version: 66.03
glider: 142
mission: 5
dive: 238
start: 5 25 108 17 44 32
data:
$ID,142
$MISSION,5
$DIVE,238
$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,45
$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,-17477.906
$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,25
$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
$GPS1,173638,6150.558,-2704.449,26,1.2,26,-19.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-48.2
$GPS2,174414,6150.626,-2704.463,14,1.2,31,-19.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6158.262,-2700.875
$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,64.2,20000,-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,28,-0.86,-194.7,0.0,0.0,0,146,0.00,0.00,-115.10,0.000,2,0.000,0.000,1430,2286,3379
$GC,149,-0.86,-194.7,3.1,-5.0,21,184,12.02,2.90,-14.45,0.000,4,0.255,0.054,2724,3700,3867
$GC,432,-0.81,-194.7,44.5,-13.3,71,439,0.00,2.72,0.00,0.000,6,0.000,0.034,2724,2301,3868
$GC,574,-0.73,-194.7,64.6,-14.0,96,582,0.20,2.83,0.00,0.000,4,0.135,0.049,2756,886,3868
$GC,605,-0.73,-194.7,68.6,-13.0,101,611,0.00,2.75,0.00,0.000,6,0.000,0.030,2756,2311,3868
$GC,948,-0.73,-194.7,105.5,-10.6,162,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2311,3869
$GC,1292,-0.73,-194.7,143.2,-11.5,223,1298,0.00,2.88,0.00,0.000,4,0.000,0.050,2756,883,3869
$GC,1343,-0.73,-194.7,149.3,-11.5,232,1350,0.00,2.75,0.00,0.000,6,0.000,0.030,2756,2310,3869
$GC,1689,-0.73,-194.7,189.8,-11.3,293,1695,0.00,2.85,0.00,0.000,4,0.000,0.049,2756,890,3869
$GC,1729,-0.73,-194.7,194.5,-11.7,300,1736,0.00,2.70,0.00,0.000,6,0.000,0.031,2756,2292,3869
$GC,2074,-0.73,-194.7,231.0,-10.5,361,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2293,3869
$GC,2416,-0.73,-194.7,267.8,-10.8,422,2423,0.00,2.83,0.00,0.000,4,0.000,0.049,2756,885,3869
$GC,2480,-0.77,-194.7,274.8,-10.8,433,2486,0.00,2.70,0.00,0.000,6,0.000,0.031,2756,2289,3869
$GC,2825,-0.77,-194.7,309.1,-9.5,494,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2290,3869
$GC,3168,-0.77,-194.7,338.1,-7.8,555,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2290,3869
$GC,3505,-0.77,-194.7,368.1,-9.7,599,3510,0.00,2.83,0.00,0.000,4,0.000,0.050,2756,883,3869
$GC,3544,-0.77,-194.7,372.0,-10.2,602,3548,0.00,2.70,0.00,0.000,6,0.000,0.031,2755,2286,3869
$GC,3870,-0.77,-194.7,405.8,-11.2,632,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2286,3869
$GC,4187,-0.77,-194.7,440.6,-10.6,662,4191,0.00,2.80,0.00,0.000,4,0.000,0.049,2756,892,3869
$GC,4226,-0.77,-194.7,444.8,-11.1,665,4230,0.00,2.65,0.00,0.000,6,0.000,0.031,2756,2266,3868
$GC,4552,-0.77,-194.7,478.5,-10.2,695,4557,0.00,2.88,0.00,0.000,4,0.000,0.047,2756,3708,3868
$GC,4584,-0.77,-194.7,482.2,-10.8,697,4590,0.00,2.83,0.00,0.000,6,0.000,0.035,2756,2264,3868
$GC,4910,-0.77,-194.7,518.4,-11.5,728,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2263,3868
$GC,5227,-0.77,-194.7,555.2,-11.0,758,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2263,3868
$GC,5546,-0.77,-194.7,588.6,-10.5,788,5551,0.00,2.92,0.00,0.000,4,0.000,0.049,2756,3703,3868
