version: 66.03
glider: 142
mission: 5
dive: 285
start: 6 4 108 0 6 35
data:
$ID,142
$MISSION,5
$DIVE,285
$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,-18381.408
$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,28
$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
$GPS1,235538,6153.031,-2615.891,26,1.4,26,-18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-49.1
$GPS2,000615,6152.936,-2615.861,13,1.9,13,-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,338.9,8572,-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,-139.98,0.000,2,0.000,0.000,1432,2315,3518
$GC,167,-0.86,-194.7,3.3,-4.8,18,198,12.05,2.78,-9.18,0.000,4,0.253,0.051,2727,3701,3866
$GC,345,-0.79,-194.7,31.8,-12.6,48,353,0.00,2.75,0.00,0.000,6,0.000,0.035,2727,2297,3868
$GC,490,-0.71,-194.7,51.4,-13.9,73,498,0.20,2.83,0.00,0.000,4,0.156,0.050,2757,883,3867
$GC,543,-0.71,-194.7,57.9,-11.4,82,550,0.00,2.67,0.00,0.000,6,0.000,0.030,2757,2279,3868
$GC,889,-0.71,-194.7,101.8,-12.9,143,896,0.00,2.80,0.00,0.000,4,0.000,0.044,2757,3700,3868
$GC,953,-0.71,-194.7,110.1,-12.5,154,960,0.00,2.78,0.00,0.000,6,0.000,0.034,2757,2276,3868
$GC,1299,-0.71,-194.7,152.0,-10.9,215,1306,0.00,2.70,0.00,0.000,4,0.000,0.050,2757,889,3868
$GC,1352,-0.71,-194.7,157.8,-10.7,224,1360,0.00,2.67,0.00,0.000,6,0.000,0.030,2758,2287,3868
$GC,1699,-0.71,-194.7,194.1,-10.4,285,1706,0.00,2.80,0.00,0.000,4,0.000,0.044,2757,3701,3867
$GC,1774,-0.71,-194.7,202.1,-10.6,298,1782,0.00,2.78,0.00,0.000,6,0.000,0.033,2757,2276,3867
$GC,2120,-0.71,-194.7,238.3,-10.4,359,2127,0.00,2.75,0.00,0.000,4,0.000,0.050,2757,890,3868
$GC,2173,-0.71,-194.7,243.9,-10.4,368,2180,0.00,2.67,0.00,0.000,6,0.000,0.030,2757,2287,3867
$GC,2519,-0.71,-194.7,279.0,-10.0,429,2526,0.00,2.80,0.00,0.000,4,0.000,0.044,2757,3700,3867
$GC,2601,-0.71,-194.7,286.9,-9.1,443,2608,0.00,2.75,0.00,0.000,6,0.000,0.033,2757,2287,3868
$GC,2947,-0.71,-194.7,320.4,-9.9,504,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2287,3867
$GC,3289,-0.71,-194.7,354.9,-10.2,561,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2287,3867
$GC,3607,-0.71,-194.7,388.7,-10.8,591,3612,0.00,2.83,0.00,0.000,4,0.000,0.044,2757,3698,3867
$GC,3669,-0.71,-194.7,395.3,-10.7,596,3673,0.00,2.72,0.00,0.000,6,0.000,0.035,2757,2303,3866
$GC,3995,-0.71,-194.7,432.4,-12.1,626,4000,0.00,2.83,0.00,0.000,4,0.000,0.051,2757,886,3866
$GC,4039,-0.75,-194.7,438.1,-12.2,629,4046,0.00,2.72,0.00,0.000,6,0.000,0.030,2757,2306,3867
$GC,4366,-0.75,-194.7,476.1,-11.8,660,4370,0.00,2.78,0.00,0.000,4,0.000,0.047,2757,3703,3866
$GC,4432,-0.75,-194.7,484.0,-10.9,665,4439,0.00,2.72,0.00,0.000,6,0.000,0.035,2757,2308,3866
