version: 66.03
glider: 142
mission: 5
dive: 367
start: 6 20 108 4 18 53
data:
$ID,142
$MISSION,5
$DIVE,367
$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,-19899.602
$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,24
$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
$GPS1,041038,6156.443,-2617.153,41,1.1,41,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-54.1
$GPS2,041833,6156.443,-2617.150,10,1.2,10,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NE
$TGT_LATLONG,6156.130,-2600.200
$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,118.5,14780,-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,-194.7,0.0,0.0,0,163,0.00,0.00,-138.10,0.000,2,0.000,0.000,1435,2290,3443
$GC,166,-0.86,-194.7,3.3,-5.0,18,197,12.12,2.85,-11.40,0.000,4,0.252,0.051,2726,3713,3866
$GC,222,-0.76,-194.7,14.2,-15.8,26,230,0.17,2.78,0.00,0.000,6,0.136,0.033,2750,2292,3867
$GC,367,-0.76,-194.7,32.1,-12.0,51,374,0.00,2.83,0.00,0.000,4,0.000,0.043,2750,3709,3867
$GC,381,-0.76,-194.7,33.8,-11.5,53,389,0.00,2.72,0.00,0.000,6,0.000,0.033,2750,2308,3867
$GC,525,-0.76,-194.7,48.7,-8.9,78,532,0.00,2.78,0.00,0.000,4,0.000,0.043,2750,3704,3867
$GC,563,-0.76,-194.7,52.3,-9.2,84,571,0.00,2.62,0.00,0.000,6,0.000,0.033,2750,2350,3867
$GC,909,-0.76,-194.7,86.5,-10.3,145,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2349,3867
$GC,1254,-0.76,-194.7,121.9,-9.7,206,1261,0.00,2.70,0.00,0.000,4,0.000,0.044,2750,3704,3868
$GC,1275,-0.76,-194.7,124.0,-10.1,209,1282,0.00,2.62,0.00,0.000,6,0.000,0.033,2750,2356,3868
$GC,1621,-0.76,-194.7,159.2,-10.3,270,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2355,3867
$GC,1965,-0.76,-194.7,196.0,-11.0,331,1972,0.00,2.70,0.00,0.000,4,0.000,0.045,2750,3704,3868
$GC,1991,-0.76,-194.7,198.8,-10.8,335,1998,0.00,2.62,0.00,0.000,6,0.000,0.033,2750,2357,3868
$GC,2337,-0.76,-194.7,235.3,-10.2,396,2345,0.00,2.70,0.00,0.000,4,0.000,0.045,2750,3707,3868
$GC,2351,-0.76,-194.7,236.8,-10.2,398,2359,0.00,2.62,0.00,0.000,6,0.000,0.033,2750,2357,3868
$GC,2698,-0.76,-194.7,272.2,-10.2,459,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2356,3868
$GC,3042,-0.76,-194.7,306.7,-10.3,520,3050,0.00,2.70,0.00,0.000,4,0.000,0.045,2750,3707,3867
$GC,3068,-0.76,-194.7,309.3,-10.6,524,3075,0.00,2.60,0.00,0.000,6,0.000,0.033,2750,2367,3867
$GC,3413,-0.76,-194.7,345.0,-10.6,585,3420,0.00,2.70,0.00,0.000,4,0.000,0.047,2750,3710,3868
$GC,3433,-0.76,-194.7,347.0,-10.3,588,3440,0.00,2.62,0.00,0.000,6,0.000,0.033,2750,2361,3867
$GC,3764,-0.76,-194.7,382.3,-11.1,621,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2360,3867
$GC,4089,-0.76,-194.7,420.4,-11.7,652,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2360,3867
$GC,4407,-0.76,-194.7,458.3,-12.1,682,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2360,3867
