version: 66.03
glider: 143
mission: 4
dive: 230
start: 5 20 108 18 22 25
data:
$ID,143
$MISSION,4
$DIVE,230
$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,305
$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,-9616.1045
$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,9
$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
$GPS1,180437,6125.049,-2522.643,35,1.3,46,-18.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-36.4
$GPS2,182208,6125.118,-2522.804,15,1.3,32,-18.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6131.312,-2527.022
$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,323.1,20000,-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,27,-0.82,-194.7,0.0,0.0,0,145,0.00,0.00,-115.12,0.000,2,0.000,0.000,1466,2298,3470
$GC,148,-0.82,-194.7,3.3,-5.7,21,173,9.60,2.92,-9.25,0.000,4,0.241,0.074,2614,3719,3867
$GC,370,-0.74,-194.7,44.9,-17.7,60,377,0.15,2.75,0.00,0.000,6,0.138,0.040,2636,2291,3868
$GC,515,-0.68,-194.7,66.0,-13.6,85,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2290,3868
$GC,858,-0.62,-194.7,115.4,-14.7,146,865,0.15,2.72,0.00,0.000,4,0.145,0.052,2661,887,3868
$GC,900,-0.68,-194.7,120.5,-11.5,153,906,0.00,2.75,0.00,0.000,6,0.000,0.044,2661,2311,3867
$GC,1243,-0.68,-194.7,161.2,-12.4,214,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2311,3868
$GC,1588,-0.68,-194.7,201.5,-11.8,275,1594,0.00,2.80,0.00,0.000,4,0.000,0.054,2661,884,3868
$GC,1636,-0.74,-194.7,207.0,-11.3,283,1642,0.12,2.72,0.00,0.000,6,0.064,0.044,2633,2299,3867
$GC,1980,-0.68,-194.7,255.5,-14.2,344,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2299,3867
$GC,2323,-0.63,-194.7,306.2,-14.8,405,2330,0.15,2.80,0.00,0.000,4,0.139,0.054,2657,877,3868
$GC,2370,-0.70,-194.7,312.1,-11.9,413,2376,0.00,2.70,0.00,0.000,6,0.000,0.044,2658,2281,3868
$GC,2712,-0.70,-194.7,353.0,-11.5,472,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2282,3868
$GC,3031,-0.70,-194.7,389.6,-11.4,502,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2282,3868
$GC,3349,-0.70,-194.7,425.3,-10.8,532,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2282,3867
$GC,3667,-0.70,-194.7,460.8,-11.7,562,3672,0.00,2.75,0.00,0.000,4,0.000,0.054,2658,884,3867
$GC,3711,-0.76,-194.7,465.9,-11.5,565,3717,0.00,2.67,0.00,0.000,6,0.000,0.043,2657,2282,3867
$GC,4039,-0.76,-194.7,503.5,-11.2,596,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2282,3867
$GC,4363,-0.76,-194.7,539.1,-10.7,627,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2282,3867
$GC,4682,-0.76,-194.7,574.1,-11.2,657,4687,0.00,2.78,0.00,0.000,4,0.000,0.058,2657,883,3866
$GC,4726,-0.82,-194.7,579.1,-10.8,660,4733,0.20,2.67,0.00,0.000,6,0.054,0.044,2615,2273,3866
$GC,5047,-0.73,-194.7,626.9,-15.4,683,5052,0.15,2.85,0.00,0.000,4,0.140,0.058,2639,3702,3866
$GC,5086,-0.73,-194.7,632.4,-12.5,685,5091,0.00,2.80,0.00,0.000,6,0.000,0.046,2639,2268,3866
$GC,5412,-0.73,-194.7,675.3,-13.7,701,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2268,3866
