version: 66.03
glider: 142
mission: 5
dive: 288
start: 6 4 108 11 18 30
data:
$ID,142
$MISSION,5
$DIVE,288
$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,-18446.574
$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,24
$R_STBD_OVSHOOT,7
$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
$GPS1,111125,6155.729,-2621.978,45,1.9,45,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-60.4
$GPS2,111811,6155.691,-2621.920,10,2.7,29,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NE
$TGT_LATLONG,6156.130,-2600.200
$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,96.2,18942,-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,20,-0.86,-194.7,0.0,0.0,0,98,0.00,0.00,-75.43,0.000,2,0.000,0.000,1437,2282,3638
$GC,102,-0.86,-194.7,3.7,-5.0,10,125,12.10,0.00,-5.47,0.000,6,0.252,0.000,2726,2281,3866
$GC,261,-0.75,-194.7,35.4,-15.7,37,269,0.15,2.80,0.00,0.000,4,0.157,0.049,2749,892,3867
$GC,326,-0.75,-194.7,45.7,-15.1,48,334,0.00,2.75,0.00,0.000,6,0.000,0.029,2749,2321,3868
$GC,470,-0.75,-194.7,65.8,-14.1,73,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2321,3868
$GC,813,-0.75,-194.7,109.9,-12.3,134,820,0.00,2.88,0.00,0.000,4,0.000,0.048,2749,888,3868
$GC,849,-0.75,-194.7,114.5,-12.3,140,857,0.00,2.75,0.00,0.000,6,0.000,0.030,2749,2315,3868
$GC,1195,-0.75,-194.7,156.6,-12.8,201,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2315,3868
$GC,1540,-0.75,-194.7,198.2,-11.5,262,1547,0.00,2.85,0.00,0.000,4,0.000,0.048,2749,896,3868
$GC,1582,-0.75,-194.7,203.1,-11.4,269,1590,0.00,2.72,0.00,0.000,6,0.000,0.030,2749,2312,3868
$GC,1928,-0.75,-194.7,243.1,-11.7,330,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2312,3868
$GC,2272,-0.75,-194.7,283.8,-11.7,391,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2312,3868
$GC,2614,-0.75,-194.7,325.7,-12.4,452,2622,0.00,2.85,0.00,0.000,4,0.000,0.048,2749,889,3869
$GC,2646,-0.75,-194.7,329.6,-12.5,457,2653,0.00,2.70,0.00,0.000,6,0.000,0.031,2749,2294,3868
$GC,2986,-0.75,-194.7,371.7,-12.4,503,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2295,3869
$GC,3306,-0.75,-194.7,412.1,-12.2,533,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2295,3868
$GC,3624,-0.75,-194.7,451.0,-12.6,563,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2295,3868
$GC,3943,-0.75,-194.7,491.4,-12.4,593,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2295,3868
$GC,4261,-0.75,-194.7,530.7,-12.1,623,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2296,3868
$GC,4582,-0.75,-194.7,567.3,-9.7,653,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2296,3868
$GC,4907,-0.75,-194.7,591.4,-5.3,684,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2296,3868
$GC,5232,-0.75,-194.7,615.1,-9.1,707,5237,0.00,2.85,0.00,0.000,4,0.000,0.051,2749,888,3868
$GC,5254,-0.75,-194.7,617.2,-8.4,708,5258,0.00,2.72,0.00,0.000,6,0.000,0.031,2749,2291,3868
$GC,5574,-0.75,-194.7,647.4,-10.6,724,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2293,3868
$GC,5885,-0.75,-194.7,687.7,-13.1,739,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2292,3868
$GC,6193,-0.75,-194.7,716.8,-10.6,754,6197,0.00,2.95,0.00,0.000,4,0.000,0.065,2749,3707,3868
$GC,6219,-0.75,-194.7,719.6,-10.6,755,6224,0.00,2.85,0.00,0.000,6,0.000,0.047,2749,2302,3867
$GC,6536,-0.96,-194.7,741.4,-0.1,770,6542,0.17,3.05,0.00,0.000,4,0.050,0.080,2706,888,3867
$STATE,6777,end dive,NO_VERTICAL_VELOCITY
$STATE,6777,begin apogee
$GC,6786,-0.21,0.0,741.3,0.0,781,6993,0.95,0.00,203.07,1.417,6,0.091,0.000,2871,2748,3071
$STATE,6994,end apogee,CONTROL_FINISHED_OK
$STATE,6994,begin climb
