version: 66.03
glider: 143
mission: 4
dive: 131
start: 4 30 108 15 26 16
data:
$ID,143
$MISSION,4
$DIVE,131
$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,-7590.1772
$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,16
$R_STBD_OVSHOOT,12
$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
$GPS1,151557,6101.741,-2429.119,41,99.0,60,-17.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-40.2
$GPS2,152559,6101.709,-2429.323,10,3.5,29,-17.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6107.109,-2433.840
$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,317.4,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,130,0.00,0.00,-101.28,0.000,2,0.000,0.000,1467,2300,3510
$GC,132,-0.82,-194.7,3.7,-7.4,14,156,10.07,2.95,-7.38,0.000,4,0.255,0.069,2611,3715,3867
$GC,215,-0.73,-194.7,24.2,-16.7,28,224,0.10,2.83,0.00,0.000,6,0.141,0.041,2628,2283,3868
$GC,352,-0.65,-194.7,43.5,-14.0,53,360,0.17,0.00,0.00,0.000,6,0.140,0.000,2656,2280,3868
$GC,487,-0.65,-194.7,58.9,-10.8,78,495,0.00,2.78,0.00,0.000,4,0.000,0.053,2657,890,3868
$GC,530,-0.65,-194.7,63.8,-10.9,85,536,0.00,2.80,0.00,0.000,6,0.000,0.046,2657,2316,3868
$GC,859,-0.65,-194.7,105.6,-14.3,146,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2316,3869
$GC,1191,-0.65,-194.7,154.3,-15.0,207,1197,0.00,2.83,0.00,0.000,4,0.000,0.054,2657,882,3868
$GC,1241,-0.69,-194.7,161.2,-13.3,216,1249,0.00,2.78,0.00,0.000,6,0.000,0.044,2657,2298,3868
$GC,1584,-0.69,-194.7,206.7,-12.7,277,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2298,3868
$GC,1923,-0.69,-194.7,250.2,-12.1,338,1929,0.00,2.78,0.00,0.000,4,0.000,0.053,2657,883,3868
$GC,1973,-0.74,-194.7,256.1,-11.5,347,1979,0.00,2.72,0.00,0.000,6,0.000,0.044,2657,2298,3868
$GC,2313,-0.74,-194.7,297.4,-12.7,408,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2298,3868
$GC,2656,-0.74,-194.7,338.5,-11.5,469,2662,0.00,2.78,0.00,0.000,4,0.000,0.054,2657,883,3868
$GC,2703,-0.78,-194.7,343.9,-11.5,477,2710,0.15,2.72,0.00,0.000,6,0.058,0.044,2625,2297,3869
$GC,3036,-0.70,-194.7,393.3,-15.3,512,3038,0.12,0.00,0.00,0.000,6,0.131,0.000,2642,2296,3868
$GC,3355,-0.70,-194.7,438.1,-14.3,542,3359,0.00,2.78,0.00,0.000,4,0.000,0.054,2642,885,3869
$GC,3395,-0.70,-194.7,443.7,-14.1,545,3400,0.00,2.70,0.00,0.000,6,0.000,0.043,2642,2288,3868
$GC,3720,-0.70,-194.7,488.7,-14.0,575,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2288,3869
$GC,4038,-0.70,-194.7,532.8,-13.8,605,4042,0.00,2.78,0.00,0.000,4,0.000,0.055,2643,881,3868
$GC,4090,-0.70,-194.7,539.3,-13.0,609,4094,0.00,2.70,0.00,0.000,6,0.000,0.044,2643,2283,3868
$GC,4414,-0.70,-194.7,583.4,-13.1,639,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2284,3868
$GC,4737,-0.70,-194.7,624.8,-12.8,661,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2283,3868
$GC,5046,-0.70,-194.7,663.4,-12.5,676,5051,0.00,2.83,0.00,0.000,4,0.000,0.065,2642,885,3868
$GC,5100,-0.70,-194.7,670.1,-12.2,678,5107,0.00,2.70,0.00,0.000,6,0.000,0.047,2657,2262,3868
$GC,5416,-0.70,-194.7,710.4,-12.7,694,5420,0.00,2.95,0.00,0.000,4,0.000,0.068,2642,3708,3868
