version: 66.03
glider: 143
mission: 4
dive: 234
start: 5 21 108 14 19 13
data:
$ID,143
$MISSION,4
$DIVE,234
$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,-9713.792
$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,17
$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
$GPS1,140758,6129.563,-2546.784,37,2.4,56,-18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-43.4
$GPS2,141854,6129.569,-2547.002,15,2.0,24,-18.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6135.764,-2551.210
$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,323.3,20000,-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,26,-0.82,-194.7,0.0,0.0,0,138,0.00,0.00,-109.55,0.000,2,0.000,0.000,1470,2303,3517
$GC,142,-0.82,-194.7,3.7,-6.4,20,166,9.90,2.88,-7.55,0.000,4,0.251,0.072,2612,3714,3866
$GC,391,-0.73,-194.7,51.8,-16.3,64,398,0.15,2.75,0.00,0.000,6,0.140,0.041,2634,2282,3867
$GC,738,-0.68,-194.7,102.2,-12.6,125,744,0.00,2.72,0.00,0.000,4,0.000,0.054,2634,883,3867
$GC,806,-0.68,-194.7,110.9,-12.0,137,813,0.00,2.72,0.00,0.000,6,0.000,0.048,2634,2281,3867
$GC,1150,-0.63,-194.7,156.9,-14.6,198,1156,0.15,0.00,0.00,0.000,6,0.139,0.000,2660,2281,3867
$GC,1494,-0.63,-194.7,196.1,-10.6,259,1500,0.00,2.75,0.00,0.000,4,0.000,0.053,2660,878,3867
$GC,1541,-0.69,-194.7,200.7,-10.0,267,1547,0.00,2.72,0.00,0.000,6,0.000,0.045,2660,2286,3868
$GC,1885,-0.69,-194.7,233.5,-9.5,328,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2286,3867
$GC,2228,-0.69,-194.7,266.6,-9.1,389,2234,0.00,2.75,0.00,0.000,4,0.000,0.053,2660,886,3868
$GC,2269,-0.75,-194.7,270.4,-9.1,396,2276,0.12,2.67,0.00,0.000,6,0.064,0.044,2632,2276,3867
$GC,2616,-0.70,-194.7,313.6,-12.9,457,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2276,3867
$GC,2961,-0.65,-194.7,359.0,-13.3,513,2966,0.15,2.75,0.00,0.000,4,0.139,0.053,2657,880,3868
$GC,3014,-0.71,-194.7,365.0,-10.7,517,3018,0.00,2.67,0.00,0.000,6,0.000,0.043,2657,2272,3868
$GC,3341,-0.71,-194.7,401.4,-11.7,547,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2273,3867
$GC,3666,-0.71,-194.7,439.6,-11.2,578,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2273,3867
$GC,3984,-0.71,-194.7,474.9,-11.0,608,3989,0.00,2.72,0.00,0.000,4,0.000,0.054,2657,887,3867
$GC,4036,-0.78,-194.7,480.3,-10.3,612,4041,0.15,2.62,0.00,0.000,6,0.059,0.042,2624,2256,3867
$GC,4360,-0.71,-194.7,524.7,-13.8,642,4365,0.00,2.88,0.00,0.000,4,0.000,0.056,2624,3710,3867
$GC,4400,-0.67,-194.7,530.2,-14.1,645,4405,0.17,2.83,0.00,0.000,6,0.133,0.042,2650,2249,3866
$GC,4724,-0.67,-194.7,566.6,-11.5,675,4728,0.00,2.67,0.00,0.000,4,0.000,0.057,2650,883,3866
$GC,4763,-0.71,-194.7,570.9,-11.2,678,4767,0.00,2.65,0.00,0.000,6,0.000,0.044,2650,2257,3866
$GC,5087,-0.71,-194.7,607.6,-11.4,705,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2258,3866
$GC,5394,-0.71,-194.7,642.6,-11.2,720,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2258,3866
$GC,5704,-0.71,-194.7,676.3,-10.5,735,5709,0.00,2.78,0.00,0.000,4,0.000,0.066,2650,889,3866
