version: 66.03
glider: 142
mission: 5
dive: 284
start: 6 3 108 20 2 16
data:
$ID,142
$MISSION,5
$DIVE,284
$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,-18366.053
$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,27
$R_STBD_OVSHOOT,24
$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
$GPS1,195409,6151.510,-2615.817,36,1.3,37,-18.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-40.5
$GPS2,200156,6151.472,-2615.853,13,1.3,13,-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,10.8,10629,-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,-194.7,0.0,0.0,0,178,0.00,0.00,-154.20,0.000,2,0.000,0.000,1434,2286,3530
$GC,181,-0.86,-194.7,3.1,-4.0,20,204,11.75,0.00,-8.82,0.000,6,0.249,0.000,2725,2286,3865
$GC,342,-0.76,-194.7,31.9,-15.7,47,350,0.17,2.80,0.00,0.000,4,0.153,0.049,2751,890,3867
$GC,408,-0.76,-194.7,40.2,-11.8,58,415,0.00,2.72,0.00,0.000,6,0.000,0.031,2750,2305,3867
$GC,551,-0.76,-194.7,58.4,-12.5,83,558,0.00,2.78,0.00,0.000,4,0.000,0.044,2751,3710,3867
$GC,615,-0.76,-194.7,66.0,-11.4,94,623,0.00,2.72,0.00,0.000,6,0.000,0.034,2751,2311,3868
$GC,963,-0.76,-194.7,109.8,-13.6,155,970,0.00,2.83,0.00,0.000,4,0.000,0.050,2751,886,3868
$GC,1023,-0.76,-194.7,118.2,-13.9,165,1030,0.00,2.75,0.00,0.000,6,0.000,0.031,2751,2317,3868
$GC,1369,-0.76,-194.7,166.2,-14.0,226,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2318,3868
$GC,1713,-0.76,-194.7,214.7,-14.0,287,1720,0.00,2.85,0.00,0.000,4,0.000,0.048,2751,889,3868
$GC,1750,-0.76,-194.7,219.8,-14.1,293,1757,0.00,2.75,0.00,0.000,6,0.000,0.031,2751,2317,3868
$GC,2094,-0.76,-194.7,266.9,-13.7,354,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2318,3868
$GC,2438,-0.76,-194.7,312.3,-12.3,415,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2318,3868
$GC,2780,-0.76,-194.7,352.6,-11.4,474,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2318,3868
$GC,3099,-0.76,-194.7,388.4,-11.3,504,3103,0.00,2.88,0.00,0.000,4,0.000,0.048,2751,884,3867
$GC,3149,-0.76,-194.7,394.3,-11.1,508,3154,0.00,2.72,0.00,0.000,6,0.000,0.031,2751,2301,3867
$GC,3477,-0.76,-194.7,432.1,-11.6,538,3482,0.00,2.80,0.00,0.000,4,0.000,0.046,2751,3711,3867
$GC,3532,-0.76,-194.7,438.7,-10.9,542,3540,0.00,2.78,0.00,0.000,6,0.000,0.034,2751,2286,3867
$GC,3861,-0.76,-194.7,474.8,-11.2,573,3865,0.00,2.80,0.00,0.000,4,0.000,0.051,2751,884,3867
$GC,3905,-0.76,-194.7,480.3,-11.1,576,3912,0.00,2.72,0.00,0.000,6,0.000,0.030,2751,2305,3867
$GC,4231,-0.76,-194.7,516.1,-11.1,607,4236,0.00,2.78,0.00,0.000,4,0.000,0.047,2751,3702,3867
$GC,4298,-0.76,-194.7,523.7,-10.6,612,4305,0.00,2.75,0.00,0.000,6,0.000,0.035,2751,2291,3866
$GC,4625,-0.76,-194.7,558.3,-10.7,643,4630,0.00,2.80,0.00,0.000,4,0.000,0.053,2751,895,3866
$GC,4654,-0.76,-194.7,561.7,-11.4,645,4659,0.00,2.72,0.00,0.000,6,0.000,0.031,2751,2306,3866
$GC,4982,-0.76,-194.7,595.4,-10.5,675,4986,0.00,2.80,0.00,0.000,4,0.000,0.051,2751,3701,3866
$GC,5058,-0.76,-194.7,603.6,-9.7,680,5066,0.00,2.75,0.00,0.000,6,0.000,0.036,2751,2305,3866
$GC,5375,-0.76,-194.7,634.7,-9.6,696,5379,0.00,2.88,0.00,0.000,4,0.000,0.058,2751,886,3866
$GC,5418,-0.76,-194.7,639.4,-10.6,698,5423,0.00,2.78,0.00,0.000,6,0.000,0.034,2751,2318,3866
$GC,5739,-0.76,-194.7,669.7,-9.1,714,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2318,3866
$GC,6049,-0.76,-194.7,698.1,-8.9,729,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2318,3866
$GC,6360,-0.76,-194.7,730.2,-11.0,744,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2318,3865
$GC,6668,-1.22,-194.7,731.5,0.0,759,6670,0.52,0.00,0.00,0.000,6,0.074,0.000,2656,2318,3865
$STATE,6706,end dive,NO_VERTICAL_VELOCITY
$STATE,6706,begin apogee
$GC,6713,-0.21,0.0,731.5,0.0,761,6917,1.10,0.00,200.98,1.415,6,0.044,0.000,2877,2753,3070
$STATE,6918,end apogee,CONTROL_FINISHED_OK
$STATE,6918,begin climb
$GC,6921,0.86,194.7,731.4,0.0,771,7137,1.27,2.65,205.60,1.355,4,0.058,0.065,3102,3900,2276
