version: 66.03
glider: 142
mission: 5
dive: 343
start: 6 15 108 4 53 23
data:
$ID,142
$MISSION,5
$DIVE,343
$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,-19378.705
$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,27
$R_STBD_OVSHOOT,24
$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
$GPS1,044508,6154.318,-2605.805,37,1.2,37,-18.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-44.7
$GPS2,045303,6154.296,-2605.673,12,1.6,12,-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,236.7,22436,-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,-194.7,0.0,0.0,0,152,0.00,0.00,-127.07,0.000,2,0.000,0.000,1435,2287,3514
$GC,155,-0.86,-194.7,3.6,-6.6,16,186,11.98,2.85,-9.18,0.000,4,0.249,0.051,2727,3711,3866
$GC,241,-0.76,-194.7,17.9,-12.6,29,249,0.15,2.72,0.00,0.000,6,0.146,0.031,2747,2304,3867
$GC,386,-0.72,-194.7,35.2,-12.1,54,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2304,3867
$GC,527,-0.72,-194.7,51.0,-10.9,79,534,0.00,2.80,0.00,0.000,4,0.000,0.043,2746,3707,3868
$GC,574,-0.72,-194.7,56.2,-11.3,87,581,0.00,2.80,0.00,0.000,6,0.000,0.031,2747,2270,3868
$GC,919,-0.72,-194.7,94.0,-10.9,148,926,0.00,2.85,0.00,0.000,4,0.000,0.043,2747,3704,3868
$GC,939,-0.72,-194.7,96.3,-11.1,151,947,0.00,2.75,0.00,0.000,6,0.000,0.032,2747,2293,3868
$GC,1283,-0.72,-194.7,133.9,-10.7,212,1291,0.00,2.83,0.00,0.000,4,0.000,0.044,2747,3710,3868
$GC,1320,-0.72,-194.7,138.1,-11.1,218,1328,0.00,2.75,0.00,0.000,6,0.000,0.033,2746,2294,3868
$GC,1666,-0.72,-194.7,178.0,-11.3,279,1673,0.00,2.83,0.00,0.000,4,0.000,0.044,2747,3707,3868
$GC,1704,-0.72,-194.7,182.3,-12.0,285,1711,0.00,2.72,0.00,0.000,6,0.000,0.033,2746,2308,3868
$GC,2049,-0.72,-194.7,223.0,-12.0,346,2056,0.00,2.80,0.00,0.000,4,0.000,0.044,2747,3709,3868
$GC,2086,-0.72,-194.7,227.4,-11.8,352,2093,0.00,2.70,0.00,0.000,6,0.000,0.033,2746,2319,3868
$GC,2432,-0.72,-194.7,266.4,-10.9,413,2439,0.00,2.78,0.00,0.000,4,0.000,0.044,2747,3704,3868
$GC,2462,-0.72,-194.7,269.8,-11.4,418,2470,0.00,2.70,0.00,0.000,6,0.000,0.033,2747,2321,3868
$GC,2808,-0.72,-194.7,308.2,-11.8,479,2815,0.00,2.78,0.00,0.000,4,0.000,0.045,2747,3707,3868
$GC,2827,-0.72,-194.7,310.5,-10.8,482,2835,0.00,2.70,0.00,0.000,6,0.000,0.034,2747,2324,3868
$GC,3174,-0.72,-194.7,349.0,-11.0,543,3181,0.00,2.78,0.00,0.000,4,0.000,0.045,2747,3704,3868
$GC,3192,-0.72,-194.7,351.2,-11.0,545,3199,0.00,2.67,0.00,0.000,6,0.000,0.033,2746,2333,3868
$GC,3519,-0.72,-194.7,388.1,-11.5,576,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2332,3868
$GC,3835,-0.72,-194.7,424.5,-11.3,606,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2332,3868
$GC,4154,-0.72,-194.7,460.1,-10.9,636,4158,0.00,2.78,0.00,0.000,4,0.000,0.047,2747,3708,3867
$GC,4186,-0.72,-194.7,463.8,-10.8,638,4194,0.00,2.65,0.00,0.000,6,0.000,0.034,2747,2345,3867
$GC,4514,-0.72,-194.7,500.2,-10.8,669,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2344,3867
