version: 66.03
glider: 143
mission: 4
dive: 130
start: 4 30 108 10 24 18
data:
$ID,143
$MISSION,4
$DIVE,130
$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,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,51457
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,300
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,8
$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,-7557.5068
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1469
$PITCH_MAX,4022
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,182
$ROLL_MAX,3816
$ROLL_DEG,40
$C_ROLL_DIVE,2295
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,490
$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,-13.47135
$PRESSURE_SLOPE,9.1530041e-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,0
$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,0
$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,0.0043273759
$SEABIRD_T_H,0.00064184016
$SEABIRD_T_I,2.4188148e-05
$SEABIRD_T_J,2.4070987e-06
$SEABIRD_C_G,-10.197048
$SEABIRD_C_H,1.1695373
$SEABIRD_C_I,-0.0015330453
$SEABIRD_C_J,0.00015523176
$GPS1,101337,6059.864,-2419.582,37,1.1,37,-17.3
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-40.3
$GPS2,102359,6059.771,-2419.840,9,1.8,11,-17.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6105.171,-2424.362
$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,317.3,20000,-15.7,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.82,-194.7,0.0,0.0,0,129,0.00,0.00,-100.95,0.000,2,0.000,0.000,1468,2298,3376
$GC,131,-0.82,-194.7,3.2,-7.4,14,162,10.12,2.92,-12.02,0.000,4,0.256,0.069,2612,3713,3866
$GC,259,-0.71,-194.7,28.6,-19.1,36,267,0.15,2.80,0.00,0.000,6,0.136,0.041,2637,2291,3867
$GC,395,-0.66,-194.7,55.2,-16.8,61,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2288,3867
$GC,724,-0.59,-194.7,107.2,-14.4,122,732,0.15,0.00,0.00,0.000,6,0.152,0.000,2661,2287,3867
$GC,1056,-0.59,-194.7,149.6,-12.7,183,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2287,3867
$GC,1395,-0.59,-194.7,190.3,-10.9,244,1404,0.00,2.78,0.00,0.000,4,0.000,0.055,2661,889,3867
$GC,1439,-0.64,-194.7,194.9,-10.6,251,1445,0.00,2.72,0.00,0.000,6,0.000,0.044,2661,2299,3867
$GC,1778,-0.64,-194.7,234.6,-12.2,312,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2299,3867
$GC,2121,-0.64,-194.7,274.4,-11.5,373,2127,0.00,2.78,0.00,0.000,4,0.000,0.054,2661,886,3867
$GC,2161,-0.69,-194.7,279.0,-11.3,380,2168,0.00,2.72,0.00,0.000,6,0.000,0.044,2661,2286,3867
$GC,2503,-0.69,-194.7,319.6,-12.1,441,2509,0.00,2.80,0.00,0.000,4,0.000,0.054,2661,3714,3867
$GC,2550,-0.69,-194.7,325.5,-12.3,449,2556,0.00,2.75,0.00,0.000,6,0.000,0.041,2661,2284,3867
$GC,2889,-0.69,-194.7,366.1,-11.6,498,2893,0.00,2.72,0.00,0.000,4,0.000,0.054,2661,886,3867
$GC,2928,-0.74,-194.7,370.6,-11.6,501,2933,0.12,2.70,0.00,0.000,6,0.063,0.042,2634,2295,3867
$GC,3252,-0.69,-194.7,417.3,-14.5,531,3257,0.00,2.78,0.00,0.000,4,0.000,0.054,2634,3706,3867
$GC,3290,-0.69,-194.7,423.1,-14.4,534,3295,0.00,2.72,0.00,0.000,6,0.000,0.041,2634,2286,3867
$GC,3616,-0.63,-194.7,470.7,-14.6,564,3621,0.15,2.75,0.00,0.000,4,0.137,0.054,2658,878,3867
$GC,3655,-0.68,-194.7,476.0,-12.3,567,3659,0.00,2.70,0.00,0.000,6,0.000,0.042,2665,2288,3867
$GC,3979,-0.68,-194.7,513.0,-11.2,597,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2288,3867
