.86,-194.7,3.5,-4.9,9,121,12.20,0.00,-9.32,0.000,6,0.248,0.000,2726,2290,3866
$GC,262,-0.78,-194.7,29.0,-12.2,36,270,0.15,2.88,0.00,0.000,4,0.150,0.043,2749,3731,3868
$GC,300,-0.78,-194.7,33.4,-10.0,42,308,0.00,2.78,0.00,0.000,6,0.000,0.031,2749,2301,3869
$GC,446,-0.78,-194.7,46.0,-8.5,67,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2301,3869
$GC,589,-0.78,-194.7,58.2,-8.4,92,597,0.00,2.85,0.00,0.000,4,0.000,0.044,2749,3728,3869
$GC,615,-0.78,-194.7,60.6,-8.7,96,623,0.00,2.78,0.00,0.000,6,0.000,0.032,2749,2304,3869
$GC,962,-0.78,-194.7,99.5,-12.0,157,969,0.00,2.85,0.00,0.000,4,0.000,0.044,2749,3722,3869
$GC,1027,-0.78,-194.7,106.7,-10.5,168,1035,0.00,2.72,0.00,0.000,6,0.000,0.033,2749,2323,3869
$GC,1373,-0.78,-194.7,140.0,-10.0,229,1380,0.00,2.83,0.00,0.000,4,0.000,0.045,2749,3728,3869
$GC,1392,-0.78,-194.7,142.2,-10.2,232,1400,0.00,2.72,0.00,0.000,6,0.000,0.033,2749,2332,3870
$GC,1739,-0.78,-194.7,178.1,-10.4,293,1746,0.00,2.80,0.00,0.000,4,0.000,0.045,2749,3724,3870
$GC,1753,-0.78,-194.7,179.7,-10.3,295,1760,0.00,2.72,0.00,0.000,6,0.000,0.033,2750,2331,3870
$GC,2099,-0.78,-194.7,215.6,-10.5,356,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2329,3870
$GC,2444,-0.78,-194.7,250.7,-10.7,417,2451,0.00,2.83,0.00,0.000,4,0.000,0.046,2749,3731,3870
$GC,2486,-0.78,-194.7,255.3,-10.7,424,2494,0.00,2.72,0.00,0.000,6,0.000,0.033,2749,2333,3870
$GC,2833,-0.78,-194.7,291.5,-10.4,485,2840,0.00,2.83,0.00,0.000,4,0.000,0.046,2748,3733,3870
$GC,2863,-0.78,-194.7,294.9,-11.0,490,2871,0.00,2.70,0.00,0.000,6,0.000,0.033,2749,2350,3870
$GC,3210,-0.78,-194.7,332.8,-10.8,551,3217,0.00,2.78,0.00,0.000,4,0.000,0.047,2749,3724,3869
$GC,3235,-0.78,-194.7,335.6,-10.9,555,3242,0.00,2.65,0.00,0.000,6,0.000,0.033,2749,2365,3870
$GC,3574,-0.78,-194.7,371.0,-10.0,598,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2363,3869
$GC,3892,-0.78,-194.7,403.8,-10.1,628,3897,0.00,2.75,0.00,0.000,4,0.000,0.047,2749,3724,3870
$GC,3921,-0.78,-194.7,406.7,-10.4,630,3926,0.00,2.65,0.00,0.000,6,0.000,0.034,2749,2369,3869
$GC,4250,-0.78,-194.7,437.1,-9.0,660,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2367,3870
$GC,4577,-0.78,-194.7,467.4,-9.2,691,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2367,3869
$GC,4895,-0.78,-194.7,496.7,-9.5,721,4899,0.00,2.75,0.00,0.000,4,0.000,0.048,2749,3723,3869
$GC,4916,-0.78,-194.7,499.1,-10.2,722,4923,0.00,2.65,0.00,0.000,6,0.000,0.034,2749,2368,3869
$GC,5244,-0.78,-194.7,531.9,-9.9,753,5249,0.00,2.78,0.00,0.000,4,0.000,0.050,2749,3729,3869
$GC,5277,-0.78,-194.7,535.6,-10.2,755,5284,0.00,2.65,0.00,0.000,6,0.000,0.034,2749,2376,3869
$GC,5605,-0.78,-194.7,566.9,-9.2,786,5611,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2375,3869
$GC,5933,-0.78,-194.7,596.6,-8.9,817,5937,0.00,2.78,0.00,0.000,4,0.000,0.052,2749,3729,3869
$GC,5954,-0.78,-194.7,598.9,-9.0,818,5962,0.00,2.65,0.00,0.000,6,0.000,0.035,2749,2382,3869
$GC,6284,-0.78,-194.7,628.3,-9.0,835,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2381,3869
