version: 66.03
glider: 142
mission: 5
dive: 248
start: 5 27 108 17 14 19
data:
$ID,142
$MISSION,5
$DIVE,248
$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,280
$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,-17675.887
$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,24
$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
$GPS1,170255,6155.270,-2644.164,31,1.1,48,-19.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-52.5
$GPS2,171359,6155.317,-2644.093,11,1.4,13,-19.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6157.192,-2649.093
$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,299.1,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.86,-194.7,0.0,0.0,0,139,0.00,0.00,-109.82,0.000,2,0.000,0.000,1432,2288,3440
$GC,142,-0.86,-194.7,3.2,-4.9,20,173,11.77,2.80,-12.00,0.000,4,0.249,0.054,2722,889,3866
$GC,404,-0.82,-194.7,42.3,-11.3,66,410,0.00,2.72,0.00,0.000,6,0.000,0.030,2722,2306,3867
$GC,546,-0.73,-194.7,60.7,-13.4,91,551,0.20,0.00,0.00,0.000,6,0.151,0.000,2753,2306,3867
$GC,889,-0.73,-194.7,94.5,-8.5,152,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2306,3867
$GC,1233,-0.73,-194.7,127.6,-10.7,213,1239,0.00,2.83,0.00,0.000,4,0.000,0.047,2753,890,3867
$GC,1279,-0.73,-194.7,132.6,-10.6,221,1285,0.00,2.70,0.00,0.000,6,0.000,0.030,2753,2297,3867
$GC,1622,-0.73,-194.7,172.3,-12.0,282,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2298,3867
$GC,1965,-0.73,-194.7,213.4,-12.3,343,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2298,3867
$GC,2308,-0.73,-194.7,252.9,-10.7,404,2314,0.00,2.80,0.00,0.000,4,0.000,0.048,2753,893,3867
$GC,2366,-0.73,-194.7,259.3,-10.7,414,2373,0.00,2.67,0.00,0.000,6,0.000,0.031,2753,2287,3867
$GC,2711,-0.73,-194.7,292.6,-8.5,475,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2288,3867
$GC,3056,-0.73,-194.7,322.9,-8.6,536,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2288,3867
$GC,3402,-0.73,-194.7,354.6,-9.5,594,3403,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2288,3867
$GC,3720,-0.73,-194.7,385.8,-10.2,624,3725,0.00,2.80,0.00,0.000,4,0.000,0.048,2753,887,3867
$GC,3782,-0.73,-194.7,392.2,-10.7,629,3787,0.00,2.67,0.00,0.000,6,0.000,0.031,2752,2279,3867
$GC,4108,-0.73,-194.7,426.8,-11.2,659,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2280,3867
$GC,4425,-0.73,-194.7,463.3,-11.6,689,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2281,3867
$GC,4745,-0.73,-194.7,497.2,-9.4,719,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2281,3867
$GC,5064,-0.73,-194.7,527.3,-9.5,749,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2281,3867
$GC,5381,-0.73,-194.7,555.0,-9.2,779,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2281,3867
$GC,5699,-0.73,-194.7,584.9,-9.2,809,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2281,3866
$GC,6023,-0.73,-194.7,618.5,-11.0,832,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2281,3866
$GC,6332,-0.73,-194.7,650.2,-10.2,847,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2281,3866
