version: 66.03
glider: 142
mission: 5
dive: 358
start: 6 18 108 7 8 41
data:
$ID,142
$MISSION,5
$DIVE,358
$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,-19707.941
$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,32
$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
$GPS1,070026,6146.215,-2601.266,42,1.5,42,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-54.7
$GPS2,070821,6146.154,-2601.356,9,1.5,9,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NW
$TGT_LATLONG,6156.130,-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,348.5,26387,-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,-194.7,0.0,0.0,0,154,0.00,0.00,-129.07,0.000,2,0.000,0.000,1431,2276,3521
$GC,157,-0.86,-194.7,3.2,-3.9,17,188,12.12,2.88,-9.12,0.000,4,0.252,0.050,2725,3715,3867
$GC,280,-0.78,-194.7,23.4,-13.3,37,288,0.15,2.72,0.00,0.000,6,0.156,0.031,2745,2307,3868
$GC,427,-0.74,-194.7,41.5,-12.5,62,434,0.00,2.80,0.00,0.000,4,0.000,0.047,2744,891,3868
$GC,464,-0.74,-194.7,46.5,-12.4,68,472,0.00,2.75,0.00,0.000,6,0.000,0.028,2744,2324,3868
$GC,607,-0.74,-194.7,64.2,-11.8,93,614,0.00,2.72,0.00,0.000,4,0.000,0.043,2744,3707,3868
$GC,711,-0.74,-194.7,76.6,-11.5,111,718,0.00,2.60,0.00,0.000,6,0.000,0.032,2744,2366,3868
$GC,1057,-0.74,-194.7,117.7,-11.8,172,1065,0.00,2.92,0.00,0.000,4,0.000,0.048,2745,896,3868
$GC,1096,-0.74,-194.7,122.4,-12.2,178,1104,0.00,2.85,0.00,0.000,6,0.000,0.030,2744,2369,3869
$GC,1443,-0.74,-194.7,164.2,-12.0,239,1450,0.00,2.65,0.00,0.000,4,0.000,0.045,2744,3709,3869
$GC,1519,-0.74,-194.7,173.3,-11.9,252,1526,0.00,2.58,0.00,0.000,6,0.000,0.032,2744,2379,3869
$GC,1864,-0.74,-194.7,215.3,-12.0,313,1871,0.00,2.97,0.00,0.000,4,0.000,0.048,2744,884,3869
$GC,1913,-0.74,-194.7,221.0,-11.7,321,1920,0.00,2.90,0.00,0.000,6,0.000,0.030,2745,2382,3869
$GC,2257,-0.74,-194.7,263.5,-12.4,382,2264,0.00,2.62,0.00,0.000,4,0.000,0.045,2744,3707,3869
$GC,2328,-0.74,-194.7,272.5,-13.1,394,2335,0.00,2.60,0.00,0.000,6,0.000,0.033,2744,2370,3869
$GC,2674,-0.74,-194.7,316.5,-12.4,455,2681,0.00,2.95,0.00,0.000,4,0.000,0.048,2745,893,3869
$GC,2723,-0.74,-194.7,322.6,-12.5,463,2731,0.00,2.90,0.00,0.000,6,0.000,0.031,2744,2384,3869
$GC,3068,-0.74,-194.7,366.9,-13.3,513,3072,0.00,2.62,0.00,0.000,4,0.000,0.046,2745,3710,3869
$GC,3130,-0.74,-194.7,375.1,-12.9,518,3134,0.00,2.62,0.00,0.000,6,0.000,0.033,2744,2363,3869
$GC,3456,-0.74,-194.7,416.7,-12.5,548,3461,0.00,2.95,0.00,0.000,4,0.000,0.049,2744,884,3869
$GC,3508,-0.74,-194.7,423.3,-12.6,552,3513,0.00,2.90,0.00,0.000,6,0.000,0.031,2744,2379,3868
$GC,3835,-0.74,-194.7,462.3,-11.7,582,3839,0.00,2.65,0.00,0.000,4,0.000,0.047,2745,3710,3868
