version: 66.03
glider: 143
mission: 4
dive: 92
start: 4 22 108 13 49 28
data:
$ID,143
$MISSION,4
$DIVE,92
$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,-5790.7954
$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,18
$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
$GPS1,134128,6048.789,-2217.442,43,6.4,62,-16.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-28.5
$GPS2,134911,6048.821,-2217.578,14,99.0,33,-16.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6058.608,-2219.792
$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,351.1,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,173,0.00,0.00,-144.60,0.000,2,0.000,0.000,1466,2297,3584
$GC,175,-0.82,-194.7,3.6,-7.2,20,199,10.25,2.85,-6.03,0.000,4,0.262,0.066,2611,3709,3866
$GC,393,-0.72,-194.7,48.9,-17.5,60,402,0.15,2.80,0.00,0.000,6,0.140,0.041,2636,2286,3867
$GC,534,-0.66,-194.7,70.6,-15.3,85,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2284,3867
$GC,733,-0.59,-194.7,100.9,-15.2,122,741,0.15,0.00,0.00,0.000,6,0.145,0.000,2661,2283,3867
$GC,936,-0.59,-194.7,125.6,-11.2,159,943,0.00,2.72,0.00,0.000,4,0.000,0.054,2661,888,3867
$GC,984,-0.64,-194.7,130.9,-10.9,167,990,0.00,2.72,0.00,0.000,6,0.000,0.044,2661,2292,3867
$GC,1183,-0.64,-194.7,154.0,-11.2,204,1192,0.00,2.83,0.00,0.000,4,0.000,0.056,2661,3705,3867
$GC,1226,-0.64,-194.7,158.7,-11.0,211,1232,0.00,2.75,0.00,0.000,6,0.000,0.041,2661,2283,3867
$GC,1556,-0.64,-194.7,195.7,-11.5,272,1564,0.00,2.75,0.00,0.000,4,0.000,0.055,2661,889,3867
$GC,1610,-0.70,-194.7,201.7,-11.0,281,1616,0.00,2.70,0.00,0.000,6,0.000,0.044,2662,2284,3867
$GC,1939,-0.70,-194.7,239.6,-11.7,342,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2284,3867
$GC,2273,-0.70,-194.7,277.7,-11.6,403,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2284,3867
$GC,2602,-0.70,-194.7,316.4,-11.5,464,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2283,3867
$GC,2934,-0.70,-194.7,354.1,-11.3,525,2941,0.00,2.75,0.00,0.000,4,0.000,0.056,2661,880,3867
$GC,2979,-0.75,-194.7,359.1,-10.6,533,2987,0.12,2.67,0.00,0.000,6,0.063,0.043,2633,2277,3867
$GC,3321,-0.69,-194.7,407.0,-14.3,594,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2277,3867
$GC,3663,-0.63,-194.7,456.8,-14.5,655,3669,0.15,0.00,0.00,0.000,6,0.137,0.000,2657,2278,3867
$GC,4006,-0.63,-194.7,498.6,-12.1,716,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2277,3867
$GC,4345,-0.63,-194.7,540.5,-12.8,777,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2278,3867
$GC,4686,-0.63,-194.7,582.3,-12.0,838,4692,0.00,2.75,0.00,0.000,4,0.000,0.059,2657,888,3867
$GC,4726,-0.68,-194.7,586.8,-10.7,845,4732,0.00,2.65,0.00,0.000,6,0.000,0.044,2657,2273,3867
$GC,5057,-0.68,-194.7,625.2,-11.8,886,5062,0.00,2.85,0.00,0.000,4,0.000,0.060,2657,3708,3867
$GC,5107,-0.68,-194.7,631.5,-11.8,890,5112,0.00,2.78,0.00,0.000,6,0.000,0.046,2658,2279,3867
$GC,5433,-0.68,-194.7,669.3,-11.5,920,5438,0.00,2.80,0.00,0.000,4,0.000,0.071,2658,885,3867
$GC,5483,-0.73,-194.7,675.2,-11.1,924,5488,0.00,2.70,0.00,0.000,6,0.000,0.048,2658,2276,3866
