version: 66.03
glider: 142
mission: 5
dive: 292
start: 6 5 108 5 17 25
data:
$ID,142
$MISSION,5
$DIVE,292
$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,-18503.48
$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,22
$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
$GPS1,050931,6156.131,-2603.801,36,1.2,42,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-46.3
$GPS2,051703,6156.133,-2603.883,9,1.6,9,-18.7
$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,113.0,3209,-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,-63.0,0.0,0.0,0,178,0.00,0.00,-148.65,0.000,6,0.000,0.000,1432,2285,3327
$GC,181,-1.28,-117.3,3.0,-4.2,20,205,10.90,2.88,-6.90,0.000,4,0.246,0.054,2635,882,3551
$GC,269,-1.22,-117.3,19.7,-18.3,34,277,0.00,2.72,0.00,0.000,6,0.000,0.030,2635,2303,3551
$GC,413,-1.16,-117.3,44.5,-15.5,59,420,0.15,0.00,0.00,0.000,6,0.167,0.000,2656,2309,3552
$GC,557,-1.16,-117.3,65.5,-15.6,84,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2309,3551
$GC,901,-1.16,-117.3,121.3,-16.2,145,907,0.00,2.83,0.00,0.000,4,0.000,0.048,2656,890,3552
$GC,1122,-1.16,-117.3,156.3,-15.1,184,1129,0.00,2.70,0.00,0.000,6,0.000,0.031,2657,2295,3552
$GC,1467,-1.16,-117.3,207.1,-15.0,245,1474,0.00,2.83,0.00,0.000,4,0.000,0.048,2656,882,3552
$GC,1656,-1.16,-117.3,236.3,-16.2,278,1663,0.00,2.70,0.00,0.000,6,0.000,0.030,2656,2286,3552
$GC,2002,-1.16,-117.3,289.0,-15.0,339,2009,0.00,2.80,0.00,0.000,4,0.000,0.047,2656,884,3552
$GC,2167,-1.16,-117.3,314.9,-16.0,368,2175,0.00,2.65,0.00,0.000,6,0.000,0.031,2656,2263,3552
$GC,2506,-1.16,-117.3,366.0,-14.4,419,2510,0.00,2.75,0.00,0.000,4,0.000,0.048,2657,884,3552
$GC,2675,-1.16,-117.3,392.0,-15.4,433,2682,0.00,2.60,0.00,0.000,6,0.000,0.031,2657,2241,3552
$GC,3001,-1.16,-117.3,442.8,-15.7,464,3006,0.00,2.72,0.00,0.000,4,0.000,0.048,2656,882,3552
$GC,3147,-1.16,-117.3,465.6,-15.4,476,3154,0.00,2.58,0.00,0.000,6,0.000,0.031,2656,2223,3552
$GC,3473,-1.16,-117.3,513.3,-14.9,507,3478,0.00,2.70,0.00,0.000,4,0.000,0.049,2656,883,3552
$GC,3592,-1.16,-117.3,533.4,-17.2,517,3596,0.00,2.55,0.00,0.000,6,0.000,0.031,2656,2204,3552
$GC,3920,-1.16,-117.3,585.8,-15.4,547,3924,0.00,2.65,0.00,0.000,4,0.000,0.051,2656,891,3552
$GC,4110,-1.16,-117.3,617.7,-15.9,558,4118,0.00,2.50,0.00,0.000,6,0.000,0.032,2657,2181,3552
$GC,4426,-1.16,-117.3,664.2,-14.7,574,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2182,3552
$GC,4736,-1.16,-117.3,709.8,-15.3,589,4741,0.00,2.70,0.00,0.000,4,0.000,0.062,2657,886,3551
$GC,4802,-1.16,-117.3,720.7,-16.2,592,4807,0.00,2.55,0.00,0.000,6,0.000,0.041,2656,2164,3551
$GC,5126,-1.16,-117.3,772.4,-17.0,608,5130,0.00,2.78,0.00,0.000,4,0.000,0.081,2657,896,3551
$GC,5210,-1.16,-117.3,787.5,-19.5,612,5215,0.00,2.65,0.00,0.000,6,0.000,0.064,2656,2152,3551
$GC,5537,-1.16,-117.3,846.2,-16.3,628,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2152,3551
$GC,5847,-1.76,-194.7,846.5,-0.0,643,5856,0.57,3.58,0.00,0.000,4,0.050,0.110,2539,3694,3550
$STATE,5860,end dive,NO_VERTICAL_VELOCITY
$STATE,5860,begin apogee
$GC,5868,-0.21,0.0,846.4,0.0,643,5996,1.92,0.00,123.12,1.489,6,0.112,0.000,2868,2740,3071
$STATE,5997,end apogee,CONTROL_FINISHED_OK
$STATE,5997,begin climb
$GC,5999,1.37,194.7,846.3,0.0,650,6222,2.00,3.12,207.50,1.425,4,0.081,0.044,3217,1349,2277
