version: 66.03
glider: 142
mission: 5
dive: 282
start: 6 3 108 10 40 59
data:
$ID,142
$MISSION,5
$DIVE,282
$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,-18332.684
$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,28
$R_STBD_OVSHOOT,23
$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
$GPS1,103232,6148.606,-2610.462,40,1.2,40,-18.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-47.9
$GPS2,104039,6148.554,-2610.526,14,1.3,14,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NW
$TGT_LATLONG,6156.130,-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,2.6,17737,-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,-194.7,0.0,0.0,0,164,0.00,0.00,-140.02,0.000,2,0.000,0.000,1432,2280,3530
$GC,167,-0.86,-194.7,3.4,-4.4,18,195,12.05,2.88,-8.62,0.000,4,0.253,0.054,2723,3709,3866
$GC,332,-0.77,-194.7,35.5,-18.0,46,341,0.15,2.75,0.00,0.000,6,0.144,0.034,2744,2298,3867
$GC,478,-0.73,-194.7,57.5,-12.9,71,485,0.00,2.83,0.00,0.000,4,0.000,0.050,2744,884,3867
$GC,587,-0.73,-194.7,70.8,-11.6,90,595,0.00,2.70,0.00,0.000,6,0.000,0.030,2744,2290,3867
$GC,933,-0.73,-194.7,109.8,-11.2,151,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2290,3867
$GC,1277,-0.73,-194.7,149.1,-11.8,212,1284,0.00,2.80,0.00,0.000,4,0.000,0.048,2744,886,3867
$GC,1314,-0.73,-194.7,153.6,-12.5,218,1321,0.00,2.70,0.00,0.000,6,0.000,0.030,2744,2291,3867
$GC,1659,-0.73,-194.7,195.9,-12.1,279,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2292,3867
$GC,2003,-0.73,-194.7,237.6,-12.2,340,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2292,3867
$GC,2348,-0.73,-194.7,280.2,-12.8,401,2355,0.00,2.80,0.00,0.000,4,0.000,0.048,2744,892,3867
$GC,2396,-0.73,-194.7,286.3,-12.6,409,2403,0.00,2.67,0.00,0.000,6,0.000,0.031,2744,2283,3867
$GC,2740,-0.73,-194.7,329.6,-12.5,470,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2284,3867
$GC,3080,-0.73,-194.7,371.9,-12.4,516,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2284,3867
$GC,3399,-0.73,-194.7,413.3,-13.1,546,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2285,3867
$GC,3718,-0.73,-194.7,454.6,-13.0,576,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2285,3867
$GC,4036,-0.73,-194.7,495.9,-12.8,606,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2285,3867
$GC,4355,-0.73,-194.7,533.4,-11.7,636,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2286,3867
$GC,4673,-0.73,-194.7,574.4,-12.8,666,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2285,3866
$GC,4991,-0.73,-194.7,613.5,-12.1,691,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2285,3866
$GC,5299,-0.73,-194.7,651.1,-12.7,706,5304,0.00,2.85,0.00,0.000,4,0.000,0.054,2744,887,3866
$GC,5331,-0.73,-194.7,655.6,-12.7,707,5340,0.00,2.70,0.00,0.000,6,0.000,0.033,2744,2272,3866
$GC,5648,-0.73,-194.7,693.5,-11.4,723,5653,0.00,2.95,0.00,0.000,4,0.000,0.059,2744,3709,3866
$GC,5733,-0.73,-194.7,702.9,-11.0,727,5738,0.00,2.88,0.00,0.000,6,0.000,0.045,2744,2283,3865
