version: 66.03
glider: 142
mission: 5
dive: 272
start: 6 1 108 10 4 22
data:
$ID,142
$MISSION,5
$DIVE,272
$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,-18155.277
$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,31
$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
$GPS1,095608,6150.234,-2609.164,34,1.7,34,-18.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-40.9
$GPS2,100402,6150.228,-2609.055,8,1.9,13,-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,267.6,15162,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.86,-194.7,0.0,0.0,0,177,0.00,0.00,-153.57,0.000,2,0.000,0.000,1431,2288,3534
$GC,180,-0.86,-194.7,3.6,-6.4,20,210,12.05,2.80,-8.48,0.000,4,0.255,0.058,2724,900,3865
$GC,419,-0.78,-194.7,39.0,-14.3,61,427,0.15,2.70,0.00,0.000,6,0.133,0.031,2746,2302,3866
$GC,564,-0.73,-194.7,55.9,-11.0,86,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2302,3866
$GC,909,-0.73,-194.7,95.0,-11.5,147,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2302,3866
$GC,1252,-0.73,-194.7,132.4,-10.4,208,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2302,3866
$GC,1597,-0.73,-194.7,172.1,-11.2,269,1604,0.00,2.80,0.00,0.000,4,0.000,0.048,2746,898,3866
$GC,1645,-0.73,-194.7,177.6,-11.4,277,1652,0.00,2.67,0.00,0.000,6,0.000,0.030,2746,2293,3866
$GC,1990,-0.73,-194.7,216.7,-11.4,338,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2293,3866
$GC,2334,-0.73,-194.7,255.0,-11.4,399,2341,0.00,2.80,0.00,0.000,4,0.000,0.044,2746,3709,3866
$GC,2370,-0.73,-194.7,259.1,-11.4,405,2378,0.00,2.78,0.00,0.000,6,0.000,0.033,2746,2283,3866
$GC,2715,-0.73,-194.7,298.4,-11.9,466,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2282,3866
$GC,3058,-0.73,-194.7,339.7,-11.4,527,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2282,3866
$GC,3394,-0.73,-194.7,378.3,-11.4,566,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2282,3866
$GC,3713,-0.73,-194.7,414.4,-11.5,596,3717,0.00,2.85,0.00,0.000,4,0.000,0.045,2746,3705,3866
$GC,3753,-0.73,-194.7,418.9,-11.1,599,3757,0.00,2.78,0.00,0.000,6,0.000,0.035,2746,2286,3866
$GC,4080,-0.73,-194.7,455.1,-11.5,629,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2284,3865
$GC,4396,-0.73,-194.7,492.9,-12.3,659,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2284,3865
$GC,4715,-0.73,-194.7,530.6,-11.4,689,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2284,3865
$GC,5033,-0.73,-194.7,567.5,-11.9,719,5037,0.00,2.88,0.00,0.000,4,0.000,0.049,2746,3707,3865
$GC,5084,-0.73,-194.7,573.4,-11.5,723,5088,0.00,2.78,0.00,0.000,6,0.000,0.035,2746,2292,3865
$GC,5417,-0.73,-194.7,608.9,-10.5,750,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2291,3864
$GC,5726,-0.73,-194.7,641.9,-10.8,765,5731,0.00,2.90,0.00,0.000,4,0.000,0.054,2746,3704,3864
$GC,5770,-0.73,-194.7,646.9,-10.7,767,5774,0.00,2.78,0.00,0.000,6,0.000,0.040,2746,2308,3864
$GC,6095,-0.73,-194.7,679.9,-9.8,783,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2308,3864
$GC,6403,-0.73,-194.7,710.5,-9.9,798,6407,0.00,2.92,0.00,0.000,4,0.000,0.068,2746,3696,3863
