version: 66.03
glider: 143
mission: 4
dive: 242
start: 5 23 108 7 12 58
data:
$ID,143
$MISSION,4
$DIVE,242
$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,-9847.0801
$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
$GPS1,070602,6135.466,-2615.417,37,1.5,37,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-51.7
$GPS2,071239,6135.498,-2615.615,10,1.5,10,-18.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6139.191,-2610.796
$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,-194.7,0.0,0.0,0,127,0.00,0.00,-98.57,0.000,2,0.000,0.000,1464,2310,3298
$GC,131,-0.82,-194.7,3.1,-6.4,18,161,10.02,2.90,-14.60,0.000,4,0.249,0.071,2614,3705,3867
$GC,215,-0.73,-194.7,17.6,-17.3,32,222,0.15,2.72,0.00,0.000,6,0.146,0.040,2634,2291,3868
$GC,359,-0.67,-194.7,39.3,-14.9,57,366,0.00,2.75,0.00,0.000,4,0.000,0.055,2634,886,3868
$GC,395,-0.67,-194.7,44.8,-15.0,63,401,0.00,2.70,0.00,0.000,6,0.000,0.048,2634,2269,3868
$GC,537,-0.61,-194.7,65.2,-14.2,88,544,0.15,2.88,0.00,0.000,4,0.149,0.058,2659,3709,3868
$GC,569,-0.61,-194.7,69.4,-13.8,93,575,0.00,2.78,0.00,0.000,6,0.000,0.040,2659,2273,3869
$GC,912,-0.61,-194.7,110.9,-11.6,154,919,0.00,2.72,0.00,0.000,4,0.000,0.056,2659,881,3868
$GC,938,-0.61,-194.7,113.7,-11.9,158,945,0.00,2.70,0.00,0.000,6,0.000,0.045,2659,2283,3868
$GC,1284,-0.61,-194.7,155.4,-12.8,219,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2284,3868
$GC,1626,-0.61,-194.7,197.4,-11.8,280,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2283,3869
$GC,1969,-0.61,-194.7,238.2,-11.8,341,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2283,3869
$GC,2310,-0.61,-194.7,277.5,-11.6,402,2316,0.00,2.75,0.00,0.000,4,0.000,0.055,2659,887,3869
$GC,2340,-0.66,-194.7,280.9,-11.9,407,2346,0.00,2.67,0.00,0.000,6,0.000,0.045,2659,2273,3869
$GC,2683,-0.66,-194.7,318.8,-10.6,468,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2273,3869
$GC,3029,-0.66,-194.7,354.5,-10.2,526,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2273,3869
$GC,3349,-0.66,-194.7,386.2,-9.8,556,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2273,3869
$GC,3667,-0.66,-194.7,417.0,-9.2,586,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2273,3869
$GC,3985,-0.66,-194.7,447.0,-9.6,616,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2274,3868
$GC,4304,-0.66,-194.7,478.2,-9.9,646,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2273,3868
$GC,4621,-0.66,-194.7,511.1,-10.3,676,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2273,3868
$GC,4940,-0.66,-194.7,544.6,-10.3,706,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2273,3868
$GC,5258,-0.66,-194.7,577.4,-10.2,736,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2273,3868
$GC,5586,-0.66,-194.7,608.2,-8.8,763,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2274,3868
$GC,5895,-0.66,-194.7,636.0,-9.3,778,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2273,3868
$GC,6204,-0.66,-194.7,667.5,-11.2,793,6205,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2275,3868