$GC,6592,-0.78,-194.7,655.7,-8.5,850,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2381,3869
$GC,6900,-0.78,-194.7,683.4,-9.1,865,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2380,3868
$GC,7211,-0.78,-194.7,712.7,-9.6,880,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2380,3868
$GC,7519,-0.78,-194.7,742.1,-9.6,895,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2380,3868
$GC,7830,-0.78,-194.7,773.2,-10.3,910,7831,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2380,3867
$GC,8138,-0.78,-194.7,804.3,-10.2,925,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2380,3867
$GC,8447,-0.78,-194.7,836.2,-10.2,940,8452,0.00,3.20,0.00,0.000,4,0.000,0.110,2749,3718,3867
$GC,8469,-0.78,-194.7,838.7,-10.2,941,8473,0.00,3.00,0.00,0.000,6,0.000,0.091,2749,2406,3866
$GC,8791,-0.78,-194.7,870.4,-10.2,957,8792,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2404,3866
$GC,9100,-1.28,-194.7,874.5,0.1,972,9102,0.60,0.00,0.00,0.000,6,0.078,0.000,2642,2404,3866
$STATE,9159,end dive,NO_VERTICAL_VELOCITY
$STATE,9159,begin apogee
$GC,9166,-0.21,0.0,874.5,0.0,975,9382,1.17,0.00,209.62,1.513,6,0.038,0.000,2881,2754,3071
$STATE,9382,end apogee,CONTROL_FINISHED_OK
$STATE,9383,begin climb
$GC,9386,0.86,194.7,874.4,0.0,986,9604,1.30,0.00,213.45,1.450,6,0.068,0.000,3102,2753,2277
$GC,9901,0.73,194.7,824.5,12.1,1011,9903,0.15,0.00,0.00,0.000,6,0.123,0.000,3081,2754,2274
$GC,10210,0.64,194.7,792.6,10.5,1026,10215,0.12,2.50,0.00,0.000,4,0.126,0.084,3064,3905,2274
$GC,10243,0.58,194.7,788.8,11.0,1027,10251,0.00,2.40,0.00,0.000,6,0.000,0.061,3063,2760,2274
$GC,10561,0.59,231.0,757.9,8.7,1043,10606,0.00,3.20,37.90,1.385,4,0.000,0.077,3063,1335,2128
$GC,10640,0.64,272.3,750.9,8.6,1046,10696,0.00,3.00,44.75,1.390,6,0.000,0.051,3063,2767,1959
$GC,11007,0.72,338.4,723.0,7.7,1064,11084,0.00,0.00,70.03,1.392,6,0.000,0.000,3063,2768,1690
$GC,11394,0.81,369.8,689.9,8.9,1083,11440,0.15,3.12,33.45,1.339,4,0.056,0.056,3097,1326,1561
$GC,11491,0.81,369.8,679.0,11.7,1087,11496,0.00,2.88,0.00,0.000,6,0.000,0.037,3097,2750,1559
$GC,11813,0.81,369.8,644.5,11.1,1103,11817,0.00,2.35,0.00,0.000,4,0.000,0.060,3097,3904,1557
$GC,11846,0.81,369.8,640.4,11.8,1104,11853,0.00,2.30,0.00,0.000,6,0.000,0.036,3097,2731,1556
$GC,12163,0.81,369.8,606.7,10.6,1120,12167,0.00,2.83,0.00,0.000,4,0.000,0.053,3097,1338,1555
$GC,12212,0.81,369.8,601.3,10.5,1122,12217,0.00,2.78,0.00,0.000,6,0.000,0.033,3097,2753,1555
$GC,12538,0.81,371.1,568.5,10.0,1151,12539,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2754,1554
$GC,12860,0.82,376.3,537.2,9.8,1181,12873,0.00,2.95,6.57,0.986,4,0.000,0.047,3097,1334,1536
$GC,12919,0.82,376.3,530.7,10.3,1186,12924,0.00,2.75,0.00,0.000,6,0.000,0.032,3097,2735,1536
$GC,13246,0.82,376.3,497.5,10.8,1216,13248,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2735,1536
$GC,13563,0.82,376.3,463.4,10.3,1246,13567,0.00,2.83,0.00,0.000,4,0.000,0.046,3097,1331,1535
$GC,13605,0.82,376.3,459.1,11.1,1249,13609,0.00,2.72,0.00,0.000,6,0.000,0.032,3097,2726,1535
