version: 66.03
glider: 142
mission: 5
dive: 260
start: 5 30 108 3 23 53
data:
$ID,142
$MISSION,5
$DIVE,260
$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,-17937.795
$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,32
$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
$GPS1,031602,6151.791,-2627.487,36,1.6,36,-18.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-48.4
$GPS2,032333,6151.808,-2627.397,15,1.2,15,-18.9
$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,200.0,21187,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.86,-194.7,0.0,0.0,0,145,0.00,0.00,-121.93,0.000,2,0.000,0.000,1431,2284,3516
$GC,148,-0.86,-194.7,3.3,-4.9,16,179,11.77,2.78,-9.35,0.000,4,0.249,0.055,2725,899,3866
$GC,198,-0.70,-194.7,14.2,-17.4,23,207,0.25,2.70,0.00,0.000,6,0.143,0.030,2761,2302,3867
$GC,341,-0.70,-194.7,30.9,-10.6,48,348,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2302,3868
$GC,483,-0.70,-194.7,45.7,-10.7,73,490,0.00,2.78,0.00,0.000,4,0.000,0.044,2761,3712,3868
$GC,514,-0.70,-194.7,49.0,-10.7,78,522,0.00,2.70,0.00,0.000,6,0.000,0.032,2761,2318,3868
$GC,658,-0.70,-194.7,64.5,-10.3,103,665,0.00,2.78,0.00,0.000,4,0.000,0.044,2761,3709,3868
$GC,672,-0.70,-194.7,65.9,-9.8,105,679,0.00,2.70,0.00,0.000,6,0.000,0.032,2761,2323,3868
$GC,1016,-0.70,-194.7,100.8,-10.4,166,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2323,3868
$GC,1361,-0.70,-194.7,140.2,-11.9,227,1368,0.00,2.75,0.00,0.000,4,0.000,0.045,2761,3703,3868
$GC,1375,-0.70,-194.7,141.8,-11.3,229,1382,0.00,2.67,0.00,0.000,6,0.000,0.033,2761,2326,3868
$GC,1720,-0.70,-194.7,181.9,-11.7,290,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2324,3868
$GC,2065,-0.70,-194.7,220.1,-10.4,351,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2324,3868
$GC,2410,-0.70,-194.7,255.6,-9.9,412,2417,0.00,2.78,0.00,0.000,4,0.000,0.046,2761,3712,3868
$GC,2424,-0.70,-194.7,257.0,-9.7,414,2431,0.00,2.67,0.00,0.000,6,0.000,0.033,2761,2330,3868
$GC,2770,-0.70,-194.7,291.1,-9.7,475,2777,0.00,2.75,0.00,0.000,4,0.000,0.045,2761,3703,3868
$GC,2784,-0.70,-194.7,292.5,-9.7,477,2791,0.00,2.65,0.00,0.000,6,0.000,0.032,2761,2337,3869
$GC,3129,-0.70,-194.7,326.3,-9.9,538,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2336,3868
$GC,3468,-0.70,-194.7,358.3,-9.5,591,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2336,3868
$GC,3787,-0.70,-194.7,387.5,-8.9,621,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2336,3868
$GC,4106,-0.70,-194.7,415.4,-9.1,651,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2336,3868
$GC,4424,-0.70,-194.7,444.6,-9.0,681,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2336,3868
$GC,4743,-0.70,-194.7,472.7,-8.8,711,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2336,3868
$GC,5060,-0.70,-194.7,499.3,-8.5,741,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2336,3867
