version: 66.03
glider: 142
mission: 5
dive: 345
start: 6 15 108 14 26 4
data:
$ID,142
$MISSION,5
$DIVE,345
$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,-19426.885
$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,29
$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
$GPS1,141558,6152.107,-2610.021,24,99.0,43,-18.8
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-43.6
$GPS2,142544,6152.103,-2609.836,11,1.5,28,-18.8
$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,244.0,16975,-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,-194.7,0.0,0.0,0,146,0.00,0.00,-121.53,0.000,2,0.000,0.000,1435,2287,3437
$GC,150,-0.86,-194.7,3.0,-5.6,16,182,12.15,2.83,-11.50,0.000,4,0.251,0.050,2725,3707,3866
$GC,206,-0.76,-194.7,14.2,-15.1,24,215,0.17,2.72,0.00,0.000,6,0.138,0.032,2750,2302,3866
$GC,354,-0.71,-194.7,33.3,-13.7,49,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2302,3867
$GC,495,-0.71,-194.7,53.7,-13.8,74,503,0.00,2.78,0.00,0.000,4,0.000,0.041,2750,3704,3867
$GC,561,-0.71,-194.7,62.2,-12.6,85,568,0.00,2.83,0.00,0.000,6,0.000,0.032,2750,2254,3867
$GC,906,-0.71,-194.7,102.2,-11.2,146,913,0.00,2.90,0.00,0.000,4,0.000,0.043,2750,3714,3867
$GC,1090,-0.71,-194.7,120.5,-9.7,178,1098,0.00,2.75,0.00,0.000,6,0.000,0.032,2750,2294,3868
$GC,1438,-0.71,-194.7,154.6,-9.9,239,1445,0.00,2.83,0.00,0.000,4,0.000,0.043,2750,3707,3868
$GC,1553,-0.71,-194.7,166.4,-10.4,259,1560,0.00,2.70,0.00,0.000,6,0.000,0.032,2750,2320,3867
$GC,1897,-0.71,-194.7,201.8,-10.1,320,1905,0.00,2.78,0.00,0.000,4,0.000,0.044,2750,3707,3868
$GC,2031,-0.71,-194.7,215.6,-10.4,343,2038,0.00,2.60,0.00,0.000,6,0.000,0.032,2750,2365,3868
$GC,2375,-0.71,-194.7,251.7,-10.1,404,2382,0.00,2.67,0.00,0.000,4,0.000,0.045,2750,3703,3868
$GC,2468,-0.71,-194.7,261.5,-10.3,420,2475,0.00,2.55,0.00,0.000,6,0.000,0.033,2750,2388,3868
$GC,2814,-0.71,-194.7,297.3,-10.5,481,2821,0.00,2.65,0.00,0.000,4,0.000,0.046,2750,3710,3868
$GC,2856,-0.71,-194.7,301.7,-10.1,488,2863,0.00,2.55,0.00,0.000,6,0.000,0.033,2750,2391,3868
$GC,3201,-0.71,-194.7,338.9,-11.0,549,3208,0.00,2.65,0.00,0.000,4,0.000,0.047,2749,3711,3868
$GC,3238,-0.71,-194.7,343.1,-11.4,555,3245,0.00,2.55,0.00,0.000,6,0.000,0.033,2750,2400,3867
$GC,3567,-0.71,-194.7,380.6,-11.4,591,3572,0.00,2.62,0.00,0.000,4,0.000,0.047,2750,3710,3867
$GC,3589,-0.71,-194.7,383.4,-12.3,592,3597,0.00,2.53,0.00,0.000,6,0.000,0.034,2749,2408,3867
$GC,3917,-0.71,-194.7,420.6,-11.5,623,3921,0.00,2.60,0.00,0.000,4,0.000,0.046,2749,3706,3867
$GC,3949,-0.71,-194.7,424.8,-11.5,625,3957,0.00,2.50,0.00,0.000,6,0.000,0.033,2750,2423,3867
$GC,4277,-0.71,-194.7,459.8,-10.5,656,4281,0.00,2.58,0.00,0.000,4,0.000,0.048,2750,3703,3867
$GC,4305,-0.71,-194.7,463.0,-10.4,658,4310,0.00,2.47,0.00,0.000,6,0.000,0.031,2750,2428,3867
$GC,4633,-0.71,-194.7,494.3,-9.6,688,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2427,3866
$GC,4949,-0.71,-194.7,525.8,-10.1,718,4953,0.00,2.58,0.00,0.000,4,0.000,0.048,2750,3703,3866
$GC,5000,-0.71,-194.7,531.2,-10.4,722,5004,0.00,2.47,0.00,0.000,6,0.000,0.032,2749,2428,3867
$GC,5335,-0.71,-194.7,564.8,-10.5,753,5339,0.00,2.60,0.00,0.000,4,0.000,0.049,2750,3710,3866
