version: 66.03
glider: 142
mission: 5
dive: 289
start: 6 4 108 15 23 23
data:
$ID,142
$MISSION,5
$DIVE,289
$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,-18461.35
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,151601,6155.533,-2616.697,36,1.8,41,-18.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-41.6
$GPS2,152303,6155.430,-2616.771,12,2.0,12,-18.8
$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,85.9,14496,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.86,-194.7,0.0,0.0,0,170,0.00,0.00,-144.50,0.000,2,0.000,0.000,1428,2289,3621
$GC,173,-0.86,-194.7,3.8,-6.5,19,197,11.85,2.88,-5.93,0.000,4,0.249,0.055,2725,890,3866
$GC,266,-0.78,-194.7,23.4,-14.6,34,275,0.15,2.72,0.00,0.000,6,0.153,0.031,2744,2303,3867
$GC,413,-0.73,-194.7,40.7,-11.0,59,420,0.00,2.78,0.00,0.000,4,0.000,0.044,2744,3707,3867
$GC,446,-0.68,-194.7,44.6,-11.7,64,454,0.15,2.75,0.00,0.000,6,0.135,0.034,2765,2300,3868
$GC,589,-0.68,-194.7,58.0,-9.4,89,596,0.00,2.83,0.00,0.000,4,0.000,0.050,2765,883,3867
$GC,648,-0.73,-194.7,63.6,-9.1,99,656,0.00,2.70,0.00,0.000,6,0.000,0.029,2765,2286,3867
$GC,991,-0.73,-194.7,98.3,-10.3,160,999,0.00,2.80,0.00,0.000,4,0.000,0.044,2765,3705,3867
$GC,1017,-0.73,-194.7,101.1,-10.9,164,1025,0.00,2.78,0.00,0.000,6,0.000,0.033,2765,2278,3867
$GC,1365,-0.73,-194.7,137.9,-9.8,225,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2277,3868
$GC,1709,-0.73,-194.7,170.5,-9.3,286,1716,0.00,2.85,0.00,0.000,4,0.000,0.044,2765,3704,3867
$GC,1774,-0.73,-194.7,176.5,-9.0,297,1781,0.00,2.75,0.00,0.000,6,0.000,0.033,2765,2290,3868
$GC,2119,-0.73,-194.7,209.7,-9.8,358,2126,0.00,2.83,0.00,0.000,4,0.000,0.044,2765,3704,3868
$GC,2162,-0.73,-194.7,214.0,-9.9,365,2169,0.00,2.75,0.00,0.000,6,0.000,0.032,2765,2290,3868
$GC,2505,-0.73,-194.7,249.3,-10.3,426,2513,0.00,2.83,0.00,0.000,4,0.000,0.044,2765,3700,3867
$GC,2536,-0.73,-194.7,252.4,-10.3,431,2543,0.00,2.72,0.00,0.000,6,0.000,0.033,2765,2299,3867
$GC,2881,-0.73,-194.7,286.4,-9.4,492,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2298,3867
$GC,3225,-0.73,-194.7,320.0,-9.9,553,3232,0.00,2.83,0.00,0.000,4,0.000,0.045,2765,3709,3867
$GC,3301,-0.77,-194.7,327.5,-9.6,566,3309,0.00,2.72,0.00,0.000,6,0.000,0.033,2765,2307,3867
$GC,3648,-0.77,-194.7,358.9,-9.0,619,3652,0.00,2.80,0.00,0.000,4,0.000,0.045,2765,3703,3867
$GC,3680,-0.77,-194.7,362.0,-9.1,621,3687,0.00,2.67,0.00,0.000,6,0.000,0.033,2765,2327,3867
$GC,4007,-0.77,-194.7,391.0,-9.3,652,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2326,3866
$GC,4324,-0.77,-194.7,420.8,-9.5,682,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2326,3867
$GC,4642,-0.77,-194.7,451.0,-9.4,712,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2326,3866
$GC,4961,-0.77,-194.7,481.3,-9.1,742,4965,0.00,2.78,0.00,0.000,4,0.000,0.047,2765,3703,3866
$GC,4989,-0.77,-194.7,483.9,-9.2,744,4994,0.00,2.67,0.00,0.000,6,0.000,0.033,2765,2333,3866
$GC,5316,-0.77,-194.7,511.6,-8.8,774,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2331,3866
$GC,5633,-0.77,-194.7,539.6,-9.0,804,5638,0.00,2.78,0.00,0.000,4,0.000,0.048,2765,3706,3865
$GC,5665,-0.77,-194.7,543.0,-9.7,806,5674,0.00,2.65,0.00,0.000,6,0.000,0.035,2765,2342,3866
$GC,5993,-0.77,-194.7,575.2,-10.0,837,5994,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2341,3866
$GC,6319,-0.77,-194.7,605.8,-8.8,865,6324,0.00,2.78,0.00,0.000,4,0.000,0.051,2765,3707,3866
$GC,6347,-0.81,-194.7,608.5,-9.4,866,6351,0.00,2.67,0.00,0.000,6,0.000,0.035,2765,2338,3866
$GC,6664,-0.81,-194.7,638.3,-9.6,881,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2337,3865
$GC,6973,-0.81,-194.7,668.7,-10.1,896,6977,0.00,2.83,0.00,0.000,4,0.000,0.058,2765,3701,3865
$GC,7022,-0.87,-194.7,674.0,-10.1,898,7028,0.20,2.70,0.00,0.000,6,0.063,0.040,2727,2343,3865
$GC,7339,-0.82,-194.7,716.6,-14.2,913,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2343,3864
$GC,7647,-0.78,-194.7,759.3,-13.8,928,7653,0.12,3.15,0.00,0.000,4,0.133,0.083,2744,893,3864
