version: 66.03
glider: 142
mission: 5
dive: 273
start: 6 1 108 15 15 16
data:
$ID,142
$MISSION,5
$DIVE,273
$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,-18168.83
$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,22
$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
$GPS1,150338,6148.702,-2613.453,29,1.7,29,-18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-48.4
$GPS2,151456,6148.656,-2613.342,11,1.5,11,-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,268.9,10410,-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,-194.7,0.0,0.0,0,166,0.00,0.00,-142.00,0.000,2,0.000,0.000,1431,2294,3559
$GC,169,-0.86,-194.7,3.1,-3.7,19,200,11.95,2.88,-8.02,0.000,4,0.253,0.055,2726,885,3867
$GC,280,-0.79,-194.7,24.1,-14.7,37,288,0.15,2.72,0.00,0.000,6,0.141,0.030,2746,2305,3867
$GC,424,-0.73,-194.7,42.7,-12.7,62,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2305,3867
$GC,567,-0.69,-194.7,62.1,-13.8,87,575,0.15,2.78,0.00,0.000,4,0.146,0.043,2770,3704,3868
$GC,609,-0.69,-194.7,67.4,-11.4,94,617,0.00,2.72,0.00,0.000,6,0.000,0.033,2769,2303,3868
$GC,957,-0.69,-194.7,106.7,-11.4,155,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2303,3868
$GC,1300,-0.69,-194.7,143.5,-10.3,216,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2303,3868
$GC,1646,-0.69,-194.7,179.2,-10.5,277,1653,0.00,2.80,0.00,0.000,4,0.000,0.044,2769,3706,3868
$GC,1698,-0.73,-194.7,184.6,-10.3,286,1706,0.00,2.72,0.00,0.000,6,0.000,0.034,2769,2304,3868
$GC,2045,-0.73,-194.7,218.9,-9.4,347,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2303,3868
$GC,2389,-0.73,-194.7,248.7,-8.7,408,2397,0.00,2.80,0.00,0.000,4,0.000,0.045,2769,3705,3868
$GC,2455,-0.78,-194.7,254.4,-8.5,419,2462,0.00,2.70,0.00,0.000,6,0.000,0.033,2770,2316,3868
$GC,2801,-0.78,-194.7,286.0,-9.1,480,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2315,3868
$GC,3146,-0.78,-194.7,318.0,-9.2,541,3153,0.00,2.78,0.00,0.000,4,0.000,0.045,2769,3702,3868
$GC,3199,-0.83,-194.7,323.0,-9.0,550,3207,0.17,2.70,0.00,0.000,6,0.060,0.034,2733,2317,3868
$GC,3542,-0.77,-194.7,367.4,-13.3,600,3547,0.00,2.85,0.00,0.000,4,0.000,0.050,2733,883,3868
$GC,3585,-0.77,-194.7,373.4,-13.3,603,3593,0.00,2.78,0.00,0.000,6,0.000,0.030,2733,2325,3867
$GC,3913,-0.72,-194.7,415.4,-12.7,634,3921,0.17,0.00,0.00,0.000,6,0.140,0.000,2757,2326,3867
$GC,4241,-0.72,-194.7,450.3,-9.9,665,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2326,3867
$GC,4558,-0.72,-194.7,482.5,-9.8,695,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2326,3867
$GC,4876,-0.72,-194.7,511.5,-9.0,725,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2326,3866
$GC,5194,-0.72,-194.7,543.0,-10.0,755,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2326,3866
$GC,5513,-0.72,-194.7,575.9,-10.9,785,5517,0.00,2.78,0.00,0.000,4,0.000,0.050,2757,3709,3866