$GC,6457,-0.73,-194.7,716.3,-10.0,800,6465,0.00,2.80,0.00,0.000,6,0.000,0.048,2746,2316,3864
$GC,6774,-0.73,-194.7,748.2,-9.9,816,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2315,3864
$GC,7083,-0.73,-194.7,781.3,-10.9,831,7088,0.00,3.03,0.00,0.000,4,0.000,0.081,2746,3693,3863
$GC,7132,-0.73,-194.7,787.0,-10.7,833,7136,0.00,2.90,0.00,0.000,6,0.000,0.067,2746,2328,3863
$GC,7454,-0.73,-194.7,821.0,-10.7,849,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2327,3863
$GC,7763,-0.73,-194.7,853.2,-10.1,864,7768,0.00,3.22,0.00,0.000,4,0.000,0.110,2746,3691,3863
$GC,7802,-0.73,-194.7,857.2,-10.3,866,7807,0.00,3.15,0.00,0.000,6,0.000,0.101,2746,2337,3863
$GC,8130,-0.73,-194.7,888.8,-9.3,882,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2336,3863
$GC,8438,-0.73,-194.7,919.6,-10.4,897,8443,0.00,3.53,0.00,0.000,4,0.000,0.145,2746,3690,3862
$GC,8487,-0.73,-194.7,924.9,-10.2,899,8493,0.00,3.45,0.00,0.000,6,0.000,0.138,2746,2345,3862
$GC,8804,-1.02,-194.7,929.1,-0.0,914,8812,0.22,3.92,0.00,0.000,4,0.053,0.161,2696,883,3862
$STATE,8856,end dive,NO_VERTICAL_VELOCITY
$STATE,8856,begin apogee
$GC,8866,-0.21,0.0,929.1,0.0,916,9079,0.98,0.00,207.30,1.561,6,0.092,0.000,2868,2728,3071
$STATE,9080,end apogee,CONTROL_FINISHED_OK
$STATE,9080,begin climb
$GC,9083,0.86,194.7,929.0,0.0,927,9307,1.38,2.70,213.75,1.495,4,0.070,0.055,3100,3902,2277
$GC,9380,0.72,194.7,903.7,13.1,940,9385,0.15,2.42,0.00,0.000,6,0.120,0.034,3080,2731,2274
$GC,9697,0.64,194.7,871.0,10.7,955,9702,0.12,2.45,0.00,0.000,4,0.120,0.053,3063,3912,2274
$GC,9741,0.59,194.7,866.0,10.8,957,9745,0.00,2.30,0.00,0.000,6,0.000,0.034,3063,2745,2273
$GC,10064,0.63,221.8,836.5,9.1,973,10095,0.00,0.00,28.40,1.417,6,0.000,0.000,3063,2744,2166
$GC,10392,0.63,221.9,805.2,10.0,989,10393,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2744,2165
$GC,10701,0.63,221.9,771.4,11.7,1004,10705,0.00,2.38,0.00,0.000,4,0.000,0.054,3063,3908,2164
$GC,10756,0.63,221.9,764.2,12.8,1006,10764,0.00,2.25,0.00,0.000,6,0.000,0.033,3063,2764,2164
$GC,11072,0.63,221.9,728.3,11.2,1022,11073,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2762,2164
$GC,11382,0.63,221.9,692.3,11.8,1037,11386,0.00,2.33,0.00,0.000,4,0.000,0.054,3063,3908,2163
$GC,11422,0.63,221.9,687.3,12.8,1039,11426,0.00,2.20,0.00,0.000,6,0.000,0.033,3063,2770,2163
$GC,11750,0.63,221.9,652.1,10.9,1055,11751,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2769,2163
$GC,12059,0.63,221.9,619.0,10.6,1070,12060,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2766,2163
$GC,12371,0.67,256.4,589.5,8.8,1090,12412,0.00,2.40,35.80,1.324,4,0.000,0.054,3063,3916,2024
$GC,12436,0.72,295.4,583.6,8.6,1095,12483,0.00,2.22,41.08,1.318,6,0.000,0.032,3063,2786,1866
$GC,12801,0.77,342.0,552.2,8.4,1129,12861,0.12,3.05,48.47,1.291,4,0.060,0.048,3088,1347,1674
$GC,12898,0.77,342.0,541.9,10.8,1137,12903,0.00,2.90,0.00,0.000,6,0.000,0.031,3088,2788,1672
$GC,13225,0.73,342.0,502.0,13.0,1167,13227,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2789,1669
