version: 66.03
glider: 142
mission: 5
dive: 383
start: 6 23 108 9 37 11
data:
$ID,142
$MISSION,5
$DIVE,383
$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,-20157.486
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,092838,6145.914,-2602.335,30,1.5,30,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-54.9
$GPS2,093651,6145.914,-2602.360,9,1.8,9,-18.6
$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,341.8,26091,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.86,-194.7,0.0,0.0,0,147,0.00,0.00,-120.65,0.000,2,0.000,0.000,1432,2281,3425
$GC,150,-0.86,-194.7,3.1,-5.0,16,182,12.32,2.88,-12.20,0.000,4,0.254,0.054,2724,883,3867
$GC,336,-0.86,-194.7,32.6,-14.5,47,343,0.00,2.72,0.00,0.000,6,0.000,0.028,2724,2311,3868
$GC,480,-0.78,-194.7,54.8,-15.5,72,488,0.15,2.75,0.00,0.000,4,0.140,0.041,2748,3710,3868
$GC,573,-0.78,-194.7,67.2,-12.8,88,581,0.00,2.75,0.00,0.000,6,0.000,0.031,2747,2290,3868
$GC,920,-0.78,-194.7,107.9,-11.4,149,927,0.00,2.78,0.00,0.000,4,0.000,0.048,2748,891,3869
$GC,958,-0.78,-194.7,112.1,-11.5,155,965,0.00,2.72,0.00,0.000,6,0.000,0.029,2748,2307,3869
$GC,1301,-0.78,-194.7,148.8,-10.7,216,1308,0.00,2.78,0.00,0.000,4,0.000,0.044,2748,3712,3869
$GC,1406,-0.78,-194.7,159.8,-10.3,234,1414,0.00,2.72,0.00,0.000,6,0.000,0.032,2748,2302,3869
$GC,1752,-0.78,-194.7,194.1,-9.7,295,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2302,3869
$GC,2097,-0.78,-194.7,228.4,-10.1,356,2104,0.00,2.80,0.00,0.000,4,0.000,0.045,2748,3702,3869
$GC,2156,-0.78,-194.7,234.5,-9.9,366,2164,0.00,2.70,0.00,0.000,6,0.000,0.033,2748,2314,3869
$GC,2503,-0.78,-194.7,270.5,-10.9,427,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2314,3869
$GC,2847,-0.78,-194.7,306.9,-10.1,488,2855,0.00,2.78,0.00,0.000,4,0.000,0.045,2748,3703,3869
$GC,2924,-0.78,-194.7,314.5,-9.8,501,2932,0.00,2.67,0.00,0.000,6,0.000,0.032,2748,2330,3869
$GC,3270,-0.78,-194.7,348.7,-9.9,562,3278,0.00,2.88,0.00,0.000,4,0.000,0.048,2748,884,3868
$GC,3307,-0.78,-194.7,352.5,-10.1,566,3311,0.00,2.85,0.00,0.000,6,0.000,0.029,2748,2357,3868
$GC,3636,-0.78,-194.7,387.3,-11.2,596,3640,0.00,2.67,0.00,0.000,4,0.000,0.045,2748,3706,3868
$GC,3713,-0.78,-194.7,396.3,-10.4,602,3721,0.00,2.62,0.00,0.000,6,0.000,0.033,2748,2360,3868
$GC,4041,-0.78,-194.7,432.4,-11.4,633,4046,0.00,2.92,0.00,0.000,4,0.000,0.048,2748,894,3868
$GC,4081,-0.78,-194.7,437.1,-11.5,636,4086,0.00,2.83,0.00,0.000,6,0.000,0.030,2748,2360,3868
$GC,4409,-0.78,-194.7,473.3,-11.1,666,4413,0.00,2.67,0.00,0.000,4,0.000,0.046,2748,3704,3868
