version: 66.03
glider: 142
mission: 5
dive: 297
start: 6 6 108 4 7 41
data:
$ID,142
$MISSION,5
$DIVE,297
$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,-18578.977
$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
$GPS1,035938,6149.999,-2609.446,38,1.3,38,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-47.3
$GPS2,040721,6150.014,-2609.357,11,1.8,11,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SW
$TGT_LATLONG,6145.370,-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,259.1,14715,-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,21,-0.86,-194.7,0.0,0.0,0,139,0.00,0.00,-114.50,0.000,2,0.000,0.000,1436,2284,3488
$GC,142,-0.86,-194.7,3.3,-5.2,15,166,11.85,0.00,-9.93,0.000,6,0.249,0.000,2725,2285,3866
$GC,303,-0.77,-194.7,32.4,-15.7,42,311,0.15,0.00,0.00,0.000,6,0.157,0.000,2748,2284,3867
$GC,445,-0.77,-194.7,48.5,-11.3,67,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2285,3868
$GC,588,-0.77,-194.7,63.8,-10.7,92,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2285,3868
$GC,933,-0.77,-194.7,104.7,-11.6,153,940,0.00,2.78,0.00,0.000,4,0.000,0.048,2748,891,3868
$GC,974,-0.77,-194.7,109.7,-12.2,160,982,0.00,2.72,0.00,0.000,6,0.000,0.030,2748,2311,3869
$GC,1320,-0.77,-194.7,150.4,-11.8,221,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2312,3868
$GC,1665,-0.77,-194.7,190.8,-11.5,282,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2312,3869
$GC,2009,-0.77,-194.7,230.5,-12.0,343,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2312,3869
$GC,2354,-0.77,-194.7,272.9,-12.7,404,2361,0.00,2.83,0.00,0.000,4,0.000,0.048,2748,897,3869
$GC,2413,-0.77,-194.7,280.6,-12.5,414,2420,0.00,2.70,0.00,0.000,6,0.000,0.031,2748,2298,3868
$GC,2759,-0.77,-194.7,325.1,-11.9,475,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2300,3868
$GC,3097,-0.77,-194.7,365.3,-11.9,524,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2301,3868
$GC,3414,-0.77,-194.7,403.3,-11.8,554,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2302,3869
$GC,3733,-0.77,-194.7,443.0,-13.1,584,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2302,3868
$GC,4051,-0.77,-194.7,483.7,-12.8,614,4056,0.00,2.83,0.00,0.000,4,0.000,0.048,2748,892,3868
$GC,4092,-0.77,-194.7,488.9,-13.2,617,4096,0.00,2.70,0.00,0.000,6,0.000,0.031,2748,2292,3868
$GC,4419,-0.77,-194.7,528.4,-11.4,647,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2293,3868
$GC,4736,-0.77,-194.7,562.0,-9.3,677,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2293,3868
$GC,5055,-0.77,-194.7,592.0,-9.7,707,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2293,3868
$GC,5365,-0.77,-194.7,623.0,-10.4,726,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2293,3868
$GC,5675,-0.77,-194.7,654.1,-9.7,741,5680,0.00,2.85,0.00,0.000,4,0.000,0.054,2748,897,3867
$GC,5715,-0.77,-194.7,658.0,-9.6,743,5720,0.00,2.72,0.00,0.000,6,0.000,0.035,2748,2287,3867
$GC,6044,-0.77,-194.7,689.5,-9.7,759,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2288,3867
$GC,6352,-0.77,-194.7,718.7,-9.2,774,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2288,3867
$GC,6661,-0.77,-194.7,746.8,-9.2,789,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2289,3866
$GC,6970,-0.77,-194.7,780.8,-12.2,804,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2289,3866
$GC,7280,-0.77,-194.7,815.6,-11.0,819,7285,0.00,3.20,0.00,0.000,4,0.000,0.098,2748,3700,3866
$GC,7323,-0.77,-194.7,820.7,-11.5,821,7328,0.00,3.10,0.00,0.000,6,0.000,0.083,2748,2300,3865
$GC,7645,-0.77,-194.7,856.3,-10.9,837,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2299,3865
$GC,7954,-0.77,-194.7,888.8,-10.1,852,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2299,3864
$GC,8264,-0.97,-194.7,889.6,-0.0,867,8266,0.22,0.00,0.00,0.000,6,0.048,0.000,2703,2299,3864
$STATE,8281,end dive,NO_VERTICAL_VELOCITY
$STATE,8281,begin apogee
$GC,8288,-0.21,0.0,889.6,0.0,868,8499,0.95,0.00,207.02,1.512,6,0.085,0.000,2870,2736,3071
$STATE,8499,end apogee,CONTROL_FINISHED_OK
$STATE,8500,begin climb
$GC,8502,0.86,194.7,889.4,0.0,878,8729,1.42,3.85,211.82,1.443,4,0.092,0.120,3099,1338,2277
$GC,8802,0.73,194.7,863.0,14.1,892,8807,0.00,3.45,0.00,0.000,6,0.000,0.097,3099,2753,2276