$GC,5578,-0.77,-194.7,592.1,-10.8,790,5585,0.00,2.80,0.00,0.000,6,0.000,0.036,2756,2280,3867
$GC,5906,-0.77,-194.7,626.8,-10.2,810,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2279,3868
$GC,6217,-0.77,-194.7,657.4,-9.9,825,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2279,3868
$GC,6525,-0.77,-194.7,687.0,-9.5,840,6526,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2279,3867
$GC,6835,-0.77,-194.7,714.7,-8.8,855,6840,0.00,3.00,0.00,0.000,4,0.000,0.065,2756,3703,3866
$GC,6879,-0.82,-194.7,719.0,-9.8,857,6884,0.00,2.88,0.00,0.000,6,0.000,0.049,2756,2293,3866
$GC,7200,-0.82,-194.7,750.1,-9.2,873,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2292,3866
$GC,7509,-0.82,-194.7,777.0,-8.4,888,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2293,3866
$GC,7819,-0.82,-194.7,802.9,-8.2,903,7824,0.00,3.15,0.00,0.000,4,0.000,0.091,2757,3694,3866
$GC,7881,-0.86,-194.7,808.2,-8.5,906,7886,0.12,3.03,0.00,0.000,6,0.072,0.077,2733,2306,3865
$GC,8208,-0.86,-194.7,843.7,-11.3,922,8213,0.00,3.35,0.00,0.000,4,0.000,0.116,2733,884,3865
$GC,8251,-0.86,-194.7,849.0,-12.1,924,8256,0.00,3.15,0.00,0.000,6,0.000,0.091,2733,2283,3865
$GC,8571,-0.86,-194.7,885.2,-11.6,940,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2284,3865
$GC,8882,-1.13,-194.7,897.4,-0.0,955,8884,0.30,0.00,0.00,0.000,6,0.053,0.000,2675,2284,3865
$STATE,9003,end dive,NO_VERTICAL_VELOCITY
$STATE,9003,begin apogee
$GC,9009,-0.21,0.0,897.4,0.0,961,9220,1.08,0.00,206.52,1.546,6,0.071,0.000,2873,2748,3071
$STATE,9220,end apogee,CONTROL_FINISHED_OK
$STATE,9220,begin climb
$GC,9223,0.86,194.7,897.3,0.0,971,9440,1.38,0.00,212.90,1.478,6,0.079,0.000,3100,2748,2277
$GC,9737,0.73,194.7,843.4,12.6,996,9742,0.15,2.70,0.00,0.000,4,0.132,0.104,3077,3909,2274
$GC,9777,0.64,194.7,838.7,11.3,998,9781,0.00,2.40,0.00,0.000,6,0.000,0.053,3077,2752,2274
$GC,10104,0.57,194.7,805.2,10.3,1014,10109,0.17,2.38,0.00,0.000,4,0.116,0.053,3048,3906,2274
$GC,10127,0.55,215.6,803.0,9.3,1015,10156,0.00,2.22,21.95,1.361,6,0.000,0.033,3048,2765,2191
$GC,10472,0.62,268.3,774.8,8.2,1032,10533,0.00,0.00,55.20,1.432,6,0.000,0.000,3048,2765,1977
$GC,10841,0.66,305.6,742.4,8.7,1050,10883,0.00,0.00,39.70,1.396,6,0.000,0.000,3048,2765,1825
$GC,11192,0.74,370.0,712.6,7.8,1067,11264,0.17,0.00,69.15,1.400,6,0.054,0.000,3084,2766,1562
$GC,11560,0.74,370.0,668.5,12.1,1085,11564,0.00,2.35,0.00,0.000,4,0.000,0.052,3083,3911,1555
$GC,11581,0.74,370.0,665.7,12.7,1086,11586,0.00,2.28,0.00,0.000,6,0.000,0.032,3083,2749,1554
$GC,11909,0.74,370.0,626.4,12.2,1102,11913,0.00,2.38,0.00,0.000,4,0.000,0.052,3083,3912,1553
$GC,11941,0.74,370.0,622.1,12.5,1103,11947,0.00,2.25,0.00,0.000,6,0.000,0.033,3083,2756,1552
$GC,12261,0.74,370.0,580.9,12.3,1126,12262,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2754,1552
$GC,12579,0.74,370.0,543.1,11.8,1156,12583,0.00,2.33,0.00,0.000,4,0.000,0.051,3083,3910,1552
$GC,12606,0.74,370.0,539.5,12.4,1158,12613,0.00,2.22,0.00,0.000,6,0.000,0.032,3083,2773,1551