$GC,5721,-0.73,-194.7,714.4,-12.1,716,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2267,3866
$GC,6031,-0.73,-194.7,752.0,-12.0,731,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2267,3866
$GC,6339,-0.73,-194.7,786.4,-11.0,746,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2268,3865
$GC,6650,-0.73,-194.7,822.9,-12.1,761,6655,0.00,2.80,0.00,0.000,4,0.000,0.069,2639,883,3865
$GC,6699,-0.73,-194.7,829.1,-11.7,763,6703,0.00,2.70,0.00,0.000,6,0.000,0.048,2639,2263,3864
$GC,7020,-0.73,-194.7,869.6,-12.8,779,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2263,3864
$GC,7330,-0.73,-194.7,909.0,-12.8,794,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2264,3864
$GC,7638,-0.73,-194.7,947.0,-12.1,809,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2265,3863
$GC,7948,-0.73,-194.7,982.8,-11.2,824,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2266,3863
$STATE,8028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8028,begin apogee
$GC,8034,-0.19,0.0,992.2,11.5,828,8239,0.70,0.00,200.95,1.413,6,0.130,0.000,2754,2042,3071
$STATE,8239,end apogee,CONTROL_FINISHED_OK
$STATE,8239,begin climb
$GC,8241,0.82,194.7,1000.7,0.0,838,8459,1.25,3.20,207.20,1.343,4,0.087,0.070,2970,644,2276
$GC,8566,0.72,194.7,974.8,11.5,853,8570,0.00,2.92,0.00,0.000,6,0.000,0.047,2970,2060,2272
$GC,8881,0.60,194.7,937.8,11.9,868,8887,0.20,2.88,0.00,0.000,4,0.137,0.063,2937,3462,2271
$GC,8931,0.55,194.7,932.3,10.2,870,8936,0.00,2.80,0.00,0.000,6,0.000,0.051,2937,2065,2270
$GC,9247,0.49,195.6,901.0,10.0,885,9252,0.15,2.85,0.00,0.000,4,0.127,0.060,2911,3468,2270
$GC,9302,0.54,233.8,896.0,8.7,887,9350,0.00,2.75,39.30,1.353,6,0.000,0.051,2911,2088,2116
$GC,9661,0.61,294.2,867.1,7.9,905,9725,0.00,0.00,61.92,1.327,6,0.000,0.000,2911,2087,1871
$GC,10032,0.71,319.6,834.2,9.1,923,10066,0.17,2.85,25.80,1.307,4,0.064,0.059,2951,3471,1768
$GC,10121,0.71,319.6,822.7,13.4,927,10126,0.00,2.78,0.00,0.000,6,0.000,0.052,2951,2104,1766
$GC,10442,0.71,319.6,783.6,11.7,943,10443,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2102,1765
$GC,10751,0.71,319.6,747.4,11.2,958,10756,0.00,2.75,0.00,0.000,4,0.000,0.059,2951,3466,1764
$GC,10778,0.71,319.6,743.8,12.8,959,10782,0.00,2.67,0.00,0.000,6,0.000,0.050,2951,2120,1763
$GC,11100,0.71,319.6,708.0,11.2,975,11105,0.00,3.00,0.00,0.000,4,0.000,0.069,2951,634,1763
$GC,11126,0.71,319.6,704.8,11.9,976,11131,0.00,2.88,0.00,0.000,6,0.000,0.045,2951,2117,1763
$GC,11442,0.71,319.6,669.2,11.8,991,11443,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2117,1763
$GC,11751,0.71,319.6,633.9,11.3,1006,11755,0.00,2.67,0.00,0.000,4,0.000,0.056,2951,3471,1763
$GC,11777,0.71,319.6,630.6,12.2,1007,11781,0.00,2.67,0.00,0.000,6,0.000,0.047,2951,2102,1762
$GC,12100,0.71,319.6,592.8,12.1,1025,12102,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2102,1761
$GC,12418,0.71,319.6,552.8,12.3,1055,12423,0.00,2.72,0.00,0.000,4,0.000,0.054,2951,3475,1761
$GC,12457,0.71,319.6,547.9,12.0,1058,12461,0.00,2.67,0.00,0.000,6,0.000,0.047,2951,2108,1761