$GC,6513,-0.66,-194.7,702.6,-11.1,808,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2276,3868
$GC,6823,-0.66,-194.7,737.6,-11.3,823,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2277,3867
$GC,7131,-0.66,-194.7,770.5,-10.5,838,7136,0.00,2.83,0.00,0.000,4,0.000,0.068,2659,892,3867
$GC,7164,-0.73,-194.7,774.0,-11.0,839,7170,0.00,2.72,0.00,0.000,6,0.000,0.051,2659,2275,3867
$GC,7480,-0.73,-194.7,809.9,-12.1,855,7485,0.00,2.92,0.00,0.000,4,0.000,0.069,2658,3705,3867
$GC,7520,-0.80,-194.7,814.9,-12.6,857,7526,0.17,2.83,0.00,0.000,6,0.061,0.051,2623,2276,3867
$GC,7848,-0.75,-194.7,866.6,-15.9,873,7852,0.00,2.80,0.00,0.000,4,0.000,0.067,2623,884,3867
$GC,7887,-0.75,-194.7,872.7,-15.5,875,7891,0.00,2.72,0.00,0.000,6,0.000,0.051,2623,2269,3867
$GC,8213,-0.69,-194.7,921.5,-15.3,891,8218,0.15,2.95,0.00,0.000,4,0.142,0.067,2648,3708,3866
$GC,8240,-0.69,-194.7,925.5,-14.2,892,8245,0.00,2.85,0.00,0.000,6,0.000,0.051,2648,2271,3866
$GC,8555,-0.69,-194.7,963.8,-12.0,907,8557,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2271,3866
$STATE,8801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8801,begin apogee
$GC,8806,-0.19,0.0,992.3,11.4,919,9013,0.65,0.00,203.27,1.419,6,0.126,0.000,2756,2034,3071
$STATE,9014,end apogee,CONTROL_FINISHED_OK
$STATE,9014,begin climb
$GC,9016,0.82,194.7,1002.4,0.0,929,9235,1.25,3.17,208.38,1.353,4,0.088,0.070,2970,643,2277
$GC,9314,0.71,194.7,982.2,11.6,942,9319,0.00,2.95,0.00,0.000,6,0.000,0.048,2970,2057,2274
$GC,9629,0.58,194.7,947.6,10.7,957,9635,0.22,2.90,0.00,0.000,4,0.137,0.063,2933,3466,2272
$GC,9679,0.63,229.1,942.8,8.8,959,9720,0.00,2.83,35.05,1.358,6,0.000,0.052,2933,2067,2137
$GC,10037,0.67,264.2,912.3,8.8,977,10079,0.00,2.97,36.35,1.353,4,0.000,0.061,2933,3462,1994
$GC,10118,0.68,274.6,904.8,9.6,980,10137,0.00,2.80,12.23,1.221,6,0.000,0.052,2932,2089,1951
$GC,10455,0.73,312.4,875.5,8.7,997,10501,0.12,2.90,39.60,1.338,4,0.077,0.061,2956,3469,1797
$GC,10517,0.54,312.4,868.6,11.3,1000,10523,0.25,2.83,0.00,0.000,6,0.124,0.052,2918,2093,1795
$GC,10839,0.70,394.3,845.2,7.2,1016,10933,0.17,2.97,85.43,1.318,4,0.064,0.060,2953,3463,1462
$GC,10944,0.20,394.3,833.9,11.1,1021,10950,0.65,2.83,0.00,0.000,6,0.110,0.051,2846,2104,1460
$GC,11266,0.54,394.3,800.2,11.6,1037,11272,0.35,3.00,0.00,0.000,4,0.073,0.068,2913,637,1453
$GC,11577,0.78,394.3,763.2,12.0,1051,11583,0.30,2.88,0.00,0.000,6,0.081,0.045,2968,2114,1450
$GC,11906,0.97,394.3,728.7,10.9,1067,11911,0.17,2.72,0.00,0.000,4,0.063,0.060,3011,3472,1450
$GC,12007,0.91,394.3,711.5,18.1,1071,12013,0.00,2.50,0.00,0.000,6,0.000,0.053,3011,2215,1450
$GC,12323,0.76,394.3,648.5,20.3,1087,12329,0.25,3.20,0.00,0.000,4,0.141,0.068,2970,637,1450
$GC,12380,0.76,394.3,639.0,13.6,1089,12386,0.00,3.05,0.00,0.000,6,0.000,0.047,2969,2208,1449
$GC,12698,0.72,394.3,591.7,14.9,1107,12702,0.00,3.20,0.00,0.000,4,0.000,0.067,2970,635,1449
$GC,12730,0.72,394.3,586.6,14.5,1109,12736,0.00,3.00,0.00,0.000,6,0.000,0.044,2970,2186,1449
