version: 66.03
glider: 142
mission: 5
dive: 233
start: 5 24 108 18 0 3
data:
$ID,142
$MISSION,5
$DIVE,233
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,310
$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,-17365.334
$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,23
$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
$GPS1,174637,6138.396,-2640.407,25,1.5,25,-18.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-48.3
$GPS2,175945,6138.479,-2640.698,10,1.5,10,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6145.421,-2644.612
$TGT_RADIUS,1852.000
$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,328.9,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.86,-194.7,0.0,0.0,0,167,0.00,0.00,-136.25,0.000,2,0.000,0.000,1435,2283,3501
$GC,170,-0.86,-194.7,3.4,-4.4,25,200,11.82,2.80,-10.05,0.000,4,0.252,0.055,2724,890,3866
$GC,453,-0.86,-194.7,48.5,-15.8,75,459,0.00,2.72,0.00,0.000,6,0.000,0.031,2724,2306,3867
$GC,596,-0.80,-194.7,65.2,-8.6,100,602,0.00,2.83,0.00,0.000,4,0.000,0.046,2724,896,3867
$GC,727,-0.80,-194.7,77.3,-9.3,123,733,0.00,2.70,0.00,0.000,6,0.000,0.030,2725,2295,3867
$GC,1070,-0.75,-194.7,118.5,-14.1,184,1077,0.15,2.83,0.00,0.000,4,0.138,0.047,2748,886,3867
$GC,1134,-0.75,-194.7,126.9,-12.9,195,1140,0.00,2.70,0.00,0.000,6,0.000,0.030,2749,2290,3867
$GC,1477,-0.75,-194.7,170.5,-12.1,256,1483,0.00,2.80,0.00,0.000,4,0.000,0.046,2748,3704,3867
$GC,1545,-0.75,-194.7,178.7,-11.9,268,1552,0.00,2.78,0.00,0.000,6,0.000,0.033,2749,2276,3867
$GC,1890,-0.75,-194.7,215.2,-9.0,329,1896,0.00,2.75,0.00,0.000,4,0.000,0.049,2749,890,3867
$GC,1953,-0.75,-194.7,221.1,-9.4,340,1959,0.00,2.67,0.00,0.000,6,0.000,0.031,2749,2287,3867
$GC,2297,-0.75,-194.7,253.7,-9.8,401,2303,0.00,2.80,0.00,0.000,4,0.000,0.045,2748,3699,3867
$GC,2366,-0.75,-194.7,260.6,-9.7,413,2372,0.00,2.78,0.00,0.000,6,0.000,0.033,2748,2269,3867
$GC,2710,-0.75,-194.7,297.2,-11.3,474,2716,0.00,2.72,0.00,0.000,4,0.000,0.048,2748,894,3867
$GC,2773,-0.79,-194.7,304.5,-11.3,485,2779,0.00,2.67,0.00,0.000,6,0.000,0.030,2748,2286,3867
$GC,3116,-0.79,-194.7,342.7,-11.0,546,3123,0.00,2.80,0.00,0.000,4,0.000,0.046,2749,3700,3867
$GC,3185,-0.79,-194.7,350.4,-11.2,558,3189,0.00,2.75,0.00,0.000,6,0.000,0.034,2749,2281,3867
$GC,3510,-0.79,-194.7,389.9,-13.1,588,3515,0.00,2.75,0.00,0.000,4,0.000,0.048,2748,894,3867
$GC,3573,-0.84,-194.7,398.4,-13.2,593,3577,0.00,2.67,0.00,0.000,6,0.000,0.030,2748,2287,3867
$GC,3899,-0.84,-194.7,441.2,-13.4,623,3903,0.00,2.83,0.00,0.000,4,0.000,0.047,2749,3706,3866
$GC,3964,-0.84,-194.7,450.7,-14.2,628,3972,0.00,2.78,0.00,0.000,6,0.000,0.034,2748,2286,3866
$GC,4291,-0.84,-194.7,497.1,-14.6,659,4296,0.00,2.78,0.00,0.000,4,0.000,0.051,2749,891,3866
