version: 66.03
glider: 142
mission: 5
dive: 263
start: 5 30 108 17 45 41
data:
$ID,142
$MISSION,5
$DIVE,263
$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,-17999.301
$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,19
$R_STBD_OVSHOOT,19
$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
$GPS1,173338,6153.688,-2626.176,37,0.9,37,-18.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-54.4
$GPS2,174508,6153.671,-2626.073,10,1.2,10,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NWentry
$TGT_LATLONG,6156.130,-2622.980
$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,61.8,5292,-15.0,-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,-191.8,0.0,0.0,0,145,0.00,0.00,-121.62,0.000,2,0.000,0.000,1436,2298,3508
$GC,148,-0.87,-194.7,3.4,-5.5,16,179,11.75,2.85,-9.48,0.000,4,0.250,0.057,2722,884,3867
$GC,376,-0.80,-194.7,41.0,-14.1,55,384,0.12,2.72,0.00,0.000,6,0.134,0.029,2739,2311,3868
$GC,521,-0.74,-194.7,59.4,-12.1,80,529,0.00,2.83,0.00,0.000,4,0.000,0.045,2739,888,3868
$GC,557,-0.74,-194.7,64.0,-11.9,86,566,0.00,2.67,0.00,0.000,6,0.000,0.030,2739,2287,3868
$GC,905,-0.69,-194.7,102.1,-11.3,147,913,0.15,2.80,0.00,0.000,4,0.140,0.045,2763,884,3868
$GC,967,-0.75,-194.7,108.3,-9.4,157,974,0.00,2.60,0.00,0.000,6,0.000,0.028,2763,2246,3868
$GC,1311,-0.75,-194.7,142.5,-9.7,218,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2247,3869
$GC,1657,-0.75,-194.7,175.6,-9.9,279,1664,0.00,2.88,0.00,0.000,4,0.000,0.044,2763,3700,3868
$GC,1716,-0.75,-194.7,181.3,-9.7,289,1724,0.00,2.83,0.00,0.000,6,0.000,0.032,2763,2244,3868
$GC,2060,-0.75,-194.7,216.6,-10.9,350,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2244,3868
$GC,2405,-0.75,-194.7,251.8,-9.4,411,2412,0.00,2.92,0.00,0.000,4,0.000,0.044,2763,3709,3868
$GC,2458,-0.75,-194.7,256.9,-9.5,420,2466,0.00,2.83,0.00,0.000,6,0.000,0.033,2763,2252,3868
$GC,2804,-0.75,-194.7,291.4,-10.2,481,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2252,3868
$GC,3149,-0.75,-194.7,327.1,-10.1,542,3156,0.00,2.90,0.00,0.000,4,0.000,0.044,2764,3704,3868
$GC,3225,-0.79,-194.7,334.8,-10.0,555,3232,0.00,2.80,0.00,0.000,6,0.000,0.033,2763,2265,3868
$GC,3560,-0.79,-194.7,368.3,-9.9,599,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2265,3868
$GC,3878,-0.79,-194.7,400.3,-10.2,629,3883,0.00,2.85,0.00,0.000,4,0.000,0.045,2763,3700,3867
$GC,3930,-0.84,-194.7,405.5,-10.0,633,3935,0.15,2.78,0.00,0.000,6,0.063,0.033,2735,2275,3867
$GC,4255,-0.79,-194.7,446.5,-12.4,663,4260,0.00,2.75,0.00,0.000,4,0.000,0.048,2735,885,3867
$GC,4322,-0.79,-194.7,455.0,-12.4,668,4329,0.00,2.65,0.00,0.000,6,0.000,0.030,2735,2269,3867
$GC,4649,-0.74,-194.7,494.1,-12.5,699,4657,0.12,0.00,0.00,0.000,6,0.136,0.000,2752,2269,3867
$GC,4976,-0.74,-194.7,530.2,-10.8,730,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2268,3866
$GC,5293,-0.74,-194.7,564.3,-10.3,760,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2269,3867
$GC,5612,-0.74,-194.7,597.5,-10.6,790,5616,0.00,2.88,0.00,0.000,4,0.000,0.051,2752,3700,3866
$GC,5673,-0.74,-194.7,604.2,-10.4,794,5678,0.00,2.80,0.00,0.000,6,0.000,0.035,2752,2276,3866