$GC,5379,-0.70,-194.7,526.8,-9.0,771,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2336,3868
$GC,5697,-0.70,-194.7,557.0,-9.4,801,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2336,3867
$GC,6017,-0.70,-194.7,586.5,-9.6,831,6021,0.00,2.90,0.00,0.000,4,0.000,0.052,2761,891,3867
$GC,6049,-0.76,-194.7,589.8,-10.0,833,6056,0.00,2.80,0.00,0.000,6,0.000,0.031,2761,2342,3867
$GC,6368,-0.76,-194.7,620.1,-9.6,854,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2342,3866
$GC,6678,-0.76,-194.7,648.6,-8.9,869,6683,0.00,2.95,0.00,0.000,4,0.000,0.054,2761,893,3866
$GC,6711,-0.82,-194.7,651.8,-9.5,870,6719,0.00,2.83,0.00,0.000,6,0.000,0.034,2761,2342,3866
$GC,7026,-0.82,-194.7,679.6,-8.5,886,7028,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2342,3866
$GC,7337,-0.86,-194.7,704.5,-8.1,901,7339,0.15,0.00,0.00,0.000,6,0.065,0.000,2733,2341,3867
$GC,7644,-0.86,-194.7,738.7,-11.4,916,7649,0.00,3.08,0.00,0.000,4,0.000,0.070,2733,894,3866
$GC,7684,-0.86,-194.7,743.2,-11.5,918,7689,0.00,2.90,0.00,0.000,6,0.000,0.048,2733,2327,3866
$GC,8011,-0.86,-194.7,779.8,-11.3,934,8012,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2327,3865
$GC,8320,-0.86,-194.7,816.5,-12.2,949,8325,0.00,3.28,0.00,0.000,4,0.000,0.100,2733,898,3865
$GC,8352,-0.86,-194.7,820.8,-12.8,950,8361,0.00,3.12,0.00,0.000,6,0.000,0.080,2733,2324,3865
$GC,8669,-0.86,-194.7,857.7,-11.2,966,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2324,3865
$GC,8978,-0.86,-194.7,890.3,-11.2,981,8983,0.00,3.58,0.00,0.000,4,0.000,0.134,2733,899,3865
$GC,9018,-0.86,-194.7,894.4,-10.0,983,9023,0.00,3.42,0.00,0.000,6,0.000,0.117,2733,2320,3865
$GC,9346,-1.17,-194.7,914.1,0.0,999,9352,0.32,3.45,0.00,0.000,4,0.059,0.119,2667,884,3865
$STATE,9502,end dive,NO_VERTICAL_VELOCITY
$STATE,9503,begin apogee
$GC,9512,-0.21,0.0,914.0,0.0,1006,9722,1.10,0.00,206.32,1.529,6,0.078,0.000,2869,2764,3071
$STATE,9723,end apogee,CONTROL_FINISHED_OK
$STATE,9723,begin climb
$GC,9725,0.86,194.7,913.8,0.0,1016,9948,1.40,2.58,211.15,1.460,4,0.083,0.054,3100,3887,2277
$GC,10200,0.73,194.7,865.6,12.2,1037,10204,0.00,2.28,0.00,0.000,6,0.000,0.033,3099,2741,2274
$GC,10525,0.94,424.8,843.8,2.0,1053,10783,0.12,2.65,245.85,1.426,4,0.059,0.051,3125,3894,1338
$GC,10867,0.83,424.8,794.5,18.0,1068,10875,0.15,2.40,0.00,0.000,6,0.110,0.034,3104,2727,1333
$GC,11184,0.75,424.8,743.5,16.7,1084,11188,0.00,2.42,0.00,0.000,4,0.000,0.051,3105,3903,1329
$GC,11239,0.70,424.8,733.8,17.2,1086,11249,0.20,2.28,0.00,0.000,6,0.104,0.032,3073,2739,1328
$GC,11555,0.70,424.8,698.4,10.9,1102,11560,0.00,2.83,0.00,0.000,4,0.000,0.051,3073,1338,1328
$GC,11594,0.70,424.8,693.7,12.1,1104,11599,0.00,2.78,0.00,0.000,6,0.000,0.032,3073,2751,1327
$GC,11921,0.70,424.8,654.8,11.1,1120,11925,0.00,2.30,0.00,0.000,4,0.000,0.052,3073,3900,1327
$GC,11961,0.74,424.8,650.5,10.6,1122,11966,0.00,2.25,0.00,0.000,6,0.000,0.034,3073,2739,1326