$GC,9126,0.60,194.7,821.9,12.9,908,9131,0.28,2.60,0.00,0.000,4,0.118,0.096,3054,3908,2274
$GC,9175,0.62,211.2,816.4,9.4,910,9198,0.00,2.53,17.67,1.317,6,0.000,0.072,3054,2742,2210
$GC,9516,0.66,247.0,787.0,8.8,927,9561,0.00,3.12,37.35,1.397,4,0.000,0.081,3054,1334,2064
$GC,9578,0.70,281.8,781.2,8.8,929,9622,0.00,3.08,37.92,1.371,6,0.000,0.061,3054,2761,1922
$GC,9943,0.79,348.4,750.2,7.7,947,10026,0.17,2.53,70.25,1.387,4,0.055,0.071,3089,3893,1649
$GC,10042,0.74,348.4,738.9,12.1,951,10050,0.00,2.40,0.00,0.000,6,0.000,0.046,3089,2746,1648
$GC,10359,0.70,348.4,699.8,13.7,967,10360,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2745,1643
$GC,10668,0.65,348.4,660.6,12.3,982,10670,0.15,0.00,0.00,0.000,6,0.105,0.000,3066,2745,1642
$GC,10977,0.66,353.9,627.9,9.8,997,10984,0.00,0.00,5.38,0.936,6,0.000,0.000,3066,2745,1628
$GC,11287,0.66,353.9,597.6,10.0,1013,11289,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2745,1628
$GC,11605,0.66,353.9,561.5,12.4,1043,11607,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2745,1627
$GC,11926,0.70,353.9,523.2,11.7,1073,11931,0.00,2.83,0.00,0.000,4,0.000,0.054,3066,1330,1627
$GC,11956,0.75,353.9,519.5,12.4,1075,11961,0.00,2.83,0.00,0.000,6,0.000,0.031,3066,2775,1626
$GC,12282,0.80,353.9,481.5,11.0,1105,12284,0.15,0.00,0.00,0.000,6,0.054,0.000,3098,2776,1626
$GC,12602,0.80,353.9,440.0,12.2,1135,12607,0.00,2.90,0.00,0.000,4,0.000,0.045,3098,1330,1626
$GC,12631,0.80,353.9,436.1,12.4,1137,12636,0.00,2.75,0.00,0.000,6,0.000,0.031,3097,2746,1626
$GC,12959,0.75,353.9,396.6,12.7,1167,12963,0.00,2.30,0.00,0.000,4,0.000,0.056,3098,3900,1626
$GC,13002,0.75,353.9,390.6,12.2,1170,13010,0.00,2.28,0.00,0.000,6,0.000,0.032,3098,2733,1626
$GC,13331,0.75,353.9,349.8,12.5,1201,13337,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2732,1626
$GC,13675,0.75,353.9,307.7,11.8,1262,13682,0.00,2.33,0.00,0.000,4,0.000,0.050,3098,3890,1626
$GC,13711,0.75,353.9,303.1,12.3,1268,13718,0.00,2.17,0.00,0.000,6,0.000,0.031,3097,2757,1626
$GC,14057,0.75,353.9,262.6,10.7,1329,14063,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2753,1626
$GC,14401,0.75,353.9,226.0,10.7,1390,14408,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2751,1626
$GC,14746,0.77,367.9,191.5,9.5,1451,14767,0.00,0.00,15.80,0.983,6,0.000,0.000,3098,2749,1570
$GC,15104,0.77,367.9,155.5,10.5,1514,15111,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2750,1568
$GC,15450,0.77,367.9,120.2,10.2,1575,15456,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2749,1568
$GC,15794,0.77,367.9,77.7,12.6,1636,15800,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2750,1568
$GC,16137,0.78,375.9,42.8,9.7,1697,16152,0.00,2.88,9.40,0.834,4,0.000,0.046,3097,1345,1538
$GC,16171,0.78,375.9,39.2,10.8,1702,16179,0.00,2.75,0.00,0.000,6,0.000,0.030,3098,2766,1538
$GC,16315,0.78,375.9,23.8,11.0,1727,16322,0.00,2.20,0.00,0.000,4,0.000,0.047,3098,3892,1537
$GC,16341,0.78,375.9,20.9,10.7,1731,16348,0.00,2.20,0.00,0.000,6,0.000,0.031,3098,2769,1537
$GC,16485,0.78,375.9,6.0,14.1,1756,16492,0.00,2.80,0.00,0.000,4,0.000,0.045,3098,1346,1537
$GC,16522,0.78,375.9,2.1,12.3,1762,16530,0.00,2.72,0.00,0.000,6,0.000,0.028,3098,2763,1536
$STATE,16534,end climb,SURFACE_DEPTH_REACHED
$STATE,16535,begin surface coast
$FINISH,0.1,1.013398
$STATE,16546,end surface coast,CONTROL_FINISHED_OK
$STATE,16546,begin surface
$SM_CCo,16625,0.00,0.000,0,0,1534,377.03
$SM_GC,0.61,8.32,0.00,0.00,0.040,0.000,0.000,1433,2298,1534,-6.79,-0.06,377.03
$IRIDIUM_FIX,6130.75,-2603.30,300897,232307
$TT8_MAMPS,0.026845
$HUMID,1814
$INTERNAL_PRESSURE,8.91681
$TCM_TEMP,16.50
$XPDR_PINGS,888
$24V_AH,19.1,93.053
$10V_AH,9.8,63.627
$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,23.675,90.000,612.625,0.000,0.000,28.729,34.783,248.521,222.000,0.000,0.000,14.535,3589.755,8886.867,772.148,3154.939,665.199,0.000,2174.220,0.000,3153.522,0.000,0.465
$DEVICE_MAMPS,248.508,119.652,1511.757,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1243.583,1297.219,681.169,1650.220,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129705,1766
$CAP_FILE_SIZE,150875,0
$CFSIZE,260165632,228421632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089,296.9,1
$GPS,060608,084601,6149.053,-2615.772,39,1.8,39,-18.8