version: 66.03
glider: 142
mission: 5
dive: 323
start: 6 11 108 6 57 38
data:
$ID,142
$MISSION,5
$DIVE,323
$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,-19038.709
$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,25
$R_STBD_OVSHOOT,30
$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
$GPS1,064607,6147.207,-2620.076,40,1.4,40,-18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-53.2
$GPS2,065702,6147.230,-2620.087,11,1.3,16,-18.8
$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,233.9,4278,-22.1,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.04,-94.4,0.0,0.0,0,137,0.00,0.00,-110.03,0.000,2,0.000,0.000,1435,2313,3365
$GC,140,-1.12,-164.5,3.1,-5.0,15,171,11.35,2.75,-11.23,0.000,4,0.248,0.049,2666,3698,3743
$GC,341,-1.06,-164.5,39.3,-17.2,49,349,0.15,2.72,0.00,0.000,6,0.155,0.032,2686,2293,3744
$GC,485,-1.06,-164.5,62.8,-16.2,74,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2293,3744
$GC,830,-1.06,-164.5,117.4,-15.6,135,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2292,3744
$GC,1174,-1.06,-164.5,173.3,-15.7,196,1181,0.00,2.78,0.00,0.000,4,0.000,0.048,2686,888,3744
$GC,1210,-1.06,-164.5,179.0,-15.4,202,1218,0.00,2.72,0.00,0.000,6,0.000,0.029,2686,2309,3744
$GC,1557,-1.06,-164.5,230.4,-14.5,263,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2310,3744
$GC,1902,-1.06,-164.5,281.8,-14.9,324,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2310,3744
$GC,2247,-1.06,-164.5,332.6,-14.8,385,2254,0.00,2.85,0.00,0.000,4,0.000,0.048,2686,884,3745
$GC,2300,-1.06,-164.5,340.3,-14.6,394,2307,0.00,2.75,0.00,0.000,6,0.000,0.031,2686,2310,3744
$GC,2636,-1.06,-164.5,388.3,-14.0,431,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2311,3744
$GC,2955,-1.06,-164.5,432.2,-14.1,461,2960,0.00,2.85,0.00,0.000,4,0.000,0.048,2686,889,3744
$GC,2999,-1.06,-164.5,438.7,-14.2,464,3006,0.00,2.72,0.00,0.000,6,0.000,0.031,2686,2303,3744
$GC,3326,-1.06,-164.5,485.6,-14.4,495,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2304,3744
$GC,3643,-1.06,-164.5,531.1,-14.4,525,3647,0.00,2.85,0.00,0.000,4,0.000,0.049,2686,885,3744
$GC,3717,-1.06,-164.5,542.1,-14.2,531,3721,0.00,2.72,0.00,0.000,6,0.000,0.031,2686,2296,3744
$GC,4045,-1.06,-164.5,593.0,-16.3,561,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2297,3743
$GC,4363,-1.06,-164.5,645.8,-16.1,579,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2297,3743
$GC,4671,-1.06,-164.5,695.6,-15.5,594,4676,0.00,2.90,0.00,0.000,4,0.000,0.060,2686,895,3744
$GC,4734,-1.06,-164.5,704.6,-13.9,597,4739,0.00,2.75,0.00,0.000,6,0.000,0.039,2686,2286,3742
$GC,5061,-1.06,-164.5,746.1,-12.1,613,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2287,3743
$GC,5371,-1.41,-194.7,776.3,-0.1,628,5377,0.35,3.05,0.00,0.000,4,0.041,0.081,2608,897,3742
$STATE,5612,end dive,NO_VERTICAL_VELOCITY
$STATE,5612,begin apogee
$GC,5622,-0.21,0.0,776.3,0.0,639,5798,1.58,0.00,171.23,1.439,6,0.112,0.000,2869,2749,3071
$STATE,5798,end apogee,CONTROL_FINISHED_OK
$STATE,5798,begin climb
$GC,5801,1.16,194.7,776.2,0.0,648,6023,1.77,2.75,205.88,1.374,4,0.087,0.072,3164,3901,2277
$GC,6120,1.03,194.7,735.8,16.6,662,6124,0.00,2.40,0.00,0.000,6,0.000,0.048,3164,2760,2276
$GC,6441,0.92,194.7,682.0,17.2,678,6446,0.25,2.38,0.00,0.000,4,0.133,0.058,3124,3902,2274
$GC,6485,0.92,194.7,674.9,14.0,680,6489,0.00,2.30,0.00,0.000,6,0.000,0.039,3124,2745,2274
