version: 66.03
glider: 142
mission: 5
dive: 312
start: 6 9 108 3 20 18
data:
$ID,142
$MISSION,5
$DIVE,312
$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,-18823.299
$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,16
$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
$GPS1,030538,6156.484,-2622.253,23,1.8,23,-18.9
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-62.2
$GPS2,031959,6156.373,-2621.972,11,99.0,30,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NE
$TGT_LATLONG,6156.130,-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,106.9,18976,-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,20,begin dive
$GC,23,-0.86,-194.7,0.0,0.0,0,100,0.00,0.00,-74.68,0.000,2,0.000,0.000,1429,2287,3653
$GC,103,-0.86,-194.7,3.8,-5.6,10,127,12.20,2.88,-5.12,0.000,4,0.250,0.054,2725,889,3867
$GC,314,-0.82,-194.7,38.1,-12.2,46,322,0.00,2.72,0.00,0.000,6,0.000,0.029,2725,2309,3869
$GC,458,-0.74,-194.7,57.1,-13.5,71,466,0.15,2.83,0.00,0.000,4,0.141,0.045,2749,894,3869
$GC,507,-0.74,-194.7,62.9,-11.1,79,515,0.00,2.62,0.00,0.000,6,0.000,0.029,2749,2259,3869
$GC,853,-0.74,-194.7,102.1,-11.2,140,861,0.00,2.85,0.00,0.000,4,0.000,0.044,2749,3699,3869
$GC,885,-0.74,-194.7,105.7,-11.6,145,892,0.00,2.83,0.00,0.000,6,0.000,0.033,2749,2254,3869
$GC,1229,-0.74,-194.7,143.9,-11.8,206,1236,0.00,2.90,0.00,0.000,4,0.000,0.044,2749,3704,3869
$GC,1272,-0.74,-194.7,148.8,-11.6,213,1279,0.00,2.83,0.00,0.000,6,0.000,0.035,2749,2261,3869
$GC,1618,-0.74,-194.7,185.1,-9.9,274,1625,0.00,2.90,0.00,0.000,4,0.000,0.045,2749,3704,3870
$GC,1666,-0.74,-194.7,190.0,-9.7,282,1673,0.00,2.80,0.00,0.000,6,0.000,0.034,2749,2268,3869
$GC,2012,-0.74,-194.7,225.2,-9.5,343,2019,0.00,2.88,0.00,0.000,4,0.000,0.044,2749,3701,3869
$GC,2054,-0.74,-194.7,229.3,-9.4,350,2062,0.00,2.75,0.00,0.000,6,0.000,0.033,2749,2294,3869
$GC,2401,-0.74,-194.7,261.6,-9.3,411,2408,0.00,2.83,0.00,0.000,4,0.000,0.045,2749,3698,3869
$GC,2449,-0.74,-194.7,266.2,-9.8,419,2456,0.00,2.72,0.00,0.000,6,0.000,0.034,2749,2303,3869
$GC,2795,-0.74,-194.7,302.5,-10.5,480,2802,0.00,2.80,0.00,0.000,4,0.000,0.046,2749,3699,3869
$GC,2814,-0.74,-194.7,304.6,-10.9,483,2822,0.00,2.72,0.00,0.000,6,0.000,0.033,2749,2302,3869
$GC,3160,-0.74,-194.7,339.5,-10.1,544,3167,0.00,2.83,0.00,0.000,4,0.000,0.046,2749,3706,3869
$GC,3180,-0.74,-194.7,341.4,-9.7,547,3188,0.00,2.75,0.00,0.000,6,0.000,0.033,2749,2297,3869
$GC,3512,-0.74,-194.7,375.2,-10.5,585,3516,0.00,2.83,0.00,0.000,4,0.000,0.046,2749,3702,3869
$GC,3533,-0.74,-194.7,377.7,-10.5,586,3541,0.00,2.72,0.00,0.000,6,0.000,0.034,2749,2305,3869
$GC,3861,-0.74,-194.7,411.8,-10.5,617,3866,0.00,2.80,0.00,0.000,4,0.000,0.046,2749,3698,3869