$GC,3901,-0.74,-194.7,470.3,-11.4,587,3908,0.00,2.62,0.00,0.000,6,0.000,0.034,2744,2368,3868
$GC,4228,-0.74,-194.7,507.1,-11.3,618,4233,0.00,2.97,0.00,0.000,4,0.000,0.051,2744,884,3868
$GC,4279,-0.74,-194.7,513.2,-12.0,622,4284,0.00,2.90,0.00,0.000,6,0.000,0.030,2744,2376,3868
$GC,4607,-0.74,-194.7,549.9,-11.2,652,4611,0.00,2.65,0.00,0.000,4,0.000,0.049,2745,3703,3867
$GC,4673,-0.74,-194.7,557.7,-11.3,657,4680,0.00,2.60,0.00,0.000,6,0.000,0.034,2745,2373,3867
$GC,5000,-0.74,-194.7,592.7,-10.5,688,5005,0.00,3.00,0.00,0.000,4,0.000,0.054,2744,893,3868
$GC,5041,-0.74,-194.7,597.2,-10.4,691,5046,0.00,2.90,0.00,0.000,6,0.000,0.032,2745,2376,3867
$GC,5358,-0.74,-194.7,630.4,-10.7,707,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2377,3867
$GC,5667,-0.74,-194.7,664.1,-10.7,722,5672,0.00,3.05,0.00,0.000,4,0.000,0.056,2744,898,3867
$GC,5707,-0.74,-194.7,668.4,-10.7,724,5712,0.00,2.92,0.00,0.000,6,0.000,0.036,2744,2375,3867
$GC,6035,-0.74,-194.7,704.4,-11.4,740,6039,0.00,2.78,0.00,0.000,4,0.000,0.065,2744,3709,3866
$GC,6120,-0.74,-194.7,714.1,-11.6,744,6125,0.00,2.67,0.00,0.000,6,0.000,0.047,2744,2389,3867
$GC,6447,-0.74,-194.7,748.9,-10.4,760,6452,0.00,3.22,0.00,0.000,4,0.000,0.081,2744,899,3866
$GC,6524,-0.74,-194.7,756.9,-9.9,763,6531,0.00,3.03,0.00,0.000,6,0.000,0.055,2744,2360,3866
$GC,6841,-0.74,-194.7,788.1,-10.3,779,6846,0.00,2.97,0.00,0.000,4,0.000,0.094,2744,3699,3866
$GC,6896,-0.74,-194.7,794.1,-10.0,781,6904,0.00,2.85,0.00,0.000,6,0.000,0.070,2745,2371,3866
$GC,7213,-0.74,-194.7,825.8,-10.2,797,7218,0.00,3.40,0.00,0.000,4,0.000,0.106,2745,903,3866
$GC,7269,-0.74,-194.7,831.9,-10.8,799,7276,0.00,3.22,0.00,0.000,6,0.000,0.086,2744,2340,3865
$GC,7585,-0.74,-194.7,866.4,-11.1,815,7590,0.00,3.33,0.00,0.000,4,0.000,0.120,2744,3716,3865
$GC,7640,-0.74,-194.7,872.6,-10.8,817,7647,0.00,3.22,0.00,0.000,6,0.000,0.111,2745,2371,3865
$GC,7956,-0.74,-194.7,907.2,-10.8,833,7961,0.00,3.30,0.00,0.000,4,0.000,0.093,2745,893,3865
$GC,8000,-0.74,-194.7,912.2,-10.9,835,8005,0.00,2.90,0.00,0.000,6,0.000,0.032,2744,2370,3864
$GC,8322,-0.74,-194.7,946.6,-10.5,851,8326,0.00,2.78,0.00,0.000,4,0.000,0.057,2744,3727,3864
$GC,8394,-0.74,-194.7,954.1,-9.9,854,8399,0.00,2.72,0.00,0.000,6,0.000,0.040,2744,2361,3864
$GC,8710,-0.74,-194.7,985.7,-10.2,869,8715,0.00,3.05,0.00,0.000,4,0.000,0.062,2745,892,3864
$STATE,8751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8751,begin apogee
$GC,8762,-0.21,0.0,990.3,9.9,871,8979,0.80,0.00,210.88,1.588,6,0.149,0.000,2865,2766,3071
$STATE,8980,end apogee,CONTROL_FINISHED_OK
$STATE,8980,begin climb
