version: 66.03
glider: 142
mission: 5
dive: 290
start: 6 4 108 20 1 5
data:
$ID,142
$MISSION,5
$DIVE,290
$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,-18476.229
$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,29
$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
$GPS1,194308,6156.338,-2614.616,30,1.1,30,-18.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-46.7
$GPS2,200045,6156.323,-2614.975,12,1.3,12,-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,112.5,12879,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.86,-194.7,0.0,0.0,0,151,0.00,0.00,-126.25,0.000,2,0.000,0.000,1435,2286,3540
$GC,154,-0.86,-194.7,3.3,-4.9,17,178,12.02,0.00,-8.60,0.000,6,0.252,0.000,2724,2286,3865
$GC,315,-0.76,-194.7,32.6,-17.5,44,323,0.15,0.00,0.00,0.000,6,0.160,0.000,2747,2286,3867
$GC,457,-0.76,-194.7,52.3,-11.9,69,464,0.00,2.83,0.00,0.000,4,0.000,0.043,2747,3705,3868
$GC,489,-0.76,-194.7,55.8,-11.2,74,497,0.00,2.72,0.00,0.000,6,0.000,0.031,2747,2304,3868
$GC,835,-0.76,-194.7,91.8,-10.9,135,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2303,3868
$GC,1180,-0.76,-194.7,130.9,-12.0,196,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2303,3868
$GC,1525,-0.76,-194.7,169.6,-11.0,257,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2303,3868
$GC,1870,-0.76,-194.7,207.9,-11.1,318,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2303,3868
$GC,2215,-0.76,-194.7,245.0,-10.0,379,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2303,3868
$GC,2558,-0.76,-194.7,280.6,-10.5,440,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2303,3868
$GC,2903,-0.76,-194.7,314.5,-9.5,501,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2303,3868
$GC,3247,-0.76,-194.7,347.0,-9.2,562,3254,0.00,2.80,0.00,0.000,4,0.000,0.044,2747,3703,3867
$GC,3261,-0.76,-194.7,348.3,-9.1,564,3269,0.00,2.75,0.00,0.000,6,0.000,0.033,2747,2290,3867
$GC,3591,-0.76,-194.7,384.6,-12.1,596,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2289,3867
$GC,3907,-0.76,-194.7,425.1,-13.8,626,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2289,3866
$GC,4226,-0.76,-194.7,465.5,-12.1,656,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2289,3866
$GC,4544,-0.76,-194.7,501.2,-10.2,686,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2289,3866
$GC,4863,-0.76,-194.7,532.1,-9.1,716,4868,0.00,2.85,0.00,0.000,4,0.000,0.047,2747,3703,3866
$GC,4881,-0.76,-194.7,533.7,-9.3,717,4885,0.00,2.75,0.00,0.000,6,0.000,0.034,2747,2299,3866
$GC,5209,-0.76,-194.7,565.4,-9.6,747,5214,0.00,2.85,0.00,0.000,4,0.000,0.049,2747,3704,3866
$GC,5241,-0.76,-194.7,569.0,-9.9,749,5249,0.00,2.72,0.00,0.000,6,0.000,0.034,2747,2314,3865
$GC,5578,-0.76,-194.7,602.9,-10.8,780,5583,0.00,2.83,0.00,0.000,4,0.000,0.051,2747,3702,3865
$GC,5672,-0.76,-194.7,614.3,-12.0,784,5677,0.00,2.70,0.00,0.000,6,0.000,0.035,2747,2331,3865
$GC,5989,-0.76,-194.7,644.7,-8.6,799,5994,0.00,2.83,0.00,0.000,4,0.000,0.054,2747,3709,3865
$GC,6068,-0.76,-194.7,651.3,-7.8,802,6075,0.00,2.70,0.00,0.000,6,0.000,0.038,2747,2342,3865
$GC,6384,-0.76,-194.7,679.6,-9.4,818,6388,0.00,2.83,0.00,0.000,4,0.000,0.058,2747,3706,3864
$GC,6491,-0.76,-194.7,691.1,-12.1,823,6496,0.00,2.67,0.00,0.000,6,0.000,0.042,2747,2368,3864
$GC,6818,-0.76,-194.7,731.3,-11.9,839,6823,0.00,2.80,0.00,0.000,4,0.000,0.066,2747,3700,3864
$GC,6890,-0.76,-194.7,740.3,-11.1,842,6894,0.00,2.67,0.00,0.000,6,0.000,0.050,2747,2390,3864
$GC,7207,-1.01,-194.7,749.0,0.1,857,7213,0.20,3.22,0.00,0.000,4,0.048,0.080,2701,886,3864
$STATE,7300,end dive,NO_VERTICAL_VELOCITY
$STATE,7300,begin apogee
$GC,7310,-0.21,0.0,749.0,0.0,861,7515,0.95,0.00,201.12,1.417,6,0.091,0.000,2869,2740,3071
$STATE,7515,end apogee,CONTROL_FINISHED_OK
$STATE,7515,begin climb
$GC,7518,0.86,194.7,748.8,0.0,871,7729,1.38,0.00,206.43,1.349,6,0.082,0.000,3099,2740,2277
