version: 66.03
glider: 142
mission: 5
dive: 385
start: 6 23 108 20 35 55
data:
$ID,142
$MISSION,5
$DIVE,385
$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,-20217.191
$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,22
$R_STBD_OVSHOOT,21
$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
$GPS1,202707,6149.445,-2607.996,40,1.9,40,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-53.6
$GPS2,203536,6149.435,-2608.099,7,2.0,22,-18.7
$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,332.1,17940,-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,-194.7,0.0,0.0,0,161,0.00,0.00,-135.80,0.000,2,0.000,0.000,1434,2284,3554
$GC,164,-0.86,-194.7,3.6,-5.0,18,195,12.25,2.85,-7.75,0.000,4,0.253,0.055,2725,891,3867
$GC,344,-0.86,-194.7,32.1,-12.8,48,352,0.00,2.72,0.00,0.000,6,0.000,0.029,2725,2315,3868
$GC,489,-0.79,-194.7,50.1,-11.6,73,496,0.12,2.75,0.00,0.000,4,0.143,0.043,2742,3707,3868
$GC,576,-0.79,-194.7,59.5,-11.0,88,584,0.00,2.65,0.00,0.000,6,0.000,0.031,2742,2341,3869
$GC,923,-0.79,-194.7,99.6,-10.6,149,930,0.00,2.90,0.00,0.000,4,0.000,0.048,2742,882,3869
$GC,978,-0.79,-194.7,105.4,-10.3,158,986,0.00,2.85,0.00,0.000,6,0.000,0.030,2742,2359,3869
$GC,1324,-0.79,-194.7,140.2,-10.5,219,1331,0.00,2.65,0.00,0.000,4,0.000,0.044,2742,3703,3869
$GC,1395,-0.79,-194.7,147.8,-10.8,231,1402,0.00,2.62,0.00,0.000,6,0.000,0.032,2742,2354,3869
$GC,1741,-0.79,-194.7,186.2,-11.7,292,1748,0.00,2.92,0.00,0.000,4,0.000,0.048,2742,882,3869
$GC,1796,-0.79,-194.7,192.4,-11.6,301,1803,0.00,2.88,0.00,0.000,6,0.000,0.030,2742,2367,3869
$GC,2142,-0.79,-194.7,232.8,-11.6,362,2149,0.00,2.65,0.00,0.000,4,0.000,0.045,2742,3703,3869
$GC,2234,-0.79,-194.7,243.8,-11.6,378,2242,0.00,2.62,0.00,0.000,6,0.000,0.033,2742,2352,3869
$GC,2580,-0.79,-194.7,283.9,-12.0,439,2587,0.00,2.92,0.00,0.000,4,0.000,0.049,2742,889,3869
$GC,2617,-0.79,-194.7,288.3,-12.0,445,2624,0.00,2.88,0.00,0.000,6,0.000,0.031,2741,2367,3869
$GC,2962,-0.79,-194.7,327.7,-10.9,506,2969,0.00,2.65,0.00,0.000,4,0.000,0.045,2742,3703,3869
$GC,3043,-0.79,-194.7,336.6,-10.9,520,3050,0.00,2.60,0.00,0.000,6,0.000,0.033,2742,2366,3869
$GC,3377,-0.79,-194.7,374.4,-11.5,561,3381,0.00,2.95,0.00,0.000,4,0.000,0.048,2742,894,3868
$GC,3420,-0.79,-194.7,379.6,-11.1,564,3428,0.00,2.88,0.00,0.000,6,0.000,0.031,2742,2372,3868
$GC,3749,-0.79,-194.7,414.9,-10.8,595,3753,0.00,2.65,0.00,0.000,4,0.000,0.047,2742,3703,3868
$GC,3811,-0.79,-194.7,421.9,-10.6,600,3815,0.00,2.62,0.00,0.000,6,0.000,0.033,2742,2360,3868
