version: 66.03
glider: 142
mission: 5
dive: 239
start: 5 25 108 22 42 40
data:
$ID,142
$MISSION,5
$DIVE,239
$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,-17495.986
$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,36
$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
$GPS1,223502,6153.987,-2702.536,39,1.7,39,-19.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-48.1
$GPS2,224220,6154.056,-2702.532,10,1.7,15,-19.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6201.692,-2658.950
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,133,0.00,0.00,-103.97,0.000,2,0.000,0.000,1433,2275,3294
$GC,136,-0.86,-194.7,3.1,-7.0,19,172,12.02,2.88,-18.00,0.000,4,0.255,0.049,2723,3713,3865
$GC,364,-0.80,-194.7,37.8,-14.2,59,371,0.12,2.72,0.00,0.000,6,0.144,0.033,2739,2314,3866
$GC,508,-0.75,-194.7,57.1,-13.4,84,514,0.00,2.85,0.00,0.000,4,0.000,0.050,2739,883,3867
$GC,562,-0.75,-194.7,64.0,-12.2,93,568,0.00,2.72,0.00,0.000,6,0.000,0.028,2739,2298,3867
$GC,906,-0.70,-194.7,105.8,-12.2,154,913,0.15,2.85,0.00,0.000,4,0.137,0.048,2763,882,3867
$GC,948,-0.75,-194.7,110.5,-10.8,161,954,0.00,2.70,0.00,0.000,6,0.000,0.030,2763,2285,3867
$GC,1292,-0.75,-194.7,145.0,-9.7,222,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2286,3867
$GC,1636,-0.75,-194.7,177.5,-9.0,283,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2285,3867
$GC,1978,-0.75,-194.7,207.9,-8.9,344,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2286,3867
$GC,2321,-0.75,-194.7,239.1,-9.7,405,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2286,3867
$GC,2666,-0.75,-194.7,272.9,-9.6,466,2672,0.00,2.80,0.00,0.000,4,0.000,0.049,2763,889,3867
$GC,2701,-0.79,-194.7,276.5,-10.1,472,2707,0.00,2.67,0.00,0.000,6,0.000,0.031,2763,2280,3867
$GC,3045,-0.79,-194.7,309.4,-9.1,533,3051,0.00,2.83,0.00,0.000,4,0.000,0.045,2763,3703,3867
$GC,3086,-0.84,-194.7,313.2,-9.2,540,3093,0.15,2.78,0.00,0.000,6,0.065,0.034,2735,2273,3867
$GC,3429,-0.80,-194.7,354.4,-12.7,598,3434,0.00,2.75,0.00,0.000,4,0.000,0.049,2735,889,3867
$GC,3473,-0.80,-194.7,360.3,-12.6,601,3480,0.00,2.67,0.00,0.000,6,0.000,0.031,2735,2276,3867
$GC,3799,-0.80,-194.7,399.1,-11.8,632,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2278,3867
$GC,4117,-0.80,-194.7,436.5,-11.7,662,4121,0.00,2.80,0.00,0.000,4,0.000,0.049,2735,884,3867
$GC,4178,-0.80,-194.7,443.9,-11.8,667,4183,0.00,2.67,0.00,0.000,6,0.000,0.031,2735,2273,3867
$GC,4504,-0.80,-194.7,482.2,-11.6,697,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2274,3867
$GC,4822,-0.80,-194.7,518.9,-11.6,727,4827,0.00,2.80,0.00,0.000,4,0.000,0.050,2735,883,3867
$GC,4861,-0.80,-194.7,523.5,-11.6,730,4865,0.00,2.65,0.00,0.000,6,0.000,0.031,2735,2256,3866
$GC,5187,-0.80,-194.7,562.0,-11.9,760,5191,0.00,2.90,0.00,0.000,4,0.000,0.050,2735,3700,3866
$GC,5226,-0.80,-194.7,567.0,-12.9,763,5230,0.00,2.85,0.00,0.000,6,0.000,0.035,2735,2249,3866
