version: 66.03
glider: 142
mission: 5
dive: 304
start: 6 7 108 14 6 36
data:
$ID,142
$MISSION,5
$DIVE,304
$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,-18675.648
$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,32
$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
$GPS1,135425,6145.968,-2603.440,40,1.4,40,-18.6
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-43.4
$GPS2,140603,6145.947,-2603.410,10,1.4,10,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SE
$TGT_LATLONG,6145.370,-2600.200
$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,134.9,3009,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.04,-94.4,0.0,0.0,0,187,0.00,0.00,-158.00,0.000,6,0.000,0.000,1437,2293,3457
$GC,191,-1.14,-174.4,3.1,-4.3,21,221,11.40,2.88,-8.98,0.000,4,0.252,0.052,2667,3707,3784
$GC,267,-1.07,-174.4,18.9,-18.2,33,275,0.00,2.72,0.00,0.000,6,0.000,0.032,2667,2305,3785
$GC,411,-0.99,-174.4,44.7,-18.1,58,418,0.20,0.00,0.00,0.000,6,0.160,0.000,2697,2304,3785
$GC,555,-0.99,-174.4,66.9,-14.6,83,562,0.00,2.80,0.00,0.000,4,0.000,0.048,2697,890,3785
$GC,580,-0.99,-174.4,70.7,-15.0,87,587,0.00,2.70,0.00,0.000,6,0.000,0.029,2697,2295,3785
$GC,925,-0.99,-174.4,121.3,-15.0,148,932,0.00,2.80,0.00,0.000,4,0.000,0.048,2697,892,3785
$GC,985,-0.99,-174.4,130.7,-15.7,158,992,0.00,2.67,0.00,0.000,6,0.000,0.030,2697,2287,3785
$GC,1331,-0.99,-174.4,183.2,-14.6,219,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2288,3785
$GC,1675,-0.99,-174.4,232.7,-14.2,280,1682,0.00,2.80,0.00,0.000,4,0.000,0.048,2697,883,3785
$GC,1711,-0.99,-174.4,238.0,-14.9,286,1718,0.00,2.67,0.00,0.000,6,0.000,0.030,2697,2276,3785
$GC,2057,-0.99,-174.4,286.6,-13.4,347,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2278,3785
$GC,2401,-0.99,-174.4,333.8,-13.5,408,2408,0.00,2.78,0.00,0.000,4,0.000,0.048,2697,888,3785
$GC,2437,-0.99,-174.4,339.0,-14.5,414,2445,0.00,2.67,0.00,0.000,6,0.000,0.031,2697,2276,3785
$GC,2774,-0.99,-174.4,385.8,-13.9,452,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2278,3786
$GC,3092,-0.99,-174.4,432.4,-14.9,482,3097,0.00,2.78,0.00,0.000,4,0.000,0.048,2697,892,3785
$GC,3124,-0.99,-174.4,437.5,-15.5,484,3132,0.00,2.67,0.00,0.000,6,0.000,0.031,2697,2279,3785
$GC,3452,-0.99,-174.4,484.9,-13.9,515,3457,0.00,2.80,0.00,0.000,4,0.000,0.048,2697,883,3785
$GC,3484,-0.99,-174.4,490.0,-14.5,517,3493,0.00,2.67,0.00,0.000,6,0.000,0.031,2697,2271,3785
$GC,3812,-0.99,-174.4,534.4,-14.3,548,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2271,3785
$GC,4128,-0.99,-174.4,582.1,-14.9,578,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2271,3784
$GC,4441,-0.99,-174.4,630.1,-15.4,599,4445,0.00,2.80,0.00,0.000,4,0.000,0.053,2697,892,3784
$GC,4468,-0.99,-174.4,634.6,-16.1,600,4473,0.00,2.67,0.00,0.000,6,0.000,0.033,2697,2268,3784