$GC,4297,-0.68,-194.7,549.0,-11.5,627,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2288,3867
$GC,4618,-0.68,-194.7,585.7,-11.6,657,4622,0.00,2.78,0.00,0.000,4,0.000,0.057,2658,884,3867
$GC,4670,-0.73,-194.7,591.7,-11.5,661,4674,0.00,2.67,0.00,0.000,6,0.000,0.043,2659,2278,3866
$GC,4986,-0.73,-194.7,629.5,-11.6,679,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2277,3866
$GC,5295,-0.73,-194.7,664.1,-11.2,694,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2279,3867
$GC,5604,-0.73,-194.7,700.3,-11.8,709,5609,0.00,2.83,0.00,0.000,4,0.000,0.068,2658,889,3866
$GC,5644,-0.79,-194.7,704.8,-11.8,711,5649,0.17,2.70,0.00,0.000,6,0.057,0.049,2622,2274,3866
$GC,5970,-0.72,-194.7,753.3,-15.1,727,5975,0.12,2.92,0.00,0.000,4,0.137,0.066,2639,3709,3866
$GC,6019,-0.72,-194.7,760.1,-12.6,729,6024,0.00,2.85,0.00,0.000,6,0.000,0.053,2639,2272,3866
$GC,6340,-0.72,-194.7,799.3,-11.9,745,6344,0.00,2.80,0.00,0.000,4,0.000,0.067,2639,880,3866
$GC,6383,-0.72,-194.7,804.4,-12.0,747,6387,0.00,2.72,0.00,0.000,6,0.000,0.048,2646,2277,3866
$GC,6710,-0.72,-194.7,842.2,-11.8,763,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2278,3865
$GC,7019,-0.72,-194.7,878.6,-11.8,778,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2279,3864
$GC,7328,-0.72,-194.7,915.1,-12.0,793,7329,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2281,3865
$GC,7637,-0.72,-194.7,952.4,-12.2,808,7642,0.00,2.83,0.00,0.000,4,0.000,0.067,2639,887,3864
$GC,7680,-0.72,-194.7,957.8,-11.8,810,7685,0.00,2.70,0.00,0.000,6,0.000,0.048,2639,2267,3864
$STATE,7964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7964,begin apogee
$GC,7969,-0.19,0.0,991.8,12.0,824,8170,0.70,0.00,197.43,1.443,6,0.130,0.000,2755,2043,3071
$STATE,8171,end apogee,CONTROL_FINISHED_OK
$STATE,8171,begin climb
$GC,8173,0.82,194.7,1000.3,0.0,834,8390,1.27,3.20,204.18,1.368,4,0.088,0.069,2973,644,2276
$GC,8490,0.69,194.7,973.1,13.0,849,8495,0.15,2.95,0.00,0.000,6,0.137,0.044,2953,2058,2273
$GC,8811,0.58,194.7,935.7,12.0,865,8816,0.15,2.92,0.00,0.000,4,0.137,0.061,2929,3471,2271
$GC,8872,0.58,194.7,928.6,11.4,868,8877,0.00,2.85,0.00,0.000,6,0.000,0.052,2929,2067,2270
$GC,9198,0.54,198.8,895.9,9.9,884,9208,0.00,2.88,4.43,0.937,4,0.000,0.060,2929,3466,2260
$GC,9246,0.54,198.8,890.8,10.8,886,9251,0.17,2.80,0.00,0.000,6,0.135,0.052,2921,2082,2259
$GC,9562,0.65,288.7,868.1,6.9,901,9655,0.15,0.00,90.88,1.346,6,0.070,0.000,2937,2080,1894
$GC,9952,0.65,288.7,828.3,10.2,920,9957,0.00,2.85,0.00,0.000,4,0.000,0.058,2936,3469,1888
$GC,10029,0.65,288.7,819.9,10.7,923,10036,0.00,2.80,0.00,0.000,6,0.000,0.052,2936,2091,1885
$GC,10344,0.65,288.7,787.2,10.7,939,10349,0.00,2.80,0.00,0.000,4,0.000,0.058,2936,3466,1885
$GC,10378,0.65,288.7,783.7,10.7,940,10384,0.00,2.72,0.00,0.000,6,0.000,0.051,2936,2106,1885
$GC,10692,0.65,288.7,751.5,10.3,956,10697,0.00,2.75,0.00,0.000,4,0.000,0.058,2936,3470,1885
$GC,10713,0.65,288.7,749.2,10.2,957,10718,0.00,2.70,0.00,0.000,6,0.000,0.051,2936,2130,1884
$GC,11040,0.65,288.7,714.3,11.0,973,11041,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2129,1884
$GC,11349,0.65,288.7,679.1,11.8,988,11354,0.00,2.70,0.00,0.000,4,0.000,0.057,2936,3472,1884
$GC,11387,0.65,288.7,674.5,11.8,990,11392,0.00,2.65,0.00,0.000,6,0.000,0.049,2940,2128,1883
$GC,11713,0.65,288.7,639.5,10.2,1006,11718,0.00,2.67,0.00,0.000,4,0.000,0.055,2936,3465,1883
