version: 66.03
glider: 143
mission: 4
dive: 87
start: 4 21 108 13 45 4
data:
$ID,143
$MISSION,4
$DIVE,87
$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,20
$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,-5693.8521
$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,17
$R_STBD_OVSHOOT,19
$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
$GPS1,133738,6029.535,-2206.078,31,2.0,31,-15.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-37.3
$GPS2,134445,6029.588,-2206.076,13,1.9,13,-15.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6039.736,-2204.266
$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,35.8,20000,-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,-194.7,0.0,0.0,0,151,0.00,0.00,-123.28,0.000,2,0.000,0.000,1468,2301,3566
$GC,153,-0.82,-194.7,3.2,-5.4,17,177,9.85,2.88,-7.07,0.000,4,0.252,0.069,2606,3711,3866
$GC,335,-0.70,-194.7,38.7,-19.5,50,343,0.20,2.80,0.00,0.000,6,0.137,0.042,2641,2290,3867
$GC,472,-0.63,-194.7,59.4,-14.8,75,478,0.12,0.00,0.00,0.000,6,0.160,0.000,2657,2287,3867
$GC,673,-0.63,-194.7,85.2,-12.5,112,681,0.00,2.80,0.00,0.000,4,0.000,0.055,2656,882,3867
$GC,726,-0.63,-194.7,91.8,-12.3,121,732,0.00,2.72,0.00,0.000,6,0.000,0.044,2659,2284,3867
$GC,925,-0.63,-194.7,116.9,-12.3,158,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2284,3868
$GC,1129,-0.63,-194.7,142.9,-13.0,195,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2284,3867
$GC,1330,-0.63,-194.7,169.3,-12.9,232,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2284,3867
$GC,1663,-0.63,-194.7,213.3,-13.1,293,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2284,3867
$GC,1990,-0.63,-194.7,257.1,-12.9,354,1998,0.00,2.78,0.00,0.000,4,0.000,0.055,2657,890,3867
$GC,2033,-0.63,-194.7,262.2,-12.8,361,2039,0.00,2.70,0.00,0.000,6,0.000,0.044,2663,2290,3867
$GC,2364,-0.63,-194.7,303.8,-12.6,422,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2291,3867
$GC,2698,-0.63,-194.7,345.4,-12.4,483,2704,0.00,2.75,0.00,0.000,4,0.000,0.054,2657,886,3867
$GC,2742,-0.68,-194.7,351.0,-11.9,491,2749,1.05,2.67,0.00,0.000,6,0.040,0.042,2632,2281,3867
$GC,3082,-0.23,-194.7,461.3,-32.9,552,3091,1.27,2.80,0.00,0.000,4,0.168,0.053,2632,3706,3867
$GC,3119,-0.13,-194.7,469.9,-18.7,558,3127,0.73,2.78,0.00,0.000,6,0.117,0.042,2767,2278,3867
$GC,3465,-0.56,-194.7,496.4,-9.1,619,3472,0.45,2.72,0.00,0.000,4,0.076,0.054,2678,878,3867
$GC,3512,-0.76,-194.7,500.6,-8.2,627,3519,0.22,2.65,0.00,0.000,6,0.048,0.042,2625,2272,3867
$GC,3855,-0.70,-194.7,550.3,-14.5,688,3862,0.12,2.83,0.00,0.000,4,0.133,0.054,2643,3705,3867
$GC,3901,-0.70,-194.7,556.9,-13.5,696,3909,0.00,2.83,0.00,0.000,6,0.000,0.043,2644,2256,3867
$GC,4249,-0.70,-194.7,603.3,-13.4,756,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2257,3867
$GC,4567,-0.70,-194.7,644.9,-13.1,786,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2256,3867
$GC,4886,-0.70,-194.7,686.1,-13.0,816,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2256,3867
$GC,5204,-0.70,-194.7,726.0,-12.0,846,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2256,3867
