version: 66.03
glider: 143
mission: 4
dive: 75
start: 4 19 108 3 16 4
data:
$ID,143
$MISSION,4
$DIVE,75
$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,10
$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,-5509.8613
$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,16
$R_STBD_OVSHOOT,15
$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
$GPS1,030708,5938.812,-2246.327,36,1.4,36,-15.7
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-42.4
$GPS2,031547,5938.896,-2246.281,9,3.6,28,-15.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5949.531,-2245.339
$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,25.7,20000,-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,-194.7,0.0,0.0,0,144,0.00,0.00,-115.93,0.000,2,0.000,0.000,1467,2307,3651
$GC,146,-0.82,-194.7,3.4,-5.5,16,169,9.98,2.83,-4.82,0.000,4,0.255,0.061,2607,3714,3867
$GC,399,-0.71,-194.7,52.6,-16.6,63,406,0.22,2.78,0.00,0.000,6,0.148,0.041,2640,2281,3868
$GC,600,-0.65,-194.7,82.0,-15.0,100,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2280,3868
$GC,805,-0.59,-194.7,110.7,-13.4,137,811,0.15,0.00,0.00,0.000,6,0.152,0.000,2664,2278,3868
$GC,1005,-0.59,-194.7,133.6,-11.0,174,1013,0.00,2.78,0.00,0.000,4,0.000,0.054,2664,881,3868
$GC,1040,-0.63,-194.7,137.5,-10.4,180,1048,0.00,2.78,0.00,0.000,6,0.000,0.043,2664,2298,3868
$GC,1244,-0.63,-194.7,159.3,-10.9,217,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2299,3868
$GC,1571,-0.63,-194.7,196.5,-11.6,278,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2300,3868
$GC,1905,-0.63,-194.7,236.2,-12.2,339,1911,0.00,2.78,0.00,0.000,4,0.000,0.054,2665,882,3868
$GC,1985,-0.69,-194.7,245.1,-11.2,353,1991,0.00,2.72,0.00,0.000,6,0.000,0.043,2664,2299,3868
$GC,2314,-0.69,-194.7,286.4,-12.6,414,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2300,3868
$GC,2647,-0.69,-194.7,327.9,-11.7,475,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2299,3869
$GC,2978,-0.69,-194.7,367.3,-12.0,536,2985,0.00,2.78,0.00,0.000,4,0.000,0.054,2664,882,3868
$GC,3029,-0.75,-194.7,372.8,-10.8,545,3036,0.15,2.67,0.00,0.000,6,0.057,0.041,2632,2285,3868
$GC,3370,-0.68,-194.7,423.9,-15.3,606,3377,0.00,2.78,0.00,0.000,4,0.000,0.054,2631,3708,3868
$GC,3407,-0.63,-194.7,429.3,-15.2,612,3414,0.15,2.78,0.00,0.000,6,0.131,0.041,2656,2279,3868
$GC,3751,-0.63,-194.7,470.8,-12.0,673,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2276,3868
$GC,4090,-0.63,-194.7,510.8,-11.3,734,4096,0.00,2.72,0.00,0.000,4,0.000,0.056,2656,880,3868
$GC,4137,-0.67,-194.7,515.7,-11.2,742,4143,0.00,2.67,0.00,0.000,6,0.000,0.042,2656,2279,3868
$GC,4476,-0.67,-194.7,554.5,-11.4,803,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2279,3868
$GC,4814,-0.67,-194.7,594.2,-11.6,864,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2280,3868
$GC,5143,-0.67,-194.7,635.4,-12.5,899,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2280,3868
$GC,5461,-0.67,-194.7,676.2,-13.3,929,5465,0.00,2.80,0.00,0.000,4,0.000,0.067,2656,890,3868
$GC,5515,-0.71,-194.7,683.4,-12.8,933,5522,0.00,2.67,0.00,0.000,6,0.000,0.048,2656,2274,3867
$GC,5841,-0.71,-194.7,724.1,-12.1,964,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2276,3868
$GC,6158,-0.71,-194.7,761.7,-11.5,994,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2278,3867
$GC,6477,-0.71,-194.7,798.0,-11.3,1024,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2278,3867
$GC,6795,-0.71,-194.7,833.7,-11.3,1054,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2278,3867
$GC,7115,-0.71,-194.7,869.1,-10.6,1084,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2278,3866
$GC,7432,-0.71,-194.7,905.4,-11.6,1114,7433,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2278,3866
$GC,7751,-0.71,-194.7,942.1,-11.8,1144,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2278,3866
$GC,8069,-0.71,-194.7,978.7,-11.6,1174,8074,0.00,2.80,0.00,0.000,4,0.000,0.068,2656,890,3866
$GC,8108,-0.77,-194.7,983.1,-11.5,1177,8114,0.12,2.67,0.00,0.000,6,0.062,0.049,2629,2266,3865
$STATE,8165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8165,begin apogee
$GC,8170,-0.19,0.0,990.9,14.0,1182,8370,0.77,0.00,195.85,1.470,6,0.136,0.000,2756,2043,3072
$STATE,8370,end apogee,CONTROL_FINISHED_OK
$STATE,8370,begin climb
$GC,8372,0.82,194.7,1001.7,0.0,1202,8587,1.23,3.20,201.85,1.382,4,0.087,0.071,2970,657,2276
$GC,8688,0.69,194.7,977.5,12.3,1232,8693,0.00,2.90,0.00,0.000,6,0.000,0.044,2970,2058,2272
$GC,9013,0.55,194.7,935.3,12.7,1262,9018,0.30,2.92,0.00,0.000,4,0.131,0.061,2922,3468,2271
$GC,9074,0.55,194.7,928.8,10.1,1267,9079,0.00,2.85,0.00,0.000,6,0.000,0.052,2922,2072,2270
