version: 66.03
glider: 142
mission: 5
dive: 346
start: 6 15 108 19 22 53
data:
$ID,142
$MISSION,5
$DIVE,346
$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,-19438.766
$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,17
$R_STBD_OVSHOOT,23
$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
$GPS1,191338,6151.531,-2613.787,44,1.0,44,-18.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-44.1
$GPS2,192233,6151.482,-2613.632,9,1.3,9,-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,222.0,13974,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.86,-194.7,0.0,0.0,0,146,0.00,0.00,-119.88,0.000,2,0.000,0.000,1439,2289,3622
$GC,149,-0.86,-194.7,3.8,-5.8,16,174,12.25,2.88,-5.90,0.000,4,0.255,0.048,2725,3709,3867
$GC,222,-0.80,-194.7,19.4,-9.9,27,230,0.00,2.78,0.00,0.000,6,0.000,0.033,2725,2288,3868
$GC,366,-0.71,-194.7,37.8,-13.5,52,374,0.17,2.83,0.00,0.000,4,0.156,0.041,2752,3704,3868
$GC,432,-0.71,-194.7,43.9,-9.1,63,439,0.00,2.65,0.00,0.000,6,0.000,0.031,2752,2336,3868
$GC,575,-0.71,-194.7,58.5,-10.6,88,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2335,3869
$GC,921,-0.71,-194.7,93.1,-8.8,149,928,0.00,2.88,0.00,0.000,4,0.000,0.049,2752,886,3869
$GC,952,-0.71,-194.7,96.0,-9.4,154,960,0.00,2.80,0.00,0.000,6,0.000,0.030,2752,2342,3869
$GC,1299,-0.71,-194.7,129.5,-10.2,215,1306,0.00,2.70,0.00,0.000,4,0.000,0.044,2751,3710,3869
$GC,1319,-0.71,-194.7,131.5,-9.9,218,1326,0.00,2.67,0.00,0.000,6,0.000,0.032,2752,2333,3869
$GC,1665,-0.71,-194.7,167.7,-10.7,279,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2332,3869
$GC,2009,-0.71,-194.7,204.4,-11.0,340,2016,0.00,2.75,0.00,0.000,4,0.000,0.044,2752,3709,3869
$GC,2029,-0.71,-194.7,206.7,-11.0,343,2036,0.00,2.67,0.00,0.000,6,0.000,0.032,2752,2335,3869
$GC,2375,-0.71,-194.7,246.2,-11.3,404,2382,0.00,2.75,0.00,0.000,4,0.000,0.044,2752,3709,3869
$GC,2389,-0.71,-194.7,247.8,-11.0,406,2396,0.00,2.67,0.00,0.000,6,0.000,0.032,2752,2336,3869
$GC,2735,-0.71,-194.7,287.0,-11.6,467,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2335,3869
$GC,3079,-0.71,-194.7,326.6,-11.4,528,3087,0.00,2.75,0.00,0.000,4,0.000,0.045,2752,3704,3869
$GC,3111,-0.71,-194.7,330.1,-11.7,533,3118,0.00,2.65,0.00,0.000,6,0.000,0.033,2752,2346,3869
$GC,3447,-0.71,-194.7,366.3,-10.5,580,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2345,3869
$GC,3765,-0.71,-194.7,399.7,-10.4,610,3770,0.00,2.75,0.00,0.000,4,0.000,0.047,2752,3712,3868
$GC,3795,-0.71,-194.7,402.7,-10.9,612,3799,0.00,2.65,0.00,0.000,6,0.000,0.033,2752,2355,3869
$GC,4123,-0.71,-194.7,435.7,-9.8,642,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2353,3868
$GC,4452,-0.71,-194.7,468.3,-9.8,673,4456,0.00,2.72,0.00,0.000,4,0.000,0.048,2752,3703,3868
$GC,4469,-0.71,-194.7,470.3,-9.8,674,4473,0.00,2.62,0.00,0.000,6,0.000,0.034,2752,2360,3868
$GC,4796,-0.71,-194.7,501.9,-9.6,704,4801,0.00,2.72,0.00,0.000,4,0.000,0.048,2752,3710,3868
