version: 66.03
glider: 142
mission: 5
dive: 373
start: 6 21 108 8 1 35
data:
$ID,142
$MISSION,5
$DIVE,373
$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,-19992.195
$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,20
$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
$GPS1,075326,6153.187,-2608.223,36,2.0,36,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-54.4
$GPS2,080114,6153.194,-2608.236,8,1.8,13,-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,237.5,19414,-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,-128.55,0.000,2,0.000,0.000,1436,2267,3410
$GC,157,-0.86,-194.7,3.0,-4.6,17,189,11.98,2.85,-12.62,0.000,4,0.249,0.055,2725,884,3867
$GC,253,-0.81,-194.7,18.4,-12.8,32,261,0.00,2.72,0.00,0.000,6,0.000,0.029,2725,2306,3868
$GC,397,-0.73,-194.7,38.1,-13.2,57,405,0.17,2.78,0.00,0.000,4,0.141,0.042,2753,3710,3869
$GC,429,-0.73,-194.7,42.2,-12.2,62,437,0.00,2.72,0.00,0.000,6,0.000,0.031,2754,2304,3869
$GC,574,-0.73,-194.7,57.0,-9.9,87,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2303,3869
$GC,918,-0.73,-194.7,92.3,-9.5,148,925,0.00,2.80,0.00,0.000,4,0.000,0.043,2754,3709,3869
$GC,955,-0.73,-194.7,96.0,-9.6,154,963,0.00,2.78,0.00,0.000,6,0.000,0.032,2754,2283,3869
$GC,1300,-0.73,-194.7,129.7,-10.4,215,1308,0.00,2.80,0.00,0.000,4,0.000,0.044,2754,3712,3869
$GC,1349,-0.73,-194.7,134.6,-9.8,223,1357,0.00,2.78,0.00,0.000,6,0.000,0.032,2753,2290,3869
$GC,1696,-0.73,-194.7,172.1,-11.0,284,1703,0.00,2.83,0.00,0.000,4,0.000,0.044,2754,3705,3869
$GC,1727,-0.73,-194.7,175.6,-11.5,289,1734,0.00,2.72,0.00,0.000,6,0.000,0.032,2754,2307,3869
$GC,2073,-0.73,-194.7,214.8,-11.1,350,2080,0.00,2.80,0.00,0.000,4,0.000,0.044,2754,3701,3869
$GC,2110,-0.73,-194.7,219.0,-11.1,356,2117,0.00,2.70,0.00,0.000,6,0.000,0.034,2754,2319,3869
$GC,2457,-0.73,-194.7,256.7,-10.5,417,2465,0.00,2.78,0.00,0.000,4,0.000,0.045,2754,3702,3869
$GC,2494,-0.73,-194.7,260.7,-10.6,423,2501,0.00,2.70,0.00,0.000,6,0.000,0.033,2754,2319,3869
$GC,2839,-0.73,-194.7,297.8,-10.6,484,2847,0.00,2.78,0.00,0.000,4,0.000,0.045,2753,3704,3869
$GC,2882,-0.73,-194.7,302.4,-10.9,491,2889,0.00,2.65,0.00,0.000,6,0.000,0.033,2754,2344,3869
$GC,3228,-0.73,-194.7,337.1,-9.9,552,3235,0.00,2.75,0.00,0.000,4,0.000,0.046,2754,3707,3869
$GC,3249,-0.73,-194.7,339.1,-10.1,555,3256,0.00,2.65,0.00,0.000,6,0.000,0.033,2753,2347,3869
$GC,3587,-0.73,-194.7,371.5,-9.3,596,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2347,3869
$GC,3907,-0.73,-194.7,401.5,-9.5,626,3911,0.00,2.72,0.00,0.000,4,0.000,0.046,2754,3702,3868
$GC,3935,-0.73,-194.7,404.4,-10.0,628,3940,0.00,2.62,0.00,0.000,6,0.000,0.033,2754,2357,3868
$GC,4263,-0.73,-194.7,436.1,-9.7,658,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2356,3868
$GC,4589,-0.73,-194.7,467.8,-10.4,689,4594,0.00,2.72,0.00,0.000,4,0.000,0.047,2754,3707,3868
$GC,4611,-0.73,-194.7,470.2,-10.3,690,4619,0.00,2.62,0.00,0.000,6,0.000,0.034,2754,2362,3867
