version: 66.03
glider: 142
mission: 5
dive: 286
start: 6 4 108 4 2 41
data:
$ID,142
$MISSION,5
$DIVE,286
$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,-18399.393
$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,22
$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
$GPS1,035138,6153.313,-2617.818,28,1.6,28,-18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-48.8
$GPS2,040221,6153.286,-2617.907,15,1.7,15,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NW
$TGT_LATLONG,6156.130,-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,351.6,6876,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-0.86,-194.7,0.0,0.0,0,153,0.00,0.00,-126.80,0.000,2,0.000,0.000,1433,2279,3376
$GC,156,-0.86,-194.7,3.1,-5.9,17,194,11.75,2.92,-14.23,0.000,4,0.249,0.052,2726,3706,3866
$GC,345,-0.80,-194.7,32.3,-14.7,49,353,0.00,2.75,0.00,0.000,6,0.000,0.035,2726,2300,3868
$GC,488,-0.70,-194.7,52.5,-14.1,74,496,0.20,2.83,0.00,0.000,4,0.146,0.050,2758,884,3867
$GC,564,-0.70,-194.7,61.2,-10.3,87,572,0.00,2.75,0.00,0.000,6,0.000,0.029,2758,2316,3867
$GC,908,-0.70,-194.7,97.1,-9.2,148,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2317,3867
$GC,1254,-0.70,-194.7,129.2,-9.7,209,1261,0.00,2.88,0.00,0.000,4,0.000,0.048,2758,883,3867
$GC,1296,-0.70,-194.7,133.3,-9.4,216,1304,0.00,2.75,0.00,0.000,6,0.000,0.030,2758,2317,3867
$GC,1644,-0.70,-194.7,168.1,-9.9,277,1651,0.00,2.75,0.00,0.000,4,0.000,0.044,2758,3710,3867
$GC,1719,-0.70,-194.7,175.6,-9.8,290,1727,0.00,2.72,0.00,0.000,6,0.000,0.034,2758,2309,3867
$GC,2064,-0.70,-194.7,211.1,-10.7,351,2071,0.00,2.83,0.00,0.000,4,0.000,0.050,2758,886,3868
$GC,2130,-0.74,-194.7,217.8,-9.9,362,2137,0.00,2.75,0.00,0.000,6,0.000,0.030,2758,2321,3867
$GC,2475,-0.74,-194.7,252.0,-9.9,423,2482,0.00,2.72,0.00,0.000,4,0.000,0.044,2758,3703,3867
$GC,2540,-0.74,-194.7,258.1,-9.5,434,2547,0.00,2.70,0.00,0.000,6,0.000,0.033,2758,2314,3867
$GC,2885,-0.74,-194.7,294.9,-11.2,495,2892,0.00,2.83,0.00,0.000,4,0.000,0.050,2758,892,3868
$GC,2935,-0.74,-194.7,300.1,-10.6,503,2942,0.00,2.75,0.00,0.000,6,0.000,0.030,2757,2322,3867
$GC,3279,-0.74,-194.7,338.4,-11.1,564,3287,0.00,2.72,0.00,0.000,4,0.000,0.046,2758,3702,3867
$GC,3338,-0.74,-194.7,344.9,-10.7,574,3346,0.00,2.72,0.00,0.000,6,0.000,0.035,2758,2308,3867
$GC,3673,-0.74,-194.7,381.1,-11.0,609,3678,0.00,2.83,0.00,0.000,4,0.000,0.050,2758,884,3867
$GC,3724,-0.79,-194.7,386.3,-9.8,613,3729,0.00,2.75,0.00,0.000,6,0.000,0.029,2758,2317,3866
$GC,4052,-0.79,-194.7,421.7,-11.1,643,4056,0.00,2.75,0.00,0.000,4,0.000,0.045,2758,3707,3866
$GC,4128,-0.79,-194.7,430.1,-10.1,649,4136,0.00,2.72,0.00,0.000,6,0.000,0.035,2758,2312,3866
$GC,4455,-0.79,-194.7,465.5,-11.4,680,4459,0.00,2.85,0.00,0.000,4,0.000,0.051,2758,884,3866
$GC,4499,-0.84,-194.7,470.6,-10.7,683,4506,0.00,2.75,0.00,0.000,6,0.000,0.029,2758,2318,3865
$GC,4826,-0.84,-194.7,503.7,-9.8,714,4830,0.00,2.75,0.00,0.000,4,0.000,0.051,2758,3702,3865
$GC,4900,-0.84,-194.7,510.7,-9.4,720,4904,0.00,2.70,0.00,0.000,6,0.000,0.034,2758,2320,3865
$GC,5227,-0.84,-194.7,542.5,-9.6,750,5231,0.00,2.88,0.00,0.000,4,0.000,0.052,2758,883,3866
$GC,5271,-0.89,-194.7,547.0,-9.4,753,5279,0.17,2.78,0.00,0.000,6,0.057,0.029,2723,2327,3865
$GC,5596,-0.81,-194.7,587.3,-12.7,784,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2327,3865
$GC,5909,-0.74,-194.7,625.2,-11.7,804,5911,0.20,0.00,0.00,0.000,6,0.130,0.000,2752,2327,3865
$GC,6218,-0.74,-194.7,655.4,-9.8,819,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2327,3864
$GC,6527,-0.74,-194.7,686.9,-10.1,834,6532,0.00,2.97,0.00,0.000,4,0.000,0.060,2752,887,3864
$GC,6570,-0.74,-194.7,691.5,-10.1,836,6575,0.00,2.80,0.00,0.000,6,0.000,0.038,2752,2305,3864
$GC,6894,-1.00,-194.7,704.9,0.0,852,6900,0.25,2.92,0.00,0.000,4,0.056,0.064,2701,3709,3864
$STATE,7026,end dive,NO_VERTICAL_VELOCITY
$STATE,7028,begin apogee
$GC,7036,-0.21,0.0,704.9,0.0,858,7239,0.93,0.00,199.57,1.391,6,0.087,0.000,2866,2754,3071
