version: 66.03
glider: 142
mission: 5
dive: 252
start: 5 28 108 13 5 20
data:
$ID,142
$MISSION,5
$DIVE,252
$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,100
$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,-17772.977
$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,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
$GPS1,125731,6200.179,-2654.406,36,0.9,41,-19.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-48.1
$GPS2,130502,6200.243,-2654.435,9,1.4,14,-19.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6158.368,-2649.438
$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,119.2,20000,-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,-194.7,0.0,0.0,0,167,0.00,0.00,-136.73,0.000,2,0.000,0.000,1435,2290,3519
$GC,170,-0.86,-194.7,3.4,-5.0,25,200,11.60,2.88,-9.48,0.000,4,0.248,0.051,2723,3704,3866
$GC,254,-0.79,-194.7,17.9,-13.5,39,261,0.15,2.72,0.00,0.000,6,0.147,0.033,2743,2302,3867
$GC,397,-0.79,-194.7,38.2,-13.0,64,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2302,3867
$GC,539,-0.79,-194.7,56.0,-12.2,89,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2302,3868
$GC,881,-0.79,-194.7,91.5,-9.2,150,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2302,3868
$GC,1224,-0.79,-194.7,125.9,-10.5,211,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2302,3868
$GC,1566,-0.79,-194.7,161.5,-10.3,272,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2301,3868
$GC,1910,-0.79,-194.7,198.0,-11.4,333,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2301,3868
$GC,2252,-0.79,-194.7,236.3,-11.1,394,2258,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2301,3868
$GC,2596,-0.79,-194.7,276.2,-11.9,455,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2301,3868
$GC,2937,-0.79,-194.7,317.1,-11.8,516,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2301,3868
$GC,3276,-0.79,-194.7,356.7,-11.4,572,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2301,3868
$GC,3595,-0.79,-194.7,393.1,-11.6,602,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2302,3868
$GC,3914,-0.79,-194.7,430.0,-11.7,632,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2302,3868
$GC,4232,-0.79,-194.7,467.7,-11.9,662,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2301,3868
$GC,4551,-0.79,-194.7,506.5,-11.7,692,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2301,3868
$GC,4869,-0.79,-194.7,544.6,-12.0,722,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2301,3868
$GC,5188,-0.79,-194.7,581.6,-11.5,752,5193,0.00,2.85,0.00,0.000,4,0.000,0.050,2744,3710,3867
$GC,5205,-0.79,-194.7,583.6,-12.0,753,5209,0.00,2.75,0.00,0.000,6,0.000,0.034,2744,2305,3867
$GC,5535,-0.79,-194.7,621.8,-11.3,775,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2304,3867
$GC,5843,-0.79,-194.7,654.7,-10.0,790,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2304,3867
$GC,6153,-0.79,-194.7,684.0,-9.1,805,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2304,3867
$GC,6462,-0.79,-194.7,710.8,-9.0,820,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2304,3867
$GC,6772,-0.79,-194.7,739.9,-9.4,835,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2304,3866
$GC,7081,-0.79,-194.7,768.5,-9.0,850,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2305,3866
$GC,7391,-0.79,-194.7,796.2,-9.2,865,7396,0.00,3.20,0.00,0.000,4,0.000,0.102,2744,893,3866
$GC,7430,-0.79,-194.7,800.0,-9.5,867,7435,0.00,3.00,0.00,0.000,6,0.000,0.071,2744,2297,3865
$GC,7757,-0.79,-194.7,831.1,-9.7,883,7758,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2299,3865
$GC,8066,-0.79,-194.7,862.4,-10.0,898,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2298,3865
$GC,8376,-0.93,-194.7,890.3,-7.0,913,8382,0.15,3.47,0.00,0.000,4,0.070,0.130,2712,3711,3864
$STATE,8631,end dive,NO_VERTICAL_VELOCITY
$STATE,8631,begin apogee
$GC,8639,-0.21,0.0,890.2,0.0,924,8849,0.85,0.00,206.18,1.539,6,0.081,0.000,2868,2759,3071
$STATE,8850,end apogee,CONTROL_FINISHED_OK
$STATE,8850,begin climb
$GC,8852,0.86,194.7,890.1,0.0,935,9079,1.42,3.80,211.43,1.467,4,0.088,0.117,3100,1335,2277
$GC,9113,0.73,194.7,865.5,14.6,947,9118,0.00,3.53,0.00,0.000,6,0.000,0.097,3100,2750,2276