$GC,8032,0.73,194.7,697.2,10.9,896,8036,0.00,2.42,0.00,0.000,4,0.000,0.064,3098,3901,2274
$GC,8081,0.60,194.7,691.3,11.9,898,8086,0.30,2.30,0.00,0.000,6,0.117,0.040,3053,2747,2274
$GC,8398,0.73,302.4,669.9,6.3,913,8514,0.12,3.08,108.80,1.335,4,0.063,0.059,3077,1337,1837
$GC,8553,0.77,332.7,656.9,8.9,920,8593,0.00,2.90,32.67,1.268,6,0.000,0.036,3077,2746,1714
$GC,8902,0.86,407.0,631.7,7.4,937,8983,0.15,0.00,78.80,1.300,6,0.054,0.000,3109,2746,1411
$GC,9295,0.86,407.0,582.1,11.4,963,9300,0.00,2.90,0.00,0.000,4,0.000,0.047,3109,1326,1403
$GC,9402,0.82,407.0,569.2,12.1,972,9407,0.00,2.80,0.00,0.000,6,0.000,0.033,3109,2744,1401
$GC,9729,0.75,407.0,524.9,14.4,1002,9731,0.15,0.00,0.00,0.000,6,0.101,0.000,3086,2744,1401
$GC,10048,0.76,410.8,491.6,9.9,1032,10052,0.00,2.83,0.00,0.000,4,0.000,0.045,3086,1334,1400
$GC,10076,0.76,410.8,488.5,10.7,1034,10081,0.00,2.75,0.00,0.000,6,0.000,0.032,3086,2742,1400
$GC,10401,0.76,410.8,455.9,10.2,1064,10402,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2742,1399
$GC,10719,0.76,410.8,423.0,10.6,1094,10724,0.00,2.83,0.00,0.000,4,0.000,0.045,3086,1331,1399
$GC,10761,0.76,410.8,418.6,11.3,1097,10766,0.00,2.72,0.00,0.000,6,0.000,0.032,3086,2729,1399
$GC,11090,0.76,410.8,384.7,10.1,1127,11094,0.00,2.30,0.00,0.000,4,0.000,0.051,3086,3888,1399
$GC,11123,0.81,410.8,380.8,11.2,1129,11130,0.00,2.25,0.00,0.000,6,0.000,0.032,3086,2717,1399
$GC,11449,0.82,423.1,349.3,9.6,1160,11471,0.00,2.83,15.50,1.073,4,0.000,0.048,3085,1340,1345
$GC,11501,0.88,434.1,344.3,9.6,1168,11523,0.12,2.72,13.73,1.090,6,0.053,0.031,3113,2730,1300
$GC,11862,0.88,434.1,299.5,12.8,1231,11868,0.00,2.33,0.00,0.000,4,0.000,0.049,3114,3897,1297
$GC,11899,0.88,434.1,294.8,13.2,1237,11906,0.00,2.28,0.00,0.000,6,0.000,0.032,3113,2722,1297
$GC,12243,0.88,434.1,252.7,12.7,1298,12250,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2721,1296
$GC,12588,0.88,434.1,211.1,12.0,1359,12594,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2720,1296
$GC,12932,0.88,434.1,169.2,11.6,1420,12939,0.00,2.35,0.00,0.000,4,0.000,0.048,3113,3897,1296
$GC,12964,0.88,434.1,165.5,12.1,1425,12971,0.00,2.25,0.00,0.000,6,0.000,0.031,3113,2727,1296
$GC,13307,0.88,434.1,126.6,11.3,1486,13313,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2725,1296
$GC,13650,0.88,434.1,83.5,11.7,1547,13656,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2726,1296
$GC,13994,0.88,434.1,44.2,11.3,1608,14001,0.00,2.75,0.00,0.000,4,0.000,0.047,3113,1339,1295
$GC,14033,0.89,436.9,40.3,9.9,1614,14040,0.00,2.70,0.00,0.000,6,0.000,0.031,3113,2739,1295
$GC,14176,0.92,467.4,27.7,8.9,1639,14217,0.00,2.33,35.17,0.956,4,0.000,0.048,3113,3897,1164
$GC,14258,1.07,536.1,20.4,7.6,1652,14337,0.20,2.22,71.03,0.933,6,0.047,0.032,3156,2754,885
$STATE,14380,end climb,SURFACE_DEPTH_REACHED
$STATE,14380,begin surface coast
$FINISH,0.3,1.026092
$STATE,14394,end surface coast,CONTROL_FINISHED_OK
$STATE,14394,begin surface
$SM_CCo,14473,0.00,0.000,0,0,879,537.70
$SM_GC,0.42,9.02,0.00,0.00,0.051,0.000,0.000,1434,2301,879,-6.79,0.03,537.70
$IRIDIUM_FIX,6135.28,-2611.42,290897,191906
$TT8_MAMPS,0.026078
$HUMID,1802
$INTERNAL_PRESSURE,8.84845
$TCM_TEMP,16.10
$XPDR_PINGS,808
$24V_AH,19.2,90.989
$10V_AH,9.8,62.532
$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,24.775,109.150,763.250,0.000,0.000,113.720,252.583,358.366,202.000,0.000,0.000,14.253,3354.397,7140.590,918.049,3042.801,1058.768,0.000,2287.757,0.000,3035.710,0.000,0.466
$DEVICE_MAMPS,251.576,79.768,1416.649,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1174.454,1235.962,677.289,1558.527,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123547,1673
$CAP_FILE_SIZE,150514,0
$CFSIZE,260165632,229044224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033, 28.2,1
$GPS,050608,000332,6156.238,-2610.163,38,1.8,38,-18.8