version: 66.03
glider: 143
mission: 4
dive: 88
start: 4 21 108 18 42 16
data:
$ID,143
$MISSION,4
$DIVE,88
$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,335
$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,-5709.7939
$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,15
$R_STBD_OVSHOOT,27
$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
$GPS1,183401,6033.442,-2203.552,35,1.2,40,-15.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-49.6
$GPS2,184157,6033.528,-2203.656,13,1.3,13,-15.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6043.315,-2205.888
$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,350.8,20000,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.82,-194.7,0.0,0.0,0,114,0.00,0.00,-86.93,0.000,2,0.000,0.000,1468,2312,3542
$GC,116,-0.82,-194.7,3.2,-5.5,12,140,9.65,2.85,-7.40,0.000,4,0.245,0.070,2612,3703,3866
$GC,384,-0.72,-194.7,55.2,-17.3,62,392,0.12,2.80,0.00,0.000,6,0.133,0.041,2634,2285,3867
$GC,588,-0.65,-194.7,86.7,-15.6,99,594,0.15,0.00,0.00,0.000,6,0.146,0.000,2658,2284,3867
$GC,790,-0.65,-194.7,112.7,-12.3,136,798,0.00,2.78,0.00,0.000,4,0.000,0.055,2658,890,3867
$GC,832,-0.65,-194.7,117.9,-11.7,143,838,0.00,2.72,0.00,0.000,6,0.000,0.044,2658,2288,3867
$GC,1032,-0.65,-194.7,142.5,-12.5,180,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2288,3867
$GC,1236,-0.65,-194.7,167.7,-12.5,217,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2288,3867
$GC,1565,-0.65,-194.7,209.9,-12.8,278,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2288,3867
$GC,1897,-0.65,-194.7,251.6,-12.3,339,1904,0.00,2.75,0.00,0.000,4,0.000,0.054,2658,887,3867
$GC,1937,-0.69,-194.7,256.7,-12.5,346,1945,0.00,2.72,0.00,0.000,6,0.000,0.044,2659,2282,3867
$GC,2271,-0.69,-194.7,297.2,-12.4,407,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2282,3867
$GC,2599,-0.69,-194.7,338.9,-12.9,468,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2282,3867
$GC,2942,-0.69,-194.7,382.1,-12.2,529,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2282,3867
$GC,3281,-0.69,-194.7,425.1,-12.5,590,3287,0.00,2.75,0.00,0.000,4,0.000,0.055,2658,880,3867
$GC,3332,-0.74,-194.7,431.5,-12.1,599,3338,0.00,2.70,0.00,0.000,6,0.000,0.044,2658,2284,3867
$GC,3674,-0.74,-194.7,474.0,-12.1,660,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2285,3867
$GC,4018,-0.74,-194.7,514.2,-11.4,721,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2284,3867
$GC,4357,-0.74,-194.7,552.8,-11.3,782,4363,0.00,2.78,0.00,0.000,4,0.000,0.057,2658,878,3867
$GC,4403,-0.79,-194.7,558.0,-11.5,790,4411,0.15,2.67,0.00,0.000,6,0.058,0.044,2626,2278,3867
$GC,4747,-0.71,-194.7,608.1,-14.6,847,4752,0.00,2.83,0.00,0.000,4,0.000,0.058,2626,3704,3867
$GC,4790,-0.66,-194.7,614.6,-14.1,850,4797,0.17,2.80,0.00,0.000,6,0.140,0.046,2651,2266,3867
$GC,5114,-0.66,-194.7,653.5,-11.8,881,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2266,3867
$GC,5433,-0.66,-194.7,691.8,-11.8,911,5437,0.00,2.78,0.00,0.000,4,0.000,0.071,2651,888,3867