$GC,11735,0.65,288.7,637.2,11.0,1007,11740,0.00,2.58,0.00,0.000,6,0.000,0.047,2938,2150,1883
$GC,12056,0.66,297.9,606.6,9.7,1023,12066,0.00,0.00,8.75,1.121,6,0.000,0.000,2937,2150,1856
$GC,12374,0.66,297.9,572.6,11.4,1049,12375,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2150,1855
$GC,12692,0.66,297.9,536.7,10.8,1079,12693,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2149,1856
$GC,13009,0.66,297.9,502.6,10.6,1109,13013,0.00,2.60,0.00,0.000,4,0.000,0.052,2936,3467,1855
$GC,13029,0.66,297.9,500.1,11.6,1110,13036,0.00,2.60,0.00,0.000,6,0.000,0.044,2936,2148,1854
$GC,13355,0.66,297.9,465.1,10.6,1141,13356,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2148,1855
$GC,13673,0.66,297.9,430.9,10.6,1171,13674,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2147,1855
$GC,13995,0.67,308.5,399.0,9.6,1201,14011,0.00,0.00,12.00,1.075,6,0.000,0.000,2936,2147,1812
$GC,14332,0.71,343.9,368.6,8.8,1233,14374,0.00,2.67,36.10,1.042,4,0.000,0.051,2936,3472,1667
$GC,14390,0.75,375.8,363.2,8.9,1238,14431,0.15,2.62,31.75,0.981,6,0.065,0.043,2967,2150,1537
$GC,14760,0.69,375.8,315.9,13.7,1295,14766,0.00,3.08,0.00,0.000,4,0.000,0.062,2967,632,1531
$GC,14788,0.65,375.8,311.9,14.3,1300,14796,0.12,3.00,0.00,0.000,6,0.112,0.040,2944,2165,1530
$GC,15133,0.65,375.8,273.9,10.8,1361,15138,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2165,1530
$GC,15472,0.65,375.8,235.1,11.6,1422,15478,0.00,3.08,0.00,0.000,4,0.000,0.061,2944,640,1529
$GC,15516,0.71,375.8,230.3,11.4,1429,15522,0.00,2.90,0.00,0.000,6,0.000,0.039,2944,2154,1529
$GC,15854,0.71,375.8,190.1,10.5,1490,15859,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2154,1529
$GC,16194,0.71,375.8,154.8,10.5,1551,16200,0.00,3.05,0.00,0.000,4,0.000,0.061,2944,632,1529
$GC,16211,0.71,375.8,152.9,11.2,1554,16217,0.00,2.88,0.00,0.000,6,0.000,0.038,2944,2149,1529
$GC,16543,0.71,375.8,114.9,13.6,1615,16548,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2149,1529
$GC,16872,0.71,375.8,80.9,11.4,1676,16880,0.00,3.05,0.00,0.000,4,0.000,0.060,2944,638,1529
$GC,16907,0.85,438.1,78.3,7.9,1681,16976,0.20,2.85,58.42,0.839,6,0.049,0.038,2991,2138,1284
$GC,17294,0.72,438.1,6.7,17.3,1752,17303,0.20,3.05,0.00,0.000,4,0.133,0.058,2958,644,1278
$STATE,17319,end climb,SURFACE_DEPTH_REACHED
$STATE,17319,begin surface coast
$FINISH,0.5,1.027339
$STATE,17326,end surface coast,CONTROL_FINISHED_OK
$STATE,17326,begin surface
$SM_CCo,17404,0.00,0.000,0,0,1274,440.56
$SM_GC,0.54,7.28,0.00,0.00,0.039,0.000,0.000,1467,2297,1274,-6.09,0.06,440.56
$IRIDIUM_FIX,6037.25,-2413.06,250797,101011
$TT8_MAMPS,0.021476
$HUMID,1663
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,12.40
$XPDR_PINGS,111
$24V_AH,19.5,47.416
$10V_AH,9.8,34.239
$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,21.550,152.450,643.925,0.000,0.000,60.629,75.757,307.620,27.750,0.000,0.000,13.448,2790.135,9895.329,736.135,3898.126,693.310,0.000,2249.822,0.000,3896.026,0.000,0.468
$DEVICE_MAMPS,256.178,69.030,1442.727,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1303.019,1236.549,609.039,825.402,1497.533,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129738,1757
$CAP_FILE_SIZE,165022,0
$CFSIZE,260165632,243867648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300408,151557,6101.741,-2429.119,41,99.0,60,-17.4