version: 66.03
glider: 142
mission: 5
dive: 247
start: 5 27 108 12 11 21
data:
$ID,142
$MISSION,5
$DIVE,247
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,280
$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,-17659.883
$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,23
$R_STBD_OVSHOOT,21
$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
$GPS1,120408,6153.781,-2639.496,39,1.9,39,-19.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-43.7
$GPS2,121103,6153.862,-2639.467,10,1.3,10,-19.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6155.737,-2644.472
$TGT_RADIUS,1852.000
$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,299.0,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.86,-194.7,0.0,0.0,0,174,0.00,0.00,-141.98,0.000,2,0.000,0.000,1438,2283,3512
$GC,177,-0.86,-194.7,3.4,-5.1,26,207,11.55,2.85,-9.68,0.000,4,0.249,0.056,2724,889,3866
$GC,461,-0.80,-194.7,45.3,-13.0,76,468,0.00,2.72,0.00,0.000,6,0.000,0.029,2724,2312,3867
$GC,604,-0.72,-194.7,65.3,-14.7,101,610,0.20,2.85,0.00,0.000,4,0.150,0.045,2755,890,3867
$GC,662,-0.72,-194.7,72.3,-10.6,111,668,0.00,2.72,0.00,0.000,6,0.000,0.030,2755,2309,3867
$GC,1005,-0.72,-194.7,109.2,-10.9,172,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2310,3867
$GC,1349,-0.72,-194.7,145.4,-10.4,233,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2310,3867
$GC,1690,-0.72,-194.7,181.6,-10.3,294,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2309,3867
$GC,2033,-0.72,-194.7,217.9,-10.3,355,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2310,3867
$GC,2376,-0.72,-194.7,253.2,-10.9,416,2383,0.00,2.85,0.00,0.000,4,0.000,0.048,2755,883,3868
$GC,2429,-0.76,-194.7,258.8,-10.4,425,2435,0.00,2.70,0.00,0.000,6,0.000,0.030,2755,2291,3867
$GC,2771,-0.76,-194.7,294.6,-10.3,486,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2292,3867
$GC,3115,-0.76,-194.7,329.9,-10.5,547,3121,0.00,2.80,0.00,0.000,4,0.000,0.048,2755,890,3868
$GC,3172,-0.81,-194.7,335.7,-10.1,557,3178,0.00,2.67,0.00,0.000,6,0.000,0.030,2755,2284,3867
$GC,3511,-0.81,-194.7,369.6,-10.0,601,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2285,3867
$GC,3829,-0.81,-194.7,401.8,-10.3,631,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2285,3867
$GC,4148,-0.81,-194.7,433.6,-9.7,661,4153,0.00,2.80,0.00,0.000,4,0.000,0.048,2755,884,3867
$GC,4200,-0.85,-194.7,438.9,-10.1,665,4204,0.00,2.67,0.00,0.000,6,0.000,0.030,2755,2276,3867
$GC,4526,-0.85,-194.7,472.3,-10.3,695,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2277,3867
$GC,4842,-0.85,-194.7,504.8,-10.3,725,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2277,3867
$GC,5161,-0.85,-194.7,538.9,-10.4,755,5166,0.00,2.78,0.00,0.000,4,0.000,0.048,2755,887,3867
$GC,5227,-0.90,-194.7,546.1,-10.3,760,5234,0.17,2.65,0.00,0.000,6,0.056,0.031,2719,2262,3866
$GC,5552,-0.84,-194.7,588.8,-13.0,791,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2263,3866
$GC,5875,-0.77,-194.7,629.1,-12.2,811,5880,0.15,2.78,0.00,0.000,4,0.134,0.051,2744,891,3866
