version: 66.03
glider: 143
mission: 4
dive: 143
start: 5 3 108 2 31 5
data:
$ID,143
$MISSION,4
$DIVE,143
$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,200
$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,-7866.6792
$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,17
$R_STBD_OVSHOOT,21
$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
$GPS1,022238,6121.086,-2500.093,29,1.9,29,-17.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-50.2
$GPS2,023047,6121.122,-2500.040,14,2.6,33,-17.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6110.974,-2501.820
$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,217.8,20000,-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,-194.7,0.0,0.0,0,115,0.00,0.00,-87.12,0.000,2,0.000,0.000,1468,2305,3370
$GC,117,-0.82,-194.7,3.1,-7.0,12,148,10.07,2.90,-12.18,0.000,4,0.254,0.064,2612,880,3865
$GC,322,-0.75,-194.7,37.7,-14.4,49,330,0.00,2.80,0.00,0.000,6,0.000,0.049,2637,2282,3866
$GC,457,-0.63,-194.7,60.7,-16.9,74,465,0.15,0.00,0.00,0.000,6,0.151,0.000,2661,2283,3866
$GC,791,-0.58,-194.7,109.4,-14.2,135,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2283,3866
$GC,1122,-0.53,-194.7,156.5,-14.1,196,1130,0.12,0.00,0.00,0.000,6,0.141,0.000,2679,2283,3866
$GC,1467,-0.53,-194.7,201.4,-13.3,257,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2284,3867
$GC,1805,-0.53,-194.7,246.0,-12.4,318,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2283,3866
$GC,2145,-0.53,-194.7,288.2,-12.1,379,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2284,3867
$GC,2484,-0.53,-194.7,331.2,-12.5,440,2492,0.00,2.80,0.00,0.000,4,0.000,0.055,2654,881,3866
$GC,2503,-0.53,-194.7,333.7,-13.1,443,2510,0.17,2.72,0.00,0.000,6,0.123,0.043,2684,2297,3866
$GC,2837,-0.60,-194.7,365.4,-9.2,489,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2298,3867
$GC,3154,-0.67,-194.7,394.7,-9.8,519,3159,0.15,2.80,0.00,0.000,4,0.061,0.054,2646,878,3867
$GC,3184,-0.67,-194.7,398.1,-12.8,521,3188,0.00,2.72,0.00,0.000,6,0.000,0.043,2666,2293,3867
$GC,3509,-0.67,-194.7,441.4,-13.7,551,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2294,3867
$GC,3827,-0.67,-194.7,483.6,-12.7,581,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2293,3867
$GC,4147,-0.67,-194.7,522.8,-11.9,611,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2293,3866
$GC,4466,-0.67,-194.7,561.1,-12.0,641,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2294,3866
$GC,4782,-0.67,-194.7,599.2,-11.6,671,4787,0.00,2.80,0.00,0.000,4,0.000,0.058,2646,881,3866
$GC,4804,-0.67,-194.7,601.8,-11.7,672,4809,0.00,2.70,0.00,0.000,6,0.000,0.044,2673,2286,3866
$GC,5124,-0.67,-194.7,639.5,-12.0,688,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2287,3866
$GC,5434,-0.67,-194.7,675.5,-11.3,703,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2287,3867
$GC,5743,-0.67,-194.7,710.6,-11.3,718,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2288,3866