$GC,5356,-0.71,-194.7,567.6,-10.2,754,5364,0.00,2.50,0.00,0.000,6,0.000,0.032,2749,2439,3866
$GC,5694,-0.71,-194.7,602.6,-11.2,785,5698,0.00,2.58,0.00,0.000,4,0.000,0.056,2750,3701,3866
$GC,5721,-0.71,-194.7,606.0,-11.3,786,5725,0.00,2.45,0.00,0.000,6,0.000,0.035,2749,2449,3865
$GC,6037,-0.71,-194.7,638.8,-10.2,801,6041,0.00,2.58,0.00,0.000,4,0.000,0.054,2750,3701,3865
$GC,6077,-0.71,-194.7,642.8,-10.2,803,6081,0.00,2.45,0.00,0.000,6,0.000,0.038,2750,2461,3865
$GC,6405,-0.71,-194.7,676.2,-10.1,819,6406,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2461,3865
$GC,6715,-0.71,-194.7,707.1,-10.0,834,6720,0.00,3.28,0.00,0.000,4,0.000,0.067,2749,897,3865
$GC,6755,-0.71,-194.7,711.4,-10.3,836,6760,0.00,3.12,0.00,0.000,6,0.000,0.044,2750,2449,3864
$GC,7082,-0.71,-194.7,744.5,-10.1,852,7083,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2450,3864
$GC,7391,-0.71,-194.7,775.4,-10.1,867,7396,0.00,3.42,0.00,0.000,4,0.000,0.083,2749,899,3864
$GC,7432,-0.71,-194.7,779.6,-9.8,869,7437,0.00,3.25,0.00,0.000,6,0.000,0.064,2749,2428,3864
$GC,7760,-0.71,-194.7,811.6,-10.4,885,7761,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2429,3864
$GC,8070,-0.71,-194.7,845.1,-10.8,900,8075,0.00,3.65,0.00,0.000,4,0.000,0.112,2750,899,3863
$GC,8125,-0.76,-194.7,850.8,-10.3,902,8133,0.00,3.47,0.00,0.000,6,0.000,0.096,2749,2415,3863
$GC,8442,-1.14,-194.7,852.6,0.0,918,8448,0.40,3.03,0.00,0.000,4,0.064,0.112,2671,3694,3863
$GC,8465,-1.50,-194.7,852.6,0.0,919,8470,0.43,2.85,0.00,0.000,6,0.064,0.095,2593,2450,3863
$STATE,8474,end dive,NO_VERTICAL_VELOCITY
$STATE,8475,begin apogee
$GC,8482,-0.21,0.0,852.5,0.0,920,8692,1.48,0.00,205.93,1.485,6,0.057,0.000,2875,2733,3071
$STATE,8692,end apogee,CONTROL_FINISHED_OK
$STATE,8692,begin climb
$GC,8695,0.86,194.7,852.4,0.0,930,8918,1.27,3.58,209.27,1.416,4,0.059,0.100,3100,1350,2276
$GC,9041,0.76,194.7,822.7,12.9,945,9046,0.00,3.20,0.00,0.000,6,0.000,0.081,3100,2754,2275
$GC,9358,0.63,194.7,783.4,12.5,960,9363,0.22,2.50,0.00,0.000,4,0.112,0.082,3062,3907,2273
$GC,9424,0.63,194.7,776.1,10.6,963,9429,0.00,2.35,0.00,0.000,6,0.000,0.056,3062,2768,2274
$GC,9747,0.66,219.0,746.5,9.2,979,9777,0.00,3.08,25.17,1.337,4,0.000,0.070,3062,1331,2178
$GC,9806,0.67,226.2,740.5,9.7,981,9822,0.00,2.95,9.40,1.194,6,0.000,0.048,3062,2759,2147
$GC,10145,0.71,256.3,709.2,9.0,998,10184,0.00,0.00,31.85,1.355,6,0.000,0.000,3062,2759,2026
$GC,10493,0.76,295.6,678.4,8.6,1015,10543,0.12,3.05,41.33,1.344,4,0.062,0.054,3087,1338,1866
$GC,10565,0.76,295.6,670.8,10.7,1018,10570,0.00,2.88,0.00,0.000,6,0.000,0.037,3087,2755,1864
$GC,10886,0.76,295.6,636.6,10.9,1034,10890,0.00,2.33,0.00,0.000,4,0.000,0.059,3087,3903,1861
$GC,10926,0.76,295.6,632.2,10.9,1036,10930,0.00,2.30,0.00,0.000,6,0.000,0.035,3087,2727,1860
$GC,11243,0.76,295.6,598.6,10.5,1052,11244,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2726,1859
$GC,11561,0.76,295.6,563.6,11.0,1082,11565,0.00,2.38,0.00,0.000,4,0.000,0.053,3087,3900,1859
$GC,11590,0.76,295.6,560.3,11.6,1084,11594,0.00,2.20,0.00,0.000,6,0.000,0.032,3087,2758,1858
$GC,11915,0.76,295.6,525.1,11.0,1114,11919,0.00,2.83,0.00,0.000,4,0.000,0.047,3087,1339,1858
