version: 66.03
glider: 142
mission: 5
dive: 235
start: 5 25 108 2 45 4
data:
$ID,142
$MISSION,5
$DIVE,235
$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,-17396.172
$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,22
$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
$GPS1,023738,6143.471,-2650.826,25,1.6,25,-19.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-45.3
$GPS2,024444,6143.524,-2650.793,10,1.5,15,-19.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6150.466,-2654.697
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,160,0.00,0.00,-130.93,0.000,2,0.000,0.000,1437,2296,3416
$GC,163,-0.86,-194.7,3.2,-4.7,24,199,12.07,2.90,-13.07,0.000,4,0.257,0.056,2725,886,3868
$GC,453,-0.82,-194.7,43.5,-13.6,75,459,0.00,2.72,0.00,0.000,6,0.000,0.030,2725,2303,3868
$GC,595,-0.74,-194.7,62.9,-13.3,100,601,0.15,0.00,0.00,0.000,6,0.139,0.000,2749,2303,3868
$GC,939,-0.74,-194.7,97.2,-10.1,161,946,0.00,2.83,0.00,0.000,4,0.000,0.047,2749,890,3869
$GC,1002,-0.74,-194.7,104.5,-11.2,172,1009,0.00,2.70,0.00,0.000,6,0.000,0.031,2749,2295,3868
$GC,1348,-0.74,-194.7,143.1,-10.3,233,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2295,3869
$GC,1691,-0.74,-194.7,177.4,-9.3,294,1697,0.00,2.83,0.00,0.000,4,0.000,0.048,2749,883,3869
$GC,1744,-0.74,-194.7,182.6,-9.5,303,1750,0.00,2.70,0.00,0.000,6,0.000,0.030,2749,2288,3869
$GC,2087,-0.74,-194.7,216.1,-10.0,364,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2289,3869
$GC,2430,-0.74,-194.7,253.6,-11.3,425,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2289,3869
$GC,2772,-0.74,-194.7,292.5,-11.3,486,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2290,3868
$GC,3115,-0.74,-194.7,329.1,-10.3,547,3121,0.00,2.80,0.00,0.000,4,0.000,0.048,2749,889,3869
$GC,3172,-0.74,-194.7,335.2,-10.5,557,3178,0.00,2.67,0.00,0.000,6,0.000,0.031,2749,2278,3869
$GC,3505,-0.74,-194.7,370.3,-10.7,600,3509,0.00,2.83,0.00,0.000,4,0.000,0.045,2749,3704,3869
$GC,3561,-0.74,-194.7,376.1,-10.3,604,3567,0.00,2.80,0.00,0.000,6,0.000,0.034,2749,2265,3869
$GC,3889,-0.74,-194.7,412.9,-11.5,635,3893,0.00,2.72,0.00,0.000,4,0.000,0.049,2749,892,3868
$GC,3943,-0.78,-194.7,419.7,-11.2,639,3950,0.00,2.67,0.00,0.000,6,0.000,0.030,2749,2287,3868
$GC,4269,-0.78,-194.7,454.0,-10.3,670,4274,0.00,2.83,0.00,0.000,4,0.000,0.047,2749,3707,3868
$GC,4342,-0.78,-194.7,462.0,-10.5,676,4346,0.00,2.80,0.00,0.000,6,0.000,0.034,2749,2273,3868
$GC,4667,-0.78,-194.7,496.5,-10.3,706,4671,0.00,2.75,0.00,0.000,4,0.000,0.050,2749,892,3868
$GC,4729,-0.78,-194.7,503.1,-10.3,711,4733,0.00,2.67,0.00,0.000,6,0.000,0.030,2749,2282,3868
$GC,5055,-0.78,-194.7,534.0,-9.0,741,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2282,3868
$GC,5374,-0.78,-194.7,562.8,-9.1,771,5379,0.00,2.85,0.00,0.000,4,0.000,0.050,2749,3704,3867
