version: 66.03
glider: 142
mission: 5
dive: 344
start: 6 15 108 9 30 1
data:
$ID,142
$MISSION,5
$DIVE,344
$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,-19395.811
$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,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
$GPS1,092025,6153.339,-2607.187,24,1.2,41,-18.7
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-49.6
$GPS2,092939,6153.299,-2606.955,15,1.6,15,-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,246.2,20319,-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,-194.7,0.0,0.0,0,138,0.00,0.00,-113.60,0.000,2,0.000,0.000,1430,2294,3589
$GC,142,-0.86,-194.7,4.0,-6.6,15,165,12.38,0.00,-6.40,0.000,6,0.255,0.000,2724,2294,3867
$GC,305,-0.76,-194.7,36.4,-17.1,42,313,0.15,2.80,0.00,0.000,4,0.153,0.042,2747,3704,3869
$GC,371,-0.76,-194.7,46.9,-14.3,53,378,0.00,2.72,0.00,0.000,6,0.000,0.031,2747,2293,3869
$GC,516,-0.76,-194.7,66.7,-14.1,78,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2293,3869
$GC,860,-0.76,-194.7,110.1,-12.1,139,868,0.00,2.83,0.00,0.000,4,0.000,0.043,2748,3710,3870
$GC,893,-0.76,-194.7,113.9,-12.0,144,901,0.00,2.70,0.00,0.000,6,0.000,0.032,2747,2321,3870
$GC,1240,-0.76,-194.7,154.0,-11.8,205,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2319,3869
$GC,1584,-0.76,-194.7,194.3,-11.5,266,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2319,3870
$GC,1929,-0.76,-194.7,232.6,-10.6,327,1936,0.00,2.78,0.00,0.000,4,0.000,0.044,2747,3706,3870
$GC,1989,-0.76,-194.7,239.1,-11.1,337,1996,0.00,2.70,0.00,0.000,6,0.000,0.032,2747,2319,3870
$GC,2333,-0.76,-194.7,277.4,-11.3,398,2341,0.00,2.78,0.00,0.000,4,0.000,0.044,2747,3707,3870
$GC,2359,-0.76,-194.7,280.3,-11.6,402,2367,0.00,2.67,0.00,0.000,6,0.000,0.033,2747,2333,3869
$GC,2705,-0.76,-194.7,319.5,-11.3,463,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2332,3869
$GC,3046,-0.76,-194.7,357.4,-11.2,518,3050,0.00,2.75,0.00,0.000,4,0.000,0.045,2747,3704,3870
$GC,3075,-0.76,-194.7,360.6,-11.5,520,3079,0.00,2.67,0.00,0.000,6,0.000,0.033,2747,2333,3870
$GC,3401,-0.76,-194.7,396.7,-11.0,550,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2332,3869
$GC,3718,-0.76,-194.7,431.0,-10.7,580,3723,0.00,2.75,0.00,0.000,4,0.000,0.045,2747,3702,3869
$GC,3740,-0.76,-194.7,433.6,-10.4,581,3748,0.00,2.65,0.00,0.000,6,0.000,0.033,2748,2342,3869
$GC,4069,-0.76,-194.7,467.4,-10.1,612,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2341,3869
$GC,4397,-0.76,-194.7,499.7,-9.9,643,4402,0.00,2.75,0.00,0.000,4,0.000,0.048,2747,3705,3869
$GC,4426,-0.76,-194.7,502.8,-9.9,645,4431,0.00,2.65,0.00,0.000,6,0.000,0.040,2747,2354,3869
$GC,4754,-0.76,-194.7,534.9,-9.9,675,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2353,3869
$GC,5080,-0.76,-194.7,566.7,-9.9,706,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2353,3869
$GC,5399,-0.76,-194.7,597.6,-9.9,736,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2353,3869