$GC,5567,-0.72,-194.7,582.3,-11.0,789,5575,0.00,2.75,0.00,0.000,6,0.000,0.035,2757,2310,3866
$GC,5898,-0.72,-194.7,618.8,-11.2,813,5903,0.00,2.85,0.00,0.000,4,0.000,0.052,2756,3706,3866
$GC,5939,-0.72,-194.7,623.3,-11.4,815,5943,0.00,2.75,0.00,0.000,6,0.000,0.038,2757,2317,3865
$GC,6266,-0.72,-194.7,659.9,-10.5,831,6270,0.00,2.85,0.00,0.000,4,0.000,0.056,2757,3700,3865
$GC,6306,-0.72,-194.7,663.9,-9.9,833,6311,0.00,2.72,0.00,0.000,6,0.000,0.040,2757,2330,3865
$GC,6633,-0.72,-194.7,695.8,-10.0,849,6638,0.00,2.88,0.00,0.000,4,0.000,0.066,2757,3705,3864
$GC,6673,-0.72,-194.7,700.1,-10.7,851,6678,0.00,2.72,0.00,0.000,6,0.000,0.044,2757,2348,3865
$GC,7000,-0.72,-194.7,735.3,-10.6,867,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2346,3864
$GC,7310,-0.72,-194.7,767.3,-10.1,882,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2346,3864
$GC,7619,-0.72,-194.7,798.8,-10.3,897,7624,0.00,3.03,0.00,0.000,4,0.000,0.091,2757,3696,3864
$GC,7681,-0.76,-194.7,805.7,-11.1,900,7686,0.00,2.90,0.00,0.000,6,0.000,0.076,2757,2363,3864
$STATE,7964,end dive,NO_VERTICAL_VELOCITY
$STATE,7964,begin apogee
$GC,7971,-0.21,0.0,806.1,0.0,914,8177,0.65,0.00,202.50,1.468,6,0.087,0.000,2873,2740,3071
$STATE,8178,end apogee,CONTROL_FINISHED_OK
$STATE,8178,begin climb
$GC,8180,0.86,194.7,806.1,0.0,924,8402,1.38,3.45,207.50,1.406,4,0.084,0.083,3099,1345,2277
$GC,8497,0.75,194.7,777.9,12.8,938,8502,0.00,3.12,0.00,0.000,6,0.000,0.062,3099,2757,2275
$GC,8818,0.62,194.7,741.1,10.2,954,8823,0.25,2.42,0.00,0.000,4,0.120,0.070,3057,3905,2274
$GC,8903,0.68,240.8,733.1,8.4,958,8956,0.00,2.30,46.88,1.362,6,0.000,0.045,3057,2772,2088
$GC,9280,0.74,290.8,705.1,8.3,976,9339,0.12,3.15,51.45,1.360,4,0.064,0.064,3082,1332,1884
$GC,9369,0.74,290.8,694.6,12.6,980,9374,0.00,3.00,0.00,0.000,6,0.000,0.041,3082,2781,1883
$GC,9695,0.68,290.8,653.1,12.3,996,9699,0.00,2.28,0.00,0.000,4,0.000,0.059,3082,3900,1880
$GC,9729,0.64,290.8,648.5,13.4,997,9737,0.15,2.25,0.00,0.000,6,0.110,0.035,3060,2754,1879
$GC,10045,0.77,399.8,622.3,6.2,1013,10165,0.15,3.05,113.20,1.338,4,0.058,0.053,3094,1340,1440
$GC,10176,0.77,399.8,608.5,11.1,1019,10181,0.00,3.00,0.00,0.000,6,0.000,0.034,3094,2784,1438
$GC,10506,0.77,399.8,565.1,13.9,1047,10507,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2784,1432
$GC,10823,0.77,399.8,523.6,12.5,1077,10828,0.00,2.92,0.00,0.000,4,0.000,0.045,3094,1338,1430
$GC,10855,0.77,399.8,519.3,12.9,1079,10863,0.00,2.83,0.00,0.000,6,0.000,0.031,3094,2778,1430
$GC,11181,0.77,399.8,480.8,11.6,1110,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2777,1429
$GC,11500,0.77,399.8,442.0,12.8,1140,11504,0.00,2.90,0.00,0.000,4,0.000,0.045,3094,1337,1429
$GC,11528,0.77,399.8,438.4,12.8,1142,11533,0.00,2.80,0.00,0.000,6,0.000,0.031,3094,2771,1429
