version: 66.03
glider: 142
mission: 5
dive: 253
start: 5 28 108 17 51 5
data:
$ID,142
$MISSION,5
$DIVE,253
$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,-17786.262
$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,24
$R_STBD_OVSHOOT,25
$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
$GPS1,174338,6200.659,-2648.608,36,1.2,42,-19.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-48.6
$GPS2,175045,6200.699,-2648.582,11,1.5,11,-19.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6158.824,-2643.586
$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,26,-0.86,-194.7,0.0,0.0,0,177,0.00,0.00,-146.93,0.000,2,0.000,0.000,1432,2321,3552
$GC,180,-0.86,-194.7,3.5,-5.3,27,210,11.65,2.83,-8.35,0.000,4,0.249,0.051,2723,3703,3867
$GC,264,-0.79,-194.7,19.1,-14.1,41,271,0.15,2.72,0.00,0.000,6,0.153,0.033,2743,2302,3868
$GC,408,-0.75,-194.7,36.6,-11.8,66,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2302,3868
$GC,550,-0.71,-194.7,52.2,-10.7,91,556,0.15,0.00,0.00,0.000,6,0.192,0.000,2763,2301,3868
$GC,893,-0.71,-194.7,82.8,-8.6,152,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2302,3868
$GC,1237,-0.71,-194.7,112.1,-8.6,213,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2301,3868
$GC,1579,-0.71,-194.7,146.1,-10.7,274,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2301,3868
$GC,1923,-0.71,-194.7,181.9,-10.2,335,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2301,3868
$GC,2266,-0.71,-194.7,214.8,-8.3,396,2273,0.00,2.80,0.00,0.000,4,0.000,0.044,2762,3708,3868
$GC,2309,-0.71,-194.7,218.9,-9.5,403,2315,0.00,2.72,0.00,0.000,6,0.000,0.033,2762,2304,3868
$GC,2655,-0.71,-194.7,251.1,-9.3,464,2662,0.00,2.80,0.00,0.000,4,0.000,0.045,2762,3708,3868
$GC,2685,-0.71,-194.7,254.1,-9.7,469,2691,0.00,2.70,0.00,0.000,6,0.000,0.033,2762,2318,3868
$GC,3029,-0.71,-194.7,287.1,-9.3,530,3035,0.00,2.78,0.00,0.000,4,0.000,0.045,2762,3707,3868
$GC,3076,-0.75,-194.7,291.5,-9.6,538,3082,0.00,2.67,0.00,0.000,6,0.000,0.032,2762,2329,3868
$GC,3419,-0.75,-194.7,323.2,-9.4,599,3426,0.00,2.75,0.00,0.000,4,0.000,0.045,2762,3704,3868
$GC,3437,-0.75,-194.7,324.9,-9.0,602,3444,0.00,2.65,0.00,0.000,6,0.000,0.033,2762,2338,3868
$GC,3777,-0.75,-194.7,356.7,-10.2,657,3782,0.00,2.72,0.00,0.000,4,0.000,0.044,2762,3702,3868
$GC,3817,-0.75,-194.7,360.9,-10.7,660,3821,0.00,2.65,0.00,0.000,6,0.000,0.033,2762,2338,3868
$GC,4143,-0.75,-194.7,391.2,-9.3,690,4148,0.00,2.72,0.00,0.000,4,0.000,0.044,2763,3704,3868
$GC,4183,-0.79,-194.7,395.0,-9.0,693,4187,0.00,2.62,0.00,0.000,6,0.000,0.032,2763,2347,3868
$GC,4510,-0.79,-194.7,424.7,-8.8,723,4514,0.00,2.72,0.00,0.000,4,0.000,0.045,2762,3708,3868
$GC,4543,-0.83,-194.7,428.0,-9.3,725,4549,0.12,2.60,0.00,0.000,6,0.068,0.033,2739,2363,3868
$GC,4867,-0.83,-194.7,466.1,-12.1,756,4871,0.00,2.67,0.00,0.000,4,0.000,0.046,2739,3701,3868
$GC,4883,-0.83,-194.7,467.8,-11.3,757,4888,0.00,2.60,0.00,0.000,6,0.000,0.033,2739,2363,3868
