version: 66.03
glider: 142
mission: 5
dive: 243
start: 5 26 108 17 29 39
data:
$ID,142
$MISSION,5
$DIVE,243
$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,145
$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,-17565.768
$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,29
$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
$GPS1,172226,6157.859,-2646.441,37,1.1,37,-19.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-55.1
$GPS2,172921,6157.816,-2646.436,9,1.3,9,-19.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6148.970,-2643.511
$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,164.1,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-0.86,-194.7,0.0,0.0,0,157,0.00,0.00,-125.90,0.000,2,0.000,0.000,1435,2279,3481
$GC,160,-0.86,-194.7,3.3,-4.5,23,190,12.15,2.88,-10.25,0.000,4,0.259,0.052,2722,3712,3866
$GC,197,-0.41,-194.7,12.6,-24.2,29,204,0.73,2.75,0.00,0.000,6,0.173,0.031,2822,2301,3866
$GC,344,-0.56,-194.7,26.1,-8.0,54,351,0.12,2.83,0.00,0.000,4,0.058,0.042,2797,3714,3867
$GC,358,-0.69,-194.7,27.5,-7.5,56,365,0.15,2.75,0.00,0.000,6,0.062,0.032,2767,2302,3867
$GC,501,-0.69,-194.7,44.7,-13.1,81,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2302,3867
$GC,644,-0.69,-194.7,62.4,-12.0,106,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2302,3867
$GC,986,-0.69,-194.7,104.6,-11.0,167,993,0.00,2.83,0.00,0.000,4,0.000,0.050,2767,883,3867
$GC,1028,-0.74,-194.7,109.3,-11.2,174,1035,0.00,2.72,0.00,0.000,6,0.000,0.028,2767,2306,3868
$GC,1374,-0.74,-194.7,148.9,-12.1,235,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2306,3867
$GC,1716,-0.74,-194.7,190.2,-11.4,296,1723,0.00,2.83,0.00,0.000,4,0.000,0.048,2767,890,3867
$GC,1752,-0.78,-194.7,194.3,-12.0,302,1758,0.00,2.67,0.00,0.000,6,0.000,0.029,2767,2290,3868
$GC,2095,-0.78,-194.7,231.9,-10.3,363,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2290,3868
$GC,2439,-0.78,-194.7,264.2,-9.4,424,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2290,3868
$GC,2783,-0.78,-194.7,298.2,-10.6,485,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2290,3867
$GC,3124,-0.78,-194.7,336.5,-11.3,546,3130,0.00,2.80,0.00,0.000,4,0.000,0.048,2767,892,3868
$GC,3160,-0.83,-194.7,340.5,-11.3,552,3167,0.15,2.70,0.00,0.000,6,0.052,0.031,2735,2294,3868
$GC,3490,-0.77,-194.7,384.7,-13.4,589,3495,0.00,2.83,0.00,0.000,4,0.000,0.048,2734,883,3867
$GC,3546,-0.77,-194.7,392.2,-12.8,593,3552,0.00,2.67,0.00,0.000,6,0.000,0.030,2735,2277,3868
$GC,3873,-0.72,-194.7,432.8,-12.4,624,3879,0.15,2.80,0.00,0.000,4,0.133,0.047,2758,883,3867
$GC,3918,-0.72,-194.7,438.3,-10.9,627,3924,0.00,2.67,0.00,0.000,6,0.000,0.030,2758,2275,3867
$GC,4243,-0.72,-194.7,472.4,-10.5,658,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2275,3868
$GC,4561,-0.72,-194.7,508.0,-11.5,688,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2276,3867
$GC,4879,-0.72,-194.7,543.8,-11.7,718,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2276,3867
$GC,5198,-0.72,-194.7,581.5,-11.7,748,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2276,3867
$GC,5512,-0.72,-194.7,615.9,-11.3,771,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2276,3867
