version: 66.03
glider: 142
mission: 5
dive: 318
start: 6 10 108 6 44 5
data:
$ID,142
$MISSION,5
$DIVE,318
$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,-18920.633
$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,26
$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
$GPS1,063502,6154.748,-2602.869,37,1.5,37,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-45.1
$GPS2,064345,6154.736,-2602.707,10,1.9,10,-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,240.9,24831,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.86,-194.7,0.0,0.0,0,179,0.00,0.00,-152.38,0.000,2,0.000,0.000,1435,2283,3543
$GC,182,-0.86,-194.7,3.6,-5.2,20,213,12.12,2.88,-8.23,0.000,4,0.254,0.051,2724,3701,3867
$GC,304,-0.79,-194.7,23.6,-10.8,40,312,0.15,2.70,0.00,0.000,6,0.138,0.032,2745,2308,3868
$GC,450,-0.75,-194.7,37.3,-11.1,65,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2307,3868
$GC,594,-0.70,-194.7,58.3,-16.0,90,601,0.12,0.00,0.00,0.000,6,0.166,0.000,2760,2307,3868
$GC,938,-0.70,-194.7,111.9,-13.2,151,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2307,3868
$GC,1282,-0.70,-194.7,148.5,-10.2,212,1290,0.00,2.78,0.00,0.000,4,0.000,0.044,2760,3707,3868
$GC,1337,-0.70,-194.7,153.5,-9.0,221,1344,0.00,2.80,0.00,0.000,6,0.000,0.033,2760,2269,3868
$GC,1683,-0.70,-194.7,193.3,-11.5,282,1691,0.00,2.85,0.00,0.000,4,0.000,0.044,2760,3707,3868
$GC,1743,-0.70,-194.7,200.3,-11.2,292,1750,0.00,2.75,0.00,0.000,6,0.000,0.033,2760,2291,3868
$GC,2089,-0.70,-194.7,236.6,-9.5,353,2096,0.00,2.83,0.00,0.000,4,0.000,0.044,2760,3709,3868
$GC,2126,-0.70,-194.7,240.2,-9.4,359,2133,0.00,2.75,0.00,0.000,6,0.000,0.032,2760,2295,3868
$GC,2472,-0.70,-194.7,271.8,-9.2,420,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2295,3868
$GC,2817,-0.70,-194.7,303.0,-9.2,481,2825,0.00,2.83,0.00,0.000,4,0.000,0.044,2760,3706,3868
$GC,2859,-0.70,-194.7,306.8,-9.2,488,2866,0.00,2.72,0.00,0.000,6,0.000,0.033,2760,2304,3868
$GC,3204,-0.70,-194.7,339.7,-10.2,549,3211,0.00,2.80,0.00,0.000,4,0.000,0.046,2760,3701,3868
$GC,3223,-0.70,-194.7,341.7,-10.0,552,3230,0.00,2.70,0.00,0.000,6,0.000,0.032,2760,2314,3868
$GC,3559,-0.70,-194.7,377.0,-11.2,590,3564,0.00,2.78,0.00,0.000,4,0.000,0.045,2760,3701,3868
$GC,3588,-0.70,-194.7,380.2,-11.4,592,3592,0.00,2.70,0.00,0.000,6,0.000,0.033,2760,2316,3868
$GC,3916,-0.70,-194.7,416.9,-11.7,622,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2314,3868
$GC,4242,-0.70,-194.7,452.3,-10.1,653,4246,0.00,2.80,0.00,0.000,4,0.000,0.046,2760,3710,3868
$GC,4274,-0.70,-194.7,455.7,-10.1,655,4281,0.00,2.72,0.00,0.000,6,0.000,0.034,2760,2313,3868
$GC,4601,-0.70,-194.7,489.5,-10.7,686,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2312,3868
$GC,4917,-0.70,-194.7,523.7,-10.5,716,4922,0.00,2.80,0.00,0.000,4,0.000,0.048,2760,3702,3868
$GC,4947,-0.70,-194.7,526.7,-10.7,718,4951,0.00,2.70,0.00,0.000,6,0.000,0.034,2760,2321,3868
$GC,5274,-0.70,-194.7,558.5,-9.0,748,5278,0.00,2.80,0.00,0.000,4,0.000,0.048,2760,3705,3867
$GC,5295,-0.70,-194.7,560.7,-9.0,749,5303,0.00,2.67,0.00,0.000,6,0.000,0.033,2760,2333,3867
