version: 66.03
glider: 142
mission: 5
dive: 377
start: 6 22 108 2 48 55
data:
$ID,142
$MISSION,5
$DIVE,377
$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,-20051.252
$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,23
$R_STBD_OVSHOOT,27
$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
$GPS1,024037,6147.100,-2619.148,33,0.8,33,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-57.5
$GPS2,024833,6147.093,-2619.033,12,1.3,12,-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,254.8,4707,-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,-194.7,0.0,0.0,0,146,0.00,0.00,-121.10,0.000,2,0.000,0.000,1432,2285,3540
$GC,149,-0.86,-194.7,3.7,-5.1,16,180,12.07,2.85,-8.38,0.000,4,0.249,0.056,2724,896,3867
$GC,217,-0.79,-194.7,17.1,-14.0,26,225,0.12,2.70,0.00,0.000,6,0.130,0.028,2741,2305,3868
$GC,360,-0.75,-194.7,34.2,-11.5,51,367,0.00,2.75,0.00,0.000,4,0.000,0.043,2741,3704,3868
$GC,397,-0.75,-194.7,38.4,-11.5,57,405,0.00,2.72,0.00,0.000,6,0.000,0.031,2741,2294,3868
$GC,540,-0.70,-194.7,53.5,-10.3,82,547,0.15,0.00,0.00,0.000,6,0.133,0.000,2766,2293,3869
$GC,885,-0.70,-194.7,80.8,-8.0,143,892,0.00,2.83,0.00,0.000,4,0.000,0.043,2766,3709,3869
$GC,970,-0.75,-194.7,87.3,-7.9,157,977,0.00,2.72,0.00,0.000,6,0.000,0.032,2766,2311,3869
$GC,1315,-0.75,-194.7,117.5,-8.9,218,1323,0.00,2.78,0.00,0.000,4,0.000,0.044,2766,3700,3869
$GC,1363,-0.79,-194.7,122.0,-9.2,226,1371,0.00,2.67,0.00,0.000,6,0.000,0.033,2766,2325,3869
$GC,1710,-0.79,-194.7,154.1,-9.3,287,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2325,3869
$GC,2055,-0.79,-194.7,187.0,-10.0,348,2062,0.00,2.75,0.00,0.000,4,0.000,0.045,2766,3700,3869
$GC,2126,-0.84,-194.7,194.0,-9.9,360,2134,0.17,2.65,0.00,0.000,6,0.061,0.033,2732,2338,3869
$GC,2473,-0.79,-194.7,236.0,-12.2,421,2480,0.00,2.72,0.00,0.000,4,0.000,0.044,2732,3700,3869
$GC,2510,-0.79,-194.7,240.5,-12.0,427,2516,0.00,2.62,0.00,0.000,6,0.000,0.033,2732,2353,3869
$GC,2856,-0.74,-194.7,283.1,-12.0,488,2863,0.15,0.00,0.00,0.000,6,0.133,0.000,2756,2352,3869
$GC,3202,-0.74,-194.7,320.7,-10.8,549,3208,0.00,2.72,0.00,0.000,4,0.000,0.046,2756,3707,3869
$GC,3243,-0.74,-194.7,325.4,-11.1,556,3251,0.00,2.60,0.00,0.000,6,0.000,0.033,2756,2371,3869
$GC,3589,-0.74,-194.7,362.5,-10.4,607,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2369,3869
$GC,3908,-0.74,-194.7,396.3,-10.6,637,3912,0.00,2.67,0.00,0.000,4,0.000,0.045,2756,3701,3869
$GC,3951,-0.74,-194.7,401.1,-10.1,640,3958,0.00,2.58,0.00,0.000,6,0.000,0.034,2756,2380,3869
$GC,4279,-0.74,-194.7,433.1,-9.7,671,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2379,3869
$GC,4606,-0.74,-194.7,463.3,-9.5,702,4610,0.00,2.67,0.00,0.000,4,0.000,0.047,2756,3707,3868
$GC,4646,-0.74,-194.7,467.3,-10.1,705,4650,0.00,2.58,0.00,0.000,6,0.000,0.033,2756,2385,3868
$GC,4974,-0.74,-194.7,498.4,-9.6,735,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2384,3868