$GC,4939,-0.73,-194.7,502.5,-9.6,721,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2361,3868
$GC,5265,-0.73,-194.7,533.7,-9.6,752,5269,0.00,2.72,0.00,0.000,4,0.000,0.049,2754,3703,3867
$GC,5294,-0.73,-194.7,536.4,-9.6,754,5299,0.00,2.62,0.00,0.000,6,0.000,0.033,2754,2361,3867
$GC,5622,-0.73,-194.7,563.4,-8.0,784,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2359,3867
$GC,5949,-0.73,-194.7,593.1,-9.2,815,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2359,3867
$GC,6259,-0.73,-194.7,621.9,-10.1,834,6263,0.00,2.75,0.00,0.000,4,0.000,0.053,2753,3701,3867
$GC,6314,-0.73,-194.7,627.8,-10.6,836,6321,0.00,2.62,0.00,0.000,6,0.000,0.036,2754,2372,3867
$GC,6631,-0.73,-194.7,660.0,-9.5,852,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2371,3866
$GC,6940,-0.73,-194.7,684.9,-7.7,867,6944,0.00,2.78,0.00,0.000,4,0.000,0.059,2754,3705,3866
$GC,6962,-0.73,-194.7,687.1,-9.5,868,6966,0.00,2.65,0.00,0.000,6,0.000,0.042,2754,2379,3866
$GC,7283,-0.73,-194.7,726.5,-15.2,884,7288,0.00,3.12,0.00,0.000,4,0.000,0.070,2754,897,3865
$GC,7324,-0.78,-194.7,733.6,-17.7,886,7328,0.00,2.95,0.00,0.000,6,0.000,0.045,2754,2355,3865
$GC,7651,-0.92,-194.7,743.0,0.1,902,7653,0.17,0.00,0.00,0.000,6,0.056,0.000,2719,2358,3865
$STATE,7730,end dive,NO_VERTICAL_VELOCITY
$STATE,7730,begin apogee
$GC,7738,-0.21,0.0,743.0,0.0,906,7944,0.90,0.00,202.60,1.428,6,0.106,0.000,2869,2746,3071
$STATE,7945,end apogee,CONTROL_FINISHED_OK
$STATE,7945,begin climb
$GC,7948,0.86,194.7,742.9,0.0,916,8166,1.42,3.25,205.65,1.371,4,0.099,0.061,3098,1346,2276
$GC,8215,0.73,194.7,729.1,10.5,929,8220,0.00,3.00,0.00,0.000,6,0.000,0.045,3098,2749,2276
$GC,8543,0.62,216.6,703.4,9.2,945,8572,0.22,2.42,22.73,1.275,4,0.114,0.065,3060,3902,2188
$GC,8600,0.68,261.8,698.1,8.4,947,8654,0.00,2.33,47.40,1.333,6,0.000,0.041,3060,2749,2002
$GC,8985,0.75,319.8,665.9,8.0,966,9054,0.12,3.03,60.00,1.328,4,0.064,0.058,3085,1330,1765
$GC,9094,0.76,327.5,655.4,9.7,970,9110,0.00,2.88,9.27,1.105,6,0.000,0.035,3085,2747,1735
$GC,9434,0.76,327.5,622.9,10.1,987,9436,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2747,1731
$GC,9745,0.76,327.5,592.1,10.1,1005,9749,0.00,2.88,0.00,0.000,4,0.000,0.048,3085,1325,1730
$GC,9785,0.76,327.5,588.1,10.6,1008,9790,0.00,2.75,0.00,0.000,6,0.000,0.033,3085,2735,1729
$GC,10110,0.76,327.5,554.1,10.7,1038,10112,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2735,1729
$GC,10430,0.76,327.5,520.8,10.4,1068,10431,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2735,1728
$GC,10749,0.76,330.2,488.7,9.9,1098,10751,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2734,1728
$GC,11068,0.77,336.1,458.3,9.8,1128,11082,0.00,2.90,8.95,1.025,4,0.000,0.044,3085,1332,1700
$GC,11121,0.77,336.1,452.5,10.4,1132,11129,0.00,2.72,0.00,0.000,6,0.000,0.031,3085,2723,1699
$GC,11447,0.77,336.1,420.8,10.1,1163,11448,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2723,1698
