version: 66.03
glider: 143
mission: 4
dive: 235
start: 5 21 108 19 19 4
data:
$ID,143
$MISSION,4
$DIVE,235
$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,-9728.2451
$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,22
$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
$GPS1,191138,6130.807,-2552.984,37,1.4,37,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-47.8
$GPS2,191845,6130.832,-2553.045,12,1.7,12,-18.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6137.026,-2557.250
$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,323.4,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,116,0.00,0.00,-87.57,0.000,2,0.000,0.000,1468,2309,3310
$GC,119,-0.82,-194.7,3.2,-7.3,16,149,10.25,2.85,-13.52,0.000,4,0.255,0.071,2612,3705,3865
$GC,307,-0.74,-194.7,36.4,-16.6,49,314,0.15,2.72,0.00,0.000,6,0.142,0.041,2634,2291,3867
$GC,451,-0.68,-194.7,58.1,-15.9,74,458,0.00,2.75,0.00,0.000,4,0.000,0.054,2634,880,3867
$GC,520,-0.68,-194.7,68.0,-12.9,86,526,0.00,2.67,0.00,0.000,6,0.000,0.048,2634,2253,3867
$GC,864,-0.62,-194.7,115.7,-13.8,147,871,0.15,2.90,0.00,0.000,4,0.141,0.057,2659,3708,3867
$GC,904,-0.62,-194.7,120.7,-11.5,154,911,0.00,2.80,0.00,0.000,6,0.000,0.041,2659,2255,3867
$GC,1248,-0.62,-194.7,158.3,-11.1,215,1254,0.00,2.67,0.00,0.000,4,0.000,0.055,2659,886,3867
$GC,1297,-0.68,-194.7,163.2,-10.3,223,1303,0.00,2.65,0.00,0.000,6,0.000,0.044,2659,2256,3867
$GC,1641,-0.68,-194.7,200.4,-11.2,284,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2256,3867
$GC,1983,-0.68,-194.7,238.9,-11.2,345,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2256,3867
$GC,2325,-0.68,-194.7,276.5,-10.7,406,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2256,3867
$GC,2669,-0.68,-194.7,315.6,-11.4,467,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2256,3867
$GC,3010,-0.68,-194.7,354.1,-11.3,525,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2256,3867
$GC,3328,-0.68,-194.7,389.5,-11.0,555,3332,0.00,2.70,0.00,0.000,4,0.000,0.054,2659,883,3867
$GC,3367,-0.74,-194.7,393.8,-10.9,558,3372,0.00,2.65,0.00,0.000,6,0.000,0.042,2659,2262,3867
$GC,3693,-0.74,-194.7,428.7,-10.4,588,3698,0.00,2.88,0.00,0.000,4,0.000,0.056,2659,3712,3867
$GC,3733,-0.79,-194.7,432.9,-10.4,591,3738,0.17,2.85,0.00,0.000,6,0.062,0.042,2623,2233,3867
$GC,4058,-0.71,-194.7,476.4,-13.3,621,4062,0.00,2.62,0.00,0.000,4,0.000,0.054,2623,887,3867
$GC,4119,-0.71,-194.7,484.5,-12.6,626,4123,0.00,2.62,0.00,0.000,6,0.000,0.044,2623,2247,3867
$GC,4445,-0.64,-194.7,529.4,-14.0,656,4447,0.20,0.00,0.00,0.000,6,0.130,0.000,2653,2247,3867
$GC,4763,-0.64,-194.7,564.7,-11.0,686,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2247,3867
$GC,5080,-0.64,-194.7,597.9,-10.2,716,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2247,3867
$GC,5401,-0.64,-194.7,628.5,-9.2,733,5406,0.00,2.72,0.00,0.000,4,0.000,0.060,2653,887,3867
$GC,5446,-0.69,-194.7,632.7,-9.6,735,5450,0.00,2.62,0.00,0.000,6,0.000,0.046,2653,2242,3866
$GC,5767,-0.69,-194.7,664.5,-10.2,751,5771,0.00,2.95,0.00,0.000,4,0.000,0.064,2653,3702,3867