$GC,4138,-0.79,-194.7,455.7,-10.1,630,4143,0.00,2.95,0.00,0.000,4,0.000,0.048,2742,883,3867
$GC,4179,-0.79,-194.7,460.1,-10.3,633,4183,0.00,2.90,0.00,0.000,6,0.000,0.031,2742,2371,3867
$GC,4506,-0.79,-194.7,493.5,-10.3,663,4511,0.00,2.65,0.00,0.000,4,0.000,0.048,2742,3701,3867
$GC,4562,-0.79,-194.7,499.6,-10.4,667,4569,0.00,2.60,0.00,0.000,6,0.000,0.033,2742,2367,3867
$GC,4889,-0.79,-194.7,534.4,-10.8,698,4894,0.00,2.97,0.00,0.000,4,0.000,0.051,2742,889,3867
$GC,4941,-0.79,-194.7,540.0,-10.5,702,4945,0.00,2.88,0.00,0.000,6,0.000,0.031,2742,2363,3866
$GC,5268,-0.79,-194.7,573.8,-10.3,732,5272,0.00,2.70,0.00,0.000,4,0.000,0.051,2742,3706,3866
$GC,5342,-0.79,-194.7,581.3,-9.7,738,5346,0.00,2.62,0.00,0.000,6,0.000,0.035,2742,2367,3866
$GC,5674,-0.79,-194.7,615.7,-10.3,762,5678,0.00,3.00,0.00,0.000,4,0.000,0.055,2742,895,3866
$GC,5700,-0.79,-194.7,618.7,-10.6,763,5705,0.00,2.90,0.00,0.000,6,0.000,0.033,2742,2369,3865
$GC,6017,-0.79,-194.7,651.5,-10.5,778,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2370,3866
$GC,6326,-0.79,-194.7,683.1,-10.1,793,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2370,3865
$GC,6637,-0.79,-194.7,712.9,-9.9,808,6638,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2370,3865
$GC,6946,-0.79,-194.7,743.3,-9.6,823,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2370,3865
$GC,7255,-0.79,-194.7,771.5,-9.1,838,7261,0.00,3.33,0.00,0.000,4,0.000,0.092,2742,897,3865
$GC,7296,-0.79,-194.7,775.3,-9.3,840,7301,0.00,3.08,0.00,0.000,6,0.000,0.061,2742,2352,3864
$GC,7625,-0.79,-194.7,805.6,-9.4,856,7630,0.00,3.03,0.00,0.000,4,0.000,0.094,2742,3695,3864
$GC,7680,-0.79,-194.7,811.0,-9.1,858,7688,0.00,2.92,0.00,0.000,6,0.000,0.077,2742,2365,3864
$GC,7996,-0.79,-194.7,839.1,-9.3,874,8002,0.00,3.45,0.00,0.000,4,0.000,0.110,2742,898,3864
$GC,8053,-0.79,-194.7,844.4,-9.1,876,8061,0.00,3.25,0.00,0.000,6,0.000,0.090,2742,2332,3863
$GC,8370,-0.79,-194.7,872.4,-8.6,892,8375,0.00,3.35,0.00,0.000,4,0.000,0.122,2742,3712,3863
$GC,8459,-0.79,-194.7,880.8,-9.0,896,8464,0.00,3.22,0.00,0.000,6,0.000,0.114,2742,2374,3863
$GC,8781,-0.79,-194.7,910.6,-8.9,912,8786,0.00,3.00,0.00,0.000,4,0.000,0.053,2742,891,3863
$GC,8831,-0.84,-194.7,915.8,-10.0,914,8836,0.00,2.92,0.00,0.000,6,0.000,0.033,2742,2379,3862
$GC,9148,-1.10,-194.7,917.2,0.0,929,9153,0.30,2.75,0.00,0.000,4,0.060,0.053,2681,3719,3862
$STATE,9179,end dive,NO_VERTICAL_VELOCITY
$STATE,9179,begin apogee
$GC,9187,-0.21,0.0,917.2,0.0,930,9400,1.08,0.00,209.00,1.546,6,0.096,0.000,2868,2748,3071