$GC,5754,-0.76,-194.7,681.5,-10.0,737,5758,0.00,2.65,0.00,0.000,6,0.000,0.049,2650,2251,3866
$GC,6069,-0.76,-194.7,714.5,-10.9,752,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2252,3866
$GC,6379,-0.76,-194.7,750.7,-11.9,767,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2253,3865
$GC,6687,-0.76,-194.7,786.9,-11.5,782,6692,0.00,2.78,0.00,0.000,4,0.000,0.068,2650,891,3865
$GC,6727,-0.81,-194.7,791.4,-11.3,784,6732,0.15,2.65,0.00,0.000,6,0.061,0.051,2619,2241,3865
$GC,7054,-0.74,-194.7,837.3,-14.2,800,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2242,3865
$GC,7363,-0.68,-194.7,880.1,-14.2,815,7365,0.20,0.00,0.00,0.000,6,0.132,0.000,2649,2243,3865
$GC,7671,-0.68,-194.7,913.3,-10.2,830,7672,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2244,3864
$GC,7981,-0.68,-194.7,944.0,-10.0,845,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2244,3864
$GC,8290,-0.68,-194.7,976.6,-10.8,860,8294,0.00,2.78,0.00,0.000,4,0.000,0.068,2649,884,3864
$GC,8322,-0.72,-194.7,980.2,-10.9,861,8328,0.00,2.65,0.00,0.000,6,0.000,0.049,2649,2237,3863
$STATE,8429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8429,begin apogee
$GC,8435,-0.19,0.0,991.8,10.7,867,8640,0.62,0.00,201.32,1.416,6,0.122,0.000,2754,2039,3071
$STATE,8640,end apogee,CONTROL_FINISHED_OK
$STATE,8641,begin climb
$GC,8643,0.82,194.7,1000.1,0.0,877,8861,1.27,3.17,207.43,1.347,4,0.088,0.070,2973,647,2276
$GC,8950,0.70,194.7,974.2,12.2,891,8957,0.00,2.92,0.00,0.000,6,0.000,0.047,2973,2052,2273
$GC,9266,0.57,194.7,933.4,13.0,907,9271,0.28,2.90,0.00,0.000,4,0.135,0.063,2930,3465,2271
$GC,9333,0.52,194.7,925.8,11.0,910,9338,0.00,2.80,0.00,0.000,6,0.000,0.052,2930,2071,2270
$GC,9654,0.48,200.3,893.5,9.8,926,9668,0.15,2.83,5.95,1.070,4,0.127,0.060,2903,3462,2255
$GC,9707,0.59,254.1,888.9,8.1,928,9769,0.12,2.75,55.45,1.338,6,0.076,0.051,2928,2085,2035
$GC,10086,0.59,254.1,852.0,10.1,947,10091,0.00,2.80,0.00,0.000,4,0.000,0.059,2928,3461,2030
$GC,10129,0.59,254.1,847.2,10.8,949,10134,0.00,2.72,0.00,0.000,6,0.000,0.051,2928,2102,2029
$GC,10457,0.62,280.4,816.2,9.1,965,10487,0.00,0.00,27.00,1.320,6,0.000,0.000,2928,2101,1928
$GC,10805,0.68,331.4,787.5,8.2,982,10860,0.00,0.00,52.78,1.287,6,0.000,0.000,2928,2100,1720
$GC,11156,0.75,390.0,759.7,8.0,999,11220,0.15,0.00,60.65,1.258,6,0.066,0.000,2964,2099,1480
$GC,11528,0.75,390.0,712.5,13.7,1017,11533,0.00,2.75,0.00,0.000,4,0.000,0.058,2963,3466,1473
$GC,11613,0.75,390.0,700.3,14.4,1021,11618,0.00,2.70,0.00,0.000,6,0.000,0.051,2964,2117,1472
$GC,11939,0.75,390.0,655.3,13.7,1037,11944,0.00,3.00,0.00,0.000,4,0.000,0.068,2963,638,1471
$GC,11966,0.75,390.0,651.4,13.7,1038,11970,0.00,2.90,0.00,0.000,6,0.000,0.043,2964,2137,1470
$GC,12282,0.75,390.0,608.8,13.8,1053,12283,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2137,1470
$GC,12598,0.75,390.0,566.8,12.7,1079,12602,0.00,3.05,0.00,0.000,4,0.000,0.065,2964,632,1470
$GC,12618,0.75,390.0,563.9,13.4,1080,12625,0.00,2.88,0.00,0.000,6,0.000,0.042,2964,2131,1469