$GC,11765,0.77,336.1,386.8,11.1,1193,11766,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2723,1698
$GC,12085,0.77,336.1,353.0,10.3,1223,12089,0.00,2.80,0.00,0.000,4,0.000,0.044,3085,1327,1698
$GC,12138,0.77,336.1,347.5,10.2,1229,12145,0.00,2.70,0.00,0.000,6,0.000,0.031,3085,2713,1698
$GC,12483,0.77,340.1,313.3,9.9,1290,12498,0.00,2.40,5.43,0.811,4,0.000,0.049,3085,3891,1684
$GC,12521,0.77,340.1,309.4,10.4,1296,12529,0.00,2.30,0.00,0.000,6,0.000,0.031,3085,2697,1684
$GC,12868,0.77,340.1,274.5,10.2,1357,12875,0.00,2.72,0.00,0.000,4,0.000,0.046,3085,1326,1684
$GC,12905,0.77,340.1,270.3,11.6,1363,12912,0.00,2.70,0.00,0.000,6,0.000,0.031,3085,2716,1684
$GC,13251,0.77,340.1,232.4,10.6,1424,13258,0.00,2.33,0.00,0.000,4,0.000,0.049,3085,3891,1683
$GC,13288,0.77,340.1,228.3,11.2,1430,13295,0.00,2.30,0.00,0.000,6,0.000,0.031,3085,2693,1683
$GC,13634,0.77,340.1,191.5,10.7,1491,13641,0.00,2.70,0.00,0.000,4,0.000,0.044,3085,1329,1683
$GC,13670,0.77,340.1,187.4,10.7,1497,13677,0.00,2.67,0.00,0.000,6,0.000,0.030,3085,2708,1683
$GC,14016,0.82,377.1,153.8,8.7,1558,14064,0.00,0.00,39.58,1.035,6,0.000,0.000,3085,2707,1532
$GC,14405,0.90,410.5,120.7,8.8,1625,14449,0.15,2.83,35.05,1.002,4,0.054,0.044,3121,1332,1396
$GC,14490,0.90,410.5,110.3,12.4,1638,14498,0.00,2.70,0.00,0.000,6,0.000,0.030,3121,2710,1393
$GC,14836,0.90,410.5,69.5,11.3,1699,14842,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2710,1391
$GC,15180,0.90,410.5,32.0,10.2,1760,15188,0.00,2.78,0.00,0.000,4,0.000,0.045,3122,1326,1389
$GC,15234,0.90,410.5,26.1,10.7,1769,15241,0.00,2.62,0.00,0.000,6,0.000,0.030,3121,2689,1389
$GC,15380,0.90,410.5,10.4,10.7,1794,15388,0.00,2.38,0.00,0.000,4,0.000,0.048,3121,3895,1388
$GC,15406,0.90,410.5,7.2,11.3,1798,15413,0.00,2.38,0.00,0.000,6,0.000,0.031,3121,2657,1388
$STATE,15457,end climb,SURFACE_DEPTH_REACHED
$STATE,15457,begin surface coast
$FINISH,0.2,1.013878
$STATE,15476,end surface coast,CONTROL_FINISHED_OK
$STATE,15476,begin surface
$SM_CCo,15555,0.00,0.000,0,0,1386,413.33
$SM_GC,0.95,8.52,0.00,0.00,0.042,0.000,0.000,1431,2290,1386,-6.80,-0.28,413.33
$IRIDIUM_FIX,6130.75,-2605.31,150997,030350
$TT8_MAMPS,0.026078
$HUMID,1845
$INTERNAL_PRESSURE,8.92658
$TCM_TEMP,14.90
$XPDR_PINGS,853
$24V_AH,19.1,115.713
$10V_AH,9.8,75.800
$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,23.675,153.500,636.650,0.000,0.000,25.116,36.049,244.641,213.250,0.000,0.000,14.793,3651.119,7532.104,866.228,3221.626,736.123,0.000,2323.314,0.000,3226.573,0.000,0.465
$DEVICE_MAMPS,249.275,69.797,1428.154,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1259.847,1351.101,739.938,1687.910,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,133159,1810
$CAP_FILE_SIZE,159966,0
$CFSIZE,260165632,221528064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037, 15.6,1
$GPS,210608,122208,6151.959,-2611.464,40,1.9,40,-18.8