$GC,8983,0.86,194.7,998.2,0.0,882,9211,1.45,2.58,215.57,1.515,4,0.095,0.058,3098,3899,2276
$GC,9292,0.73,194.7,969.6,13.6,896,9296,0.00,2.35,0.00,0.000,6,0.000,0.035,3098,2753,2274
$GC,9619,0.61,194.7,929.1,12.4,912,9624,0.25,2.38,0.00,0.000,4,0.115,0.054,3057,3903,2273
$GC,9642,0.53,194.7,926.4,11.3,913,9647,0.15,2.25,0.00,0.000,6,0.109,0.034,3035,2752,2273
$GC,9963,0.64,282.2,902.8,7.0,929,10067,0.12,3.05,92.12,1.492,4,0.063,0.051,3059,1345,1919
$GC,10195,0.69,322.9,882.8,8.6,939,10247,0.00,2.83,44.15,1.461,6,0.000,0.033,3059,2758,1754
$GC,10558,0.74,369.8,852.9,8.4,957,10616,0.10,2.45,50.70,1.456,4,0.065,0.054,3080,3898,1563
$GC,10701,0.74,369.8,838.4,10.9,963,10705,0.00,2.30,0.00,0.000,6,0.000,0.034,3080,2736,1559
$GC,11017,0.77,393.9,808.5,9.2,978,11049,0.00,2.90,26.58,1.393,4,0.000,0.051,3081,1335,1465
$GC,11066,0.82,429.9,803.7,8.7,980,11113,0.00,2.83,41.72,1.411,6,0.000,0.032,3080,2749,1317
$GC,11435,0.89,446.9,767.2,9.4,998,11460,0.15,2.97,18.35,1.331,4,0.052,0.048,3117,1336,1248
$GC,11510,0.89,446.9,757.9,11.9,1001,11515,0.00,2.72,0.00,0.000,6,0.000,0.032,3117,2713,1246
$GC,11832,0.89,446.9,717.3,13.7,1017,11837,0.00,2.78,0.00,0.000,4,0.000,0.048,3117,1340,1244
$GC,11860,0.89,446.9,713.1,14.6,1018,11864,0.00,2.65,0.00,0.000,6,0.000,0.032,3117,2696,1244
$GC,12177,0.89,446.9,672.8,12.0,1033,12181,0.00,2.72,0.00,0.000,4,0.000,0.048,3117,1343,1243
$GC,12188,0.89,446.9,671.3,11.9,1033,12195,0.00,2.62,0.00,0.000,6,0.000,0.032,3117,2688,1242
$GC,12505,0.89,446.9,634.5,11.7,1049,12509,0.00,2.72,0.00,0.000,4,0.000,0.047,3117,1335,1242
$GC,12515,0.89,446.9,633.1,11.9,1049,12522,0.00,2.62,0.00,0.000,6,0.000,0.031,3117,2680,1242
$GC,12832,0.89,446.9,597.3,10.8,1066,12836,0.00,2.70,0.00,0.000,4,0.000,0.047,3117,1342,1241
$GC,12842,0.89,446.9,595.9,11.2,1066,12849,0.00,2.58,0.00,0.000,6,0.000,0.031,3117,2666,1242
$GC,13169,0.89,446.9,554.3,13.3,1097,13174,0.00,2.67,0.00,0.000,4,0.000,0.048,3117,1342,1241
$GC,13181,0.89,446.9,552.5,13.2,1097,13188,0.00,2.55,0.00,0.000,6,0.000,0.031,3117,2658,1241
$GC,13509,0.89,446.9,513.3,11.9,1128,13516,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2658,1241
$GC,13835,0.89,446.9,476.9,10.2,1159,13840,0.00,2.65,0.00,0.000,4,0.000,0.050,3117,1338,1240
$GC,13853,0.89,446.9,474.8,11.0,1160,13857,0.00,2.53,0.00,0.000,6,0.000,0.031,3117,2641,1240
$GC,14179,0.89,446.9,442.0,10.2,1190,14180,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2642,1240
$GC,14497,0.89,446.9,408.8,10.5,1220,14498,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2642,1240
$GC,14816,0.89,446.9,375.1,10.5,1250,14817,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2641,1240