$GC,5719,-0.76,-194.7,629.2,-9.7,753,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2352,3868
$GC,6028,-0.76,-194.7,660.6,-10.3,768,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2352,3868
$GC,6338,-0.76,-194.7,692.8,-10.5,783,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2352,3868
$GC,6646,-0.76,-194.7,728.5,-11.9,798,6651,0.00,2.88,0.00,0.000,4,0.000,0.068,2747,3703,3868
$GC,6685,-0.76,-194.7,733.5,-13.9,800,6690,0.00,2.72,0.00,0.000,6,0.000,0.048,2747,2366,3868
$GC,7014,-0.76,-194.7,768.0,-11.1,816,7019,0.00,3.25,0.00,0.000,4,0.000,0.087,2747,891,3868
$GC,7047,-0.76,-194.7,772.2,-11.7,817,7055,0.00,3.03,0.00,0.000,6,0.000,0.059,2747,2339,3867
$GC,7364,-0.76,-194.7,810.2,-14.0,833,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2339,3867
$GC,7673,-0.76,-194.7,846.7,-12.0,848,7674,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2340,3867
$GC,7983,-0.76,-194.7,878.0,-9.1,863,7988,0.00,3.40,0.00,0.000,4,0.000,0.132,2747,3712,3867
$GC,8005,-0.76,-194.7,880.3,-9.3,864,8010,0.00,3.28,0.00,0.000,6,0.000,0.114,2747,2357,3866
$GC,8327,-1.00,-194.7,884.0,-0.0,880,8329,0.22,0.00,0.00,0.000,6,0.051,0.000,2703,2355,3866
$STATE,8365,end dive,NO_VERTICAL_VELOCITY
$STATE,8365,begin apogee
$GC,8372,-0.21,0.0,884.0,0.0,882,8588,0.95,0.00,207.93,1.500,6,0.084,0.000,2871,2750,3071
$STATE,8589,end apogee,CONTROL_FINISHED_OK
$STATE,8589,begin climb
$GC,8592,0.86,194.7,883.8,0.0,893,8816,1.38,3.03,210.90,1.434,4,0.075,0.117,3101,3905,2278
$GC,8844,0.74,194.7,861.9,12.1,905,8849,0.00,2.80,0.00,0.000,6,0.000,0.097,3101,2764,2277
$GC,9167,0.61,194.7,821.5,12.8,921,9169,0.30,0.00,0.00,0.000,6,0.113,0.000,3054,2763,2275
$GC,9477,0.62,207.2,791.5,9.6,936,9496,0.00,3.20,14.00,1.262,4,0.000,0.081,3054,1329,2226
$GC,9520,0.64,222.1,787.0,9.5,938,9544,0.00,3.05,17.00,1.320,6,0.000,0.064,3054,2757,2165
$GC,9851,0.68,249.8,755.9,9.0,954,9883,0.00,0.00,29.75,1.368,6,0.000,0.000,3054,2759,2052
$GC,10181,0.69,264.7,726.7,9.5,970,10205,0.00,3.03,16.38,1.292,4,0.000,0.061,3054,1328,1991
$GC,10232,0.70,267.3,721.4,9.9,972,10242,0.00,2.88,4.47,0.877,6,0.000,0.042,3054,2744,1981
$GC,10555,0.76,315.3,693.9,8.3,987,10609,0.15,0.00,51.00,1.360,6,0.058,0.000,3089,2744,1785
$GC,10910,0.76,315.3,655.5,10.8,1004,10911,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2744,1780
$GC,11217,0.76,315.3,623.0,10.2,1019,11219,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2744,1779
$GC,11529,0.76,315.3,589.3,11.5,1038,11534,0.00,2.85,0.00,0.000,4,0.000,0.047,3089,1327,1779
$GC,11562,0.76,315.3,585.0,12.4,1040,11570,0.00,2.78,0.00,0.000,6,0.000,0.033,3089,2749,1778
$GC,11889,0.76,315.3,548.9,10.9,1071,11893,0.00,2.28,0.00,0.000,4,0.000,0.054,3089,3895,1778
$GC,11925,0.76,315.3,545.0,10.8,1074,11929,0.00,2.28,0.00,0.000,6,0.000,0.032,3089,2714,1777
$GC,12250,0.76,315.3,509.8,10.7,1104,12255,0.00,2.72,0.00,0.000,4,0.000,0.047,3089,1346,1777
$GC,12279,0.76,315.3,506.6,10.6,1106,12283,0.00,2.75,0.00,0.000,6,0.000,0.031,3089,2756,1776