$GC,5941,-0.77,-194.7,636.6,-10.4,814,5945,0.00,2.62,0.00,0.000,6,0.000,0.033,2744,2241,3866
$GC,6270,-0.77,-194.7,670.4,-10.5,830,6275,0.00,2.97,0.00,0.000,4,0.000,0.057,2744,3702,3866
$GC,6332,-0.77,-194.7,676.6,-9.3,833,6337,0.00,2.90,0.00,0.000,6,0.000,0.043,2744,2253,3866
$GC,6658,-0.77,-194.7,708.0,-11.1,849,6663,0.00,2.85,0.00,0.000,4,0.000,0.069,2744,882,3866
$GC,6702,-0.77,-194.7,712.9,-11.2,851,6706,0.00,2.70,0.00,0.000,6,0.000,0.040,2744,2242,3865
$GC,7022,-0.77,-194.7,746.1,-10.7,867,7027,0.00,3.08,0.00,0.000,4,0.000,0.073,2744,3696,3865
$GC,7071,-0.77,-194.7,751.6,-11.2,869,7076,0.00,3.00,0.00,0.000,6,0.000,0.057,2743,2244,3865
$GC,7393,-0.77,-194.7,785.5,-10.3,885,7394,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2244,3865
$GC,7702,-0.77,-194.7,816.8,-10.0,900,7703,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2244,3865
$GC,8012,-0.77,-194.7,847.3,-10.1,915,8017,0.00,3.40,0.00,0.000,4,0.000,0.108,2744,3694,3865
$GC,8074,-0.77,-194.7,854.6,-11.4,918,8080,0.00,3.30,0.00,0.000,6,0.000,0.101,2744,2263,3864
$GC,8400,-0.77,-194.7,891.3,-10.7,934,8402,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2263,3864
$GC,8711,-1.00,-194.7,894.7,0.0,949,8713,0.22,0.00,0.00,0.000,6,0.054,0.000,2700,2262,3864
$STATE,8769,end dive,NO_VERTICAL_VELOCITY
$STATE,8770,begin apogee
$GC,8776,-0.21,0.0,894.7,0.0,952,8986,1.00,0.00,206.23,1.543,6,0.095,0.000,2873,2728,3071
$STATE,8987,end apogee,CONTROL_FINISHED_OK
$STATE,8987,begin climb
$GC,8989,0.86,194.7,894.5,0.0,962,9218,1.40,3.80,211.73,1.473,4,0.087,0.121,3101,1335,2278
$GC,9228,0.72,194.7,873.6,13.2,973,9235,0.15,3.62,0.00,0.000,6,0.117,0.102,3081,2755,2277
$GC,9544,0.63,194.7,837.0,11.3,988,9549,0.15,2.65,0.00,0.000,4,0.117,0.102,3059,3907,2275
$GC,9602,0.60,204.6,831.2,9.7,990,9618,0.00,2.55,11.60,1.233,6,0.000,0.081,3059,2754,2236
$GC,9935,0.61,249.5,801.6,8.4,1007,9984,0.00,0.00,47.20,1.427,6,0.000,0.000,3059,2754,2053
$GC,10283,0.61,249.5,768.5,10.0,1024,10285,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2754,2050
$GC,10593,0.62,253.5,738.2,9.9,1039,10603,0.00,2.45,5.18,0.955,4,0.000,0.071,3059,3911,2036
$GC,10619,0.62,253.5,735.3,10.1,1040,10623,0.00,2.35,0.00,0.000,6,0.000,0.046,3059,2752,2037
$GC,10940,0.63,264.5,706.0,9.6,1056,10959,0.00,0.00,12.70,1.249,6,0.000,0.000,3059,2751,1992
$GC,11268,0.63,264.5,672.1,10.6,1072,11272,0.00,2.40,0.00,0.000,4,0.000,0.058,3059,3914,1991
$GC,11301,0.63,264.5,668.4,11.0,1073,11307,0.00,2.25,0.00,0.000,6,0.000,0.037,3059,2769,1990
$GC,11618,0.63,267.0,635.6,9.9,1089,11619,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2767,1990
$GC,11926,0.65,277.9,606.2,9.6,1104,11946,0.00,0.00,14.98,1.239,6,0.000,0.000,3059,2768,1937
$GC,12267,0.65,277.9,569.2,10.9,1133,12272,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2767,1936
$GC,12591,0.65,277.9,535.1,10.1,1164,12592,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2767,1936
$GC,12912,0.66,291.4,503.3,9.5,1194,12930,0.00,0.00,14.95,1.177,6,0.000,0.000,3059,2767,1883