$GC,6000,-0.74,-194.7,640.7,-11.2,810,6005,0.00,2.80,0.00,0.000,4,0.000,0.058,2752,893,3866
$GC,6032,-0.74,-194.7,644.7,-11.6,811,6040,0.00,2.70,0.00,0.000,6,0.000,0.032,2752,2284,3865
$GC,6348,-0.74,-194.7,679.8,-11.2,827,6349,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2284,3865
$GC,6658,-0.74,-194.7,713.4,-10.8,842,6659,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2284,3866
$GC,6967,-0.74,-194.7,745.5,-10.3,857,6972,0.00,3.00,0.00,0.000,4,0.000,0.071,2752,3703,3865
$GC,7010,-0.74,-194.7,749.9,-10.1,859,7014,0.00,2.90,0.00,0.000,6,0.000,0.055,2752,2293,3865
$GC,7338,-0.74,-194.7,781.5,-9.7,875,7339,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2293,3865
$GC,7645,-0.74,-194.7,812.9,-10.3,890,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2292,3864
$GC,7956,-0.74,-194.7,843.2,-9.7,905,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2292,3864
$GC,8266,-0.74,-194.7,871.9,-9.4,920,8268,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2292,3864
$GC,8574,-0.74,-194.7,901.1,-9.5,935,8580,0.00,3.58,0.00,0.000,4,0.000,0.138,2752,3697,3863
$GC,8615,-0.74,-194.7,904.9,-9.7,937,8620,0.00,3.45,0.00,0.000,6,0.000,0.127,2752,2309,3863
$GC,8942,-0.74,-194.7,936.7,-9.7,953,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2308,3863
$GC,9251,-1.05,-194.7,941.4,-0.0,968,9256,0.30,2.90,0.00,0.000,4,0.058,0.054,2691,875,3862
$STATE,9304,end dive,NO_VERTICAL_VELOCITY
$STATE,9304,begin apogee
$GC,9314,-0.21,0.0,941.4,0.0,970,9525,0.98,0.00,207.10,1.561,6,0.081,0.000,2867,2753,3071
$STATE,9526,end apogee,CONTROL_FINISHED_OK
$STATE,9526,begin climb
$GC,9528,0.87,194.7,941.2,0.0,981,9750,1.42,2.58,212.65,1.496,4,0.084,0.055,3101,3897,2278
$GC,9786,0.74,194.7,919.2,13.1,993,9791,0.12,2.45,0.00,0.000,6,0.120,0.033,3086,2735,2276
$GC,10113,0.65,194.7,883.9,10.4,1009,10118,0.15,2.40,0.00,0.000,4,0.115,0.051,3061,3894,2275
$GC,10157,0.68,221.1,879.5,9.1,1011,10196,0.00,2.22,27.98,1.412,6,0.000,0.033,3061,2761,2169
$GC,10504,0.73,261.9,849.3,8.6,1028,10549,0.00,0.00,43.10,1.450,6,0.000,0.000,3061,2760,2003
$GC,10854,0.74,274.7,818.1,9.5,1045,10873,0.00,0.00,14.12,1.318,6,0.000,0.000,3060,2760,1951
$GC,11183,0.77,296.8,786.8,9.2,1061,11210,0.15,0.00,24.48,1.391,6,0.058,0.000,3090,2760,1860
$GC,11512,0.70,296.8,746.1,12.8,1077,11516,0.00,2.33,0.00,0.000,4,0.000,0.053,3090,3900,1857
$GC,11539,0.64,296.8,742.4,12.3,1078,11544,0.20,2.22,0.00,0.000,6,0.107,0.031,3060,2753,1856
$GC,11855,0.68,332.5,713.9,8.7,1093,11896,0.00,0.00,38.00,1.392,6,0.000,0.000,3060,2752,1715
$GC,12205,0.79,391.3,684.4,7.9,1110,12271,0.17,0.00,63.55,1.378,6,0.051,0.000,3095,2752,1475
$GC,12574,0.75,391.3,636.9,13.5,1128,12578,0.00,2.85,0.00,0.000,4,0.000,0.048,3095,1337,1467
$GC,12591,0.70,391.3,634.5,13.5,1129,12597,0.12,2.80,0.00,0.000,6,0.107,0.031,3077,2759,1466
$GC,12919,0.70,391.3,599.8,10.3,1145,12924,0.00,2.88,0.00,0.000,4,0.000,0.046,3077,1334,1466
$GC,12941,0.70,391.3,597.3,10.0,1146,12949,0.00,2.78,0.00,0.000,6,0.000,0.032,3077,2750,1465
$GC,13269,0.71,393.8,564.2,9.9,1177,13270,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2750,1465