$GC,5464,-0.70,-194.7,716.9,-13.0,696,5469,0.00,2.85,0.00,0.000,6,0.000,0.052,2642,2269,3868
$GC,5785,-0.70,-194.7,758.5,-12.7,712,5790,0.00,2.80,0.00,0.000,4,0.000,0.070,2642,884,3868
$GC,5825,-0.70,-194.7,763.3,-12.6,714,5829,0.00,2.70,0.00,0.000,6,0.000,0.049,2642,2266,3867
$GC,6150,-0.70,-194.7,804.2,-12.4,730,6154,0.00,2.95,0.00,0.000,4,0.000,0.069,2642,3712,3867
$GC,6198,-0.70,-194.7,810.4,-12.6,732,6203,0.00,2.88,0.00,0.000,6,0.000,0.051,2642,2260,3867
$GC,6519,-0.70,-194.7,848.9,-11.9,748,6524,0.00,2.78,0.00,0.000,4,0.000,0.067,2642,884,3867
$GC,6558,-0.70,-194.7,853.5,-11.9,750,6562,0.00,2.70,0.00,0.000,6,0.000,0.050,2644,2266,3867
$GC,6883,-0.70,-194.7,892.9,-12.3,766,6887,0.00,2.95,0.00,0.000,4,0.000,0.068,2642,3712,3866
$GC,6926,-0.70,-194.7,898.3,-12.2,768,6930,0.00,2.88,0.00,0.000,6,0.000,0.051,2642,2259,3866
$GC,7246,-0.70,-194.7,937.8,-12.4,784,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2258,3866
$GC,7556,-0.70,-194.7,976.2,-12.7,799,7557,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2258,3865
$STATE,7678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7678,begin apogee
$GC,7683,-0.19,0.0,991.9,12.6,805,7884,0.68,0.00,197.88,1.444,6,0.128,0.000,2753,2035,3071
$STATE,7885,end apogee,CONTROL_FINISHED_OK
$STATE,7885,begin climb
$GC,7887,0.82,194.7,1002.2,0.0,815,8103,1.25,3.17,204.23,1.371,4,0.087,0.071,2970,649,2275
$GC,8199,0.70,194.7,979.3,11.8,830,8204,0.00,2.95,0.00,0.000,6,0.000,0.047,2970,2056,2272
$GC,8525,0.57,194.7,940.0,12.2,846,8530,0.25,2.92,0.00,0.000,4,0.133,0.063,2930,3466,2270
$GC,8580,0.57,199.2,934.1,9.8,848,8591,0.00,2.83,4.95,0.993,6,0.000,0.051,2938,2068,2258
$GC,8920,0.57,233.8,903.7,8.8,865,8961,0.00,0.00,35.72,1.375,6,0.000,0.000,2938,2067,2117
$GC,9270,0.58,242.4,870.6,9.7,882,9285,0.00,2.88,10.23,1.305,4,0.000,0.059,2930,3464,2082
$GC,9379,0.58,242.4,859.1,10.3,886,9384,0.00,2.80,0.00,0.000,6,0.000,0.051,2930,2080,2079
$GC,9706,0.58,242.4,826.6,10.1,902,9711,0.00,2.83,0.00,0.000,4,0.000,0.059,2930,3468,2079
$GC,9749,0.58,242.4,821.9,11.1,904,9754,0.00,2.75,0.00,0.000,6,0.000,0.051,2930,2096,2079
$GC,10076,0.58,242.4,788.6,10.4,920,10080,0.00,2.78,0.00,0.000,4,0.000,0.059,2930,3466,2078
$GC,10102,0.58,242.4,785.7,10.8,921,10106,0.00,2.72,0.00,0.000,6,0.000,0.050,2930,2098,2077
$GC,10423,0.61,266.8,754.8,9.2,937,10453,0.00,2.83,24.50,1.325,4,0.000,0.059,2930,3469,1983
$GC,10481,0.62,280.1,749.4,9.5,940,10503,0.00,2.72,15.30,1.200,6,0.000,0.050,2930,2121,1928
$GC,10811,0.67,319.6,720.7,8.6,956,10853,0.00,0.00,39.97,1.276,6,0.000,0.000,2930,2120,1768
$GC,11161,0.69,336.1,687.7,9.4,973,11186,0.00,2.83,18.20,1.262,4,0.000,0.058,2930,3467,1700
$GC,11220,0.74,336.1,682.0,10.0,975,11227,0.15,2.67,0.00,0.000,6,0.067,0.048,2959,2143,1699
$GC,11536,0.67,336.1,641.5,12.9,991,11540,0.00,3.08,0.00,0.000,4,0.000,0.067,2959,633,1697
$GC,11552,0.61,336.1,639.3,12.9,992,11557,0.15,2.95,0.00,0.000,6,0.121,0.044,2936,2143,1697
$GC,11878,0.61,336.1,604.5,10.8,1008,11879,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2143,1696
