version: 66.03
glider: 142
mission: 5
dive: 287
start: 6 4 108 8 7 31
data:
$ID,142
$MISSION,5
$DIVE,287
$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,-18413.678
$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,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
$GPS1,075908,6154.779,-2620.741,36,1.0,36,-18.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-51.4
$GPS2,080709,6154.791,-2620.792,12,1.6,12,-18.9
$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,5.1,3129,-27.2,-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,-1.21,-63.0,0.0,0.0,0,133,0.00,0.00,-109.40,0.000,6,0.000,0.000,1435,2294,3328
$GC,136,-1.29,-127.9,2.4,-3.1,14,167,11.07,2.88,-8.88,0.000,4,0.253,0.051,2631,3703,3594
$GC,376,-1.24,-127.9,50.0,-19.0,55,384,0.00,2.75,0.00,0.000,6,0.000,0.034,2631,2296,3595
$GC,520,-1.19,-127.9,75.5,-17.1,80,528,0.15,2.80,0.00,0.000,4,0.180,0.048,2652,886,3595
$GC,689,-1.19,-127.9,103.3,-16.4,109,696,0.00,2.70,0.00,0.000,6,0.000,0.030,2652,2290,3596
$GC,1033,-1.19,-127.9,161.0,-16.8,170,1041,0.00,2.80,0.00,0.000,4,0.000,0.048,2652,886,3595
$GC,1166,-1.19,-127.9,184.7,-17.6,193,1173,0.00,2.65,0.00,0.000,6,0.000,0.029,2652,2268,3595
$GC,1511,-1.19,-127.9,244.9,-17.3,254,1518,0.00,2.75,0.00,0.000,4,0.000,0.048,2652,886,3596
$GC,1576,-1.19,-127.9,256.6,-17.4,265,1583,0.00,2.62,0.00,0.000,6,0.000,0.030,2652,2255,3595
$GC,1920,-1.19,-127.9,315.1,-17.3,326,1927,0.00,2.72,0.00,0.000,4,0.000,0.048,2652,890,3596
$GC,2057,-1.19,-127.9,338.7,-17.6,350,2065,0.00,2.58,0.00,0.000,6,0.000,0.030,2652,2232,3596
$GC,2393,-1.19,-127.9,396.0,-17.5,387,2398,0.00,2.70,0.00,0.000,4,0.000,0.048,2652,883,3595
$GC,2467,-1.19,-127.9,409.6,-18.3,393,2472,0.00,2.58,0.00,0.000,6,0.000,0.030,2652,2226,3596
$GC,2796,-1.19,-127.9,467.9,-18.0,423,2800,0.00,2.67,0.00,0.000,4,0.000,0.048,2652,889,3596
$GC,2906,-1.19,-127.9,489.3,-18.1,432,2914,0.00,2.53,0.00,0.000,6,0.000,0.031,2652,2204,3595
$GC,3233,-1.19,-127.9,546.9,-17.1,463,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2205,3595
$GC,3551,-1.19,-127.9,596.7,-15.0,493,3555,0.00,2.65,0.00,0.000,4,0.000,0.049,2652,884,3595
$GC,3614,-1.19,-127.9,606.5,-15.2,497,3618,0.00,2.55,0.00,0.000,6,0.000,0.031,2652,2202,3595
$GC,3941,-1.19,-127.9,660.1,-18.1,513,3946,0.00,2.70,0.00,0.000,4,0.000,0.056,2652,883,3595
$GC,4004,-1.19,-127.9,670.9,-16.1,516,4008,0.00,2.55,0.00,0.000,6,0.000,0.035,2652,2187,3595
$GC,4330,-1.19,-127.9,718.8,-17.1,532,4335,0.00,2.70,0.00,0.000,4,0.000,0.062,2652,890,3595
$GC,4441,-1.19,-127.9,737.4,-16.2,537,4446,0.00,2.55,0.00,0.000,6,0.000,0.046,2652,2153,3595
$GC,4764,-1.19,-127.9,788.3,-16.1,553,4768,0.00,2.80,0.00,0.000,4,0.000,0.087,2652,890,3594
$GC,4915,-1.19,-127.9,813.7,-15.9,560,4920,0.00,2.70,0.00,0.000,6,0.000,0.074,2652,2142,3594
$GC,5243,-1.69,-194.7,852.4,-0.1,576,5249,0.47,2.97,0.00,0.000,4,0.047,0.114,2554,896,3594
$STATE,5484,end dive,NO_VERTICAL_VELOCITY
$STATE,5484,begin apogee
$GC,5494,-0.21,0.0,852.3,0.0,587,5633,1.90,0.00,134.57,1.498,6,0.111,0.000,2870,2734,3071
$STATE,5633,end apogee,CONTROL_FINISHED_OK
$STATE,5634,begin climb
$GC,5636,1.37,194.7,852.2,0.0,594,5859,2.00,2.95,208.52,1.436,4,0.085,0.099,3216,3903,2276
$GC,5983,1.21,194.7,794.8,23.0,609,5988,0.22,2.50,0.00,0.000,6,0.150,0.066,3188,2763,2274