$GC,5808,-0.73,-194.7,713.3,-11.8,954,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2277,3866
$GC,6126,-0.73,-194.7,749.8,-11.5,984,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2279,3866
$GC,6446,-0.73,-194.7,784.6,-10.7,1014,6447,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2279,3866
$GC,6763,-0.73,-194.7,818.8,-10.8,1044,6767,0.00,2.83,0.00,0.000,4,0.000,0.071,2657,888,3866
$GC,6806,-0.79,-194.7,823.6,-11.0,1047,6813,0.17,2.67,0.00,0.000,6,0.055,0.049,2619,2261,3865
$GC,7131,-0.72,-194.7,870.4,-14.4,1078,7136,0.12,2.92,0.00,0.000,4,0.141,0.067,2636,3705,3865
$GC,7185,-0.72,-194.7,878.1,-12.8,1082,7192,0.00,2.85,0.00,0.000,6,0.000,0.053,2636,2265,3865
$GC,7510,-0.72,-194.7,918.5,-12.3,1113,7512,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2265,3865
$GC,7829,-0.72,-194.7,957.5,-12.1,1143,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2265,3864
$STATE,8092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8092,begin apogee
$GC,8097,-0.19,0.0,990.8,12.9,1168,8297,0.73,0.00,195.75,1.465,6,0.130,0.000,2757,2033,3071
$STATE,8297,end apogee,CONTROL_FINISHED_OK
$STATE,8297,begin climb
$GC,8299,0.82,194.7,1000.3,0.0,1188,8513,1.23,3.20,201.88,1.368,4,0.084,0.074,2971,646,2276
$GC,8597,0.68,194.7,976.3,12.7,1216,8604,0.15,2.95,0.00,0.000,6,0.140,0.046,2953,2051,2273
$GC,8921,0.57,194.7,938.3,11.9,1247,8927,0.15,2.92,0.00,0.000,4,0.139,0.061,2926,3460,2271
$GC,8976,0.57,194.7,932.3,10.3,1251,8983,0.00,2.85,0.00,0.000,6,0.000,0.052,2927,2064,2270
$GC,9302,0.54,202.4,900.8,9.7,1282,9316,0.00,3.00,8.15,1.230,4,0.000,0.073,2929,640,2245
$GC,9429,0.54,202.4,887.6,10.2,1293,9435,0.00,2.88,0.00,0.000,6,0.000,0.045,2928,2096,2244
$GC,9756,0.49,202.4,856.0,10.0,1324,9761,0.00,3.03,0.00,0.000,4,0.000,0.072,2941,638,2243
$GC,9862,0.49,203.9,844.9,10.0,1333,9866,0.00,2.88,0.00,0.000,6,0.000,0.046,2932,2104,2243
$GC,10186,0.52,225.3,814.7,9.3,1363,10218,0.00,2.80,23.95,1.431,4,0.000,0.060,2927,3465,2151
$GC,10263,0.52,225.3,807.4,10.5,1370,10268,0.20,2.72,0.00,0.000,6,0.128,0.051,2913,2120,2150
$GC,10587,0.71,325.3,786.0,6.5,1400,10690,0.22,0.00,100.00,1.310,6,0.058,0.000,2954,2120,1744
$GC,11005,0.71,325.3,737.6,11.8,1440,11010,0.00,2.75,0.00,0.000,4,0.000,0.057,2941,3462,1737
$GC,11022,0.71,325.3,735.7,11.7,1441,11026,0.00,2.72,0.00,0.000,6,0.000,0.050,2943,2114,1735
$GC,11346,0.71,325.3,697.9,12.0,1471,11351,0.00,3.05,0.00,0.000,4,0.000,0.071,2942,634,1735
$GC,11366,0.71,325.3,695.2,12.1,1472,11373,0.00,2.90,0.00,0.000,6,0.000,0.043,2941,2121,1734
$GC,11693,0.71,325.3,657.8,11.3,1503,11695,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2121,1734
$GC,12009,0.71,325.3,622.8,10.5,1533,12011,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2121,1734
$GC,12335,0.71,325.3,587.3,10.6,1573,12341,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2122,1734
$GC,12675,0.71,325.3,550.6,10.8,1634,12680,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2121,1733
$GC,13013,0.71,325.3,512.6,10.8,1695,13020,0.00,2.97,0.00,0.000,4,0.000,0.064,2941,637,1733