$GC,6641,-0.73,-194.7,680.6,-9.4,862,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2281,3866
$GC,6951,-0.73,-194.7,705.8,-7.0,877,6953,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2281,3865
$GC,7260,-0.73,-194.7,733.8,-9.3,892,7261,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2281,3865
$GC,7569,-0.73,-194.7,764.0,-10.2,907,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2281,3865
$GC,7879,-0.73,-194.7,794.6,-9.0,922,7884,0.00,3.12,0.00,0.000,4,0.000,0.087,2753,3700,3865
$GC,7943,-0.73,-194.7,800.1,-8.6,925,7948,0.00,3.05,0.00,0.000,6,0.000,0.072,2753,2287,3864
$GC,8269,-0.73,-194.7,830.2,-9.3,941,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2286,3865
$GC,8578,-0.73,-194.7,861.4,-10.5,956,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2285,3864
$GC,8887,-0.73,-194.7,893.9,-10.1,971,8892,0.00,3.50,0.00,0.000,4,0.000,0.128,2753,3695,3864
$GC,8960,-0.77,-194.7,901.4,-9.9,974,8965,0.00,3.47,0.00,0.000,6,0.000,0.124,2753,2286,3864
$GC,9275,-0.77,-194.7,931.3,-9.9,989,9281,0.00,3.78,0.00,0.000,4,0.000,0.163,2753,881,3863
$GC,9320,-0.83,-194.7,935.8,-9.9,991,9325,0.00,3.50,0.00,0.000,6,0.000,0.135,2753,2263,3863
$GC,9642,-1.07,-194.7,945.8,0.0,1007,9644,0.35,0.00,0.00,0.000,6,0.044,0.000,2683,2263,3863
$STATE,9762,end dive,NO_VERTICAL_VELOCITY
$STATE,9762,begin apogee
$GC,9769,-0.21,0.0,945.8,0.0,1013,9985,1.08,0.00,208.75,1.578,6,0.086,0.000,2872,2751,3071
$STATE,9986,end apogee,CONTROL_FINISHED_OK
$STATE,9986,begin climb
$GC,9988,0.86,194.7,945.1,0.0,1024,10210,1.35,0.00,215.30,1.508,6,0.073,0.000,3099,2751,2275
$GC,10519,0.73,194.7,882.8,13.5,1050,10524,0.00,2.80,0.00,0.000,4,0.000,0.123,3099,3907,2273
$GC,10582,0.59,194.7,874.4,13.5,1053,10587,0.32,2.72,0.00,0.000,6,0.122,0.102,3050,2743,2273
$GC,10909,0.64,237.2,847.5,8.5,1069,10959,0.00,2.80,43.80,1.452,4,0.000,0.103,3050,3903,2103
$GC,11011,0.64,241.3,837.7,9.9,1073,11022,0.00,2.53,5.62,1.024,6,0.000,0.082,3050,2775,2087
$GC,11344,0.75,326.7,814.3,7.0,1090,11437,0.15,0.00,90.93,1.463,6,0.058,0.000,3084,2774,1739
$GC,11736,0.68,326.7,760.7,13.9,1109,11740,0.00,2.42,0.00,0.000,4,0.000,0.077,3084,3911,1732
$GC,11792,0.64,326.7,752.9,13.1,1111,11797,0.15,2.33,0.00,0.000,6,0.112,0.050,3063,2778,1730
$GC,12108,0.64,326.7,720.2,10.0,1126,12109,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2777,1729
$GC,12417,0.64,328.5,688.7,9.9,1141,12418,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2777,1729
$GC,12726,0.65,340.0,658.1,9.6,1156,12745,0.00,0.00,13.32,1.236,6,0.000,0.000,3063,2777,1684
$GC,13054,0.68,365.2,627.6,9.1,1172,13089,0.00,3.03,27.95,1.333,4,0.000,0.054,3063,1334,1581
$GC,13101,0.75,418.6,623.4,8.1,1174,13166,0.00,2.97,59.10,1.356,6,0.000,0.035,3062,2812,1363
$GC,13480,0.92,500.5,593.9,7.2,1196,13576,0.25,3.17,87.85,1.328,4,0.044,0.047,3118,1332,1029
$GC,13605,0.83,500.5,574.6,18.4,1207,13612,0.00,2.97,0.00,0.000,6,0.000,0.032,3118,2781,1026
