version: 66.03
glider: 142
mission: 5
dive: 347
start: 6 16 108 0 4 41
data:
$ID,142
$MISSION,5
$DIVE,347
$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,-19458.914
$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,26
$R_STBD_OVSHOOT,25
$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
$GPS1,235628,6149.630,-2615.609,40,2.7,59,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-47.1
$GPS2,000420,6149.600,-2615.533,13,1.5,18,-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,238.8,10196,-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,-194.7,0.0,0.0,0,157,0.00,0.00,-132.32,0.000,2,0.000,0.000,1437,2288,3654
$GC,160,-0.86,-194.7,3.9,-6.5,17,185,12.40,2.90,-5.12,0.000,4,0.256,0.050,2725,3709,3867
$GC,243,-0.77,-194.7,22.1,-16.7,30,251,0.15,2.72,0.00,0.000,6,0.146,0.031,2745,2301,3867
$GC,390,-0.72,-194.7,42.2,-14.5,55,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2302,3868
$GC,532,-0.72,-194.7,61.9,-13.1,80,540,0.00,2.80,0.00,0.000,4,0.000,0.042,2745,3712,3868
$GC,558,-0.72,-194.7,65.2,-13.1,84,567,0.00,2.72,0.00,0.000,6,0.000,0.031,2745,2306,3868
$GC,905,-0.72,-194.7,110.5,-12.9,145,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2305,3868
$GC,1249,-0.72,-194.7,152.5,-11.7,206,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2305,3868
$GC,1595,-0.72,-194.7,194.5,-12.2,267,1602,0.00,2.80,0.00,0.000,4,0.000,0.044,2745,3703,3868
$GC,1626,-0.72,-194.7,198.3,-12.9,272,1633,0.00,2.70,0.00,0.000,6,0.000,0.032,2745,2314,3868
$GC,1971,-0.72,-194.7,240.9,-11.9,333,1978,0.00,2.80,0.00,0.000,4,0.000,0.044,2745,3710,3868
$GC,1991,-0.72,-194.7,243.3,-12.0,336,1998,0.00,2.72,0.00,0.000,6,0.000,0.033,2745,2310,3868
$GC,2337,-0.72,-194.7,284.4,-12.0,397,2344,0.00,2.80,0.00,0.000,4,0.000,0.045,2745,3708,3868
$GC,2363,-0.72,-194.7,287.4,-11.5,401,2370,0.00,2.70,0.00,0.000,6,0.000,0.033,2745,2324,3868
$GC,2708,-0.72,-194.7,326.0,-10.2,462,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2322,3868
$GC,3046,-0.72,-194.7,361.7,-10.8,513,3051,0.00,2.78,0.00,0.000,4,0.000,0.045,2745,3705,3868
$GC,3067,-0.72,-194.7,364.2,-11.1,514,3075,0.00,2.70,0.00,0.000,6,0.000,0.033,2745,2320,3868
$GC,3396,-0.72,-194.7,399.6,-11.1,545,3400,0.00,2.78,0.00,0.000,4,0.000,0.045,2745,3701,3868
$GC,3424,-0.72,-194.7,403.1,-11.5,547,3429,0.00,2.67,0.00,0.000,6,0.000,0.033,2745,2330,3868
$GC,3752,-0.72,-194.7,440.2,-11.5,577,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2330,3868
$GC,4077,-0.72,-194.7,476.9,-10.9,608,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2329,3868
$GC,4396,-0.72,-194.7,510.2,-10.3,638,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2329,3868
$GC,4715,-0.72,-194.7,542.6,-10.0,668,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2329,3868
$GC,5034,-0.72,-194.7,574.0,-10.5,698,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2329,3868
$GC,5360,-0.72,-194.7,608.7,-10.3,725,5365,0.00,2.80,0.00,0.000,4,0.000,0.051,2745,3701,3867