$GC,6052,-0.67,-194.7,747.1,-11.7,733,6053,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2291,3866
$GC,6361,-0.67,-194.7,782.4,-11.5,748,6366,0.00,2.88,0.00,0.000,4,0.000,0.067,2646,3701,3866
$GC,6383,-0.67,-194.7,785.0,-12.6,749,6388,0.00,2.80,0.00,0.000,6,0.000,0.051,2646,2282,3866
$GC,6703,-0.67,-194.7,822.3,-12.0,765,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2282,3866
$GC,7012,-0.67,-194.7,857.7,-11.5,780,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2282,3865
$GC,7321,-0.67,-194.7,892.5,-11.1,795,7326,0.00,2.90,0.00,0.000,4,0.000,0.064,2646,3703,3865
$GC,7360,-0.67,-194.7,896.9,-11.5,797,7364,0.00,2.80,0.00,0.000,6,0.000,0.051,2646,2288,3865
$GC,7685,-0.67,-194.7,933.7,-11.6,813,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2288,3865
$GC,7994,-0.67,-194.7,968.6,-11.5,828,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2288,3865
$STATE,8178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8178,begin apogee
$GC,8183,-0.19,0.0,990.4,11.8,837,8385,0.65,0.00,197.98,1.426,6,0.121,0.000,2755,2043,3071
$STATE,8385,end apogee,CONTROL_FINISHED_OK
$STATE,8386,begin climb
$GC,8387,0.82,194.7,999.8,0.0,847,8602,1.25,3.17,204.62,1.358,4,0.084,0.070,2972,649,2276
$GC,8708,0.69,194.7,972.7,13.2,862,8714,0.15,2.92,0.00,0.000,6,0.136,0.044,2952,2054,2272
$GC,9024,0.58,194.7,937.0,11.5,877,9029,0.15,2.92,0.00,0.000,4,0.135,0.062,2930,3470,2270
$GC,9079,0.58,194.7,931.0,10.8,879,9086,0.00,2.88,0.00,0.000,6,0.000,0.053,2930,2061,2270
$GC,9395,0.55,204.7,901.5,9.7,895,9411,0.00,2.95,10.30,1.276,4,0.000,0.071,2931,634,2236
$GC,9529,0.56,212.6,887.6,9.7,900,9546,0.00,2.85,9.43,1.294,6,0.000,0.045,2932,2082,2204
$GC,9855,0.54,233.5,855.9,9.3,916,9884,0.00,3.08,22.35,1.345,4,0.000,0.070,2930,637,2119
$GC,9979,0.55,237.9,843.7,9.8,921,9991,0.00,2.90,6.20,1.105,6,0.000,0.045,2930,2099,2101
$GC,10312,0.56,246.3,812.1,9.7,938,10327,0.00,3.05,10.35,1.250,4,0.000,0.071,2930,636,2065
$GC,10411,0.56,246.3,801.7,10.2,941,10417,0.00,2.90,0.00,0.000,6,0.000,0.045,2930,2105,2064
$GC,10726,0.56,249.7,771.2,9.9,957,10736,0.00,3.05,4.75,0.958,4,0.000,0.069,2930,633,2053
$GC,10848,0.56,249.7,758.6,10.0,962,10854,0.00,2.90,0.00,0.000,6,0.000,0.045,2930,2117,2053
$GC,11163,0.57,253.6,726.9,9.9,978,11174,0.00,2.70,5.88,1.040,4,0.000,0.058,2930,3462,2037
$GC,11212,0.57,253.6,721.7,10.1,980,11217,0.00,2.70,0.00,0.000,6,0.000,0.051,2930,2113,2035
$GC,11534,0.59,274.8,691.5,9.3,996,11558,0.00,0.00,22.30,1.238,6,0.000,0.000,2930,2112,1950
$GC,11863,0.60,282.8,659.8,9.7,1012,11874,0.00,0.00,9.70,1.170,6,0.000,0.000,2930,2111,1918
$GC,12172,0.63,304.7,630.8,9.2,1027,12197,0.00,0.00,23.25,1.184,6,0.000,0.000,2930,2110,1828
$GC,12508,0.65,318.0,598.8,9.5,1044,12529,0.00,0.00,14.32,1.157,6,0.000,0.000,2930,2110,1774
$GC,12848,0.66,330.3,566.2,9.6,1076,12869,0.00,2.75,13.85,1.137,4,0.000,0.054,2930,3465,1723
$GC,12892,0.72,338.6,561.9,9.7,1080,12909,0.35,2.67,10.45,1.016,6,0.104,0.046,2874,2121,1690
