version: 66.03
glider: 142
mission: 5
dive: 283
start: 6 3 108 15 32 39
data:
$ID,142
$MISSION,5
$DIVE,283
$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,-18350.479
$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,37
$R_STBD_OVSHOOT,25
$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
$GPS1,152426,6149.556,-2612.885,37,1.9,37,-18.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-42.7
$GPS2,153220,6149.514,-2613.057,10,1.3,15,-18.8
$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,11.5,14996,-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,-194.7,0.0,0.0,0,173,0.00,0.00,-149.62,0.000,2,0.000,0.000,1437,2273,3644
$GC,176,-0.86,-194.7,3.9,-5.9,20,204,11.82,2.90,-5.45,0.000,4,0.252,0.051,2723,3698,3866
$GC,314,-0.77,-194.7,29.9,-14.6,43,322,0.17,2.70,0.00,0.000,6,0.145,0.035,2747,2315,3867
$GC,459,-0.72,-194.7,49.9,-12.7,68,467,0.00,2.83,0.00,0.000,4,0.000,0.050,2747,890,3868
$GC,553,-0.72,-194.7,59.9,-8.9,84,561,0.00,2.65,0.00,0.000,6,0.000,0.030,2747,2270,3868
$GC,899,-0.72,-194.7,94.8,-10.2,145,906,0.00,2.83,0.00,0.000,4,0.000,0.043,2747,3701,3868
$GC,948,-0.72,-194.7,99.3,-8.8,153,955,0.00,2.85,0.00,0.000,6,0.000,0.034,2747,2242,3868
$GC,1291,-0.72,-194.7,133.2,-11.0,214,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2242,3868
$GC,1637,-0.72,-194.7,170.9,-11.5,275,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2241,3867
$GC,1981,-0.72,-194.7,210.5,-11.4,336,1988,0.00,2.92,0.00,0.000,4,0.000,0.044,2747,3707,3867
$GC,2056,-0.72,-194.7,219.1,-11.2,349,2064,0.00,2.85,0.00,0.000,6,0.000,0.035,2747,2246,3868
$GC,2401,-0.72,-194.7,258.9,-11.9,410,2409,0.00,2.70,0.00,0.000,4,0.000,0.051,2747,886,3868
$GC,2455,-0.72,-194.7,265.2,-11.5,419,2462,0.00,2.65,0.00,0.000,6,0.000,0.030,2747,2266,3868
$GC,2800,-0.72,-194.7,306.5,-12.3,480,2807,0.00,2.85,0.00,0.000,4,0.000,0.044,2747,3704,3867
$GC,2876,-0.72,-194.7,315.7,-12.2,493,2883,0.00,2.83,0.00,0.000,6,0.000,0.035,2747,2259,3867
$GC,3219,-0.72,-194.7,356.9,-11.8,549,3223,0.00,2.72,0.00,0.000,4,0.000,0.049,2747,883,3867
$GC,3251,-0.72,-194.7,360.9,-11.8,551,3259,0.00,2.67,0.00,0.000,6,0.000,0.029,2747,2278,3867
$GC,3578,-0.72,-194.7,398.6,-11.6,582,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2278,3867
$GC,3895,-0.72,-194.7,435.2,-11.3,612,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2280,3867
$GC,4213,-0.72,-194.7,472.0,-11.9,642,4218,0.00,2.83,0.00,0.000,4,0.000,0.046,2747,3700,3867
$GC,4268,-0.72,-194.7,478.5,-11.4,646,4277,0.00,2.78,0.00,0.000,6,0.000,0.035,2747,2278,3867
$GC,4595,-0.72,-194.7,514.6,-10.7,677,4600,0.00,2.78,0.00,0.000,4,0.000,0.051,2747,889,3867
$GC,4639,-0.72,-194.7,519.6,-10.7,680,4647,0.00,2.67,0.00,0.000,6,0.000,0.030,2747,2283,3866
$GC,4969,-0.72,-194.7,551.1,-9.0,711,4974,0.00,2.83,0.00,0.000,4,0.000,0.048,2747,3700,3866
$GC,5053,-0.72,-194.7,558.5,-7.6,718,5058,0.00,2.75,0.00,0.000,6,0.000,0.035,2747,2299,3866