$GC,12604,0.78,338.2,473.8,9.2,1136,12632,0.00,2.30,23.62,1.197,4,0.000,0.050,3089,3894,1691
$GC,12657,0.78,338.2,468.9,10.1,1140,12661,0.00,2.25,0.00,0.000,6,0.000,0.031,3089,2739,1690
$GC,12982,0.83,374.9,439.8,8.7,1170,13030,0.00,2.88,39.70,1.230,4,0.000,0.047,3089,1342,1541
$GC,13059,0.85,388.9,432.7,9.5,1176,13081,0.00,2.78,16.35,1.127,6,0.000,0.031,3089,2750,1484
$GC,13409,0.88,418.2,401.2,9.0,1209,13447,0.12,2.90,31.48,1.161,4,0.057,0.045,3117,1346,1365
$GC,13469,0.88,418.2,394.5,10.7,1214,13477,0.00,2.75,0.00,0.000,6,0.000,0.031,3117,2736,1362
$GC,13797,0.88,418.2,359.1,10.9,1245,13798,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2735,1359
$GC,14126,0.88,418.2,324.2,11.1,1296,14134,0.00,2.80,0.00,0.000,4,0.000,0.045,3117,1339,1358
$GC,14158,0.88,418.2,320.7,11.5,1301,14165,0.00,2.67,0.00,0.000,6,0.000,0.031,3117,2716,1357
$GC,14504,0.88,418.2,281.3,11.3,1362,14510,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2717,1357
$GC,14849,0.88,418.2,241.2,11.6,1423,14856,0.00,2.75,0.00,0.000,4,0.000,0.044,3117,1345,1357
$GC,14879,0.88,418.2,237.5,12.5,1428,14887,0.00,2.65,0.00,0.000,6,0.000,0.031,3117,2717,1357
$GC,15226,0.88,418.2,198.5,11.2,1489,15232,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2716,1356
$GC,15570,0.88,418.2,159.2,11.0,1550,15576,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2716,1356
$GC,15915,0.88,418.2,120.5,11.5,1611,15922,0.00,2.78,0.00,0.000,4,0.000,0.045,3117,1336,1356
$GC,15957,0.88,418.2,115.4,12.5,1618,15965,0.00,2.65,0.00,0.000,6,0.000,0.030,3117,2710,1356
$GC,16302,0.88,418.2,77.5,10.0,1679,16308,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2709,1356
$GC,16646,0.88,418.2,39.4,14.7,1740,16653,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2710,1356
$GC,16789,0.88,418.2,20.7,11.4,1765,16796,0.00,2.75,0.00,0.000,4,0.000,0.047,3117,1342,1357
$GC,16826,0.88,418.2,16.5,13.3,1771,16834,0.00,2.60,0.00,0.000,6,0.000,0.031,3117,2692,1356
$STATE,16965,end climb,SURFACE_DEPTH_REACHED
$STATE,16965,begin surface coast
$FINISH,0.1,1.025935
$STATE,16995,end surface coast,CONTROL_FINISHED_OK
$STATE,16996,begin surface
$SM_CCo,17075,0.00,0.000,0,0,1352,421.43
$SM_GC,0.61,8.65,0.00,0.00,0.051,0.000,0.000,1435,2286,1352,-6.79,-0.40,421.43
$IRIDIUM_FIX,6130.75,-2603.30,090997,040421
$TT8_MAMPS,0.026845
$HUMID,1832
$INTERNAL_PRESSURE,8.91681
$TCM_TEMP,16.50
$XPDR_PINGS,931
$24V_AH,19.0,107.022
$10V_AH,9.9,71.067
$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,24.300,129.700,662.575,0.000,0.000,30.366,34.615,325.496,232.750,0.000,0.000,16.476,3668.938,9087.057,867.089,3192.708,798.226,0.000,2295.036,0.000,3194.347,0.000,0.465
$DEVICE_MAMPS,255.411,131.924,1500.252,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1247.498,1354.334,665.324,1660.064,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132852,1801
$CAP_FILE_SIZE,159797,0
$CFSIZE,260165632,224223232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079, 52.0,1
$GPS,150608,141558,6152.107,-2610.021,24,99.0,43,-18.8