$GC,5821,-0.72,-194.7,651.4,-11.5,786,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2276,3867
$GC,6131,-0.72,-194.7,686.6,-11.5,801,6136,0.00,2.88,0.00,0.000,4,0.000,0.060,2758,885,3867
$GC,6163,-0.72,-194.7,690.6,-12.1,802,6170,0.00,2.72,0.00,0.000,6,0.000,0.037,2758,2274,3866
$GC,6479,-0.72,-194.7,725.1,-10.3,818,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2274,3866
$GC,6789,-0.72,-194.7,756.5,-10.9,833,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2273,3866
$GC,7097,-0.72,-194.7,784.6,-9.4,848,7098,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2274,3866
$GC,7407,-0.72,-194.7,814.0,-9.3,863,7412,0.00,3.22,0.00,0.000,4,0.000,0.097,2758,3702,3865
$GC,7417,-0.72,-194.7,815.1,-9.1,863,7424,0.00,3.10,0.00,0.000,6,0.000,0.081,2758,2291,3865
$GC,7733,-0.72,-194.7,843.2,-8.3,879,7735,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2291,3865
$GC,8042,-0.72,-194.7,870.4,-8.6,894,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2291,3865
$GC,8353,-0.77,-194.7,899.5,-9.6,909,8358,0.00,3.55,0.00,0.000,4,0.000,0.132,2758,3704,3864
$GC,8364,-0.81,-194.7,900.3,-8.0,909,8370,0.00,3.50,0.00,0.000,6,0.000,0.124,2758,2284,3864
$GC,8679,-0.81,-194.7,928.3,-9.2,925,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2283,3864
$GC,8989,-0.91,-194.7,934.8,-0.0,940,8991,0.20,0.00,0.00,0.000,6,0.051,0.000,2717,2283,3864
$STATE,9089,end dive,NO_VERTICAL_VELOCITY
$STATE,9089,begin apogee
$GC,9095,-0.21,0.0,934.7,0.0,945,9306,0.90,0.00,207.77,1.575,6,0.100,0.000,2870,2736,3071
$STATE,9307,end apogee,CONTROL_FINISHED_OK
$STATE,9307,begin climb
$GC,9309,0.86,194.7,934.4,0.0,955,9536,1.40,3.33,213.93,1.509,4,0.084,0.142,3099,3901,2277
$GC,9683,0.72,194.7,901.1,12.7,972,9688,0.15,2.88,0.00,0.000,6,0.131,0.117,3080,2749,2274
$GC,9999,0.62,194.7,864.2,12.0,987,10001,0.15,0.00,0.00,0.000,6,0.119,0.000,3058,2749,2274
$GC,10307,0.67,233.9,835.9,8.6,1002,10353,0.00,2.72,40.58,1.445,4,0.000,0.104,3057,3903,2117
$GC,10411,0.68,239.1,826.3,9.8,1007,10424,0.00,2.55,6.72,1.111,6,0.000,0.078,3057,2758,2096
$GC,10741,0.69,253.2,794.7,9.5,1023,10764,0.00,3.17,16.30,1.333,4,0.000,0.085,3057,1329,2038
$GC,10815,0.69,253.2,787.4,10.5,1026,10820,0.00,3.10,0.00,0.000,6,0.000,0.064,3057,2773,2036
$GC,11136,0.72,276.0,757.2,9.2,1042,11165,0.00,2.42,24.58,1.382,4,0.000,0.074,3057,3900,1944
$GC,11223,0.72,276.0,748.6,10.7,1046,11227,0.00,2.35,0.00,0.000,6,0.000,0.050,3057,2760,1942
$GC,11549,0.76,307.5,718.3,8.9,1062,11592,0.15,3.10,33.38,1.388,4,0.064,0.068,3090,1338,1816
$GC,11638,0.71,307.5,707.7,12.4,1066,11643,0.00,2.90,0.00,0.000,6,0.000,0.040,3090,2761,1815
$GC,11964,0.64,307.5,667.3,12.3,1082,11969,0.15,2.33,0.00,0.000,4,0.111,0.059,3064,3900,1812
$GC,12035,0.64,307.5,659.5,10.2,1085,12039,0.00,2.25,0.00,0.000,6,0.000,0.036,3064,2750,1812
$GC,12357,0.66,328.9,628.7,9.3,1101,12382,0.00,0.00,22.92,1.306,6,0.000,0.000,3064,2750,1730
$GC,12687,0.71,364.1,599.1,8.8,1117,12732,0.00,2.97,38.10,1.328,4,0.000,0.051,3064,1338,1586
$GC,12766,0.78,381.4,591.9,9.4,1124,12796,0.12,2.88,19.77,1.261,6,0.058,0.032,3089,2772,1516
$GC,13112,0.78,381.4,550.3,12.4,1157,13116,0.00,2.25,0.00,0.000,4,0.000,0.051,3089,3897,1511
$GC,13185,0.78,381.4,541.6,11.3,1163,13189,0.00,2.20,0.00,0.000,6,0.000,0.031,3089,2762,1511