$GC,5525,-0.70,-194.7,763.9,-12.1,876,5526,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2256,3867
$GC,5841,-0.70,-194.7,802.9,-12.3,906,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2256,3866
$GC,6160,-0.70,-194.7,842.7,-12.4,936,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2256,3866
$GC,6478,-0.70,-194.7,881.2,-12.1,966,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2256,3866
$GC,6797,-0.70,-194.7,919.6,-12.2,996,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2256,3865
$GC,7115,-0.70,-194.7,957.5,-11.7,1026,7120,0.00,2.92,0.00,0.000,4,0.000,0.066,2643,3698,3865
$GC,7154,-0.70,-194.7,962.1,-12.5,1029,7158,0.00,2.83,0.00,0.000,6,0.000,0.052,2643,2268,3865
$STATE,7391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7391,begin apogee
$GC,7396,-0.19,0.0,990.2,11.8,1051,7596,0.65,0.00,196.18,1.473,6,0.123,0.000,2753,2034,3071
$STATE,7597,end apogee,CONTROL_FINISHED_OK
$STATE,7597,begin climb
$GC,7599,0.82,194.7,999.6,0.0,1071,7813,1.27,3.17,201.75,1.369,4,0.090,0.072,2972,650,2276
$GC,7873,0.70,194.7,978.1,12.6,1097,7880,0.00,2.95,0.00,0.000,6,0.000,0.044,2972,2052,2273
$GC,8201,0.55,194.7,935.8,13.2,1128,8206,0.28,2.95,0.00,0.000,4,0.135,0.061,2927,3468,2271
$GC,8285,0.51,194.7,926.6,10.7,1135,8290,0.00,2.85,0.00,0.000,6,0.000,0.052,2929,2077,2270
$GC,8610,0.49,220.0,896.9,9.1,1165,8642,0.12,0.00,25.42,1.460,6,0.129,0.000,2911,2076,2174
$GC,8959,0.56,272.6,868.5,8.2,1198,9021,0.00,2.97,53.17,1.368,4,0.000,0.059,2910,3456,1958
$GC,9105,0.63,298.0,856.0,9.1,1211,9142,0.15,2.80,26.85,1.295,6,0.071,0.051,2939,2091,1855
$GC,9459,0.63,298.0,817.4,11.4,1245,9460,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2091,1851
$GC,9777,0.63,298.0,779.7,11.7,1275,9782,0.00,2.78,0.00,0.000,4,0.000,0.058,2938,3464,1850
$GC,9816,0.63,298.0,774.9,12.4,1278,9821,0.00,2.75,0.00,0.000,6,0.000,0.052,2939,2096,1849
$GC,10140,0.63,298.0,736.6,11.7,1308,10145,0.00,2.78,0.00,0.000,4,0.000,0.058,2938,3465,1848
$GC,10156,0.63,298.0,734.7,12.1,1309,10160,0.00,2.70,0.00,0.000,6,0.000,0.050,2938,2109,1848
$GC,10481,0.63,298.0,698.2,11.4,1339,10482,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2108,1848
$GC,10798,0.63,298.0,663.0,10.9,1369,10803,0.00,2.72,0.00,0.000,4,0.000,0.057,2938,3467,1848
$GC,10821,0.63,298.0,660.5,11.1,1370,10827,0.00,2.65,0.00,0.000,6,0.000,0.048,2939,2121,1847
$GC,11146,0.63,298.0,623.8,11.6,1401,11147,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2120,1847
$GC,11471,0.63,298.0,586.2,11.7,1441,11477,0.00,2.67,0.00,0.000,4,0.000,0.054,2938,3464,1847
$GC,11493,0.63,298.0,583.3,12.1,1445,11500,0.00,2.62,0.00,0.000,6,0.000,0.046,2939,2118,1846
$GC,11835,0.63,298.0,544.6,10.8,1506,11842,0.00,2.67,0.00,0.000,4,0.000,0.053,2938,3474,1846
$GC,11860,0.63,298.0,541.9,11.3,1510,11866,0.00,2.60,0.00,0.000,6,0.000,0.045,2940,2136,1846
$GC,12202,0.63,298.0,506.1,10.3,1571,12207,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2136,1846
$GC,12542,0.63,298.0,471.3,10.1,1632,12550,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2136,1846