$GC,9399,0.57,211.9,899.4,9.4,1297,9423,0.00,2.92,17.33,1.455,4,0.000,0.058,2922,3464,2207
$GC,9468,0.57,211.9,892.4,10.1,1303,9475,0.00,2.83,0.00,0.000,6,0.000,0.051,2922,2088,2206
$GC,9794,0.61,246.0,861.8,8.8,1334,9836,0.00,2.90,35.80,1.380,4,0.000,0.058,2923,3471,2066
$GC,9874,0.62,257.2,854.2,9.6,1341,9892,0.00,2.80,12.32,1.196,6,0.000,0.050,2922,2106,2022
$GC,10209,0.65,282.0,823.8,9.1,1373,10241,0.00,2.90,26.45,1.361,4,0.000,0.058,2923,3466,1920
$GC,10264,0.60,294.7,818.6,9.6,1378,10286,0.00,2.75,14.12,1.190,6,0.000,0.051,2922,2127,1869
$GC,10603,0.61,300.8,785.1,9.8,1410,10617,0.00,2.80,7.30,1.171,4,0.000,0.057,2922,3462,1843
$GC,10719,0.61,303.7,773.2,9.9,1420,10725,0.00,2.67,0.00,0.000,6,0.000,0.050,2922,2133,1841
$GC,11044,0.62,308.5,741.7,9.8,1451,11058,0.00,2.72,9.07,1.239,4,0.000,0.058,2922,3465,1813
$GC,11144,0.62,313.6,731.8,9.8,1460,11156,0.00,2.70,6.85,1.075,6,0.000,0.050,2922,2120,1792
$GC,11473,0.67,354.5,703.0,8.6,1491,11518,0.12,0.00,42.70,1.276,6,0.071,0.000,2947,2119,1624
$GC,11831,0.67,354.5,662.3,11.0,1525,11832,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2117,1620
$GC,12150,0.67,354.5,625.0,12.1,1555,12151,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2116,1619
$GC,12475,0.67,354.5,587.8,11.8,1594,12480,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2115,1618
$GC,12814,0.67,354.5,548.0,11.6,1655,12819,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2115,1618
$GC,13156,0.67,354.5,506.9,12.2,1716,13163,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2115,1618
$GC,13501,0.67,354.5,465.0,11.3,1777,13506,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2115,1618
$GC,13841,0.67,354.5,424.4,11.8,1838,13846,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2115,1618
$GC,14180,0.67,354.5,386.3,11.1,1899,14187,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2115,1618
$GC,14521,0.67,354.5,347.1,11.8,1960,14528,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2115,1618
$GC,14854,0.67,354.5,310.0,11.2,2021,14859,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2115,1618
$GC,15182,0.67,354.5,272.3,10.5,2082,15189,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2115,1618
$GC,15514,0.67,354.5,237.3,10.7,2143,15520,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2115,1618
$GC,15843,0.67,354.5,202.2,11.0,2204,15850,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2115,1618
$GC,16175,0.67,354.5,166.6,10.7,2265,16181,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2116,1618
$GC,16504,0.67,354.5,130.9,12.1,2326,16511,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2116,1618
$GC,16709,0.70,372.8,109.4,9.4,2363,16735,0.00,2.97,17.65,0.968,4,0.000,0.064,2947,644,1550
$GC,16748,0.70,372.8,105.0,10.6,2369,16754,0.00,2.85,0.00,0.000,6,0.000,0.038,2948,2138,1549
$GC,16948,0.70,372.8,84.1,10.4,2406,16955,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2139,1548
$GC,17151,0.70,372.8,63.8,10.5,2443,17158,0.00,3.00,0.00,0.000,4,0.000,0.061,2947,635,1548
$GC,17168,0.70,379.2,61.9,9.8,2446,17182,0.00,2.88,7.45,0.827,6,0.000,0.038,2947,2133,1525
$GC,17374,0.70,379.2,41.4,11.2,2484,17382,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2133,1524
$GC,17508,0.70,379.2,28.1,11.3,2509,17516,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2133,1524
$GC,17642,0.70,379.2,14.8,10.1,2534,17650,0.00,3.03,0.00,0.000,4,0.000,0.064,2947,641,1523
$GC,17663,0.74,379.2,12.8,10.4,2537,17670,0.00,2.83,0.00,0.000,6,0.000,0.038,2947,2109,1523
$STATE,17769,end climb,SURFACE_DEPTH_REACHED
$STATE,17769,begin surface coast
$FINISH,0.3,1.027356
$STATE,17788,end surface coast,CONTROL_FINISHED_OK
$STATE,17788,begin surface
$SM_CCo,17863,0.00,0.000,0,0,1522,379.97
$SM_GC,0.78,7.20,0.00,0.00,0.043,0.000,0.000,1464,2311,1522,-6.10,0.45,379.97
$IRIDIUM_FIX,5915.45,-2245.69,130797,222214
$TT8_MAMPS,0.021476
$HUMID,1655
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,12.10
$XPDR_PINGS,276
$24V_AH,19.6,32.413
$10V_AH,9.8,22.737
$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,20.400,102.250,594.750,0.000,0.000,28.671,37.124,317.272,69.000,0.000,0.000,31.004,3864.810,7477.597,714.854,5638.448,661.790,0.000,2681.384,0.000,5644.278,0.000,0.468
$DEVICE_MAMPS,255.411,70.564,1469.572,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1883.203,1838.078,1083.041,1071.363,2755.320,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,193067,2560
$CAP_FILE_SIZE,189448,0
$CFSIZE,260165632,249270272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190408,081522,5942.316,-2243.511,41,99.0,60,-15.7