version: 66.03
glider: 142
mission: 5
dive: 299
start: 6 6 108 13 46 43
data:
$ID,142
$MISSION,5
$DIVE,299
$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,-18607.748
$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,23
$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
$GPS1,133407,6146.500,-2618.818,28,1.8,28,-18.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-43.3
$GPS2,134621,6146.518,-2618.771,13,1.8,13,-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,265.5,4257,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.21,-63.0,0.0,0.0,0,165,0.00,0.00,-139.77,0.000,6,0.000,0.000,1430,2289,3328
$GC,168,-1.27,-108.1,2.8,-5.2,18,193,11.00,2.88,-6.15,0.000,4,0.247,0.054,2639,886,3513
$GC,445,-1.22,-108.1,51.0,-16.8,66,452,0.00,2.70,0.00,0.000,6,0.000,0.030,2639,2300,3514
$GC,792,-1.22,-108.1,103.5,-16.2,127,800,0.00,2.80,0.00,0.000,4,0.000,0.046,2639,885,3514
$GC,1053,-1.17,-108.1,148.3,-16.8,173,1061,0.15,2.70,0.00,0.000,6,0.156,0.031,2658,2290,3514
$GC,1399,-1.17,-108.1,200.6,-15.3,234,1407,0.00,2.80,0.00,0.000,4,0.000,0.046,2659,884,3514
$GC,1633,-1.17,-108.1,237.1,-16.0,275,1640,0.00,2.67,0.00,0.000,6,0.000,0.030,2659,2280,3514
$GC,1979,-1.17,-108.1,291.3,-16.0,336,1986,0.00,2.78,0.00,0.000,4,0.000,0.046,2659,883,3514
$GC,2190,-1.17,-108.1,325.8,-15.9,373,2197,0.00,2.67,0.00,0.000,6,0.000,0.031,2659,2275,3514
$GC,2530,-1.17,-108.1,378.9,-15.9,418,2534,0.00,2.75,0.00,0.000,4,0.000,0.047,2659,886,3514
$GC,2753,-1.17,-108.1,416.1,-16.3,437,2760,0.00,2.62,0.00,0.000,6,0.000,0.031,2659,2252,3514
$GC,3080,-1.17,-108.1,463.6,-14.3,468,3084,0.00,2.72,0.00,0.000,4,0.000,0.048,2659,888,3514
$GC,3288,-1.17,-108.1,494.8,-15.1,486,3292,0.00,2.60,0.00,0.000,6,0.000,0.031,2659,2236,3514
$GC,3614,-1.17,-108.1,548.2,-16.7,516,3618,0.00,2.70,0.00,0.000,4,0.000,0.048,2659,888,3513
$GC,3721,-1.17,-108.1,566.6,-16.5,525,3726,0.00,2.58,0.00,0.000,6,0.000,0.031,2659,2227,3513
$GC,4043,-1.17,-108.1,617.4,-15.3,550,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2227,3513
$GC,4354,-1.17,-108.1,662.3,-13.7,565,4358,0.00,2.72,0.00,0.000,4,0.000,0.055,2659,895,3513
$GC,4476,-1.17,-108.1,679.3,-13.1,570,4483,0.00,2.60,0.00,0.000,6,0.000,0.037,2659,2220,3513
$GC,4792,-1.17,-108.1,718.7,-12.2,586,4796,0.00,2.78,0.00,0.000,4,0.000,0.063,2659,886,3513
$GC,4909,-1.17,-108.1,734.1,-13.5,591,4913,0.00,2.65,0.00,0.000,6,0.000,0.046,2659,2199,3513
$GC,5224,-1.17,-108.1,770.7,-11.0,606,5229,0.00,2.83,0.00,0.000,4,0.000,0.078,2659,896,3512
$GC,5318,-1.17,-108.1,782.1,-12.4,610,5323,0.00,2.70,0.00,0.000,6,0.000,0.062,2659,2179,3512
$GC,5635,-1.17,-108.1,817.2,-11.6,625,5640,0.00,2.92,0.00,0.000,4,0.000,0.103,2659,899,3512
$GC,5707,-1.17,-108.1,826.6,-13.2,628,5711,0.00,2.83,0.00,0.000,6,0.000,0.082,2659,2180,3512
$GC,6025,-1.50,-171.8,857.8,-3.2,643,6031,0.30,3.08,0.00,0.000,4,0.043,0.117,2590,900,3512
$STATE,6269,end dive,NO_VERTICAL_VELOCITY
$STATE,6270,begin apogee
$GC,6279,-0.21,0.0,857.8,0.0,654,6397,1.62,0.00,113.53,1.492,6,0.108,0.000,2866,2729,3071
$STATE,6398,end apogee,CONTROL_FINISHED_OK
$STATE,6398,begin climb
$GC,6401,1.35,171.8,857.7,0.0,660,6601,2.00,3.03,183.80,1.430,4,0.087,0.102,3210,3902,2369
$GC,6776,1.19,171.8,790.6,21.1,676,6784,0.20,2.47,0.00,0.000,6,0.152,0.066,3184,2760,2368