$GC,5562,-0.80,-194.7,608.4,-12.1,791,5566,0.00,2.75,0.00,0.000,4,0.000,0.055,2735,890,3867
$GC,5623,-0.80,-194.7,616.7,-12.7,794,5628,0.00,2.62,0.00,0.000,6,0.000,0.032,2735,2241,3866
$GC,5950,-0.80,-194.7,657.3,-11.8,810,5954,0.00,2.97,0.00,0.000,4,0.000,0.057,2735,3704,3866
$GC,5981,-0.80,-194.7,661.2,-12.4,811,5988,0.00,2.90,0.00,0.000,6,0.000,0.042,2735,2252,3866
$GC,6299,-0.80,-194.7,695.4,-9.9,827,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2251,3866
$GC,6606,-0.80,-194.7,725.4,-10.4,842,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2251,3866
$GC,6916,-0.80,-194.7,758.0,-10.6,857,6921,0.00,3.12,0.00,0.000,4,0.000,0.074,2735,3698,3866
$GC,6956,-0.80,-194.7,762.2,-11.1,859,6960,0.00,3.00,0.00,0.000,6,0.000,0.059,2735,2260,3865
$GC,7282,-0.80,-194.7,797.2,-10.2,875,7286,0.00,3.10,0.00,0.000,4,0.000,0.101,2735,891,3865
$GC,7370,-0.80,-194.7,806.4,-10.1,879,7375,0.00,2.85,0.00,0.000,6,0.000,0.071,2735,2220,3864
$GC,7692,-0.80,-194.7,838.0,-9.9,895,7693,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2220,3865
$GC,8000,-0.80,-194.7,868.8,-10.1,910,8006,0.00,3.53,0.00,0.000,4,0.000,0.119,2735,3694,3864
$GC,8039,-0.80,-194.7,873.0,-10.6,912,8045,0.00,3.45,0.00,0.000,6,0.000,0.110,2735,2240,3864
$GC,8366,-1.05,-194.7,877.1,0.0,928,8372,0.20,3.00,0.00,0.000,4,0.060,0.051,2695,3703,3864
$STATE,8397,end dive,NO_VERTICAL_VELOCITY
$STATE,8397,begin apogee
$GC,8405,-0.21,0.0,877.2,0.0,929,8615,0.98,0.00,206.07,1.534,6,0.090,0.000,2867,2729,3071
$STATE,8615,end apogee,CONTROL_FINISHED_OK
$STATE,8615,begin climb
$GC,8618,0.86,194.7,877.0,0.0,940,8835,1.42,0.00,212.38,1.466,6,0.084,0.000,3100,2729,2277
$GC,9130,0.73,194.7,821.4,12.9,965,9134,0.00,2.40,0.00,0.000,4,0.000,0.051,3100,3885,2274
$GC,9203,0.59,194.7,811.6,14.2,968,9208,0.32,2.22,0.00,0.000,6,0.124,0.033,3051,2758,2274
$GC,9519,0.63,226.8,782.7,8.9,983,9561,0.00,2.97,33.10,1.391,4,0.000,0.048,3051,1341,2146
$GC,9584,0.66,248.9,776.6,9.2,986,9614,0.00,2.85,24.30,1.366,6,0.000,0.033,3051,2753,2056
$GC,9938,0.68,261.5,741.9,9.6,1003,9959,0.00,2.35,14.10,1.271,4,0.000,0.060,3052,3898,2004
$GC,9975,0.68,265.2,737.8,9.9,1004,9985,0.00,2.28,5.25,0.969,6,0.000,0.032,3051,2761,1990
$GC,10314,0.69,271.2,703.8,9.8,1021,10323,0.00,0.00,7.88,1.116,6,0.000,0.000,3051,2759,1965
$GC,10622,0.79,353.9,679.6,7.1,1036,10713,0.20,0.00,87.78,1.397,6,0.056,0.000,3091,2759,1628
$GC,11012,0.73,353.9,632.0,13.3,1055,11016,0.00,2.35,0.00,0.000,4,0.000,0.052,3091,3903,1621
$GC,11052,0.68,353.9,626.3,14.2,1057,11056,0.15,2.25,0.00,0.000,6,0.114,0.033,3069,2757,1620
$GC,11369,0.68,353.9,589.9,10.9,1076,11371,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2756,1619
$GC,11688,0.68,353.9,556.2,10.2,1106,11690,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2755,1618
$GC,12006,0.68,353.9,520.4,11.7,1136,12008,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2755,1618
$GC,12325,0.68,353.9,480.7,12.0,1166,12327,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2755,1617
