version: 66.03
glider: 143
mission: 4
dive: 237
start: 5 22 108 5 38 28
data:
$ID,143
$MISSION,4
$DIVE,237
$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,-9775.6074
$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,20
$R_STBD_OVSHOOT,28
$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
$GPS1,053108,6134.394,-2604.348,34,1.8,34,-18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-44.9
$GPS2,053809,6134.447,-2604.503,13,1.8,13,-18.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6140.642,-2608.699
$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,323.5,20000,-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,-194.7,0.0,0.0,0,128,0.00,0.00,-98.72,0.000,2,0.000,0.000,1469,2314,3406
$GC,130,-0.82,-194.7,3.4,-6.1,18,160,10.23,2.83,-11.02,0.000,4,0.255,0.067,2613,3697,3867
$GC,387,-0.74,-194.7,49.8,-17.8,63,394,0.15,2.70,0.00,0.000,6,0.139,0.041,2635,2289,3868
$GC,532,-0.69,-194.7,72.3,-15.3,88,538,0.00,2.72,0.00,0.000,4,0.000,0.054,2635,890,3868
$GC,573,-0.69,-194.7,78.5,-14.1,95,579,0.00,2.72,0.00,0.000,6,0.000,0.046,2635,2288,3868
$GC,917,-0.63,-194.7,125.1,-13.3,156,923,0.15,0.00,0.00,0.000,6,0.143,0.000,2659,2288,3868
$GC,1260,-0.63,-194.7,162.6,-10.6,217,1266,0.00,2.75,0.00,0.000,4,0.000,0.054,2660,888,3868
$GC,1307,-0.69,-194.7,167.3,-9.9,225,1313,0.00,2.72,0.00,0.000,6,0.000,0.045,2660,2295,3868
$GC,1651,-0.69,-194.7,203.1,-10.7,286,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2295,3868
$GC,1994,-0.69,-194.7,240.3,-10.6,347,2000,0.00,2.78,0.00,0.000,4,0.000,0.054,2660,883,3868
$GC,2034,-0.74,-194.7,244.7,-10.4,354,2041,0.00,2.70,0.00,0.000,6,0.000,0.044,2660,2282,3868
$GC,2378,-0.74,-194.7,282.1,-11.2,415,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2282,3868
$GC,2720,-0.74,-194.7,321.6,-11.5,476,2726,0.00,2.75,0.00,0.000,4,0.000,0.055,2660,883,3868
$GC,2772,-0.80,-194.7,327.7,-12.1,485,2779,0.17,2.67,0.00,0.000,6,0.059,0.044,2623,2268,3868
$GC,3112,-0.72,-194.7,382.3,-16.6,529,3116,0.00,2.88,0.00,0.000,4,0.000,0.058,2622,3709,3868
$GC,3151,-0.66,-194.7,388.7,-16.5,532,3156,0.17,2.80,0.00,0.000,6,0.135,0.043,2648,2259,3868
$GC,3475,-0.66,-194.7,431.0,-12.7,562,3479,0.00,2.67,0.00,0.000,4,0.000,0.054,2648,886,3868
$GC,3525,-0.66,-194.7,437.5,-12.7,566,3529,0.00,2.65,0.00,0.000,6,0.000,0.044,2648,2260,3868
$GC,3853,-0.66,-194.7,479.4,-12.9,596,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2260,3868
$GC,4177,-0.66,-194.7,520.6,-12.4,627,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2260,3868
$GC,4496,-0.66,-194.7,559.0,-12.0,657,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2260,3868
$GC,4814,-0.66,-194.7,595.1,-10.9,687,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2260,3868
$GC,5136,-0.66,-194.7,630.8,-11.3,705,5141,0.00,2.75,0.00,0.000,4,0.000,0.061,2648,887,3868
$GC,5197,-0.66,-194.7,638.0,-12.0,708,5202,0.00,2.65,0.00,0.000,6,0.000,0.046,2648,2251,3867
$GC,5523,-0.66,-194.7,677.0,-12.1,724,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2252,3867
$GC,5833,-0.66,-194.7,714.9,-11.9,739,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2253,3867
