version: 66.03
glider: 143
mission: 4
dive: 224
start: 5 19 108 12 17 16
data:
$ID,143
$MISSION,4
$DIVE,224
$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,120
$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,-9507.5
$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,19
$R_STBD_OVSHOOT,34
$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
$GPS1,120955,6107.552,-2530.573,24,1.0,41,-18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-43.8
$GPS2,121657,6107.588,-2530.619,15,1.1,15,-18.0
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6102.188,-2526.091
$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,138.0,20000,-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,26,-0.82,-194.7,0.0,0.0,0,122,0.00,0.00,-93.15,0.000,2,0.000,0.000,1467,2323,3386
$GC,125,-0.82,-194.7,3.1,-5.9,17,155,9.73,2.90,-11.60,0.000,4,0.243,0.062,2615,887,3868
$GC,212,-0.76,-194.7,20.5,-16.2,32,218,0.00,2.78,0.00,0.000,6,0.000,0.055,2614,2281,3868
$GC,356,-0.63,-194.7,45.3,-17.9,57,362,0.25,0.00,0.00,0.000,6,0.155,0.000,2653,2281,3868
$GC,499,-0.63,-194.7,65.3,-13.2,82,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2281,3868
$GC,842,-0.63,-194.7,111.4,-13.4,143,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2281,3869
$GC,1185,-0.63,-194.7,156.1,-12.5,204,1191,0.00,2.75,0.00,0.000,4,0.000,0.054,2654,877,3869
$GC,1203,-0.63,-194.7,158.5,-12.6,207,1209,0.00,2.72,0.00,0.000,6,0.000,0.046,2653,2285,3869
$GC,1547,-0.63,-194.7,202.5,-13.1,268,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2285,3869
$GC,1890,-0.63,-194.7,245.8,-12.3,329,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2285,3869
$GC,2232,-0.63,-194.7,288.0,-12.2,390,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2285,3869
$GC,2575,-0.63,-194.7,330.5,-11.4,451,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2285,3869
$GC,2908,-0.63,-194.7,370.9,-11.8,496,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2285,3869
$GC,3226,-0.63,-194.7,408.7,-11.7,526,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2285,3869
$GC,3546,-0.63,-194.7,448.1,-12.5,556,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2285,3869
$GC,3864,-0.63,-194.7,486.4,-12.0,586,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2285,3869
$GC,4182,-0.63,-194.7,523.7,-11.4,616,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2285,3869
$GC,4501,-0.63,-194.7,562.0,-12.0,646,4505,0.00,2.80,0.00,0.000,4,0.000,0.059,2653,880,3869
$GC,4528,-0.63,-194.7,565.3,-12.3,648,4532,0.00,2.72,0.00,0.000,6,0.000,0.044,2653,2294,3869
$GC,4855,-0.63,-194.7,603.4,-11.9,677,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2294,3869
$GC,5160,-0.63,-194.7,641.0,-12.3,692,5165,0.00,2.83,0.00,0.000,4,0.000,0.063,2654,887,3869
$GC,5181,-0.63,-194.7,643.6,-12.5,693,5186,0.00,2.70,0.00,0.000,6,0.000,0.047,2653,2280,3868
$GC,5503,-0.63,-194.7,681.5,-11.8,709,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2281,3868
$GC,5812,-0.63,-194.7,716.4,-11.2,724,5817,0.00,2.85,0.00,0.000,4,0.000,0.069,2653,880,3868
