version: 66.03
glider: 142
mission: 5
dive: 234
start: 5 24 108 22 13 14
data:
$ID,142
$MISSION,5
$DIVE,234
$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,-17379.035
$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,23
$R_STBD_OVSHOOT,22
$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
$GPS1,220608,6140.798,-2646.966,25,1.8,25,-19.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-50.1
$GPS2,221256,6140.868,-2647.021,11,1.3,11,-19.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6147.810,-2650.930
$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,329.0,20000,-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,26,begin dive
$GC,28,-0.86,-194.7,0.0,0.0,0,151,0.00,0.00,-120.10,0.000,2,0.000,0.000,1435,2286,3384
$GC,154,-0.86,-194.7,3.1,-4.6,22,190,11.85,2.85,-14.70,0.000,4,0.253,0.056,2723,895,3867
$GC,443,-0.82,-194.7,44.0,-14.7,73,450,0.00,2.70,0.00,0.000,6,0.000,0.029,2723,2302,3868
$GC,585,-0.75,-194.7,66.0,-14.8,98,592,0.15,2.83,0.00,0.000,4,0.139,0.045,2747,892,3868
$GC,640,-0.75,-194.7,72.7,-12.1,107,646,0.00,2.75,0.00,0.000,6,0.000,0.030,2747,2313,3868
$GC,984,-0.75,-194.7,107.8,-9.3,168,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2313,3868
$GC,1328,-0.75,-194.7,141.4,-10.6,229,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2314,3869
$GC,1670,-0.75,-194.7,176.2,-10.5,290,1676,0.00,2.85,0.00,0.000,4,0.000,0.048,2747,892,3868
$GC,1729,-0.75,-194.7,182.7,-11.8,300,1735,0.00,2.72,0.00,0.000,6,0.000,0.031,2747,2307,3868
$GC,2072,-0.75,-194.7,222.5,-11.7,361,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2308,3868
$GC,2414,-0.75,-194.7,263.6,-12.8,422,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2308,3868
$GC,2758,-0.75,-194.7,303.0,-11.0,483,2764,0.00,2.85,0.00,0.000,4,0.000,0.048,2747,883,3868
$GC,2816,-0.80,-194.7,308.9,-10.0,493,2822,0.00,2.72,0.00,0.000,6,0.000,0.031,2747,2302,3868
$GC,3160,-0.80,-194.7,342.9,-9.6,554,3166,0.00,2.78,0.00,0.000,4,0.000,0.045,2747,3702,3868
$GC,3223,-0.80,-194.7,348.9,-9.4,565,3229,0.00,2.75,0.00,0.000,6,0.000,0.033,2747,2287,3868
$GC,3551,-0.80,-194.7,379.6,-9.5,597,3555,0.00,2.78,0.00,0.000,4,0.000,0.048,2747,886,3868
$GC,3606,-0.84,-194.7,385.3,-10.0,601,3612,0.00,2.72,0.00,0.000,6,0.000,0.030,2747,2303,3868
$GC,3932,-0.84,-194.7,415.0,-9.0,632,3937,0.00,2.78,0.00,0.000,4,0.000,0.046,2747,3700,3868
$GC,3994,-0.84,-194.7,420.9,-9.4,637,3999,0.00,2.75,0.00,0.000,6,0.000,0.034,2747,2291,3868
$GC,4323,-0.84,-194.7,450.5,-9.3,667,4327,0.00,2.80,0.00,0.000,4,0.000,0.049,2747,882,3868
$GC,4366,-0.84,-194.7,455.2,-9.6,670,4373,0.00,2.75,0.00,0.000,6,0.000,0.031,2747,2308,3868
$GC,4693,-0.84,-194.7,486.6,-10.1,701,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2309,3868
$GC,5009,-0.84,-194.7,515.3,-7.9,731,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2309,3868
$GC,5328,-0.84,-194.7,541.1,-8.7,761,5333,0.00,2.80,0.00,0.000,4,0.000,0.048,2747,3710,3867
