version: 66.03
glider: 142
mission: 5
dive: 240
start: 5 26 108 3 35 59
data:
$ID,142
$MISSION,5
$DIVE,240
$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,-17509.111
$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,30
$R_STBD_OVSHOOT,20
$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
$GPS1,032355,6157.518,-2659.345,26,1.0,43,-19.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-33.0
$GPS2,033539,6157.640,-2659.303,11,1.8,11,-19.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6205.276,-2655.729
$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,64.3,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.86,-194.7,0.0,0.0,0,183,0.00,0.00,-153.27,0.000,2,0.000,0.000,1432,2284,3541
$GC,186,-0.86,-194.7,3.4,-5.8,28,216,11.98,2.90,-8.35,0.000,4,0.257,0.051,2723,3710,3868
$GC,386,-0.81,-194.7,40.3,-17.1,63,392,0.00,2.75,0.00,0.000,6,0.000,0.033,2723,2300,3868
$GC,528,-0.73,-194.7,64.9,-16.7,88,534,0.17,0.00,0.00,0.000,6,0.143,0.000,2751,2300,3868
$GC,872,-0.73,-194.7,102.0,-8.9,149,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2300,3868
$GC,1214,-0.73,-194.7,135.3,-10.9,210,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2299,3868
$GC,1557,-0.73,-194.7,175.7,-13.0,271,1563,0.00,2.80,0.00,0.000,4,0.000,0.049,2751,886,3868
$GC,1586,-0.73,-194.7,179.5,-13.2,276,1592,0.00,2.78,0.00,0.000,6,0.000,0.031,2751,2333,3868
$GC,1931,-0.73,-194.7,222.9,-12.6,337,1937,0.00,2.90,0.00,0.000,4,0.000,0.048,2751,885,3868
$GC,1966,-0.73,-194.7,227.2,-12.6,343,1972,0.00,2.75,0.00,0.000,6,0.000,0.031,2751,2314,3868
$GC,2309,-0.73,-194.7,268.8,-11.8,404,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2315,3868
$GC,2652,-0.73,-194.7,306.2,-9.9,465,2658,0.00,2.85,0.00,0.000,4,0.000,0.048,2751,890,3868
$GC,2715,-0.73,-194.7,312.4,-9.4,476,2722,0.00,2.72,0.00,0.000,6,0.000,0.030,2751,2308,3868
$GC,3059,-0.73,-194.7,345.1,-9.7,537,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2308,3868
$GC,3387,-0.73,-194.7,378.6,-10.3,572,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2308,3868
$GC,3705,-0.73,-194.7,413.9,-11.1,602,3709,0.00,2.85,0.00,0.000,4,0.000,0.048,2751,885,3868
$GC,3759,-0.73,-194.7,420.2,-11.5,606,3766,0.00,2.72,0.00,0.000,6,0.000,0.031,2751,2301,3868
$GC,4086,-0.73,-194.7,457.5,-11.4,637,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2302,3868
$GC,4403,-0.73,-194.7,491.2,-10.9,667,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2302,3868
$GC,4722,-0.73,-194.7,526.2,-10.8,697,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2302,3867
$GC,5040,-0.73,-194.7,559.3,-9.7,727,5045,0.00,2.85,0.00,0.000,4,0.000,0.050,2751,884,3868
$GC,5074,-0.73,-194.7,562.6,-10.2,729,5080,0.00,2.72,0.00,0.000,6,0.000,0.031,2751,2298,3867
$GC,5402,-0.73,-194.7,591.6,-9.0,760,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2298,3867
$GC,5719,-0.73,-194.7,622.7,-10.5,780,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2298,3867
$GC,6030,-0.73,-194.7,654.6,-10.1,795,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2299,3867