$GC,5211,-0.83,-194.7,503.9,-11.1,787,5216,0.00,2.70,0.00,0.000,4,0.000,0.047,2739,3710,3867
$GC,5228,-0.83,-194.7,506.0,-10.3,788,5232,0.00,2.62,0.00,0.000,6,0.000,0.033,2739,2360,3868
$GC,5554,-0.83,-194.7,539.9,-10.5,818,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2359,3867
$GC,5871,-0.83,-194.7,573.6,-10.9,848,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2359,3867
$GC,6188,-0.83,-194.7,607.5,-11.2,875,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2359,3867
$GC,6497,-0.83,-194.7,640.7,-10.1,890,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2359,3867
$GC,6806,-0.83,-194.7,672.5,-10.7,905,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2359,3867
$GC,7116,-0.83,-194.7,702.1,-9.5,920,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2359,3867
$GC,7425,-0.83,-194.7,732.8,-10.6,935,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2359,3866
$GC,7734,-0.83,-194.7,767.7,-11.2,950,7735,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2359,3866
$GC,8044,-0.83,-194.7,799.8,-9.5,965,8045,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2358,3866
$GC,8352,-0.83,-194.7,831.7,-11.6,980,8353,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2359,3866
$GC,8662,-0.83,-194.7,866.2,-10.9,995,8664,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2359,3865
$GC,8972,-0.93,-194.7,894.1,-5.8,1010,8977,0.00,3.72,0.00,0.000,4,0.000,0.146,2739,899,3865
$GC,9131,-1.12,-194.7,894.0,0.0,1017,9137,0.32,3.40,0.00,0.000,6,0.051,0.109,2677,2340,3864
$STATE,9223,end dive,NO_VERTICAL_VELOCITY
$STATE,9223,begin apogee
$GC,9230,-0.21,0.0,894.1,0.0,1022,9440,1.10,0.00,206.88,1.540,6,0.090,0.000,2869,2751,3071
$STATE,9441,end apogee,CONTROL_FINISHED_OK
$STATE,9441,begin climb
$GC,9443,0.86,194.7,893.6,0.0,1032,9666,1.42,3.10,211.77,1.470,4,0.089,0.126,3101,3902,2277
$GC,9836,0.69,194.7,847.2,14.1,1049,9842,0.20,2.65,0.00,0.000,6,0.120,0.091,3072,2760,2275
$GC,10152,0.63,194.7,808.8,11.9,1064,10156,0.00,2.58,0.00,0.000,4,0.000,0.092,3072,3903,2274
$GC,10195,0.54,194.7,803.4,12.8,1066,10200,0.20,2.42,0.00,0.000,6,0.114,0.071,3042,2775,2274
$GC,10516,0.63,266.1,779.3,7.5,1082,10599,0.00,3.28,73.32,1.431,4,0.000,0.076,3042,1335,1985
$GC,10627,0.68,273.6,769.7,9.7,1087,10644,0.15,3.12,9.27,1.171,6,0.052,0.058,3073,2782,1955
$GC,10955,0.63,273.6,732.6,11.4,1103,10959,0.00,2.35,0.00,0.000,4,0.000,0.072,3073,3904,1952
$GC,11010,0.63,273.6,725.4,11.3,1105,11014,0.00,2.33,0.00,0.000,6,0.000,0.048,3073,2764,1951
$GC,11332,0.58,273.6,688.9,11.7,1121,11334,0.15,0.00,0.00,0.000,6,0.107,0.000,3050,2762,1950
$GC,11640,0.68,349.7,663.6,7.4,1136,11722,0.00,0.00,79.55,1.386,6,0.000,0.000,3050,2762,1645
$GC,12031,0.82,417.0,634.4,7.7,1155,12112,0.25,2.50,71.30,1.344,4,0.046,0.056,3101,3902,1370
$GC,12140,0.76,417.0,618.7,16.0,1160,12145,0.00,2.30,0.00,0.000,6,0.000,0.033,3101,2762,1368
$GC,12470,0.70,417.0,568.7,15.8,1185,12475,0.15,2.35,0.00,0.000,4,0.107,0.051,3075,3906,1363