$GC,4498,-0.78,-194.7,483.2,-10.4,673,4505,0.00,2.62,0.00,0.000,6,0.000,0.033,2748,2363,3868
$GC,4825,-0.78,-194.7,519.8,-11.3,704,4830,0.00,2.95,0.00,0.000,4,0.000,0.050,2748,890,3867
$GC,4857,-0.78,-194.7,524.0,-11.5,706,4865,0.00,2.90,0.00,0.000,6,0.000,0.031,2748,2379,3866
$GC,5186,-0.78,-194.7,559.3,-10.9,737,5190,0.00,2.65,0.00,0.000,4,0.000,0.049,2748,3704,3866
$GC,5251,-0.78,-194.7,566.8,-10.2,742,5259,0.00,2.60,0.00,0.000,6,0.000,0.034,2748,2376,3866
$GC,5580,-0.78,-194.7,599.6,-9.4,773,5585,0.00,3.03,0.00,0.000,4,0.000,0.054,2748,886,3866
$GC,5621,-0.78,-194.7,603.7,-9.5,775,5625,0.00,2.92,0.00,0.000,6,0.000,0.032,2748,2381,3866
$GC,5948,-0.78,-194.7,632.9,-9.0,791,5953,0.00,2.67,0.00,0.000,4,0.000,0.055,2748,3700,3866
$GC,6016,-0.78,-194.7,639.3,-9.4,794,6020,0.00,2.60,0.00,0.000,6,0.000,0.038,2748,2387,3866
$GC,6339,-0.78,-194.7,672.3,-10.6,810,6343,0.00,3.10,0.00,0.000,4,0.000,0.063,2748,897,3866
$GC,6379,-0.82,-194.7,676.9,-11.3,812,6384,0.00,2.95,0.00,0.000,6,0.000,0.037,2748,2379,3865
$GC,6707,-0.82,-194.7,710.2,-9.5,828,6711,0.00,2.75,0.00,0.000,4,0.000,0.065,2748,3699,3865
$GC,6770,-0.82,-194.7,716.0,-8.7,831,6774,0.00,2.67,0.00,0.000,6,0.000,0.047,2748,2380,3865
$GC,7098,-0.82,-194.7,744.6,-8.4,847,7102,0.00,3.20,0.00,0.000,4,0.000,0.081,2748,898,3865
$GC,7153,-0.87,-194.7,749.6,-8.8,849,7160,0.00,3.03,0.00,0.000,6,0.000,0.051,2748,2368,3864
$GC,7469,-0.87,-194.7,775.9,-8.3,865,7474,0.00,2.90,0.00,0.000,4,0.000,0.089,2747,3696,3865
$GC,7525,-0.87,-194.7,780.7,-8.2,867,7532,0.00,2.78,0.00,0.000,6,0.000,0.064,2748,2384,3864
$GC,7842,-0.87,-194.7,808.8,-9.0,883,7847,0.00,3.40,0.00,0.000,4,0.000,0.100,2748,899,3864
$GC,7892,-0.92,-194.7,813.4,-9.2,885,7898,0.15,3.22,0.00,0.000,6,0.057,0.077,2716,2367,3864
$GC,8209,-0.86,-194.7,850.4,-12.1,900,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2367,3863
$GC,8518,-0.80,-194.7,888.1,-12.2,915,8520,0.17,0.00,0.00,0.000,6,0.127,0.000,2741,2367,3863
$GC,8827,-0.80,-194.7,921.0,-10.7,930,8828,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2367,3863
$GC,9137,-0.80,-194.7,954.0,-10.9,945,9138,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2367,3863
$GC,9445,-0.80,-194.7,989.1,-11.3,960,9450,0.00,3.05,0.00,0.000,4,0.000,0.055,2741,894,3862
$STATE,9453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9453,begin apogee
$GC,9463,-0.21,0.0,990.4,10.9,960,9679,0.80,0.00,212.93,1.597,6,0.140,0.000,2865,2746,3071
$STATE,9680,end apogee,CONTROL_FINISHED_OK
$STATE,9680,begin climb
$GC,9684,0.86,194.7,1000.6,0.0,971,9912,1.45,2.65,217.93,1.546,4,0.094,0.058,3098,3896,2277
