version: 66.03
glider: 143
mission: 4
dive: 110
start: 4 26 108 6 45 28
data:
$ID,143
$MISSION,4
$DIVE,110
$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,300
$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,-6212.9756
$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,18
$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
$GPS1,063155,6101.971,-2319.721,38,1.9,38,-16.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-52.2
$GPS2,064509,6102.019,-2319.829,11,1.1,11,-16.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6107.418,-2324.345
$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,316.7,20000,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.82,-194.7,0.0,0.0,0,114,0.00,0.00,-87.15,0.000,2,0.000,0.000,1465,2304,3498
$GC,116,-0.82,-194.7,3.1,-5.7,12,141,10.23,2.97,-8.50,0.000,4,0.258,0.074,2611,3714,3868
$GC,294,-0.74,-194.7,36.7,-16.2,44,303,0.12,2.80,0.00,0.000,6,0.137,0.041,2633,2291,3870
$GC,432,-0.67,-194.7,56.9,-14.6,69,438,0.12,0.00,0.00,0.000,6,0.156,0.000,2649,2289,3870
$GC,760,-0.67,-194.7,101.2,-13.9,130,768,0.00,2.80,0.00,0.000,4,0.000,0.056,2649,887,3869
$GC,813,-0.67,-194.7,108.3,-13.3,139,819,0.00,2.75,0.00,0.000,6,0.000,0.046,2650,2296,3869
$GC,1142,-0.67,-194.7,152.0,-13.3,200,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2297,3870
$GC,1484,-0.67,-194.7,195.9,-13.3,261,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2296,3869
$GC,1820,-0.67,-194.7,240.4,-13.0,322,1826,0.00,2.78,0.00,0.000,4,0.000,0.054,2649,884,3869
$GC,1885,-0.67,-194.7,248.0,-12.2,333,1892,0.00,2.72,0.00,0.000,6,0.000,0.045,2653,2295,3869
$GC,2224,-0.67,-194.7,291.8,-13.2,394,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2295,3869
$GC,2560,-0.67,-194.7,337.0,-13.0,455,2566,0.00,2.78,0.00,0.000,4,0.000,0.054,2649,882,3869
$GC,2605,-0.67,-194.7,342.8,-12.8,463,2611,0.00,2.70,0.00,0.000,6,0.000,0.043,2654,2287,3869
$GC,2937,-0.67,-194.7,386.3,-13.0,499,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3869
$GC,3257,-0.67,-194.7,426.1,-12.5,529,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2288,3869
$GC,3576,-0.67,-194.7,466.2,-12.9,559,3580,0.00,2.78,0.00,0.000,4,0.000,0.055,2649,877,3869
$GC,3624,-0.67,-194.7,472.6,-12.3,563,3629,0.00,2.67,0.00,0.000,6,0.000,0.042,2658,2279,3870
$GC,3953,-0.67,-194.7,513.5,-12.7,593,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2279,3869
$GC,4277,-0.67,-194.7,552.7,-11.9,624,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2279,3869
$GC,4595,-0.67,-194.7,592.9,-12.9,654,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2279,3869
$GC,4906,-0.67,-194.7,630.9,-11.8,672,4911,0.00,2.78,0.00,0.000,4,0.000,0.061,2649,888,3869
$GC,4955,-0.67,-194.7,636.7,-11.2,674,4960,0.00,2.70,0.00,0.000,6,0.000,0.044,2652,2273,3869
$GC,5277,-0.67,-194.7,673.0,-11.4,690,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2274,3869
$GC,5586,-0.67,-194.7,711.0,-12.5,705,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2275,3869
