version: 66.03
glider: 143
mission: 4
dive: 58
start: 4 15 108 14 24 13
data:
$ID,143
$MISSION,4
$DIVE,58
$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,0
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,270
$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,-5078.4463
$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,34
$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
$GPS1,140825,5936.524,-2136.490,41,1.4,57,-15.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-32.1
$GPS2,142356,5936.741,-2136.799,15,1.2,32,-15.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5936.741,-2142.261
$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,285.1,20000,-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,25,-0.82,-194.7,0.0,0.0,0,165,0.00,0.00,-137.40,0.000,2,0.000,0.000,1469,2318,3851
$GC,168,-0.82,-194.7,3.8,-7.2,19,185,10.20,2.85,-0.28,0.000,4,0.262,0.058,2610,873,3867
$GC,444,-0.72,-194.7,68.8,-20.5,70,452,0.15,2.78,0.00,0.000,6,0.133,0.046,2637,2275,3867
$GC,648,-0.65,-194.7,99.8,-15.5,107,655,0.12,2.85,0.00,0.000,4,0.147,0.056,2653,3709,3867
$GC,687,-0.65,-194.7,105.7,-13.8,114,695,0.00,2.78,0.00,0.000,6,0.000,0.040,2653,2290,3867
$GC,890,-0.65,-194.7,132.2,-11.9,151,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2286,3867
$GC,1089,-0.65,-194.7,157.8,-12.8,188,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2287,3867
$GC,1422,-0.65,-194.7,200.7,-13.9,249,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2287,3867
$GC,1752,-0.65,-194.7,246.3,-13.0,310,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2286,3867
$GC,2084,-0.65,-194.7,290.1,-13.1,371,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2287,3867
$GC,2413,-0.65,-194.7,332.8,-13.0,432,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2287,3867
$GC,2753,-0.65,-194.7,375.8,-13.2,493,2759,0.00,2.72,0.00,0.000,4,0.000,0.054,2653,882,3868
$GC,2788,-0.65,-194.7,380.3,-12.4,499,2794,0.00,2.72,0.00,0.000,6,0.000,0.041,2653,2307,3867
$GC,3128,-0.65,-194.7,422.7,-12.4,560,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2307,3867
$GC,3468,-0.65,-194.7,465.8,-13.0,621,3475,0.00,2.78,0.00,0.000,4,0.000,0.054,2653,878,3867
$GC,3502,-0.65,-194.7,470.3,-12.7,627,3509,0.00,2.72,0.00,0.000,6,0.000,0.041,2653,2320,3867
$GC,3845,-0.65,-194.7,514.3,-12.5,688,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2320,3867
$GC,4184,-0.65,-194.7,556.3,-12.6,749,4190,0.00,2.83,0.00,0.000,4,0.000,0.055,2653,876,3867
$GC,4224,-0.65,-194.7,561.1,-11.8,756,4232,0.00,2.70,0.00,0.000,6,0.000,0.041,2654,2280,3867
$GC,4572,-0.65,-194.7,603.0,-11.8,816,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2280,3867
$GC,4890,-0.65,-194.7,640.3,-11.7,846,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2280,3867
$GC,5211,-0.65,-194.7,678.2,-12.2,876,5216,0.00,2.83,0.00,0.000,4,0.000,0.063,2653,3699,3867
$GC,5253,-0.65,-194.7,683.9,-12.5,879,5261,0.00,2.80,0.00,0.000,6,0.000,0.051,2653,2286,3867
$GC,5579,-0.65,-194.7,724.0,-12.5,910,5583,0.00,2.83,0.00,0.000,4,0.000,0.071,2653,877,3867