$GC,6299,1.12,194.7,730.3,19.8,624,6304,0.15,2.42,0.00,0.000,4,0.144,0.064,3168,3911,2274
$GC,6343,1.06,194.7,722.0,18.4,626,6347,0.00,2.35,0.00,0.000,6,0.000,0.045,3168,2746,2274
$GC,6671,1.02,194.7,663.0,17.0,642,6675,0.15,2.40,0.00,0.000,4,0.148,0.056,3147,3911,2273
$GC,6837,1.02,194.7,634.7,17.2,649,6845,0.00,2.20,0.00,0.000,6,0.000,0.035,3147,2788,2273
$GC,7157,1.02,194.7,582.5,16.2,670,7161,0.00,2.28,0.00,0.000,4,0.000,0.053,3147,3909,2272
$GC,7190,1.02,194.7,576.6,16.8,672,7198,0.00,2.15,0.00,0.000,6,0.000,0.032,3147,2809,2272
$GC,7518,1.02,194.7,522.2,17.0,703,7522,0.00,2.22,0.00,0.000,4,0.000,0.058,3147,3905,2272
$GC,7580,1.02,194.7,511.0,17.6,708,7584,0.00,2.10,0.00,0.000,6,0.000,0.031,3147,2814,2272
$GC,7907,1.02,194.7,457.7,16.0,738,7911,0.00,2.20,0.00,0.000,4,0.000,0.051,3147,3905,2272
$GC,7984,1.02,194.7,444.2,16.6,744,7991,0.00,2.08,0.00,0.000,6,0.000,0.031,3147,2841,2272
$GC,8311,1.02,194.7,392.5,15.9,775,8315,0.00,2.15,0.00,0.000,4,0.000,0.051,3147,3909,2272
$GC,8344,1.02,194.7,386.7,16.5,777,8351,0.00,2.03,0.00,0.000,6,0.000,0.031,3147,2850,2272
$GC,8673,1.02,194.7,335.1,15.6,816,8680,0.00,2.12,0.00,0.000,4,0.000,0.051,3147,3905,2272
$GC,8704,1.02,194.7,330.1,17.3,821,8711,0.00,2.00,0.00,0.000,6,0.000,0.031,3147,2859,2271
$GC,9049,1.02,194.7,274.9,15.6,882,9056,0.00,2.10,0.00,0.000,4,0.000,0.050,3147,3905,2272
$GC,9069,1.02,194.7,271.7,16.5,885,9076,0.00,1.98,0.00,0.000,6,0.000,0.031,3147,2872,2272
$GC,9414,1.02,194.7,219.4,14.2,946,9421,0.00,2.08,0.00,0.000,4,0.000,0.050,3147,3906,2272
$GC,9428,1.02,194.7,217.4,14.5,948,9435,0.00,1.98,0.00,0.000,6,0.000,0.031,3147,2883,2272
$GC,9773,1.02,194.7,166.6,15.4,1009,9779,0.00,2.05,0.00,0.000,4,0.000,0.049,3147,3906,2272
$GC,9798,1.02,194.7,162.7,15.2,1013,9805,0.00,1.95,0.00,0.000,6,0.000,0.030,3147,2882,2272
$GC,10142,1.02,194.7,112.7,13.5,1074,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2875,2272
$GC,10486,1.02,194.7,63.4,15.3,1135,10493,0.00,2.08,0.00,0.000,4,0.000,0.049,3147,3915,2272
$GC,10506,1.02,194.7,60.2,15.6,1138,10513,0.00,2.00,0.00,0.000,6,0.000,0.030,3147,2882,2272
$GC,10851,1.07,194.7,10.4,13.7,1199,10858,0.00,2.05,0.00,0.000,4,0.000,0.048,3147,3915,2272
$GC,10900,1.07,194.7,3.4,14.9,1207,10908,0.00,1.95,0.00,0.000,6,0.000,0.031,3147,2909,2272
$STATE,10914,end climb,SURFACE_DEPTH_REACHED
$STATE,10914,begin surface coast
$FINISH,-0.0,1.026032
$STATE,10926,end surface coast,CONTROL_FINISHED_OK
$STATE,10926,begin surface
$SM_CCo,10945,4.00,0.562,0,0,2255,200.16
$SM_GC,1.72,0.00,0.00,4.00,0.000,0.000,0.562,1437,2283,2255,-6.82,-0.48,200.16
$IRIDIUM_FIX,6130.75,-2613.50,290897,040432
$TT8_MAMPS,0.026845
$HUMID,1829
$INTERNAL_PRESSURE,8.96564
$TCM_TEMP,16.10
$XPDR_PINGS,585
$24V_AH,19.2,90.080
$10V_AH,9.9,62.070
$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,24.875,123.725,343.100,4.000,0.000,23.773,39.805,270.104,146.250,0.000,0.000,13.659,2518.635,5369.933,545.961,2379.967,606.078,0.000,1624.921,0.000,2369.372,0.000,0.465
$DEVICE_MAMPS,253.110,113.516,1497.951,562.211,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,855.688,882.050,494.180,1141.122,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88737,1211
$CAP_FILE_SIZE,118892,0
$CFSIZE,260165632,229347328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,136.3,1
$GPS,040608,111125,6155.729,-2621.978,45,1.9,45,-18.9