$GC,6141,-0.66,-194.7,751.3,-11.7,754,6146,0.00,2.78,0.00,0.000,4,0.000,0.068,2648,892,3867
$GC,6184,-0.66,-194.7,756.3,-11.2,756,6188,0.00,2.65,0.00,0.000,6,0.000,0.050,2648,2243,3867
$GC,6511,-0.66,-194.7,794.0,-11.8,772,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2244,3867
$GC,6822,-0.66,-194.7,829.1,-10.8,787,6826,0.00,3.00,0.00,0.000,4,0.000,0.069,2648,3705,3867
$GC,6861,-0.71,-194.7,833.6,-11.7,789,6866,0.00,2.92,0.00,0.000,6,0.000,0.053,2648,2236,3866
$GC,7187,-0.71,-194.7,870.6,-11.7,805,7192,0.00,2.72,0.00,0.000,4,0.000,0.067,2648,886,3866
$GC,7228,-0.75,-194.7,875.2,-11.9,807,7233,0.00,2.67,0.00,0.000,6,0.000,0.051,2648,2246,3866
$GC,7554,-0.75,-194.7,913.7,-11.8,823,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2246,3866
$GC,7863,-0.75,-194.7,949.3,-10.8,838,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2247,3865
$GC,8172,-0.75,-194.7,980.0,-9.1,853,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2247,3865
$STATE,8294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8294,begin apogee
$GC,8299,-0.19,0.0,990.7,8.5,859,8505,0.65,0.00,202.65,1.419,6,0.131,0.000,2754,2048,3071
$STATE,8506,end apogee,CONTROL_FINISHED_OK
$STATE,8506,begin climb
$GC,8509,0.82,194.7,995.3,0.0,869,8728,1.27,3.20,208.35,1.345,4,0.087,0.071,2974,652,2277
$GC,8828,0.70,194.7,961.2,15.4,883,8834,0.15,2.90,0.00,0.000,6,0.140,0.048,2954,2048,2273
$GC,9145,0.59,194.7,919.5,12.8,898,9150,0.15,2.90,0.00,0.000,4,0.138,0.063,2929,3462,2271
$GC,9200,0.55,194.7,912.9,11.1,900,9206,0.00,2.80,0.00,0.000,6,0.000,0.052,2930,2074,2271
$GC,9516,0.53,208.4,882.1,9.5,916,9538,0.00,2.88,14.18,1.348,4,0.000,0.063,2929,3465,2221
$GC,9584,0.53,208.4,875.3,10.2,919,9588,0.00,2.78,0.00,0.000,6,0.000,0.052,2930,2082,2220
$GC,9910,0.56,233.0,845.6,9.1,935,9939,0.00,0.00,26.40,1.337,6,0.000,0.000,2930,2081,2120
$GC,10241,0.60,268.1,816.3,8.8,951,10283,0.00,0.00,36.00,1.316,6,0.000,0.000,2930,2080,1978
$GC,10591,0.62,282.1,785.5,9.5,968,10614,0.00,2.97,15.90,1.302,4,0.000,0.070,2929,640,1920
$GC,10660,0.62,282.1,778.7,10.1,971,10664,0.00,2.92,0.00,0.000,6,0.000,0.046,2929,2121,1919
$GC,10986,0.63,289.8,747.1,9.7,987,11001,0.00,3.08,9.38,1.203,4,0.000,0.069,2930,634,1889
$GC,11092,0.63,289.8,736.4,10.2,991,11097,0.00,2.90,0.00,0.000,6,0.000,0.046,2929,2118,1888
$GC,11418,0.66,317.4,705.6,9.0,1007,11452,0.00,2.78,28.85,1.259,4,0.000,0.060,2929,3471,1776
$GC,11483,0.76,344.7,699.6,9.1,1010,11519,0.17,2.75,29.92,1.194,6,0.067,0.050,2964,2105,1665
$GC,11830,0.71,344.7,655.7,12.9,1026,11832,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2104,1660
$GC,12138,0.66,344.7,617.1,12.0,1041,12143,0.00,2.72,0.00,0.000,4,0.000,0.056,2964,3467,1659
$GC,12160,0.66,344.7,614.2,12.5,1042,12164,0.00,2.65,0.00,0.000,6,0.000,0.048,2964,2120,1658
$GC,12489,0.61,344.7,571.7,13.4,1068,12490,0.17,0.00,0.00,0.000,6,0.125,0.000,2937,2120,1658
$GC,12807,0.63,362.7,540.7,9.4,1098,12828,0.00,0.00,17.92,1.183,6,0.000,0.000,2937,2120,1592
$GC,13146,0.74,409.0,511.2,8.4,1130,13202,0.12,2.80,48.70,1.118,4,0.073,0.054,2962,3466,1402