$GC,12947,0.75,390.0,523.7,12.6,1111,12952,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2131,1469
$GC,13272,0.75,390.0,482.3,12.8,1142,13273,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2131,1469
$GC,13590,0.75,390.0,441.9,12.4,1172,13591,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2131,1469
$GC,13909,0.75,390.0,402.7,12.3,1202,13913,0.00,3.03,0.00,0.000,4,0.000,0.063,2964,631,1469
$GC,13929,0.75,390.0,399.9,11.9,1203,13936,0.00,2.85,0.00,0.000,6,0.000,0.041,2964,2126,1469
$GC,14255,0.75,390.0,361.2,12.4,1234,14257,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2126,1469
$GC,14586,0.75,390.0,321.8,12.0,1285,14591,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2126,1469
$GC,14928,0.75,390.0,282.0,10.9,1346,14934,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2126,1469
$GC,15272,0.75,390.0,242.7,12.0,1407,15278,0.00,3.00,0.00,0.000,4,0.000,0.063,2963,640,1469
$GC,15289,0.75,390.0,240.5,12.3,1410,15296,0.00,2.83,0.00,0.000,6,0.000,0.040,2964,2122,1469
$GC,15634,0.75,390.0,199.8,11.2,1471,15639,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2123,1469
$GC,15977,0.75,390.0,157.3,11.7,1532,15982,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2122,1469
$GC,16320,0.75,390.0,116.8,11.3,1593,16326,0.00,3.00,0.00,0.000,4,0.000,0.063,2964,634,1469
$GC,16350,0.75,390.0,113.4,11.8,1598,16357,0.00,2.83,0.00,0.000,6,0.000,0.041,2964,2120,1469
$GC,16694,0.75,390.0,73.7,11.4,1659,16700,0.00,2.65,0.00,0.000,4,0.000,0.052,2964,3471,1469
$GC,16717,0.75,390.0,71.0,12.4,1663,16723,0.00,2.67,0.00,0.000,6,0.000,0.044,2964,2094,1468
$GC,17062,0.75,390.0,33.7,10.4,1724,17068,0.00,2.90,0.00,0.000,4,0.000,0.065,2963,644,1468
$GC,17086,0.75,390.0,31.2,10.5,1728,17092,0.00,2.78,0.00,0.000,6,0.000,0.039,2963,2109,1469
$GC,17230,0.75,390.0,16.1,11.0,1753,17236,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2109,1469
$STATE,17363,end climb,SURFACE_DEPTH_REACHED
$STATE,17363,begin surface coast
$FINISH,0.2,1.025453
$STATE,17396,end surface coast,CONTROL_FINISHED_OK
$STATE,17396,begin surface
$SM_CCo,17472,0.00,0.000,0,0,1468,393.22
$SM_GC,0.80,7.18,0.00,0.00,0.038,0.000,0.000,1468,2306,1468,-6.08,0.31,393.22
$IRIDIUM_FIX,6108.28,-2545.46,150897,141440
$TT8_MAMPS,0.022243
$HUMID,1732
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,16.70
$XPDR_PINGS,27
$24V_AH,19.2,74.840
$10V_AH,9.9,51.029
$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,20.925,129.525,610.575,0.000,0.000,56.825,70.160,321.729,6.750,0.000,0.000,25.755,2827.774,10545.156,715.852,3268.032,754.926,0.000,2194.583,0.000,3242.476,0.000,0.467
$DEVICE_MAMPS,250.809,72.098,1415.882,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1341.327,1260.997,654.937,1577.591,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132662,1782
$CAP_FILE_SIZE,163440,0
$CFSIZE,260165632,234541056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,210508,191138,6130.807,-2552.984,37,1.4,37,-18.4