$GC,5845,-0.68,-194.7,720.2,-11.5,725,5851,0.00,2.70,0.00,0.000,6,0.000,0.050,2653,2265,3868
$GC,6160,-0.68,-194.7,755.3,-10.8,741,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2266,3868
$GC,6469,-0.68,-194.7,787.5,-10.3,756,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2268,3868
$GC,6779,-0.68,-194.7,821.1,-11.2,771,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2269,3867
$GC,7087,-0.68,-194.7,854.5,-10.4,786,7088,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2270,3867
$GC,7397,-0.68,-194.7,888.2,-11.3,801,7401,0.00,2.83,0.00,0.000,4,0.000,0.069,2653,880,3867
$GC,7417,-0.68,-194.7,890.6,-11.2,802,7422,0.00,2.70,0.00,0.000,6,0.000,0.051,2652,2258,3867
$GC,7745,-0.68,-194.7,926.0,-10.9,818,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2259,3866
$GC,8053,-0.68,-194.7,958.5,-10.4,833,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2259,3866
$GC,8363,-0.68,-194.7,989.3,-9.6,848,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2260,3866
$STATE,8381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8381,begin apogee
$GC,8387,-0.19,0.0,991.3,9.6,849,8592,0.60,0.00,201.82,1.417,6,0.123,0.000,2753,2037,3071
$STATE,8593,end apogee,CONTROL_FINISHED_OK
$STATE,8593,begin climb
$GC,8595,0.82,194.7,998.4,0.0,859,8814,1.27,3.17,207.48,1.347,4,0.091,0.071,2972,650,2277
$GC,8933,0.71,194.7,968.1,12.6,875,8937,0.00,2.90,0.00,0.000,6,0.000,0.049,2971,2051,2273
$GC,9259,0.59,194.7,928.1,11.9,891,9264,0.25,2.90,0.00,0.000,4,0.135,0.064,2931,3465,2271
$GC,9331,0.59,194.7,920.4,10.5,894,9336,0.00,2.80,0.00,0.000,6,0.000,0.053,2931,2070,2271
$GC,9647,0.56,203.9,890.1,9.7,909,9662,0.00,2.95,9.93,1.259,4,0.000,0.071,2931,634,2239
$GC,9780,0.58,225.6,876.8,9.2,914,9810,0.00,2.88,23.52,1.344,6,0.000,0.048,2932,2094,2150
$GC,10127,0.60,237.4,843.6,9.6,931,10149,0.00,2.83,13.25,1.337,4,0.000,0.063,2931,3461,2102
$GC,10182,0.60,237.4,837.8,10.6,933,10186,0.00,2.78,0.00,0.000,6,0.000,0.053,2931,2088,2101
$GC,10497,0.61,245.3,806.2,9.7,948,10512,0.00,2.95,9.55,1.243,4,0.000,0.070,2931,640,2071
$GC,10642,0.61,245.3,792.1,10.3,953,10648,0.00,2.88,0.00,0.000,6,0.000,0.048,2931,2105,2069
$GC,10957,0.61,245.3,760.3,10.4,969,10962,0.00,2.72,0.00,0.000,4,0.000,0.061,2931,3463,2068
$GC,11001,0.61,245.3,755.4,11.1,971,11006,0.00,2.72,0.00,0.000,6,0.000,0.052,2931,2093,2068
$GC,11329,0.61,245.3,722.5,10.0,987,11330,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2093,2068
$GC,11637,0.64,269.0,693.2,9.2,1002,11667,0.00,2.83,24.58,1.266,4,0.000,0.060,2931,3471,1973
$GC,11702,0.65,282.4,687.1,9.5,1005,11724,0.00,2.75,15.38,1.162,6,0.000,0.051,2931,2101,1919
$GC,12033,0.68,303.2,656.5,9.3,1021,12057,0.00,0.00,21.98,1.223,6,0.000,0.000,2931,2100,1835
$GC,12362,0.69,315.8,625.8,9.6,1037,12384,0.00,2.78,14.15,1.217,4,0.000,0.057,2931,3465,1783
$GC,12408,0.75,324.8,621.5,9.7,1039,12425,0.17,2.70,10.95,1.033,6,0.064,0.048,2966,2109,1746
