version: 66.03
glider: 142
mission: 5
dive: 340
start: 6 14 108 15 35 48
data:
$ID,142
$MISSION,5
$DIVE,340
$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,-19334.514
$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,26
$R_STBD_OVSHOOT,26
$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
$GPS1,152831,6156.147,-2603.547,38,1.7,38,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-63.3
$GPS2,153527,6156.110,-2603.549,12,1.8,12,-18.7
$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,116.4,2918,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.21,-63.0,0.0,0.0,0,87,0.00,0.00,-58.40,0.000,6,0.000,0.000,1436,2329,3328
$GC,91,-1.26,-104.6,3.5,-5.6,9,115,11.48,2.75,-4.93,0.000,4,0.253,0.050,2639,3710,3498
$GC,123,-0.71,-104.6,10.3,-19.1,13,131,1.00,2.75,0.00,0.000,6,0.212,0.031,2759,2295,3499
$GC,271,-0.91,-117.2,25.5,-8.7,38,279,0.17,2.80,-0.77,0.000,4,0.062,0.057,2724,895,3550
$GC,460,-1.04,-117.2,49.0,-12.8,71,468,0.17,2.78,0.00,0.000,6,0.061,0.028,2687,2344,3551
$GC,606,-1.09,-117.2,68.9,-13.5,96,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2344,3551
$GC,952,-1.13,-117.2,116.2,-14.0,157,959,0.00,2.92,0.00,0.000,4,0.000,0.047,2687,886,3552
$GC,1030,-1.18,-117.2,127.4,-14.2,170,1039,0.12,2.83,0.00,0.000,6,0.063,0.029,2659,2353,3552
$GC,1377,-1.18,-117.2,180.8,-15.8,231,1385,0.00,2.95,0.00,0.000,4,0.000,0.047,2658,884,3552
$GC,1430,-1.18,-117.2,189.4,-15.8,240,1438,0.00,2.80,0.00,0.000,6,0.000,0.030,2658,2340,3552
$GC,1777,-1.18,-117.2,244.6,-16.0,301,1784,0.00,2.92,0.00,0.000,4,0.000,0.047,2658,882,3552
$GC,1864,-1.18,-117.2,259.2,-16.4,316,1871,0.00,2.78,0.00,0.000,6,0.000,0.030,2658,2326,3552
$GC,2209,-1.18,-117.2,313.4,-15.2,377,2216,0.00,2.88,0.00,0.000,4,0.000,0.047,2658,895,3553
$GC,2284,-1.18,-117.2,325.3,-15.0,390,2292,0.00,2.75,0.00,0.000,6,0.000,0.030,2658,2321,3552
$GC,2620,-1.18,-117.2,376.0,-14.8,435,2624,0.00,2.88,0.00,0.000,4,0.000,0.048,2658,889,3552
$GC,2649,-1.18,-117.2,380.4,-15.5,437,2653,0.00,2.75,0.00,0.000,6,0.000,0.030,2658,2313,3553
$GC,2976,-1.18,-117.2,428.5,-14.9,467,2981,0.00,2.88,0.00,0.000,4,0.000,0.048,2658,882,3552
$GC,3061,-1.18,-117.2,442.1,-15.5,474,3066,0.00,2.70,0.00,0.000,6,0.000,0.030,2658,2293,3552
$GC,3388,-1.18,-117.2,491.1,-14.9,504,3393,0.00,2.83,0.00,0.000,4,0.000,0.048,2658,886,3552
$GC,3443,-1.18,-117.2,500.4,-15.8,508,3451,0.00,2.72,0.00,0.000,6,0.000,0.031,2658,2295,3552
$GC,3771,-1.18,-117.2,550.9,-15.6,539,3776,0.00,2.83,0.00,0.000,4,0.000,0.048,2658,895,3552
$GC,3883,-1.18,-117.2,569.9,-16.9,548,3891,0.00,2.67,0.00,0.000,6,0.000,0.031,2658,2277,3552
$GC,4205,-1.18,-117.2,621.0,-16.2,573,4210,0.00,2.80,0.00,0.000,4,0.000,0.051,2658,897,3552
$GC,4362,-1.18,-117.2,646.6,-16.8,580,4366,0.00,2.65,0.00,0.000,6,0.000,0.034,2658,2256,3552
$GC,4683,-1.18,-117.2,696.2,-15.4,596,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2257,3552
$GC,4993,-1.18,-117.2,741.9,-14.1,611,4998,0.00,2.90,0.00,0.000,4,0.000,0.070,2658,897,3552
$GC,5025,-1.18,-117.2,746.9,-14.6,612,5033,0.00,2.78,0.00,0.000,6,0.000,0.051,2658,2257,3552
$GC,5341,-1.18,-117.2,788.2,-12.7,628,5346,0.00,3.03,0.00,0.000,4,0.000,0.087,2658,900,3551
$GC,5442,-1.18,-117.2,801.5,-13.3,632,5450,0.00,2.88,0.00,0.000,6,0.000,0.071,2657,2240,3551
$GC,5758,-1.18,-117.2,844.2,-14.3,648,5763,0.00,3.17,0.00,0.000,4,0.000,0.110,2658,902,3551
$GC,5785,-1.18,-117.2,848.5,-15.7,649,5790,0.00,3.05,0.00,0.000,6,0.000,0.092,2658,2245,3550
$GC,6102,-1.77,-194.7,853.2,-0.0,664,6108,0.60,3.22,0.00,0.000,4,0.055,0.112,2537,899,3550
$STATE,6133,end dive,NO_VERTICAL_VELOCITY