$GC,4839,-0.72,-194.7,536.5,-10.6,700,4844,0.00,2.75,0.00,0.000,4,0.000,0.048,2746,3701,3867
$GC,4860,-0.72,-194.7,538.9,-10.8,701,4867,0.00,2.67,0.00,0.000,6,0.000,0.034,2747,2334,3867
$GC,5188,-0.72,-194.7,573.4,-10.6,732,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2334,3866
$GC,5502,-0.72,-194.7,607.6,-10.8,759,5507,0.00,2.80,0.00,0.000,4,0.000,0.052,2747,3704,3866
$GC,5529,-0.72,-194.7,610.7,-10.8,760,5533,0.00,2.67,0.00,0.000,6,0.000,0.036,2747,2349,3866
$GC,5846,-0.72,-194.7,645.3,-11.2,775,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2348,3866
$GC,6154,-0.72,-194.7,683.4,-12.4,790,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2348,3866
$GC,6464,-0.72,-194.7,719.4,-10.8,805,6468,0.00,2.88,0.00,0.000,4,0.000,0.066,2747,3705,3866
$GC,6486,-0.72,-194.7,721.8,-10.7,806,6490,0.00,2.75,0.00,0.000,6,0.000,0.049,2746,2358,3866
$GC,6807,-0.72,-194.7,753.8,-10.3,822,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2357,3865
$GC,7116,-0.72,-194.7,785.5,-10.5,837,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2357,3865
$GC,7426,-0.72,-194.7,818.5,-10.5,852,7431,0.00,3.08,0.00,0.000,4,0.000,0.097,2747,3696,3865
$GC,7466,-1.02,-194.7,818.5,-0.3,854,7471,0.28,2.90,0.00,0.000,6,0.054,0.078,2694,2375,3864
$STATE,7689,end dive,NO_VERTICAL_VELOCITY
$STATE,7690,begin apogee
$GC,7697,-0.21,0.0,818.5,0.0,865,7910,0.98,0.00,204.80,1.451,6,0.079,0.000,2869,2741,3071
$STATE,7911,end apogee,CONTROL_FINISHED_OK
$STATE,7911,begin climb
$GC,7914,0.86,194.7,818.4,0.0,876,8137,1.35,3.50,207.60,1.390,4,0.074,0.087,3099,1346,2276
$GC,8200,0.74,194.7,793.5,12.1,888,8207,0.00,3.17,0.00,0.000,6,0.000,0.071,3099,2750,2275
$GC,8516,0.62,194.7,757.1,11.7,904,8521,0.25,2.45,0.00,0.000,4,0.110,0.074,3056,3902,2273
$GC,8581,0.62,194.7,750.2,10.3,907,8586,0.00,2.35,0.00,0.000,6,0.000,0.051,3057,2755,2274
$GC,8904,0.66,229.8,721.6,8.8,923,8949,0.00,3.05,35.90,1.348,4,0.000,0.067,3057,1338,2133
$GC,8996,0.71,267.6,713.4,8.7,927,9043,0.00,2.90,40.28,1.341,6,0.000,0.042,3057,2758,1979
$GC,9375,0.74,296.7,681.0,9.0,945,9413,0.12,0.00,30.67,1.312,6,0.061,0.000,3082,2758,1860
$GC,9721,0.74,296.7,642.7,11.1,962,9726,0.00,2.90,0.00,0.000,4,0.000,0.049,3082,1334,1857
$GC,9771,0.74,296.7,636.8,11.5,964,9775,0.00,2.78,0.00,0.000,6,0.000,0.034,3082,2744,1856
$GC,10087,0.74,296.7,601.9,10.7,979,10088,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2744,1855
$GC,10404,0.74,296.7,567.6,11.3,1008,10409,0.00,2.83,0.00,0.000,4,0.000,0.045,3082,1334,1855
$GC,10449,0.74,296.7,562.5,11.3,1011,10456,0.00,2.72,0.00,0.000,6,0.000,0.031,3082,2732,1855
$GC,10775,0.74,296.7,527.9,10.7,1042,10777,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2731,1855
$GC,11092,0.74,296.7,495.5,10.2,1072,11093,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2731,1855
$GC,11410,0.74,296.7,463.3,10.1,1102,11411,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2731,1854
$GC,11729,0.74,296.7,430.3,10.6,1132,11734,0.00,2.80,0.00,0.000,4,0.000,0.044,3082,1332,1854