$GC,6060,-0.73,-194.7,739.6,-11.6,743,6065,0.00,2.97,0.00,0.000,4,0.000,0.077,2744,887,3865
$GC,6115,-0.73,-194.7,746.3,-11.7,745,6122,0.00,2.83,0.00,0.000,6,0.000,0.048,2744,2287,3864
$GC,6431,-0.73,-194.7,783.0,-11.3,761,6436,0.00,3.10,0.00,0.000,4,0.000,0.084,2744,3709,3864
$GC,6502,-0.73,-194.7,790.9,-10.6,764,6507,0.00,2.97,0.00,0.000,6,0.000,0.067,2744,2309,3864
$GC,6820,-0.73,-194.7,824.4,-10.6,779,6825,0.00,3.28,0.00,0.000,4,0.000,0.105,2744,882,3864
$GC,6860,-0.73,-194.7,828.7,-11.2,781,6865,0.00,3.15,0.00,0.000,6,0.000,0.081,2744,2313,3864
$GC,7187,-0.73,-194.7,861.9,-10.4,797,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2314,3864
$GC,7498,-0.73,-194.7,892.2,-9.6,812,7503,0.00,3.47,0.00,0.000,4,0.000,0.131,2744,3715,3863
$GC,7586,-0.73,-194.7,900.9,-8.8,816,7591,0.00,2.90,0.00,0.000,6,0.000,0.048,2744,2288,3863
$GC,7909,-0.88,-194.7,928.4,-4.8,832,7910,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2288,3863
$STATE,8193,end dive,NO_VERTICAL_VELOCITY
$STATE,8193,begin apogee
$GC,8201,-0.21,0.0,928.4,0.0,846,8417,0.73,0.00,208.90,1.554,6,0.087,0.000,2872,2762,3071
$STATE,8417,end apogee,CONTROL_FINISHED_OK
$STATE,8418,begin climb
$GC,8420,0.86,194.7,928.3,0.0,857,8640,1.40,0.00,215.38,1.494,6,0.084,0.000,3099,2762,2277
$GC,8936,0.72,194.7,874.9,12.8,882,8941,0.15,2.33,0.00,0.000,4,0.121,0.054,3076,3895,2274
$GC,8985,0.65,194.7,869.2,10.7,884,8989,0.00,2.28,0.00,0.000,6,0.000,0.032,3076,2739,2274
$GC,9302,0.58,194.7,837.1,10.1,899,9307,0.17,2.38,0.00,0.000,4,0.108,0.052,3046,3896,2273
$GC,9346,0.64,244.5,833.1,8.3,901,9407,0.00,2.20,51.33,1.451,6,0.000,0.032,3046,2761,2074
$GC,9717,0.75,337.1,807.2,6.8,919,9828,0.15,3.03,98.20,1.447,4,0.056,0.051,3081,1348,1694
$GC,9963,0.75,337.1,781.2,10.7,930,9968,0.00,2.85,0.00,0.000,6,0.000,0.033,3081,2762,1689
$GC,10290,0.75,337.1,744.5,11.6,946,10295,0.00,2.90,0.00,0.000,4,0.000,0.046,3081,1336,1686
$GC,10406,0.75,337.1,731.0,11.5,951,10410,0.00,2.83,0.00,0.000,6,0.000,0.035,3081,2762,1686
$GC,10721,0.75,337.1,691.9,13.0,966,10723,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2761,1685
$GC,11032,0.75,337.1,653.9,11.7,981,11036,0.00,2.88,0.00,0.000,4,0.000,0.048,3081,1339,1685
$GC,11048,0.75,337.1,651.7,11.9,982,11053,0.00,2.78,0.00,0.000,6,0.000,0.034,3081,2754,1685
$GC,11375,0.75,337.1,613.7,11.8,998,11376,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2754,1684
$GC,11690,0.75,337.1,579.1,10.6,1022,11691,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2754,1684
$GC,12008,0.75,337.1,546.6,10.2,1052,12012,0.00,2.85,0.00,0.000,4,0.000,0.046,3081,1342,1684
$GC,12018,0.75,337.1,545.5,10.1,1052,12026,0.00,2.75,0.00,0.000,6,0.000,0.034,3081,2748,1684
$GC,12345,0.80,370.6,515.6,8.8,1083,12384,0.00,0.00,33.50,1.272,6,0.000,0.000,3081,2748,1561
$GC,12702,0.83,397.2,482.2,9.1,1117,12738,0.00,2.97,29.62,1.243,4,0.000,0.046,3081,1337,1451
$GC,12743,0.87,434.3,478.2,8.7,1120,12791,0.15,2.80,41.25,1.233,6,0.051,0.033,3113,2739,1300