$GC,5410,-0.72,-194.7,614.0,-10.2,727,5414,0.00,2.67,0.00,0.000,6,0.000,0.036,2745,2340,3867
$GC,5734,-0.72,-194.7,645.9,-8.9,743,5738,0.00,2.80,0.00,0.000,4,0.000,0.055,2745,3700,3867
$GC,5755,-0.72,-194.7,648.0,-8.9,744,5759,0.00,2.67,0.00,0.000,6,0.000,0.038,2745,2345,3867
$GC,6076,-0.72,-194.7,676.8,-9.5,760,6081,0.00,2.80,0.00,0.000,4,0.000,0.058,2745,3699,3867
$GC,6098,-0.72,-194.7,679.1,-10.2,761,6102,0.00,2.67,0.00,0.000,6,0.000,0.041,2745,2359,3867
$GC,6419,-0.72,-194.7,711.3,-10.5,777,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2358,3867
$GC,6728,-0.72,-194.7,743.0,-10.1,792,6733,0.00,3.15,0.00,0.000,4,0.000,0.078,2745,895,3867
$GC,6761,-0.72,-194.7,746.5,-10.5,793,6769,0.00,2.95,0.00,0.000,6,0.000,0.051,2745,2340,3866
$GC,7077,-0.72,-194.7,779.1,-10.6,809,7082,0.00,3.00,0.00,0.000,4,0.000,0.084,2745,3711,3866
$GC,7098,-0.72,-194.7,781.5,-10.3,810,7103,0.00,2.88,0.00,0.000,6,0.000,0.064,2745,2354,3866
$GC,7421,-0.72,-194.7,811.6,-9.7,826,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2353,3866
$GC,7730,-0.72,-194.7,844.0,-10.4,841,7735,0.00,3.45,0.00,0.000,4,0.000,0.114,2745,894,3866
$GC,7770,-0.72,-194.7,848.2,-10.3,843,7776,0.00,3.30,0.00,0.000,6,0.000,0.094,2745,2341,3865
$GC,8100,-1.03,-194.7,864.3,0.0,859,8105,0.22,3.33,0.00,0.000,4,0.059,0.119,2699,3718,3865
$STATE,8256,end dive,NO_VERTICAL_VELOCITY
$STATE,8256,begin apogee
$GC,8264,-0.21,0.0,864.3,0.0,866,8474,0.93,0.00,206.07,1.486,6,0.072,0.000,2871,2759,3071
$STATE,8475,end apogee,CONTROL_FINISHED_OK
$STATE,8475,begin climb
$GC,8478,0.86,194.7,864.3,0.0,876,8701,1.38,3.00,209.65,1.420,4,0.081,0.110,3100,3901,2276
$GC,8741,0.74,194.7,846.7,12.6,887,8748,0.00,2.75,0.00,0.000,6,0.000,0.088,3100,2751,2275
$GC,9057,0.61,194.7,805.7,13.3,903,9059,0.28,0.00,0.00,0.000,6,0.115,0.000,3057,2750,2274
$GC,9366,0.63,206.2,774.5,9.6,918,9386,0.00,0.00,12.73,1.234,6,0.000,0.000,3057,2750,2230
$GC,9695,0.68,250.2,746.2,8.5,934,9744,0.00,0.00,46.38,1.381,6,0.000,0.000,3057,2750,2050
$GC,10045,0.74,293.6,716.3,8.5,951,10098,0.12,3.10,45.38,1.356,4,0.061,0.062,3082,1327,1873
$GC,10120,0.74,293.6,708.2,10.8,954,10125,0.00,2.95,0.00,0.000,6,0.000,0.041,3082,2763,1872
$GC,10437,0.74,293.6,674.2,10.5,969,10439,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2763,1869
$GC,10746,0.74,293.6,641.8,10.2,984,10747,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2763,1868
$GC,11056,0.76,314.0,612.0,9.3,999,11079,0.00,0.00,21.50,1.257,6,0.000,0.000,3082,2763,1791
$GC,11392,0.78,333.7,580.7,9.3,1024,11422,0.00,0.00,22.17,1.253,6,0.000,0.000,3082,2763,1709
$GC,11740,0.79,336.5,546.6,9.9,1057,11744,0.00,2.90,0.00,0.000,4,0.000,0.046,3082,1327,1707
$GC,11783,0.79,336.7,541.8,10.0,1060,11791,0.00,2.80,0.00,0.000,6,0.000,0.031,3082,2761,1706
$GC,12112,0.79,336.8,507.8,10.0,1091,12116,0.00,2.25,0.00,0.000,4,0.000,0.051,3082,3891,1705
$GC,12143,0.79,336.8,504.2,11.8,1093,12147,0.00,2.25,0.00,0.000,6,0.000,0.031,3082,2724,1705
$GC,12470,0.79,336.8,471.2,10.0,1123,12474,0.00,2.75,0.00,0.000,4,0.000,0.046,3082,1338,1705