$GC,3893,-0.74,-194.7,415.5,-10.3,619,3900,0.00,2.70,0.00,0.000,6,0.000,0.034,2749,2318,3869
$GC,4220,-0.74,-194.7,447.9,-9.8,650,4225,0.00,2.78,0.00,0.000,4,0.000,0.047,2749,3697,3869
$GC,4241,-0.74,-194.7,449.8,-9.6,651,4245,0.00,2.70,0.00,0.000,6,0.000,0.034,2749,2318,3869
$GC,4570,-0.74,-194.7,481.9,-9.5,681,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2317,3869
$GC,4896,-0.74,-194.7,513.3,-9.6,712,4900,0.00,2.80,0.00,0.000,4,0.000,0.048,2749,3703,3869
$GC,4924,-0.74,-194.7,516.1,-10.1,714,4928,0.00,2.70,0.00,0.000,6,0.000,0.035,2749,2327,3869
$GC,5251,-0.74,-194.7,548.1,-9.9,744,5256,0.00,2.78,0.00,0.000,4,0.000,0.048,2749,3697,3869
$GC,5270,-0.74,-194.7,550.1,-9.8,745,5274,0.00,2.67,0.00,0.000,6,0.000,0.035,2749,2333,3869
$GC,5597,-0.74,-194.7,582.2,-9.9,775,5602,0.00,2.78,0.00,0.000,4,0.000,0.051,2749,3695,3868
$GC,5616,-0.74,-194.7,584.1,-9.6,776,5621,0.00,2.67,0.00,0.000,6,0.000,0.035,2749,2336,3869
$GC,5947,-0.74,-194.7,617.6,-10.1,799,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2335,3869
$GC,6257,-0.74,-194.7,648.2,-9.6,814,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2335,3869
$GC,6567,-0.74,-194.7,678.5,-9.9,829,6571,0.00,2.85,0.00,0.000,4,0.000,0.061,2749,3700,3868
$GC,6607,-0.74,-194.7,682.7,-10.8,831,6611,0.00,2.72,0.00,0.000,6,0.000,0.044,2749,2345,3868
$GC,6934,-0.74,-194.7,717.6,-11.1,847,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2344,3868
$GC,7242,-0.74,-194.7,750.4,-9.9,862,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2336,3867
$GC,7552,-1.21,-194.7,751.0,-0.0,877,7555,0.50,0.00,0.00,0.000,6,0.076,0.000,2659,2335,3867
$STATE,7570,end dive,NO_VERTICAL_VELOCITY
$STATE,7570,begin apogee
$GC,7577,-0.21,0.0,751.0,0.0,878,7785,1.08,0.00,204.30,1.424,6,0.035,0.000,2881,2732,3071
$STATE,7786,end apogee,CONTROL_FINISHED_OK
$STATE,7786,begin climb
$GC,7788,0.86,194.7,750.9,0.0,888,8012,1.23,3.53,207.70,1.364,4,0.046,0.089,3107,1345,2276
$GC,8263,0.88,483.7,748.3,-0.0,910,8580,0.00,2.85,309.02,1.348,6,0.000,0.038,3107,2757,1099
$GC,8892,0.88,483.7,665.5,14.6,939,8896,0.00,2.38,0.00,0.000,4,0.000,0.062,3107,3901,1091
$GC,8961,0.88,483.7,655.3,13.9,942,8965,0.00,2.35,0.00,0.000,6,0.000,0.037,3108,2717,1091
$GC,9289,0.88,483.7,612.0,12.7,958,9293,0.00,2.80,0.00,0.000,4,0.000,0.053,3107,1335,1089
$GC,9328,0.88,483.7,606.5,14.0,960,9333,0.00,2.75,0.00,0.000,6,0.000,0.032,3107,2738,1088
$GC,9654,0.88,483.7,564.8,12.8,988,9655,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2739,1088
$GC,9970,0.88,483.7,524.7,12.6,1018,9971,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2738,1087
$GC,10289,0.88,483.7,486.2,12.4,1048,10294,0.00,2.83,0.00,0.000,4,0.000,0.047,3107,1337,1087