$GC,5617,-0.65,-194.7,728.8,-12.5,913,5622,0.00,2.72,0.00,0.000,6,0.000,0.049,2654,2282,3867
$GC,5941,-0.65,-194.7,767.7,-12.0,943,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2284,3867
$GC,6259,-0.65,-194.7,805.0,-11.4,973,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2286,3866
$GC,6578,-0.65,-194.7,842.2,-12.0,1003,6582,0.00,2.83,0.00,0.000,4,0.000,0.068,2653,881,3866
$GC,6616,-0.70,-194.7,846.7,-11.9,1006,6621,0.00,2.75,0.00,0.000,6,0.000,0.049,2654,2298,3866
$GC,6943,-0.70,-194.7,883.9,-11.5,1036,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2299,3866
$GC,7259,-0.70,-194.7,920.7,-11.5,1066,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2300,3866
$GC,7577,-0.70,-194.7,957.3,-11.4,1096,7581,0.00,2.85,0.00,0.000,4,0.000,0.067,2653,887,3865
$GC,7620,-0.76,-194.7,962.4,-11.5,1099,7627,0.00,2.70,0.00,0.000,6,0.000,0.048,2655,2280,3865
$STATE,7869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7869,begin apogee
$GC,7873,-0.19,0.0,991.0,11.7,1123,8072,0.60,0.00,194.55,1.460,6,0.119,0.000,2757,2040,3071
$STATE,8073,end apogee,CONTROL_FINISHED_OK
$STATE,8073,begin climb
$GC,8075,0.82,194.7,1000.1,0.0,1143,8284,1.23,3.17,198.55,1.372,4,0.091,0.071,2969,643,2277
$GC,8401,0.68,194.7,971.3,13.0,1173,8408,0.15,2.92,0.00,0.000,6,0.141,0.044,2950,2056,2273
$GC,8725,0.56,194.7,933.9,11.8,1204,8731,0.17,2.90,0.00,0.000,4,0.133,0.058,2922,3464,2271
$GC,8780,0.56,194.7,928.1,10.2,1208,8787,0.00,2.85,0.00,0.000,6,0.000,0.051,2923,2074,2271
$GC,9105,0.61,231.0,899.2,8.7,1239,9146,0.00,0.00,36.00,1.414,6,0.000,0.000,2923,2074,2130
$GC,9464,0.63,248.6,866.5,9.4,1273,9489,0.00,2.90,19.42,1.407,4,0.000,0.058,2925,3466,2056
$GC,9568,0.64,261.4,856.7,9.6,1282,9589,0.00,2.83,13.85,1.215,6,0.000,0.051,2922,2080,2005
$GC,9907,0.68,293.4,826.5,8.9,1314,9943,0.12,0.00,33.42,1.350,6,0.074,0.000,2947,2080,1875
$GC,10256,0.62,293.4,784.3,12.5,1347,10261,0.00,2.80,0.00,0.000,4,0.000,0.056,2948,3461,1871
$GC,10299,0.62,293.4,778.8,13.0,1350,10306,0.00,2.75,0.00,0.000,6,0.000,0.052,2947,2100,1869
$GC,10625,0.56,293.4,740.3,11.6,1381,10627,0.15,0.00,0.00,0.000,6,0.123,0.000,2924,2100,1869
$GC,10945,0.59,319.6,711.1,9.1,1411,10977,0.00,3.05,26.33,1.371,4,0.000,0.071,2924,640,1768
$GC,11091,0.67,345.3,697.3,9.1,1424,11125,0.00,2.90,27.38,1.205,6,0.000,0.042,2924,2115,1663
$GC,11450,0.69,359.2,663.8,9.5,1458,11473,0.12,3.10,14.62,1.280,4,0.069,0.069,2949,643,1606
$GC,11562,0.69,359.2,650.4,12.0,1468,11567,0.00,2.88,0.00,0.000,6,0.000,0.043,2949,2103,1603
$GC,11886,0.69,359.2,608.8,13.3,1498,11887,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2103,1602
$GC,12217,0.64,359.2,566.4,12.0,1551,12223,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2103,1602
$GC,12559,0.64,359.2,523.9,12.7,1612,12564,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2103,1602
$GC,12898,0.64,359.2,480.7,11.9,1673,12904,0.00,2.95,0.00,0.000,4,0.000,0.063,2949,638,1601
$GC,12921,0.64,359.2,477.7,13.1,1677,12928,0.00,2.75,0.00,0.000,6,0.000,0.038,2950,2092,1602
