version: 66.03
glider: 142
mission: 5
dive: 271
start: 6 1 108 5 19 13
data:
$ID,142
$MISSION,5
$DIVE,271
$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,-18139.512
$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,12
$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
$GPS1,045908,6153.142,-2608.016,34,1.3,34,-18.7
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-42.1
$GPS2,051851,6153.291,-2607.971,12,1.4,12,-18.7
$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,220.5,19704,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.86,-194.7,0.0,0.0,0,136,0.00,0.00,-113.50,0.000,2,0.000,0.000,1436,2302,3376
$GC,140,-0.86,-194.7,3.0,-6.3,15,178,11.70,2.95,-14.48,0.000,4,0.245,0.057,2724,875,3867
$GC,285,-0.80,-194.7,24.1,-15.3,39,294,0.12,2.75,0.00,0.000,6,0.133,0.030,2741,2307,3868
$GC,431,-0.75,-194.7,41.9,-12.5,64,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2307,3868
$GC,572,-0.71,-194.7,61.1,-13.2,89,580,0.12,2.88,0.00,0.000,4,0.150,0.046,2757,874,3868
$GC,620,-0.71,-194.7,66.9,-11.3,97,627,0.00,2.72,0.00,0.000,6,0.000,0.030,2757,2288,3868
$GC,965,-0.71,-194.7,104.2,-9.9,158,973,0.00,2.80,0.00,0.000,4,0.000,0.046,2757,882,3868
$GC,998,-0.71,-194.7,107.3,-9.7,163,1005,0.00,2.70,0.00,0.000,6,0.000,0.030,2757,2285,3868
$GC,1343,-0.71,-194.7,143.4,-10.9,224,1351,0.00,2.80,0.00,0.000,4,0.000,0.047,2757,878,3868
$GC,1408,-0.71,-194.7,150.3,-10.5,235,1416,0.00,2.67,0.00,0.000,6,0.000,0.030,2757,2276,3868
$GC,1752,-0.71,-194.7,186.9,-10.5,296,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2275,3868
$GC,2096,-0.71,-194.7,222.9,-10.3,357,2103,0.00,2.80,0.00,0.000,4,0.000,0.047,2757,872,3868
$GC,2167,-0.75,-194.7,230.1,-9.9,369,2174,0.00,2.65,0.00,0.000,6,0.000,0.030,2757,2254,3868
$GC,2512,-0.75,-194.7,265.4,-9.6,430,2519,0.00,2.75,0.00,0.000,4,0.000,0.047,2757,878,3868
$GC,2547,-0.75,-194.7,269.0,-10.4,436,2555,0.00,2.62,0.00,0.000,6,0.000,0.030,2757,2247,3868
$GC,2892,-0.75,-194.7,303.4,-10.1,497,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2247,3868
$GC,3236,-0.75,-194.7,339.4,-10.3,558,3243,0.00,2.75,0.00,0.000,4,0.000,0.047,2757,874,3868
$GC,3295,-0.80,-194.7,345.4,-10.8,568,3303,0.00,2.62,0.00,0.000,6,0.000,0.031,2757,2242,3867
$GC,3630,-0.80,-194.7,380.5,-10.7,603,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2243,3867
$GC,3949,-0.80,-194.7,415.7,-11.2,633,3954,0.00,2.72,0.00,0.000,4,0.000,0.048,2757,881,3867
$GC,3988,-0.80,-194.7,420.3,-11.3,636,3993,0.00,2.60,0.00,0.000,6,0.000,0.031,2757,2230,3867
$GC,4317,-0.80,-194.7,456.5,-11.4,666,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2230,3867
$GC,4644,-0.80,-194.7,493.6,-11.2,697,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2230,3866
$GC,4961,-0.80,-194.7,526.0,-10.6,727,4966,0.00,2.72,0.00,0.000,4,0.000,0.048,2757,873,3866
$GC,4993,-0.80,-194.7,529.7,-10.5,729,5001,0.00,2.60,0.00,0.000,6,0.000,0.031,2757,2224,3866