$GC,4759,-0.75,-194.7,518.7,-10.5,696,4764,0.00,2.85,0.00,0.000,4,0.000,0.052,2757,883,3866
$GC,4801,-0.79,-194.7,523.3,-11.1,699,4806,0.00,2.78,0.00,0.000,6,0.000,0.031,2757,2321,3866
$GC,5130,-0.79,-194.7,558.4,-10.4,729,5134,0.00,2.78,0.00,0.000,4,0.000,0.048,2757,3712,3865
$GC,5193,-0.79,-194.7,565.3,-10.7,734,5197,0.00,2.75,0.00,0.000,6,0.000,0.035,2757,2312,3865
$GC,5521,-0.79,-194.7,601.0,-10.4,764,5525,0.00,2.88,0.00,0.000,4,0.000,0.056,2757,892,3865
$GC,5565,-0.84,-194.7,606.1,-10.5,766,5570,0.00,2.78,0.00,0.000,6,0.000,0.032,2757,2321,3865
$GC,5886,-0.84,-194.7,638.3,-9.6,782,5890,0.00,2.80,0.00,0.000,4,0.000,0.054,2757,3706,3866
$GC,5948,-0.84,-194.7,644.6,-9.9,785,5953,0.00,2.75,0.00,0.000,6,0.000,0.039,2757,2321,3865
$GC,6276,-0.84,-194.7,676.1,-9.7,801,6277,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2321,3865
$GC,6584,-1.06,-194.7,691.3,-0.0,816,6587,0.35,0.00,0.00,0.000,6,0.042,0.000,2687,2321,3865
$STATE,6747,end dive,NO_VERTICAL_VELOCITY
$STATE,6747,begin apogee
$GC,6754,-0.21,0.0,691.3,0.0,824,6957,1.02,0.00,199.62,1.391,6,0.084,0.000,2870,2750,3071
$STATE,6958,end apogee,CONTROL_FINISHED_OK
$STATE,6958,begin climb
$GC,6960,0.86,194.7,691.2,0.0,834,7174,1.50,3.25,203.40,1.321,4,0.110,0.054,3100,1336,2277
$GC,7188,0.73,194.7,673.8,10.3,845,7193,0.15,3.08,0.00,0.000,6,0.115,0.038,3081,2748,2276
$GC,7516,0.65,194.7,640.2,10.1,861,7520,0.00,2.38,0.00,0.000,4,0.000,0.058,3081,3905,2274
$GC,7565,0.57,194.7,634.5,11.5,863,7570,0.20,2.28,0.00,0.000,6,0.107,0.035,3049,2753,2274
$GC,7888,0.65,256.5,608.3,7.9,879,7952,0.00,0.00,62.12,1.299,6,0.000,0.000,3049,2752,2025
$GC,8268,0.75,304.0,577.2,8.4,910,8328,0.17,3.03,48.20,1.270,4,0.053,0.050,3088,1330,1830
$GC,8334,0.70,304.0,569.3,12.5,915,8342,0.00,2.90,0.00,0.000,6,0.000,0.033,3088,2761,1829
$GC,8662,0.65,304.0,528.9,13.0,946,8670,0.17,0.00,0.00,0.000,6,0.101,0.000,3060,2762,1826
$GC,8992,0.68,329.8,496.8,9.1,977,9027,0.00,2.95,26.60,1.203,4,0.000,0.047,3060,1330,1725
$GC,9044,0.78,362.6,491.5,8.9,981,9090,0.15,2.80,35.17,1.206,6,0.050,0.032,3092,2742,1592
$GC,9406,0.78,362.6,446.8,12.5,1015,9407,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2742,1587
$GC,9725,0.78,362.6,408.0,11.8,1045,9729,0.00,2.30,0.00,0.000,4,0.000,0.051,3092,3894,1586
$GC,9748,0.78,362.6,405.2,12.2,1047,9752,0.00,2.25,0.00,0.000,6,0.000,0.032,3092,2731,1585
$GC,10073,0.78,362.6,368.5,11.5,1077,10078,0.00,2.35,0.00,0.000,4,0.000,0.050,3092,3895,1584
$GC,10086,0.78,362.6,367.1,11.4,1077,10093,0.00,2.20,0.00,0.000,6,0.000,0.031,3092,2747,1584
$GC,10421,0.78,362.6,328.3,12.5,1124,10428,0.00,2.30,0.00,0.000,4,0.000,0.049,3092,3889,1584