$GC,5623,-0.70,-194.7,588.3,-8.5,780,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2332,3867
$GC,5943,-0.70,-194.7,616.9,-8.9,802,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2332,3867
$GC,6253,-0.70,-194.7,646.0,-9.2,817,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2331,3867
$GC,6563,-0.70,-194.7,672.1,-8.6,832,6567,0.00,2.85,0.00,0.000,4,0.000,0.058,2760,3702,3866
$GC,6618,-0.75,-194.7,677.5,-9.3,834,6626,0.00,2.75,0.00,0.000,6,0.000,0.043,2760,2329,3866
$GC,6935,-0.75,-194.7,704.1,-8.3,850,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2328,3866
$GC,7244,-0.75,-194.7,731.8,-8.8,865,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2328,3866
$GC,7553,-0.75,-194.7,757.8,-8.5,880,7557,0.00,3.00,0.00,0.000,4,0.000,0.077,2760,3702,3865
$GC,7581,-0.79,-194.7,760.1,-8.4,881,7586,0.00,2.83,0.00,0.000,6,0.000,0.058,2759,2341,3865
$GC,7897,-0.79,-194.7,786.0,-8.5,896,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2340,3865
$GC,8206,-0.79,-194.7,812.7,-10.1,911,8207,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2340,3865
$GC,8516,-0.79,-194.7,843.2,-9.3,926,8517,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2340,3864
$GC,8825,-0.79,-194.7,870.5,-9.8,941,8830,0.00,3.33,0.00,0.000,4,0.000,0.122,2760,3697,3864
$GC,8847,-0.83,-194.7,872.7,-9.8,942,8852,0.00,3.20,0.00,0.000,6,0.000,0.109,2760,2352,3864
$GC,9169,-1.40,-194.7,874.9,0.0,958,9172,0.82,0.00,0.00,0.000,6,0.094,0.000,2617,2351,3864
$STATE,9207,end dive,NO_VERTICAL_VELOCITY
$STATE,9207,begin apogee
$GC,9214,-0.21,0.0,874.9,0.0,960,9430,1.30,0.00,207.10,1.506,6,0.041,0.000,2881,2732,3071
$STATE,9431,end apogee,CONTROL_FINISHED_OK
$STATE,9431,begin climb
$GC,9434,0.86,194.7,874.8,0.0,971,9656,1.27,3.08,211.68,1.436,4,0.072,0.114,3099,3900,2276
$GC,9707,0.74,194.7,852.2,11.0,983,9714,0.00,2.75,0.00,0.000,6,0.000,0.091,3099,2756,2274
$GC,10024,0.60,194.7,816.4,12.9,999,10026,0.28,0.00,0.00,0.000,6,0.119,0.000,3057,2755,2274
$GC,10332,0.61,203.6,787.4,9.7,1014,10344,0.00,0.00,10.02,1.186,6,0.000,0.000,3057,2755,2241
$GC,10642,0.65,232.8,758.2,9.0,1029,10681,0.00,0.00,31.23,1.373,6,0.000,0.000,3057,2755,2121
$GC,10989,0.65,232.8,724.0,10.5,1046,10994,0.00,2.97,0.00,0.000,4,0.000,0.064,3057,1327,2119
$GC,11029,0.65,232.8,719.9,10.1,1048,11033,0.00,2.92,0.00,0.000,6,0.000,0.044,3057,2772,2118
$GC,11356,0.69,263.1,689.6,8.9,1064,11395,0.00,0.00,31.77,1.351,6,0.000,0.000,3057,2772,1997
$GC,11704,0.74,303.2,659.2,8.6,1081,11749,0.12,0.00,42.50,1.345,6,0.064,0.000,3082,2773,1834
$GC,12053,0.74,303.2,618.0,11.4,1098,12054,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2772,1829
$GC,12367,0.74,303.2,583.7,10.1,1120,12371,0.00,2.92,0.00,0.000,4,0.000,0.047,3082,1324,1828
$GC,12410,0.74,310.1,579.1,9.8,1123,12423,0.00,2.80,7.22,1.034,6,0.000,0.033,3082,2755,1807
$GC,12742,0.74,310.1,546.5,10.0,1154,12746,0.00,2.28,0.00,0.000,4,0.000,0.053,3082,3897,1806
$GC,12784,0.74,310.1,542.2,11.4,1157,12788,0.00,2.28,0.00,0.000,6,0.000,0.032,3082,2719,1805
$GC,13110,0.75,312.1,508.6,9.9,1187,13114,0.00,2.72,0.00,0.000,4,0.000,0.046,3082,1345,1805
