version: 66.03
glider: 142
mission: 5
dive: 334
start: 6 13 108 15 15 5
data:
$ID,142
$MISSION,5
$DIVE,334
$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,-19246.369
$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,34
$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
$GPS1,150216,6154.608,-2616.596,41,2.3,60,-18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-52.2
$GPS2,151445,6154.630,-2616.684,14,2.0,14,-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,300.2,6149,-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,21,-0.86,-194.7,0.0,0.0,0,142,0.00,0.00,-117.88,0.000,2,0.000,0.000,1433,2285,3412
$GC,146,-0.86,-194.7,3.2,-5.5,16,177,12.12,2.90,-12.70,0.000,4,0.252,0.051,2727,3703,3866
$GC,284,-0.80,-194.7,22.5,-12.8,38,291,0.00,2.70,0.00,0.000,6,0.000,0.031,2726,2307,3868
$GC,428,-0.72,-194.7,41.5,-12.6,63,436,0.17,2.80,0.00,0.000,4,0.143,0.047,2754,894,3868
$GC,460,-0.72,-194.7,45.4,-11.7,68,468,0.00,2.75,0.00,0.000,6,0.000,0.028,2754,2330,3868
$GC,603,-0.72,-194.7,59.7,-9.6,93,610,0.00,2.70,0.00,0.000,4,0.000,0.043,2754,3703,3868
$GC,713,-0.72,-194.7,69.7,-9.4,112,721,0.00,2.55,0.00,0.000,6,0.000,0.031,2754,2381,3867
$GC,1058,-0.72,-194.7,104.9,-11.0,173,1065,0.00,2.65,0.00,0.000,4,0.000,0.044,2754,3709,3868
$GC,1151,-0.72,-194.7,114.9,-10.6,189,1159,0.00,2.53,0.00,0.000,6,0.000,0.032,2754,2406,3868
$GC,1498,-0.72,-194.7,150.5,-10.1,250,1505,0.00,2.60,0.00,0.000,4,0.000,0.045,2754,3709,3868
$GC,1562,-0.72,-194.7,157.2,-9.9,261,1569,0.00,2.50,0.00,0.000,6,0.000,0.031,2754,2419,3868
$GC,1908,-0.72,-194.7,191.9,-10.0,322,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2418,3868
$GC,2253,-0.72,-194.7,224.8,-9.0,383,2260,0.00,2.58,0.00,0.000,4,0.000,0.045,2754,3703,3868
$GC,2317,-0.72,-194.7,230.6,-9.1,394,2325,0.00,2.45,0.00,0.000,6,0.000,0.033,2754,2434,3868
$GC,2664,-0.72,-194.7,263.9,-9.5,455,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2433,3868
$GC,3009,-0.72,-194.7,296.2,-9.6,516,3016,0.00,2.55,0.00,0.000,4,0.000,0.047,2753,3706,3868
$GC,3085,-0.72,-194.7,303.2,-9.2,529,3093,0.00,2.45,0.00,0.000,6,0.000,0.032,2753,2443,3868
$GC,3431,-0.72,-194.7,335.0,-9.7,590,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2442,3867
$GC,3764,-0.72,-194.7,368.4,-10.5,634,3768,0.00,2.53,0.00,0.000,4,0.000,0.046,2753,3701,3867
$GC,3815,-0.72,-194.7,373.7,-10.3,638,3820,0.00,2.45,0.00,0.000,6,0.000,0.033,2754,2443,3867
$GC,4143,-0.72,-194.7,407.4,-10.3,668,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2441,3866
$GC,4468,-0.72,-194.7,441.3,-10.0,699,4473,0.00,2.55,0.00,0.000,4,0.000,0.048,2754,3710,3866
$GC,4558,-0.72,-194.7,450.4,-10.1,706,4565,0.00,2.42,0.00,0.000,6,0.000,0.032,2754,2458,3866
$GC,4886,-0.72,-194.7,482.4,-10.0,737,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2457,3866
$GC,5212,-0.72,-194.7,515.7,-10.0,768,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2457,3866
$GC,5530,-0.72,-194.7,545.7,-8.9,798,5534,0.00,2.53,0.00,0.000,4,0.000,0.049,2754,3703,3865
$GC,5604,-0.72,-194.7,552.6,-9.5,804,5609,0.00,2.40,0.00,0.000,6,0.000,0.032,2754,2469,3865
$GC,5932,-0.72,-194.7,584.1,-9.4,834,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2468,3865
$GC,6263,-0.72,-194.7,617.8,-10.0,858,6267,0.00,2.53,0.00,0.000,4,0.000,0.054,2754,3704,3865
$GC,6327,-0.72,-194.7,623.8,-9.9,861,6331,0.00,2.40,0.00,0.000,6,0.000,0.035,2754,2483,3865
$GC,6654,-0.72,-194.7,655.6,-9.7,877,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2482,3865
$GC,6963,-0.72,-194.7,685.3,-10.2,892,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2482,3864
$GC,7273,-0.72,-194.7,716.7,-9.6,907,7278,0.00,2.58,0.00,0.000,4,0.000,0.068,2754,3698,3864
$GC,7340,-0.77,-194.7,723.3,-9.5,910,7344,0.00,2.42,0.00,0.000,6,0.000,0.048,2753,2498,3864
$GC,7662,-1.03,-194.7,736.9,-0.0,926,7664,0.30,0.00,0.00,0.000,6,0.051,0.000,2695,2497,3864
$STATE,7823,end dive,NO_VERTICAL_VELOCITY
$STATE,7823,begin apogee
$GC,7830,-0.21,0.0,736.9,0.0,934,8034,0.98,0.00,200.80,1.405,6,0.083,0.000,2869,2740,3071
$STATE,8035,end apogee,CONTROL_FINISHED_OK