$GC,5301,-0.74,-194.7,530.3,-9.8,766,5308,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2384,3868
$GC,5628,-0.74,-194.7,562.8,-8.9,797,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2384,3867
$GC,5945,-0.74,-194.7,594.6,-10.2,827,5950,0.00,2.70,0.00,0.000,4,0.000,0.053,2756,3706,3868
$GC,5986,-0.74,-194.7,598.6,-10.3,830,5990,0.00,2.58,0.00,0.000,6,0.000,0.035,2756,2393,3868
$GC,6312,-0.74,-194.7,632.8,-10.3,846,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2391,3867
$GC,6622,-0.74,-194.7,664.3,-10.0,861,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2391,3867
$GC,6932,-0.74,-194.7,694.6,-9.5,876,6936,0.00,2.72,0.00,0.000,4,0.000,0.062,2756,3697,3867
$GC,6965,-0.74,-194.7,698.0,-9.7,877,6972,0.00,2.60,0.00,0.000,6,0.000,0.044,2756,2400,3867
$GC,7281,-0.74,-194.7,729.1,-10.2,893,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2400,3866
$GC,7590,-0.74,-194.7,759.3,-9.5,908,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2400,3866
$GC,7900,-0.74,-194.7,786.5,-8.7,923,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2400,3866
$GC,8209,-0.74,-194.7,813.3,-8.9,938,8210,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2400,3866
$GC,8519,-1.12,-194.7,815.8,-0.0,953,8521,0.43,0.00,0.00,0.000,6,0.066,0.000,2678,2399,3865
$STATE,8557,end dive,NO_VERTICAL_VELOCITY
$STATE,8557,begin apogee
$GC,8564,-0.21,0.0,815.8,0.0,955,8774,1.02,0.00,205.73,1.470,6,0.061,0.000,2871,2733,3071
$STATE,8774,end apogee,CONTROL_FINISHED_OK
$STATE,8774,begin climb
$GC,8777,0.86,194.7,815.6,0.0,965,8996,1.35,3.42,208.65,1.411,4,0.079,0.086,3099,1346,2276
$GC,9010,0.74,194.7,798.0,11.6,976,9015,0.00,3.25,0.00,0.000,6,0.000,0.068,3099,2749,2276
$GC,9327,0.61,194.7,760.7,11.6,991,9331,0.25,2.45,0.00,0.000,4,0.114,0.074,3057,3902,2273
$GC,9360,0.65,228.6,757.1,8.8,992,9400,0.00,2.33,35.03,1.348,6,0.000,0.050,3057,2763,2138
$GC,9720,0.71,272.8,727.0,8.5,1010,9773,0.00,3.10,46.08,1.360,4,0.000,0.064,3057,1341,1958
$GC,9809,0.76,314.5,719.1,8.6,1014,9861,0.15,2.92,44.53,1.343,6,0.057,0.041,3086,2765,1788
$GC,10183,0.76,320.5,680.8,9.8,1032,10197,0.00,3.03,6.68,1.019,4,0.000,0.054,3086,1334,1764
$GC,10215,0.81,355.8,677.8,8.8,1033,10259,0.00,2.80,38.97,1.326,6,0.000,0.037,3086,2735,1620
$GC,10580,0.81,355.8,643.2,10.0,1051,10581,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2735,1614
$GC,10884,0.81,355.8,611.0,10.5,1066,10889,0.00,2.85,0.00,0.000,4,0.000,0.049,3086,1329,1614
$GC,10925,0.81,355.8,606.7,11.1,1068,10930,0.00,2.75,0.00,0.000,6,0.000,0.033,3086,2731,1613
$GC,11253,0.83,374.8,574.5,9.3,1095,11279,0.00,0.00,20.12,1.230,6,0.000,0.000,3086,2731,1542
$GC,11598,0.92,446.8,545.3,7.5,1128,11685,0.15,3.00,78.65,1.290,4,0.051,0.047,3124,1335,1248
$GC,11724,0.92,446.8,531.9,11.6,1138,11732,0.00,2.75,0.00,0.000,6,0.000,0.031,3124,2710,1244