$GC,13037,0.71,325.3,509.9,11.0,1699,13044,0.00,2.85,0.00,0.000,6,0.000,0.041,2941,2126,1733
$GC,13377,0.71,325.3,473.8,10.7,1760,13383,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2126,1733
$GC,13719,0.71,325.3,438.6,10.8,1821,13725,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2126,1733
$GC,14060,0.71,325.3,401.4,10.7,1882,14065,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2126,1733
$GC,14399,0.71,325.3,364.7,10.7,1943,14405,0.00,2.97,0.00,0.000,4,0.000,0.062,2942,641,1734
$GC,14428,0.71,325.3,361.5,11.9,1948,14434,0.00,2.83,0.00,0.000,6,0.000,0.040,2941,2125,1733
$GC,14764,0.71,325.3,325.4,10.5,2009,14769,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2125,1733
$GC,15090,0.71,325.3,289.3,11.2,2070,15098,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2125,1733
$GC,15423,0.71,325.3,252.8,10.6,2131,15428,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2125,1733
$GC,15752,0.71,325.3,218.4,10.2,2192,15759,0.00,3.00,0.00,0.000,4,0.000,0.061,2941,638,1733
$GC,15772,0.71,325.3,216.3,10.2,2195,15778,0.00,2.80,0.00,0.000,6,0.000,0.038,2941,2115,1734
$GC,16101,0.71,329.6,182.1,9.9,2256,16109,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2114,1733
$GC,16435,0.71,329.6,149.4,10.0,2317,16440,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2115,1734
$GC,16634,0.72,340.6,129.1,9.6,2354,16654,0.00,0.00,13.88,0.923,6,0.000,0.000,2941,2115,1683
$GC,16851,0.74,352.3,107.6,9.6,2393,16869,0.00,0.00,13.25,0.997,6,0.000,0.000,2942,2115,1633
$GC,17062,0.76,368.8,86.2,9.4,2432,17084,0.12,0.00,16.42,0.866,6,0.067,0.000,2967,2115,1566
$GC,17282,0.69,368.8,57.6,13.6,2471,17288,0.00,3.00,0.00,0.000,4,0.000,0.061,2967,634,1564
$GC,17317,0.69,368.8,52.6,12.8,2477,17323,0.00,2.83,0.00,0.000,6,0.000,0.038,2968,2102,1563
$GC,17513,0.63,368.8,23.7,17.8,2514,17522,0.15,0.00,0.00,0.000,6,0.120,0.000,2942,2102,1563
$GC,17648,0.63,368.8,8.8,12.4,2539,17656,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2102,1563
$STATE,17718,end climb,SURFACE_DEPTH_REACHED
$STATE,17718,begin surface coast
$FINISH,-0.1,1.015475
$STATE,17746,end surface coast,CONTROL_FINISHED_OK
$STATE,17746,begin surface
$SM_CCo,17821,0.00,0.000,0,0,1560,370.65
$SM_GC,0.43,7.30,0.00,0.00,0.050,0.000,0.000,1469,2305,1560,-6.09,0.28,370.65
$IRIDIUM_FIX,6024.11,-2215.87,170797,090916
$TT8_MAMPS,0.021476
$HUMID,1664
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,12.60
$XPDR_PINGS,245
$24V_AH,19.6,37.145
$10V_AH,9.8,26.942
$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,21.375,120.100,573.275,0.000,0.000,29.205,34.698,259.713,61.250,0.000,0.000,35.592,3876.755,7407.563,730.379,5633.645,611.534,0.000,2703.265,0.000,5631.682,0.000,0.469
$DEVICE_MAMPS,261.547,73.632,1464.970,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1867.515,1852.064,1069.876,1055.526,2740.588,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,193282,2557
$CAP_FILE_SIZE,192132,0
$CFSIZE,260165632,247357440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,220408,184758,6051.886,-2221.198,35,99.0,54,-16.1