version: 66.03
glider: 142
mission: 5
dive: 257
start: 5 29 108 13 14 4
data:
$ID,142
$MISSION,5
$DIVE,257
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-17866.945
$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,27
$R_STBD_OVSHOOT,23
$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
$GPS1,130301,6159.672,-2629.115,36,1.4,41,-19.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-54.5
$GPS2,131344,6159.668,-2629.175,10,1.7,15,-19.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NWentry
$TGT_LATLONG,6140.380,-2626.300
$TGT_RADIUS,2000.000
$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,188.6,35812,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.86,-194.7,0.0,0.0,0,144,0.00,0.00,-121.55,0.000,2,0.000,0.000,1435,2294,3660
$GC,148,-0.86,-194.7,3.9,-5.8,16,172,11.82,2.88,-4.95,0.000,4,0.252,0.055,2724,896,3867
$GC,202,-0.76,-194.7,18.5,-17.6,24,210,0.17,2.72,0.00,0.000,6,0.130,0.029,2749,2309,3867
$GC,345,-0.76,-194.7,37.5,-13.7,49,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2310,3868
$GC,487,-0.76,-194.7,56.1,-12.6,74,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2311,3868
$GC,834,-0.76,-194.7,98.7,-12.6,135,841,0.00,2.83,0.00,0.000,4,0.000,0.047,2749,897,3868
$GC,886,-0.76,-194.7,105.7,-12.1,144,894,0.00,2.67,0.00,0.000,6,0.000,0.029,2749,2291,3868
$GC,1232,-0.76,-194.7,149.1,-12.5,205,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2291,3868
$GC,1576,-0.76,-194.7,192.1,-12.3,266,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2291,3867
$GC,1919,-0.76,-194.7,231.9,-11.3,327,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2291,3868
$GC,2264,-0.76,-194.7,270.8,-10.7,388,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2292,3868
$GC,2608,-0.76,-194.7,307.8,-10.4,449,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2292,3868
$GC,2951,-0.76,-194.7,344.1,-10.6,510,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2292,3867
$GC,3287,-0.76,-194.7,381.2,-11.6,546,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2292,3868
$GC,3604,-0.76,-194.7,418.3,-11.7,576,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2293,3867
$GC,3922,-0.76,-194.7,453.7,-11.1,606,3927,0.00,2.80,0.00,0.000,4,0.000,0.046,2749,3703,3867
$GC,3933,-0.76,-194.7,455.0,-11.0,606,3941,0.00,2.75,0.00,0.000,6,0.000,0.033,2749,2287,3867
$GC,4261,-0.76,-194.7,490.5,-10.7,637,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2286,3867
$GC,4586,-0.76,-194.7,525.4,-10.5,668,4591,0.00,2.85,0.00,0.000,4,0.000,0.047,2749,3706,3867
$GC,4603,-0.76,-194.7,527.3,-10.2,669,4608,0.00,2.78,0.00,0.000,6,0.000,0.033,2749,2283,3867
$GC,4931,-0.76,-194.7,560.8,-10.3,699,4936,0.00,2.88,0.00,0.000,4,0.000,0.048,2749,3709,3867
$GC,4942,-0.76,-194.7,562.2,-9.9,699,4949,0.00,2.78,0.00,0.000,6,0.000,0.034,2749,2283,3867
$GC,5268,-0.76,-194.7,595.5,-10.7,730,5272,0.00,2.88,0.00,0.000,4,0.000,0.050,2749,3700,3867
$GC,5285,-0.76,-194.7,597.4,-10.2,731,5289,0.00,2.75,0.00,0.000,6,0.000,0.035,2749,2293,3866