$GC,4807,-0.71,-194.7,503.2,-9.5,704,4814,0.00,2.62,0.00,0.000,6,0.000,0.034,2752,2363,3869
$GC,5134,-0.71,-194.7,535.1,-10.0,735,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2362,3868
$GC,5451,-0.71,-194.7,567.3,-10.0,765,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2362,3868
$GC,5769,-0.71,-194.7,599.6,-9.8,795,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2362,3868
$GC,6090,-0.71,-194.7,633.0,-11.0,811,6091,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2362,3868
$GC,6398,-0.71,-194.7,664.3,-9.5,826,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2362,3867
$GC,6707,-0.71,-194.7,692.8,-9.6,841,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2362,3867
$GC,7017,-0.71,-194.7,724.0,-9.9,856,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2362,3867
$GC,7326,-0.71,-194.7,754.6,-10.0,871,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2362,3867
$GC,7635,-0.71,-194.7,789.6,-11.8,886,7639,0.00,3.03,0.00,0.000,4,0.000,0.091,2752,3700,3867
$GC,7652,-0.71,-194.7,791.6,-11.5,887,7657,0.00,2.88,0.00,0.000,6,0.000,0.070,2752,2364,3867
$GC,7982,-0.79,-194.7,824.5,-7.9,903,7983,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2363,3866
$STATE,8287,end dive,NO_VERTICAL_VELOCITY
$STATE,8287,begin apogee
$GC,8294,-0.21,0.0,825.1,0.0,918,8502,0.65,0.00,205.07,1.457,6,0.064,0.000,2876,2739,3071
$STATE,8503,end apogee,CONTROL_FINISHED_OK
$STATE,8503,begin climb
$GC,8506,0.86,194.7,825.1,0.0,928,8729,1.30,2.88,208.23,1.397,4,0.066,0.093,3101,3900,2276
$GC,8875,0.74,194.7,793.9,10.8,944,8880,0.00,2.47,0.00,0.000,6,0.000,0.064,3101,2755,2274
$GC,9192,0.61,194.7,759.6,11.9,959,9197,0.28,2.47,0.00,0.000,4,0.114,0.071,3056,3909,2274
$GC,9255,0.63,214.4,753.4,9.3,962,9281,0.00,2.33,20.80,1.299,6,0.000,0.051,3057,2774,2196
$GC,9611,0.64,216.8,720.4,9.9,979,9616,0.00,3.03,0.00,0.000,4,0.000,0.068,3056,1334,2194
$GC,9660,0.64,216.8,715.0,10.1,981,9665,0.00,2.92,0.00,0.000,6,0.000,0.043,3056,2782,2194
$GC,9977,0.69,260.0,685.4,8.5,996,10029,0.00,2.40,46.92,1.353,4,0.000,0.063,3056,3903,2010
$GC,10053,0.75,306.6,678.7,8.4,999,10110,0.15,2.30,49.42,1.326,6,0.059,0.038,3085,2761,1821
$GC,10418,0.75,310.8,643.3,9.9,1017,10429,0.00,2.92,5.15,0.913,4,0.000,0.054,3085,1336,1803
$GC,10468,0.75,310.8,637.9,10.9,1019,10473,0.00,2.88,0.00,0.000,6,0.000,0.035,3085,2785,1802
$GC,10785,0.75,310.8,605.7,10.2,1034,10789,0.00,2.22,0.00,0.000,4,0.000,0.056,3085,3895,1801
$GC,10815,0.75,310.8,602.4,11.1,1035,10819,0.00,2.20,0.00,0.000,6,0.000,0.031,3085,2754,1800
$GC,11139,0.75,310.8,568.6,10.6,1064,11144,0.00,2.83,0.00,0.000,4,0.000,0.048,3085,1337,1800
$GC,11194,0.75,310.8,562.4,10.4,1068,11202,0.00,2.80,0.00,0.000,6,0.000,0.031,3085,2774,1800
$GC,11523,0.75,310.9,529.7,10.0,1099,11527,0.00,2.22,0.00,0.000,4,0.000,0.052,3085,3893,1800
$GC,11563,0.75,310.9,525.3,10.1,1102,11567,0.00,2.17,0.00,0.000,6,0.000,0.031,3085,2762,1798
$GC,11888,0.78,331.0,494.3,9.3,1132,11915,0.00,2.88,21.90,1.198,4,0.000,0.047,3085,1343,1721