$GC,12521,0.70,417.0,561.2,12.4,1189,12525,0.00,2.20,0.00,0.000,6,0.000,0.031,3075,2775,1362
$GC,12846,0.70,417.0,524.2,10.9,1219,12851,0.00,2.88,0.00,0.000,4,0.000,0.048,3075,1341,1361
$GC,12898,0.74,417.0,518.5,10.6,1223,12902,0.00,2.85,0.00,0.000,6,0.000,0.031,3075,2800,1360
$GC,13222,0.75,425.7,486.4,9.7,1253,13233,0.00,0.00,8.40,1.032,6,0.000,0.000,3075,2800,1335
$GC,13550,0.75,425.7,452.9,10.5,1284,13555,0.00,2.92,0.00,0.000,4,0.000,0.044,3075,1342,1334
$GC,13601,0.81,437.3,447.6,9.6,1288,13623,0.00,2.80,13.95,1.131,6,0.000,0.032,3075,2773,1287
$GC,13941,0.85,437.3,412.9,10.2,1320,13943,0.15,0.00,0.00,0.000,6,0.054,0.000,3107,2773,1285
$GC,14262,0.79,437.3,365.2,15.6,1350,14266,0.00,2.20,0.00,0.000,4,0.000,0.049,3107,3890,1284
$GC,14314,0.73,437.3,356.4,15.4,1354,14319,0.17,2.17,0.00,0.000,6,0.104,0.031,3080,2757,1284
$GC,14654,0.73,437.3,318.8,10.1,1410,14661,0.00,2.80,0.00,0.000,4,0.000,0.047,3080,1346,1283
$GC,14707,0.78,437.3,313.3,10.2,1419,14713,0.00,2.72,0.00,0.000,6,0.000,0.031,3080,2751,1283
$GC,15050,0.78,437.3,278.2,10.5,1480,15056,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2750,1283
$GC,15394,0.78,437.3,241.6,10.5,1541,15399,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2751,1283
$GC,15738,0.85,463.4,206.3,9.1,1602,15772,0.12,2.88,28.17,1.066,4,0.054,0.044,3107,1338,1180
$GC,15817,0.85,463.4,196.0,13.4,1616,15824,0.00,2.78,0.00,0.000,6,0.000,0.031,3107,2748,1179
$GC,16161,0.81,463.4,144.5,14.3,1677,16167,0.00,2.28,0.00,0.000,4,0.000,0.048,3107,3901,1177
$GC,16214,0.81,463.4,136.4,16.0,1686,16220,0.00,2.22,0.00,0.000,6,0.000,0.032,3106,2744,1177
$GC,16558,0.77,463.4,82.2,14.1,1747,16563,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2743,1176
$GC,16900,0.77,463.4,31.5,13.7,1808,16906,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2743,1176
$GC,17042,0.77,463.4,14.1,10.5,1833,17048,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2743,1176
$STATE,17147,end climb,SURFACE_DEPTH_REACHED
$STATE,17148,begin surface coast
$FINISH,0.1,1.011868
$STATE,17166,end surface coast,CONTROL_FINISHED_OK
$STATE,17166,begin surface
$SM_CCo,17244,0.00,0.000,0,0,1174,465.33
$SM_GC,0.79,8.55,0.00,0.00,0.051,0.000,0.000,1436,2285,1174,-6.79,-0.42,465.33
$IRIDIUM_FIX,6135.28,-2656.44,220897,131335
$TT8_MAMPS,0.026078
$HUMID,1821
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,15.00
$XPDR_PINGS,917
$24V_AH,19.1,79.723
$10V_AH,9.8,56.826
$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,25.025,125.800,702.625,0.000,0.000,23.602,32.786,234.530,229.250,0.000,0.000,12.656,2914.875,9856.386,833.871,3411.104,639.633,0.000,2380.163,0.000,3407.697,0.000,0.465
$DEVICE_MAMPS,248.508,145.730,1540.136,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1299.612,1337.999,703.660,1730.684,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135960,1855
$CAP_FILE_SIZE,167079,0
$CFSIZE,260165632,232275968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280508,223940,6200.925,-2642.323,33,1.2,35,-19.1