$GC,13117,0.82,434.3,428.6,14.5,1155,13121,0.00,2.33,0.00,0.000,4,0.000,0.051,3113,3891,1292
$GC,13134,0.76,434.3,425.9,15.2,1156,13139,0.15,2.25,0.00,0.000,6,0.101,0.032,3091,2737,1292
$GC,13459,0.76,434.3,388.6,10.9,1186,13460,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2733,1291
$GC,13777,0.76,434.3,353.8,10.6,1216,13778,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2729,1289
$GC,14112,0.77,442.6,320.1,9.7,1272,14126,0.00,2.85,8.00,0.939,4,0.000,0.048,3090,1339,1266
$GC,14133,0.77,442.6,318.0,10.2,1275,14141,0.00,2.75,0.00,0.000,6,0.000,0.031,3090,2749,1265
$GC,14479,0.78,450.7,284.0,9.7,1336,14494,0.00,2.90,9.98,0.984,4,0.000,0.045,3091,1340,1233
$GC,14506,0.80,460.2,281.4,9.7,1340,14527,0.00,2.75,12.15,1.040,6,0.000,0.031,3090,2745,1193
$GC,14868,0.86,472.3,245.9,9.6,1403,14889,0.00,2.83,13.27,1.011,4,0.000,0.044,3090,1343,1146
$GC,14902,0.91,472.3,242.2,10.7,1408,14910,0.15,2.70,0.00,0.000,6,0.050,0.031,3124,2721,1146
$GC,15248,0.86,472.3,190.2,16.0,1469,15255,0.00,2.33,0.00,0.000,4,0.000,0.049,3124,3893,1144
$GC,15268,0.80,472.3,186.8,16.3,1472,15276,0.17,2.25,0.00,0.000,6,0.100,0.031,3097,2724,1144
$GC,15615,0.84,472.3,145.5,11.4,1533,15622,0.00,2.75,0.00,0.000,4,0.000,0.047,3097,1338,1142
$GC,15629,0.89,472.3,143.8,11.3,1535,15636,0.00,2.72,0.00,0.000,6,0.000,0.031,3097,2740,1142
$GC,15974,0.96,490.9,107.7,9.4,1596,16004,0.15,2.83,20.52,0.979,4,0.052,0.045,3134,1340,1069
$GC,16011,0.96,490.9,103.4,12.8,1601,16018,0.00,2.70,0.00,0.000,6,0.000,0.031,3134,2715,1069
$GC,16354,0.91,490.9,56.9,10.9,1662,16362,0.00,2.33,0.00,0.000,4,0.000,0.048,3134,3891,1067
$GC,16380,0.91,490.9,54.2,10.6,1666,16388,0.00,2.22,0.00,0.000,6,0.000,0.033,3134,2735,1066
$GC,16724,0.91,490.9,15.9,15.6,1727,16731,0.00,2.78,0.00,0.000,4,0.000,0.048,3134,1336,1066
$GC,16738,0.91,490.9,13.6,15.0,1729,16746,0.00,2.70,0.00,0.000,6,0.000,0.031,3134,2735,1066
$STATE,16835,end climb,SURFACE_DEPTH_REACHED
$STATE,16835,begin surface coast
$FINISH,-0.0,1.026023
$STATE,16852,end surface coast,CONTROL_FINISHED_OK
$STATE,16854,begin surface
$SM_CCo,16933,0.00,0.000,0,0,1064,492.32
$SM_GC,0.56,8.73,0.00,0.00,0.051,0.000,0.000,1437,2275,1064,-6.79,-0.71,492.32
$IRIDIUM_FIX,6121.73,-2601.40,280897,050502
$TT8_MAMPS,0.026078
$HUMID,1817
$INTERNAL_PRESSURE,8.85822
$TCM_TEMP,14.50
$XPDR_PINGS,934
$24V_AH,19.0,88.737
$10V_AH,9.8,61.356
$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,24.300,144.825,742.100,0.000,0.000,29.281,32.540,273.123,233.500,0.000,0.000,16.302,3510.690,9081.830,939.360,3198.612,669.652,0.000,2387.299,0.000,3182.493,0.000,0.465
$DEVICE_MAMPS,253.110,131.157,1553.942,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1240.938,1269.303,657.721,1570.876,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126599,1749
$CAP_FILE_SIZE,159876,0
$CFSIZE,260165632,229707776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.169,199.5,1
$GPS,030608,152426,6149.556,-2612.885,37,1.9,37,-18.8