$GC,5320,-0.80,-194.7,563.2,-11.3,760,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2225,3866
$GC,5637,-0.80,-194.7,599.5,-11.4,790,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2225,3866
$GC,5957,-0.80,-194.7,632.4,-11.0,806,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2225,3865
$GC,6267,-0.80,-194.7,664.4,-10.4,821,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2225,3865
$GC,6576,-0.80,-194.7,698.3,-11.1,836,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2225,3865
$GC,6885,-0.80,-194.7,731.8,-11.0,851,6890,0.00,3.10,0.00,0.000,4,0.000,0.068,2757,3700,3864
$GC,6902,-0.80,-194.7,733.8,-10.9,852,6907,0.00,3.03,0.00,0.000,6,0.000,0.051,2758,2219,3864
$GC,7229,-0.80,-194.7,768.1,-10.4,868,7234,0.00,3.20,0.00,0.000,4,0.000,0.076,2757,3696,3864
$GC,7247,-0.80,-194.7,770.1,-10.7,869,7252,0.00,3.08,0.00,0.000,6,0.000,0.059,2758,2223,3864
$GC,7573,-0.80,-194.7,802.9,-10.0,885,7578,0.00,3.28,0.00,0.000,4,0.000,0.087,2757,3694,3864
$GC,7607,-0.85,-194.7,806.4,-10.9,886,7614,0.00,3.15,0.00,0.000,6,0.000,0.074,2757,2240,3863
$GC,7923,-0.89,-194.7,837.7,-9.9,902,7929,0.17,3.38,0.00,0.000,4,0.064,0.101,2721,3694,3863
$GC,7942,-0.89,-194.7,839.8,-10.3,903,7947,0.00,3.25,0.00,0.000,6,0.000,0.092,2721,2262,3863
$GC,8270,-0.84,-194.7,881.6,-12.7,919,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2261,3863
$GC,8580,-1.14,-194.7,882.6,0.0,934,8582,0.28,0.00,0.00,0.000,6,0.065,0.000,2671,2261,3863
$STATE,8596,end dive,NO_VERTICAL_VELOCITY
$STATE,8596,begin apogee
$GC,8603,-0.21,0.0,882.6,0.0,935,8813,1.10,0.00,206.50,1.531,6,0.071,0.000,2873,2730,3071
$STATE,8814,end apogee,CONTROL_FINISHED_OK
$STATE,8814,begin climb
$GC,8817,0.86,194.7,882.4,0.0,945,9041,1.38,3.75,212.35,1.465,4,0.084,0.117,3099,1338,2278
$GC,9080,0.75,194.7,861.3,12.4,957,9088,0.00,3.53,0.00,0.000,6,0.000,0.100,3099,2750,2277
$GC,9397,0.63,194.7,824.3,11.5,973,9398,0.25,0.00,0.00,0.000,6,0.118,0.000,3061,2750,2275
$GC,9705,0.70,247.8,799.3,8.2,988,9772,0.00,3.30,55.05,1.435,4,0.000,0.084,3061,1337,2060
$GC,9805,0.74,280.9,790.6,8.9,992,9848,0.00,3.10,35.55,1.395,6,0.000,0.067,3061,2750,1925
$GC,10172,0.79,324.8,759.0,8.5,1010,10226,0.15,3.17,46.58,1.404,4,0.059,0.068,3094,1335,1745
$GC,10286,0.75,324.8,745.8,12.6,1015,10291,0.00,2.92,0.00,0.000,6,0.000,0.051,3094,2724,1743
$GC,10615,0.68,324.8,706.2,12.1,1031,10620,0.15,2.45,0.00,0.000,4,0.113,0.066,3068,3900,1740
$GC,10649,0.68,324.8,702.1,10.2,1032,10657,0.00,2.42,0.00,0.000,6,0.000,0.043,3068,2690,1739
$GC,10965,0.76,385.1,674.3,7.9,1048,11031,0.00,0.00,63.83,1.385,6,0.000,0.000,3068,2690,1501
$GC,11334,0.79,415.1,642.8,9.0,1066,11373,0.12,2.58,32.60,1.328,4,0.060,0.058,3093,3904,1377
$GC,11406,0.79,415.1,634.4,12.1,1068,11410,0.00,2.42,0.00,0.000,6,0.000,0.036,3093,2699,1375
$GC,11722,0.79,415.1,596.1,12.6,1084,11723,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2698,1371