$GC,15138,0.89,446.9,339.4,11.1,1288,15145,0.00,2.62,0.00,0.000,4,0.000,0.045,3117,1334,1240
$GC,15152,0.89,446.9,337.7,12.2,1290,15160,0.00,2.53,0.00,0.000,6,0.000,0.030,3117,2638,1240
$GC,15498,0.89,446.9,299.0,10.5,1351,15504,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2638,1240
$GC,15842,0.89,446.9,261.8,10.9,1412,15849,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2638,1240
$GC,16189,0.89,446.9,223.9,10.5,1473,16196,0.00,2.60,0.00,0.000,4,0.000,0.045,3117,1341,1240
$GC,16203,0.89,446.9,222.4,10.7,1475,16210,0.00,2.50,0.00,0.000,6,0.000,0.030,3117,2636,1240
$GC,16548,0.90,451.4,186.8,9.8,1536,16556,0.00,0.00,4.72,0.703,6,0.000,0.000,3117,2636,1230
$GC,16895,0.90,455.2,153.7,9.9,1597,16903,0.00,0.00,5.88,0.774,6,0.000,0.000,3117,2636,1215
$GC,17242,0.90,455.2,120.9,11.0,1658,17249,0.00,2.60,0.00,0.000,4,0.000,0.045,3117,1336,1214
$GC,17256,0.90,455.2,119.4,10.6,1660,17264,0.00,2.50,0.00,0.000,6,0.000,0.030,3117,2633,1214
$GC,17604,0.90,455.2,84.4,10.3,1721,17610,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2635,1214
$GC,17948,0.90,455.2,47.3,10.0,1782,17955,0.00,2.60,0.00,0.000,4,0.000,0.045,3117,1334,1214
$GC,17963,0.90,455.2,45.5,10.0,1784,17970,0.00,2.47,0.00,0.000,6,0.000,0.029,3117,2621,1214
$GC,18106,0.96,455.2,29.7,11.5,1809,18114,0.00,2.55,0.00,0.000,4,0.000,0.045,3117,1342,1213
$GC,18122,1.02,455.2,28.1,10.6,1811,18130,0.12,2.42,0.00,0.000,6,0.051,0.029,3146,2609,1214
$GC,18269,1.02,455.2,11.1,11.6,1836,18275,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2610,1213
$STATE,18341,end climb,SURFACE_DEPTH_REACHED
$STATE,18341,begin surface coast
$FINISH,0.2,1.023813
$STATE,18358,end surface coast,CONTROL_FINISHED_OK
$STATE,18358,begin surface
$SM_CCo,18438,0.00,0.000,0,0,1211,456.26
$SM_GC,0.60,8.82,0.00,0.00,0.051,0.000,0.000,1435,2274,1211,-6.79,-0.74,456.26
$IRIDIUM_FIX,6121.73,-2601.40,120997,010117
$TT8_MAMPS,0.026078
$HUMID,1849
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,16.60
$XPDR_PINGS,968
$24V_AH,18.9,111.204
$10V_AH,9.9,73.361
$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,24.250,222.525,710.675,0.000,0.000,24.972,31.915,256.130,242.000,0.000,0.000,13.305,3814.994,9864.298,955.968,3498.975,757.927,0.000,2588.095,0.000,3480.372,0.000,0.465
$DEVICE_MAMPS,251.576,120.419,1587.690,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1291.619,1373.914,695.974,1629.251,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135851,1852
$CAP_FILE_SIZE,181943,0
$CFSIZE,260165632,222887936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,115.2,1
$GPS,180608,121725,6148.021,-2601.996,31,1.4,48,-18.6