version: 66.03
glider: 142
mission: 5
dive: 249
start: 5 27 108 22 19 53
data:
$ID,142
$MISSION,5
$DIVE,249
$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,265
$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,-17707.809
$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,22
$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
$GPS1,221204,6157.588,-2649.238,41,1.7,43,-19.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-45.7
$GPS2,221935,6157.644,-2649.287,9,2.4,28,-19.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6156.703,-2654.347
$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,284.2,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.86,-194.7,0.0,0.0,0,178,0.00,0.00,-147.38,0.000,2,0.000,0.000,1436,2293,3410
$GC,181,-0.86,-194.7,3.2,-5.4,27,211,11.75,2.88,-13.15,0.000,4,0.250,0.055,2724,890,3867
$GC,431,-0.81,-194.7,38.9,-12.5,71,438,0.00,2.70,0.00,0.000,6,0.000,0.030,2724,2304,3868
$GC,575,-0.72,-194.7,57.8,-13.1,96,581,0.20,0.00,0.00,0.000,6,0.145,0.000,2755,2305,3868
$GC,919,-0.72,-194.7,96.5,-11.4,157,925,0.00,2.83,0.00,0.000,4,0.000,0.048,2755,888,3868
$GC,965,-0.72,-194.7,101.2,-10.2,165,971,0.00,2.70,0.00,0.000,6,0.000,0.030,2754,2296,3868
$GC,1307,-0.72,-194.7,135.3,-10.3,226,1314,0.00,2.83,0.00,0.000,4,0.000,0.048,2755,883,3869
$GC,1371,-0.72,-194.7,142.1,-10.7,237,1377,0.00,2.67,0.00,0.000,6,0.000,0.030,2755,2280,3868
$GC,1716,-0.72,-194.7,182.8,-11.6,298,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2280,3869
$GC,2060,-0.72,-194.7,224.0,-11.4,359,2066,0.00,2.78,0.00,0.000,4,0.000,0.048,2755,889,3868
$GC,2106,-0.72,-194.7,229.4,-12.0,367,2112,0.00,2.65,0.00,0.000,6,0.000,0.030,2755,2271,3869
$GC,2449,-0.72,-194.7,266.1,-9.7,428,2456,0.00,2.78,0.00,0.000,4,0.000,0.048,2755,883,3869
$GC,2514,-0.76,-194.7,272.3,-9.9,439,2520,0.00,2.65,0.00,0.000,6,0.000,0.031,2755,2265,3869
$GC,2857,-0.76,-194.7,305.0,-10.3,500,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2265,3868
$GC,3201,-0.76,-194.7,337.7,-9.1,561,3207,0.00,2.75,0.00,0.000,4,0.000,0.048,2755,891,3868
$GC,3270,-0.76,-194.7,344.3,-9.5,573,3276,0.00,2.62,0.00,0.000,6,0.000,0.030,2755,2261,3868
$GC,3599,-0.76,-194.7,375.3,-10.2,609,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2261,3868
$GC,3918,-0.76,-194.7,408.8,-10.8,639,3922,0.00,2.72,0.00,0.000,4,0.000,0.048,2755,889,3868
$GC,3991,-0.81,-194.7,416.7,-10.3,645,3996,0.00,2.60,0.00,0.000,6,0.000,0.031,2755,2244,3868
$GC,4318,-0.81,-194.7,451.7,-10.7,675,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2247,3868
$GC,4634,-0.81,-194.7,484.1,-10.2,705,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2247,3868
$GC,4953,-0.81,-194.7,518.9,-11.4,735,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2247,3868
$GC,5271,-0.81,-194.7,555.3,-10.5,765,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2247,3867