$GC,12196,0.65,361.1,573.7,9.1,1035,12225,0.00,0.00,25.50,1.200,6,0.000,0.000,2937,2143,1598
$GC,12543,0.66,370.1,540.7,9.7,1068,12555,0.00,0.00,9.90,1.123,6,0.000,0.000,2936,2143,1562
$GC,12872,0.68,388.3,508.8,9.4,1099,12894,0.00,0.00,20.33,1.116,6,0.000,0.000,2936,2143,1487
$GC,13212,0.70,404.9,475.9,9.4,1131,13236,0.00,3.12,17.83,1.092,4,0.000,0.063,2936,641,1420
$GC,13260,0.79,413.2,471.0,9.7,1135,13280,0.17,2.92,10.38,0.976,6,0.054,0.040,2976,2143,1385
$GC,13595,0.70,413.2,418.0,15.9,1167,13597,0.15,0.00,0.00,0.000,6,0.130,0.000,2954,2144,1382
$GC,13914,0.70,413.2,377.0,12.7,1197,13915,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2143,1381
$GC,14235,0.70,413.2,336.6,12.2,1236,14243,0.00,3.05,0.00,0.000,4,0.000,0.061,2954,643,1380
$GC,14267,0.70,413.2,332.8,12.7,1241,14273,0.00,2.88,0.00,0.000,6,0.000,0.040,2954,2141,1380
$GC,14608,0.70,413.2,292.3,11.0,1302,14614,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2141,1380
$GC,14949,0.70,413.2,249.6,12.4,1363,14955,0.00,3.00,0.00,0.000,4,0.000,0.060,2954,641,1380
$GC,14985,0.74,413.2,245.1,12.6,1369,14991,0.00,2.83,0.00,0.000,6,0.000,0.040,2954,2121,1379
$GC,15324,0.74,413.2,199.5,13.9,1430,15330,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2121,1379
$GC,15665,0.74,413.2,155.4,12.8,1491,15671,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2121,1379
$GC,15996,0.74,413.2,115.1,11.3,1552,16004,0.00,3.00,0.00,0.000,4,0.000,0.062,2954,638,1379
$GC,16028,0.74,413.2,111.2,12.3,1557,16035,0.00,2.83,0.00,0.000,6,0.000,0.039,2954,2125,1379
$GC,16360,0.74,413.2,69.7,13.7,1618,16367,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2126,1379
$GC,16686,0.74,413.2,26.9,10.5,1679,16694,0.00,3.03,0.00,0.000,4,0.000,0.064,2954,640,1379
$GC,16702,0.74,413.2,25.1,10.1,1681,16710,0.00,2.83,0.00,0.000,6,0.000,0.039,2954,2107,1379
$GC,16838,0.82,437.8,10.2,9.2,1706,16869,0.12,0.00,23.98,0.848,6,0.076,0.000,2978,2108,1285
$STATE,16895,end climb,SURFACE_DEPTH_REACHED
$STATE,16895,begin surface coast
$FINISH,0.1,1.004098
$STATE,16907,end surface coast,CONTROL_FINISHED_OK
$STATE,16907,begin surface
$SM_CCo,16983,0.00,0.000,0,0,1282,438.84
$SM_GC,0.66,7.38,0.00,0.00,0.041,0.000,0.000,1466,2306,1282,-6.09,0.31,438.84
$IRIDIUM_FIX,6041.65,-2430.68,250797,151533
$TT8_MAMPS,0.021476
$HUMID,1680
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,12.60
$XPDR_PINGS,127
$24V_AH,19.4,47.687
$10V_AH,9.7,34.425
$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,20.925,148.825,658.875,0.000,0.000,56.735,59.647,287.957,31.750,0.000,0.000,32.039,2732.056,9518.863,738.798,3925.161,653.549,0.000,2252.524,0.000,3905.891,0.000,0.467
$DEVICE_MAMPS,254.644,70.564,1444.261,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1272.110,1209.604,628.910,853.539,1568.848,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126570,1717
$CAP_FILE_SIZE,163448,0
$CFSIZE,260165632,243781632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,300408,201041,6104.090,-2437.288,38,2.0,48,-17.5