$STATE,8035,begin climb
$GC,8038,0.86,194.7,736.8,0.0,944,8256,1.50,3.25,204.20,1.339,4,0.106,0.064,3102,1348,2278
$GC,8275,0.73,194.7,719.0,11.1,955,8283,0.15,3.05,0.00,0.000,6,0.118,0.042,3083,2750,2277
$GC,8592,0.66,206.9,688.3,9.6,971,8614,0.00,2.95,13.57,1.180,4,0.000,0.054,3082,1346,2227
$GC,8671,0.58,206.9,680.1,10.4,974,8676,0.22,2.78,0.00,0.000,6,0.108,0.038,3047,2725,2226
$GC,8987,0.66,277.2,656.3,7.6,989,9066,0.00,2.97,71.50,1.324,4,0.000,0.050,3047,1346,1939
$GC,9102,0.80,345.8,647.5,7.6,994,9180,0.25,2.75,71.57,1.289,6,0.046,0.034,3097,2706,1661
$GC,9489,0.80,345.8,606.8,10.4,1012,9493,0.00,2.80,0.00,0.000,4,0.000,0.049,3097,1334,1654
$GC,9510,0.80,345.8,604.3,11.1,1013,9515,0.00,2.67,0.00,0.000,6,0.000,0.033,3097,2691,1653
$GC,9843,0.80,345.8,567.5,11.2,1042,9850,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2691,1652
$GC,10169,0.80,345.8,531.0,11.0,1073,10173,0.00,2.42,0.00,0.000,4,0.000,0.057,3097,3893,1652
$GC,10184,0.80,345.8,529.0,11.2,1074,10192,0.00,2.33,0.00,0.000,6,0.000,0.031,3097,2683,1651
$GC,10512,0.80,345.8,493.1,11.2,1105,10513,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2682,1651
$GC,10829,0.80,345.8,457.6,11.0,1135,10833,0.00,2.45,0.00,0.000,4,0.000,0.050,3097,3897,1651
$GC,10858,0.80,345.8,454.2,11.6,1137,10862,0.00,2.33,0.00,0.000,6,0.000,0.031,3097,2686,1650
$GC,11185,0.80,345.8,419.7,10.4,1167,11186,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2680,1650
$GC,11502,0.80,345.8,385.9,10.4,1197,11506,0.00,2.45,0.00,0.000,4,0.000,0.049,3097,3902,1650
$GC,11523,0.80,345.8,383.3,10.9,1198,11531,0.00,2.30,0.00,0.000,6,0.000,0.031,3098,2702,1650
$GC,11849,0.80,345.8,348.5,10.3,1230,11856,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2701,1650
$GC,12193,0.80,345.8,311.2,10.5,1291,12200,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2699,1650
$GC,12538,0.80,345.8,273.5,10.6,1352,12545,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2699,1650
$GC,12884,0.81,350.0,237.7,9.9,1413,12890,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2698,1650
$GC,13227,0.83,367.2,204.0,9.4,1474,13255,0.00,2.42,20.62,1.016,4,0.000,0.048,3097,3900,1575
$GC,13268,0.86,392.6,200.3,9.1,1480,13303,0.00,2.30,28.42,1.045,6,0.000,0.031,3097,2710,1470
$GC,13643,0.86,392.6,163.7,10.6,1545,13650,0.00,2.72,0.00,0.000,4,0.000,0.046,3097,1345,1465
$GC,13669,0.86,392.6,160.8,10.2,1549,13676,0.00,2.67,0.00,0.000,6,0.000,0.028,3097,2725,1465
$GC,14014,0.86,392.6,125.1,11.0,1610,14021,0.00,2.75,0.00,0.000,4,0.000,0.044,3097,1347,1465
$GC,14035,0.86,392.6,122.9,11.6,1613,14043,0.00,2.62,0.00,0.000,6,0.000,0.031,3097,2700,1464
$GC,14382,0.89,420.5,87.5,9.0,1674,14416,0.00,0.00,29.02,0.971,6,0.000,0.000,3097,2700,1356
$GC,14755,1.06,506.8,52.4,7.0,1739,14853,0.22,2.83,88.03,0.957,4,0.044,0.044,3149,1346,1004
$GC,14889,1.06,506.8,36.2,14.1,1759,14897,0.00,2.65,0.00,0.000,6,0.000,0.029,3149,2689,1000
$GC,15032,1.06,506.8,18.1,12.3,1784,15039,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2689,997
$STATE,15166,end climb,SURFACE_DEPTH_REACHED
$STATE,15166,begin surface coast
$FINISH,0.3,1.025426
$STATE,15187,end surface coast,CONTROL_FINISHED_OK
$STATE,15187,begin surface
$SM_CCo,15266,0.00,0.000,0,0,993,509.73
$SM_GC,0.81,8.73,0.00,0.00,0.044,0.000,0.000,1432,2294,993,-6.79,-0.17,509.73
$IRIDIUM_FIX,6130.75,-2611.42,070997,151531
$TT8_MAMPS,0.026078
$HUMID,1860
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,15.00
$XPDR_PINGS,836
$24V_AH,19.2,104.446
$10V_AH,9.8,69.590
$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,24.650,121.325,727.750,0.000,0.000,56.611,75.681,380.851,209.000,0.000,0.000,15.996,3623.955,7320.965,907.875,3237.394,905.982,0.000,2365.700,0.000,3230.864,0.000,0.465
$DEVICE_MAMPS,252.343,68.263,1405.144,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1265.649,1340.824,743.626,1681.278,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,133127,1811
$CAP_FILE_SIZE,157166,0
$CFSIZE,260165632,225054720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099, 20.7,1
$GPS,130608,193038,6156.044,-2620.483,30,1.2,30,-18.9