$GC,5591,-0.81,-194.7,584.9,-8.9,795,5595,0.00,2.72,0.00,0.000,4,0.000,0.051,2755,888,3867
$GC,5642,-0.86,-194.7,589.6,-9.3,799,5647,0.12,2.60,0.00,0.000,6,0.061,0.031,2729,2232,3867
$GC,5971,-0.86,-194.7,629.1,-12.2,819,5975,0.00,2.95,0.00,0.000,4,0.000,0.052,2730,3696,3867
$GC,6019,-0.86,-194.7,635.4,-12.6,821,6024,0.00,2.90,0.00,0.000,6,0.000,0.044,2730,2231,3867
$GC,6340,-0.86,-194.7,673.3,-10.9,837,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2231,3867
$GC,6650,-0.86,-194.7,709.2,-12.5,852,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2231,3866
$GC,6960,-0.86,-194.7,748.0,-12.7,867,6965,0.00,2.88,0.00,0.000,4,0.000,0.083,2729,897,3866
$GC,7015,-0.86,-194.7,755.3,-12.7,869,7021,0.00,2.70,0.00,0.000,6,0.000,0.054,2729,2213,3866
$GC,7331,-0.86,-194.7,791.9,-11.5,885,7336,0.00,3.25,0.00,0.000,4,0.000,0.087,2729,3693,3866
$GC,7375,-0.86,-194.7,797.3,-11.6,887,7380,0.00,3.15,0.00,0.000,6,0.000,0.074,2729,2230,3866
$GC,7696,-0.86,-194.7,834.3,-11.7,903,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2230,3865
$GC,8005,-0.86,-194.7,871.3,-11.9,918,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2230,3865
$GC,8316,-1.17,-194.7,875.4,-0.0,933,8322,0.32,3.28,0.00,0.000,4,0.061,0.132,2664,899,3865
$STATE,8370,end dive,NO_VERTICAL_VELOCITY
$STATE,8370,begin apogee
$GC,8379,-0.21,0.0,875.4,0.0,935,8589,1.10,0.00,205.90,1.530,6,0.073,0.000,2869,2728,3072
$STATE,8590,end apogee,CONTROL_FINISHED_OK
$STATE,8590,begin climb
$GC,8593,0.86,194.7,875.2,0.0,946,8815,1.38,3.08,211.52,1.457,4,0.072,0.113,3101,3902,2276
$GC,9028,0.71,194.7,827.7,15.0,965,9033,0.17,2.58,0.00,0.000,6,0.119,0.081,3076,2762,2274
$GC,9344,0.63,194.7,791.1,10.8,980,9345,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2760,2273
$GC,9654,0.55,194.7,756.3,11.5,995,9658,0.20,2.45,0.00,0.000,4,0.110,0.070,3041,3910,2272
$GC,9686,0.59,230.9,753.0,8.7,996,9728,0.00,2.40,36.85,1.394,6,0.000,0.051,3041,2736,2129
$GC,10039,0.65,278.5,722.8,8.3,1013,10091,0.00,0.00,49.80,1.400,6,0.000,0.000,3041,2735,1935
$GC,10386,0.78,353.8,694.9,7.4,1030,10469,0.25,0.00,79.32,1.389,6,0.049,0.000,3092,2735,1628
$GC,10776,0.70,353.8,638.7,14.4,1049,10780,0.00,2.42,0.00,0.000,4,0.000,0.054,3092,3909,1621
$GC,10833,0.65,353.8,630.2,14.2,1051,10840,0.17,2.33,0.00,0.000,6,0.104,0.035,3065,2733,1620
$GC,11150,0.65,353.8,594.8,11.8,1069,11151,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2732,1619
$GC,11469,0.65,353.8,558.8,11.2,1099,11470,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2731,1618
$GC,11787,0.65,353.8,521.6,11.4,1129,11791,0.00,2.38,0.00,0.000,4,0.000,0.050,3065,3906,1618
$GC,11815,0.65,353.8,518.2,11.4,1131,11819,0.00,2.25,0.00,0.000,6,0.000,0.032,3065,2739,1617
$GC,12140,0.66,363.5,484.3,9.7,1161,12154,0.00,2.80,9.23,1.052,4,0.000,0.047,3064,1341,1589
$GC,12165,0.69,382.9,481.7,9.3,1163,12194,0.00,2.80,22.08,1.227,6,0.000,0.031,3064,2772,1510