$GC,12041,0.79,415.1,556.9,12.0,1114,12046,0.00,2.45,0.00,0.000,4,0.000,0.053,3093,3902,1370
$GC,12082,0.79,415.1,551.9,11.7,1117,12087,0.00,2.33,0.00,0.000,6,0.000,0.034,3093,2708,1370
$GC,12408,0.79,415.1,508.5,14.7,1147,12409,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2707,1369
$GC,12726,0.79,415.1,460.8,14.7,1177,12728,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2706,1369
$GC,13045,0.79,415.1,415.2,13.3,1207,13049,0.00,2.42,0.00,0.000,4,0.000,0.050,3093,3906,1368
$GC,13085,0.79,415.1,409.9,13.0,1210,13089,0.00,2.25,0.00,0.000,6,0.000,0.033,3093,2741,1369
$GC,13418,0.79,415.1,370.3,11.9,1241,13423,0.00,2.80,0.00,0.000,4,0.000,0.048,3093,1338,1368
$GC,13469,0.79,415.1,364.2,10.7,1245,13474,0.00,2.78,0.00,0.000,6,0.000,0.032,3093,2762,1367
$GC,13805,0.79,415.1,324.6,13.3,1293,13812,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2762,1367
$GC,14149,0.79,415.1,278.1,14.1,1354,14156,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2761,1367
$GC,14494,0.79,415.1,232.2,12.6,1415,14501,0.00,2.88,0.00,0.000,4,0.000,0.046,3093,1334,1367
$GC,14548,0.79,415.1,225.2,12.8,1424,14555,0.00,2.72,0.00,0.000,6,0.000,0.031,3093,2738,1367
$GC,14892,0.79,415.1,183.2,10.0,1485,14899,0.00,2.30,0.00,0.000,4,0.000,0.049,3093,3899,1367
$GC,14929,0.79,415.1,179.1,11.6,1491,14936,0.00,2.25,0.00,0.000,6,0.000,0.032,3093,2729,1367
$GC,15274,0.80,416.0,142.3,10.0,1552,15282,0.00,2.72,0.00,0.000,4,0.000,0.047,3093,1346,1367
$GC,15328,0.80,416.0,136.6,10.5,1561,15335,0.00,2.70,0.00,0.000,6,0.000,0.031,3093,2737,1366
$GC,15672,0.81,428.9,99.5,9.6,1622,15692,0.00,0.00,13.90,0.921,6,0.000,0.000,3093,2737,1321
$GC,16027,0.89,495.1,66.3,7.7,1685,16103,0.00,2.97,69.10,1.006,4,0.000,0.046,3093,1338,1051
$GC,16145,1.04,533.1,56.2,8.7,1703,16196,0.28,2.78,40.05,0.961,6,0.040,0.031,3151,2729,895
$STATE,16458,end climb,SURFACE_DEPTH_REACHED
$STATE,16459,begin surface coast
$FINISH,0.1,1.026082
$STATE,16465,end surface coast,CONTROL_FINISHED_OK
$STATE,16465,begin surface
$SM_CCo,16544,0.00,0.000,0,0,887,535.74
$SM_GC,0.59,8.85,0.00,0.00,0.048,0.000,0.000,1431,2288,887,-6.80,-0.37,535.74
$IRIDIUM_FIX,6126.23,-2603.30,260897,050517
$TT8_MAMPS,0.026845
$HUMID,1812
$INTERNAL_PRESSURE,8.83869
$TCM_TEMP,15.90
$XPDR_PINGS,905
$24V_AH,19.1,85.186
$10V_AH,9.8,59.622
$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,24.675,142.650,775.500,0.000,0.000,114.714,140.665,591.027,226.250,0.000,0.000,13.517,3562.474,8839.038,945.574,3170.874,1195.747,0.000,2387.061,0.000,3160.372,0.000,0.465
$DEVICE_MAMPS,245.440,116.584,1530.932,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1250.938,1269.328,673.045,1615.186,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129597,1758
$CAP_FILE_SIZE,168019,0
$CFSIZE,260165632,230699008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,145.6,1
$GPS,010608,095608,6150.234,-2609.164,34,1.7,34,-18.7