$GC,4784,-0.99,-174.4,683.5,-15.4,615,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2269,3784
$GC,5093,-0.99,-174.4,728.1,-14.1,630,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2269,3784
$GC,5403,-0.99,-174.4,771.2,-14.0,645,5408,0.00,3.03,0.00,0.000,4,0.000,0.084,2697,892,3783
$GC,5497,-1.03,-174.4,784.6,-14.0,649,5502,0.00,2.90,0.00,0.000,6,0.000,0.065,2697,2273,3783
$GC,5815,-1.03,-174.4,827.1,-13.9,664,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2273,3783
$GC,6122,-1.03,-174.4,871.5,-14.8,679,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2273,3783
$GC,6431,-1.03,-174.4,914.6,-13.3,694,6436,0.00,3.15,0.00,0.000,4,0.000,0.100,2697,894,3782
$GC,6463,-1.07,-174.4,919.2,-13.6,695,6471,0.00,2.70,0.00,0.000,6,0.000,0.032,2697,2282,3782
$GC,6780,-1.07,-174.4,958.4,-12.0,711,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2283,3782
$STATE,7024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7024,begin apogee
$GC,7031,-0.21,0.0,990.5,13.3,723,7227,1.23,0.00,187.50,1.588,6,0.174,0.000,2867,2755,3071
$STATE,7228,end apogee,CONTROL_FINISHED_OK
$STATE,7228,begin climb
$GC,7231,1.14,174.4,997.5,0.0,733,7436,1.80,2.65,192.95,1.515,4,0.091,0.057,3160,3895,2358
$GC,7539,0.97,174.4,955.1,19.2,747,7544,0.17,2.35,0.00,0.000,6,0.140,0.035,3137,2748,2357
$GC,7866,0.88,174.4,902.2,16.9,763,7871,0.15,2.38,0.00,0.000,4,0.138,0.059,3113,3899,2356
$GC,7955,0.84,174.4,887.8,15.7,767,7959,0.00,2.20,0.00,0.000,6,0.000,0.033,3113,2770,2355
$GC,8278,0.80,174.4,842.2,13.9,783,8282,0.00,2.30,0.00,0.000,4,0.000,0.053,3113,3900,2354
$GC,8327,0.75,174.4,834.6,14.9,785,8332,0.17,2.17,0.00,0.000,6,0.134,0.033,3088,2778,2354
$GC,8644,0.75,174.4,795.7,12.6,800,8645,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2776,2354
$GC,8953,0.75,174.4,758.6,11.8,815,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2776,2353
$GC,9262,0.75,174.4,721.2,11.5,830,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2776,2353
$GC,9572,0.76,180.9,689.9,9.5,845,9586,0.00,2.35,6.70,1.068,4,0.000,0.052,3088,3900,2333
$GC,9625,0.76,180.9,684.3,10.2,847,9629,0.00,2.17,0.00,0.000,6,0.000,0.032,3088,2793,2333
$GC,9948,0.76,180.9,652.8,10.1,863,9949,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2788,2333
$GC,10258,0.76,180.9,618.0,12.2,878,10259,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2784,2333
$GC,10570,0.76,180.9,580.4,11.8,900,10574,0.00,2.25,0.00,0.000,4,0.000,0.053,3088,3903,2332
$GC,10635,0.76,180.9,572.1,12.3,905,10643,0.00,2.12,0.00,0.000,6,0.000,0.032,3089,2797,2332
$GC,10963,0.77,190.0,538.4,9.4,936,10979,0.00,2.92,10.77,1.133,4,0.000,0.047,3088,1345,2296
$GC,11021,0.78,195.6,532.7,9.6,941,11035,0.00,2.88,7.45,1.068,6,0.000,0.032,3088,2807,2273
$GC,11351,0.78,195.6,499.8,10.1,972,11355,0.00,2.17,0.00,0.000,4,0.000,0.051,3088,3902,2272
$GC,11395,0.83,199.6,495.3,9.7,975,11406,0.00,2.12,5.80,0.933,6,0.000,0.031,3088,2795,2257