$GC,13057,0.67,394.3,539.3,14.5,1140,13062,0.12,3.12,0.00,0.000,4,0.134,0.064,2951,641,1449
$GC,13085,0.67,394.3,535.2,13.2,1142,13090,0.00,2.92,0.00,0.000,6,0.000,0.044,2952,2159,1449
$GC,13411,0.67,394.3,496.7,11.8,1172,13412,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2159,1449
$GC,13728,0.67,394.3,459.6,11.3,1202,13732,0.00,3.08,0.00,0.000,4,0.000,0.063,2951,634,1449
$GC,13767,0.73,394.3,455.2,11.1,1205,13772,0.00,2.90,0.00,0.000,6,0.000,0.041,2951,2147,1449
$GC,14094,0.73,394.3,420.4,10.5,1235,14095,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2147,1449
$GC,14410,0.73,394.3,387.6,10.0,1265,14415,0.00,3.03,0.00,0.000,4,0.000,0.063,2951,641,1449
$GC,14443,0.79,394.3,384.2,10.2,1267,14449,0.00,2.85,0.00,0.000,6,0.000,0.041,2952,2134,1449
$GC,14770,0.80,404.9,352.6,9.6,1298,14783,0.12,0.00,9.57,0.969,6,0.071,0.000,2977,2134,1420
$GC,15119,0.75,404.9,307.5,13.0,1358,15125,0.00,3.03,0.00,0.000,4,0.000,0.063,2977,634,1419
$GC,15153,0.75,404.9,303.0,13.1,1364,15160,0.00,2.85,0.00,0.000,6,0.000,0.041,2977,2126,1418
$GC,15498,0.71,404.9,257.8,13.0,1425,15503,0.15,0.00,0.00,0.000,6,0.128,0.000,2951,2126,1418
$GC,15841,0.77,424.9,224.0,9.3,1486,15870,0.00,3.03,22.02,0.979,4,0.000,0.063,2951,632,1337
$GC,15888,0.84,424.9,219.4,10.2,1494,15895,0.17,2.85,0.00,0.000,6,0.054,0.040,2989,2111,1336
$GC,16233,0.77,424.9,165.8,15.7,1555,16238,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2111,1335
$GC,16576,0.71,424.9,113.2,14.6,1616,16583,0.17,2.97,0.00,0.000,4,0.131,0.063,2959,640,1334
$GC,16608,0.71,424.9,109.1,12.8,1621,16614,0.00,2.80,0.00,0.000,6,0.000,0.040,2959,2104,1333
$GC,16952,0.76,466.5,73.9,8.6,1682,17002,0.00,2.72,42.28,0.840,4,0.000,0.053,2959,3468,1170
$GC,17027,0.84,466.5,66.7,10.7,1695,17034,0.12,2.72,0.00,0.000,6,0.068,0.044,2984,2087,1168
$GC,17372,0.84,466.5,22.7,13.3,1756,17378,0.00,2.92,0.00,0.000,4,0.000,0.066,2985,637,1164
$GC,17419,0.89,466.5,16.7,11.8,1764,17425,0.00,2.80,0.00,0.000,6,0.000,0.039,2984,2101,1163
$STATE,17531,end climb,SURFACE_DEPTH_REACHED
$STATE,17531,begin surface coast
$FINISH,0.3,1.025745
$STATE,17545,end surface coast,CONTROL_FINISHED_OK
$STATE,17546,begin surface
$SM_CCo,17622,0.00,0.000,0,0,1162,468.28
$SM_GC,0.99,7.38,0.00,0.00,0.042,0.000,0.000,1466,2318,1162,-6.09,0.65,468.28
$IRIDIUM_FIX,6108.28,-2615.74,170897,020248
$TT8_MAMPS,0.021476
$HUMID,1730
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,16.60
$XPDR_PINGS,18
$24V_AH,19.1,76.956
$10V_AH,9.8,52.278
$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,23.300,150.350,694.175,0.000,0.000,23.629,34.598,213.668,4.500,0.000,0.000,11.682,2840.041,10477.071,782.668,3305.979,597.824,0.000,2311.777,0.000,3309.635,0.000,0.466
$DEVICE_MAMPS,248.508,70.564,1418.950,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1361.726,1250.618,649.202,1574.065,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132697,1786
$CAP_FILE_SIZE,166609,0
$CFSIZE,260165632,233779200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230508,120756,6136.583,-2615.062,40,1.0,40,-18.6