$GC,5471,-0.66,-194.7,696.3,-11.5,914,5476,0.00,2.70,0.00,0.000,6,0.000,0.049,2651,2276,3867
$GC,5796,-0.66,-194.7,734.5,-11.7,944,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2278,3867
$GC,6113,-0.66,-194.7,771.3,-11.7,974,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2279,3866
$GC,6432,-0.66,-194.7,809.6,-12.4,1004,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2281,3866
$GC,6750,-0.66,-194.7,848.2,-12.0,1034,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2281,3866
$GC,7069,-0.66,-194.7,885.5,-11.7,1064,7074,0.00,2.83,0.00,0.000,4,0.000,0.069,2653,886,3865
$GC,7123,-0.66,-194.7,891.8,-11.5,1068,7130,0.00,2.72,0.00,0.000,6,0.000,0.048,2651,2273,3865
$GC,7450,-0.66,-194.7,928.4,-10.8,1099,7455,0.00,2.90,0.00,0.000,4,0.000,0.066,2651,3709,3865
$GC,7482,-0.66,-194.7,932.3,-11.4,1101,7488,0.00,2.85,0.00,0.000,6,0.000,0.051,2651,2264,3865
$GC,7807,-0.66,-194.7,968.0,-11.1,1132,7811,0.00,2.75,0.00,0.000,4,0.000,0.069,2651,889,3864
$GC,7868,-0.71,-194.7,974.8,-11.0,1137,7873,0.00,2.70,0.00,0.000,6,0.000,0.049,2652,2274,3865
$STATE,8010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8010,begin apogee
$GC,8014,-0.19,0.0,990.9,11.0,1150,8215,0.62,0.00,196.40,1.471,6,0.130,0.000,2755,2038,3071
$STATE,8215,end apogee,CONTROL_FINISHED_OK
$STATE,8216,begin climb
$GC,8217,0.82,194.7,999.6,0.0,1170,8430,1.25,3.22,202.07,1.369,4,0.091,0.072,2970,652,2277
$GC,8519,0.68,194.7,974.0,12.9,1199,8525,0.00,2.92,0.00,0.000,6,0.000,0.044,2970,2049,2273
$GC,8844,0.54,194.7,932.2,13.0,1230,8850,0.30,2.95,0.00,0.000,4,0.133,0.061,2922,3468,2271
$GC,8895,0.55,204.9,926.8,9.6,1234,8911,0.00,2.88,10.85,1.322,6,0.000,0.052,2923,2067,2235
$GC,9229,0.60,246.0,897.8,8.6,1265,9280,0.00,2.95,41.92,1.368,4,0.000,0.059,2922,3464,2066
$GC,9337,0.62,257.1,888.0,9.6,1275,9358,0.00,2.85,12.50,1.235,6,0.000,0.051,2922,2082,2022
$GC,9676,0.63,265.5,856.1,9.7,1307,9691,0.00,2.88,9.75,1.302,4,0.000,0.059,2922,3465,1988
$GC,9725,0.63,267.7,851.2,9.9,1311,9729,0.00,2.78,0.00,0.000,6,0.000,0.051,2922,2101,1985
$GC,10049,0.65,283.0,819.5,9.5,1341,10074,0.00,2.83,19.05,1.328,4,0.000,0.059,2921,3461,1917
$GC,10096,0.67,298.5,814.9,9.5,1345,10123,0.12,2.75,17.10,1.235,6,0.074,0.051,2948,2112,1854
$GC,10441,0.61,298.5,774.8,11.9,1378,10442,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2110,1850
$GC,10760,0.56,298.5,736.8,12.4,1408,10765,0.15,2.75,0.00,0.000,4,0.123,0.057,2923,3467,1849
$GC,10792,0.56,298.5,732.9,11.0,1410,10799,0.00,2.72,0.00,0.000,6,0.000,0.051,2924,2119,1848
$GC,11118,0.58,314.3,701.9,9.5,1441,11138,0.00,0.00,16.60,1.363,6,0.000,0.000,2924,2118,1789
$GC,11456,0.63,355.6,672.1,8.6,1473,11501,0.00,0.00,42.60,1.259,6,0.000,0.000,2924,2117,1620
$GC,11815,0.73,392.1,642.0,8.7,1507,11856,0.17,0.00,37.80,1.236,6,0.061,0.000,2960,2116,1472
$GC,12177,0.67,392.1,591.1,13.7,1546,12182,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2115,1466
$GC,12517,0.62,392.1,542.3,14.0,1607,12523,0.15,0.00,0.00,0.000,6,0.124,0.000,2934,2114,1464