$GC,12781,0.71,319.6,509.8,11.0,1088,12782,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2108,1761
$GC,13100,0.71,319.6,474.9,11.0,1118,13101,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2107,1761
$GC,13418,0.71,319.6,440.6,10.8,1148,13422,0.00,2.70,0.00,0.000,4,0.000,0.052,2951,3475,1762
$GC,13445,0.71,319.6,437.5,10.9,1150,13450,0.00,2.65,0.00,0.000,6,0.000,0.044,2951,2114,1761
$GC,13769,0.71,319.6,400.6,11.9,1180,13771,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2114,1761
$GC,14088,0.71,319.6,363.9,11.4,1210,14089,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2114,1761
$GC,14417,0.71,319.6,325.5,11.5,1258,14424,0.00,2.67,0.00,0.000,4,0.000,0.052,2952,3471,1761
$GC,14447,0.71,319.6,322.2,12.0,1263,14453,0.00,2.62,0.00,0.000,6,0.000,0.044,2951,2120,1761
$GC,14790,0.72,332.1,286.9,9.6,1324,14808,0.00,0.00,13.45,0.973,6,0.000,0.000,2951,2120,1717
$GC,15145,0.72,332.1,249.1,10.7,1387,15151,0.00,2.67,0.00,0.000,4,0.000,0.051,2951,3474,1716
$GC,15170,0.72,332.1,246.4,11.9,1391,15176,0.00,2.62,0.00,0.000,6,0.000,0.043,2950,2125,1715
$GC,15513,0.72,332.1,208.3,10.5,1452,15519,0.00,2.97,0.00,0.000,4,0.000,0.064,2951,633,1715
$GC,15531,0.72,332.1,206.2,11.3,1455,15537,0.00,2.88,0.00,0.000,6,0.000,0.040,2951,2140,1715
$GC,15875,0.74,345.2,171.0,9.5,1516,15892,0.00,0.00,14.77,0.963,6,0.000,0.000,2951,2140,1663
$GC,16229,0.74,345.2,136.4,10.9,1579,16234,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2140,1662
$GC,16571,0.74,345.2,99.4,10.0,1640,16578,0.00,3.03,0.00,0.000,4,0.000,0.063,2951,638,1661
$GC,16601,0.74,345.2,96.2,11.3,1645,16607,0.00,2.90,0.00,0.000,6,0.000,0.041,2951,2153,1661
$GC,16946,0.77,367.7,62.1,9.2,1706,16973,0.00,0.00,22.62,0.830,6,0.000,0.000,2951,2153,1570
$GC,17310,0.79,387.7,25.7,9.3,1771,17339,0.00,3.12,20.27,0.798,4,0.000,0.064,2951,638,1489
$GC,17369,0.85,387.7,19.2,10.7,1781,17376,0.17,2.90,0.00,0.000,6,0.049,0.039,2993,2141,1488
$STATE,17476,end climb,SURFACE_DEPTH_REACHED
$STATE,17476,begin surface coast
$FINISH,0.2,1.027250
$STATE,17495,end surface coast,CONTROL_FINISHED_OK
$STATE,17495,begin surface
$SM_CCo,17572,0.00,0.000,0,0,1483,389.29
$SM_GC,0.84,7.53,0.00,0.00,0.047,0.000,0.000,1469,2317,1483,-6.09,0.62,389.29
$IRIDIUM_FIX,6103.81,-2521.41,140897,181838
$TT8_MAMPS,0.021476
$HUMID,1723
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,16.90
$XPDR_PINGS,36
$24V_AH,19.2,73.754
$10V_AH,9.8,50.425
$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,20.700,123.800,606.300,0.000,0.000,115.419,227.412,368.302,9.000,0.000,0.000,33.923,2825.360,10785.637,711.403,3269.702,1016.173,0.000,2177.081,0.000,3240.819,0.000,0.467
$DEVICE_MAMPS,240.838,74.399,1412.814,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1349.947,1278.094,671.701,1592.951,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132911,1803
$CAP_FILE_SIZE,164885,0
$CFSIZE,260165632,234909696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200508,231632,6126.719,-2529.029,40,2.0,40,-18.1