$GC,6359,1.23,194.7,790.4,20.7,666,6364,0.20,2.85,0.00,0.000,6,0.144,0.034,3191,2744,2275
$GC,6686,1.13,194.7,728.2,19.5,682,6691,0.15,2.33,0.00,0.000,4,0.146,0.051,3167,3897,2275
$GC,6827,1.07,194.7,701.6,19.4,688,6831,0.00,2.17,0.00,0.000,6,0.000,0.032,3167,2772,2274
$GC,7143,1.03,194.7,646.1,17.7,703,7148,0.15,2.28,0.00,0.000,4,0.141,0.051,3144,3893,2273
$GC,7228,1.03,194.7,632.2,16.7,707,7232,0.00,2.15,0.00,0.000,6,0.000,0.032,3144,2780,2273
$GC,7548,1.03,194.7,582.6,15.5,727,7552,0.00,2.25,0.00,0.000,4,0.000,0.051,3144,3893,2273
$GC,7604,1.03,194.7,573.1,16.6,731,7611,0.00,2.08,0.00,0.000,6,0.000,0.031,3144,2802,2273
$GC,7930,1.03,194.7,522.7,15.0,762,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2793,2272
$GC,8248,1.03,194.7,474.8,15.5,792,8252,0.00,2.20,0.00,0.000,4,0.000,0.051,3144,3893,2272
$GC,8355,1.03,194.7,456.8,16.7,801,8359,0.00,2.05,0.00,0.000,6,0.000,0.031,3144,2825,2272
$GC,8688,1.03,194.7,407.3,14.3,832,8692,0.00,2.15,0.00,0.000,4,0.000,0.051,3144,3893,2272
$GC,8732,1.03,194.7,400.5,15.1,835,8739,0.00,2.03,0.00,0.000,6,0.000,0.030,3144,2835,2272
$GC,9060,1.03,194.7,357.0,13.1,866,9064,0.00,2.15,0.00,0.000,4,0.000,0.058,3144,3899,2271
$GC,9101,1.03,194.7,351.1,14.0,869,9104,0.00,2.03,0.00,0.000,6,0.000,0.031,3144,2837,2272
$GC,9443,1.03,194.7,304.5,14.8,929,9449,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2829,2271
$GC,9788,1.03,194.7,255.0,14.3,990,9795,0.00,2.12,0.00,0.000,4,0.000,0.049,3144,3897,2271
$GC,9835,1.03,194.7,247.7,15.9,998,9843,0.00,2.03,0.00,0.000,6,0.000,0.030,3144,2832,2271
$GC,10180,1.03,194.7,195.4,15.4,1059,10187,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2825,2271
$GC,10524,1.03,194.7,141.3,15.2,1120,10531,0.00,2.15,0.00,0.000,4,0.000,0.049,3144,3892,2272
$GC,10612,1.03,194.7,127.7,16.4,1135,10619,0.00,1.98,0.00,0.000,6,0.000,0.030,3144,2855,2272
$GC,10956,1.03,194.7,77.1,14.4,1196,10962,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2848,2272
$GC,11298,1.03,194.7,27.3,13.4,1257,11305,0.00,2.08,0.00,0.000,4,0.000,0.048,3144,3899,2272
$GC,11386,1.03,194.7,15.1,14.1,1272,11393,0.00,2.03,0.00,0.000,6,0.000,0.031,3144,2833,2272
$STATE,11483,end climb,SURFACE_DEPTH_REACHED
$STATE,11483,begin surface coast
$FINISH,-0.1,1.017028
$STATE,11496,end surface coast,CONTROL_FINISHED_OK
$STATE,11496,begin surface
$SM_CCo,11515,3.88,0.551,0,0,2255,200.16
$SM_GC,1.62,0.00,0.00,3.88,0.000,0.000,0.551,1436,2301,2255,-6.83,0.03,200.16
$IRIDIUM_FIX,6130.75,-2609.41,300897,000027
$TT8_MAMPS,0.026845
$HUMID,1833
$INTERNAL_PRESSURE,8.97541
$TCM_TEMP,16.30
$XPDR_PINGS,605
$24V_AH,19.1,91.530
$10V_AH,9.9,62.815
$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,24.850,104.775,330.625,3.875,0.000,30.149,31.207,245.216,151.250,0.000,0.000,13.192,2645.193,5683.529,542.028,2505.723,582.558,0.000,1663.017,0.000,2495.883,0.000,0.466
$DEVICE_MAMPS,246.207,109.681,1488.747,550.706,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,907.109,945.590,523.862,1222.280,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,95037,1291
$CAP_FILE_SIZE,119031,0
$CFSIZE,260165632,228921344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.155,318.7,1
$GPS,050608,083058,6157.166,-2602.138,35,99.0,54,-18.7