version: 66.03
glider: 142
mission: 5
dive: 348
start: 6 16 108 4 58 13
data:
$ID,142
$MISSION,5
$DIVE,348
$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,-19473.715
$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,30
$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
$GPS1,044608,6148.139,-2619.736,28,1.4,28,-18.8
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-47.3
$GPS2,045753,6148.160,-2619.620,10,1.4,12,-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,219.9,5947,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.86,-194.7,0.0,0.0,0,156,0.00,0.00,-129.05,0.000,2,0.000,0.000,1435,2279,3623
$GC,159,-0.86,-194.7,3.6,-5.6,17,184,12.02,2.90,-5.88,0.000,4,0.251,0.049,2725,3705,3867
$GC,264,-0.78,-194.7,24.5,-12.9,34,273,0.15,2.72,0.00,0.000,6,0.139,0.031,2745,2296,3868
$GC,411,-0.74,-194.7,42.9,-13.6,59,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2296,3868
$GC,553,-0.74,-194.7,62.2,-13.4,84,562,0.00,2.80,0.00,0.000,4,0.000,0.043,2746,3704,3868
$GC,580,-0.74,-194.7,65.8,-13.4,88,587,0.00,2.80,0.00,0.000,6,0.000,0.032,2745,2260,3868
$GC,926,-0.74,-194.7,108.0,-11.2,149,933,0.00,2.88,0.00,0.000,4,0.000,0.043,2745,3705,3868
$GC,952,-0.74,-194.7,110.9,-11.4,153,960,0.00,2.80,0.00,0.000,6,0.000,0.033,2745,2265,3868
$GC,1298,-0.74,-194.7,149.6,-11.1,214,1305,0.00,2.88,0.00,0.000,4,0.000,0.044,2745,3712,3868
$GC,1346,-0.74,-194.7,155.2,-11.5,222,1354,0.00,2.75,0.00,0.000,6,0.000,0.033,2745,2289,3868
$GC,1692,-0.74,-194.7,195.4,-11.4,283,1699,0.00,2.83,0.00,0.000,4,0.000,0.044,2745,3703,3868
$GC,1740,-0.74,-194.7,201.1,-11.7,291,1747,0.00,2.75,0.00,0.000,6,0.000,0.033,2745,2292,3868
$GC,2085,-0.74,-194.7,239.2,-10.4,352,2093,0.00,2.83,0.00,0.000,4,0.000,0.044,2745,3707,3868
$GC,2122,-0.74,-194.7,243.1,-10.4,358,2130,0.00,2.72,0.00,0.000,6,0.000,0.033,2745,2304,3869
$GC,2468,-0.74,-194.7,279.5,-10.0,419,2475,0.00,2.80,0.00,0.000,4,0.000,0.044,2745,3703,3868
$GC,2505,-0.74,-194.7,283.4,-10.1,425,2512,0.00,2.70,0.00,0.000,6,0.000,0.033,2745,2317,3868
$GC,2851,-0.74,-194.7,317.3,-10.2,486,2858,0.00,2.80,0.00,0.000,4,0.000,0.045,2745,3711,3868
$GC,2865,-0.74,-194.7,318.7,-9.6,488,2873,0.00,2.70,0.00,0.000,6,0.000,0.033,2745,2321,3868
$GC,3211,-0.74,-194.7,351.1,-9.4,548,3216,0.00,2.78,0.00,0.000,4,0.000,0.046,2745,3703,3868
$GC,3244,-0.74,-194.7,354.3,-9.5,550,3251,0.00,2.67,0.00,0.000,6,0.000,0.033,2746,2328,3868
$GC,3572,-0.74,-194.7,386.4,-10.3,581,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2328,3868
$GC,3897,-0.74,-194.7,420.7,-10.3,612,3901,0.00,2.78,0.00,0.000,4,0.000,0.046,2745,3706,3868
$GC,3937,-0.74,-194.7,424.8,-10.5,615,3942,0.00,2.70,0.00,0.000,6,0.000,0.034,2745,2325,3868
$GC,4265,-0.74,-194.7,458.0,-9.7,645,4270,0.00,2.78,0.00,0.000,4,0.000,0.047,2745,3703,3867
$GC,4287,-0.74,-194.7,460.5,-9.7,646,4296,0.00,2.67,0.00,0.000,6,0.000,0.034,2745,2329,3867