$GC,5602,-0.76,-194.7,631.2,-10.6,747,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2292,3867
$GC,5910,-0.76,-194.7,664.4,-10.9,762,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2292,3866
$GC,6220,-0.76,-194.7,698.2,-11.0,777,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2292,3866
$GC,6529,-0.76,-194.7,730.6,-10.2,792,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2292,3866
$GC,6838,-0.76,-194.7,763.0,-10.3,807,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2292,3866
$GC,7147,-0.76,-194.7,794.6,-10.3,822,7148,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2292,3865
$GC,7458,-0.76,-194.7,825.4,-9.7,837,7463,0.00,3.25,0.00,0.000,4,0.000,0.113,2749,900,3865
$GC,7502,-0.81,-194.7,830.4,-10.8,839,7507,0.00,3.05,0.00,0.000,6,0.000,0.084,2749,2287,3864
$GC,7825,-0.81,-194.7,862.5,-9.7,855,7830,0.00,3.42,0.00,0.000,4,0.000,0.126,2750,3710,3864
$GC,7858,-0.81,-194.7,866.0,-10.1,856,7866,0.00,3.25,0.00,0.000,6,0.000,0.105,2749,2321,3864
$GC,8173,-0.81,-194.7,881.3,0.0,872,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2321,3864
$STATE,8336,end dive,NO_VERTICAL_VELOCITY
$STATE,8336,begin apogee
$GC,8343,-0.21,0.0,881.3,0.0,880,8551,0.77,0.00,205.10,1.522,6,0.140,0.000,2868,2752,3071
$STATE,8552,end apogee,CONTROL_FINISHED_OK
$STATE,8552,begin climb
$GC,8555,0.86,194.7,881.0,0.0,890,8771,1.40,0.00,212.12,1.460,6,0.082,0.000,3099,2752,2277
$GC,9077,0.72,194.7,824.1,12.9,916,9082,0.15,2.65,0.00,0.000,4,0.119,0.100,3078,3908,2274
$GC,9140,0.63,194.7,816.2,13.1,919,9145,0.00,2.53,0.00,0.000,6,0.000,0.072,3078,2750,2274
$GC,9470,0.55,194.7,781.3,10.5,935,9471,0.22,0.00,0.00,0.000,6,0.113,0.000,3042,2749,2273
$GC,9779,0.66,282.4,758.5,7.0,950,9876,0.00,2.67,89.55,1.422,4,0.000,0.071,3042,3913,1919
$GC,9918,0.72,287.6,747.5,9.8,956,9936,0.17,2.40,6.78,1.058,6,0.054,0.050,3075,2762,1898
$GC,10243,0.72,287.6,712.4,10.6,972,10244,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2762,1894
$GC,10552,0.72,287.6,679.2,10.5,987,10556,0.00,2.38,0.00,0.000,4,0.000,0.060,3075,3908,1894
$GC,10596,0.72,287.6,674.5,10.5,989,10600,0.00,2.25,0.00,0.000,6,0.000,0.038,3075,2778,1892
$GC,10924,0.72,290.0,642.0,9.9,1005,10929,0.00,2.92,0.00,0.000,4,0.000,0.055,3076,1334,1892
$GC,10973,0.73,299.1,637.0,9.7,1007,10991,0.00,2.90,12.02,1.197,6,0.000,0.035,3075,2804,1851
$GC,11312,0.74,302.1,603.7,9.9,1024,11322,0.00,2.25,4.80,0.890,4,0.000,0.064,3075,3912,1839
$GC,11367,0.74,302.1,597.9,10.5,1027,11374,0.00,2.20,0.00,0.000,6,0.000,0.032,3075,2779,1838
$GC,11693,0.75,313.1,565.7,9.6,1058,11717,0.00,2.95,13.05,1.189,4,0.000,0.048,3076,1343,1793
$GC,11754,0.78,335.9,560.0,9.2,1063,11790,0.00,2.90,25.27,1.287,6,0.000,0.033,3075,2811,1700
$GC,12108,0.78,335.9,524.5,10.3,1096,12109,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2811,1697
$GC,12427,0.78,335.9,490.6,11.4,1126,12428,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2811,1697
$GC,12746,0.78,340.7,457.4,9.8,1156,12760,0.00,2.95,5.53,0.885,4,0.000,0.044,3076,1345,1682