$GC,12514,0.79,336.8,466.3,10.6,1126,12521,0.00,2.72,0.00,0.000,6,0.000,0.031,3082,2746,1705
$GC,12841,0.79,336.8,434.3,10.2,1157,12842,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2746,1705
$GC,13160,0.80,345.4,402.2,9.7,1187,13183,0.00,2.90,12.73,1.057,4,0.000,0.044,3082,1339,1662
$GC,13207,0.80,345.4,397.1,10.3,1191,13212,0.00,2.75,0.00,0.000,6,0.000,0.031,3082,2742,1661
$GC,13534,0.81,352.9,365.4,9.7,1221,13545,0.00,0.00,9.40,1.018,6,0.000,0.000,3082,2743,1632
$GC,13871,0.83,369.3,333.3,9.4,1267,13898,0.00,2.85,18.77,1.110,4,0.000,0.044,3082,1343,1564
$GC,13917,0.83,372.2,328.8,9.9,1274,13932,0.00,2.70,5.00,0.810,6,0.000,0.031,3082,2726,1552
$GC,14273,0.89,381.2,293.9,9.7,1336,14288,0.15,0.00,10.90,0.998,6,0.053,0.000,3119,2726,1516
$GC,14627,0.89,381.2,249.6,12.6,1398,14634,0.00,2.78,0.00,0.000,4,0.000,0.044,3119,1343,1514
$GC,14664,0.89,381.2,244.8,13.3,1404,14671,0.00,2.67,0.00,0.000,6,0.000,0.031,3119,2720,1513
$GC,15009,0.89,381.2,202.9,11.8,1465,15016,0.00,2.33,0.00,0.000,4,0.000,0.048,3119,3899,1513
$GC,15051,0.89,381.2,197.6,12.8,1472,15059,0.00,2.33,0.00,0.000,6,0.000,0.031,3119,2703,1513
$GC,15397,0.89,381.2,159.4,11.2,1533,15404,0.00,2.67,0.00,0.000,4,0.000,0.045,3119,1343,1513
$GC,15434,0.89,381.2,154.9,11.8,1539,15441,0.00,2.67,0.00,0.000,6,0.000,0.030,3120,2725,1512
$GC,15780,0.89,381.2,115.7,11.2,1600,15787,0.00,2.30,0.00,0.000,4,0.000,0.048,3119,3893,1512
$GC,15813,0.89,381.2,112.0,11.8,1605,15820,0.00,2.30,0.00,0.000,6,0.000,0.031,3119,2698,1512
$GC,16156,0.89,381.2,70.3,11.8,1666,16164,0.00,2.67,0.00,0.000,4,0.000,0.046,3119,1345,1512
$GC,16199,0.89,381.2,65.1,12.4,1673,16206,0.00,2.62,0.00,0.000,6,0.000,0.030,3119,2702,1512
$GC,16545,0.89,381.2,21.3,10.2,1734,16552,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2703,1512
$GC,16687,1.02,489.7,5.7,6.2,1759,16724,0.12,0.00,34.17,0.935,2,0.057,0.000,3147,2710,1381
$STATE,16724,end climb,SURFACE_DEPTH_REACHED
$STATE,16724,begin surface coast
$FINISH,0.0,1.026055
$STATE,16742,end surface coast,CONTROL_FINISHED_OK
$STATE,16742,begin surface
$SM_CCo,16822,0.00,0.000,0,0,1375,415.78
$SM_GC,0.53,8.82,0.00,0.00,0.047,0.000,0.000,1435,2279,1375,-6.79,-0.62,415.78
$IRIDIUM_FIX,6126.23,-2617.59,090997,191955
$TT8_MAMPS,0.026845
$HUMID,1837
$INTERNAL_PRESSURE,8.91681
$TCM_TEMP,16.60
$XPDR_PINGS,902
$24V_AH,19.1,107.902
$10V_AH,9.8,71.558
$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,24.575,144.200,654.850,0.000,0.000,31.508,34.134,243.553,225.500,0.000,0.000,19.520,3594.047,8917.739,864.314,3196.501,704.713,0.000,2311.989,0.000,3183.457,0.000,0.466
$DEVICE_MAMPS,256.178,118.885,1486.446,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1220.207,1324.770,649.309,1636.184,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129590,1767
$CAP_FILE_SIZE,159690,0
$CFSIZE,260165632,223948800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,325.3,1
$GPS,160608,044608,6148.139,-2619.736,28,1.4,28,-18.8