$GC,13220,0.74,409.0,503.3,11.2,1137,13225,0.00,2.70,0.00,0.000,6,0.000,0.046,2962,2124,1400
$GC,13545,0.74,409.0,466.0,11.4,1167,13550,0.00,3.00,0.00,0.000,4,0.000,0.064,2962,635,1396
$GC,13577,0.74,409.0,462.1,11.6,1169,13584,0.00,2.90,0.00,0.000,6,0.000,0.041,2963,2136,1395
$GC,13903,0.74,409.0,422.8,12.1,1200,13904,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2135,1395
$GC,14221,0.74,409.0,382.9,12.3,1230,14225,0.00,3.03,0.00,0.000,4,0.000,0.064,2962,641,1394
$GC,14237,0.74,409.0,380.9,12.0,1231,14242,0.00,2.85,0.00,0.000,6,0.000,0.041,2962,2134,1394
$GC,14564,0.74,409.0,342.4,11.4,1266,14570,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2134,1394
$GC,14907,0.74,409.0,303.5,11.0,1327,14913,0.00,3.03,0.00,0.000,4,0.000,0.063,2962,634,1394
$GC,14936,0.74,409.0,300.2,10.8,1332,14943,0.00,2.83,0.00,0.000,6,0.000,0.041,2962,2117,1393
$GC,15281,0.74,409.0,261.9,10.4,1393,15286,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2117,1393
$GC,15623,0.74,409.0,226.7,10.6,1454,15630,0.00,2.97,0.00,0.000,4,0.000,0.063,2962,635,1393
$GC,15648,0.74,409.0,224.1,11.4,1458,15654,0.00,2.80,0.00,0.000,6,0.000,0.041,2962,2106,1392
$GC,15992,0.74,409.0,187.8,10.7,1519,15998,0.00,2.67,0.00,0.000,4,0.000,0.053,2962,3469,1393
$GC,16015,0.74,409.0,185.1,11.8,1523,16021,0.00,2.67,0.00,0.000,6,0.000,0.045,2962,2094,1393
$GC,16359,0.74,409.0,148.7,11.1,1584,16366,0.00,2.90,0.00,0.000,4,0.000,0.064,2962,638,1393
$GC,16383,0.74,409.0,146.1,11.2,1588,16389,0.00,2.80,0.00,0.000,6,0.000,0.041,2962,2113,1392
$GC,16727,0.74,409.0,107.5,11.1,1649,16732,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2113,1392
$GC,17069,0.74,409.0,66.0,12.8,1710,17075,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2114,1392
$GC,17413,0.74,409.0,25.4,10.4,1771,17418,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2114,1393
$GC,17556,0.74,409.0,9.4,11.7,1796,17562,0.00,2.95,0.00,0.000,4,0.000,0.062,2962,641,1393
$GC,17580,0.81,409.0,6.6,11.2,1800,17587,0.00,2.80,0.00,0.000,6,0.000,0.041,2962,2104,1392
$STATE,17625,end climb,SURFACE_DEPTH_REACHED
$STATE,17625,begin surface coast
$FINISH,0.2,1.025882
$STATE,17650,end surface coast,CONTROL_FINISHED_OK
$STATE,17650,begin surface
$SM_CCo,17727,0.00,0.000,0,0,1390,412.35
$SM_GC,0.84,7.32,0.00,0.00,0.048,0.000,0.000,1470,2320,1390,-6.08,0.71,412.35
$IRIDIUM_FIX,6108.28,-2603.66,160897,000057
$TT8_MAMPS,0.021476
$HUMID,1742
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,16.60
$XPDR_PINGS,23
$24V_AH,19.1,75.637
$10V_AH,9.9,51.497
$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,20.900,147.225,638.250,0.000,0.000,29.653,33.985,230.849,5.750,0.000,0.000,15.221,2872.761,10578.281,744.445,3331.785,603.370,0.000,2269.666,0.000,3319.955,0.000,0.466
$DEVICE_MAMPS,255.411,70.564,1418.950,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1379.562,1268.308,660.320,1609.115,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132786,1812
$CAP_FILE_SIZE,165159,0
$CFSIZE,260165632,234258432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,220508,103508,6136.763,-2613.174,37,1.7,37,-18.6