$GC,13142,0.76,319.5,505.2,9.7,1189,13162,0.00,2.72,11.38,1.108,6,0.000,0.031,3082,2749,1768
$GC,13480,0.76,319.5,473.1,10.3,1221,13484,0.00,2.28,0.00,0.000,4,0.000,0.051,3082,3894,1766
$GC,13512,0.76,319.5,469.3,10.9,1223,13520,0.00,2.20,0.00,0.000,6,0.000,0.031,3082,2750,1766
$GC,13839,0.77,334.4,437.0,9.5,1254,13864,0.00,2.83,16.80,1.137,4,0.000,0.046,3082,1345,1706
$GC,13892,0.77,334.4,431.5,10.5,1258,13900,0.00,2.78,0.00,0.000,6,0.000,0.031,3082,2763,1705
$GC,14218,0.77,334.4,399.7,10.0,1289,14219,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2763,1704
$GC,14537,0.77,334.4,367.2,10.3,1319,14541,0.00,2.85,0.00,0.000,4,0.000,0.045,3082,1342,1704
$GC,14569,0.77,334.4,363.4,10.4,1321,14576,0.00,2.75,0.00,0.000,6,0.000,0.031,3082,2753,1704
$GC,14905,0.77,334.4,326.3,11.1,1370,14912,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2753,1704
$GC,15250,0.77,334.4,286.5,11.1,1431,15257,0.00,2.83,0.00,0.000,4,0.000,0.044,3082,1342,1704
$GC,15288,0.77,334.4,282.2,11.5,1437,15296,0.00,2.72,0.00,0.000,6,0.000,0.031,3082,2744,1704
$GC,15634,0.77,334.4,243.6,10.6,1498,15641,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2745,1703
$GC,15980,0.77,334.4,204.9,10.4,1559,15986,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2745,1704
$GC,16325,0.83,379.4,170.9,8.4,1620,16380,0.00,2.90,46.67,1.049,4,0.000,0.044,3082,1340,1523
$GC,16415,0.92,410.8,163.0,8.9,1634,16459,0.20,2.75,33.35,1.021,6,0.045,0.031,3125,2735,1395
$GC,16796,0.92,410.8,116.7,12.3,1700,16804,0.00,2.30,0.00,0.000,4,0.000,0.048,3125,3897,1389
$GC,16829,0.92,410.8,112.6,12.6,1705,16836,0.00,2.28,0.00,0.000,6,0.000,0.031,3125,2722,1388
$GC,17173,0.92,410.8,66.6,12.5,1766,17181,0.00,2.75,0.00,0.000,4,0.000,0.046,3125,1336,1388
$GC,17221,0.92,410.8,59.9,13.7,1774,17229,0.00,2.67,0.00,0.000,6,0.000,0.030,3126,2720,1386
$GC,17565,0.92,410.8,19.2,11.1,1835,17571,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2720,1387
$GC,17706,0.92,410.8,2.7,11.7,1860,17713,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2720,1387
$STATE,17718,end climb,SURFACE_DEPTH_REACHED
$STATE,17718,begin surface coast
$FINISH,0.3,1.025977
$STATE,17742,end surface coast,CONTROL_FINISHED_OK
$STATE,17742,begin surface
$SM_CCo,17821,0.00,0.000,0,0,1384,414.07
$SM_GC,0.76,8.60,0.00,0.00,0.046,0.000,0.000,1430,2274,1384,-6.80,-0.74,414.07
$IRIDIUM_FIX,6130.75,-2607.32,040997,010158
$TT8_MAMPS,0.026078
$HUMID,1830
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,15.20
$XPDR_PINGS,973
$24V_AH,19.0,99.387
$10V_AH,9.8,66.945
$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,25.000,139.475,649.725,0.000,0.000,28.659,35.423,306.830,243.250,0.000,0.000,11.688,3784.396,9551.588,914.165,3305.305,769.335,0.000,2403.812,0.000,3311.340,0.000,0.466
$DEVICE_MAMPS,253.877,121.953,1506.388,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1289.662,1408.502,670.944,1741.202,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136082,1866
$CAP_FILE_SIZE,167519,0
$CFSIZE,260165632,226529280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.112,328.4,1
$GPS,100608,114208,6153.856,-2608.111,25,1.3,25,-18.8