$GC,6813,0.87,194.7,632.1,13.5,696,6817,0.00,2.40,0.00,0.000,4,0.000,0.059,3124,3905,2273
$GC,6885,0.87,194.7,621.5,14.8,699,6889,0.00,2.17,0.00,0.000,6,0.000,0.034,3124,2782,2273
$GC,7212,0.87,194.7,576.0,14.2,722,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2775,2273
$GC,7530,0.87,194.7,536.4,11.2,752,7534,0.00,2.28,0.00,0.000,4,0.000,0.051,3124,3908,2272
$GC,7572,0.87,194.7,531.5,12.2,755,7576,0.00,2.15,0.00,0.000,6,0.000,0.031,3124,2787,2273
$GC,7900,0.87,194.7,493.9,12.0,785,7904,0.00,2.88,0.00,0.000,4,0.000,0.048,3125,1341,2273
$GC,7954,0.87,194.7,486.3,13.4,789,7962,0.00,2.83,0.00,0.000,6,0.000,0.031,3124,2791,2272
$GC,8282,0.87,194.7,443.7,13.5,820,8286,0.00,2.17,0.00,0.000,4,0.000,0.050,3124,3891,2272
$GC,8333,0.87,194.7,436.4,14.1,824,8337,0.00,2.15,0.00,0.000,6,0.000,0.031,3124,2773,2272
$GC,8662,0.87,194.7,393.9,12.8,854,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2767,2272
$GC,8989,0.87,194.7,352.6,12.1,885,8990,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2763,2272
$GC,9321,0.87,194.7,312.9,11.9,942,9328,0.00,2.25,0.00,0.000,4,0.000,0.048,3124,3893,2272
$GC,9397,0.87,194.7,303.4,12.5,955,9404,0.00,2.15,0.00,0.000,6,0.000,0.031,3124,2771,2272
$GC,9742,0.87,194.7,262.4,12.5,1016,9751,0.00,2.25,0.00,0.000,4,0.000,0.048,3124,3895,2271
$GC,9786,0.87,194.7,256.9,13.3,1023,9793,0.00,2.10,0.00,0.000,6,0.000,0.030,3124,2798,2271
$GC,10131,0.87,194.7,214.1,13.2,1084,10138,0.00,2.88,0.00,0.000,4,0.000,0.044,3124,1342,2272
$GC,10173,0.87,194.7,208.4,13.2,1091,10180,0.00,2.85,0.00,0.000,6,0.000,0.031,3124,2809,2272
$GC,10518,0.87,194.7,161.6,13.5,1152,10525,0.00,2.15,0.00,0.000,4,0.000,0.048,3124,3903,2272
$GC,10606,0.87,194.7,149.4,14.6,1167,10613,0.00,2.10,0.00,0.000,6,0.000,0.031,3124,2806,2271
$GC,10952,0.87,194.7,106.7,11.9,1228,10958,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2798,2271
$GC,11297,0.87,194.7,66.5,12.5,1289,11304,0.00,2.17,0.00,0.000,4,0.000,0.048,3124,3893,2272
$GC,11346,0.87,194.7,60.2,12.4,1297,11353,0.00,2.08,0.00,0.000,6,0.000,0.031,3124,2811,2271
$GC,11692,0.88,202.4,23.8,9.5,1358,11706,0.00,0.00,8.50,0.770,6,0.000,0.000,3124,2803,2244
$GC,11842,0.90,214.2,8.5,9.2,1384,11857,0.00,0.00,12.35,0.854,6,0.000,0.000,3124,2802,2197
$STATE,11907,end climb,SURFACE_DEPTH_REACHED
$STATE,11907,begin surface coast
$FINISH,0.2,1.013190
$STATE,11936,end surface coast,CONTROL_FINISHED_OK
$STATE,11937,begin surface
$SM_CCo,12016,0.00,0.000,0,0,2196,214.64
$SM_GC,1.04,8.55,0.00,0.00,0.042,0.000,0.000,1433,2296,2196,-6.79,-0.08,214.64
$IRIDIUM_FIX,6121.73,-2617.64,050997,060615
$TT8_MAMPS,0.026078
$HUMID,1842
$INTERNAL_PRESSURE,8.97541
$TCM_TEMP,16.50
$XPDR_PINGS,678
$24V_AH,19.2,100.781
$10V_AH,9.8,67.736
$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,24.000,93.225,397.950,0.000,0.000,49.470,74.532,317.216,169.500,0.000,0.000,17.636,2875.467,5896.499,571.806,2583.839,744.428,0.000,1719.092,0.000,2576.061,0.000,0.465
$DEVICE_MAMPS,247.741,81.302,1438.892,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,974.188,1050.659,589.825,1330.737,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104460,1400
$CAP_FILE_SIZE,124394,0
$CFSIZE,260165632,226136064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,256.2,1
$GPS,110608,101907,6145.695,-2622.740,36,1.7,36,-18.8