$GC,12933,0.74,370.0,499.4,12.1,1189,12934,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2772,1551
$GC,13250,0.74,370.0,462.6,11.7,1219,13251,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2772,1551
$GC,13569,0.74,370.0,423.1,13.1,1249,13570,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2771,1551
$GC,13887,0.74,370.0,382.0,13.3,1279,13888,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2770,1551
$GC,14208,0.74,370.0,341.0,11.6,1315,14214,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2769,1551
$GC,14552,0.74,370.0,300.2,12.1,1376,14558,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2769,1551
$GC,14896,0.74,370.0,260.4,11.5,1437,14901,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2769,1551
$GC,15238,0.74,370.0,221.7,10.9,1498,15244,0.00,2.28,0.00,0.000,4,0.000,0.048,3083,3907,1551
$GC,15261,0.74,370.0,219.1,10.9,1502,15267,0.00,2.15,0.00,0.000,6,0.000,0.031,3083,2782,1550
$GC,15605,0.74,370.0,182.3,10.7,1563,15611,0.00,2.85,0.00,0.000,4,0.000,0.046,3083,1344,1551
$GC,15622,0.74,370.0,180.4,10.3,1566,15629,0.00,2.83,0.00,0.000,6,0.000,0.031,3083,2800,1550
$GC,15969,0.74,370.0,143.5,11.4,1627,15975,0.00,2.92,0.00,0.000,4,0.000,0.044,3083,1339,1550
$GC,15987,0.74,370.0,141.1,11.6,1630,15993,0.00,2.78,0.00,0.000,6,0.000,0.031,3083,2772,1550
$GC,16333,0.74,370.0,101.1,11.9,1691,16338,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2771,1550
$GC,16675,0.74,370.0,62.4,10.9,1752,16682,0.00,2.85,0.00,0.000,4,0.000,0.045,3083,1349,1550
$GC,16694,0.74,370.0,60.4,11.7,1755,16700,0.00,2.75,0.00,0.000,6,0.000,0.031,3083,2764,1549
$GC,17038,0.74,370.0,23.3,10.1,1816,17044,0.00,2.83,0.00,0.000,4,0.000,0.044,3084,1347,1550
$GC,17073,0.74,370.0,19.5,10.7,1822,17080,0.00,2.70,0.00,0.000,6,0.000,0.031,3083,2749,1549
$GC,17217,0.76,381.2,5.7,9.6,1847,17235,0.00,2.30,10.10,0.811,4,0.000,0.048,3083,3893,1516
$GC,17242,0.76,381.2,2.6,11.4,1851,17248,0.00,2.17,0.00,0.000,6,0.000,0.032,3083,2762,1515
$STATE,17252,end climb,SURFACE_DEPTH_REACHED
$STATE,17252,begin surface coast
$FINISH,0.2,1.025108
$STATE,17276,end surface coast,CONTROL_FINISHED_OK
$STATE,17276,begin surface
$SM_CCo,17355,0.00,0.000,0,0,1512,382.42
$SM_GC,0.74,8.40,0.00,0.00,0.048,0.000,0.000,1434,2278,1512,-6.79,-0.65,382.42
$IRIDIUM_FIX,6126.23,-2650.19,190897,121232
$TT8_MAMPS,0.026845
$HUMID,1804
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,16.40
$XPDR_PINGS,943
$24V_AH,19.2,74.938
$10V_AH,9.8,54.492
$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,24.000,125.850,615.525,0.000,0.000,30.946,33.621,232.078,235.750,0.000,0.000,33.475,2891.226,10184.510,788.641,3320.845,607.592,0.000,2247.025,0.000,3287.215,0.000,0.465
$DEVICE_MAMPS,254.644,125.021,1545.505,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1308.390,1335.550,707.045,1735.538,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135914,1857
$CAP_FILE_SIZE,158788,0
$CFSIZE,260165632,233652224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250508,223502,6153.987,-2702.536,39,1.7,39,-19.2