$GC,11733,0.83,199.6,461.5,10.1,1007,11734,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2786,2257
$GC,12053,0.84,208.7,430.1,9.3,1037,12068,0.00,2.28,10.48,1.068,4,0.000,0.051,3088,3894,2219
$GC,12110,0.88,208.7,424.3,10.2,1042,12114,0.12,2.10,0.00,0.000,6,0.067,0.031,3112,2805,2219
$GC,12435,0.88,208.7,387.2,11.6,1072,12436,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2796,2219
$GC,12754,0.88,208.7,349.1,11.7,1102,12761,0.00,2.20,0.00,0.000,4,0.000,0.049,3112,3899,2219
$GC,12797,0.88,208.7,343.9,11.8,1109,12804,0.00,2.10,0.00,0.000,6,0.000,0.031,3112,2801,2219
$GC,13142,0.88,208.7,303.2,11.4,1170,13149,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2793,2219
$GC,13487,0.88,208.7,262.4,11.9,1231,13494,0.00,2.20,0.00,0.000,4,0.000,0.048,3112,3899,2219
$GC,13540,0.88,208.7,255.7,12.5,1240,13547,0.00,2.08,0.00,0.000,6,0.000,0.031,3112,2812,2219
$GC,13885,0.88,208.7,215.4,11.9,1301,13892,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2804,2219
$GC,14231,0.89,215.7,180.0,9.5,1362,14245,0.00,2.25,8.62,0.881,4,0.000,0.048,3112,3899,2191
$GC,14279,0.89,215.7,174.9,10.6,1370,14286,0.00,2.08,0.00,0.000,6,0.000,0.030,3112,2814,2191
$GC,14626,0.89,215.7,140.0,10.6,1431,14632,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2807,2190
$GC,14968,0.89,215.7,99.3,12.6,1492,14975,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2807,2191
$GC,15313,0.89,215.7,59.2,11.0,1553,15320,0.00,2.17,0.00,0.000,4,0.000,0.048,3112,3903,2191
$GC,15377,0.89,215.7,51.8,11.3,1564,15385,0.00,2.10,0.00,0.000,6,0.000,0.031,3112,2821,2191
$GC,15721,0.89,215.7,14.1,11.1,1625,15729,0.00,2.90,0.00,0.000,4,0.000,0.044,3112,1348,2191
$GC,15780,0.89,215.7,7.4,11.8,1635,15788,0.00,2.88,0.00,0.000,6,0.000,0.030,3112,2837,2191
$STATE,15831,end climb,SURFACE_DEPTH_REACHED
$STATE,15831,begin surface coast
$FINISH,0.1,1.026028
$STATE,15849,end surface coast,CONTROL_FINISHED_OK
$STATE,15849,begin surface
$SM_CCo,15929,0.00,0.000,0,0,2190,216.11
$SM_GC,0.80,8.65,0.00,0.00,0.052,0.000,0.000,1429,2269,2190,-6.79,-0.88,216.11
$IRIDIUM_FIX,6121.73,-2601.40,010997,141437
$TT8_MAMPS,0.026078
$HUMID,1817
$INTERNAL_PRESSURE,8.98518
$TCM_TEMP,16.50
$XPDR_PINGS,900
$24V_AH,19.0,95.170
$10V_AH,9.9,64.734
$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,23.900,118.100,430.275,0.000,0.000,51.696,149.063,285.828,225.000,0.000,0.000,11.661,3339.130,8812.144,672.819,2960.565,833.723,0.000,2008.712,0.000,2964.008,0.000,0.465
$DEVICE_MAMPS,251.576,99.710,1587.690,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1152.097,1233.866,621.354,1474.813,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120400,1647
$CAP_FILE_SIZE,149298,0
$CFSIZE,260165632,227807232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.019,194.7,1
$GPS,070608,183327,6145.051,-2558.921,26,2.1,45,-18.6