$GC,10016,0.73,194.7,972.2,11.7,986,10020,0.00,2.33,0.00,0.000,6,0.000,0.035,3098,2754,2274
$GC,10343,0.60,194.7,935.0,11.3,1002,10348,0.25,2.35,0.00,0.000,4,0.115,0.054,3056,3896,2274
$GC,10371,0.55,194.7,932.0,10.2,1003,10375,0.00,2.22,0.00,0.000,6,0.000,0.035,3056,2762,2273
$GC,10687,0.59,230.7,904.7,8.7,1018,10732,0.00,3.03,37.92,1.483,4,0.000,0.051,3056,1336,2130
$GC,10738,0.65,277.5,900.1,8.4,1020,10799,0.00,2.90,51.15,1.470,6,0.000,0.034,3056,2769,1939
$GC,11109,0.72,333.6,869.0,8.1,1038,11176,0.00,3.10,60.12,1.476,4,0.000,0.048,3055,1336,1710
$GC,11205,0.79,348.3,860.6,9.5,1042,11228,0.20,2.85,17.50,1.362,6,0.048,0.035,3095,2737,1651
$GC,11553,0.79,348.3,819.4,12.1,1059,11554,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2736,1645
$GC,11861,0.79,348.3,779.2,13.3,1074,11866,0.00,2.83,0.00,0.000,4,0.000,0.048,3095,1341,1644
$GC,11879,0.79,348.3,776.6,13.3,1075,11883,0.00,2.72,0.00,0.000,6,0.000,0.034,3095,2730,1643
$GC,12206,0.79,348.3,734.5,12.3,1091,12211,0.00,2.80,0.00,0.000,4,0.000,0.048,3095,1343,1643
$GC,12216,0.79,348.3,732.8,12.3,1091,12224,0.00,2.72,0.00,0.000,6,0.000,0.033,3095,2728,1643
$GC,12533,0.79,348.3,693.8,12.4,1107,12538,0.00,2.80,0.00,0.000,4,0.000,0.048,3095,1344,1642
$GC,12551,0.79,348.3,691.5,12.2,1108,12555,0.00,2.70,0.00,0.000,6,0.000,0.033,3095,2718,1642
$GC,12878,0.79,348.3,652.7,11.5,1124,12882,0.00,2.80,0.00,0.000,4,0.000,0.047,3095,1336,1641
$GC,12888,0.79,348.3,651.3,11.5,1124,12895,0.00,2.70,0.00,0.000,6,0.000,0.033,3095,2713,1641
$GC,13204,0.79,348.3,615.2,11.2,1140,13209,0.00,2.78,0.00,0.000,4,0.000,0.047,3096,1339,1641
$GC,13215,0.79,348.3,613.9,11.0,1140,13222,0.00,2.67,0.00,0.000,6,0.000,0.033,3095,2707,1641
$GC,13537,0.79,348.3,579.2,10.7,1165,13538,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2707,1641
$GC,13856,0.79,348.3,546.1,10.2,1195,13860,0.00,2.78,0.00,0.000,4,0.000,0.052,3095,1338,1641
$GC,13873,0.79,350.2,544.3,9.9,1196,13877,0.00,2.65,0.00,0.000,6,0.000,0.033,3095,2691,1641
$GC,14198,0.80,354.0,511.0,9.9,1226,14209,0.00,0.00,5.68,0.929,6,0.000,0.000,3095,2692,1627
$GC,14529,0.80,354.0,477.3,10.4,1257,14535,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2692,1626
$GC,14855,0.80,354.0,442.8,10.7,1288,14856,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2692,1626
$GC,15173,0.80,354.0,409.3,10.4,1318,15174,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2692,1627
$GC,15492,0.80,354.0,375.4,10.9,1348,15496,0.00,2.72,0.00,0.000,4,0.000,0.046,3095,1340,1626
$GC,15502,0.80,354.0,374.0,10.9,1348,15510,0.00,2.65,0.00,0.000,6,0.000,0.031,3095,2702,1626