$GC,5798,-0.69,-194.7,668.0,-10.9,752,5806,0.00,2.90,0.00,0.000,6,0.000,0.048,2653,2238,3866
$GC,6114,-0.69,-194.7,698.6,-10.0,768,6119,0.00,2.70,0.00,0.000,4,0.000,0.067,2653,890,3866
$GC,6159,-0.74,-194.7,703.2,-10.4,770,6163,0.00,2.62,0.00,0.000,6,0.000,0.049,2653,2235,3866
$GC,6479,-0.74,-194.7,736.8,-11.0,786,6483,0.00,3.00,0.00,0.000,4,0.000,0.067,2653,3704,3866
$GC,6518,-0.78,-194.7,741.0,-11.1,788,6523,0.12,2.92,0.00,0.000,6,0.067,0.051,2628,2229,3866
$GC,6845,-0.73,-194.7,782.0,-12.3,804,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2229,3865
$GC,7154,-0.69,-194.7,820.4,-12.6,819,7156,0.12,0.00,0.00,0.000,6,0.139,0.000,2646,2229,3865
$GC,7463,-0.69,-194.7,854.4,-11.1,834,7464,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2229,3865
$GC,7772,-0.69,-194.7,887.0,-10.5,849,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2229,3865
$GC,8081,-0.69,-194.7,920.5,-10.6,864,8082,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2228,3864
$GC,8390,-0.69,-194.7,953.3,-10.5,879,8394,0.00,2.70,0.00,0.000,4,0.000,0.067,2646,893,3864
$GC,8434,-0.73,-194.7,958.0,-10.9,881,8438,0.00,2.65,0.00,0.000,6,0.000,0.051,2646,2243,3864
$STATE,8752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8752,begin apogee
$GC,8758,-0.19,0.0,991.0,10.3,897,8963,0.65,0.00,202.35,1.415,6,0.120,0.000,2756,2044,3071
$STATE,8964,end apogee,CONTROL_FINISHED_OK
$STATE,8964,begin climb
$GC,8967,0.82,194.7,999.5,0.0,907,9186,1.25,3.17,208.15,1.348,4,0.085,0.070,2972,651,2277
$GC,9292,0.71,194.7,972.3,13.0,921,9298,0.00,2.90,0.00,0.000,6,0.000,0.048,2972,2053,2273
$GC,9608,0.57,194.7,932.1,12.8,937,9613,0.28,2.90,0.00,0.000,4,0.137,0.063,2928,3465,2271
$GC,9651,0.57,194.7,927.2,10.8,939,9656,0.00,2.83,0.00,0.000,6,0.000,0.052,2927,2062,2271
$GC,9973,0.59,215.2,897.4,9.3,955,9996,0.00,0.00,20.92,1.364,6,0.000,0.000,2927,2063,2194
$GC,10304,0.63,244.0,867.4,9.0,971,10336,0.00,0.00,30.55,1.339,6,0.000,0.000,2927,2061,2076
$GC,10635,0.69,293.2,838.8,8.3,987,10697,0.12,3.00,50.92,1.316,4,0.079,0.070,2950,643,1874
$GC,10708,0.46,293.2,831.4,10.2,990,10713,0.30,2.88,0.00,0.000,6,0.110,0.045,2902,2073,1873
$GC,11024,0.70,416.4,812.4,5.7,1005,11161,0.22,3.15,126.88,1.279,4,0.058,0.071,2953,640,1372
$GC,11213,0.75,416.4,792.6,10.1,1014,11218,0.00,2.95,0.00,0.000,6,0.000,0.046,2953,2088,1368
$GC,11539,0.75,416.4,758.6,10.1,1030,11544,0.00,2.80,0.00,0.000,4,0.000,0.060,2953,3470,1364
$GC,11578,0.80,416.4,754.6,10.0,1032,11583,0.00,2.78,0.00,0.000,6,0.000,0.053,2954,2091,1362
$GC,11904,0.80,416.4,718.7,11.4,1048,11909,0.00,2.97,0.00,0.000,4,0.000,0.070,2953,632,1361
$GC,11926,0.80,416.4,716.1,12.0,1049,11930,0.00,2.85,0.00,0.000,6,0.000,0.044,2953,2101,1360
$GC,12247,0.80,416.4,679.7,11.2,1065,12251,0.00,2.72,0.00,0.000,4,0.000,0.059,2953,3462,1360
$GC,12273,0.80,416.4,676.5,11.6,1066,12277,0.00,2.72,0.00,0.000,6,0.000,0.051,2954,2090,1359
$GC,12595,0.80,416.4,640.9,11.0,1082,12599,0.00,2.95,0.00,0.000,4,0.000,0.068,2953,633,1359
$GC,12611,0.80,416.4,639.0,11.0,1083,12616,0.00,2.85,0.00,0.000,6,0.000,0.043,2953,2109,1358