$GC,10321,0.88,483.7,481.8,13.3,1050,10329,0.00,2.70,0.00,0.000,6,0.000,0.031,3108,2717,1086
$GC,10649,0.88,483.7,442.5,12.0,1081,10655,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2717,1086
$GC,10974,0.88,483.7,404.5,11.3,1112,10975,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2717,1086
$GC,11293,0.88,483.7,368.2,11.4,1142,11298,0.00,2.78,0.00,0.000,4,0.000,0.046,3108,1336,1086
$GC,11333,0.88,483.7,363.5,12.0,1145,11337,0.00,2.67,0.00,0.000,6,0.000,0.031,3108,2716,1086
$GC,11671,0.88,483.7,321.8,12.5,1195,11677,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2717,1085
$GC,12014,0.88,483.7,277.9,12.4,1256,12022,0.00,2.78,0.00,0.000,4,0.000,0.045,3107,1335,1086
$GC,12051,0.88,483.7,273.1,13.6,1262,12059,0.00,2.65,0.00,0.000,6,0.000,0.031,3107,2707,1085
$GC,12397,0.88,483.7,228.0,11.9,1323,12404,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2707,1085
$GC,12740,0.88,483.7,186.7,11.3,1384,12748,0.00,2.75,0.00,0.000,4,0.000,0.045,3107,1334,1086
$GC,12777,0.88,483.7,182.2,11.8,1390,12785,0.00,2.65,0.00,0.000,6,0.000,0.031,3107,2703,1085
$GC,13123,0.88,483.7,142.5,11.8,1451,13130,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2703,1085
$GC,13466,0.88,483.7,101.7,11.1,1512,13474,0.00,2.75,0.00,0.000,4,0.000,0.046,3107,1330,1085
$GC,13503,0.88,483.7,97.3,12.2,1518,13510,0.00,2.62,0.00,0.000,6,0.000,0.031,3107,2691,1085
$GC,13850,0.88,483.7,60.8,10.6,1579,13856,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2690,1085
$GC,14195,0.94,498.8,25.5,9.5,1640,14216,0.00,2.75,14.45,0.856,4,0.000,0.045,3107,1331,1037
$GC,14269,0.99,498.8,17.9,10.3,1652,14277,0.15,2.60,0.00,0.000,6,0.048,0.030,3141,2676,1035
$STATE,14392,end climb,SURFACE_DEPTH_REACHED
$STATE,14392,begin surface coast
$FINISH,0.2,1.025973
$STATE,14412,end surface coast,CONTROL_FINISHED_OK
$STATE,14412,begin surface
$SM_CCo,14492,0.00,0.000,0,0,1035,499.68
$SM_GC,0.61,8.60,0.00,0.00,0.041,0.000,0.000,1433,2295,1035,-6.80,-0.14,499.68
$IRIDIUM_FIX,6130.75,-2619.61,030997,030332
$TT8_MAMPS,0.026078
$HUMID,1856
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,16.30
$XPDR_PINGS,772
$24V_AH,19.1,97.616
$10V_AH,9.8,65.987
$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,23.900,139.775,735.475,0.000,0.000,87.329,98.837,386.266,193.000,0.000,0.000,32.520,3387.463,7082.245,863.699,3075.779,932.084,0.000,2249.539,0.000,3051.226,0.000,0.466
$DEVICE_MAMPS,250.042,88.972,1424.319,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1187.512,1234.420,677.809,1562.363,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123553,1677
$CAP_FILE_SIZE,152923,0
$CFSIZE,260165632,227074048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.008,282.8,1
$GPS,090608,072307,6156.231,-2617.637,34,0.8,40,-18.9