version: 66.03
glider: 143
mission: 4
dive: 241
start: 5 23 108 2 17 22
data:
$ID,143
$MISSION,4
$DIVE,241
$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,70
$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,-9834.7715
$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,18
$R_STBD_OVSHOOT,25
$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
$GPS1,021007,6134.521,-2615.801,33,1.6,33,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-57.4
$GPS2,021703,6134.551,-2615.971,13,1.7,13,-18.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6138.244,-2611.150
$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,88.6,20000,-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,-87.75,0.000,2,0.000,0.000,1468,2302,3388
$GC,119,-0.82,-194.7,3.3,-4.7,16,149,9.90,2.88,-11.73,0.000,4,0.245,0.077,2613,3698,3868
$GC,219,-0.73,-194.7,22.2,-16.5,33,226,0.15,2.72,0.00,0.000,6,0.139,0.040,2635,2284,3868
$GC,364,-0.67,-194.7,44.0,-15.3,58,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2283,3868
$GC,507,-0.62,-194.7,66.7,-16.6,83,514,0.15,2.75,0.00,0.000,4,0.144,0.054,2660,888,3868
$GC,544,-0.66,-194.7,72.0,-13.3,89,551,0.00,2.72,0.00,0.000,6,0.000,0.044,2660,2289,3868
$GC,887,-0.66,-194.7,115.9,-13.0,150,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2289,3869
$GC,1231,-0.66,-194.7,156.2,-10.6,211,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2289,3869
$GC,1574,-0.66,-194.7,194.5,-12.0,272,1580,0.00,2.78,0.00,0.000,4,0.000,0.054,2660,881,3868
$GC,1597,-0.66,-194.7,197.3,-11.8,276,1603,0.00,2.72,0.00,0.000,6,0.000,0.045,2660,2294,3869
$GC,1941,-0.66,-194.7,235.8,-10.7,337,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2294,3869
$GC,2284,-0.66,-194.7,271.0,-10.4,398,2290,0.00,2.78,0.00,0.000,4,0.000,0.054,2660,883,3869
$GC,2307,-0.66,-194.7,273.5,-10.6,402,2314,0.00,2.72,0.00,0.000,6,0.000,0.044,2660,2295,3869
$GC,2652,-0.66,-194.7,308.7,-10.1,463,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2295,3869
$GC,2995,-0.66,-194.7,344.3,-10.0,524,3001,0.00,2.78,0.00,0.000,4,0.000,0.054,2660,883,3869
$GC,3025,-0.71,-194.7,347.2,-10.1,529,3031,0.00,2.70,0.00,0.000,6,0.000,0.044,2660,2283,3869
$GC,3353,-0.71,-194.7,378.8,-9.6,562,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2283,3869
$GC,3670,-0.71,-194.7,410.1,-10.3,592,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2283,3869
$GC,3988,-0.71,-194.7,444.9,-11.1,622,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2284,3869
$GC,4307,-0.71,-194.7,480.3,-10.9,652,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2283,3869
$GC,4625,-0.71,-194.7,513.1,-10.3,682,4629,0.00,2.78,0.00,0.000,4,0.000,0.056,2659,881,3869
$GC,4653,-0.76,-194.7,516.1,-10.9,684,4658,0.12,2.70,0.00,0.000,6,0.064,0.044,2633,2281,3869
$GC,4978,-0.71,-194.7,561.1,-14.7,714,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2281,3868
$GC,5296,-0.67,-194.7,606.7,-14.2,742,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2280,3869
$GC,5604,-0.67,-194.7,652.8,-15.0,757,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2281,3869