$GC,11853,0.77,399.8,398.8,12.1,1172,11854,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2771,1429
$GC,12171,0.77,399.8,358.6,12.4,1202,12176,0.00,2.88,0.00,0.000,4,0.000,0.045,3094,1338,1428
$GC,12191,0.77,399.8,355.8,12.6,1203,12199,0.00,2.78,0.00,0.000,6,0.000,0.032,3094,2758,1428
$GC,12533,0.77,399.8,313.8,12.8,1260,12540,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2759,1428
$GC,12878,0.77,399.8,270.4,12.9,1321,12885,0.00,2.85,0.00,0.000,4,0.000,0.045,3094,1338,1428
$GC,12908,0.77,399.8,266.6,12.4,1326,12915,0.00,2.75,0.00,0.000,6,0.000,0.032,3094,2755,1428
$GC,13253,0.77,399.8,224.4,12.0,1387,13259,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2755,1427
$GC,13596,0.77,399.8,182.7,11.4,1448,13604,0.00,2.85,0.00,0.000,4,0.000,0.045,3094,1332,1427
$GC,13622,0.77,399.8,179.6,11.9,1452,13629,0.00,2.72,0.00,0.000,6,0.000,0.031,3094,2738,1427
$GC,13968,0.77,399.8,138.0,12.2,1513,13974,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2738,1427
$GC,14312,0.77,399.8,94.6,12.6,1574,14320,0.00,2.80,0.00,0.000,4,0.000,0.045,3094,1335,1428
$GC,14332,0.77,399.8,92.1,12.9,1577,14339,0.00,2.72,0.00,0.000,6,0.000,0.031,3094,2737,1427
$GC,14677,0.77,399.8,49.3,12.7,1638,14685,0.00,2.80,0.00,0.000,4,0.000,0.046,3094,1338,1427
$GC,14709,0.77,399.8,45.4,12.6,1643,14717,0.00,2.67,0.00,0.000,6,0.000,0.031,3094,2723,1427
$GC,14852,0.81,399.8,29.5,10.7,1668,14860,0.00,2.30,0.00,0.000,4,0.000,0.048,3094,3889,1427
$GC,14878,0.85,399.8,26.5,10.6,1672,14887,0.00,2.30,0.00,0.000,6,0.000,0.033,3094,2713,1427
$GC,15025,0.91,411.9,12.0,9.6,1697,15047,0.12,2.80,10.98,0.816,4,0.055,0.048,3123,1335,1391
$GC,15060,0.91,411.9,7.5,12.7,1702,15068,0.00,2.72,0.00,0.000,6,0.000,0.030,3123,2733,1390
$STATE,15100,end climb,SURFACE_DEPTH_REACHED
$STATE,15101,begin surface coast
$FINISH,0.6,1.026045
$STATE,15113,end surface coast,CONTROL_FINISHED_OK
$STATE,15113,begin surface
$SM_CCo,15192,0.00,0.000,0,0,1387,413.09
$SM_GC,0.64,8.57,0.00,0.00,0.045,0.000,0.000,1435,2305,1387,-6.79,0.14,413.09
$IRIDIUM_FIX,6126.23,-2611.49,260897,151548
$TT8_MAMPS,0.026845
$HUMID,1813
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,14.50
$XPDR_PINGS,782
$24V_AH,19.2,85.807
$10V_AH,9.8,59.944
$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,24.000,140.650,632.500,0.000,0.000,56.436,76.105,330.486,195.500,0.000,0.000,12.924,3478.775,7610.207,830.114,3131.515,801.711,0.000,2265.839,0.000,3123.143,0.000,0.465
$DEVICE_MAMPS,253.110,90.506,1468.038,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1215.649,1256.525,670.441,1596.766,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123350,1711
$CAP_FILE_SIZE,157132,0
$CFSIZE,260165632,230522880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029,350.3,1
$GPS,010608,192938,6148.236,-2618.315,34,1.3,34,-18.8