$GC,13250,0.73,343.3,472.7,8.2,1226,13312,0.00,2.42,54.38,1.267,4,0.000,0.057,3059,3905,1670
$GC,13325,0.78,357.2,465.7,9.5,1233,13348,0.17,2.25,15.90,1.137,6,0.051,0.031,3094,2771,1614
$GC,13665,0.73,357.2,422.6,12.8,1265,13669,0.00,2.30,0.00,0.000,4,0.000,0.048,3094,3907,1608
$GC,13684,0.66,357.2,420.2,13.0,1266,13689,0.17,2.17,0.00,0.000,6,0.104,0.030,3067,2782,1608
$GC,14009,0.68,372.9,389.3,9.5,1296,14032,0.00,2.90,16.62,1.108,4,0.000,0.045,3067,1341,1549
$GC,14038,0.68,374.5,386.6,9.9,1298,14044,0.00,2.88,0.00,0.000,6,0.000,0.030,3067,2806,1548
$GC,14364,0.73,374.5,355.3,10.3,1329,14369,0.00,2.92,0.00,0.000,4,0.000,0.048,3067,1345,1546
$GC,14381,0.77,374.5,353.3,10.5,1330,14385,0.00,2.83,0.00,0.000,6,0.000,0.031,3067,2789,1545
$GC,14722,0.81,376.3,318.4,9.9,1387,14734,0.15,2.92,4.38,0.728,4,0.054,0.044,3102,1338,1536
$GC,14747,0.81,376.3,315.3,11.9,1391,14753,0.00,2.78,0.00,0.000,6,0.000,0.031,3102,2763,1535
$GC,15090,0.74,376.3,265.5,14.2,1452,15097,0.12,2.25,0.00,0.000,4,0.108,0.048,3084,3903,1535
$GC,15126,0.74,376.3,260.8,12.3,1458,15132,0.00,2.17,0.00,0.000,6,0.000,0.031,3084,2766,1534
$GC,15470,0.74,376.3,222.4,12.0,1519,15475,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2763,1535
$GC,15813,0.74,376.3,182.3,12.4,1580,15818,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2761,1534
$GC,16156,0.74,376.3,142.1,10.8,1641,16161,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2760,1534
$GC,16498,0.74,376.3,102.4,12.1,1702,16504,0.00,2.25,0.00,0.000,4,0.000,0.048,3084,3898,1534
$GC,16511,0.74,376.3,100.9,11.6,1704,16517,0.00,2.17,0.00,0.000,6,0.000,0.030,3084,2758,1534
$GC,16855,0.74,376.3,55.9,13.5,1765,16860,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2757,1534
$GC,17198,0.74,376.3,12.2,11.3,1826,17204,0.00,2.80,0.00,0.000,4,0.000,0.046,3084,1338,1534
$GC,17211,0.74,376.3,10.9,10.6,1828,17218,0.00,2.75,0.00,0.000,6,0.000,0.030,3084,2766,1533
$STATE,17307,end climb,SURFACE_DEPTH_REACHED
$STATE,17307,begin surface coast
$FINISH,0.3,1.026097
$STATE,17332,end surface coast,CONTROL_FINISHED_OK
$STATE,17332,begin surface
$SM_CCo,17410,0.00,0.000,0,0,1532,377.76
$SM_GC,0.70,8.35,0.00,0.00,0.046,0.000,0.000,1432,2296,1532,-6.80,-0.11,377.76
$IRIDIUM_FIX,6130.75,-2629.82,210897,070739
$TT8_MAMPS,0.026845
$HUMID,1817
$INTERNAL_PRESSURE,8.91681
$TCM_TEMP,15.00
$XPDR_PINGS,959
$24V_AH,19.2,77.695
$10V_AH,9.8,55.881
$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,23.975,127.675,615.825,0.000,0.000,28.227,37.225,217.326,239.750,0.000,0.000,12.227,2890.025,10190.232,773.761,3342.191,614.155,0.000,2281.293,0.000,3336.641,0.000,0.465
$DEVICE_MAMPS,248.508,121.186,1543.204,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1294.953,1338.470,691.223,1725.178,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136091,1849
$CAP_FILE_SIZE,163145,0
$CFSIZE,260165632,232837120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270508,170255,6155.270,-2644.164,31,1.1,48,-19.1