version: 66.03
glider: 142
mission: 5
dive: 293
start: 6 5 108 8 38 3
data:
$ID,142
$MISSION,5
$DIVE,293
$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,-18517.064
$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,18
$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
$GPS1,083058,6157.166,-2602.138,35,99.0,54,-18.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-62.5
$GPS2,083732,6157.178,-2602.191,11,1.1,11,-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,157.2,2604,-15.4,-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,-0.87,-183.4,0.0,0.0,0,95,0.00,0.00,-71.57,0.000,2,0.000,0.000,1436,2293,3538
$GC,99,-0.88,-194.7,3.4,-5.4,10,129,11.95,2.88,-8.50,0.000,4,0.249,0.056,2721,893,3867
$GC,186,-0.81,-194.7,21.1,-16.2,24,194,0.12,2.72,0.00,0.000,6,0.130,0.029,2738,2313,3868
$GC,332,-0.76,-194.7,39.7,-12.7,49,340,0.00,2.85,0.00,0.000,4,0.000,0.047,2738,888,3868
$GC,363,-0.76,-194.7,43.9,-12.0,54,371,0.00,2.65,0.00,0.000,6,0.000,0.029,2738,2270,3868
$GC,508,-0.72,-194.7,61.8,-12.8,79,515,0.15,2.85,0.00,0.000,4,0.142,0.043,2762,3705,3869
$GC,523,-0.72,-194.7,63.6,-12.6,81,530,0.00,2.80,0.00,0.000,6,0.000,0.034,2762,2273,3869
$GC,866,-0.72,-194.7,104.6,-11.7,142,873,0.00,2.85,0.00,0.000,4,0.000,0.044,2761,3700,3869
$GC,880,-0.72,-194.7,106.2,-11.4,144,888,0.00,2.80,0.00,0.000,6,0.000,0.035,2762,2267,3869
$GC,1228,-0.72,-194.7,142.3,-9.8,205,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2266,3869
$GC,1572,-0.72,-194.7,177.8,-10.7,266,1580,0.00,2.88,0.00,0.000,4,0.000,0.045,2761,3701,3869
$GC,1586,-0.72,-194.7,179.3,-10.4,268,1594,0.00,2.80,0.00,0.000,6,0.000,0.034,2762,2264,3869
$GC,1933,-0.72,-194.7,218.5,-11.1,329,1940,0.00,2.88,0.00,0.000,4,0.000,0.044,2763,3700,3870
$GC,1947,-0.72,-194.7,220.0,-11.1,331,1954,0.00,2.80,0.00,0.000,6,0.000,0.033,2763,2266,3869
$GC,2293,-0.72,-194.7,257.7,-10.9,392,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2265,3870
$GC,2638,-0.72,-194.7,293.8,-10.1,453,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2265,3870
$GC,2982,-0.72,-194.7,327.5,-9.5,514,2990,0.00,2.90,0.00,0.000,4,0.000,0.045,2762,3707,3870
$GC,2997,-0.72,-194.7,328.8,-9.6,516,3004,0.00,2.80,0.00,0.000,6,0.000,0.034,2762,2273,3869
$GC,3335,-0.72,-194.7,361.4,-9.5,566,3340,0.00,2.88,0.00,0.000,4,0.000,0.046,2762,3701,3870
$GC,3353,-0.72,-194.7,363.0,-9.5,567,3358,0.00,2.78,0.00,0.000,6,0.000,0.034,2762,2282,3870
$GC,3681,-0.72,-194.7,392.3,-8.4,597,3686,0.00,2.85,0.00,0.000,4,0.000,0.046,2762,3700,3870