$GC,11961,0.80,353.0,487.2,9.2,1138,11993,0.00,2.78,24.48,1.212,6,0.000,0.031,3085,2756,1632
$GC,12311,0.85,387.5,455.9,8.8,1171,12352,0.00,0.00,37.25,1.210,6,0.000,0.000,3085,2756,1491
$GC,12670,0.89,420.0,424.7,8.9,1205,12711,0.15,2.92,34.83,1.174,4,0.051,0.045,3121,1341,1357
$GC,12763,0.89,420.0,414.2,12.1,1213,12768,0.00,2.78,0.00,0.000,6,0.000,0.031,3121,2745,1354
$GC,13088,0.89,420.0,376.6,11.7,1243,13089,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2745,1352
$GC,13412,0.89,420.0,338.5,11.9,1281,13419,0.00,2.83,0.00,0.000,4,0.000,0.045,3121,1335,1350
$GC,13465,0.89,420.0,331.8,11.8,1290,13472,0.00,2.72,0.00,0.000,6,0.000,0.031,3121,2739,1350
$GC,13811,0.89,420.0,289.6,11.9,1351,13818,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2738,1349
$GC,14156,0.89,420.0,248.7,11.3,1412,14164,0.00,2.80,0.00,0.000,4,0.000,0.044,3121,1340,1349
$GC,14205,0.89,420.0,242.5,12.7,1420,14213,0.00,2.67,0.00,0.000,6,0.000,0.030,3121,2722,1349
$GC,14550,0.89,420.0,202.0,11.6,1481,14557,0.00,2.33,0.00,0.000,4,0.000,0.048,3121,3897,1348
$GC,14581,0.89,420.0,198.2,13.0,1486,14589,0.00,2.30,0.00,0.000,6,0.000,0.031,3121,2698,1348
$GC,14928,0.89,420.0,157.2,11.8,1547,14934,0.00,2.70,0.00,0.000,4,0.000,0.046,3122,1338,1348
$GC,14976,0.89,420.0,151.0,12.3,1555,14984,0.00,2.65,0.00,0.000,6,0.000,0.030,3121,2709,1348
$GC,15322,0.89,420.0,108.6,11.6,1616,15329,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2709,1348
$GC,15666,0.89,420.0,69.2,11.3,1677,15674,0.00,2.75,0.00,0.000,4,0.000,0.045,3121,1340,1348
$GC,15708,0.89,420.0,64.1,12.5,1684,15716,0.00,2.62,0.00,0.000,6,0.000,0.031,3121,2701,1348
$GC,16054,0.89,420.0,21.1,11.2,1745,16060,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2701,1348
$GC,16196,0.89,420.0,5.9,12.0,1770,16203,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2701,1347
$STATE,16226,end climb,SURFACE_DEPTH_REACHED
$STATE,16226,begin surface coast
$FINISH,0.3,1.025977
$STATE,16238,end surface coast,CONTROL_FINISHED_OK
$STATE,16238,begin surface
$SM_CCo,16318,0.00,0.000,0,0,1345,423.39
$SM_GC,0.65,8.52,0.00,0.00,0.044,0.000,0.000,1437,2290,1345,-6.79,-0.28,423.39
$IRIDIUM_FIX,6126.23,-2617.59,090997,141425
$TT8_MAMPS,0.026078
$HUMID,1838
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,16.50
$XPDR_PINGS,855
$24V_AH,19.1,107.608
$10V_AH,9.9,71.398
$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,23.475,140.925,654.050,0.000,0.000,28.297,32.610,317.465,213.750,0.000,0.000,11.254,3623.103,8391.128,825.022,3228.031,766.089,0.000,2294.937,0.000,3217.500,0.000,0.466
$DEVICE_MAMPS,255.411,92.807,1456.533,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1231.106,1332.898,695.428,1653.646,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129843,1777
$CAP_FILE_SIZE,160829,0
$CFSIZE,260165632,224034816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031, 41.1,1
$GPS,150608,235628,6149.630,-2615.609,40,2.7,59,-18.8