$GC,4726,-0.76,-194.7,495.4,-11.3,712,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2360,3867
$GC,5044,-0.76,-194.7,530.3,-10.6,742,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2359,3866
$GC,5364,-0.76,-194.7,561.7,-9.7,772,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2359,3866
$GC,5681,-0.76,-194.7,592.9,-10.2,802,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2359,3866
$GC,6004,-0.76,-194.7,627.4,-11.2,821,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2359,3866
$GC,6313,-0.76,-194.7,665.0,-11.9,836,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2359,3866
$GC,6622,-0.76,-194.7,700.1,-10.6,851,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2359,3865
$GC,6931,-0.76,-194.7,730.4,-9.7,866,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2359,3865
$GC,7241,-0.76,-194.7,761.7,-10.0,881,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2359,3865
$GC,7550,-0.76,-194.7,793.8,-12.1,896,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2359,3864
$GC,7860,-0.76,-194.7,825.3,-6.8,911,7861,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2359,3864
$GC,8171,-0.76,-194.7,854.0,-9.5,926,8176,0.00,3.25,0.00,0.000,4,0.000,0.116,2750,3697,3864
$GC,8429,-1.04,-194.7,855.2,0.1,937,8436,0.30,3.05,0.00,0.000,6,0.051,0.098,2693,2384,3864
$STATE,8454,end dive,NO_VERTICAL_VELOCITY
$STATE,8454,begin apogee
$GC,8462,-0.21,0.0,855.2,0.0,939,8676,0.98,0.00,205.98,1.494,6,0.076,0.000,2870,2734,3071
$STATE,8677,end apogee,CONTROL_FINISHED_OK
$STATE,8677,begin climb
$GC,8679,0.86,194.7,855.1,0.0,950,8894,1.40,0.00,210.38,1.434,6,0.091,0.000,3098,2734,2277
$GC,9199,0.75,200.0,808.2,9.8,975,9208,0.00,0.00,6.88,1.060,6,0.000,0.000,3098,2734,2255
$GC,9506,0.63,200.0,774.3,11.1,990,9511,0.22,2.50,0.00,0.000,4,0.129,0.077,3062,3905,2254
$GC,9547,0.63,200.0,770.0,10.1,992,9551,0.00,2.35,0.00,0.000,6,0.000,0.054,3062,2764,2254
$GC,9874,0.72,272.7,743.6,7.5,1008,9955,0.00,3.17,74.82,1.404,4,0.000,0.070,3062,1331,1959
$GC,9994,0.79,329.4,732.3,8.0,1012,10061,0.15,2.97,60.85,1.368,6,0.056,0.044,3091,2754,1727
$GC,10371,0.79,329.4,691.9,10.4,1030,10372,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2755,1720
$GC,10680,0.79,329.4,654.7,13.5,1045,10685,0.00,2.92,0.00,0.000,4,0.000,0.051,3091,1328,1719
$GC,10724,0.79,329.4,648.2,14.2,1047,10729,0.00,2.80,0.00,0.000,6,0.000,0.035,3091,2743,1718
$GC,11046,0.79,329.4,608.0,12.3,1063,11050,0.00,2.35,0.00,0.000,4,0.000,0.057,3091,3903,1717
$GC,11086,0.79,329.4,602.8,12.4,1065,11090,0.00,2.30,0.00,0.000,6,0.000,0.033,3091,2718,1716
$GC,11411,0.79,329.4,565.5,10.8,1094,11415,0.00,2.78,0.00,0.000,4,0.000,0.049,3091,1334,1716
$GC,11452,0.79,329.4,561.2,11.1,1097,11457,0.00,2.75,0.00,0.000,6,0.000,0.031,3091,2743,1716
$GC,11780,0.79,329.4,525.0,11.4,1127,11781,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2743,1715