$GC,5895,-0.67,-194.7,749.0,-12.1,720,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2277,3868
$GC,6204,-0.67,-194.7,786.4,-11.7,735,6209,0.00,2.83,0.00,0.000,4,0.000,0.067,2649,883,3868
$GC,6248,-0.71,-194.7,791.7,-11.5,737,6253,0.00,2.70,0.00,0.000,6,0.000,0.048,2651,2269,3868
$GC,6569,-0.71,-194.7,829.5,-11.6,753,6573,0.00,2.92,0.00,0.000,4,0.000,0.067,2649,3708,3868
$GC,6607,-0.71,-194.7,833.9,-12.1,755,6611,0.00,2.85,0.00,0.000,6,0.000,0.052,2649,2266,3868
$GC,6932,-0.71,-194.7,871.6,-11.6,771,6936,0.00,2.78,0.00,0.000,4,0.000,0.067,2649,882,3867
$GC,6975,-0.75,-194.7,876.7,-11.9,773,6979,0.00,2.70,0.00,0.000,6,0.000,0.048,2649,2272,3867
$GC,7302,-0.75,-194.7,915.8,-12.2,789,7306,0.00,2.92,0.00,0.000,4,0.000,0.066,2649,3713,3867
$GC,7344,-0.75,-194.7,921.3,-12.3,791,7349,0.00,2.85,0.00,0.000,6,0.000,0.051,2649,2272,3867
$GC,7671,-0.75,-194.7,959.3,-11.6,807,7672,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2271,3866
$STATE,7937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7937,begin apogee
$GC,7942,-0.19,0.0,990.0,11.4,820,8144,0.62,0.00,198.15,1.459,6,0.123,0.000,2754,2036,3071
$STATE,8145,end apogee,CONTROL_FINISHED_OK
$STATE,8145,begin climb
$GC,8146,0.82,194.7,998.1,0.0,830,8360,1.25,3.17,203.45,1.366,4,0.088,0.071,2971,649,2277
$GC,8460,0.70,194.7,970.8,12.9,845,8465,0.00,2.92,0.00,0.000,6,0.000,0.044,2971,2050,2273
$GC,8781,0.57,194.7,927.3,13.3,861,8787,0.28,2.92,0.00,0.000,4,0.133,0.061,2926,3461,2271
$GC,8848,0.57,194.7,919.8,10.1,864,8852,0.00,2.85,0.00,0.000,6,0.000,0.052,2929,2064,2271
$GC,9169,0.56,224.3,890.6,9.0,880,9203,0.00,0.00,29.70,1.398,6,0.000,0.000,2929,2063,2156
$GC,9520,0.58,238.9,857.8,9.5,897,9542,0.00,2.97,15.88,1.354,4,0.000,0.070,2927,635,2096
$GC,9597,0.59,248.5,850.4,9.7,900,9613,0.00,2.90,11.27,1.202,6,0.000,0.044,2927,2094,2057
$GC,9934,0.60,254.2,818.2,9.8,917,9948,0.00,3.08,7.22,1.177,4,0.000,0.070,2932,638,2034
$GC,10026,0.60,254.2,808.8,10.3,921,10031,0.00,2.90,0.00,0.000,6,0.000,0.044,2927,2109,2033
$GC,10353,0.62,266.1,777.4,9.6,937,10368,0.00,0.00,13.05,1.331,6,0.000,0.000,2927,2110,1986
$GC,10678,0.62,266.1,744.1,10.4,952,10682,0.00,2.72,0.00,0.000,4,0.000,0.059,2925,3464,1984
$GC,10731,0.62,266.1,738.2,10.8,954,10738,0.00,2.72,0.00,0.000,6,0.000,0.051,2935,2113,1983
$GC,11047,0.64,282.5,706.8,9.4,970,11068,0.00,0.00,18.15,1.294,6,0.000,0.000,2934,2113,1919
$GC,11377,0.66,302.0,677.0,9.3,986,11399,0.00,0.00,20.88,1.260,6,0.000,0.000,2934,2111,1839
$GC,11705,0.66,302.0,644.9,10.0,1002,11710,0.00,2.72,0.00,0.000,4,0.000,0.055,2926,3465,1836
$GC,11737,0.66,302.0,641.4,10.2,1003,11744,0.00,2.70,0.00,0.000,6,0.000,0.047,2927,2116,1835
$GC,12053,0.68,318.3,610.8,9.4,1019,12073,0.00,0.00,17.10,1.230,6,0.000,0.000,2927,2116,1773
$GC,12389,0.69,329.8,579.0,9.6,1045,12408,0.12,0.00,13.20,1.201,6,0.072,0.000,2951,2115,1726
$GC,12726,0.65,329.8,537.4,11.8,1077,12727,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2115,1724