$GC,13234,1.06,338.6,530.4,10.4,1112,13240,0.77,2.97,0.00,0.000,4,0.066,0.061,3024,640,1687
$GC,13278,0.98,338.6,525.0,12.8,1115,13285,0.00,2.90,0.00,0.000,6,0.000,0.043,3024,2133,1687
$GC,13604,0.76,338.6,456.5,21.3,1146,13607,0.35,0.00,0.00,0.000,6,0.143,0.000,2970,2134,1686
$GC,13924,0.68,338.6,409.1,14.2,1176,13928,0.00,3.03,0.00,0.000,4,0.000,0.064,2970,640,1687
$GC,13973,0.68,338.6,401.5,14.2,1180,13977,0.00,2.85,0.00,0.000,6,0.000,0.041,2970,2124,1686
$GC,14297,0.60,338.6,354.1,14.2,1210,14299,0.22,0.00,0.00,0.000,6,0.125,0.000,2934,2124,1686
$GC,14627,0.60,338.6,320.9,10.2,1266,14633,0.00,2.97,0.00,0.000,4,0.000,0.061,2934,641,1686
$GC,14657,0.67,345.1,318.1,9.8,1271,14671,0.00,2.80,7.20,0.910,6,0.000,0.039,2934,2108,1664
$GC,15007,0.67,345.4,284.9,10.0,1333,15013,0.00,2.67,0.00,0.000,4,0.000,0.052,2934,3472,1663
$GC,15035,0.72,345.4,281.8,10.5,1338,15042,0.00,2.67,0.00,0.000,6,0.000,0.044,2939,2089,1662
$GC,15377,0.76,377.0,249.3,8.9,1399,15415,0.12,2.97,31.73,0.979,4,0.068,0.062,2958,644,1534
$GC,15440,0.76,377.0,242.0,12.3,1409,15446,0.00,2.85,0.00,0.000,6,0.000,0.039,2959,2113,1532
$GC,15780,0.76,377.0,197.2,13.6,1470,15786,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2113,1530
$GC,16121,0.76,377.0,152.0,12.7,1531,16127,0.00,2.97,0.00,0.000,4,0.000,0.061,2959,638,1529
$GC,16158,0.76,377.0,147.5,12.1,1537,16165,0.00,2.80,0.00,0.000,6,0.000,0.040,2959,2097,1529
$GC,16487,0.76,377.0,104.4,14.3,1598,16495,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2097,1529
$GC,16820,0.76,377.0,61.7,12.7,1659,16826,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2098,1529
$GC,17143,0.76,377.0,20.4,13.6,1720,17150,0.00,2.95,0.00,0.000,4,0.000,0.063,2959,647,1528
$GC,17179,0.76,377.0,14.8,13.5,1726,17187,0.00,2.78,0.00,0.000,6,0.000,0.040,2959,2083,1528
$STATE,17281,end climb,SURFACE_DEPTH_REACHED
$STATE,17281,begin surface coast
$FINISH,0.6,1.027362
$STATE,17300,end surface coast,CONTROL_FINISHED_OK
$STATE,17300,begin surface
$SM_CCo,17375,0.00,0.000,0,0,1526,378.99
$SM_GC,0.69,7.25,0.00,0.00,0.044,0.000,0.000,1468,2308,1526,-6.08,0.37,378.99
$IRIDIUM_FIX,6059.36,-2457.49,270797,212118
$TT8_MAMPS,0.021476
$HUMID,1680
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,11.90
$XPDR_PINGS,125
$24V_AH,19.4,50.794
$10V_AH,9.8,36.655
$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,21.950,121.100,604.650,0.000,0.000,30.692,45.024,275.616,31.250,0.000,0.000,36.333,2785.389,9819.743,685.493,3963.014,597.228,0.000,2172.816,0.000,3944.821,0.000,0.467
$DEVICE_MAMPS,253.877,70.564,1425.853,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1296.762,1227.085,621.814,863.635,1569.744,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129645,1748
$CAP_FILE_SIZE,159464,0
$CFSIZE,260165632,242679808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,030508,072158,6118.882,-2500.408,24,2.2,43,-17.8