$GC,3700,-0.72,-194.7,394.0,-8.5,598,3704,0.00,2.78,0.00,0.000,6,0.000,0.034,2762,2279,3869
$GC,4029,-0.72,-194.7,421.9,-8.7,628,4033,0.00,2.88,0.00,0.000,4,0.000,0.046,2762,3707,3869
$GC,4039,-0.72,-194.7,423.2,-9.1,628,4046,0.00,2.78,0.00,0.000,6,0.000,0.034,2762,2288,3870
$GC,4366,-0.72,-194.7,453.4,-9.2,659,4371,0.00,2.85,0.00,0.000,4,0.000,0.046,2762,3703,3869
$GC,4384,-0.72,-194.7,455.2,-9.2,660,4388,0.00,2.78,0.00,0.000,6,0.000,0.035,2762,2288,3870
$GC,4712,-0.72,-194.7,486.4,-9.5,690,4717,0.00,2.85,0.00,0.000,4,0.000,0.047,2762,3700,3869
$GC,4734,-0.72,-194.7,488.9,-9.5,691,4741,0.00,2.75,0.00,0.000,6,0.000,0.035,2762,2296,3869
$GC,5061,-0.72,-194.7,518.9,-9.3,722,5065,0.00,2.85,0.00,0.000,4,0.000,0.048,2762,3705,3869
$GC,5078,-0.72,-194.7,520.6,-9.1,723,5083,0.00,2.75,0.00,0.000,6,0.000,0.035,2762,2305,3869
$GC,5406,-0.72,-194.7,553.5,-10.7,753,5410,0.00,2.83,0.00,0.000,4,0.000,0.049,2762,3699,3869
$GC,5422,-0.72,-194.7,555.6,-10.3,754,5427,0.00,2.75,0.00,0.000,6,0.000,0.035,2762,2302,3869
$GC,5750,-0.72,-194.7,588.3,-9.6,784,5754,0.00,2.85,0.00,0.000,4,0.000,0.051,2762,3699,3869
$GC,5767,-0.72,-194.7,590.2,-9.5,785,5772,0.00,2.75,0.00,0.000,6,0.000,0.036,2762,2305,3869
$GC,6097,-0.72,-194.7,623.4,-9.9,805,6101,0.00,2.88,0.00,0.000,4,0.000,0.054,2762,3706,3869
$GC,6138,-0.77,-194.7,627.3,-10.1,807,6142,0.00,2.75,0.00,0.000,6,0.000,0.038,2762,2318,3869
$GC,6465,-0.81,-194.7,659.3,-9.5,823,6470,0.00,2.85,0.00,0.000,4,0.000,0.057,2761,3697,3869
$GC,6483,-0.81,-194.7,661.0,-9.2,824,6487,0.00,2.75,0.00,0.000,6,0.000,0.041,2762,2317,3868
$GC,6810,-0.81,-194.7,692.3,-9.4,840,6814,0.00,2.90,0.00,0.000,4,0.000,0.061,2762,3701,3868
$GC,6832,-0.85,-194.7,694.5,-9.7,841,6837,0.15,2.78,0.00,0.000,6,0.067,0.044,2734,2322,3868
$GC,7154,-0.85,-194.7,734.1,-12.6,857,7159,0.00,2.92,0.00,0.000,4,0.000,0.067,2734,3697,3868
$GC,7164,-0.85,-194.7,735.6,-12.6,857,7171,0.00,2.83,0.00,0.000,6,0.000,0.050,2734,2317,3868
$GC,7480,-0.85,-194.7,774.4,-12.1,873,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2315,3868
$GC,7789,-0.85,-194.7,809.4,-11.2,888,7794,0.00,3.28,0.00,0.000,4,0.000,0.105,2734,889,3868
$GC,7829,-0.85,-194.7,814.0,-11.5,890,7834,0.00,3.05,0.00,0.000,6,0.000,0.077,2733,2291,3867
$GC,8156,-0.85,-194.7,850.8,-11.7,906,8157,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2291,3867
$GC,8466,-0.85,-194.7,886.1,-11.5,921,8467,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2291,3867
$GC,8777,-1.14,-194.7,895.9,-0.0,936,8779,0.32,0.00,0.00,0.000,6,0.059,0.000,2672,2291,3867