$GC,10435,0.78,362.6,326.6,12.2,1126,10443,0.00,2.20,0.00,0.000,6,0.000,0.032,3092,2759,1583
$GC,10782,0.78,362.6,286.1,12.2,1187,10788,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2755,1583
$GC,11125,0.78,362.6,246.4,11.9,1248,11133,0.00,2.28,0.00,0.000,4,0.000,0.049,3092,3893,1583
$GC,11139,0.78,362.6,244.8,11.8,1250,11147,0.00,2.17,0.00,0.000,6,0.000,0.031,3092,2756,1583
$GC,11486,0.78,362.6,203.5,11.7,1311,11492,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2750,1583
$GC,11830,0.78,362.6,163.7,11.4,1372,11837,0.00,2.28,0.00,0.000,4,0.000,0.048,3092,3897,1583
$GC,11850,0.78,362.6,161.4,11.7,1375,11857,0.00,2.15,0.00,0.000,6,0.000,0.031,3092,2774,1583
$GC,12194,0.78,362.6,122.3,10.8,1436,12201,0.00,2.83,0.00,0.000,4,0.000,0.046,3092,1345,1582
$GC,12208,0.78,362.6,120.6,11.6,1438,12216,0.00,2.78,0.00,0.000,6,0.000,0.031,3093,2777,1582
$GC,12553,0.78,362.6,82.0,11.3,1499,12560,0.00,2.88,0.00,0.000,4,0.000,0.045,3092,1347,1582
$GC,12567,0.78,362.6,80.4,11.4,1501,12574,0.00,2.78,0.00,0.000,6,0.000,0.032,3092,2770,1582
$GC,12913,0.78,364.9,45.4,9.9,1562,12920,0.00,2.85,0.00,0.000,4,0.000,0.046,3092,1342,1582
$GC,12927,0.79,375.6,43.9,9.6,1564,12948,0.00,2.70,12.23,0.861,6,0.000,0.031,3092,2739,1540
$GC,13087,0.82,397.4,28.0,9.2,1591,13115,0.00,0.00,23.92,0.953,6,0.000,0.000,3092,2740,1450
$GC,13253,0.92,446.1,13.0,8.3,1619,13311,0.15,2.88,50.05,0.949,4,0.060,0.046,3124,1350,1251
$GC,13318,0.92,446.1,5.4,13.6,1628,13326,0.00,2.70,0.00,0.000,6,0.000,0.031,3124,2706,1250
$STATE,13347,end climb,SURFACE_DEPTH_REACHED
$STATE,13348,begin surface coast
$FINISH,-0.1,1.013611
$STATE,13360,end surface coast,CONTROL_FINISHED_OK
$STATE,13360,begin surface
$SM_CCo,13439,0.00,0.000,0,0,1245,447.92
$SM_GC,0.57,8.60,0.00,0.00,0.038,0.000,0.000,1433,2280,1245,-6.80,-0.57,447.92
$IRIDIUM_FIX,6126.23,-2617.59,290897,000036
$TT8_MAMPS,0.026078
$HUMID,1801
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,14.80
$XPDR_PINGS,684
$24V_AH,19.3,89.640
$10V_AH,9.8,61.802
$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,24.725,146.750,661.325,0.000,0.000,54.134,71.569,305.053,171.000,0.000,0.000,14.726,3288.548,6213.211,874.262,2931.568,756.495,0.000,2214.215,0.000,2920.511,0.000,0.465
$DEVICE_MAMPS,253.110,58.292,1391.338,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1153.727,1196.886,684.147,1536.787,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120383,1635
$CAP_FILE_SIZE,149033,0
$CFSIZE,260165632,229457920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.169,162.8,1
$GPS,040608,035138,6153.313,-2617.818,28,1.6,28,-18.8