version: 66.03
glider: 142
mission: 5
dive: 349
start: 6 16 108 9 22 50
data:
$ID,142
$MISSION,5
$DIVE,349
$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,-19509.705
$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,25
$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
$GPS1,090938,6146.742,-2622.474,38,1.4,38,-18.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-40.1
$GPS2,092229,6146.617,-2622.328,14,2.7,33,-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,195.5,2378,-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,-63.0,0.0,0.0,0,151,0.00,0.00,-125.75,0.000,6,0.000,0.000,1431,2317,3328
$GC,154,-1.29,-126.5,2.6,-3.2,17,183,11.12,2.78,-8.52,0.000,4,0.249,0.051,2631,3709,3588
$GC,207,-1.21,-126.5,11.5,-17.9,25,216,0.15,2.72,0.00,0.000,6,0.172,0.032,2649,2303,3588
$GC,355,-1.16,-126.5,37.9,-19.6,50,362,0.00,2.78,0.00,0.000,4,0.000,0.041,2650,3707,3589
$GC,370,-1.11,-126.5,40.9,-17.9,52,377,0.17,2.67,0.00,0.000,6,0.189,0.030,2670,2319,3589
$GC,514,-1.11,-126.5,64.0,-16.1,77,521,0.00,2.75,0.00,0.000,4,0.000,0.041,2670,3706,3589
$GC,699,-1.11,-126.5,93.2,-14.9,109,706,0.00,2.78,0.00,0.000,6,0.000,0.033,2670,2280,3589
$GC,1046,-1.11,-126.5,146.7,-15.7,170,1053,0.00,2.83,0.00,0.000,4,0.000,0.043,2670,3703,3589
$GC,1061,-1.11,-126.5,149.4,-15.6,172,1068,0.00,2.75,0.00,0.000,6,0.000,0.033,2670,2288,3589
$GC,1407,-1.11,-126.5,203.7,-15.6,233,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2287,3589
$GC,1751,-1.11,-126.5,258.8,-16.0,294,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2287,3589
$GC,2095,-1.11,-126.5,312.4,-14.7,355,2102,0.00,2.78,0.00,0.000,4,0.000,0.048,2670,884,3589
$GC,2148,-1.11,-126.5,320.6,-15.4,364,2156,0.00,2.70,0.00,0.000,6,0.000,0.029,2670,2295,3589
$GC,2486,-1.11,-126.5,370.2,-14.4,412,2490,0.00,2.80,0.00,0.000,4,0.000,0.046,2670,894,3589
$GC,2552,-1.11,-126.5,380.4,-15.6,417,2559,0.00,2.67,0.00,0.000,6,0.000,0.030,2671,2283,3589
$GC,2880,-1.11,-126.5,427.8,-15.1,448,2884,0.00,2.80,0.00,0.000,4,0.000,0.047,2670,883,3589
$GC,2934,-1.11,-126.5,437.0,-15.5,452,2942,0.00,2.67,0.00,0.000,6,0.000,0.030,2670,2276,3589
$GC,3262,-1.11,-126.5,486.4,-15.2,483,3267,0.00,2.78,0.00,0.000,4,0.000,0.048,2670,890,3589
$GC,3325,-1.11,-126.5,496.4,-15.8,488,3329,0.00,2.65,0.00,0.000,6,0.000,0.030,2670,2264,3588
$GC,3652,-1.11,-126.5,543.7,-14.6,518,3656,0.00,2.75,0.00,0.000,4,0.000,0.048,2670,895,3589
$GC,3703,-1.11,-126.5,551.8,-15.0,522,3707,0.00,2.65,0.00,0.000,6,0.000,0.031,2670,2268,3588
$GC,4029,-1.11,-126.5,601.1,-15.4,552,4034,0.00,2.78,0.00,0.000,4,0.000,0.049,2670,896,3588
$GC,4074,-1.11,-126.5,608.4,-15.5,554,4078,0.00,2.62,0.00,0.000,6,0.000,0.031,2670,2255,3588
$GC,4394,-1.11,-126.5,656.0,-14.6,570,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2256,3588
$GC,4705,-1.11,-126.5,700.9,-14.8,585,4709,0.00,2.83,0.00,0.000,4,0.000,0.059,2670,891,3588
$GC,4805,-1.11,-126.5,715.9,-14.7,589,4812,0.00,2.70,0.00,0.000,6,0.000,0.042,2670,2247,3588
$GC,5121,-1.11,-126.5,757.6,-13.5,605,5126,0.00,2.90,0.00,0.000,4,0.000,0.073,2670,897,3588
$GC,5155,-1.16,-126.5,762.0,-12.1,606,5162,0.00,2.78,0.00,0.000,6,0.000,0.057,2671,2240,3587
$GC,5471,-1.16,-126.5,801.8,-13.9,622,5476,0.00,3.03,0.00,0.000,4,0.000,0.091,2670,894,3587
$GC,5729,-1.60,-194.7,810.6,-0.2,633,5736,0.50,2.83,0.00,0.000,6,0.039,0.071,2568,2213,3587
$STATE,5795,end dive,NO_VERTICAL_VELOCITY
$STATE,5795,begin apogee
$GC,5803,-0.21,0.0,810.6,0.0,637,5940,1.90,0.00,132.05,1.467,6,0.129,0.000,2868,2743,3071