$GC,4342,-0.89,-194.7,504.8,-14.6,663,4347,0.00,2.70,0.00,0.000,6,0.000,0.031,2748,2292,3866
$GC,4670,-0.89,-194.7,549.9,-11.9,693,4675,0.00,2.83,0.00,0.000,4,0.000,0.049,2749,3705,3867
$GC,4747,-0.89,-194.7,557.9,-8.8,699,4753,0.00,2.78,0.00,0.000,6,0.000,0.035,2749,2285,3866
$GC,5074,-0.89,-194.7,562.3,5.6,730,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2283,3866
$GC,5390,-0.89,-194.7,577.3,-17.6,760,5394,0.00,2.80,0.00,0.000,4,0.000,0.053,2748,889,3866
$GC,5431,-0.94,-194.7,584.1,-17.6,763,5436,0.17,2.75,0.00,0.000,6,0.053,0.032,2712,2305,3865
$GC,5760,-0.89,-194.7,641.0,-17.1,782,5765,0.00,2.90,0.00,0.000,4,0.000,0.054,2712,885,3866
$GC,5844,-0.89,-194.7,655.7,-15.8,786,5848,0.00,2.72,0.00,0.000,6,0.000,0.036,2712,2274,3866
$GC,6170,-0.84,-194.7,693.2,-10.6,802,6171,0.15,0.00,0.00,0.000,6,0.127,0.000,2734,2274,3865
$GC,6480,-0.84,-194.7,722.9,-9.3,817,6484,0.00,3.03,0.00,0.000,4,0.000,0.069,2733,3712,3865
$GC,6545,-0.84,-194.7,729.8,-11.0,820,6550,0.00,2.95,0.00,0.000,6,0.000,0.051,2733,2271,3865
$GC,6866,-0.84,-194.7,765.3,-9.5,836,6871,0.00,3.03,0.00,0.000,4,0.000,0.089,2734,894,3865
$GC,6943,-0.84,-194.7,774.3,-10.2,839,6950,0.00,2.88,0.00,0.000,6,0.000,0.062,2734,2265,3864
$GC,7260,-1.01,-194.7,777.5,-0.0,855,7265,0.15,3.15,0.00,0.000,4,0.053,0.081,2697,3713,3864
$STATE,7291,end dive,NO_VERTICAL_VELOCITY
$STATE,7291,begin apogee
$GC,7298,-0.21,0.0,777.5,0.0,856,7505,1.00,0.00,201.23,1.462,6,0.100,0.000,2869,2744,3071
$STATE,7506,end apogee,CONTROL_FINISHED_OK
$STATE,7506,begin climb
$GC,7508,0.86,194.7,777.3,0.0,867,7725,1.40,2.78,206.80,1.397,4,0.074,0.076,3103,3896,2278
$GC,7793,0.70,194.7,753.3,15.2,880,7798,0.20,2.53,0.00,0.000,6,0.135,0.054,3077,2745,2275
$GC,8120,0.60,194.7,710.5,13.1,896,8124,0.15,2.45,0.00,0.000,4,0.125,0.062,3055,3900,2275
$GC,8147,0.54,194.7,706.9,12.3,897,8151,0.00,2.33,0.00,0.000,6,0.000,0.043,3055,2752,2274
$GC,8462,0.50,202.5,674.8,9.7,912,8474,0.17,0.00,9.02,1.118,6,0.115,0.000,3028,2751,2245
$GC,8772,0.57,261.6,651.0,7.9,927,8834,0.00,0.00,60.60,1.364,6,0.000,0.000,3029,2750,2004
$GC,9141,0.72,334.7,623.0,7.5,945,9222,0.25,0.00,75.60,1.339,6,0.051,0.000,3077,2750,1705
$GC,9539,0.68,334.7,575.9,11.6,973,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2751,1698
$GC,9865,0.64,334.7,537.6,12.0,1004,9869,0.00,2.35,0.00,0.000,4,0.000,0.051,3077,3903,1698
$GC,9898,0.64,334.7,533.2,12.4,1006,9905,0.00,2.30,0.00,0.000,6,0.000,0.032,3077,2733,1697
$GC,10225,0.59,334.7,491.8,12.6,1037,10230,0.17,2.38,0.00,0.000,4,0.107,0.049,3048,3907,1696
$GC,10253,0.59,334.7,488.4,11.3,1039,10257,0.00,2.22,0.00,0.000,6,0.000,0.031,3048,2755,1696
$GC,10578,0.69,377.6,461.1,8.5,1069,10631,0.12,2.92,43.38,1.248,4,0.061,0.047,3073,1348,1530
$GC,10636,0.69,377.6,454.5,11.6,1074,10643,0.00,2.85,0.00,0.000,6,0.000,0.031,3072,2770,1529