$GC,7092,1.10,171.8,734.5,17.6,692,7097,0.15,2.42,0.00,0.000,4,0.146,0.063,3161,3909,2367
$GC,7170,1.04,171.8,721.6,15.5,695,7177,0.00,2.30,0.00,0.000,6,0.000,0.046,3161,2770,2367
$GC,7487,1.00,171.8,672.3,15.7,711,7491,0.15,2.35,0.00,0.000,4,0.146,0.057,3138,3909,2366
$GC,7597,1.00,171.8,654.1,16.2,716,7601,0.00,2.20,0.00,0.000,6,0.000,0.037,3137,2786,2366
$GC,7925,1.00,171.8,606.0,14.2,732,7929,0.00,2.28,0.00,0.000,4,0.000,0.053,3137,3907,2366
$GC,8003,1.00,171.8,593.9,15.0,737,8010,0.00,2.12,0.00,0.000,6,0.000,0.032,3137,2808,2366
$GC,8330,1.00,171.8,547.6,14.5,768,8334,0.00,2.22,0.00,0.000,4,0.000,0.051,3137,3909,2365
$GC,8397,1.00,171.8,537.0,15.4,773,8404,0.00,2.10,0.00,0.000,6,0.000,0.031,3137,2815,2365
$GC,8724,1.00,171.8,491.5,13.3,804,8728,0.00,2.22,0.00,0.000,4,0.000,0.051,3137,3916,2365
$GC,8779,1.00,171.8,483.1,16.2,808,8786,0.00,2.12,0.00,0.000,6,0.000,0.031,3137,2823,2365
$GC,9106,1.00,171.8,438.5,13.7,839,9107,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2815,2365
$GC,9423,1.00,171.8,394.7,14.2,869,9427,0.00,2.20,0.00,0.000,4,0.000,0.057,3138,3917,2365
$GC,9484,1.00,171.8,385.9,13.3,874,9491,0.00,2.10,0.00,0.000,6,0.000,0.031,3137,2833,2365
$GC,9812,1.00,171.8,341.2,13.2,910,9819,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2826,2365
$GC,10157,1.00,171.8,292.7,14.1,971,10164,0.00,2.15,0.00,0.000,4,0.000,0.048,3137,3906,2365
$GC,10228,1.00,171.8,281.9,15.3,983,10235,0.00,2.03,0.00,0.000,6,0.000,0.030,3137,2845,2365
$GC,10574,1.00,171.8,231.7,14.2,1044,10581,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2838,2365
$GC,10919,1.00,171.8,183.4,14.2,1105,10925,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2838,2365
$GC,11263,1.00,171.8,136.7,14.1,1166,11270,0.00,2.12,0.00,0.000,4,0.000,0.048,3137,3909,2365
$GC,11373,1.00,171.8,121.5,14.4,1185,11380,0.00,2.00,0.00,0.000,6,0.000,0.030,3137,2863,2365
$GC,11714,1.04,171.8,75.4,11.8,1246,11721,0.00,3.03,0.00,0.000,4,0.000,0.045,3137,1331,2365
$GC,11767,1.04,171.8,68.3,13.2,1255,11774,0.00,3.00,0.00,0.000,6,0.000,0.031,3137,2873,2365
$GC,12112,1.08,171.8,23.6,12.3,1316,12119,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2873,2365
$GC,12255,1.13,171.8,5.9,14.1,1341,12263,0.15,0.00,0.00,0.000,6,0.064,0.000,3170,2874,2365
$STATE,12284,end climb,SURFACE_DEPTH_REACHED
$STATE,12284,begin surface coast
$FINISH,0.0,1.026074
$STATE,12297,end surface coast,CONTROL_FINISHED_OK
$STATE,12297,begin surface
$SM_CCo,12316,24.80,0.894,0,0,2255,200.16
$SM_GC,0.62,0.00,0.00,24.80,0.000,0.000,0.894,1437,2294,2255,-6.82,-0.17,200.16
$IRIDIUM_FIX,6126.23,-2623.73,310897,131319
$TT8_MAMPS,0.026845
$HUMID,1832
$INTERNAL_PRESSURE,8.97541
$TCM_TEMP,16.30
$XPDR_PINGS,707
$24V_AH,19.1,93.555
$10V_AH,9.9,63.920
$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,24.550,114.975,297.325,24.800,0.000,59.470,74.404,380.973,176.750,0.000,0.000,14.630,2808.369,6222.014,542.052,2675.928,813.902,0.000,1726.423,0.000,2660.721,0.000,0.465
$DEVICE_MAMPS,246.974,117.351,1491.815,894.322,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,945.743,996.592,545.495,1272.239,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,98262,1348
$CAP_FILE_SIZE,130201,0
$CFSIZE,260165632,228290560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110,190.9,1
$GPS,060608,171337,6144.801,-2621.495,33,1.0,33,-18.8