version: 66.03
glider: 142
mission: 5
dive: 258
start: 5 29 108 18 9 23
data:
$ID,142
$MISSION,5
$DIVE,258
$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,-17883.287
$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,27
$R_STBD_OVSHOOT,31
$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
$GPS1,175808,6157.004,-2628.341,41,1.0,41,-19.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-53.0
$GPS2,180903,6157.045,-2628.276,14,1.1,14,-19.0
$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,196.0,30913,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.86,-194.7,0.0,0.0,0,140,0.00,0.00,-114.93,0.000,2,0.000,0.000,1431,2328,3323
$GC,143,-0.86,-194.7,3.0,-6.5,15,181,11.85,2.90,-16.38,0.000,4,0.250,0.056,2725,891,3866
$GC,279,-0.80,-194.7,23.1,-14.6,37,287,0.12,2.70,0.00,0.000,6,0.134,0.029,2742,2294,3867
$GC,423,-0.80,-194.7,42.4,-13.0,62,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2295,3868
$GC,565,-0.80,-194.7,60.3,-12.8,87,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2295,3868
$GC,908,-0.80,-194.7,102.2,-12.0,148,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2295,3867
$GC,1252,-0.80,-194.7,143.1,-11.1,209,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2295,3868
$GC,1596,-0.80,-194.7,180.3,-11.5,270,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2295,3868
$GC,1941,-0.80,-194.7,217.0,-10.8,331,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2295,3868
$GC,2284,-0.80,-194.7,253.7,-10.5,392,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2295,3868
$GC,2629,-0.80,-194.7,292.0,-11.3,453,2635,0.00,2.80,0.00,0.000,4,0.000,0.048,2742,895,3867
$GC,2670,-0.80,-194.7,296.6,-10.9,460,2678,0.00,2.70,0.00,0.000,6,0.000,0.030,2742,2303,3867
$GC,3015,-0.80,-194.7,334.2,-11.0,521,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2303,3867
$GC,3348,-0.80,-194.7,372.4,-12.0,564,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2303,3867
$GC,3667,-0.80,-194.7,410.5,-11.9,594,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2303,3867
$GC,3986,-0.80,-194.7,447.5,-11.4,624,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2303,3867
$GC,4304,-0.80,-194.7,483.5,-10.8,654,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2304,3866
$GC,4623,-0.80,-194.7,516.5,-10.0,684,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2305,3866
$GC,4941,-0.80,-194.7,549.8,-10.5,714,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2305,3866
$GC,5260,-0.80,-194.7,582.8,-10.6,744,5264,0.00,2.80,0.00,0.000,4,0.000,0.049,2742,3702,3866
$GC,5269,-0.80,-194.7,584.0,-10.4,744,5277,0.00,2.72,0.00,0.000,6,0.000,0.033,2742,2306,3865
$GC,5591,-0.80,-194.7,620.4,-12.1,767,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2305,3865
$GC,5899,-0.80,-194.7,656.8,-11.8,782,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2306,3865
$GC,6208,-0.80,-194.7,690.0,-10.6,797,6213,0.00,2.90,0.00,0.000,4,0.000,0.061,2742,3700,3865
$GC,6225,-0.80,-194.7,691.8,-10.7,798,6230,0.00,2.80,0.00,0.000,6,0.000,0.042,2742,2300,3865
$GC,6551,-0.80,-194.7,727.6,-11.2,814,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2299,3865
$GC,6861,-0.80,-194.7,763.4,-11.9,829,6862,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2299,3864
$GC,7170,-0.80,-194.7,799.1,-11.3,844,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2299,3864
$GC,7480,-0.80,-194.7,834.8,-11.3,859,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2298,3864
$GC,7789,-1.39,-194.7,847.2,0.0,874,7791,0.70,0.00,0.00,0.000,6,0.094,0.000,2622,2298,3864
$STATE,7931,end dive,NO_VERTICAL_VELOCITY
$STATE,7931,begin apogee
$GC,7937,-0.21,0.0,847.2,0.0,881,8145,1.25,0.00,203.55,1.497,6,0.039,0.000,2875,2731,3071
$STATE,8145,end apogee,CONTROL_FINISHED_OK
$STATE,8145,begin climb
$GC,8148,0.86,194.7,847.2,0.0,891,8371,1.35,3.03,209.02,1.432,4,0.073,0.107,3102,3902,2277