$STATE,8875,end dive,NO_VERTICAL_VELOCITY
$STATE,8876,begin apogee
$GC,8882,-0.21,0.0,895.8,0.0,941,9098,1.12,0.00,209.30,1.516,6,0.084,0.000,2872,2750,3071
$STATE,9099,end apogee,CONTROL_FINISHED_OK
$STATE,9099,begin climb
$GC,9102,0.88,194.7,895.7,0.0,952,9320,1.40,0.00,213.15,1.450,6,0.081,0.000,3104,2750,2277
$GC,9620,0.75,194.7,841.8,12.2,977,9625,0.00,2.67,0.00,0.000,4,0.000,0.112,3104,3908,2274
$GC,9683,0.61,194.7,833.7,12.9,980,9688,0.32,2.55,0.00,0.000,6,0.118,0.080,3055,2756,2274
$GC,10010,0.70,262.0,806.9,7.5,996,10083,0.00,0.00,69.93,1.420,6,0.000,0.000,3055,2755,2002
$GC,10387,0.77,320.5,777.1,7.8,1014,10456,0.15,3.22,61.50,1.401,4,0.060,0.074,3088,1336,1763
$GC,10502,0.77,320.5,764.8,11.1,1019,10507,0.00,3.03,0.00,0.000,6,0.000,0.054,3088,2751,1761
$GC,10829,0.77,320.5,729.1,10.7,1035,10833,0.00,2.40,0.00,0.000,4,0.000,0.069,3088,3902,1757
$GC,10901,0.77,320.5,720.7,11.8,1038,10905,0.00,2.33,0.00,0.000,6,0.000,0.044,3088,2748,1756
$GC,11218,0.72,320.5,687.8,10.5,1053,11219,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2748,1755
$GC,11526,0.72,320.5,654.7,10.3,1068,11531,0.00,2.40,0.00,0.000,4,0.000,0.059,3088,3911,1755
$GC,11570,0.72,320.5,649.8,11.1,1070,11574,0.00,2.28,0.00,0.000,6,0.000,0.036,3088,2748,1754
$GC,11898,0.72,320.5,615.9,10.3,1086,11899,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2748,1754
$GC,12212,0.72,320.5,583.1,10.1,1108,12216,0.00,2.38,0.00,0.000,4,0.000,0.054,3088,3911,1754
$GC,12252,0.72,320.5,578.9,10.1,1111,12256,0.00,2.20,0.00,0.000,6,0.000,0.032,3088,2765,1753
$GC,12582,0.75,341.0,547.7,9.2,1142,12609,0.00,2.92,20.65,1.239,4,0.000,0.049,3088,1342,1679
$GC,12651,0.76,348.9,540.9,9.7,1148,12667,0.00,2.85,10.05,1.145,6,0.000,0.032,3088,2783,1648
$GC,12994,0.76,348.9,502.5,12.0,1180,12998,0.00,2.22,0.00,0.000,4,0.000,0.051,3088,3901,1645
$GC,13045,0.76,348.9,496.1,12.7,1184,13049,0.00,2.20,0.00,0.000,6,0.000,0.033,3088,2766,1645
$GC,13372,0.76,348.9,456.0,12.8,1214,13376,0.00,2.85,0.00,0.000,4,0.000,0.048,3088,1337,1644
$GC,13412,0.76,348.9,450.6,13.1,1217,13417,0.00,2.83,0.00,0.000,6,0.000,0.031,3088,2786,1644
$GC,13737,0.76,348.9,409.4,11.7,1247,13739,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2786,1644
$GC,14056,0.76,348.9,373.2,11.0,1277,14058,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2786,1644
$GC,14379,0.76,348.9,338.7,10.5,1316,14387,0.00,2.90,0.00,0.000,4,0.000,0.044,3088,1339,1643
$GC,14427,0.76,348.9,333.6,10.8,1324,14435,0.00,2.80,0.00,0.000,6,0.000,0.031,3088,2774,1643