$GC,10963,0.69,377.6,415.9,12.0,1105,10964,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2771,1526
$GC,11281,0.69,377.6,379.1,11.1,1135,11285,0.00,2.88,0.00,0.000,4,0.000,0.044,3073,1336,1525
$GC,11290,0.69,377.6,377.8,11.3,1135,11297,0.00,2.80,0.00,0.000,6,0.000,0.031,3073,2770,1525
$GC,11618,0.69,377.6,342.5,11.1,1172,11625,0.00,2.85,0.00,0.000,4,0.000,0.044,3073,1342,1524
$GC,11631,0.69,377.6,341.0,11.2,1174,11637,0.00,2.72,0.00,0.000,6,0.000,0.031,3073,2742,1524
$GC,11974,0.69,377.6,300.6,11.3,1235,11980,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2742,1524
$GC,12316,0.69,377.6,261.7,10.9,1296,12322,0.00,2.80,0.00,0.000,4,0.000,0.044,3073,1341,1524
$GC,12328,0.69,377.6,260.3,10.2,1298,12334,0.00,2.72,0.00,0.000,6,0.000,0.031,3073,2741,1524
$GC,12671,0.69,377.6,225.2,10.1,1359,12677,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2741,1524
$GC,13013,0.69,377.6,186.3,11.5,1420,13019,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2741,1524
$GC,13357,0.69,377.6,145.8,11.6,1481,13362,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2741,1524
$GC,13700,0.75,419.9,113.2,8.5,1542,13749,0.00,2.88,42.03,1.029,4,0.000,0.044,3073,1339,1359
$GC,13761,0.76,435.0,107.7,9.5,1553,13784,0.00,2.78,17.42,0.955,6,0.000,0.031,3073,2736,1297
$GC,14126,0.81,435.0,69.5,11.2,1617,14133,0.12,2.83,0.00,0.000,4,0.055,0.044,3099,1338,1291
$GC,14144,0.81,435.0,66.8,11.9,1620,14151,0.00,2.70,0.00,0.000,6,0.000,0.031,3099,2719,1290
$GC,14488,0.77,435.0,17.1,13.1,1681,14495,0.00,2.30,0.00,0.000,4,0.000,0.047,3099,3890,1289
$GC,14518,0.77,435.0,13.1,13.9,1686,14524,0.00,2.25,0.00,0.000,6,0.000,0.031,3100,2719,1289
$STATE,14607,end climb,SURFACE_DEPTH_REACHED
$STATE,14607,begin surface coast
$FINISH,0.3,1.013133
$STATE,14625,end surface coast,CONTROL_FINISHED_OK
$STATE,14626,begin surface
$SM_CCo,14704,0.00,0.000,0,0,1287,437.62
$SM_GC,0.84,8.48,0.00,0.00,0.047,0.000,0.000,1435,2295,1287,-6.79,-0.14,437.62
$IRIDIUM_FIX,6112.75,-2646.05,180897,181845
$TT8_MAMPS,0.026078
$HUMID,1811
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,16.40
$XPDR_PINGS,779
$24V_AH,19.3,73.336
$10V_AH,9.8,53.694
$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,24.525,152.900,656.075,0.000,0.000,77.495,95.701,350.177,194.750,0.000,0.000,11.807,2659.760,8061.162,828.461,3096.348,831.407,0.000,2228.880,0.000,3080.166,0.000,0.466
$DEVICE_MAMPS,251.576,88.972,1461.902,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1191.984,1225.603,686.697,1586.424,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123420,1705
$CAP_FILE_SIZE,158658,0
$CFSIZE,260165632,234131456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240508,220608,6140.798,-2646.966,25,1.8,25,-19.0