$GC,11955,0.76,295.6,520.7,11.3,1117,11960,0.00,2.80,0.00,0.000,6,0.000,0.031,3087,2774,1858
$GC,12280,0.76,295.6,485.7,10.6,1147,12281,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2773,1858
$GC,12599,0.76,295.6,452.9,10.4,1177,12600,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2773,1858
$GC,12918,0.76,295.6,419.2,10.5,1207,12923,0.00,2.88,0.00,0.000,4,0.000,0.044,3087,1341,1858
$GC,12950,0.76,295.6,415.3,10.8,1209,12958,0.00,2.78,0.00,0.000,6,0.000,0.032,3087,2763,1858
$GC,13278,0.76,295.6,382.1,10.2,1240,13282,0.00,2.25,0.00,0.000,4,0.000,0.050,3087,3900,1858
$GC,13318,0.76,295.6,377.8,11.0,1243,13322,0.00,2.20,0.00,0.000,6,0.000,0.031,3087,2744,1858
$GC,13647,0.76,298.5,345.1,9.9,1277,13653,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2739,1858
$GC,13992,0.77,301.5,310.7,9.9,1338,14001,0.00,0.00,6.25,0.851,6,0.000,0.000,3087,2737,1841
$GC,14339,0.77,301.5,274.3,10.8,1399,14345,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2737,1840
$GC,14682,0.77,302.2,239.9,10.0,1460,14690,0.00,2.30,0.00,0.000,4,0.000,0.048,3087,3892,1841
$GC,14720,0.77,302.2,236.1,10.5,1466,14727,0.00,2.17,0.00,0.000,6,0.000,0.031,3087,2753,1840
$GC,15065,0.77,302.2,203.1,10.1,1527,15072,0.00,2.78,0.00,0.000,4,0.000,0.044,3086,1349,1840
$GC,15113,0.77,302.2,198.3,10.2,1535,15120,0.00,2.72,0.00,0.000,6,0.000,0.030,3087,2757,1840
$GC,15458,0.79,319.7,165.2,9.4,1596,15485,0.00,0.00,20.08,0.992,6,0.000,0.000,3087,2757,1766
$GC,15823,0.81,334.5,130.9,9.5,1660,15846,0.00,2.92,15.88,0.959,4,0.000,0.044,3087,1340,1707
$GC,15875,0.81,334.5,125.7,10.1,1668,15883,0.00,2.75,0.00,0.000,6,0.000,0.031,3087,2747,1706
$GC,16224,0.84,364.7,92.7,8.9,1729,16257,0.00,0.00,31.48,0.981,6,0.000,0.000,3087,2747,1584
$GC,16596,0.85,373.9,57.9,9.7,1794,16612,0.00,2.90,10.25,0.846,4,0.000,0.044,3087,1340,1545
$GC,16647,0.92,387.4,53.1,9.5,1802,16670,0.17,2.72,15.48,0.905,6,0.048,0.031,3127,2743,1491
$GC,17011,0.92,387.4,11.4,12.9,1865,17018,0.00,2.25,0.00,0.000,4,0.000,0.047,3127,3890,1487
$GC,17065,0.92,387.4,3.6,14.8,1874,17074,0.00,2.20,0.00,0.000,6,0.000,0.031,3127,2743,1486
$STATE,17079,end climb,SURFACE_DEPTH_REACHED
$STATE,17079,begin surface coast
$FINISH,0.1,1.025938
$STATE,17092,end surface coast,CONTROL_FINISHED_OK
$STATE,17092,begin surface
$SM_CCo,17172,0.00,0.000,0,0,1482,389.78
$SM_GC,0.65,8.62,0.00,0.00,0.047,0.000,0.000,1439,2297,1482,-6.79,-0.08,389.78
$IRIDIUM_FIX,6130.75,-2605.31,090997,090946
$TT8_MAMPS,0.026845
$HUMID,1838
$INTERNAL_PRESSURE,8.92658
$TCM_TEMP,16.60
$XPDR_PINGS,932
$24V_AH,19.1,107.310
$10V_AH,9.8,71.237
$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,25.050,180.775,622.350,0.000,0.000,28.915,44.956,337.552,233.000,0.000,0.000,30.443,3847.587,8792.049,831.831,3427.335,841.743,0.000,2384.929,0.000,3408.007,0.000,0.465
$DEVICE_MAMPS,250.809,111.982,1484.912,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1296.670,1428.403,731.113,1734.366,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139326,1878
$CAP_FILE_SIZE,174560,0
$CFSIZE,260165632,224104448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,353.8,1
$GPS,150608,191338,6151.531,-2613.787,44,1.0,44,-18.8