$GC,12054,0.92,446.8,495.2,11.4,1169,12060,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2710,1240
$GC,12379,0.92,446.8,458.7,10.9,1200,12384,0.00,2.78,0.00,0.000,4,0.000,0.046,3124,1333,1239
$GC,12421,0.92,446.8,454.0,12.4,1203,12426,0.00,2.67,0.00,0.000,6,0.000,0.031,3124,2708,1238
$GC,12749,0.92,446.8,416.5,11.7,1233,12750,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2708,1238
$GC,13066,0.92,446.8,378.3,11.9,1263,13070,0.00,2.78,0.00,0.000,4,0.000,0.046,3124,1330,1237
$GC,13109,0.92,446.8,372.4,12.2,1266,13117,0.00,2.62,0.00,0.000,6,0.000,0.031,3124,2682,1236
$GC,13443,0.92,446.8,332.8,11.7,1309,13449,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2682,1236
$GC,13787,0.92,446.8,292.1,12.1,1370,13795,0.00,2.72,0.00,0.000,4,0.000,0.045,3124,1326,1236
$GC,13824,0.92,446.8,287.5,12.2,1376,13831,0.00,2.60,0.00,0.000,6,0.000,0.031,3124,2670,1236
$GC,14170,0.92,446.8,247.7,10.7,1437,14176,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2670,1236
$GC,14514,0.92,446.8,208.5,11.0,1498,14522,0.00,2.67,0.00,0.000,4,0.000,0.044,3124,1329,1235
$GC,14546,0.92,446.8,204.6,12.1,1503,14553,0.00,2.60,0.00,0.000,6,0.000,0.031,3124,2671,1235
$GC,14893,0.92,446.8,164.6,11.0,1564,14900,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2670,1235
$GC,15238,0.92,448.4,128.6,9.9,1625,15245,0.00,2.70,0.00,0.000,4,0.000,0.045,3124,1326,1235
$GC,15269,0.92,448.4,125.3,10.7,1630,15276,0.00,2.58,0.00,0.000,6,0.000,0.031,3123,2661,1235
$GC,15616,0.93,457.0,91.9,9.7,1691,15629,0.00,0.00,8.95,0.839,6,0.000,0.000,3124,2661,1208
$GC,15967,0.93,457.0,56.8,11.2,1753,15974,0.00,2.67,0.00,0.000,4,0.000,0.045,3124,1331,1207
$GC,16006,0.93,457.0,52.5,11.3,1759,16013,0.00,2.55,0.00,0.000,6,0.000,0.030,3124,2648,1206
$GC,16348,0.93,457.0,14.3,10.6,1820,16354,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2648,1206
$STATE,16470,end climb,SURFACE_DEPTH_REACHED
$STATE,16470,begin surface coast
$FINISH,0.2,1.008691
$STATE,16488,end surface coast,CONTROL_FINISHED_OK
$STATE,16488,begin surface
$SM_CCo,16568,0.00,0.000,0,0,1205,457.73
$SM_GC,0.79,8.60,0.00,0.00,0.045,0.000,0.000,1429,2286,1205,-6.80,-0.40,457.73
$IRIDIUM_FIX,6121.73,-2615.57,150997,222256
$TT8_MAMPS,0.026078
$HUMID,1883
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,16.60
$XPDR_PINGS,881
$24V_AH,19.1,116.916
$10V_AH,9.8,76.464
$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,24.625,127.350,693.375,0.000,0.000,24.789,37.310,252.652,220.250,0.000,0.000,13.764,3737.900,8370.141,886.470,3293.159,741.658,0.000,2362.179,0.000,3296.025,0.000,0.466
$DEVICE_MAMPS,248.508,85.904,1469.572,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1284.747,1371.469,766.266,1722.582,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136207,1845
$CAP_FILE_SIZE,160183,0
$CFSIZE,260165632,221155328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.046, 37.6,1
$GPS,220608,072608,6146.255,-2623.194,27,1.6,27,-18.8