$STATE,9401,end apogee,CONTROL_FINISHED_OK
$STATE,9401,begin climb
$GC,9403,0.86,194.7,917.1,0.0,941,9628,1.35,3.15,213.48,1.479,4,0.069,0.048,3099,1343,2276
$GC,9640,0.73,194.7,899.2,11.1,951,9647,0.00,3.05,0.00,0.000,6,0.000,0.033,3099,2761,2275
$GC,9957,0.60,194.7,861.8,11.6,967,9962,0.28,2.33,0.00,0.000,4,0.112,0.055,3053,3903,2274
$GC,9975,0.50,194.7,859.8,11.7,968,9980,0.15,2.22,0.00,0.000,6,0.107,0.034,3030,2765,2274
$GC,10303,0.60,276.9,835.1,7.1,984,10396,0.00,3.03,85.60,1.463,4,0.000,0.048,3030,1352,1940
$GC,10420,0.82,375.7,826.7,6.6,989,10536,0.35,2.88,106.68,1.428,6,0.041,0.032,3100,2766,1540
$GC,10857,0.82,375.7,775.3,12.5,1010,10862,0.00,2.90,0.00,0.000,4,0.000,0.047,3100,1339,1533
$GC,10891,0.82,375.7,771.0,12.9,1011,10898,0.00,2.78,0.00,0.000,6,0.000,0.032,3100,2747,1531
$GC,11207,0.82,375.7,734.0,11.4,1027,11211,0.00,2.85,0.00,0.000,4,0.000,0.047,3100,1343,1530
$GC,11224,0.82,375.7,731.9,11.2,1028,11229,0.00,2.72,0.00,0.000,6,0.000,0.033,3100,2729,1530
$GC,11552,0.83,386.3,698.6,9.6,1044,11573,0.00,2.83,11.18,1.214,4,0.000,0.046,3100,1347,1495
$GC,11579,0.84,395.8,695.7,9.7,1045,11597,0.00,2.70,12.05,1.254,6,0.000,0.032,3100,2718,1457
$GC,11907,0.85,401.2,664.9,9.8,1061,11921,0.00,2.85,7.05,1.085,4,0.000,0.047,3099,1346,1435
$GC,11933,0.86,414.8,661.9,9.5,1062,11955,0.00,2.67,16.67,1.292,6,0.000,0.032,3099,2704,1380
$GC,12280,0.88,427.6,628.4,9.6,1079,12303,0.00,2.80,15.50,1.256,4,0.000,0.047,3100,1339,1327
$GC,12309,0.90,440.5,625.1,9.6,1080,12330,0.00,2.67,15.82,1.255,6,0.000,0.032,3099,2692,1275
$GC,12652,0.94,473.6,593.1,8.9,1100,12701,0.12,2.88,37.20,1.315,4,0.055,0.047,3127,1338,1139
$GC,12725,0.94,473.6,585.2,10.6,1106,12730,0.00,2.65,0.00,0.000,6,0.000,0.032,3127,2667,1138
$GC,13050,0.94,473.6,549.0,11.5,1136,13052,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2667,1135
$GC,13369,0.94,473.6,512.9,11.2,1166,13374,0.00,2.67,0.00,0.000,4,0.000,0.047,3127,1344,1134
$GC,13388,0.94,473.6,510.7,11.7,1167,13392,0.00,2.58,0.00,0.000,6,0.000,0.031,3127,2668,1133
$GC,13713,0.94,473.6,470.4,12.9,1197,13718,0.00,2.67,0.00,0.000,4,0.000,0.046,3127,1342,1133
$GC,13726,0.94,473.6,468.7,12.7,1197,13733,0.00,2.55,0.00,0.000,6,0.000,0.031,3127,2657,1133
$GC,14055,0.94,473.6,428.8,11.7,1228,14059,0.00,2.65,0.00,0.000,4,0.000,0.047,3127,1340,1133
$GC,14065,0.94,473.6,426.9,12.0,1228,14073,0.00,2.55,0.00,0.000,6,0.000,0.031,3127,2653,1133
$GC,14393,0.94,473.6,388.5,12.0,1259,14398,0.00,2.65,0.00,0.000,4,0.000,0.047,3127,1340,1132