$GC,5913,-0.67,-194.7,697.7,-14.5,772,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2282,3868
$GC,6223,-0.67,-194.7,739.2,-12.8,787,6228,0.00,2.83,0.00,0.000,4,0.000,0.067,2632,890,3868
$GC,6255,-0.67,-194.7,743.3,-12.1,788,6262,0.00,2.72,0.00,0.000,6,0.000,0.052,2632,2275,3868
$GC,6571,-0.67,-194.7,781.7,-12.2,804,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2276,3868
$GC,6881,-0.67,-194.7,816.5,-11.2,819,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2277,3868
$GC,7189,-0.67,-194.7,851.3,-11.4,834,7194,0.00,2.83,0.00,0.000,4,0.000,0.067,2634,889,3868
$GC,7216,-0.67,-194.7,854.5,-12.3,835,7220,0.00,2.72,0.00,0.000,6,0.000,0.051,2632,2275,3867
$GC,7538,-0.67,-194.7,895.7,-13.9,851,7543,0.00,2.95,0.00,0.000,4,0.000,0.070,2632,3709,3867
$GC,7559,-0.67,-194.7,899.0,-15.4,852,7564,0.00,2.88,0.00,0.000,6,0.000,0.051,2632,2265,3867
$GC,7880,-0.67,-194.7,943.3,-13.3,868,7881,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2265,3867
$GC,8189,-0.67,-194.7,982.5,-12.3,883,8194,0.00,2.80,0.00,0.000,4,0.000,0.067,2632,878,3866
$GC,8216,-0.67,-194.7,986.0,-13.3,884,8220,0.00,2.72,0.00,0.000,6,0.000,0.051,2632,2269,3866
$STATE,8261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8261,begin apogee
$GC,8266,-0.19,0.0,991.5,12.1,886,8473,0.75,0.00,203.35,1.421,6,0.129,0.000,2755,2035,3071
$STATE,8474,end apogee,CONTROL_FINISHED_OK
$STATE,8474,begin climb
$GC,8476,0.82,194.7,1000.3,0.0,896,8696,1.25,3.20,208.50,1.352,4,0.087,0.072,2970,644,2277
$GC,8802,0.70,194.7,974.6,12.4,911,8807,0.00,2.92,0.00,0.000,6,0.000,0.047,2971,2059,2274
$GC,9118,0.57,194.7,938.3,11.4,926,9123,0.25,2.88,0.00,0.000,4,0.137,0.063,2930,3461,2271
$GC,9173,0.60,217.2,932.6,9.2,928,9203,0.00,2.80,23.38,1.360,6,0.000,0.053,2930,2066,2184
$GC,9532,0.64,248.7,901.3,8.9,946,9573,0.00,2.95,33.03,1.350,4,0.000,0.061,2930,3459,2056
$GC,9601,0.68,281.2,894.7,8.9,949,9641,0.00,2.83,34.75,1.291,6,0.000,0.053,2930,2076,1923
$GC,9972,0.73,318.0,862.7,8.7,967,10016,0.15,2.90,38.00,1.326,4,0.071,0.060,2958,3461,1773
$GC,10033,0.48,318.0,855.5,11.8,970,10038,0.32,2.80,0.00,0.000,6,0.121,0.052,2908,2097,1771
$GC,10354,0.67,389.7,831.4,7.5,986,10437,0.20,2.90,75.07,1.302,4,0.061,0.060,2948,3464,1481
$GC,10533,0.67,389.7,811.1,12.5,994,10537,0.00,2.78,0.00,0.000,6,0.000,0.053,2949,2104,1475
$GC,10853,0.67,389.7,777.0,10.4,1010,10857,0.00,2.78,0.00,0.000,4,0.000,0.060,2948,3467,1472
$GC,10937,0.67,389.7,767.8,11.5,1014,10941,0.00,2.75,0.00,0.000,6,0.000,0.053,2949,2097,1471
$GC,11262,0.67,392.6,734.6,9.9,1030,11267,0.00,2.97,0.00,0.000,4,0.000,0.071,2949,634,1470
$GC,11290,0.72,392.6,731.7,11.0,1031,11294,0.00,2.85,0.00,0.000,6,0.000,0.044,2948,2102,1469
$GC,11605,0.72,392.6,699.2,10.2,1046,11606,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2102,1469
$GC,11915,0.75,419.4,669.3,9.1,1061,11947,0.00,0.00,30.12,1.250,6,0.000,0.000,2948,2102,1361
$GC,12265,0.81,431.3,636.1,9.6,1078,12285,0.15,0.00,13.85,1.236,6,0.064,0.000,2979,2102,1313
$GC,12596,0.76,431.3,587.4,15.1,1097,12601,0.00,3.00,0.00,0.000,4,0.000,0.067,2980,634,1309
$GC,12635,0.76,431.3,581.6,14.0,1100,12639,0.00,2.85,0.00,0.000,6,0.000,0.043,2980,2105,1308
