version: 66.03
glider: 142
mission: 5
dive: 359
start: 6 18 108 12 26 17
data:
$ID,142
$MISSION,5
$DIVE,359
$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,-19740.533
$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,35
$R_STBD_OVSHOOT,22
$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
$GPS1,121725,6148.021,-2601.996,31,1.4,48,-18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-52.8
$GPS2,122559,6148.036,-2601.994,10,2.9,29,-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,323.0,23645,-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,20,begin dive
$GC,23,-0.86,-194.7,0.0,0.0,0,159,0.00,0.00,-133.30,0.000,2,0.000,0.000,1434,2275,3561
$GC,162,-0.86,-194.7,3.4,-4.3,18,193,11.98,2.92,-7.88,0.000,4,0.248,0.051,2725,3709,3867
$GC,370,-0.79,-194.7,36.7,-13.7,53,378,0.12,2.72,0.00,0.000,6,0.139,0.031,2742,2305,3868
$GC,517,-0.75,-194.7,54.8,-12.2,78,524,0.00,2.80,0.00,0.000,4,0.000,0.048,2742,891,3869
$GC,569,-0.75,-194.7,61.7,-12.5,87,577,0.00,2.70,0.00,0.000,6,0.000,0.029,2742,2295,3869
$GC,914,-0.75,-194.7,104.5,-12.3,148,922,0.00,2.78,0.00,0.000,4,0.000,0.044,2742,3702,3869
$GC,996,-0.75,-194.7,114.4,-12.0,162,1004,0.00,2.75,0.00,0.000,6,0.000,0.033,2742,2289,3869
$GC,1342,-0.75,-194.7,157.6,-12.4,223,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2289,3869
$GC,1688,-0.75,-194.7,201.4,-12.3,284,1695,0.00,2.83,0.00,0.000,4,0.000,0.044,2742,3700,3869
$GC,1759,-0.75,-194.7,210.3,-12.4,296,1766,0.00,2.72,0.00,0.000,6,0.000,0.033,2742,2300,3869
$GC,2105,-0.75,-194.7,251.6,-11.8,357,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2299,3869
$GC,2449,-0.75,-194.7,292.1,-12.0,418,2457,0.00,2.83,0.00,0.000,4,0.000,0.045,2742,3704,3869
$GC,2509,-0.75,-194.7,299.1,-11.8,428,2516,0.00,2.72,0.00,0.000,6,0.000,0.033,2742,2307,3869
$GC,2855,-0.75,-194.7,339.5,-11.5,489,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2306,3869
$GC,3191,-0.75,-194.7,380.0,-12.2,528,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2305,3869
$GC,3510,-0.75,-194.7,418.6,-12.2,558,3515,0.00,2.80,0.00,0.000,4,0.000,0.046,2742,3700,3869
$GC,3576,-0.75,-194.7,426.9,-12.2,563,3583,0.00,2.70,0.00,0.000,6,0.000,0.034,2742,2318,3869
$GC,3904,-0.75,-194.7,467.9,-12.8,594,3908,0.00,2.85,0.00,0.000,4,0.000,0.050,2742,892,3868
$GC,3936,-0.75,-194.7,472.7,-13.0,596,3945,0.00,2.78,0.00,0.000,6,0.000,0.030,2742,2328,3868
$GC,4264,-0.75,-194.7,513.0,-12.4,627,4268,0.00,2.78,0.00,0.000,4,0.000,0.050,2742,3709,3868
$GC,4338,-0.75,-194.7,522.4,-12.3,633,4343,0.00,2.70,0.00,0.000,6,0.000,0.034,2742,2328,3868