$GC,13931,0.73,500.5,516.1,18.0,1238,13936,0.20,2.25,0.00,0.000,4,0.106,0.051,3084,3901,1020
$GC,13971,0.73,500.5,510.0,13.1,1241,13975,0.00,2.22,0.00,0.000,6,0.000,0.032,3084,2748,1021
$GC,14300,0.73,500.5,475.4,10.9,1272,14305,0.00,2.83,0.00,0.000,4,0.000,0.048,3084,1337,1019
$GC,14321,0.73,500.5,473.0,11.4,1273,14328,0.00,2.78,0.00,0.000,6,0.000,0.031,3084,2760,1018
$GC,14647,0.73,500.5,438.1,11.2,1304,14652,0.00,2.85,0.00,0.000,4,0.000,0.045,3084,1344,1017
$GC,14664,0.77,500.5,436.0,11.6,1305,14669,0.00,2.72,0.00,0.000,6,0.000,0.031,3084,2745,1017
$GC,14989,0.82,500.5,398.3,12.6,1335,14994,0.00,2.83,0.00,0.000,4,0.000,0.045,3084,1336,1016
$GC,15012,0.87,500.5,395.3,13.1,1336,15019,0.12,2.70,0.00,0.000,6,0.055,0.031,3112,2730,1016
$GC,15340,0.80,500.5,333.0,19.1,1374,15347,0.00,2.30,0.00,0.000,4,0.000,0.048,3112,3894,1016
$GC,15393,0.76,500.5,323.6,17.0,1383,15399,0.17,2.20,0.00,0.000,6,0.103,0.031,3085,2748,1016
$GC,15737,0.81,500.5,282.6,11.0,1444,15743,0.00,2.78,0.00,0.000,4,0.000,0.046,3084,1344,1016
$GC,15767,0.87,500.5,279.3,11.2,1449,15774,0.12,2.70,0.00,0.000,6,0.054,0.031,3112,2738,1015
$GC,16112,0.81,500.5,223.0,16.1,1510,16119,0.00,2.28,0.00,0.000,4,0.000,0.047,3113,3891,1015
$GC,16136,0.75,500.5,218.8,16.6,1514,16143,0.17,2.20,0.00,0.000,6,0.104,0.031,3086,2741,1015
$GC,16483,0.84,529.9,183.0,9.0,1575,16521,0.00,2.85,28.62,1.049,4,0.000,0.046,3085,1346,909
$GC,16545,0.93,534.3,176.7,9.8,1586,16558,0.17,2.72,6.12,0.824,6,0.046,0.031,3124,2733,891
$GC,16897,0.84,534.3,110.3,19.5,1648,16904,0.12,2.30,0.00,0.000,4,0.110,0.047,3106,3894,889
$GC,16944,0.84,534.3,101.4,15.3,1656,16951,0.00,2.25,0.00,0.000,6,0.000,0.032,3106,2748,889
$GC,17289,0.84,534.3,52.7,14.2,1717,17294,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2746,889
$GC,17631,0.84,534.3,7.4,14.6,1778,17638,0.00,2.78,0.00,0.000,4,0.000,0.046,3106,1343,887
$GC,17662,0.89,534.3,4.2,10.0,1783,17668,0.00,2.75,0.00,0.000,6,0.000,0.030,3106,2766,887
$STATE,17684,end climb,SURFACE_DEPTH_REACHED
$STATE,17684,begin surface coast
$FINISH,0.1,1.012651
$STATE,17708,end surface coast,CONTROL_FINISHED_OK
$STATE,17708,begin surface
$SM_CCo,17786,0.00,0.000,0,0,886,535.98
$SM_GC,0.62,8.52,0.00,0.00,0.050,0.000,0.000,1436,2301,886,-6.79,0.03,535.98
$IRIDIUM_FIX,6130.75,-2646.16,210897,171754
$TT8_MAMPS,0.026845
$HUMID,1823
$INTERNAL_PRESSURE,8.84845
$TCM_TEMP,16.50
$XPDR_PINGS,921
$24V_AH,19.1,78.068
$10V_AH,9.8,56.038
$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,25.250,123.700,787.375,0.000,0.000,53.638,64.007,340.956,230.250,0.000,0.000,15.375,2805.247,10717.295,899.025,3223.622,789.099,0.000,2363.411,0.000,3210.780,0.000,0.465
$DEVICE_MAMPS,249.275,162.604,1577.719,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1262.402,1287.711,650.309,1604.996,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129511,1791
$CAP_FILE_SIZE,167024,0
$CFSIZE,260165632,232747008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270508,221204,6157.588,-2649.238,41,1.7,43,-19.2