$GC,12961,0.71,431.3,533.2,15.2,1130,12966,0.15,2.97,0.00,0.000,4,0.131,0.065,2954,641,1308
$GC,12989,0.71,431.3,529.2,12.6,1132,12994,0.00,2.78,0.00,0.000,6,0.000,0.042,2954,2084,1308
$GC,13314,0.76,431.3,495.0,10.2,1162,13315,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2084,1308
$GC,13633,0.80,431.3,461.9,10.4,1192,13635,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2084,1308
$GC,13952,0.85,431.3,428.6,10.7,1222,13958,0.15,2.92,0.00,0.000,4,0.067,0.063,2989,632,1308
$GC,13974,0.85,431.3,425.5,13.1,1223,13980,0.00,2.75,0.00,0.000,6,0.000,0.041,2989,2073,1307
$GC,14301,0.79,431.3,373.2,16.0,1254,14302,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2073,1307
$GC,14626,0.73,431.3,319.3,16.1,1300,14633,0.15,2.90,0.00,0.000,4,0.133,0.064,2963,635,1307
$GC,14668,0.78,431.3,313.4,12.0,1307,14675,0.00,2.72,0.00,0.000,6,0.000,0.041,2963,2063,1307
$GC,15012,0.78,431.3,271.1,11.9,1368,15019,0.00,2.75,0.00,0.000,4,0.000,0.053,2963,3469,1307
$GC,15042,0.83,431.3,267.4,12.9,1373,15048,0.00,2.80,0.00,0.000,6,0.000,0.046,2963,2036,1307
$GC,15386,0.83,431.3,226.9,11.4,1434,15393,0.00,2.78,0.00,0.000,4,0.000,0.064,2963,641,1307
$GC,15416,0.88,431.3,223.3,12.0,1439,15423,0.15,2.70,0.00,0.000,6,0.059,0.040,2994,2058,1306
$GC,15760,0.80,431.3,165.4,16.9,1500,15767,0.00,2.72,0.00,0.000,4,0.000,0.053,2995,3456,1306
$GC,15784,0.74,431.3,161.1,17.2,1504,15791,0.20,2.80,0.00,0.000,6,0.124,0.048,2964,2025,1306
$GC,16131,0.74,431.3,118.0,11.7,1565,16137,0.00,2.78,0.00,0.000,4,0.000,0.066,2964,640,1306
$GC,16154,0.79,431.3,115.0,12.1,1569,16160,0.00,2.67,0.00,0.000,6,0.000,0.040,2964,2044,1306
$GC,16497,0.79,431.3,75.3,11.3,1630,16504,0.00,2.78,0.00,0.000,4,0.000,0.053,2964,3466,1306
$GC,16528,0.84,431.3,72.0,11.6,1635,16534,0.00,2.78,0.00,0.000,6,0.000,0.045,2964,2042,1306
$GC,16872,0.85,440.0,36.6,9.7,1696,16884,0.00,0.00,9.52,0.782,6,0.000,0.000,2964,2042,1277
$GC,17023,0.91,455.2,21.9,9.5,1722,17046,0.15,0.00,17.20,0.830,6,0.067,0.000,2997,2041,1216
$STATE,17157,end climb,SURFACE_DEPTH_REACHED
$STATE,17157,begin surface coast
$FINISH,0.3,1.027256
$STATE,17170,end surface coast,CONTROL_FINISHED_OK
$STATE,17170,begin surface
$SM_CCo,17247,0.00,0.000,0,0,1212,456.01
$SM_GC,0.93,7.50,0.00,0.00,0.044,0.000,0.000,1464,2310,1212,-6.10,0.42,456.01
$IRIDIUM_FIX,6108.28,-2555.55,160897,212118
$TT8_MAMPS,0.021476
$HUMID,1737
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,16.60
$XPDR_PINGS,22
$24V_AH,19.1,76.683
$10V_AH,9.8,52.124
$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,21.850,147.225,686.775,0.000,0.000,27.387,33.533,229.212,5.500,0.000,0.000,14.530,2777.525,10283.512,781.306,3187.585,617.445,0.000,2252.176,0.000,3192.037,0.000,0.466
$DEVICE_MAMPS,245.440,76.700,1421.251,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1335.637,1223.151,651.463,1546.794,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129805,1748
$CAP_FILE_SIZE,162222,0
$CFSIZE,260165632,233885696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230508,070602,6135.466,-2615.417,37,1.5,37,-18.6