$GC,4667,-0.75,-194.7,562.3,-12.3,663,4672,0.00,2.90,0.00,0.000,4,0.000,0.053,2742,892,3868
$GC,4710,-0.75,-194.7,568.3,-11.9,666,4718,0.00,2.80,0.00,0.000,6,0.000,0.031,2742,2333,3867
$GC,5049,-0.75,-194.7,607.2,-11.3,695,5054,0.00,2.78,0.00,0.000,4,0.000,0.051,2742,3709,3867
$GC,5115,-0.75,-194.7,615.0,-10.5,698,5120,0.00,2.72,0.00,0.000,6,0.000,0.036,2742,2331,3867
$GC,5439,-0.75,-194.7,648.1,-10.4,714,5444,0.00,2.97,0.00,0.000,4,0.000,0.059,2742,882,3867
$GC,5479,-0.75,-194.7,652.5,-10.8,716,5484,0.00,2.85,0.00,0.000,6,0.000,0.035,2742,2333,3867
$GC,5805,-0.75,-194.7,687.5,-11.1,732,5810,0.00,2.83,0.00,0.000,4,0.000,0.059,2742,3709,3867
$GC,5873,-0.75,-194.7,694.8,-11.0,735,5877,0.00,2.78,0.00,0.000,6,0.000,0.044,2742,2333,3867
$GC,6194,-0.75,-194.7,728.0,-10.2,751,6199,0.00,3.05,0.00,0.000,4,0.000,0.071,2741,889,3867
$GC,6243,-0.75,-194.7,733.5,-10.8,753,6248,0.00,2.92,0.00,0.000,6,0.000,0.046,2742,2339,3867
$GC,6561,-0.75,-194.7,768.8,-11.2,768,6566,0.00,3.00,0.00,0.000,4,0.000,0.081,2742,3716,3867
$GC,6661,-0.75,-194.7,780.2,-10.8,772,6669,0.00,2.90,0.00,0.000,6,0.000,0.064,2742,2345,3867
$GC,6977,-0.75,-194.7,813.3,-10.8,788,6982,0.00,3.33,0.00,0.000,4,0.000,0.100,2742,886,3866
$GC,7010,-0.75,-194.7,817.0,-11.6,789,7018,0.00,3.20,0.00,0.000,6,0.000,0.079,2742,2344,3866
$GC,7327,-0.75,-194.7,846.9,-9.2,805,7332,0.00,3.22,0.00,0.000,4,0.000,0.110,2742,3713,3866
$GC,7405,-0.75,-194.7,853.7,-8.6,808,7413,0.00,3.17,0.00,0.000,6,0.000,0.100,2742,2350,3866
$GC,7721,-0.75,-194.7,881.7,-9.3,824,7726,0.00,3.65,0.00,0.000,4,0.000,0.132,2742,884,3865
$GC,7762,-0.75,-194.7,885.6,-10.2,826,7767,0.00,3.50,0.00,0.000,6,0.000,0.111,2742,2344,3865
$GC,8089,-0.75,-194.7,918.2,-10.1,842,8094,0.00,3.55,0.00,0.000,4,0.000,0.145,2742,3712,3865
$GC,8167,-0.75,-194.7,926.1,-9.8,845,8175,0.00,2.88,0.00,0.000,6,0.000,0.057,2742,2325,3865
$GC,8483,-0.75,-194.7,955.3,-9.2,861,8488,0.00,2.95,0.00,0.000,4,0.000,0.060,2742,891,3864
$GC,8524,-0.75,-194.7,959.0,-9.2,863,8529,0.00,2.88,0.00,0.000,6,0.000,0.034,2742,2352,3864
$STATE,8849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8849,begin apogee
$GC,8856,-0.21,0.0,990.1,9.9,879,9073,0.85,0.00,211.98,1.586,6,0.143,0.000,2870,2766,3071
$STATE,9073,end apogee,CONTROL_FINISHED_OK
$STATE,9074,begin climb
$GC,9076,0.86,194.7,998.1,0.0,890,9302,1.42,2.58,215.15,1.516,4,0.091,0.060,3100,3890,2278
$GC,9387,0.73,194.7,969.1,13.6,904,9391,0.00,2.35,0.00,0.000,6,0.000,0.034,3100,2743,2276