$GC,13932,0.82,376.3,425.2,10.7,1279,13936,0.00,2.33,0.00,0.000,4,0.000,0.051,3097,3890,1535
$GC,13962,0.82,376.3,421.8,10.8,1281,13966,0.00,2.30,0.00,0.000,6,0.000,0.032,3097,2701,1534
$GC,14289,0.84,393.2,390.2,9.4,1311,14315,0.00,2.80,19.33,1.126,4,0.000,0.048,3097,1346,1468
$GC,14354,0.84,394.7,383.7,9.9,1316,14361,0.00,2.67,0.00,0.000,6,0.000,0.031,3097,2712,1466
$GC,14684,0.87,422.5,353.5,9.0,1347,14722,0.00,0.00,32.58,1.156,6,0.000,0.000,3097,2712,1347
$GC,15060,0.93,467.0,320.8,8.5,1411,15116,0.12,2.83,47.78,1.147,4,0.057,0.046,3125,1346,1166
$GC,15163,0.93,467.0,310.0,10.6,1427,15170,0.00,2.67,0.00,0.000,6,0.000,0.031,3125,2695,1163
$GC,15509,0.93,467.0,273.1,10.9,1488,15516,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2695,1160
$GC,15855,0.93,467.0,236.1,10.7,1549,15862,0.00,2.72,0.00,0.000,4,0.000,0.046,3125,1344,1158
$GC,15915,0.93,467.0,229.3,11.2,1559,15922,0.00,2.60,0.00,0.000,6,0.000,0.031,3125,2683,1158
$GC,16259,0.93,467.0,192.6,10.4,1620,16266,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2683,1158
$GC,16605,0.93,467.0,156.1,10.5,1681,16612,0.00,2.70,0.00,0.000,4,0.000,0.046,3124,1345,1157
$GC,16664,0.93,467.0,149.7,10.1,1691,16672,0.00,2.55,0.00,0.000,6,0.000,0.030,3125,2663,1157
$GC,17010,0.93,467.0,112.9,10.3,1752,17017,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2663,1157
$GC,17354,0.93,467.0,75.0,11.1,1813,17361,0.00,2.67,0.00,0.000,4,0.000,0.046,3125,1337,1157
$GC,17403,0.93,467.0,70.1,11.6,1821,17410,0.00,2.55,0.00,0.000,6,0.000,0.030,3125,2654,1156
$GC,17746,0.98,470.7,35.1,9.9,1882,17754,0.00,2.45,0.00,0.000,4,0.000,0.048,3125,3897,1156
$GC,17773,1.03,470.7,32.1,10.7,1886,17781,0.00,2.40,0.00,0.000,6,0.000,0.032,3125,2650,1156
$GC,17918,1.09,483.0,17.3,9.6,1911,17941,0.15,2.70,15.98,0.874,4,0.053,0.048,3161,1338,1100
$GC,17988,1.09,483.0,8.1,12.8,1922,17996,0.00,2.50,0.00,0.000,6,0.000,0.029,3161,2633,1100
$STATE,18035,end climb,SURFACE_DEPTH_REACHED
$STATE,18035,begin surface coast
$FINISH,0.2,1.013135
$STATE,18053,end surface coast,CONTROL_FINISHED_OK
$STATE,18053,begin surface
$SM_CCo,18133,0.00,0.000,0,0,1097,484.22
$SM_GC,0.83,8.82,0.00,0.00,0.046,0.000,0.000,1433,2280,1097,-6.79,-0.54,484.22
$IRIDIUM_FIX,6130.75,-2605.31,140997,181816
$TT8_MAMPS,0.026078
$HUMID,1846
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,14.90
$XPDR_PINGS,965
$24V_AH,18.9,115.114
$10V_AH,9.8,75.475
$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,24.950,153.925,731.425,0.000,0.000,27.680,32.964,216.634,241.250,0.000,0.000,14.202,3941.761,9544.021,925.466,3423.173,708.981,0.000,2460.392,0.000,3418.824,0.000,0.465
$DEVICE_MAMPS,247.741,109.681,1512.524,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1351.906,1446.980,731.970,1791.013,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142370,1933
$CAP_FILE_SIZE,171523,0
$CFSIZE,260165632,221691904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,128.4,1
$GPS,210608,030726,6154.713,-2603.730,36,1.9,36,-18.7