$GC,14773,0.76,348.9,298.3,11.0,1385,14780,0.00,2.22,0.00,0.000,4,0.000,0.050,3088,3900,1643
$GC,14814,0.76,348.9,293.8,10.1,1392,14822,0.00,2.22,0.00,0.000,6,0.000,0.031,3088,2756,1643
$GC,15160,0.76,348.9,256.1,11.2,1453,15167,0.00,2.80,0.00,0.000,4,0.000,0.045,3089,1341,1643
$GC,15212,0.76,348.9,250.0,11.4,1462,15220,0.00,2.78,0.00,0.000,6,0.000,0.030,3088,2770,1643
$GC,15558,0.76,348.9,210.8,11.3,1523,15565,0.00,2.20,0.00,0.000,4,0.000,0.049,3088,3888,1643
$GC,15599,0.76,348.9,206.0,11.2,1530,15607,0.00,2.20,0.00,0.000,6,0.000,0.031,3088,2758,1642
$GC,15946,0.78,365.7,170.4,9.4,1591,15973,0.00,2.85,17.95,0.992,4,0.000,0.045,3088,1340,1580
$GC,16019,0.80,382.1,163.3,9.4,1603,16046,0.00,2.78,18.60,1.021,6,0.000,0.031,3088,2757,1513
$GC,16386,0.81,393.3,128.6,9.6,1667,16400,0.00,0.00,12.45,0.929,6,0.000,0.000,3088,2757,1467
$GC,16738,0.88,445.0,96.9,8.1,1729,16799,0.12,0.00,53.85,0.991,6,0.057,0.000,3117,2757,1255
$GC,17139,0.88,445.0,50.0,11.1,1798,17146,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2757,1250
$GC,17282,0.88,445.0,32.1,10.5,1823,17289,0.00,2.83,0.00,0.000,4,0.000,0.044,3117,1344,1248
$GC,17330,0.88,445.0,26.3,10.8,1831,17338,0.00,2.72,0.00,0.000,6,0.000,0.031,3117,2750,1247
$GC,17474,0.88,445.0,10.3,12.2,1856,17481,0.00,2.25,0.00,0.000,4,0.000,0.049,3117,3888,1247
$GC,17522,0.88,450.6,5.1,9.8,1864,17537,0.00,2.17,4.85,0.636,6,0.000,0.031,3117,2752,1234
$STATE,17553,end climb,SURFACE_DEPTH_REACHED
$STATE,17554,begin surface coast
$FINISH,0.0,1.014549
$STATE,17571,end surface coast,CONTROL_FINISHED_OK
$STATE,17572,begin surface
$SM_CCo,17651,0.00,0.000,0,0,1231,451.11
$SM_GC,0.65,8.43,0.00,0.00,0.039,0.000,0.000,1434,2306,1231,-6.79,0.14,451.11
$IRIDIUM_FIX,6130.75,-2601.20,300897,050540
$TT8_MAMPS,0.026845
$HUMID,1821
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,14.80
$XPDR_PINGS,961
$24V_AH,19.0,91.841
$10V_AH,9.8,62.982
$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,24.250,192.500,692.275,0.000,0.000,28.472,39.991,199.757,240.250,0.000,0.000,12.953,3848.863,9302.495,881.704,3367.684,648.946,0.000,2417.840,0.000,3364.319,0.000,0.465
$DEVICE_MAMPS,248.508,126.555,1516.359,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1309.238,1391.531,700.979,1725.086,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136162,1872
$CAP_FILE_SIZE,176410,0
$CFSIZE,260165632,228749312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.025, 97.8,1
$GPS,050608,133331,6154.990,-2558.419,40,1.5,40,-18.7