$GC,6338,-0.73,-194.7,683.3,-9.1,810,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2299,3867
$GC,6648,-0.73,-194.7,709.7,-6.9,825,6649,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2299,3866
$GC,6957,-0.73,-194.7,738.6,-8.9,840,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2299,3866
$GC,7266,-0.73,-194.7,767.4,-10.1,855,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2299,3866
$GC,7576,-0.73,-194.7,798.0,-9.9,870,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2299,3865
$GC,7885,-0.73,-194.7,828.2,-9.4,885,7890,0.00,3.22,0.00,0.000,4,0.000,0.104,2751,3705,3865
$GC,7918,-0.73,-194.7,831.5,-9.8,886,7925,0.00,3.15,0.00,0.000,6,0.000,0.089,2751,2301,3865
$GC,8233,-0.73,-194.7,861.1,-8.4,902,8238,0.00,3.38,0.00,0.000,4,0.000,0.122,2751,887,3865
$GC,8273,-0.73,-194.7,864.8,-9.3,904,8278,0.00,3.17,0.00,0.000,6,0.000,0.099,2751,2274,3864
$GC,8599,-0.73,-194.7,895.3,-9.4,920,8604,0.00,3.55,0.00,0.000,4,0.000,0.132,2751,3712,3864
$GC,8639,-0.73,-194.7,898.9,-9.7,922,8644,0.00,3.50,0.00,0.000,6,0.000,0.123,2751,2290,3864
$GC,8966,-1.06,-194.7,901.8,0.0,938,8968,0.32,0.00,0.00,0.000,6,0.057,0.000,2690,2283,3864
$STATE,9004,end dive,NO_VERTICAL_VELOCITY
$STATE,9004,begin apogee
$GC,9010,-0.21,0.0,901.8,0.0,940,9220,0.98,0.00,205.80,1.557,6,0.063,0.000,2874,2763,3071
$STATE,9220,end apogee,CONTROL_FINISHED_OK
$STATE,9220,begin climb
$GC,9223,0.86,194.7,901.7,0.0,950,9447,1.35,2.62,212.35,1.489,4,0.078,0.054,3099,3900,2276
$GC,9486,0.75,194.7,881.1,12.6,963,9490,0.00,2.45,0.00,0.000,6,0.000,0.032,3099,2736,2275
$GC,9808,0.64,194.7,841.8,11.9,979,9813,0.20,2.40,0.00,0.000,4,0.114,0.051,3065,3894,2274
$GC,9842,0.65,203.0,838.1,9.7,980,9857,0.00,2.25,9.68,1.190,6,0.000,0.033,3065,2751,2243
$GC,10180,0.68,225.0,807.6,9.2,997,10205,0.00,0.00,23.83,1.384,6,0.000,0.000,3065,2749,2153
$GC,10509,0.68,225.0,776.4,10.3,1013,10510,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2749,2151
$GC,10817,0.68,225.0,744.5,10.4,1028,10819,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2748,2150
$GC,11127,0.68,225.0,713.1,10.2,1043,11128,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2748,2150
$GC,11437,0.73,261.9,685.2,8.7,1058,11481,0.00,2.45,37.97,1.389,4,0.000,0.052,3065,3894,2002
$GC,11516,0.76,292.0,678.1,9.0,1061,11555,0.00,2.28,32.55,1.371,6,0.000,0.033,3065,2744,1880
$GC,11875,0.80,321.0,647.2,9.0,1079,11912,0.15,0.00,30.70,1.337,6,0.059,0.000,3094,2744,1761
$GC,12221,0.74,321.0,606.7,11.4,1096,12225,0.00,2.35,0.00,0.000,4,0.000,0.051,3094,3897,1757
$GC,12287,0.70,321.0,598.7,11.6,1099,12294,0.00,2.22,0.00,0.000,6,0.000,0.033,3094,2754,1756
$GC,12614,0.64,321.0,558.4,12.7,1130,12619,0.17,2.33,0.00,0.000,4,0.107,0.054,3064,3896,1756
$GC,12665,0.73,355.9,553.0,8.8,1134,12707,0.00,2.17,35.97,1.296,6,0.000,0.033,3064,2772,1620
$GC,13025,0.85,417.4,524.0,7.9,1168,13100,0.17,3.00,65.40,1.296,4,0.054,0.048,3104,1344,1368
$GC,13112,0.80,417.4,513.7,13.8,1176,13117,0.00,2.90,0.00,0.000,6,0.000,0.031,3103,2772,1366