$GC,5462,-0.78,-194.7,571.2,-9.2,778,5469,0.00,2.78,0.00,0.000,6,0.000,0.035,2749,2290,3867
$GC,5798,-0.78,-194.7,604.8,-10.6,808,5802,0.00,2.83,0.00,0.000,4,0.000,0.056,2749,892,3867
$GC,5852,-0.78,-194.7,610.7,-10.4,810,5859,0.00,2.70,0.00,0.000,6,0.000,0.031,2749,2287,3867
$GC,6168,-0.78,-194.7,644.1,-11.5,826,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2287,3867
$GC,6478,-0.78,-194.7,675.7,-10.5,841,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2287,3867
$GC,6787,-0.78,-194.7,705.9,-9.3,856,6791,0.00,2.95,0.00,0.000,4,0.000,0.064,2749,3704,3867
$GC,6864,-0.78,-194.7,713.1,-9.5,859,6870,0.00,2.88,0.00,0.000,6,0.000,0.049,2749,2291,3866
$GC,7180,-0.78,-194.7,739.3,-7.9,875,7185,0.00,3.03,0.00,0.000,4,0.000,0.080,2749,881,3866
$GC,7265,-0.82,-194.7,746.6,-8.8,879,7270,0.00,2.88,0.00,0.000,6,0.000,0.052,2749,2286,3866
$GC,7592,-1.03,-194.7,773.8,-4.6,895,7598,0.25,3.05,0.00,0.000,4,0.079,0.073,2702,3718,3866
$STATE,7842,end dive,NO_VERTICAL_VELOCITY
$STATE,7842,begin apogee
$GC,7849,-0.21,0.0,774.0,0.0,906,8054,0.85,0.00,201.40,1.462,6,0.044,0.000,2876,2749,3071
$STATE,8055,end apogee,CONTROL_FINISHED_OK
$STATE,8055,begin climb
$GC,8058,0.86,194.7,773.7,0.0,916,8275,1.38,3.40,206.75,1.400,4,0.089,0.077,3100,1336,2277
$GC,8292,0.72,194.7,767.3,10.5,928,8298,0.15,3.22,0.00,0.000,6,0.128,0.057,3081,2750,2276
$GC,8614,0.62,194.7,729.3,11.3,944,8616,0.15,0.00,0.00,0.000,6,0.127,0.000,3061,2750,2274
$GC,8924,0.65,260.6,703.5,7.7,959,8998,0.00,2.55,66.88,1.381,4,0.000,0.065,3061,3900,2007
$GC,9028,0.65,260.6,692.0,10.9,964,9032,0.00,2.40,0.00,0.000,6,0.000,0.040,3061,2738,2005
$GC,9353,0.65,260.6,654.8,12.3,980,9357,0.00,2.42,0.00,0.000,4,0.000,0.060,3061,3908,2003
$GC,9380,0.65,260.6,651.4,12.4,981,9384,0.00,2.30,0.00,0.000,6,0.000,0.037,3061,2751,2002
$GC,9708,0.65,262.2,614.9,9.9,997,9709,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2751,2002
$GC,10021,0.65,262.2,584.1,10.6,1019,10022,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2750,2001
$GC,10340,0.65,262.2,549.6,10.1,1049,10344,0.00,2.35,0.00,0.000,4,0.000,0.053,3061,3906,2001
$GC,10351,0.65,262.2,548.2,10.1,1050,10355,0.00,2.22,0.00,0.000,6,0.000,0.031,3061,2750,2000
$GC,10675,0.66,274.3,508.6,9.6,1080,10697,0.00,2.40,13.77,1.160,4,0.000,0.058,3061,3906,1952
$GC,10720,0.70,304.1,504.5,9.0,1084,10756,0.00,2.22,31.62,1.270,6,0.000,0.031,3061,2760,1831
$GC,11077,0.81,390.2,479.2,7.0,1117,11172,0.17,2.45,89.75,1.264,4,0.058,0.050,3096,3906,1478
$GC,11178,0.74,390.2,468.2,12.2,1126,11184,0.00,2.28,0.00,0.000,6,0.000,0.031,3095,2776,1477
$GC,11505,0.68,390.2,424.7,14.5,1157,11510,0.15,2.30,0.00,0.000,4,0.107,0.049,3073,3904,1470
$GC,11521,0.64,390.2,421.9,14.8,1158,11527,0.00,2.20,0.00,0.000,6,0.000,0.030,3073,2782,1470
