version: 66.03
glider: 142
mission: 5
dive: 268
start: 5 31 108 15 18 2
data:
$ID,142
$MISSION,5
$DIVE,268
$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,-18090.707
$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,8
$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
$GPS1,150801,6156.927,-2602.615,38,0.8,43,-18.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-63.4
$GPS2,151727,6156.916,-2602.723,13,1.2,13,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NE
$TGT_LATLONG,6156.130,-2600.200
$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,130.6,2637,-16.9,-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,-0.90,-155.7,0.0,0.0,0,90,0.00,0.00,-67.65,0.000,2,0.000,0.000,1436,2294,3530
$GC,93,-0.94,-194.7,3.6,-5.3,9,124,11.82,2.92,-8.68,0.000,4,0.252,0.053,2706,3718,3867
$GC,287,-0.88,-194.7,39.5,-16.0,42,295,0.12,2.78,0.00,0.000,6,0.145,0.035,2722,2300,3869
$GC,433,-0.84,-194.7,61.8,-14.7,67,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2300,3869
$GC,776,-0.84,-194.7,112.3,-14.7,128,783,0.00,2.80,0.00,0.000,4,0.000,0.050,2721,892,3869
$GC,831,-0.84,-194.7,119.7,-13.5,137,838,0.00,2.72,0.00,0.000,6,0.000,0.030,2722,2308,3869
$GC,1176,-0.84,-194.7,167.0,-14.2,198,1183,0.00,2.83,0.00,0.000,4,0.000,0.046,2722,891,3870
$GC,1218,-0.84,-194.7,172.9,-13.7,205,1225,0.00,2.67,0.00,0.000,6,0.000,0.030,2722,2283,3869
$GC,1563,-0.84,-194.7,222.1,-14.0,266,1570,0.00,2.80,0.00,0.000,4,0.000,0.048,2722,883,3869
$GC,1611,-0.84,-194.7,228.8,-13.4,274,1618,0.00,2.67,0.00,0.000,6,0.000,0.030,2722,2276,3869
$GC,1957,-0.84,-194.7,276.7,-14.0,335,1964,0.00,2.78,0.00,0.000,4,0.000,0.047,2722,883,3869
$GC,1999,-0.84,-194.7,282.6,-13.8,342,2006,0.00,2.65,0.00,0.000,6,0.000,0.031,2722,2261,3869
$GC,2344,-0.84,-194.7,327.7,-13.0,403,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2261,3869
$GC,2684,-0.84,-194.7,373.3,-13.8,449,2688,0.00,2.75,0.00,0.000,4,0.000,0.048,2722,884,3869
$GC,2735,-0.84,-194.7,380.4,-13.7,453,2740,0.00,2.65,0.00,0.000,6,0.000,0.030,2722,2263,3869
$GC,3063,-0.84,-194.7,426.5,-14.5,483,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2263,3869
$GC,3389,-0.84,-194.7,471.9,-13.9,514,3393,0.00,2.75,0.00,0.000,4,0.000,0.048,2722,890,3869
$GC,3452,-0.84,-194.7,480.4,-13.2,519,3456,0.00,2.62,0.00,0.000,6,0.000,0.030,2722,2252,3869
$GC,3778,-0.84,-194.7,525.7,-14.5,549,3783,0.00,2.75,0.00,0.000,4,0.000,0.048,2722,883,3869
$GC,3831,-0.84,-194.7,533.3,-13.6,553,3835,0.00,2.62,0.00,0.000,6,0.000,0.030,2722,2243,3869
$GC,4159,-0.84,-194.7,577.6,-13.4,583,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2243,3869
$GC,4482,-0.84,-194.7,619.2,-12.8,607,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2244,3869
$GC,4790,-0.84,-194.7,658.5,-12.8,622,4795,0.00,2.97,0.00,0.000,4,0.000,0.057,2722,3702,3869
$GC,4799,-0.84,-194.7,660.1,-12.7,622,4807,0.00,2.92,0.00,0.000,6,0.000,0.041,2722,2231,3869
$GC,5116,-0.84,-194.7,699.5,-12.2,638,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2231,3869
$GC,5425,-0.84,-194.7,738.2,-12.4,653,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2231,3868
$GC,5734,-0.84,-194.7,777.3,-12.4,668,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2231,3868
$GC,6044,-0.84,-194.7,816.5,-12.8,683,6049,0.00,3.38,0.00,0.000,4,0.000,0.100,2722,3697,3868
$GC,6084,-0.84,-194.7,821.6,-12.5,685,6090,0.00,3.20,0.00,0.000,6,0.000,0.085,2722,2258,3868
$GC,6412,-1.12,-194.7,840.3,-0.0,701,6418,0.22,3.22,0.00,0.000,4,0.056,0.114,2674,885,3867
$STATE,6569,end dive,NO_VERTICAL_VELOCITY
$STATE,6569,begin apogee
$GC,6579,-0.21,0.0,840.3,0.0,708,6788,1.08,0.00,205.48,1.495,6,0.081,0.000,2870,2736,3071
$STATE,6789,end apogee,CONTROL_FINISHED_OK
$STATE,6789,begin climb
$GC,6791,0.94,194.7,840.1,0.0,718,7019,1.50,3.55,210.48,1.433,4,0.080,0.094,3118,1334,2278
$GC,7080,0.83,194.7,812.7,13.8,731,7087,0.00,3.30,0.00,0.000,6,0.000,0.075,3118,2753,2277