$GC,14404,0.94,473.6,386.7,11.8,1259,14411,0.00,2.53,0.00,0.000,6,0.000,0.031,3127,2642,1132
$GC,14733,0.94,473.6,347.8,11.4,1291,14740,0.00,2.62,0.00,0.000,4,0.000,0.046,3127,1341,1132
$GC,14747,0.94,473.6,345.8,11.6,1293,14754,0.00,2.50,0.00,0.000,6,0.000,0.031,3127,2630,1132
$GC,15093,0.94,473.6,304.1,12.2,1354,15100,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2631,1132
$GC,15439,0.94,473.6,261.5,12.7,1415,15446,0.00,2.60,0.00,0.000,4,0.000,0.045,3127,1338,1131
$GC,15453,0.94,473.6,259.6,12.7,1417,15460,0.00,2.50,0.00,0.000,6,0.000,0.030,3128,2629,1132
$GC,15799,0.94,473.6,218.1,11.6,1478,15807,0.00,2.58,0.00,0.000,4,0.000,0.045,3127,1346,1131
$GC,15813,0.94,473.6,216.3,12.1,1480,15821,0.00,2.45,0.00,0.000,6,0.000,0.030,3127,2621,1131
$GC,16160,0.94,473.6,175.7,11.2,1541,16166,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2622,1131
$GC,16505,0.94,473.6,137.2,10.9,1602,16512,0.00,2.55,0.00,0.000,4,0.000,0.046,3127,1346,1131
$GC,16525,0.94,473.6,134.8,11.1,1605,16532,0.00,2.42,0.00,0.000,6,0.000,0.029,3127,2602,1131
$GC,16870,0.94,473.6,95.0,10.5,1666,16877,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2602,1131
$GC,17216,0.94,473.6,55.9,11.6,1727,17222,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2602,1131
$GC,17561,0.98,473.6,18.4,10.7,1788,17569,0.00,2.53,0.00,0.000,4,0.000,0.045,3127,1340,1131
$GC,17595,0.99,479.2,15.0,9.8,1793,17610,0.00,2.42,5.43,0.691,6,0.000,0.030,3127,2606,1119
$STATE,17721,end climb,SURFACE_DEPTH_REACHED
$STATE,17721,begin surface coast
$FINISH,0.2,1.003147
$STATE,17740,end surface coast,CONTROL_FINISHED_OK
$STATE,17740,begin surface
$SM_CCo,17820,0.00,0.000,0,0,1117,479.32
$SM_GC,0.67,8.68,0.00,0.00,0.048,0.000,0.000,1434,2290,1117,-6.79,-0.28,479.32
$IRIDIUM_FIX,6121.73,-2601.40,170997,151526
$TT8_MAMPS,0.026078
$HUMID,1884
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,16.60
$XPDR_PINGS,893
$24V_AH,18.9,119.506
$10V_AH,9.8,77.808
$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,24.675,216.250,735.650,0.000,0.000,25.391,41.699,261.692,223.250,0.000,0.000,26.322,3728.350,9442.216,954.898,3392.525,787.899,0.000,2546.441,0.000,3364.833,0.000,0.465
$DEVICE_MAMPS,253.110,121.953,1545.505,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1263.983,1363.193,695.094,1657.015,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132708,1818
$CAP_FILE_SIZE,177334,0
$CFSIZE,260165632,220381184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.018, 85.7,1
$GPS,240608,013407,6151.443,-2611.052,34,1.1,34,-18.8