$GC,13542,0.73,342.0,459.9,12.9,1197,13547,0.00,2.92,0.00,0.000,4,0.000,0.046,3088,1344,1668
$GC,13570,0.73,342.0,456.3,12.5,1199,13575,0.00,2.80,0.00,0.000,6,0.000,0.032,3088,2773,1668
$GC,13895,0.73,342.0,417.6,11.8,1229,13897,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2774,1667
$GC,14214,0.73,342.0,378.7,12.0,1259,14219,0.00,2.88,0.00,0.000,4,0.000,0.052,3089,1346,1667
$GC,14235,0.73,342.0,375.8,13.1,1260,14243,0.00,2.78,0.00,0.000,6,0.000,0.032,3088,2765,1667
$GC,14566,0.73,342.0,337.7,11.1,1301,14573,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2765,1667
$GC,14910,0.73,342.0,301.3,10.5,1362,14918,0.00,2.88,0.00,0.000,4,0.000,0.045,3088,1336,1667
$GC,14936,0.73,342.0,298.7,10.4,1366,14943,0.00,2.78,0.00,0.000,6,0.000,0.032,3088,2759,1667
$GC,15282,0.78,377.4,266.5,8.8,1427,15322,0.00,0.00,35.35,1.113,6,0.000,0.000,3088,2759,1531
$GC,15659,0.78,377.4,230.4,10.1,1493,15666,0.00,2.85,0.00,0.000,4,0.000,0.045,3088,1345,1528
$GC,15700,0.78,377.4,225.9,10.4,1500,15708,0.00,2.72,0.00,0.000,6,0.000,0.031,3088,2747,1528
$GC,16046,0.78,377.4,189.3,11.5,1561,16052,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2747,1528
$GC,16389,0.78,377.4,151.1,11.1,1622,16397,0.00,2.80,0.00,0.000,4,0.000,0.045,3088,1346,1527
$GC,16426,0.78,377.4,147.0,11.8,1628,16433,0.00,2.70,0.00,0.000,6,0.000,0.031,3088,2738,1527
$GC,16771,0.78,377.4,109.1,11.2,1689,16778,0.00,2.80,0.00,0.000,4,0.000,0.046,3088,1339,1526
$GC,16790,0.78,377.4,106.8,11.1,1692,16797,0.00,2.67,0.00,0.000,6,0.000,0.031,3088,2720,1527
$GC,17135,0.78,377.4,69.2,10.1,1753,17141,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2720,1526
$GC,17479,0.86,411.0,37.9,8.8,1814,17520,0.00,0.00,34.45,0.968,6,0.000,0.000,3088,2721,1393
$GC,17659,1.03,481.5,23.5,7.6,1844,17740,0.25,2.88,71.78,0.964,4,0.043,0.046,3145,1343,1107
$GC,17753,0.97,481.5,9.9,17.9,1857,17761,0.00,2.80,0.00,0.000,6,0.000,0.031,3145,2735,1105
$STATE,17799,end climb,SURFACE_DEPTH_REACHED
$STATE,17799,begin surface coast
$FINISH,0.3,1.026052
$STATE,17811,end surface coast,CONTROL_FINISHED_OK
$STATE,17812,begin surface
$SM_CCo,17891,0.00,0.000,0,0,1101,483.24
$SM_GC,0.56,8.82,0.00,0.00,0.044,0.000,0.000,1431,2295,1101,-6.80,-0.14,483.24
$IRIDIUM_FIX,6126.23,-2607.40,260897,050554
$TT8_MAMPS,0.026845
$HUMID,1786
$INTERNAL_PRESSURE,8.85822
$TCM_TEMP,16.20
$XPDR_PINGS,937
$24V_AH,19.1,85.510
$10V_AH,9.8,59.788
$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,24.250,136.950,716.375,0.000,0.000,27.469,41.785,253.680,234.250,0.000,0.000,15.138,3765.590,9634.667,898.294,3370.975,679.383,0.000,2439.317,0.000,3364.522,0.000,0.465
$DEVICE_MAMPS,255.411,161.070,1560.845,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1324.722,1370.463,717.744,1691.245,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135980,1867
$CAP_FILE_SIZE,165066,0
$CFSIZE,260165632,230596608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,136.8,1
$GPS,010608,150338,6148.702,-2613.453,29,1.7,29,-18.8