$GC,7148,0.72,194.7,714.8,12.5,782,7153,0.17,2.50,0.00,0.000,6,0.117,0.042,3079,2757,2275
$GC,7470,0.64,194.7,681.2,10.8,798,7474,0.00,2.40,0.00,0.000,4,0.000,0.060,3079,3901,2273
$GC,7488,0.56,194.7,679.3,11.2,799,7493,0.22,2.30,0.00,0.000,6,0.110,0.038,3045,2753,2273
$GC,7815,0.63,254.3,653.7,7.9,815,7877,0.00,0.00,59.97,1.332,6,0.000,0.000,3045,2753,2034
$GC,8185,0.74,308.2,624.5,8.1,833,8251,0.15,3.00,55.33,1.311,4,0.055,0.055,3079,1331,1812
$GC,8257,0.74,308.2,616.7,11.0,836,8262,0.00,2.90,0.00,0.000,6,0.000,0.034,3079,2753,1812
$GC,8583,0.74,308.2,583.4,10.1,859,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2753,1808
$GC,8902,0.76,322.2,550.8,9.5,889,8921,0.00,0.00,14.60,1.168,6,0.000,0.000,3079,2753,1756
$GC,9241,0.76,322.2,517.3,10.8,921,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2753,1755
$GC,9558,0.76,322.2,483.6,10.9,951,9559,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2753,1754
$GC,9876,0.76,323.2,450.0,10.0,981,9881,0.00,2.85,0.00,0.000,4,0.000,0.045,3079,1333,1755
$GC,9886,0.76,323.8,448.8,10.0,981,9894,0.00,2.80,0.00,0.000,6,0.000,0.032,3079,2766,1754
$GC,10214,0.77,328.0,417.0,9.9,1012,10227,0.00,2.88,6.68,0.930,4,0.000,0.044,3079,1334,1734
$GC,10232,0.77,328.0,414.7,10.0,1013,10240,0.00,2.78,0.00,0.000,6,0.000,0.031,3079,2750,1734
$GC,10561,0.77,330.2,383.2,9.9,1044,10569,0.00,0.00,4.40,0.757,6,0.000,0.000,3079,2751,1724
$GC,10888,0.80,353.5,351.7,9.2,1075,10919,0.00,2.95,25.27,1.153,4,0.000,0.045,3079,1333,1628
$GC,10927,0.82,369.8,348.0,9.4,1079,10954,0.00,2.80,18.52,1.113,6,0.000,0.031,3079,2745,1563
$GC,11295,0.87,414.6,316.8,8.4,1143,11350,0.15,2.92,46.95,1.141,4,0.052,0.044,3111,1333,1379
$GC,11357,0.82,414.6,309.9,11.7,1152,11365,0.00,2.83,0.00,0.000,6,0.000,0.031,3111,2739,1378
$GC,11703,0.77,414.6,267.1,13.0,1213,11711,0.15,2.30,0.00,0.000,4,0.102,0.048,3085,3893,1374
$GC,11729,0.77,414.6,264.1,10.7,1217,11737,0.00,2.25,0.00,0.000,6,0.000,0.031,3085,2728,1373
$GC,12075,0.81,447.1,234.0,8.9,1278,12116,0.00,2.80,33.15,1.076,4,0.000,0.045,3085,1347,1248
$GC,12123,0.88,467.8,229.7,9.3,1285,12153,0.15,2.78,23.55,1.034,6,0.050,0.031,3118,2747,1163
$GC,12494,0.88,467.8,181.0,14.4,1349,12500,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2748,1157
$GC,12839,0.88,467.8,127.9,15.4,1410,12846,0.00,2.83,0.00,0.000,4,0.000,0.045,3117,1340,1155
$GC,12853,0.88,467.8,125.5,15.6,1412,12860,0.00,2.72,0.00,0.000,6,0.000,0.031,3117,2743,1154
$GC,13197,0.88,467.8,75.3,13.0,1473,13203,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2744,1154
$GC,13539,0.88,467.8,34.8,11.3,1534,13546,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2743,1154
$GC,13682,0.88,467.8,19.8,10.2,1559,13689,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2744,1154
$GC,13823,0.88,467.8,4.2,10.5,1584,13830,0.00,2.80,0.00,0.000,4,0.000,0.046,3118,1342,1153
$STATE,13841,end climb,SURFACE_DEPTH_REACHED
$STATE,13841,begin surface coast
$FINISH,-0.0,1.014679
$STATE,13859,end surface coast,CONTROL_FINISHED_OK
$STATE,13859,begin surface
$SM_CCo,13940,0.00,0.000,0,0,1150,471.22
$SM_GC,0.61,8.50,0.00,0.00,0.044,0.000,0.000,1433,2314,1150,-6.80,0.40,471.22
$IRIDIUM_FIX,6126.23,-2609.48,280897,151536
$TT8_MAMPS,0.026845
$HUMID,1812
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,16.10
$XPDR_PINGS,737
$24V_AH,19.2,89.360
$10V_AH,9.8,61.653
$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,24.325,121.000,695.000,0.000,0.000,27.708,42.890,253.608,184.250,0.000,0.000,14.946,3145.220,6894.414,879.810,2835.529,637.066,0.000,2181.154,0.000,2829.915,0.000,0.465
$DEVICE_MAMPS,248.508,65.195,1415.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1119.398,1174.471,623.629,1497.076,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,117487,1590
$CAP_FILE_SIZE,139808,0
$CFSIZE,260165632,229552128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,156.5,1
$GPS,030608,235538,6153.031,-2615.891,26,1.4,26,-18.8