$GC,15834,0.80,354.0,338.5,10.1,1388,15841,0.00,2.75,0.00,0.000,4,0.000,0.046,3095,1336,1626
$GC,15850,0.80,354.0,336.8,10.4,1390,15857,0.00,2.62,0.00,0.000,6,0.000,0.031,3095,2682,1626
$GC,16195,0.80,354.0,298.7,10.4,1451,16201,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2682,1626
$GC,16540,0.80,354.0,261.1,11.4,1512,16547,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2682,1626
$GC,16885,0.80,354.0,222.9,11.3,1573,16892,0.00,2.70,0.00,0.000,4,0.000,0.045,3095,1337,1626
$GC,16899,0.80,354.0,221.3,10.9,1575,16907,0.00,2.62,0.00,0.000,6,0.000,0.031,3095,2684,1626
$GC,17245,0.80,354.0,184.7,10.6,1636,17253,0.00,2.70,0.00,0.000,4,0.000,0.044,3095,1336,1626
$GC,17260,0.80,354.0,183.1,10.2,1638,17267,0.00,2.60,0.00,0.000,6,0.000,0.031,3094,2671,1626
$GC,17607,0.80,357.2,146.5,9.9,1699,17615,0.00,0.00,5.20,0.729,6,0.000,0.000,3095,2671,1614
$GC,17954,0.81,360.0,109.8,9.9,1760,17962,0.00,0.00,4.70,0.690,6,0.000,0.000,3095,2671,1603
$GC,18299,0.81,360.0,74.0,11.5,1821,18305,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2671,1602
$GC,18642,0.81,360.0,38.8,10.2,1882,18650,0.00,2.65,0.00,0.000,4,0.000,0.045,3095,1343,1602
$GC,18669,0.81,360.0,36.2,11.0,1886,18677,0.00,2.55,0.00,0.000,6,0.000,0.031,3095,2663,1602
$GC,18813,0.87,414.9,23.2,8.1,1911,18875,0.00,0.00,57.40,0.971,6,0.000,0.000,3095,2663,1378
$GC,19017,1.05,487.2,7.0,7.5,1944,19068,0.22,0.00,48.22,0.930,2,0.044,0.000,3147,2663,1190
$STATE,19069,end climb,SURFACE_DEPTH_REACHED
$STATE,19069,begin surface coast
$FINISH,0.2,1.012993
$STATE,19087,end surface coast,CONTROL_FINISHED_OK
$STATE,19087,begin surface
$SM_CCo,19167,0.00,0.000,0,0,1184,462.88
$SM_GC,0.81,8.93,0.00,0.00,0.047,0.000,0.000,1430,2298,1184,-6.80,-0.06,462.88
$IRIDIUM_FIX,6121.73,-2555.32,170997,040418
$TT8_MAMPS,0.026078
$HUMID,1843
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,16.70
$XPDR_PINGS,1018
$24V_AH,18.8,118.804
$10V_AH,9.8,77.467
$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,24.650,195.975,718.750,0.000,0.000,28.513,38.040,259.978,254.500,0.000,0.000,13.450,3984.798,10347.922,922.831,3582.285,800.460,0.000,2580.168,0.000,3576.292,0.000,0.465
$DEVICE_MAMPS,253.877,99.710,1596.894,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1350.521,1467.471,724.585,1729.065,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142537,1954
$CAP_FILE_SIZE,183480,0
$CFSIZE,260165632,220565504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,119.5,1
$GPS,230608,145756,6147.841,-2604.539,40,1.7,40,-18.7