$GC,11773,0.74,296.7,425.2,10.9,1135,11781,0.00,2.72,0.00,0.000,6,0.000,0.031,3082,2733,1854
$GC,12099,0.74,296.7,391.6,10.2,1166,12103,0.00,2.30,0.00,0.000,4,0.000,0.049,3082,3893,1854
$GC,12139,0.74,296.7,387.3,10.9,1169,12143,0.00,2.28,0.00,0.000,6,0.000,0.031,3082,2705,1853
$GC,12470,0.74,296.7,353.0,10.4,1200,12474,0.00,2.70,0.00,0.000,4,0.000,0.045,3082,1346,1853
$GC,12504,0.74,296.7,349.4,10.7,1203,12511,0.00,2.70,0.00,0.000,6,0.000,0.031,3082,2735,1853
$GC,12850,0.74,296.7,311.6,10.7,1264,12857,0.00,2.30,0.00,0.000,4,0.000,0.048,3082,3895,1853
$GC,12881,0.74,296.7,307.9,11.4,1269,12888,0.00,2.25,0.00,0.000,6,0.000,0.031,3082,2722,1853
$GC,13226,0.74,296.7,270.0,10.8,1330,13234,0.00,2.75,0.00,0.000,4,0.000,0.045,3082,1337,1853
$GC,13258,0.74,296.7,266.4,11.3,1335,13265,0.00,2.70,0.00,0.000,6,0.000,0.031,3082,2730,1853
$GC,13604,0.74,296.7,228.8,10.0,1396,13611,0.00,2.30,0.00,0.000,4,0.000,0.048,3082,3888,1853
$GC,13652,0.74,296.7,223.6,10.8,1404,13659,0.00,2.22,0.00,0.000,6,0.000,0.031,3082,2723,1853
$GC,13997,0.75,304.5,188.5,9.7,1465,14012,0.00,2.75,7.80,0.849,4,0.000,0.044,3082,1338,1830
$GC,14047,0.75,304.5,183.4,10.0,1473,14054,0.00,2.70,0.00,0.000,6,0.000,0.031,3082,2728,1830
$GC,14393,0.77,319.6,151.0,9.5,1534,14413,0.00,0.00,17.05,0.976,6,0.000,0.000,3082,2728,1768
$GC,14752,0.79,337.7,117.6,9.4,1597,14778,0.00,0.00,19.20,0.985,6,0.000,0.000,3082,2728,1695
$GC,15116,0.82,360.6,83.5,9.2,1661,15149,0.00,2.85,24.40,0.969,4,0.000,0.044,3082,1349,1600
$GC,15185,0.90,373.7,77.4,9.5,1672,15208,0.17,2.67,14.90,0.917,6,0.047,0.030,3121,2721,1547
$GC,15548,0.90,373.7,34.0,12.9,1735,15554,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2721,1543
$GC,15690,0.90,373.7,17.7,10.3,1760,15697,0.00,2.30,0.00,0.000,4,0.000,0.047,3121,3892,1541
$GC,15726,0.90,373.7,13.2,13.4,1766,15734,0.00,2.30,0.00,0.000,6,0.000,0.031,3121,2693,1541
$STATE,15844,end climb,SURFACE_DEPTH_REACHED
$STATE,15844,begin surface coast
$FINISH,0.1,1.015907
$STATE,15865,end surface coast,CONTROL_FINISHED_OK
$STATE,15865,begin surface
$SM_CCo,15944,0.00,0.000,0,0,1539,375.55
$SM_GC,0.81,8.52,0.00,0.00,0.043,0.000,0.000,1431,2303,1539,-6.80,0.08,375.55
$IRIDIUM_FIX,6130.75,-2605.31,090997,000011
$TT8_MAMPS,0.026845
$HUMID,1842
$INTERNAL_PRESSURE,8.93635
$TCM_TEMP,16.50
$XPDR_PINGS,852
$24V_AH,19.1,106.714
$10V_AH,9.8,70.906
$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,23.800,153.625,602.600,0.000,0.000,30.945,34.884,255.701,213.000,0.000,0.000,14.130,3615.103,8034.529,831.351,3223.398,697.756,0.000,2284.875,0.000,3212.156,0.000,0.465
$DEVICE_MAMPS,248.508,97.409,1451.164,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1235.411,1336.705,720.756,1672.587,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129552,1790
$CAP_FILE_SIZE,158654,0
$CFSIZE,260165632,224325632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137, 51.8,1
$GPS,150608,092025,6153.339,-2607.187,24,1.2,41,-18.7