$GC,9428,0.59,194.7,822.4,13.2,962,9433,0.28,2.60,0.00,0.000,4,0.116,0.094,3054,3906,2274
$GC,9518,0.64,236.2,813.8,8.6,966,9567,0.00,2.47,43.28,1.411,6,0.000,0.073,3054,2761,2107
$GC,9887,0.69,271.7,784.5,8.8,984,9930,0.00,3.22,37.05,1.399,4,0.000,0.077,3054,1335,1963
$GC,9963,0.69,271.7,775.8,12.1,987,9968,0.00,3.10,0.00,0.000,6,0.000,0.057,3054,2782,1961
$GC,10278,0.69,271.7,737.0,12.3,1002,10282,0.00,2.35,0.00,0.000,4,0.000,0.069,3054,3907,1959
$GC,10317,0.69,271.7,732.2,12.3,1004,10322,0.00,2.33,0.00,0.000,6,0.000,0.048,3054,2760,1959
$GC,10644,0.72,298.6,700.9,9.1,1020,10675,0.00,0.00,28.40,1.355,6,0.000,0.000,3054,2760,1853
$GC,10973,0.79,357.2,673.2,8.0,1036,11043,0.20,2.53,62.17,1.378,4,0.053,0.058,3095,3903,1614
$GC,11079,0.72,357.2,660.5,13.9,1041,11083,0.00,2.30,0.00,0.000,6,0.000,0.035,3094,2763,1611
$GC,11405,0.64,357.2,617.0,14.1,1057,11410,0.17,2.33,0.00,0.000,4,0.109,0.053,3064,3903,1607
$GC,11437,0.64,357.2,612.8,11.7,1058,11445,0.00,2.20,0.00,0.000,6,0.000,0.031,3064,2782,1606
$GC,11759,0.66,369.7,582.3,9.6,1082,11781,0.00,2.97,13.02,1.187,4,0.000,0.049,3064,1340,1562
$GC,11817,0.66,369.7,576.5,10.3,1087,11822,0.00,2.90,0.00,0.000,6,0.000,0.032,3064,2807,1561
$GC,12144,0.67,378.9,544.6,9.7,1117,12162,0.00,0.00,11.02,1.140,6,0.000,0.000,3064,2807,1526
$GC,12482,0.68,390.0,511.2,9.6,1149,12503,0.00,3.03,12.77,1.159,4,0.000,0.046,3064,1340,1480
$GC,12539,0.74,393.5,505.5,9.9,1154,12551,0.00,2.88,5.78,0.953,6,0.000,0.032,3064,2797,1466
$GC,12870,0.82,415.7,475.0,9.2,1185,12899,0.17,0.00,24.77,1.222,6,0.051,0.000,3101,2797,1376
$GC,13217,0.74,415.7,421.7,15.3,1218,13218,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2797,1372
$GC,13537,0.66,415.7,375.2,14.8,1248,13542,0.17,2.17,0.00,0.000,4,0.105,0.056,3071,3898,1371
$GC,13571,0.66,415.7,370.6,12.0,1251,13575,0.00,2.17,0.00,0.000,6,0.000,0.031,3071,2763,1371
$GC,13901,0.75,445.1,340.6,9.0,1290,13941,0.00,2.90,31.30,1.154,4,0.000,0.047,3071,1352,1256
$GC,13987,0.86,481.1,333.0,8.8,1305,14037,0.20,2.80,39.97,1.154,6,0.046,0.030,3113,2770,1108
$GC,14374,0.78,481.1,269.0,17.2,1374,14381,0.15,2.22,0.00,0.000,4,0.105,0.047,3087,3891,1102
$GC,14433,0.78,481.1,260.5,12.1,1384,14439,0.00,2.17,0.00,0.000,6,0.000,0.031,3088,2760,1101
$GC,14777,0.78,481.1,221.3,10.0,1445,14783,0.00,2.83,0.00,0.000,4,0.000,0.045,3087,1340,1100
$GC,14847,0.85,485.5,214.0,9.8,1457,14853,0.00,2.78,0.00,0.000,6,0.000,0.031,3087,2766,1099
$GC,15190,0.85,485.5,177.7,10.4,1518,15196,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2766,1098
$GC,15535,0.93,505.9,144.0,9.3,1579,15569,0.15,2.92,24.62,1.012,4,0.053,0.045,3124,1345,1008
$GC,15608,0.93,505.9,134.0,13.5,1592,15615,0.00,2.75,0.00,0.000,6,0.000,0.031,3124,2751,1006
$GC,15953,0.86,505.9,82.5,14.8,1653,15958,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2751,1005
$GC,16295,0.80,505.9,28.1,16.6,1714,16303,0.15,2.25,0.00,0.000,4,0.100,0.046,3097,3896,1004
$GC,16333,0.80,505.9,22.7,13.7,1720,16340,0.00,2.22,0.00,0.000,6,0.000,0.032,3097,2733,1004
$GC,16478,0.86,505.9,7.2,10.3,1745,16484,0.00,2.75,0.00,0.000,4,0.000,0.047,3097,1342,1003
$STATE,16522,end climb,SURFACE_DEPTH_REACHED
$STATE,16522,begin surface coast
$FINISH,0.3,1.026061
$STATE,16540,end surface coast,CONTROL_FINISHED_OK
$STATE,16540,begin surface
$SM_CCo,16620,0.00,0.000,0,0,1001,507.77
$SM_GC,0.75,8.32,0.00,0.00,0.041,0.000,0.000,1432,2319,1001,-6.80,0.57,507.77
$IRIDIUM_FIX,6135.28,-2656.44,220897,070738
$TT8_MAMPS,0.026078
$HUMID,1822
$INTERNAL_PRESSURE,8.85822
$TCM_TEMP,16.40
$XPDR_PINGS,921
$24V_AH,19.1,79.397
$10V_AH,9.8,56.664
$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,24.150,102.550,751.775,0.000,0.000,30.416,35.145,242.240,230.250,0.000,0.000,16.380,2717.395,9639.284,837.640,3228.634,629.552,0.000,2325.421,0.000,3219.502,0.000,0.465
$DEVICE_MAMPS,247.741,129.623,1539.369,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1232.633,1263.357,659.530,1634.283,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126377,1756
$CAP_FILE_SIZE,155616,0
$CFSIZE,260165632,232386560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280508,174338,6200.659,-2648.608,36,1.2,42,-19.2