$GC,13585,0.71,393.8,532.5,10.0,1207,13589,0.00,2.83,0.00,0.000,4,0.000,0.046,3077,1343,1465
$GC,13605,0.71,393.8,530.2,10.3,1208,13613,0.00,2.72,0.00,0.000,6,0.000,0.032,3077,2742,1464
$GC,13933,0.73,409.0,499.2,9.5,1239,13953,0.00,0.00,17.83,1.191,6,0.000,0.000,3077,2742,1403
$GC,14270,0.80,433.9,467.5,9.1,1271,14300,0.00,0.00,27.65,1.223,6,0.000,0.000,3077,2743,1302
$GC,14618,0.86,433.9,434.3,10.0,1304,14623,0.15,2.83,0.00,0.000,4,0.053,0.045,3109,1338,1297
$GC,14651,0.86,433.9,430.2,13.3,1306,14659,0.00,2.75,0.00,0.000,6,0.000,0.032,3109,2726,1296
$GC,14979,0.79,433.9,382.0,15.2,1337,14983,0.00,2.33,0.00,0.000,4,0.000,0.051,3109,3894,1295
$GC,15025,0.74,433.9,374.8,14.9,1341,15030,0.17,2.22,0.00,0.000,6,0.099,0.032,3081,2741,1295
$GC,15354,0.79,433.9,341.6,10.1,1378,15362,0.00,2.78,0.00,0.000,4,0.000,0.048,3081,1344,1294
$GC,15391,0.85,437.6,337.9,9.9,1384,15400,0.12,2.72,0.00,0.000,6,0.054,0.031,3109,2748,1294
$GC,15738,0.79,437.6,287.9,13.8,1445,15745,0.00,2.28,0.00,0.000,4,0.000,0.049,3109,3898,1294
$GC,15769,0.73,437.6,283.3,14.4,1450,15777,0.17,2.25,0.00,0.000,6,0.104,0.032,3082,2729,1294
$GC,16117,0.78,444.9,250.0,9.7,1511,16137,0.00,2.80,11.52,0.979,4,0.000,0.047,3081,1346,1256
$GC,16156,0.86,463.6,246.3,9.3,1517,16185,0.12,2.72,21.80,1.088,6,0.054,0.031,3107,2744,1179
$GC,16527,0.86,463.6,195.3,13.8,1581,16533,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2744,1176
$GC,16871,0.86,463.6,146.9,13.4,1642,16878,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2744,1175
$GC,17218,0.86,463.6,98.6,14.3,1703,17224,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2743,1175
$GC,17561,0.86,463.6,51.6,12.4,1764,17569,0.00,2.80,0.00,0.000,4,0.000,0.046,3107,1344,1174
$GC,17605,0.86,463.6,46.6,11.7,1771,17613,0.00,2.67,0.00,0.000,6,0.000,0.031,3107,2729,1173
$GC,17748,0.86,463.6,29.9,12.4,1796,17755,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2729,1174
$GC,17890,0.90,489.9,14.9,9.1,1821,17924,0.00,0.00,27.25,0.942,6,0.000,0.000,3107,2729,1072
$STATE,18025,end climb,SURFACE_DEPTH_REACHED
$STATE,18025,begin surface coast
$FINISH,0.1,1.026111
$STATE,18050,end surface coast,CONTROL_FINISHED_OK
$STATE,18050,begin surface
$SM_CCo,18128,0.00,0.000,0,0,1068,491.34
$SM_GC,0.69,8.60,0.00,0.00,0.048,0.000,0.000,1434,2305,1068,-6.79,0.14,491.34
$IRIDIUM_FIX,6130.75,-2625.73,240897,171737
$TT8_MAMPS,0.026078
$HUMID,1824
$INTERNAL_PRESSURE,8.85822
$TCM_TEMP,16.20
$XPDR_PINGS,943
$24V_AH,19.1,82.907
$10V_AH,9.8,58.419
$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,25.275,138.500,737.025,0.000,0.000,58.440,66.773,364.055,235.750,0.000,0.000,12.020,3731.126,10016.841,945.259,3287.400,835.861,0.000,2432.010,0.000,3283.122,0.000,0.465
$DEVICE_MAMPS,250.042,138.060,1560.845,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1309.588,1357.492,675.404,1658.091,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,133148,1848
$CAP_FILE_SIZE,171792,0
$CFSIZE,260165632,231374848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.012,190.2,1
$GPS,300508,224907,6155.652,-2621.844,37,1.1,42,-18.9