$GC,13044,0.65,329.8,501.3,11.5,1107,13049,0.00,2.67,0.00,0.000,4,0.000,0.051,2950,3465,1724
$GC,13065,0.65,329.8,498.7,11.7,1108,13072,0.00,2.62,0.00,0.000,6,0.000,0.044,2953,2120,1722
$GC,13391,0.61,329.8,459.8,12.1,1139,13395,0.00,2.97,0.00,0.000,4,0.000,0.063,2952,631,1722
$GC,13412,0.61,329.8,457.1,12.8,1140,13419,0.00,2.88,0.00,0.000,6,0.000,0.041,2952,2137,1722
$GC,13738,0.61,329.8,418.5,11.8,1171,13739,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2137,1722
$GC,14058,0.61,329.8,380.4,11.7,1201,14063,0.00,3.00,0.00,0.000,4,0.000,0.061,2952,640,1722
$GC,14074,0.61,329.8,378.1,11.7,1202,14079,0.00,2.83,0.00,0.000,6,0.000,0.039,2951,2123,1722
$GC,14400,0.61,329.8,339.9,11.5,1239,14405,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2123,1723
$GC,14739,0.61,329.8,299.8,11.8,1300,14746,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2123,1722
$GC,15082,0.61,329.8,259.3,11.5,1361,15088,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2122,1722
$GC,15421,0.61,329.8,219.1,11.3,1422,15428,0.00,2.97,0.00,0.000,4,0.000,0.061,2952,631,1722
$GC,15441,0.61,329.8,217.0,11.8,1425,15447,0.00,2.83,0.00,0.000,6,0.000,0.039,2951,2124,1722
$GC,15781,0.61,329.8,177.7,11.5,1486,15787,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2124,1722
$GC,16120,0.61,329.8,137.3,13.0,1547,16125,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2124,1723
$GC,16447,0.61,329.8,97.6,12.4,1608,16455,0.00,3.00,0.00,0.000,4,0.000,0.062,2952,638,1722
$GC,16468,0.61,329.8,95.4,11.8,1611,16474,0.00,2.80,0.00,0.000,6,0.000,0.039,2951,2121,1722
$GC,16800,0.61,329.8,57.1,10.9,1672,16808,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2121,1722
$GC,17123,0.61,329.8,19.9,10.8,1733,17131,0.00,3.00,0.00,0.000,4,0.000,0.062,2951,638,1723
$GC,17143,0.61,329.8,17.5,12.3,1736,17152,0.00,2.83,0.00,0.000,6,0.000,0.038,2952,2114,1722
$GC,17278,0.61,329.8,2.6,10.7,1761,17286,0.00,2.65,0.00,0.000,4,0.000,0.051,2950,3463,1722
$STATE,17294,end climb,SURFACE_DEPTH_REACHED
$STATE,17294,begin surface coast
$FINISH,-0.0,1.027300
$STATE,17300,end surface coast,CONTROL_FINISHED_OK
$STATE,17300,begin surface
$SM_CCo,17378,0.00,0.000,0,0,1722,330.91
$SM_GC,0.71,7.28,0.00,0.00,0.046,0.000,0.000,1467,2272,1722,-6.08,-0.65,330.91
$IRIDIUM_FIX,6041.65,-2318.92,210797,060652
$TT8_MAMPS,0.021476
$HUMID,1667
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,12.50
$XPDR_PINGS,146
$24V_AH,19.5,42.001
$10V_AH,9.8,30.517
$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,20.025,130.175,548.050,0.000,0.000,79.168,108.045,369.973,36.500,0.000,0.000,12.891,2805.261,9944.024,663.833,3960.118,784.862,0.000,2138.098,0.000,3962.524,0.000,0.467
$DEVICE_MAMPS,257.712,74.399,1458.834,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1303.458,1251.109,649.241,875.358,1617.058,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129893,1764
$CAP_FILE_SIZE,161698,0
$CFSIZE,260165632,245690368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,260408,113608,6104.173,-2327.175,27,1.4,28,-16.8