$GC,5390,-0.84,-194.7,546.5,-8.6,766,5394,0.00,2.78,0.00,0.000,6,0.000,0.035,2747,2292,3867
$GC,5716,-0.84,-194.7,572.5,-8.0,796,5721,0.00,2.83,0.00,0.000,4,0.000,0.052,2747,883,3867
$GC,5756,-0.88,-194.7,576.0,-8.6,799,5761,0.00,2.75,0.00,0.000,6,0.000,0.031,2747,2303,3867
$GC,6083,-0.88,-194.7,604.3,-8.8,827,6087,0.00,2.83,0.00,0.000,4,0.000,0.052,2747,3704,3866
$GC,6138,-0.88,-194.7,609.7,-9.0,829,6144,0.00,2.78,0.00,0.000,6,0.000,0.038,2747,2301,3867
$GC,6453,-0.88,-194.7,638.9,-8.9,845,6458,0.00,2.88,0.00,0.000,4,0.000,0.058,2747,885,3867
$GC,6525,-0.92,-194.7,646.1,-10.9,848,6530,0.15,2.78,0.00,0.000,6,0.055,0.036,2715,2297,3866
$GC,6841,-0.88,-194.7,685.2,-11.5,863,6846,0.00,2.92,0.00,0.000,4,0.000,0.060,2715,883,3866
$GC,6885,-0.88,-194.7,690.0,-10.2,865,6889,0.00,2.78,0.00,0.000,6,0.000,0.039,2715,2285,3866
$GC,7213,-0.88,-194.7,722.7,-10.3,881,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2286,3866
$GC,7521,-0.88,-194.7,758.2,-11.7,896,7525,0.00,3.03,0.00,0.000,4,0.000,0.081,2715,896,3866
$GC,7586,-0.88,-194.7,765.9,-11.8,899,7591,0.00,2.90,0.00,0.000,6,0.000,0.061,2715,2287,3865
$GC,7908,-0.88,-194.7,803.5,-12.0,915,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2287,3865
$GC,8217,-1.25,-194.7,811.9,0.1,930,8219,0.35,0.00,0.00,0.000,6,0.071,0.000,2651,2287,3865
$STATE,8296,end dive,NO_VERTICAL_VELOCITY
$STATE,8297,begin apogee
$GC,8303,-0.21,0.0,811.8,0.0,934,8509,1.17,0.00,202.52,1.485,6,0.065,0.000,2871,2746,3071
$STATE,8510,end apogee,CONTROL_FINISHED_OK
$STATE,8510,begin climb
$GC,8512,0.86,194.7,811.7,0.0,944,8726,1.40,0.00,208.93,1.417,6,0.079,0.000,3104,2746,2277
$GC,9030,0.72,194.7,756.3,13.4,970,9035,0.17,2.50,0.00,0.000,4,0.127,0.074,3077,3903,2274
$GC,9057,0.61,194.7,752.4,12.6,971,9063,0.15,2.40,0.00,0.000,6,0.131,0.054,3057,2754,2274
$GC,9373,0.63,203.7,721.6,9.7,986,9385,0.00,0.00,10.10,1.165,6,0.000,0.000,3057,2754,2240
$GC,9682,0.63,207.0,691.4,9.9,1001,9692,0.00,2.42,5.10,0.932,4,0.000,0.066,3057,3911,2227
$GC,9714,0.63,207.0,687.8,11.6,1002,9721,0.00,2.33,0.00,0.000,6,0.000,0.041,3057,2753,2226
$GC,10029,0.63,207.0,654.6,10.4,1018,10030,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2752,2226
$GC,10339,0.63,210.5,623.6,9.9,1033,10346,0.00,0.00,5.07,0.920,6,0.000,0.000,3056,2752,2212
$GC,10649,0.70,263.5,597.2,8.2,1049,10709,0.00,0.00,54.53,1.351,6,0.000,0.000,3057,2752,1995
$GC,11028,0.72,280.2,563.1,9.4,1085,11052,0.00,2.97,17.62,1.234,4,0.000,0.050,3057,1327,1928
$GC,11210,0.73,292.3,545.7,9.6,1101,11231,0.12,2.85,13.90,1.197,6,0.064,0.032,3082,2768,1878
$GC,11556,0.69,292.3,504.5,11.9,1134,11560,0.00,2.90,0.00,0.000,4,0.000,0.044,3082,1331,1875
$GC,11655,0.69,292.3,492.3,11.6,1142,11662,0.00,2.80,0.00,0.000,6,0.000,0.034,3081,2750,1875
$GC,11983,0.64,292.3,453.2,11.7,1173,11987,0.15,2.28,0.00,0.000,4,0.108,0.049,3056,3893,1875