$GC,12645,0.68,353.9,446.7,10.2,1196,12646,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2755,1617
$GC,12964,0.69,360.9,415.0,9.8,1226,12973,0.00,0.00,6.57,0.931,6,0.000,0.000,3069,2755,1599
$GC,13293,0.70,376.6,384.2,9.5,1257,13313,0.00,0.00,17.77,1.137,6,0.000,0.000,3069,2755,1535
$GC,13630,0.70,376.6,349.3,10.7,1289,13636,0.00,2.83,0.00,0.000,4,0.000,0.047,3069,1341,1532
$GC,13654,0.70,376.6,346.6,10.8,1293,13660,0.00,2.80,0.00,0.000,6,0.000,0.030,3069,2775,1532
$GC,13998,0.72,385.2,311.1,9.7,1354,14010,0.00,0.00,10.12,1.003,6,0.000,0.000,3069,2775,1500
$GC,14347,0.78,404.5,277.0,9.3,1416,14376,0.00,2.92,21.30,1.097,4,0.000,0.045,3069,1335,1420
$GC,14400,0.85,412.0,272.0,9.7,1425,14418,0.17,2.83,9.30,0.976,6,0.047,0.031,3106,2766,1391
$GC,14757,0.78,412.0,219.6,15.5,1488,14764,0.00,2.25,0.00,0.000,4,0.000,0.048,3107,3889,1387
$GC,14804,0.72,412.0,211.9,15.5,1496,14811,0.15,2.17,0.00,0.000,6,0.101,0.031,3080,2776,1387
$GC,15149,0.72,412.0,168.8,11.6,1557,15155,0.00,2.85,0.00,0.000,4,0.000,0.045,3080,1340,1386
$GC,15184,0.72,412.0,164.7,11.6,1563,15190,0.00,2.80,0.00,0.000,6,0.000,0.031,3080,2778,1385
$GC,15527,0.72,412.0,125.7,10.8,1624,15534,0.00,2.88,0.00,0.000,4,0.000,0.044,3080,1345,1385
$GC,15545,0.72,412.0,123.7,11.2,1627,15552,0.00,2.75,0.00,0.000,6,0.000,0.031,3080,2765,1385
$GC,15888,0.74,430.9,88.0,9.3,1688,15916,0.00,2.90,19.80,0.965,4,0.000,0.045,3081,1350,1314
$GC,15922,0.76,445.2,84.7,9.5,1694,15945,0.00,2.75,16.25,0.966,6,0.000,0.031,3080,2752,1256
$GC,16285,0.91,515.6,53.5,7.6,1758,16363,0.17,3.00,71.97,0.990,4,0.051,0.045,3121,1343,968
$GC,16387,0.84,515.6,39.7,16.3,1776,16394,0.00,2.80,0.00,0.000,6,0.000,0.031,3121,2740,965
$GC,16532,0.76,515.6,19.9,12.8,1801,16538,0.17,0.00,0.00,0.000,6,0.107,0.000,3091,2741,962
$GC,16676,0.96,606.9,5.2,6.8,1826,16706,0.15,0.00,27.02,0.915,2,0.049,0.000,3129,2748,857
$STATE,16706,end climb,SURFACE_DEPTH_REACHED
$STATE,16706,begin surface coast
$FINISH,0.3,1.026184
$STATE,16717,end surface coast,CONTROL_FINISHED_OK
$STATE,16717,begin surface
$SM_CCo,16796,0.00,0.000,0,0,853,544.32
$SM_GC,0.61,8.65,0.00,0.00,0.040,0.000,0.000,1433,2284,853,-6.79,-0.45,544.32
$IRIDIUM_FIX,6126.23,-2704.51,190897,171739
$TT8_MAMPS,0.026078
$HUMID,1789
$INTERNAL_PRESSURE,8.84845
$TCM_TEMP,16.20
$XPDR_PINGS,905
$24V_AH,19.2,75.278
$10V_AH,9.8,54.651
$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,25.200,144.250,790.975,0.000,0.000,30.474,33.517,232.874,226.250,0.000,0.000,17.451,2839.804,9552.778,902.381,3296.179,628.422,0.000,2400.449,0.000,3285.365,0.000,0.465
$DEVICE_MAMPS,254.644,118.885,1534.000,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1294.190,1313.152,713.057,1697.655,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,133060,1833
$CAP_FILE_SIZE,164584,0
$CFSIZE,260165632,233558016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260508,032355,6157.518,-2659.345,26,1.0,43,-19.3