$GC,12288,0.74,424.8,615.4,11.3,1138,12293,0.00,2.80,0.00,0.000,4,0.000,0.050,3073,1342,1326
$GC,12343,0.80,424.8,609.0,11.7,1140,12351,0.00,2.75,0.00,0.000,6,0.000,0.031,3073,2754,1325
$GC,12668,0.80,424.8,571.9,11.0,1167,12669,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2755,1325
$GC,12986,0.84,424.8,537.6,10.4,1197,12988,0.15,0.00,0.00,0.000,6,0.055,0.000,3105,2755,1325
$GC,13305,0.78,424.8,490.1,15.4,1227,13311,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2754,1325
$GC,13634,0.71,424.8,436.6,16.6,1258,13641,0.17,0.00,0.00,0.000,6,0.104,0.000,3075,2754,1325
$GC,13962,0.75,424.8,398.5,10.3,1289,13967,0.00,2.85,0.00,0.000,4,0.000,0.047,3075,1342,1325
$GC,14006,0.84,441.0,393.7,9.4,1292,14027,0.15,2.72,15.45,1.092,6,0.051,0.032,3107,2748,1273
$GC,14345,0.77,441.0,343.4,16.0,1327,14352,0.00,2.28,0.00,0.000,4,0.000,0.049,3108,3892,1271
$GC,14409,0.77,441.0,333.8,13.8,1338,14417,0.00,2.22,0.00,0.000,6,0.000,0.032,3108,2741,1271
$GC,14755,0.71,441.0,281.4,15.2,1399,14762,0.17,0.00,0.00,0.000,6,0.108,0.000,3077,2741,1271
$GC,15100,0.76,441.0,244.7,10.0,1460,15107,0.00,2.78,0.00,0.000,4,0.000,0.047,3077,1345,1270
$GC,15143,0.82,441.0,240.4,10.3,1467,15151,0.00,2.72,0.00,0.000,6,0.000,0.031,3077,2756,1270
$GC,15489,0.88,441.0,206.3,10.1,1528,15496,0.15,0.00,0.00,0.000,6,0.052,0.000,3113,2756,1270
$GC,15834,0.81,441.0,153.1,14.8,1589,15841,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2756,1270
$GC,16176,0.74,441.0,100.1,15.6,1650,16183,0.17,0.00,0.00,0.000,6,0.104,0.000,3083,2756,1270
$GC,16520,0.85,485.9,66.6,8.4,1711,16576,0.12,2.90,47.97,0.989,4,0.056,0.045,3111,1346,1089
$GC,16617,0.85,485.9,55.2,13.2,1726,16625,0.00,2.75,0.00,0.000,6,0.000,0.031,3111,2742,1087
$GC,16961,0.85,485.9,10.9,11.8,1787,16967,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2743,1084
$STATE,17032,end climb,SURFACE_DEPTH_REACHED
$STATE,17033,begin surface coast
$FINISH,0.0,1.025415
$STATE,17050,end surface coast,CONTROL_FINISHED_OK
$STATE,17050,begin surface
$SM_CCo,17129,0.00,0.000,0,0,1082,487.90
$SM_GC,0.63,8.45,0.00,0.00,0.041,0.000,0.000,1431,2289,1082,-6.80,-0.31,487.90
$IRIDIUM_FIX,6130.75,-2631.86,230897,222241
$TT8_MAMPS,0.026845
$HUMID,1812
$INTERNAL_PRESSURE,8.85822
$TCM_TEMP,16.20
$XPDR_PINGS,961
$24V_AH,19.1,81.916
$10V_AH,9.8,57.944
$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,25.025,123.175,726.750,0.000,0.000,31.140,35.240,238.678,240.250,0.000,0.000,16.683,3673.420,9001.745,902.229,3344.180,642.419,0.000,2408.488,0.000,3332.393,0.000,0.465
$DEVICE_MAMPS,248.508,134.225,1528.631,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1277.728,1306.444,680.995,1644.890,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129680,1803
$CAP_FILE_SIZE,163682,0
$CFSIZE,260165632,231653376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051,120.8,1
$GPS,300508,081037,6148.891,-2626.446,34,1.0,39,-18.9