$STATE,6134,begin apogee
$GC,6144,-0.21,0.0,853.2,0.0,665,6273,1.88,0.00,124.88,1.487,6,0.091,0.000,2872,2742,3071
$STATE,6274,end apogee,CONTROL_FINISHED_OK
$STATE,6274,begin climb
$GC,6276,1.37,194.7,853.1,0.0,672,6498,1.92,2.97,208.82,1.424,4,0.068,0.100,3213,3903,2277
$GC,6621,1.25,194.7,800.3,21.6,687,6626,0.00,2.50,0.00,0.000,6,0.000,0.068,3212,2763,2275
$GC,6938,1.13,194.7,736.7,19.1,702,6943,0.28,2.42,0.00,0.000,4,0.139,0.065,3171,3908,2275
$GC,7001,1.08,194.7,725.0,17.8,705,7005,0.00,2.33,0.00,0.000,6,0.000,0.047,3171,2760,2274
$GC,7328,1.08,194.7,672.8,16.0,721,7332,0.00,2.38,0.00,0.000,4,0.000,0.064,3171,3906,2274
$GC,7428,1.04,194.7,655.8,16.7,725,7433,0.15,2.20,0.00,0.000,6,0.140,0.037,3150,2785,2273
$GC,7744,1.04,194.7,611.3,14.6,740,7745,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2785,2273
$GC,8061,1.04,194.7,561.0,16.7,766,8065,0.00,2.30,0.00,0.000,4,0.000,0.054,3150,3912,2272
$GC,8099,1.04,194.7,554.1,17.4,769,8106,0.00,2.17,0.00,0.000,6,0.000,0.032,3150,2781,2272
$GC,8426,1.04,194.7,501.5,15.7,800,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2776,2272
$GC,8742,1.04,194.7,453.8,14.7,830,8746,0.00,2.28,0.00,0.000,4,0.000,0.051,3150,3911,2272
$GC,8815,1.04,194.7,442.8,15.5,836,8819,0.00,2.15,0.00,0.000,6,0.000,0.031,3150,2791,2271
$GC,9142,1.04,194.7,398.7,13.1,866,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2783,2272
$GC,9459,1.04,194.7,355.7,14.1,896,9463,0.00,2.25,0.00,0.000,4,0.000,0.049,3150,3911,2272
$GC,9527,1.04,194.7,345.5,15.0,904,9534,0.00,2.15,0.00,0.000,6,0.000,0.031,3150,2806,2272
$GC,9872,1.04,194.7,294.7,14.9,965,9879,0.00,2.22,0.00,0.000,4,0.000,0.048,3150,3911,2272
$GC,9914,1.04,194.7,288.2,15.4,972,9921,0.00,2.12,0.00,0.000,6,0.000,0.031,3150,2817,2272
$GC,10260,1.04,194.7,235.7,15.4,1033,10266,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2809,2272
$GC,10604,1.04,194.7,183.8,15.1,1094,10611,0.00,2.20,0.00,0.000,4,0.000,0.048,3150,3910,2272
$GC,10647,1.04,194.7,177.3,15.3,1101,10653,0.00,2.10,0.00,0.000,6,0.000,0.030,3150,2812,2271
$GC,10992,1.04,194.7,126.6,14.0,1162,10999,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2805,2272
$GC,11336,1.08,194.7,80.6,12.9,1223,11343,0.00,2.20,0.00,0.000,4,0.000,0.048,3150,3908,2272
$GC,11373,1.08,194.7,75.5,14.4,1229,11380,0.00,2.08,0.00,0.000,6,0.000,0.031,3150,2825,2272
$GC,11717,1.13,194.7,30.2,12.5,1290,11724,0.00,2.17,0.00,0.000,4,0.000,0.048,3150,3917,2272
$GC,11788,1.19,194.7,20.4,13.7,1302,11796,0.15,2.05,0.00,0.000,6,0.064,0.031,3179,2839,2272
$STATE,11918,end climb,SURFACE_DEPTH_REACHED
$STATE,11918,begin surface coast
$FINISH,0.3,1.025909
$STATE,11931,end surface coast,CONTROL_FINISHED_OK
$STATE,11932,begin surface
$SM_CCo,11951,4.10,0.569,0,0,2255,200.16
$SM_GC,2.44,0.00,0.00,4.10,0.000,0.000,0.569,1432,2293,2255,-6.84,-0.17,200.16
$IRIDIUM_FIX,6130.75,-2605.31,080997,111146
$TT8_MAMPS,0.026845
$HUMID,1849
$INTERNAL_PRESSURE,8.98518
$TCM_TEMP,14.90
$XPDR_PINGS,613
$24V_AH,19.1,105.827
$10V_AH,9.9,70.423
$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,26.875,133.225,333.700,4.100,0.000,28.062,42.303,210.290,153.250,0.000,0.000,14.130,2739.115,6029.439,505.042,2517.252,574.696,0.000,1631.452,0.000,2503.019,0.000,0.466
$DEVICE_MAMPS,253.110,111.982,1487.213,569.114,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,917.244,995.454,553.117,1258.497,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,98104,1327
$CAP_FILE_SIZE,125909,0
$CFSIZE,260165632,224636928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055, 30.3,1
$GPS,140608,185626,6156.620,-2559.888,42,0.9,42,-18.7