$GC,4616,-0.74,-194.7,491.2,-9.1,677,4620,0.00,2.78,0.00,0.000,4,0.000,0.048,2745,3703,3867
$GC,4633,-0.74,-194.7,493.0,-8.5,678,4637,0.00,2.67,0.00,0.000,6,0.000,0.034,2745,2334,3867
$GC,4963,-0.74,-194.7,522.0,-8.7,708,4967,0.00,2.78,0.00,0.000,4,0.000,0.048,2745,3707,3867
$GC,4995,-0.74,-194.7,525.4,-8.6,710,5003,0.00,2.65,0.00,0.000,6,0.000,0.034,2745,2350,3867
$GC,5324,-0.74,-194.7,554.2,-8.7,741,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2349,3867
$GC,5649,-0.74,-194.7,583.9,-9.3,772,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2348,3866
$GC,5974,-0.74,-194.7,614.2,-9.5,796,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2348,3866
$GC,6284,-0.74,-194.7,644.9,-10.0,811,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2349,3866
$GC,6592,-0.74,-194.7,670.5,-8.3,826,6597,0.00,2.83,0.00,0.000,4,0.000,0.060,2745,3705,3866
$GC,6611,-0.74,-194.7,671.7,-7.1,827,6615,0.00,2.70,0.00,0.000,6,0.000,0.041,2745,2351,3866
$GC,6939,-0.74,-194.7,697.8,-8.7,843,6943,0.00,2.85,0.00,0.000,4,0.000,0.066,2745,3703,3866
$GC,6965,-0.74,-194.7,700.8,-11.0,844,6970,0.00,2.70,0.00,0.000,6,0.000,0.043,2745,2360,3865
$GC,7282,-0.74,-194.7,735.0,-12.0,859,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2360,3865
$GC,7592,-1.07,-194.7,750.6,0.0,874,7597,0.28,2.88,0.00,0.000,4,0.059,0.071,2689,3699,3865
$GC,7660,-1.31,-194.7,750.6,0.1,877,7665,0.30,2.72,0.00,0.000,6,0.069,0.053,2633,2374,3865
$STATE,7774,end dive,NO_VERTICAL_VELOCITY
$STATE,7774,begin apogee
$GC,7782,-0.21,0.0,750.6,0.0,883,7988,1.42,0.00,202.12,1.416,6,0.110,0.000,2869,2748,3072
$STATE,7989,end apogee,CONTROL_FINISHED_OK
$STATE,7989,begin climb
$GC,7992,0.86,194.7,750.5,0.0,893,8213,1.40,3.33,204.38,1.348,4,0.092,0.065,3098,1346,2277
$GC,8359,0.77,194.7,711.6,16.1,909,8364,0.00,2.90,0.00,0.000,6,0.000,0.042,3097,2751,2275
$GC,8676,0.73,234.6,677.4,8.6,924,8722,0.00,2.47,40.80,1.298,4,0.000,0.063,3098,3900,2114
$GC,8784,0.68,261.1,668.1,9.1,928,8818,0.17,2.28,28.05,1.268,6,0.107,0.038,3071,2759,2006
$GC,9147,0.75,312.7,639.9,8.2,946,9206,0.00,3.03,53.10,1.306,4,0.000,0.056,3071,1331,1796
$GC,9278,0.85,361.5,629.2,8.3,951,9338,0.17,2.85,51.92,1.277,6,0.048,0.035,3108,2750,1596
$GC,9658,0.87,381.1,591.5,9.3,973,9686,0.00,2.40,20.77,1.213,4,0.000,0.055,3108,3894,1517
$GC,9720,0.87,381.1,585.1,10.4,978,9727,0.00,2.30,0.00,0.000,6,0.000,0.032,3108,2724,1515
$GC,10050,0.88,383.5,553.8,9.9,1009,10055,0.00,2.78,0.00,0.000,4,0.000,0.048,3108,1335,1513
$GC,10101,0.88,383.5,548.1,10.3,1013,10105,0.00,2.75,0.00,0.000,6,0.000,0.031,3108,2745,1512
$GC,10427,0.89,397.3,516.3,9.5,1043,10447,0.00,0.00,17.62,1.171,6,0.000,0.000,3108,2745,1451
$GC,10767,0.91,412.4,484.8,9.5,1075,10792,0.00,2.85,17.60,1.170,4,0.000,0.045,3108,1342,1388
$GC,10827,0.93,426.1,478.8,9.5,1080,10852,0.00,2.72,15.93,1.154,6,0.000,0.031,3108,2726,1334
$GC,11170,0.95,440.8,447.1,9.5,1112,11190,0.00,0.00,16.73,1.130,6,0.000,0.000,3108,2726,1274