$GC,5380,-0.72,-194.7,587.5,-9.9,748,5385,0.00,2.83,0.00,0.000,4,0.000,0.054,2747,889,3866
$GC,5413,-0.72,-194.7,591.3,-10.3,750,5422,0.00,2.75,0.00,0.000,6,0.000,0.031,2747,2297,3866
$GC,5734,-0.72,-194.7,625.2,-11.1,770,5738,0.00,2.85,0.00,0.000,4,0.000,0.053,2747,3707,3866
$GC,5818,-0.72,-194.7,635.1,-11.9,774,5823,0.00,2.78,0.00,0.000,6,0.000,0.039,2747,2308,3866
$GC,6144,-0.72,-194.7,672.6,-11.4,790,6149,0.00,2.92,0.00,0.000,4,0.000,0.062,2747,882,3866
$GC,6184,-0.72,-194.7,676.6,-10.1,792,6189,0.00,2.83,0.00,0.000,6,0.000,0.035,2747,2320,3866
$GC,6510,-0.72,-194.7,710.2,-10.5,808,6515,0.00,2.88,0.00,0.000,4,0.000,0.064,2747,3708,3865
$GC,6587,-0.72,-194.7,718.9,-11.4,811,6595,0.00,2.80,0.00,0.000,6,0.000,0.048,2747,2326,3865
$GC,6905,-0.72,-194.7,756.8,-13.2,827,6909,0.00,3.12,0.00,0.000,4,0.000,0.084,2747,884,3865
$GC,6945,-0.72,-194.7,762.1,-13.0,829,6949,0.00,3.00,0.00,0.000,6,0.000,0.054,2747,2341,3865
$GC,7272,-0.72,-194.7,803.5,-12.4,845,7276,0.00,3.05,0.00,0.000,4,0.000,0.092,2747,3712,3865
$GC,7349,-0.72,-194.7,812.7,-11.2,848,7357,0.00,3.00,0.00,0.000,6,0.000,0.077,2747,2341,3865
$GC,7665,-1.01,-194.7,830.4,-0.0,864,7671,0.22,3.33,0.00,0.000,4,0.058,0.102,2702,883,3864
$GC,7700,-1.26,-194.7,830.4,-0.4,865,7707,0.30,3.22,0.00,0.000,6,0.062,0.083,2646,2345,3864
$STATE,7848,end dive,NO_VERTICAL_VELOCITY
$STATE,7848,begin apogee
$GC,7855,-0.21,0.0,830.5,0.0,873,8063,1.23,0.00,204.38,1.489,6,0.074,0.000,2870,2753,3071
$STATE,8064,end apogee,CONTROL_FINISHED_OK
$STATE,8064,begin climb
$GC,8066,0.86,194.7,830.3,0.0,883,8290,1.38,3.55,209.90,1.425,4,0.073,0.087,3102,1333,2276
$GC,8381,0.73,194.7,804.2,11.5,897,8386,0.00,3.20,0.00,0.000,6,0.000,0.070,3102,2750,2275
$GC,8709,0.59,194.7,768.0,11.2,913,8714,0.30,2.47,0.00,0.000,4,0.115,0.075,3053,3909,2273
$GC,8727,0.48,194.7,765.9,11.3,914,8732,0.17,2.38,0.00,0.000,6,0.110,0.053,3026,2760,2273
$GC,9054,0.63,266.5,743.6,7.5,930,9135,0.15,3.17,73.25,1.398,4,0.055,0.069,3056,1339,1983
$GC,9142,0.63,266.5,734.7,10.6,934,9147,0.00,3.00,0.00,0.000,6,0.000,0.046,3056,2755,1983
$GC,9469,0.63,266.5,698.7,10.4,950,9470,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2756,1979
$GC,9779,0.63,266.5,668.8,10.3,965,9780,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2756,1978
$GC,10087,0.73,352.0,645.7,7.0,980,10184,0.12,3.12,88.10,1.363,4,0.063,0.051,3083,1326,1635
$GC,10197,0.73,352.0,635.5,10.1,985,10202,0.00,2.95,0.00,0.000,6,0.000,0.035,3083,2758,1633
$GC,10524,0.74,354.7,601.9,9.9,1001,10526,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2758,1628
$GC,10841,0.74,354.7,561.9,14.2,1030,10846,0.00,2.90,0.00,0.000,4,0.000,0.047,3083,1324,1628
$GC,10851,0.74,354.7,560.3,13.8,1030,10859,0.00,2.80,0.00,0.000,6,0.000,0.033,3083,2750,1627
$GC,11178,0.74,354.7,514.8,14.1,1061,11179,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2751,1627
$GC,11495,0.74,354.7,472.4,12.6,1091,11496,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2751,1626