$GC,12512,0.80,439.8,452.3,8.0,1196,12579,0.15,3.00,60.72,1.248,4,0.053,0.045,3100,1347,1277
$GC,12597,0.74,439.8,442.0,15.0,1204,12602,0.00,2.83,0.00,0.000,6,0.000,0.031,3100,2746,1275
$GC,12923,0.68,439.8,391.6,16.6,1234,12928,0.17,2.30,0.00,0.000,4,0.101,0.047,3070,3900,1270
$GC,12956,0.68,439.8,386.6,13.7,1236,12962,0.00,2.25,0.00,0.000,6,0.000,0.031,3070,2737,1270
$GC,13283,0.77,457.3,355.0,9.4,1267,13307,0.00,2.88,17.70,1.099,4,0.000,0.047,3069,1337,1205
$GC,13332,0.88,477.1,350.2,9.3,1271,13360,0.22,2.75,22.60,1.135,6,0.043,0.030,3116,2738,1126
$GC,13699,0.79,477.1,286.3,17.9,1336,13706,0.15,2.30,0.00,0.000,4,0.110,0.045,3091,3900,1121
$GC,13724,0.73,477.1,281.5,18.4,1340,13730,0.00,2.28,0.00,0.000,6,0.000,0.031,3091,2721,1121
$GC,14068,0.73,477.1,234.9,12.6,1401,14074,0.00,2.72,0.00,0.000,4,0.000,0.046,3090,1345,1120
$GC,14085,0.73,477.1,232.6,12.5,1404,14092,0.00,2.67,0.00,0.000,6,0.000,0.030,3090,2728,1120
$GC,14429,0.73,477.1,189.8,12.6,1465,14434,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2728,1119
$GC,14772,0.73,477.1,149.9,12.1,1526,14778,0.00,2.78,0.00,0.000,4,0.000,0.045,3091,1337,1119
$GC,14790,0.73,477.1,147.5,12.7,1529,14796,0.00,2.67,0.00,0.000,6,0.000,0.031,3090,2720,1119
$GC,15133,0.73,477.1,104.8,12.1,1590,15139,0.00,2.75,0.00,0.000,4,0.000,0.046,3091,1337,1119
$GC,15151,0.73,477.1,102.7,12.0,1593,15157,0.00,2.65,0.00,0.000,6,0.000,0.031,3090,2708,1118
$GC,15494,0.73,477.1,62.7,11.6,1654,15500,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2708,1118
$GC,15838,0.77,477.1,27.5,10.4,1715,15844,0.00,2.70,0.00,0.000,4,0.000,0.046,3090,1344,1118
$GC,15881,0.83,477.1,22.9,11.3,1722,15887,0.00,2.60,0.00,0.000,6,0.000,0.031,3090,2699,1118
$GC,16025,0.93,504.4,7.8,9.1,1747,16060,0.15,0.00,28.02,0.935,6,0.050,0.000,3127,2700,1013
$STATE,16070,end climb,SURFACE_DEPTH_REACHED
$STATE,16070,begin surface coast
$FINISH,0.3,1.026119
$STATE,16083,end surface coast,CONTROL_FINISHED_OK
$STATE,16083,begin surface
$SM_CCo,16161,0.00,0.000,0,0,1010,505.56
$SM_GC,0.52,8.70,0.00,0.00,0.047,0.000,0.000,1435,2291,1010,-6.79,-0.25,505.56
$IRIDIUM_FIX,6130.75,-2644.10,210897,171732
$TT8_MAMPS,0.026078
$HUMID,1818
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,16.50
$XPDR_PINGS,871
$24V_AH,19.2,78.401
$10V_AH,9.8,56.192
$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,25.225,137.350,743.750,0.000,0.000,27.130,32.353,232.562,217.750,0.000,0.000,31.293,2735.392,9141.749,860.719,3242.174,614.238,0.000,2341.164,0.000,3213.099,0.000,0.466
$DEVICE_MAMPS,250.042,131.924,1530.165,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1235.455,1264.404,697.339,1653.545,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129726,1757
$CAP_FILE_SIZE,159546,0
$CFSIZE,260165632,232660992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280508,025032,6158.904,-2655.546,42,1.2,42,-19.2