$GC,12098,0.82,356.1,492.7,9.1,1157,12132,0.00,0.00,26.70,1.215,6,0.000,0.000,3091,2743,1619
$GC,12450,0.88,409.0,463.0,8.2,1190,12514,0.00,2.95,57.38,1.239,4,0.000,0.045,3091,1347,1402
$GC,12549,0.95,427.6,454.2,9.4,1198,12583,0.20,2.75,21.25,1.161,6,0.048,0.031,3129,2728,1325
$GC,12898,0.95,427.6,414.2,11.7,1231,12899,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2728,1320
$GC,13217,0.95,427.6,375.8,12.3,1261,13222,0.00,2.80,0.00,0.000,4,0.000,0.045,3130,1338,1318
$GC,13261,0.95,427.6,369.7,12.9,1264,13268,0.00,2.67,0.00,0.000,6,0.000,0.031,3130,2712,1317
$GC,13596,0.95,427.6,328.1,12.5,1310,13602,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2712,1317
$GC,13942,0.95,427.6,285.0,11.8,1371,13949,0.00,2.75,0.00,0.000,4,0.000,0.045,3130,1341,1317
$GC,13980,0.95,427.6,280.3,12.2,1377,13987,0.00,2.65,0.00,0.000,6,0.000,0.030,3130,2709,1316
$GC,14325,0.95,427.6,237.5,12.6,1438,14332,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2708,1316
$GC,14671,0.95,427.6,193.2,12.2,1499,14678,0.00,2.75,0.00,0.000,4,0.000,0.044,3130,1337,1316
$GC,14701,0.95,427.6,189.1,13.4,1504,14709,0.00,2.62,0.00,0.000,6,0.000,0.030,3130,2695,1316
$GC,15048,0.95,427.6,147.6,11.1,1565,15054,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2695,1315
$GC,15391,0.95,427.6,109.9,10.2,1626,15399,0.00,2.72,0.00,0.000,4,0.000,0.045,3130,1338,1315
$GC,15429,0.95,427.6,105.7,11.0,1632,15436,0.00,2.60,0.00,0.000,6,0.000,0.031,3130,2680,1315
$GC,15775,1.06,517.0,74.2,6.9,1693,15874,0.00,0.00,91.22,0.999,6,0.000,0.000,3130,2680,961
$GC,16214,1.22,594.3,44.1,7.3,1768,16300,0.25,2.78,76.60,0.950,4,0.049,0.045,3187,1341,647
$GC,16356,1.22,594.3,25.6,15.2,1789,16364,0.00,2.62,0.00,0.000,6,0.000,0.028,3187,2681,644
$GC,16499,1.22,594.3,4.5,14.4,1814,16506,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2681,642
$STATE,16516,end climb,SURFACE_DEPTH_REACHED
$STATE,16517,begin surface coast
$FINISH,0.1,1.025883
$STATE,16528,end surface coast,CONTROL_FINISHED_OK
$STATE,16529,begin surface
$SM_CCo,16609,0.00,0.000,0,0,640,596.32
$SM_GC,0.70,8.95,0.00,0.00,0.045,0.000,0.000,1436,2291,640,-6.79,-0.25,596.32
$IRIDIUM_FIX,6130.75,-2625.73,130997,222207
$TT8_MAMPS,0.027612
$HUMID,1849
$INTERNAL_PRESSURE,8.85822
$TCM_TEMP,16.60
$XPDR_PINGS,893
$24V_AH,19.0,114.039
$10V_AH,9.8,74.856
$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,24.750,110.725,832.050,0.000,0.000,28.341,31.524,250.565,223.250,0.000,0.000,14.689,3595.744,8510.007,994.116,3261.208,702.226,0.000,2477.006,0.000,3251.577,0.000,0.465
$DEVICE_MAMPS,251.576,115.817,1494.116,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1263.263,1348.500,736.927,1688.182,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132764,1819
$CAP_FILE_SIZE,154969,0
$CFSIZE,260165632,222060544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,329.2,1
$GPS,200608,085655,6156.391,-2612.659,36,1.8,36,-18.8