$GC,9709,0.60,194.7,929.3,12.7,920,9714,0.28,2.38,0.00,0.000,4,0.117,0.054,3054,3894,2275
$GC,9730,0.53,194.7,926.6,11.6,921,9735,0.00,2.22,0.00,0.000,6,0.000,0.034,3055,2755,2275
$GC,10053,0.57,231.0,896.3,8.7,937,10093,0.00,0.00,38.70,1.473,6,0.000,0.000,3054,2753,2129
$GC,10403,0.59,248.1,863.4,9.4,954,10427,0.00,2.42,19.05,1.392,4,0.000,0.053,3054,3893,2059
$GC,10432,0.61,261.1,860.4,9.6,955,10453,0.00,2.22,15.45,1.358,6,0.000,0.033,3054,2763,2006
$GC,10782,0.69,326.4,831.8,7.7,972,10858,0.00,3.03,69.88,1.467,4,0.000,0.052,3054,1339,1739
$GC,10869,0.83,393.0,824.5,7.7,976,10954,0.25,2.90,73.88,1.434,6,0.044,0.031,3104,2763,1468
$GC,11264,0.83,393.0,780.5,11.7,995,11269,0.00,2.90,0.00,0.000,4,0.000,0.046,3105,1339,1460
$GC,11285,0.83,393.0,777.3,12.5,996,11290,0.00,2.78,0.00,0.000,6,0.000,0.032,3104,2745,1459
$GC,11608,0.83,393.0,738.3,11.7,1012,11610,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2746,1458
$GC,11917,0.83,393.0,703.6,11.1,1027,11922,0.00,2.85,0.00,0.000,4,0.000,0.047,3104,1334,1456
$GC,11951,0.83,393.0,699.2,12.3,1028,11959,0.00,2.75,0.00,0.000,6,0.000,0.032,3104,2743,1456
$GC,12267,0.83,393.0,661.5,11.8,1044,12268,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2744,1455
$GC,12577,0.83,393.0,626.2,11.1,1059,12582,0.00,2.83,0.00,0.000,4,0.000,0.046,3105,1341,1455
$GC,12599,0.83,393.0,623.4,11.0,1060,12604,0.00,2.70,0.00,0.000,6,0.000,0.032,3105,2726,1455
$GC,12924,0.83,393.0,587.5,10.9,1081,12929,0.00,2.80,0.00,0.000,4,0.000,0.051,3105,1336,1455
$GC,12943,0.83,393.0,585.4,11.1,1082,12947,0.00,2.70,0.00,0.000,6,0.000,0.032,3105,2720,1454
$GC,13268,0.83,393.0,549.3,11.0,1112,13272,0.00,2.78,0.00,0.000,4,0.000,0.045,3105,1342,1454
$GC,13278,0.83,393.0,548.0,11.2,1112,13285,0.00,2.65,0.00,0.000,6,0.000,0.031,3105,2706,1454
$GC,13606,0.83,393.0,510.2,11.5,1143,13612,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2707,1454
$GC,13931,0.83,393.0,472.6,11.1,1174,13936,0.00,2.75,0.00,0.000,4,0.000,0.044,3105,1337,1454
$GC,13950,0.83,393.0,470.6,11.2,1175,13954,0.00,2.65,0.00,0.000,6,0.000,0.031,3104,2698,1454
$GC,14276,0.83,393.0,432.3,11.6,1205,14277,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2698,1454
$GC,14595,0.83,393.0,396.5,11.2,1235,14599,0.00,2.72,0.00,0.000,4,0.000,0.044,3105,1341,1454
$GC,14605,0.83,393.0,395.1,11.0,1235,14612,0.00,2.62,0.00,0.000,6,0.000,0.031,3104,2695,1454
$GC,14934,0.83,393.0,360.7,10.4,1266,14941,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2696,1454
$GC,15272,0.84,402.5,326.7,9.7,1317,15285,0.00,0.00,8.43,0.937,6,0.000,0.000,3105,2696,1430