$GC,11847,0.64,390.2,382.1,11.8,1189,11852,0.00,2.88,0.00,0.000,4,0.000,0.046,3073,1347,1468
$GC,11857,0.64,390.2,380.5,11.9,1189,11864,0.00,2.83,0.00,0.000,6,0.000,0.029,3072,2794,1468
$GC,12185,0.64,390.2,343.4,10.4,1225,12191,0.00,2.92,0.00,0.000,4,0.000,0.044,3073,1338,1467
$GC,12197,0.64,390.2,342.1,10.7,1227,12203,0.00,2.78,0.00,0.000,6,0.000,0.031,3073,2760,1467
$GC,12541,0.64,390.2,306.2,11.0,1288,12547,0.00,2.85,0.00,0.000,4,0.000,0.044,3073,1340,1467
$GC,12553,0.64,390.2,304.8,10.6,1290,12559,0.00,2.75,0.00,0.000,6,0.000,0.031,3073,2751,1467
$GC,12897,0.64,390.2,267.4,10.0,1351,12903,0.00,2.83,0.00,0.000,4,0.000,0.044,3073,1343,1467
$GC,12910,0.64,390.2,266.0,10.1,1353,12916,0.00,2.72,0.00,0.000,6,0.000,0.031,3073,2747,1466
$GC,13253,0.64,390.2,231.9,10.2,1414,13259,0.00,2.80,0.00,0.000,4,0.000,0.044,3073,1344,1466
$GC,13267,0.65,394.6,230.7,9.8,1416,13273,0.00,2.70,0.00,0.000,6,0.000,0.031,3073,2739,1466
$GC,13611,0.65,395.6,196.1,10.0,1477,13616,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2740,1465
$GC,13954,0.70,435.1,162.4,8.6,1538,14004,0.00,2.85,43.85,1.060,4,0.000,0.044,3073,1347,1296
$GC,14016,0.79,463.8,157.0,9.0,1549,14055,0.00,2.75,31.02,1.025,6,0.000,0.031,3073,2730,1180
$GC,14394,1.00,571.8,131.4,6.3,1616,14512,0.30,2.92,108.72,1.024,4,0.043,0.044,3140,1350,739
$GC,14521,0.84,571.8,108.3,24.1,1639,14528,0.22,2.78,0.00,0.000,6,0.106,0.031,3107,2713,737
$GC,14867,0.95,612.5,59.3,8.6,1700,14910,0.00,0.00,39.53,0.956,6,0.000,0.000,3107,2713,573
$GC,15248,1.02,612.5,15.2,11.9,1768,15255,0.15,2.75,0.00,0.000,4,0.050,0.044,3143,1347,568
$GC,15279,1.02,612.5,10.3,17.2,1773,15285,0.00,2.65,0.00,0.000,6,0.000,0.030,3143,2710,567
$STATE,15323,end climb,SURFACE_DEPTH_REACHED
$STATE,15323,begin surface coast
$FINISH,0.6,1.026157
$STATE,15330,end surface coast,CONTROL_FINISHED_OK
$STATE,15330,begin surface
$SM_CCo,15409,0.00,0.000,0,0,567,614.23
$SM_GC,0.64,8.75,0.00,0.00,0.048,0.000,0.000,1437,2305,567,-6.79,0.14,614.23
$IRIDIUM_FIX,6117.23,-2648.09,180897,222259
$TT8_MAMPS,0.026078
$HUMID,1806
$INTERNAL_PRESSURE,8.82892
$TCM_TEMP,16.30
$XPDR_PINGS,818
$24V_AH,19.3,73.987
$10V_AH,9.8,54.001
$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,24.750,152.575,833.300,0.000,0.000,26.165,32.174,227.802,204.500,0.000,0.000,16.509,2732.313,8279.966,904.171,3306.803,596.863,0.000,2454.700,0.000,3282.764,0.000,0.465
$DEVICE_MAMPS,256.945,79.768,1461.902,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1251.245,1270.815,703.070,1660.489,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129768,1782
$CAP_FILE_SIZE,160946,0
$CFSIZE,260165632,233943040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250508,070307,6145.504,-2654.497,39,1.3,39,-19.1