$STATE,5940,end apogee,CONTROL_FINISHED_OK
$STATE,5940,begin climb
$GC,5943,1.37,194.7,810.5,0.0,644,6159,2.12,0.00,206.12,1.396,6,0.095,0.000,3217,2743,2277
$GC,6470,1.27,194.7,724.7,20.4,670,6475,0.00,2.42,0.00,0.000,4,0.000,0.065,3217,3908,2275
$GC,6549,1.17,194.7,708.2,17.9,673,6556,0.25,2.25,0.00,0.000,6,0.148,0.043,3182,2783,2275
$GC,6865,1.17,194.7,661.4,14.5,689,6870,0.00,2.97,0.00,0.000,4,0.000,0.058,3182,1328,2274
$GC,7122,1.12,194.7,619.3,16.3,700,7130,0.00,2.78,0.00,0.000,6,0.000,0.034,3182,2746,2273
$GC,7447,1.08,194.7,569.0,17.0,725,7452,0.15,2.85,0.00,0.000,4,0.135,0.045,3157,1331,2273
$GC,7579,1.12,194.7,547.8,16.0,736,7583,0.00,2.78,0.00,0.000,6,0.000,0.034,3157,2745,2273
$GC,7906,1.12,194.7,501.4,14.2,766,7910,0.00,2.28,0.00,0.000,4,0.000,0.050,3157,3893,2273
$GC,7979,1.12,194.7,490.4,14.8,772,7983,0.00,2.25,0.00,0.000,6,0.000,0.031,3157,2721,2272
$GC,8307,1.12,194.7,446.3,13.7,802,8311,0.00,2.38,0.00,0.000,4,0.000,0.049,3157,3903,2272
$GC,8379,1.12,194.7,435.9,14.5,808,8383,0.00,2.22,0.00,0.000,6,0.000,0.031,3157,2744,2272
$GC,8707,1.12,194.7,391.3,13.8,838,8711,0.00,2.33,0.00,0.000,4,0.000,0.049,3157,3903,2272
$GC,8751,1.12,194.7,384.5,14.6,841,8758,0.00,2.20,0.00,0.000,6,0.000,0.031,3157,2752,2272
$GC,9080,1.12,194.7,340.2,13.3,878,9087,0.00,2.30,0.00,0.000,4,0.000,0.048,3158,3897,2272
$GC,9128,1.12,194.7,333.3,15.1,886,9135,0.00,2.17,0.00,0.000,6,0.000,0.031,3158,2760,2272
$GC,9475,1.12,194.7,285.5,13.9,947,9482,0.00,2.28,0.00,0.000,4,0.000,0.047,3157,3900,2272
$GC,9527,1.12,194.7,277.7,15.1,956,9534,0.00,2.12,0.00,0.000,6,0.000,0.031,3157,2787,2272
$GC,9873,1.12,194.7,228.5,14.9,1017,9879,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2779,2272
$GC,10218,1.12,194.7,177.6,14.1,1078,10225,0.00,2.22,0.00,0.000,4,0.000,0.048,3157,3901,2272
$GC,10333,1.12,194.7,160.6,14.6,1098,10341,0.00,2.10,0.00,0.000,6,0.000,0.030,3158,2802,2272
$GC,10680,1.12,194.7,113.4,13.5,1159,10687,0.00,2.88,0.00,0.000,4,0.000,0.044,3157,1347,2272
$GC,10751,1.12,194.7,103.6,13.9,1171,10758,0.00,2.83,0.00,0.000,6,0.000,0.031,3157,2797,2272
$GC,11096,1.12,194.7,59.1,11.4,1232,11103,0.00,2.15,0.00,0.000,4,0.000,0.048,3157,3894,2272
$GC,11201,1.16,194.7,47.0,11.6,1250,11208,0.00,2.10,0.00,0.000,6,0.000,0.031,3157,2794,2272
$GC,11348,1.21,194.7,31.9,12.4,1275,11356,0.12,2.88,0.00,0.000,4,0.067,0.043,3182,1337,2272
$GC,11419,1.21,194.7,22.3,12.8,1287,11427,0.00,2.75,0.00,0.000,6,0.000,0.030,3182,2756,2272
$STATE,11550,end climb,SURFACE_DEPTH_REACHED
$STATE,11550,begin surface coast
$FINISH,-0.0,1.012766
$STATE,11564,end surface coast,CONTROL_FINISHED_OK
$STATE,11564,begin surface
$SM_CCo,11584,3.92,0.552,0,0,2255,200.16
$SM_GC,2.18,0.00,0.00,3.92,0.000,0.000,0.552,1433,2285,2255,-6.84,-0.45,200.16
$IRIDIUM_FIX,6121.73,-2621.71,100997,090952
$TT8_MAMPS,0.026845
$HUMID,1850
$INTERNAL_PRESSURE,8.99494
$TCM_TEMP,16.60
$XPDR_PINGS,605
$24V_AH,19.2,108.392
$10V_AH,9.9,71.840
$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,25.475,132.375,338.175,3.925,0.000,61.264,64.432,405.753,151.250,0.000,0.000,35.362,2715.863,5667.076,611.138,2500.479,851.432,0.000,1712.399,0.000,2466.019,0.000,0.467
$DEVICE_MAMPS,249.275,90.506,1466.504,552.240,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,903.480,988.647,541.826,1238.030,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,98236,1312
$CAP_FILE_SIZE,130208,0
$CFSIZE,260165632,223830016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.023,146.8,1
$GPS,160608,123708,6145.223,-2621.928,30,1.7,30,-18.8