$GC,7688,-0.78,-194.7,764.2,-11.7,930,7693,0.00,2.97,0.00,0.000,6,0.000,0.056,2745,2331,3864
$GC,8015,-1.04,-194.7,771.9,0.0,946,8017,0.28,0.00,0.00,0.000,6,0.052,0.000,2692,2331,3864
$STATE,8095,end dive,NO_VERTICAL_VELOCITY
$STATE,8095,begin apogee
$GC,8101,-0.21,0.0,772.0,0.0,950,8308,1.00,0.00,202.98,1.436,6,0.081,0.000,2871,2755,3071
$STATE,8309,end apogee,CONTROL_FINISHED_OK
$STATE,8309,begin climb
$GC,8312,0.86,194.7,771.9,0.0,960,8529,1.35,3.38,207.45,1.366,4,0.076,0.067,3099,1349,2277
$GC,8552,0.74,194.7,754.4,12.1,972,8557,0.00,3.12,0.00,0.000,6,0.000,0.051,3099,2750,2276
$GC,8874,0.62,194.7,715.8,12.1,988,8879,0.25,2.42,0.00,0.000,4,0.111,0.065,3058,3906,2274
$GC,8923,0.66,226.7,710.9,8.9,990,8961,0.00,2.33,33.10,1.309,6,0.000,0.043,3058,2753,2146
$GC,9285,0.76,307.0,685.0,7.2,1008,9374,0.15,0.00,81.85,1.338,6,0.060,0.000,3087,2752,1818
$GC,9685,0.70,309.1,643.1,9.9,1027,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2752,1813
$GC,9992,0.66,309.1,610.4,11.0,1042,9994,0.15,0.00,0.00,0.000,6,0.104,0.000,3064,2752,1812
$GC,10307,0.68,329.2,581.4,9.3,1066,10337,0.00,0.00,22.77,1.249,6,0.000,0.000,3064,2752,1728
$GC,10655,0.76,360.5,549.5,8.9,1099,10696,0.00,0.00,33.75,1.265,6,0.000,0.000,3064,2752,1601
$GC,11014,0.88,402.1,518.7,8.6,1133,11066,0.20,2.97,44.55,1.247,4,0.051,0.048,3109,1332,1431
$GC,11108,0.83,402.1,506.7,13.4,1141,11113,0.00,2.88,0.00,0.000,6,0.000,0.031,3109,2770,1428
$GC,11436,0.78,402.1,460.3,14.6,1171,11440,0.00,2.25,0.00,0.000,4,0.000,0.051,3110,3899,1424
$GC,11467,0.74,402.1,455.6,15.4,1173,11472,0.17,2.25,0.00,0.000,6,0.099,0.033,3082,2740,1424
$GC,11792,0.74,402.1,420.7,10.1,1203,11797,0.00,2.80,0.00,0.000,4,0.000,0.048,3082,1337,1423
$GC,11837,0.79,402.1,416.1,10.5,1206,11844,0.00,2.75,0.00,0.000,6,0.000,0.030,3081,2751,1422
$GC,12164,0.85,414.2,385.2,9.6,1237,12184,0.12,0.00,12.20,1.058,6,0.058,0.000,3108,2752,1382
$GC,12503,0.85,414.2,344.2,12.2,1273,12509,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2752,1380
$GC,12847,0.85,414.2,301.6,12.8,1334,12854,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2752,1380
$GC,13191,0.85,414.2,257.1,13.0,1395,13198,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2752,1379
$GC,13536,0.85,414.2,212.7,13.0,1456,13543,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2752,1379
$GC,13880,0.85,414.2,172.0,11.7,1517,13886,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2752,1379
$GC,14223,0.85,414.2,133.4,11.4,1578,14231,0.00,2.83,0.00,0.000,4,0.000,0.046,3108,1339,1378
$GC,14250,0.85,414.2,130.5,11.6,1582,14258,0.00,2.72,0.00,0.000,6,0.000,0.031,3108,2745,1378
$GC,14595,0.85,414.2,92.8,11.0,1643,14601,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2745,1378
$GC,14939,0.85,414.2,55.3,11.6,1704,14946,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2745,1378
$GC,15281,0.85,414.2,16.2,11.8,1765,15288,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2745,1378
$STATE,15421,end climb,SURFACE_DEPTH_REACHED
$STATE,15421,begin surface coast
$FINISH,0.0,1.026048
$STATE,15440,end surface coast,CONTROL_FINISHED_OK
$STATE,15440,begin surface
$SM_CCo,15519,0.00,0.000,0,0,1376,416.03
$SM_GC,0.53,8.48,0.00,0.00,0.045,0.000,0.000,1436,2287,1376,-6.79,-0.37,416.03
$IRIDIUM_FIX,6130.75,-2617.54,290897,111110
$TT8_MAMPS,0.026078
$HUMID,1838
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,16.10
$XPDR_PINGS,834
$24V_AH,19.2,90.653
$10V_AH,9.9,62.376
$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,24.625,112.475,638.650,0.000,0.000,29.970,32.366,224.798,208.500,0.000,0.000,14.146,3593.868,7690.362,849.225,3176.420,618.880,0.000,2257.821,0.000,3174.581,0.000,0.465
$DEVICE_MAMPS,249.275,82.836,1435.824,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1266.005,1314.117,726.022,1674.265,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129884,1793
$CAP_FILE_SIZE,152131,0
$CFSIZE,260165632,229126144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144,275.8,1
$GPS,040608,194308,6156.338,-2614.616,30,1.1,30,-18.8