$STATE,7240,end apogee,CONTROL_FINISHED_OK
$STATE,7240,begin climb
$GC,7243,0.86,194.7,704.8,0.0,868,7457,1.40,3.25,203.32,1.319,4,0.088,0.060,3098,1339,2277
$GC,7463,0.73,194.7,689.4,11.4,877,7468,0.00,3.10,0.00,0.000,6,0.000,0.040,3098,2753,2277
$GC,7784,0.61,194.7,651.8,11.5,893,7786,0.28,0.00,0.00,0.000,6,0.108,0.000,3055,2753,2274
$GC,8093,0.68,255.7,626.1,7.9,908,8156,0.00,0.00,61.53,1.302,6,0.000,0.000,3054,2753,2028
$GC,8464,0.76,317.1,595.8,7.9,928,8535,0.15,0.00,62.75,1.282,6,0.058,0.000,3085,2753,1778
$GC,8853,0.76,317.1,553.7,10.7,965,8854,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2753,1772
$GC,9171,0.76,317.1,522.0,10.3,995,9172,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2753,1771
$GC,9490,0.76,317.1,487.7,10.8,1025,9491,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2753,1771
$GC,9809,0.76,317.1,452.9,11.0,1055,9813,0.00,2.30,0.00,0.000,4,0.000,0.057,3085,3906,1770
$GC,9824,0.76,317.1,450.9,11.2,1056,9832,0.00,2.28,0.00,0.000,6,0.000,0.032,3085,2742,1769
$GC,10152,0.76,317.1,414.3,11.2,1087,10156,0.00,2.35,0.00,0.000,4,0.000,0.051,3085,3905,1769
$GC,10164,0.76,317.1,412.7,11.6,1087,10171,0.00,2.20,0.00,0.000,6,0.000,0.031,3085,2756,1769
$GC,10492,0.76,317.1,375.0,11.7,1118,10498,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2750,1769
$GC,10824,0.76,317.1,335.6,12.1,1159,10831,0.00,2.33,0.00,0.000,4,0.000,0.049,3085,3907,1769
$GC,10838,0.76,317.1,333.9,11.9,1161,10845,0.00,2.20,0.00,0.000,6,0.000,0.031,3085,2760,1768
$GC,11183,0.76,317.1,294.8,11.3,1222,11189,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2755,1768
$GC,11528,0.76,317.1,255.7,11.4,1283,11536,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2753,1768
$GC,11873,0.77,325.7,218.7,9.7,1344,11888,0.00,2.38,8.23,0.877,4,0.000,0.049,3085,3906,1743
$GC,11895,0.77,330.1,216.5,9.8,1347,11909,0.00,2.17,6.07,0.808,6,0.000,0.031,3085,2773,1726
$GC,12248,0.77,330.1,180.5,10.1,1409,12254,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2766,1726
$GC,12592,0.77,330.1,144.8,10.3,1470,12599,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2766,1725
$GC,12938,0.77,330.1,108.9,10.3,1531,12946,0.00,2.83,0.00,0.000,4,0.000,0.045,3085,1347,1725
$GC,12953,0.77,330.1,107.1,10.4,1533,12960,0.00,2.80,0.00,0.000,6,0.000,0.031,3085,2790,1724
$GC,13296,0.77,330.1,71.1,10.9,1594,13304,0.00,2.88,0.00,0.000,4,0.000,0.044,3085,1351,1725
$GC,13310,0.77,330.1,69.6,10.7,1596,13318,0.00,2.75,0.00,0.000,6,0.000,0.031,3085,2770,1724
$GC,13656,0.77,330.1,33.5,10.5,1657,13664,0.00,2.85,0.00,0.000,4,0.000,0.045,3085,1342,1724
$GC,13671,0.77,330.1,32.0,10.7,1659,13678,0.00,2.75,0.00,0.000,6,0.000,0.031,3085,2763,1724
$GC,13815,0.79,342.4,18.8,9.6,1684,13836,0.00,0.00,13.43,0.874,6,0.000,0.000,3085,2763,1677
$GC,13973,0.90,393.3,6.3,8.2,1711,14017,0.15,0.00,41.47,0.970,2,0.052,0.000,3119,2763,1512
$STATE,14018,end climb,SURFACE_DEPTH_REACHED
$STATE,14018,begin surface coast
$FINISH,-0.0,1.026090
$STATE,14035,end surface coast,CONTROL_FINISHED_OK
$STATE,14035,begin surface
$SM_CCo,14115,0.00,0.000,0,0,1507,383.65
$SM_GC,0.63,8.60,0.00,0.00,0.040,0.000,0.000,1435,2295,1507,-6.79,-0.11,383.65
$IRIDIUM_FIX,6130.75,-2619.61,290897,040439
$TT8_MAMPS,0.026078
$HUMID,1794
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,16.20
$XPDR_PINGS,709
$24V_AH,19.3,89.902
$10V_AH,9.8,61.956
$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,24.075,125.100,596.375,0.000,0.000,55.737,66.121,312.965,177.250,0.000,0.000,17.355,3446.519,6666.389,804.677,3067.462,759.687,0.000,2177.413,0.000,3054.270,0.000,0.466
$DEVICE_MAMPS,248.508,63.661,1391.338,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1220.796,1253.940,739.268,1615.927,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126799,1720
$CAP_FILE_SIZE,149431,0
$CFSIZE,260165632,229367808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,233.7,1
$GPS,040608,075908,6154.779,-2620.741,36,1.0,36,-18.9