$GC,11999,0.64,292.3,451.2,11.1,1174,12003,0.00,2.20,0.00,0.000,6,0.000,0.031,3056,2743,1874
$GC,12329,0.72,354.6,422.7,7.8,1205,12399,0.00,0.00,63.67,1.238,6,0.000,0.000,3056,2738,1625
$GC,12718,0.92,472.9,397.1,5.9,1242,12851,0.32,2.50,122.75,1.197,4,0.044,0.048,3122,3887,1141
$GC,12885,0.82,472.9,371.6,18.7,1258,12889,0.15,2.25,0.00,0.000,6,0.104,0.031,3101,2763,1138
$GC,13220,0.77,472.9,322.4,14.8,1305,13226,0.00,2.30,0.00,0.000,4,0.000,0.048,3101,3892,1132
$GC,13234,0.72,472.9,320.3,14.7,1307,13241,0.15,2.17,0.00,0.000,6,0.112,0.030,3078,2771,1132
$GC,13578,0.77,472.9,282.5,10.4,1368,13585,0.00,2.85,0.00,0.000,4,0.000,0.045,3078,1341,1130
$GC,13598,0.83,472.9,280.5,10.8,1371,13604,0.12,2.78,0.00,0.000,6,0.055,0.031,3106,2763,1129
$GC,13942,0.77,472.9,226.1,15.5,1432,13949,0.00,2.25,0.00,0.000,4,0.000,0.048,3106,3899,1129
$GC,13955,0.72,472.9,224.0,15.0,1434,13962,0.17,2.17,0.00,0.000,6,0.107,0.031,3080,2763,1128
$GC,14299,0.77,472.9,187.0,10.6,1495,14306,0.00,2.83,0.00,0.000,4,0.000,0.045,3080,1342,1128
$GC,14324,0.82,472.9,184.4,10.9,1499,14330,0.00,2.75,0.00,0.000,6,0.000,0.030,3080,2760,1128
$GC,14668,0.88,472.9,146.8,10.5,1560,14675,0.15,2.83,0.00,0.000,4,0.051,0.044,3116,1340,1127
$GC,14694,0.88,472.9,143.6,12.9,1564,14700,0.00,2.70,0.00,0.000,6,0.000,0.031,3116,2733,1127
$GC,15039,0.80,472.9,84.5,16.6,1625,15047,0.12,2.30,0.00,0.000,4,0.104,0.047,3097,3898,1127
$GC,15098,0.80,472.9,75.7,12.8,1635,15104,0.00,2.17,0.00,0.000,6,0.000,0.031,3097,2763,1127
$GC,15441,0.80,472.9,35.2,11.9,1696,15447,0.00,2.83,0.00,0.000,4,0.000,0.046,3097,1339,1126
$GC,15461,0.80,472.9,32.8,12.1,1699,15467,0.00,2.75,0.00,0.000,6,0.000,0.030,3097,2764,1126
$GC,15603,0.80,472.9,13.7,12.6,1724,15610,0.00,2.83,0.00,0.000,4,0.000,0.044,3097,1343,1126
$GC,15616,0.80,472.9,11.8,12.3,1726,15623,0.00,2.67,0.00,0.000,6,0.000,0.031,3097,2724,1126
$STATE,15706,end climb,SURFACE_DEPTH_REACHED
$STATE,15706,begin surface coast
$FINISH,0.4,1.026127
$STATE,15724,end surface coast,CONTROL_FINISHED_OK
$STATE,15724,begin surface
$SM_CCo,15803,0.00,0.000,0,0,1125,477.35
$SM_GC,0.76,8.45,0.00,0.00,0.048,0.000,0.000,1437,2303,1125,-6.79,0.08,477.35
$IRIDIUM_FIX,6112.75,-2639.97,180897,181840
$TT8_MAMPS,0.026845
$HUMID,1802
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,16.40
$XPDR_PINGS,873
$24V_AH,19.3,73.646
$10V_AH,9.8,53.845
$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,25.325,151.900,704.200,0.000,0.000,28.226,33.255,215.464,218.250,0.000,0.000,13.073,2736.816,8838.146,881.847,3152.513,586.043,0.000,2306.334,0.000,3145.662,0.000,0.465
$DEVICE_MAMPS,253.110,87.438,1484.912,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1229.922,1251.784,662.306,1629.391,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126549,1745
$CAP_FILE_SIZE,160821,0
$CFSIZE,260165632,234041344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250508,023738,6143.471,-2650.826,25,1.6,25,-19.0