$GC,13438,0.74,417.4,466.7,14.8,1206,13443,0.15,2.25,0.00,0.000,4,0.107,0.048,3078,3899,1360
$GC,13470,0.74,417.4,462.1,12.0,1208,13477,0.00,2.20,0.00,0.000,6,0.000,0.031,3078,2780,1360
$GC,13797,0.78,417.4,428.8,10.2,1239,13802,0.00,2.88,0.00,0.000,4,0.000,0.047,3078,1342,1359
$GC,13829,0.84,417.4,425.1,10.2,1241,13836,0.12,2.80,0.00,0.000,6,0.057,0.031,3103,2774,1358
$GC,14154,0.78,417.4,377.3,15.2,1272,14155,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2774,1358
$GC,14479,0.73,417.4,329.4,13.9,1314,14486,0.15,2.22,0.00,0.000,4,0.106,0.048,3077,3900,1357
$GC,14503,0.73,417.4,326.3,13.2,1318,14510,0.00,2.17,0.00,0.000,6,0.000,0.031,3077,2766,1357
$GC,14848,0.82,440.7,295.3,9.2,1379,14881,0.00,2.90,23.17,1.103,4,0.000,0.046,3077,1345,1273
$GC,14905,0.91,454.3,290.0,9.5,1389,14928,0.20,2.80,15.60,1.079,6,0.047,0.030,3120,2770,1218
$GC,15267,0.82,454.3,232.3,16.4,1453,15274,0.12,2.22,0.00,0.000,4,0.108,0.046,3102,3900,1215
$GC,15293,0.76,454.3,228.0,16.4,1457,15299,0.00,2.17,0.00,0.000,6,0.000,0.031,3102,2772,1214
$GC,15636,0.76,454.3,181.2,13.6,1518,15642,0.00,2.85,0.00,0.000,4,0.000,0.045,3102,1338,1213
$GC,15654,0.76,454.3,178.6,14.1,1521,15660,0.00,2.80,0.00,0.000,6,0.000,0.031,3101,2772,1213
$GC,15998,0.76,454.3,131.9,13.3,1582,16003,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2771,1212
$GC,16341,0.76,454.3,88.2,11.2,1643,16347,0.00,2.85,0.00,0.000,4,0.000,0.045,3101,1348,1212
$GC,16364,0.76,454.3,85.5,11.3,1647,16370,0.00,2.78,0.00,0.000,6,0.000,0.031,3102,2771,1211
$GC,16708,0.76,454.3,45.6,14.0,1708,16714,0.00,2.85,0.00,0.000,4,0.000,0.045,3101,1342,1211
$GC,16728,0.76,454.3,43.1,12.7,1711,16734,0.00,2.75,0.00,0.000,6,0.000,0.031,3101,2765,1211
$GC,16870,0.76,454.3,24.8,11.0,1736,16876,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2765,1211
$GC,17012,0.76,454.3,6.6,11.7,1761,17018,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2765,1211
$STATE,17050,end climb,SURFACE_DEPTH_REACHED
$STATE,17050,begin surface coast
$FINISH,0.8,1.026160
$STATE,17068,end surface coast,CONTROL_FINISHED_OK
$STATE,17068,begin surface
$SM_CCo,17147,0.00,0.000,0,0,1209,456.50
$SM_GC,0.71,8.43,0.00,0.00,0.046,0.000,0.000,1437,2295,1209,-6.79,-0.14,456.50
$IRIDIUM_FIX,6130.75,-2640.03,200897,030354
$TT8_MAMPS,0.026845
$HUMID,1796
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,16.40
$XPDR_PINGS,902
$24V_AH,19.2,75.611
$10V_AH,9.8,54.807
$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,24.675,126.450,693.025,0.000,0.000,59.417,67.961,372.806,225.500,0.000,0.000,12.497,2747.306,10233.762,840.757,3193.359,820.434,0.000,2312.238,0.000,3180.989,0.000,0.465
$DEVICE_MAMPS,256.945,131.924,1557.010,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1241.393,1273.227,663.448,1615.225,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129441,1771
$CAP_FILE_SIZE,163416,0
$CFSIZE,260165632,233472000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,260508,082302,6200.645,-2655.166,40,2.0,40,-19.2