$GC,13509,0.78,381.4,502.9,12.2,1193,13511,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2759,1509
$GC,13828,0.78,381.4,463.7,12.5,1223,13829,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2758,1509
$GC,14147,0.78,381.4,424.5,12.1,1253,14149,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2755,1508
$GC,14465,0.78,381.4,385.2,12.3,1283,14469,0.00,2.28,0.00,0.000,4,0.000,0.049,3089,3894,1508
$GC,14504,0.78,381.4,380.3,11.9,1286,14508,0.00,2.15,0.00,0.000,6,0.000,0.031,3089,2772,1508
$GC,14832,0.78,381.4,343.4,11.9,1321,14838,0.00,2.85,0.00,0.000,4,0.000,0.047,3089,1340,1508
$GC,14878,0.78,381.4,338.2,10.9,1329,14885,0.00,2.83,0.00,0.000,6,0.000,0.031,3089,2794,1507
$GC,15223,0.78,381.4,297.9,11.0,1390,15229,0.00,2.17,0.00,0.000,4,0.000,0.048,3089,3900,1507
$GC,15274,0.78,381.4,291.7,11.6,1399,15280,0.00,2.15,0.00,0.000,6,0.000,0.031,3089,2775,1507
$GC,15619,0.78,381.4,251.2,11.9,1460,15625,0.00,2.85,0.00,0.000,4,0.000,0.046,3089,1339,1507
$GC,15671,0.78,381.4,244.8,11.8,1469,15677,0.00,2.80,0.00,0.000,6,0.000,0.031,3089,2779,1507
$GC,16013,0.78,381.4,205.5,11.3,1530,16019,0.00,2.20,0.00,0.000,4,0.000,0.048,3089,3898,1506
$GC,16065,0.78,381.4,199.6,10.7,1539,16071,0.00,2.15,0.00,0.000,6,0.000,0.031,3089,2772,1506
$GC,16408,0.78,381.4,161.3,11.2,1600,16415,0.00,2.83,0.00,0.000,4,0.000,0.044,3089,1339,1506
$GC,16460,0.78,381.4,155.2,11.1,1609,16466,0.00,2.80,0.00,0.000,6,0.000,0.031,3089,2781,1506
$GC,16803,0.78,381.4,115.5,12.8,1670,16810,0.00,2.22,0.00,0.000,4,0.000,0.048,3089,3896,1506
$GC,16856,0.78,381.4,109.4,10.5,1679,16862,0.00,2.15,0.00,0.000,6,0.000,0.031,3089,2773,1506
$GC,17199,0.78,381.4,71.1,11.0,1740,17205,0.00,2.83,0.00,0.000,4,0.000,0.046,3089,1347,1506
$GC,17257,0.78,381.4,64.3,11.5,1750,17263,0.00,2.78,0.00,0.000,6,0.000,0.031,3089,2783,1506
$GC,17601,0.78,381.4,23.4,11.8,1811,17607,0.00,2.17,0.00,0.000,4,0.000,0.047,3089,3897,1506
$GC,17653,0.78,381.4,17.2,11.6,1820,17659,0.00,2.20,0.00,0.000,6,0.000,0.032,3089,2763,1506
$GC,17795,0.78,381.4,2.2,10.2,1845,17801,0.00,2.80,0.00,0.000,4,0.000,0.047,3089,1348,1506
$STATE,17806,end climb,SURFACE_DEPTH_REACHED
$STATE,17806,begin surface coast
$FINISH,0.4,1.026126
$STATE,17824,end surface coast,CONTROL_FINISHED_OK
$STATE,17824,begin surface
$SM_CCo,17904,0.00,0.000,0,0,1504,384.39
$SM_GC,0.98,8.40,0.00,0.00,0.047,0.000,0.000,1434,2323,1504,-6.80,0.65,384.39
$IRIDIUM_FIX,6135.28,-2650.28,200897,131348
$TT8_MAMPS,0.026078
$HUMID,1805
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,16.30
$XPDR_PINGS,974
$24V_AH,19.1,76.507
$10V_AH,9.8,55.269
$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,25.075,151.425,624.050,0.000,0.000,31.296,31.279,221.517,243.500,0.000,0.000,11.231,2918.011,10611.496,775.026,3377.473,621.246,0.000,2320.146,0.000,3371.443,0.000,0.467
$DEVICE_MAMPS,259.246,141.895,1575.418,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1301.904,1336.343,704.749,1679.505,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,133152,1850
$CAP_FILE_SIZE,169991,0
$CFSIZE,260165632,233189376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260508,222907,6156.022,-2643.016,28,1.7,28,-19.1