$GC,12810,0.79,342.7,450.7,9.9,1161,12817,0.00,2.85,0.00,0.000,6,0.000,0.032,3076,2802,1681
$GC,13136,0.79,346.9,418.8,9.9,1192,13150,0.00,2.28,8.32,1.010,4,0.000,0.051,3075,3914,1656
$GC,13185,0.80,358.6,413.8,9.6,1196,13209,0.00,2.22,13.73,1.131,6,0.000,0.031,3075,2761,1609
$GC,13526,0.81,365.9,381.8,9.7,1228,13541,0.10,2.90,9.02,1.012,4,0.064,0.047,3097,1344,1579
$GC,13599,0.81,365.9,373.1,12.0,1234,13603,0.00,2.85,0.00,0.000,6,0.000,0.031,3097,2793,1578
$GC,13932,0.76,365.9,331.2,12.7,1277,13939,0.00,2.17,0.00,0.000,4,0.000,0.049,3097,3893,1577
$GC,14003,0.72,365.9,322.1,12.9,1289,14010,0.00,2.17,0.00,0.000,6,0.000,0.031,3097,2762,1577
$GC,14348,0.67,365.9,276.7,13.2,1350,14355,0.17,0.00,0.00,0.000,6,0.102,0.000,3066,2755,1576
$GC,14693,0.78,408.3,245.4,8.5,1411,14750,0.12,2.92,44.97,1.111,4,0.058,0.045,3093,1347,1405
$GC,14785,0.78,408.3,235.0,12.2,1425,14792,0.00,2.85,0.00,0.000,6,0.000,0.031,3093,2779,1402
$GC,15129,0.78,408.3,193.1,11.9,1486,15136,0.00,2.22,0.00,0.000,4,0.000,0.049,3093,3902,1398
$GC,15171,0.78,408.3,187.9,12.4,1493,15178,0.00,2.17,0.00,0.000,6,0.000,0.031,3093,2774,1398
$GC,15515,0.78,408.3,148.0,11.1,1554,15523,0.00,2.83,0.00,0.000,4,0.000,0.045,3093,1346,1397
$GC,15575,0.78,408.3,141.5,10.3,1564,15582,0.00,2.78,0.00,0.000,6,0.000,0.031,3093,2772,1397
$GC,15917,0.78,408.3,103.9,11.2,1625,15924,0.00,2.22,0.00,0.000,4,0.000,0.048,3092,3899,1397
$GC,15964,0.78,408.3,98.2,11.5,1633,15971,0.00,2.17,0.00,0.000,6,0.000,0.031,3093,2765,1396
$GC,16309,0.78,408.3,57.8,11.2,1694,16316,0.00,2.80,0.00,0.000,4,0.000,0.046,3092,1346,1396
$GC,16364,0.78,408.3,51.8,11.1,1703,16371,0.00,2.78,0.00,0.000,6,0.000,0.031,3092,2772,1396
$GC,16706,0.80,418.6,18.3,9.6,1764,16720,0.00,0.00,9.75,0.819,6,0.000,0.000,3093,2772,1364
$GC,16856,0.80,421.2,3.1,9.9,1790,16864,0.00,2.92,3.40,0.506,4,0.000,0.045,3093,1348,1354
$STATE,16869,end climb,SURFACE_DEPTH_REACHED
$STATE,16869,begin surface coast
$FINISH,0.2,1.026043
$STATE,16887,end surface coast,CONTROL_FINISHED_OK
$STATE,16887,begin surface
$SM_CCo,16967,0.00,0.000,0,0,1351,421.92
$SM_GC,0.67,8.32,0.00,0.00,0.040,0.000,0.000,1431,2328,1351,-6.80,0.79,421.92
$IRIDIUM_FIX,6135.28,-2635.95,230897,131350
$TT8_MAMPS,0.026078
$HUMID,1816
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,16.20
$XPDR_PINGS,889
$24V_AH,19.2,80.965
$10V_AH,9.8,57.469
$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,23.450,129.600,663.425,0.000,0.000,54.027,67.600,317.888,222.250,0.000,0.000,16.593,3640.122,9100.713,869.535,3221.168,766.053,0.000,2311.185,0.000,3207.500,0.000,0.465
$DEVICE_MAMPS,251.576,125.788,1522.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1271.576,1309.977,675.212,1675.784,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129504,1795
$CAP_FILE_SIZE,161841,0
$CFSIZE,260165632,231927808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.010,170.1,1
$GPS,290508,175808,6157.004,-2628.341,41,1.0,41,-19.0