$GC,11815,0.74,354.7,435.4,11.0,1121,11816,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2751,1626
$GC,12132,0.74,354.7,401.3,10.4,1151,12137,0.00,2.85,0.00,0.000,4,0.000,0.046,3083,1323,1626
$GC,12142,0.74,354.7,400.0,10.7,1151,12150,0.00,2.78,0.00,0.000,6,0.000,0.033,3083,2744,1626
$GC,12469,0.74,356.3,367.0,9.9,1182,12473,0.00,2.83,0.00,0.000,4,0.000,0.045,3083,1332,1626
$GC,12479,0.75,363.6,365.7,9.7,1182,12498,0.00,2.75,11.38,1.041,6,0.000,0.032,3083,2745,1588
$GC,12826,0.78,392.0,332.5,9.0,1230,12859,0.00,0.00,30.77,1.152,6,0.000,0.000,3083,2745,1473
$GC,13197,0.84,438.8,301.9,8.4,1295,13256,0.00,2.97,49.38,1.137,4,0.000,0.045,3083,1331,1281
$GC,13265,0.96,498.4,296.6,7.9,1305,13339,0.22,2.83,63.85,1.104,6,0.045,0.031,3131,2738,1037
$GC,13679,0.89,498.4,237.5,15.3,1376,13686,0.00,2.30,0.00,0.000,4,0.000,0.049,3131,3890,1031
$GC,13699,0.82,498.4,234.0,16.3,1379,13707,0.20,2.25,0.00,0.000,6,0.100,0.031,3100,2733,1030
$GC,14046,0.87,498.4,198.0,10.5,1440,14053,0.00,2.78,0.00,0.000,4,0.000,0.046,3100,1338,1028
$GC,14060,0.92,506.5,196.6,9.7,1442,14074,0.00,2.75,7.57,0.841,6,0.000,0.032,3100,2749,1006
$GC,14414,1.00,519.3,161.2,9.6,1504,14437,0.15,2.85,14.90,0.961,4,0.052,0.045,3136,1341,952
$GC,14462,0.95,519.3,155.0,14.6,1511,14469,0.00,2.70,0.00,0.000,6,0.000,0.031,3136,2719,951
$GC,14806,0.89,519.3,101.7,16.5,1572,14814,0.15,2.33,0.00,0.000,4,0.106,0.047,3113,3895,949
$GC,14841,0.89,519.3,96.9,15.1,1577,14848,0.00,2.25,0.00,0.000,6,0.000,0.032,3113,2733,949
$GC,15185,0.89,519.3,50.8,14.4,1638,15193,0.00,2.78,0.00,0.000,4,0.000,0.048,3113,1334,948
$GC,15207,0.89,519.3,47.8,15.3,1641,15214,0.00,2.72,0.00,0.000,6,0.000,0.031,3113,2747,948
$GC,15350,0.94,519.3,26.8,13.2,1666,15357,0.00,2.80,0.00,0.000,4,0.000,0.044,3113,1339,947
$GC,15382,1.01,519.3,22.4,14.5,1671,15390,0.12,2.60,0.00,0.000,6,0.053,0.031,3141,2691,947
$STATE,15526,end climb,SURFACE_DEPTH_REACHED
$STATE,15526,begin surface coast
$FINISH,0.0,1.026042
$STATE,15537,end surface coast,CONTROL_FINISHED_OK
$STATE,15537,begin surface
$SM_CCo,15617,0.00,0.000,0,0,946,521.26
$SM_GC,0.51,8.65,0.00,0.00,0.046,0.000,0.000,1434,2288,946,-6.79,-0.34,521.26
$IRIDIUM_FIX,6126.23,-2605.39,280897,101041
$TT8_MAMPS,0.026845
$HUMID,1812
$INTERNAL_PRESSURE,8.84845
$TCM_TEMP,16.10
$XPDR_PINGS,828
$24V_AH,19.1,89.066
$10V_AH,9.8,61.510
$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,25.375,176.325,753.475,0.000,0.000,29.470,38.637,251.926,207.000,0.000,0.000,17.165,3392.674,7934.786,941.981,3133.517,670.994,0.000,2411.278,0.000,3119.979,0.000,0.465
$DEVICE_MAMPS,251.576,102.011,1488.747,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1190.267,1249.709,645.510,1569.081,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123317,1698
$CAP_FILE_SIZE,160914,0
$CFSIZE,260165632,229613568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145,253.6,1
$GPS,030608,195409,6151.510,-2615.817,36,1.3,37,-18.8