$GC,12886,0.63,298.0,437.0,10.3,1693,12891,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2136,1846
$GC,13226,0.64,302.4,403.1,9.8,1754,13231,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2136,1847
$GC,13566,0.64,302.4,369.6,10.1,1815,13573,0.00,2.60,0.00,0.000,4,0.000,0.051,2938,3471,1846
$GC,13584,0.64,302.4,367.8,10.2,1818,13597,0.00,2.60,4.38,0.764,6,0.000,0.043,2938,2141,1838
$GC,13925,0.64,303.4,333.7,10.0,1880,13933,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2141,1838
$GC,14258,0.65,309.4,299.8,9.8,1941,14271,0.00,0.00,8.52,0.949,6,0.000,0.000,2938,2141,1809
$GC,14597,0.65,309.4,265.2,10.2,2003,14602,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2141,1809
$GC,14926,0.65,311.7,233.1,9.9,2064,14934,0.00,0.00,4.05,0.690,6,0.000,0.000,2938,2141,1800
$GC,15259,0.66,318.6,201.8,9.8,2125,15272,0.00,0.00,8.57,0.924,6,0.000,0.000,2938,2141,1771
$GC,15599,0.67,327.8,169.2,9.7,2187,15613,0.00,0.00,10.73,0.992,6,0.000,0.000,2938,2141,1734
$GC,15938,0.67,327.8,135.5,10.2,2249,15943,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2141,1732
$GC,16137,0.67,327.8,115.1,10.6,2286,16145,0.00,3.03,0.00,0.000,4,0.000,0.062,2938,638,1732
$GC,16162,0.67,327.8,112.6,10.1,2290,16169,0.00,2.92,0.00,0.000,6,0.000,0.039,2938,2154,1732
$GC,16366,0.67,327.8,92.3,10.0,2327,16371,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2154,1733
$GC,16566,0.70,348.1,72.4,9.3,2364,16592,0.00,0.00,20.65,0.973,6,0.000,0.000,2938,2155,1652
$GC,16788,0.70,348.1,50.1,11.1,2404,16796,0.00,3.10,0.00,0.000,4,0.000,0.062,2938,641,1650
$GC,16814,0.74,348.1,47.4,10.6,2408,16822,0.08,2.95,0.00,0.000,6,0.050,0.040,2963,2157,1649
$GC,16950,0.69,348.1,30.1,12.7,2433,16958,0.00,2.60,0.00,0.000,4,0.000,0.051,2963,3466,1649
$GC,16970,0.69,348.1,27.7,11.6,2436,16978,0.00,2.60,0.00,0.000,6,0.000,0.042,2963,2146,1649
$GC,17105,0.69,348.1,10.2,10.5,2461,17113,0.00,3.05,0.00,0.000,4,0.000,0.064,2963,641,1649
$GC,17131,0.69,348.1,7.4,11.2,2465,17139,0.00,2.90,0.00,0.000,6,0.000,0.040,2964,2137,1648
$STATE,17175,end climb,SURFACE_DEPTH_REACHED
$STATE,17176,begin surface coast
$FINISH,0.3,1.027331
$STATE,17188,end surface coast,CONTROL_FINISHED_OK
$STATE,17188,begin surface
$SM_CCo,17263,0.00,0.000,0,0,1646,349.31
$SM_GC,0.65,7.30,0.00,0.00,0.042,0.000,0.000,1468,2309,1646,-6.08,0.40,349.31
$IRIDIUM_FIX,6002.40,-2210.73,160797,090939
$TT8_MAMPS,0.021476
$HUMID,1673
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,12.50
$XPDR_PINGS,225
$24V_AH,19.6,35.765
$10V_AH,9.8,25.705
$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,23.875,118.225,560.275,0.000,0.000,28.600,32.698,249.411,56.250,0.000,0.000,14.642,3746.533,7222.499,677.738,5430.267,592.690,0.000,2600.689,0.000,5452.753,0.000,0.467
$DEVICE_MAMPS,251.576,72.098,1473.407,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1814.959,1792.368,1060.962,1035.372,2685.018,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,186745,2475
$CAP_FILE_SIZE,186355,0
$CFSIZE,260165632,247930880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210408,183401,6033.442,-2203.552,35,1.2,40,-15.8