$GC,15624,0.84,402.5,289.7,10.7,1379,15631,0.00,2.72,0.00,0.000,4,0.000,0.044,3105,1334,1429
$GC,15643,0.84,402.5,287.5,10.8,1382,15650,0.00,2.62,0.00,0.000,6,0.000,0.031,3105,2685,1429
$GC,15990,0.84,402.5,252.1,10.7,1443,15997,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2685,1429
$GC,16335,0.86,418.1,216.9,9.5,1504,16362,0.00,2.75,18.08,1.017,4,0.000,0.044,3104,1346,1365
$GC,16370,0.87,428.3,213.5,9.6,1509,16390,0.00,2.62,12.88,1.001,6,0.000,0.030,3105,2686,1323
$GC,16730,0.87,428.3,180.2,10.1,1572,16737,0.00,2.70,0.00,0.000,4,0.000,0.044,3104,1339,1320
$GC,16744,0.88,439.7,178.7,9.6,1574,16766,0.00,2.58,12.88,0.953,6,0.000,0.030,3104,2670,1278
$GC,17104,0.90,449.0,143.3,9.7,1637,17125,0.00,2.72,10.88,0.910,4,0.000,0.044,3105,1343,1240
$GC,17133,0.96,463.9,140.5,9.5,1641,17156,0.12,2.55,17.70,0.981,6,0.054,0.030,3133,2653,1179
$GC,17497,0.96,463.9,98.8,10.4,1704,17504,0.00,2.65,0.00,0.000,4,0.000,0.045,3133,1334,1176
$GC,17511,0.96,463.9,97.0,10.2,1706,17518,0.00,2.55,0.00,0.000,6,0.000,0.030,3134,2650,1175
$GC,17856,0.96,463.9,55.0,13.6,1767,17864,0.00,2.62,0.00,0.000,4,0.000,0.045,3133,1341,1174
$GC,17871,0.96,463.9,52.9,13.6,1769,17878,0.00,2.50,0.00,0.000,6,0.000,0.029,3133,2636,1174
$GC,18216,0.96,463.9,12.1,11.2,1830,18224,0.00,2.58,0.00,0.000,4,0.000,0.046,3134,1343,1174
$GC,18231,0.96,463.9,10.4,11.5,1832,18238,0.00,2.45,0.00,0.000,6,0.000,0.029,3133,2621,1173
$STATE,18304,end climb,SURFACE_DEPTH_REACHED
$STATE,18304,begin surface coast
$FINISH,0.2,1.012417
$STATE,18322,end surface coast,CONTROL_FINISHED_OK
$STATE,18322,begin surface
$SM_CCo,18402,0.00,0.000,0,0,1172,465.82
$SM_GC,0.76,8.62,0.00,0.00,0.046,0.000,0.000,1436,2278,1172,-6.79,-0.62,465.82
$IRIDIUM_FIX,6121.73,-2601.40,120997,070743
$TT8_MAMPS,0.026845
$HUMID,1844
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,15.00
$XPDR_PINGS,1001
$24V_AH,18.9,111.549
$10V_AH,9.8,73.528
$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,23.650,207.925,724.900,0.000,0.000,29.239,35.060,265.851,250.250,0.000,0.000,31.962,3793.518,9929.517,951.691,3445.476,773.713,0.000,2554.750,0.000,3416.645,0.000,0.465
$DEVICE_MAMPS,247.741,144.963,1586.156,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1275.863,1393.907,670.557,1627.621,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136081,1848
$CAP_FILE_SIZE,178976,0
$CFSIZE,260165632,222793728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094, 95.3,1
$GPS,180608,173408,6149.766,-2604.479,31,1.7,31,-18.7