$GC,7397,0.71,194.7,769.3,14.7,747,7402,0.25,2.47,0.00,0.000,4,0.114,0.078,3077,3903,2276
$GC,7527,0.71,194.7,752.8,12.1,753,7531,0.00,2.35,0.00,0.000,6,0.000,0.053,3076,2761,2275
$GC,7854,0.71,194.7,717.6,10.6,769,7859,0.00,2.97,0.00,0.000,4,0.000,0.067,3076,1337,2275
$GC,7939,0.71,198.0,709.1,9.9,773,7950,0.00,2.88,4.78,0.887,6,0.000,0.044,3076,2762,2263
$GC,8267,0.71,198.0,678.0,10.0,789,8271,0.00,2.33,0.00,0.000,4,0.000,0.064,3076,3897,2263
$GC,8402,0.71,198.0,663.9,10.1,795,8406,0.00,2.28,0.00,0.000,6,0.000,0.036,3076,2739,2263
$GC,8723,0.72,204.5,635.3,9.7,811,8738,0.00,2.90,7.88,1.091,4,0.000,0.056,3076,1336,2237
$GC,8896,0.72,204.5,617.3,10.6,818,8903,0.00,2.78,0.00,0.000,6,0.000,0.035,3076,2747,2237
$GC,9215,0.75,227.2,586.4,9.0,840,9250,0.00,2.42,24.48,1.295,4,0.000,0.055,3076,3902,2143
$GC,9322,0.75,227.2,575.4,11.7,849,9329,0.00,2.28,0.00,0.000,6,0.000,0.034,3076,2746,2142
$GC,9649,0.75,227.2,541.5,10.6,880,9651,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2744,2141
$GC,9967,0.75,228.4,509.5,9.9,910,9968,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2738,2141
$GC,10284,0.75,228.4,477.4,10.3,940,10288,0.00,2.33,0.00,0.000,4,0.000,0.052,3076,3894,2141
$GC,10328,0.75,228.4,472.5,11.0,943,10336,0.00,2.17,0.00,0.000,6,0.000,0.032,3076,2764,2141
$GC,10656,0.78,253.5,440.9,8.9,974,10685,0.00,0.00,26.88,1.213,6,0.000,0.000,3077,2757,2037
$GC,11003,0.81,281.1,409.9,8.8,1007,11033,0.00,0.00,28.83,1.195,6,0.000,0.000,3077,2757,1924
$GC,11351,0.81,281.1,375.7,10.2,1040,11355,0.00,2.30,0.00,0.000,4,0.000,0.051,3076,3897,1921
$GC,11396,0.81,281.1,370.8,10.9,1043,11403,0.00,2.17,0.00,0.000,6,0.000,0.031,3076,2769,1920
$GC,11728,0.81,281.1,336.7,10.6,1085,11735,0.00,2.85,0.00,0.000,4,0.000,0.047,3076,1341,1920
$GC,11776,0.86,281.1,331.7,10.4,1093,11784,0.15,2.83,0.00,0.000,6,0.055,0.031,3107,2787,1919
$GC,12121,0.81,281.1,288.0,12.6,1154,12129,0.00,2.20,0.00,0.000,4,0.000,0.050,3107,3900,1919
$GC,12203,0.81,281.1,277.2,12.8,1168,12210,0.00,2.15,0.00,0.000,6,0.000,0.032,3108,2779,1919
$GC,12548,0.81,281.1,234.7,11.9,1229,12555,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2772,1919
$GC,12891,0.81,281.1,191.9,12.1,1290,12898,0.00,2.25,0.00,0.000,4,0.000,0.049,3107,3901,1919
$GC,12939,0.81,281.1,185.9,12.7,1298,12946,0.00,2.15,0.00,0.000,6,0.000,0.031,3108,2780,1919
$GC,13286,0.81,281.1,143.3,11.6,1359,13292,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2772,1919
$GC,13625,0.81,281.1,102.8,11.2,1420,13633,0.00,2.22,0.00,0.000,4,0.000,0.049,3108,3893,1919
$GC,13681,0.81,281.1,96.3,11.5,1429,13688,0.00,2.12,0.00,0.000,6,0.000,0.032,3108,2784,1919
$GC,14024,0.81,281.1,52.8,13.2,1490,14030,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2777,1919
$GC,14366,0.81,281.1,13.5,11.9,1551,14373,0.00,2.22,0.00,0.000,4,0.000,0.049,3108,3900,1919
$GC,14436,0.81,281.1,5.2,11.4,1563,14444,0.00,2.10,0.00,0.000,6,0.000,0.032,3108,2796,1919
$STATE,14465,end climb,SURFACE_DEPTH_REACHED
$STATE,14465,begin surface coast
$FINISH,0.3,1.026001
$STATE,14483,end surface coast,CONTROL_FINISHED_OK
$STATE,14483,begin surface
$SM_CCo,14562,0.00,0.000,0,0,1918,282.83
$SM_GC,1.09,8.52,0.00,0.00,0.048,0.000,0.000,1432,2295,1918,-6.80,-0.17,282.83
$IRIDIUM_FIX,6135.28,-2557.09,250897,151532
$TT8_MAMPS,0.026078
$HUMID,1824
$INTERNAL_PRESSURE,8.92658
$TCM_TEMP,16.10
$XPDR_PINGS,819
$24V_AH,19.1,84.191
$10V_AH,9.8,59.137
$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,23.675,129.225,508.775,0.000,0.000,52.240,61.544,268.524,204.750,0.000,0.000,14.588,3226.232,7609.730,683.220,2936.844,682.890,0.000,1990.217,0.000,2933.253,0.000,0.464
$DEVICE_MAMPS,251.576,113.516,1494.883,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1111.811,1153.721,598.550,1462.297,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113962,1571
$CAP_FILE_SIZE,143013,0
$CFSIZE,260165632,231002112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,315.1,1
$GPS,310508,192201,6156.603,-2559.428,36,1.4,41,-18.7