$GC,8455,0.71,194.7,821.8,10.9,904,8463,0.17,2.65,0.00,0.000,6,0.119,0.078,3078,2751,2275
$GC,8771,0.71,269.5,797.5,7.4,920,8855,0.00,2.75,77.28,1.408,4,0.000,0.084,3078,3903,1972
$GC,8902,0.68,287.1,786.5,9.4,926,8928,0.00,2.53,19.88,1.309,6,0.000,0.067,3078,2749,1899
$GC,9258,0.63,287.1,747.4,10.7,943,9259,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2749,1896
$GC,9566,0.58,287.1,712.5,11.8,958,9571,0.17,2.42,0.00,0.000,4,0.107,0.064,3047,3904,1894
$GC,9616,0.67,320.0,707.5,8.9,960,9656,0.00,2.28,34.12,1.361,6,0.000,0.041,3047,2762,1766
$GC,9979,0.80,384.7,679.2,7.8,978,10055,0.20,3.10,68.90,1.363,4,0.050,0.061,3091,1345,1501
$GC,10101,0.80,384.7,663.2,13.1,983,10106,0.00,2.95,0.00,0.000,6,0.000,0.037,3091,2782,1498
$GC,10419,0.74,384.7,620.8,12.7,998,10423,0.00,2.28,0.00,0.000,4,0.000,0.061,3091,3903,1494
$GC,10482,0.74,384.7,612.8,12.0,1001,10486,0.00,2.22,0.00,0.000,6,0.000,0.034,3091,2756,1493
$GC,10812,0.68,384.7,570.5,13.5,1027,10814,0.12,0.00,0.00,0.000,6,0.110,0.000,3072,2754,1492
$GC,11131,0.70,393.7,537.3,9.7,1057,11141,0.00,0.00,8.93,1.060,6,0.000,0.000,3072,2751,1465
$GC,11456,0.72,416.7,506.6,9.2,1088,11487,0.00,0.00,25.65,1.256,6,0.000,0.000,3072,2748,1371
$GC,11806,0.76,444.3,474.6,9.0,1121,11839,0.00,0.00,30.75,1.239,6,0.000,0.000,3072,2747,1259
$GC,12154,0.87,482.5,443.4,8.7,1154,12204,0.17,2.92,41.38,1.219,4,0.051,0.046,3112,1334,1103
$GC,12243,0.87,482.5,430.8,14.9,1161,12251,0.00,2.90,0.00,0.000,6,0.000,0.031,3112,2790,1101
$GC,12572,0.79,482.5,376.0,17.1,1192,12576,0.00,2.20,0.00,0.000,4,0.000,0.049,3112,3899,1098
$GC,12636,0.74,482.5,364.3,16.6,1197,12641,0.17,2.17,0.00,0.000,6,0.103,0.031,3085,2775,1097
$GC,12973,0.74,482.5,323.4,11.1,1247,12981,0.00,2.83,0.00,0.000,4,0.000,0.047,3085,1347,1096
$GC,13039,0.80,482.5,315.7,11.1,1258,13046,0.00,2.78,0.00,0.000,6,0.000,0.030,3085,2775,1096
$GC,13384,0.80,482.5,275.7,11.2,1319,13390,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2774,1095
$GC,13727,0.80,482.5,237.0,11.8,1380,13735,0.00,2.88,0.00,0.000,4,0.000,0.045,3085,1338,1095
$GC,13782,0.87,482.5,231.1,10.8,1389,13789,0.12,2.78,0.00,0.000,6,0.052,0.031,3113,2769,1095
$GC,14127,0.80,482.5,173.1,17.7,1450,14134,0.00,2.20,0.00,0.000,4,0.000,0.048,3114,3889,1094
$GC,14193,0.80,482.5,161.9,16.3,1461,14200,0.00,2.17,0.00,0.000,6,0.000,0.031,3114,2756,1094
$GC,14538,0.73,482.5,101.9,17.0,1522,14546,0.17,2.80,0.00,0.000,4,0.101,0.045,3083,1339,1094
$GC,14582,0.78,482.5,95.6,13.4,1529,14590,0.00,2.78,0.00,0.000,6,0.000,0.031,3083,2773,1093
$GC,14926,0.86,482.5,58.2,10.1,1590,14934,0.12,0.00,0.00,0.000,6,0.054,0.000,3111,2773,1093
$GC,15270,0.86,482.5,7.7,15.1,1651,15277,0.00,2.85,0.00,0.000,4,0.000,0.046,3111,1347,1093
$GC,15312,0.86,482.5,2.5,12.5,1658,15321,0.00,2.72,0.00,0.000,6,0.000,0.030,3111,2763,1092
$STATE,15325,end climb,SURFACE_DEPTH_REACHED
$STATE,15326,begin surface coast
$FINISH,0.1,1.026042
$STATE,15338,end surface coast,CONTROL_FINISHED_OK
$STATE,15338,begin surface
$SM_CCo,15416,0.00,0.000,0,0,1092,485.45
$SM_GC,0.69,8.43,0.00,0.00,0.043,0.000,0.000,1432,2302,1092,-6.79,0.06,485.45
$IRIDIUM_FIX,6135.28,-2623.67,230897,181809
$TT8_MAMPS,0.026078
$HUMID,1816
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,16.30
$XPDR_PINGS,806
$24V_AH,19.2,81.295
$10V_AH,9.9,57.620
$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,25.150,87.525,719.450,0.000,0.000,59.283,66.047,319.686,201.500,0.000,0.000,15.716,3354.704,8091.029,852.235,3003.941,752.723,0.000,2206.254,0.000,2994.305,0.000,0.465
$DEVICE_MAMPS,250.042,106.613,1497.184,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1186.072,1201.115,622.322,1543.199,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120134,1662
$CAP_FILE_SIZE,147387,0
$CFSIZE,260165632,231858176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043,153.7,1
$GPS,290508,222752,6154.279,-2627.817,37,2.5,56,-18.9