$GC,6997,0.86,194.7,740.5,0.0,791,7216,1.38,2.67,206.15,1.349,4,0.087,0.066,3098,3900,2276
$GC,7250,0.73,194.7,716.8,13.7,802,7254,0.00,2.47,0.00,0.000,6,0.000,0.043,3097,2750,2275
$GC,7567,0.60,194.7,677.7,12.8,817,7569,0.28,0.00,0.00,0.000,6,0.118,0.000,3055,2749,2274
$GC,7875,0.60,194.7,641.3,12.7,832,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2749,2273
$GC,8185,0.68,256.2,610.1,7.9,847,8249,0.00,0.00,62.28,1.312,6,0.000,0.000,3056,2749,2026
$GC,8562,0.82,371.3,585.0,6.0,875,8688,0.17,0.00,118.60,1.289,6,0.054,0.000,3095,2749,1557
$GC,9005,0.82,371.3,541.1,10.4,917,9006,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2749,1549
$GC,9326,0.82,371.3,509.0,10.3,947,9330,0.00,2.35,0.00,0.000,4,0.000,0.051,3095,3903,1547
$GC,9356,0.82,371.3,505.7,11.1,949,9360,0.00,2.28,0.00,0.000,6,0.000,0.032,3095,2729,1547
$GC,9683,0.82,371.3,469.4,12.4,979,9684,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2728,1546
$GC,9999,0.82,371.3,431.0,12.3,1009,10003,0.00,2.38,0.00,0.000,4,0.000,0.050,3095,3904,1547
$GC,10031,0.82,371.3,426.6,12.9,1011,10039,0.00,2.22,0.00,0.000,6,0.000,0.032,3095,2751,1546
$GC,10358,0.82,371.3,387.7,11.7,1042,10359,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2749,1545
$GC,10675,0.82,371.3,352.3,11.1,1072,10677,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2746,1546
$GC,11011,0.82,371.3,314.9,10.7,1130,11019,0.00,2.33,0.00,0.000,4,0.000,0.050,3095,3906,1545
$GC,11048,0.82,371.3,310.6,11.3,1136,11055,0.00,2.20,0.00,0.000,6,0.000,0.031,3095,2762,1544
$GC,11393,0.82,371.3,272.3,11.1,1197,11399,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2759,1544
$GC,11737,0.83,374.4,236.9,9.9,1258,11744,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2757,1544
$GC,12083,0.83,379.4,202.3,9.8,1319,12097,0.00,0.00,7.50,0.852,6,0.000,0.000,3095,2755,1523
$GC,12435,0.83,380.8,167.8,10.0,1381,12441,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2755,1522
$GC,12780,0.84,384.9,133.9,9.9,1442,12793,0.00,0.00,7.43,0.830,6,0.000,0.000,3095,2755,1500
$GC,13131,0.84,384.9,98.2,10.0,1504,13138,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2755,1499
$GC,13475,0.84,384.9,62.2,10.2,1565,13482,0.00,2.83,0.00,0.000,4,0.000,0.047,3095,1340,1499
$GC,13513,0.84,384.9,58.4,10.5,1571,13520,0.00,2.80,0.00,0.000,6,0.000,0.030,3095,2783,1499
$GC,13858,0.97,449.7,27.5,7.8,1632,13932,0.15,3.05,66.68,0.958,4,0.051,0.046,3132,1345,1236
$GC,13968,1.00,473.1,15.8,9.2,1648,14003,0.00,2.83,24.83,0.893,6,0.000,0.031,3132,2768,1140
$STATE,14080,end climb,SURFACE_DEPTH_REACHED
$STATE,14080,begin surface coast
$FINISH,-0.0,1.017862
$STATE,14095,end surface coast,CONTROL_FINISHED_OK
$STATE,14095,begin surface
$SM_CCo,14174,0.00,0.000,0,0,1134,475.15
$SM_GC,0.52,8.73,0.00,0.00,0.044,0.000,0.000,1428,2293,1134,-6.80,-0.20,475.15
$IRIDIUM_FIX,6135.28,-2627.77,290897,080807
$TT8_MAMPS,0.026078
$HUMID,1798
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,16.20
$XPDR_PINGS,772
$24V_AH,19.2,90.369
$10V_AH,9.8,62.217
$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,24.075,71.975,696.525,0.000,0.000,29.571,33.329,198.064,193.000,0.000,0.000,32.267,3297.685,6962.734,789.974,2970.844,551.490,0.000,2092.688,0.000,2952.871,0.000,0.465
$DEVICE_MAMPS,252.343,79.768,1416.649,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1180.177,1221.789,677.964,1550.309,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120267,1669
$CAP_FILE_SIZE,131659,0
$CFSIZE,260165632,229232640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,157.1,1
$GPS,040608,151601,6155.533,-2616.697,36,1.8,41,-18.9