$GC,12937,0.80,416.4,602.2,11.3,1099,12938,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2110,1359
$GC,13255,0.80,416.4,566.8,10.7,1128,13256,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2109,1359
$GC,13574,0.80,416.4,531.6,10.7,1158,13575,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2110,1359
$GC,13892,0.80,416.4,498.8,10.0,1188,13894,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2110,1359
$GC,14210,0.80,416.4,466.1,10.6,1218,14215,0.00,2.97,0.00,0.000,4,0.000,0.064,2953,637,1359
$GC,14231,0.80,416.4,463.7,10.5,1219,14237,0.00,2.83,0.00,0.000,6,0.000,0.041,2953,2114,1358
$GC,14557,0.80,416.4,428.9,10.9,1250,14558,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2114,1358
$GC,14876,0.80,416.4,394.0,11.0,1280,14877,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2114,1358
$GC,15192,0.80,416.4,358.0,11.2,1310,15194,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2114,1358
$GC,15524,0.80,416.4,321.5,10.5,1363,15530,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2114,1358
$GC,15867,0.80,416.4,284.8,10.6,1424,15874,0.00,2.97,0.00,0.000,4,0.000,0.062,2953,634,1358
$GC,15891,0.85,416.4,282.1,11.3,1428,15898,0.15,2.80,0.00,0.000,6,0.054,0.040,2990,2108,1358
$GC,16236,0.76,416.4,224.7,16.8,1489,16242,0.15,0.00,0.00,0.000,6,0.137,0.000,2966,2108,1358
$GC,16580,0.76,416.4,178.3,13.2,1550,16586,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2108,1358
$GC,16925,0.76,416.4,131.9,13.6,1611,16931,0.00,2.97,0.00,0.000,4,0.000,0.064,2966,637,1358
$GC,16943,0.76,416.4,129.1,13.5,1614,16949,0.00,2.78,0.00,0.000,6,0.000,0.040,2966,2100,1358
$GC,17289,0.76,416.4,85.7,11.9,1675,17294,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2100,1358
$GC,17633,0.76,416.4,45.9,11.0,1736,17638,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2100,1357
$GC,17774,0.81,455.3,30.6,8.7,1761,17820,0.00,3.05,37.25,0.827,4,0.000,0.065,2965,636,1213
$GC,17840,0.87,455.3,23.6,11.1,1772,17847,0.12,2.75,0.00,0.000,6,0.060,0.038,2994,2068,1212
$STATE,17975,end climb,SURFACE_DEPTH_REACHED
$STATE,17975,begin surface coast
$FINISH,0.7,1.027259
$STATE,17988,end surface coast,CONTROL_FINISHED_OK
$STATE,17988,begin surface
$SM_CCo,18064,0.00,0.000,0,0,1208,456.75
$SM_GC,0.78,7.53,0.00,0.00,0.044,0.000,0.000,1466,2312,1208,-6.10,0.48,456.75
$IRIDIUM_FIX,6108.28,-2543.50,150897,141444
$TT8_MAMPS,0.021476
$HUMID,1749
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,15.10
$XPDR_PINGS,21
$24V_AH,19.1,75.109
$10V_AH,9.8,51.183
$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,21.950,136.550,677.025,0.000,0.000,25.231,44.848,229.983,5.250,0.000,0.000,13.825,2851.872,10984.332,750.235,3290.137,597.711,0.000,2263.672,0.000,3273.582,0.000,0.466
$DEVICE_MAMPS,255.411,70.564,1415.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1370.743,1262.827,634.104,1579.156,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132612,1798
$CAP_FILE_SIZE,163697,0
$CFSIZE,260165632,234450944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,220508,002133,6132.546,-2558.600,48,1.3,49,-18.5