$GC,13262,0.64,359.2,436.3,11.5,1738,13268,0.00,2.67,0.00,0.000,4,0.000,0.049,2949,3469,1601
$GC,13282,0.64,359.2,434.0,11.9,1741,13288,0.00,2.70,0.00,0.000,6,0.000,0.044,2949,2076,1600
$GC,13622,0.64,359.2,392.3,12.1,1802,13627,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2076,1600
$GC,13961,0.64,359.2,351.5,11.7,1863,13968,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2076,1600
$GC,14292,0.64,359.2,312.0,11.9,1924,14299,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2076,1600
$GC,14625,0.64,359.2,274.0,11.0,1985,14630,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2076,1600
$GC,14952,0.64,359.2,236.6,11.2,2046,14960,0.00,2.72,0.00,0.000,4,0.000,0.049,2949,3462,1600
$GC,14974,0.64,359.2,234.4,11.9,2049,14980,0.00,2.65,0.00,0.000,6,0.000,0.043,2949,2082,1600
$GC,15304,0.64,359.2,196.2,10.5,2110,15311,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2082,1600
$GC,15637,0.64,359.2,157.7,11.5,2171,15642,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2082,1600
$GC,15965,0.64,359.2,124.5,10.7,2232,15972,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2082,1600
$GC,16169,0.65,360.2,102.0,10.0,2269,16175,0.00,2.67,0.00,0.000,4,0.000,0.048,2949,3465,1600
$GC,16193,0.65,360.2,99.4,10.8,2273,16199,0.00,2.62,0.00,0.000,6,0.000,0.043,2949,2100,1600
$GC,16392,0.65,360.2,76.9,12.6,2310,16400,0.00,2.92,0.00,0.000,4,0.000,0.067,2949,644,1600
$GC,16424,0.67,376.0,74.0,9.5,2315,16450,0.00,2.72,16.40,0.836,6,0.000,0.038,2949,2088,1537
$GC,16647,0.67,376.0,49.4,12.9,2355,16654,0.00,2.67,0.00,0.000,4,0.000,0.048,2949,3456,1536
$GC,16672,0.67,376.0,46.0,13.0,2359,16680,0.00,2.67,0.00,0.000,6,0.000,0.043,2950,2090,1535
$GC,16806,0.67,376.0,29.2,12.1,2384,16814,0.00,2.90,0.00,0.000,4,0.000,0.064,2949,644,1535
$GC,16832,0.71,376.0,26.5,10.8,2388,16840,0.00,2.80,0.00,0.000,6,0.000,0.038,2949,2104,1535
$GC,16967,0.72,381.6,16.8,9.8,2413,16976,0.00,0.00,6.68,0.738,6,0.000,0.000,2949,2104,1515
$STATE,17090,end climb,SURFACE_DEPTH_REACHED
$STATE,17090,begin surface coast
$FINISH,0.7,1.027291
$STATE,17108,end surface coast,CONTROL_FINISHED_OK
$STATE,17108,begin surface
$SM_CCo,17183,0.00,0.000,0,0,1513,382.18
$SM_GC,0.46,7.20,0.00,0.00,0.044,0.000,0.000,1470,2318,1513,-6.08,0.65,382.18
$IRIDIUM_FIX,5911.23,-2137.04,100797,141447
$TT8_MAMPS,0.021476
$HUMID,1652
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,13.00
$XPDR_PINGS,330
$24V_AH,19.7,27.594
$10V_AH,9.7,18.435
$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,20.225,124.375,587.200,0.000,0.000,91.128,106.325,464.994,82.500,0.000,0.000,34.899,3700.775,7358.478,710.302,5376.900,942.376,0.000,2629.137,0.000,5372.790,0.000,0.468
$DEVICE_MAMPS,261.547,71.331,1459.601,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1765.144,1773.507,1095.750,996.696,2570.091,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,183355,2439
$CAP_FILE_SIZE,193773,0
$CFSIZE,260165632,251191296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,150408,191158,5938.270,-2144.967,28,3.2,47,-15.2