$GC,11510,0.95,444.6,413.7,9.9,1144,11524,0.00,2.80,5.38,0.839,4,0.000,0.047,3108,1336,1257
$GC,11563,0.99,444.6,407.9,10.9,1148,11571,0.15,2.70,0.00,0.000,6,0.048,0.031,3141,2722,1256
$GC,11891,0.99,444.6,364.1,13.5,1179,11897,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2722,1256
$GC,12227,0.99,444.6,321.9,12.1,1230,12234,0.00,2.78,0.00,0.000,4,0.000,0.045,3141,1337,1255
$GC,12276,0.99,444.6,315.8,12.8,1238,12284,0.00,2.65,0.00,0.000,6,0.000,0.030,3141,2704,1255
$GC,12621,0.99,444.6,273.6,12.1,1299,12628,0.00,2.35,0.00,0.000,4,0.000,0.048,3141,3896,1254
$GC,12652,0.99,444.6,269.6,13.3,1304,12660,0.00,2.33,0.00,0.000,6,0.000,0.031,3141,2685,1254
$GC,12999,0.99,444.6,225.1,13.6,1365,13006,0.00,2.65,0.00,0.000,4,0.000,0.045,3141,1344,1254
$GC,13051,0.99,444.6,218.0,13.7,1374,13059,0.00,2.60,0.00,0.000,6,0.000,0.030,3141,2691,1254
$GC,13397,0.99,444.6,175.5,11.4,1435,13403,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2691,1254
$GC,13741,0.99,444.6,134.2,12.5,1496,13748,0.00,2.70,0.00,0.000,4,0.000,0.047,3141,1344,1254
$GC,13777,0.99,444.6,129.5,12.8,1502,13785,0.00,2.60,0.00,0.000,6,0.000,0.030,3141,2691,1253
$GC,14123,0.99,444.6,87.1,11.3,1563,14130,0.00,2.38,0.00,0.000,4,0.000,0.047,3141,3896,1253
$GC,14154,0.99,444.6,83.2,11.9,1568,14161,0.00,2.40,0.00,0.000,6,0.000,0.032,3141,2644,1253
$GC,14498,0.99,444.6,44.2,10.1,1629,14506,0.00,2.58,0.00,0.000,4,0.000,0.048,3141,1341,1253
$GC,14546,1.00,447.5,39.1,9.9,1637,14553,0.00,2.55,0.00,0.000,6,0.000,0.030,3141,2667,1253
$GC,14690,1.01,454.7,26.0,9.8,1662,14706,0.00,2.50,11.18,0.829,4,0.000,0.045,3141,3899,1217
$GC,14751,1.01,454.7,19.7,11.1,1672,14758,0.00,2.35,0.00,0.000,6,0.000,0.031,3141,2676,1216
$GC,14894,1.01,454.7,4.6,11.6,1697,14901,0.00,2.65,0.00,0.000,4,0.000,0.046,3141,1336,1215
$STATE,14912,end climb,SURFACE_DEPTH_REACHED
$STATE,14912,begin surface coast
$FINISH,0.3,1.025973
$STATE,14929,end surface coast,CONTROL_FINISHED_OK
$STATE,14929,begin surface
$SM_CCo,15010,0.00,0.000,0,0,1213,456.01
$SM_GC,0.71,8.65,0.00,0.00,0.044,0.000,0.000,1432,2317,1213,-6.79,0.48,456.01
$IRIDIUM_FIX,6126.23,-2621.68,100997,040419
$TT8_MAMPS,0.026845
$HUMID,1839
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,16.60
$XPDR_PINGS,836
$24V_AH,19.2,108.207
$10V_AH,9.8,71.715
$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,24.725,167.525,685.575,0.000,0.000,51.407,63.732,367.087,209.000,0.000,0.000,14.173,3477.314,7314.636,885.792,3122.128,897.787,0.000,2337.938,0.000,3124.115,0.000,0.465
$DEVICE_MAMPS,250.809,70.564,1415.882,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1175.099,1290.909,674.394,1595.072,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123576,1703
$CAP_FILE_SIZE,162607,0
$CFSIZE,260165632,223854592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,311.4,1
$GPS,160608,090938,6146.742,-2622.474,38,1.4,38,-18.8