$GC,12738,0.68,324.8,577.8,13.2,1061,12739,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2109,1743
$GC,13058,0.61,324.8,534.2,13.5,1091,13060,0.20,0.00,0.00,0.000,6,0.130,0.000,2935,2109,1743
$GC,13376,0.64,351.6,504.2,9.1,1121,13411,0.00,2.80,27.80,1.131,4,0.000,0.053,2935,3471,1637
$GC,13434,0.74,383.5,498.8,8.9,1126,13475,0.15,2.67,33.17,1.062,6,0.064,0.045,2965,2115,1507
$GC,13801,0.70,383.5,450.0,13.9,1161,13806,0.00,2.97,0.00,0.000,4,0.000,0.064,2965,637,1501
$GC,13844,0.70,383.5,443.8,13.1,1164,13851,0.00,2.88,0.00,0.000,6,0.000,0.042,2965,2128,1500
$GC,14173,0.65,383.5,399.0,13.7,1195,14179,0.15,0.00,0.00,0.000,6,0.124,0.000,2942,2128,1500
$GC,14499,0.71,395.2,366.6,9.6,1226,14522,0.00,3.08,11.93,1.028,4,0.000,0.063,2942,634,1459
$GC,14538,0.77,395.2,362.4,10.1,1229,14545,0.12,2.85,0.00,0.000,6,0.061,0.039,2970,2124,1459
$GC,14876,0.71,395.2,313.8,14.8,1281,14882,0.00,2.65,0.00,0.000,4,0.000,0.052,2970,3472,1458
$GC,14900,0.71,395.2,310.2,15.4,1285,14906,0.00,2.67,0.00,0.000,6,0.000,0.045,2971,2102,1458
$GC,15243,0.66,395.2,260.6,13.8,1346,15250,0.17,2.92,0.00,0.000,4,0.126,0.061,2941,634,1458
$GC,15274,0.70,395.2,257.1,11.1,1351,15280,0.00,2.83,0.00,0.000,6,0.000,0.039,2942,2117,1457
$GC,15617,0.80,428.0,226.9,8.9,1412,15657,0.15,2.75,33.62,0.922,4,0.065,0.052,2976,3471,1326
$GC,15675,0.80,428.0,219.6,14.4,1422,15681,0.00,2.72,0.00,0.000,6,0.000,0.044,2977,2089,1324
$GC,16019,0.74,428.0,167.9,15.5,1483,16025,0.00,2.90,0.00,0.000,4,0.000,0.063,2976,641,1322
$GC,16054,0.74,428.0,162.5,14.3,1489,16060,0.00,2.83,0.00,0.000,6,0.000,0.041,2980,2112,1320
$GC,16397,0.69,428.0,109.3,14.5,1550,16404,0.15,0.00,0.00,0.000,6,0.128,0.000,2953,2112,1320
$GC,16742,0.76,440.5,73.4,9.6,1611,16764,0.00,3.00,13.00,0.845,4,0.000,0.063,2950,644,1274
$GC,16789,0.85,440.5,68.6,11.0,1619,16796,0.17,2.78,0.00,0.000,6,0.051,0.039,2994,2095,1274
$GC,17134,0.75,440.5,6.0,20.3,1680,17141,0.15,2.67,0.00,0.000,4,0.137,0.051,2967,3466,1272
$STATE,17158,end climb,SURFACE_DEPTH_REACHED
$STATE,17158,begin surface coast
$FINISH,0.5,1.027229
$STATE,17169,end surface coast,CONTROL_FINISHED_OK
$STATE,17169,begin surface
$SM_CCo,17248,0.00,0.000,0,0,1270,442.03
$SM_GC,0.73,7.32,0.00,0.00,0.044,0.000,0.000,1464,2283,1270,-6.10,-0.34,442.03
$IRIDIUM_FIX,6046.07,-2536.05,130897,070725
$TT8_MAMPS,0.021476
$HUMID,1727
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,16.80
$XPDR_PINGS,24
$24V_AH,19.1,72.143
$10V_AH,9.9,49.506
$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,21.025,129.575,672.100,0.000,0.000,31.429,32.991,224.829,6.000,0.000,0.000,16.495,2676.497,10529.912,757.291,3115.254,574.265,0.000,2199.473,0.000,3097.072,0.000,0.467
$DEVICE_MAMPS,243.139,71.331,1417.416,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1268.285,1192.209,587.771,1462.897,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123765,1686
$CAP_FILE_SIZE,157355,0
$CFSIZE,260165632,235479040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190508,170626,6106.971,-2525.571,67,1.5,67,-17.9