$GC,12857,0.67,392.1,507.7,10.2,1668,12865,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2115,1464
$GC,13202,0.74,403.3,474.1,9.6,1729,13220,0.12,0.00,11.55,1.132,6,0.068,0.000,2959,2115,1426
$GC,13555,0.70,403.3,426.9,13.0,1792,13561,0.00,2.97,0.00,0.000,4,0.000,0.064,2959,640,1424
$GC,13573,0.70,403.3,424.4,13.5,1795,13580,0.00,2.88,0.00,0.000,6,0.000,0.040,2959,2137,1424
$GC,13915,0.66,403.3,377.3,13.1,1856,13921,0.00,3.03,0.00,0.000,4,0.000,0.063,2958,637,1424
$GC,13932,0.66,403.3,374.8,13.6,1859,13938,0.00,2.85,0.00,0.000,6,0.000,0.039,2959,2125,1423
$GC,14268,0.66,403.3,328.9,13.8,1920,14275,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2126,1423
$GC,14600,0.66,403.3,283.7,13.6,1981,14606,0.00,3.00,0.00,0.000,4,0.000,0.063,2958,631,1423
$GC,14624,0.66,403.3,280.5,13.7,1985,14630,0.00,2.85,0.00,0.000,6,0.000,0.040,2959,2124,1422
$GC,14954,0.66,403.3,236.3,13.1,2046,14961,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2124,1423
$GC,15287,0.66,403.3,191.8,12.8,2107,15293,0.00,2.97,0.00,0.000,4,0.000,0.062,2959,638,1423
$GC,15304,0.66,403.3,189.2,13.6,2110,15312,0.00,2.85,0.00,0.000,6,0.000,0.040,2959,2118,1423
$GC,15637,0.66,403.3,145.0,14.4,2171,15642,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2118,1423
$GC,15837,0.66,403.3,118.2,14.3,2208,15844,0.00,2.97,0.00,0.000,4,0.000,0.061,2958,644,1423
$GC,15857,0.66,403.3,115.5,13.8,2211,15864,0.00,2.78,0.00,0.000,6,0.000,0.040,2959,2107,1423
$GC,16058,0.66,403.3,88.4,12.9,2248,16065,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2107,1423
$GC,16262,0.66,403.3,60.8,12.0,2285,16267,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2107,1423
$GC,16459,0.66,403.3,37.0,15.0,2322,16467,0.00,2.97,0.00,0.000,4,0.000,0.063,2959,635,1423
$GC,16480,0.66,403.3,33.8,14.0,2325,16488,0.00,2.78,0.00,0.000,6,0.000,0.038,2959,2086,1423
$GC,16615,0.66,403.3,14.2,16.1,2350,16622,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2086,1423
$STATE,16721,end climb,SURFACE_DEPTH_REACHED
$STATE,16721,begin surface coast
$FINISH,0.1,1.022865
$STATE,16738,end surface coast,CONTROL_FINISHED_OK
$STATE,16738,begin surface
$SM_CCo,16813,0.00,0.000,0,0,1422,404.50
$SM_GC,0.59,7.18,0.00,0.00,0.041,0.000,0.000,1465,2302,1422,-6.08,0.23,404.50
$IRIDIUM_FIX,6006.72,-2204.29,160797,131312
$TT8_MAMPS,0.021476
$HUMID,1668
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,12.00
$XPDR_PINGS,211
$24V_AH,19.6,36.030
$10V_AH,9.8,25.949
$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,20.325,125.650,618.200,0.000,0.000,31.537,32.363,290.211,52.750,0.000,0.000,15.314,3602.443,7157.541,739.236,5141.970,624.184,0.000,2572.427,0.000,5157.758,0.000,0.468
$DEVICE_MAMPS,244.673,72.098,1471.106,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1738.443,1717.652,964.171,948.832,2443.453,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,177121,2373
$CAP_FILE_SIZE,184118,0
$CFSIZE,260165632,247828480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210408,232338,6037.714,-2206.696,35,1.2,35,-15.9