version: 66.03
glider: 143
mission: 4
dive: 111
start: 4 26 108 11 43 40
data:
$ID,143
$MISSION,4
$DIVE,111
$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,-6228.8042
$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,29
$R_STBD_OVSHOOT,17
$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
$GPS1,113608,6104.173,-2327.175,27,1.4,28,-16.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-54.9
$GPS2,114321,6104.203,-2327.177,13,1.3,13,-16.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6109.603,-2331.689
$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,316.8,20000,-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,-194.7,0.0,0.0,0,115,0.00,0.00,-87.35,0.000,2,0.000,0.000,1466,2270,3632
$GC,117,-0.82,-194.7,3.6,-6.5,12,141,10.32,0.00,-4.95,0.000,6,0.262,0.000,2612,2270,3868
$GC,268,-0.69,-194.7,37.4,-18.0,39,276,0.17,0.00,0.00,0.000,6,0.153,0.000,2640,2270,3868
$GC,403,-0.63,-194.7,59.0,-14.7,64,411,0.12,0.00,0.00,0.000,6,0.143,0.000,2658,2270,3869
$GC,736,-0.63,-194.7,102.8,-13.3,125,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2270,3868
$GC,1064,-0.63,-194.7,145.7,-13.0,186,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2270,3869
$GC,1403,-0.63,-194.7,189.8,-13.0,247,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2270,3869
$GC,1741,-0.63,-194.7,232.6,-12.6,308,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2270,3869
$GC,2083,-0.63,-194.7,275.5,-12.4,369,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2270,3868
$GC,2421,-0.63,-194.7,319.0,-13.0,430,2427,0.00,2.70,0.00,0.000,4,0.000,0.054,2653,893,3869
$GC,2467,-0.63,-194.7,324.7,-12.3,438,2473,0.00,2.67,0.00,0.000,6,0.000,0.044,2655,2285,3869
$GC,2808,-0.63,-194.7,367.5,-12.5,487,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2285,3869
$GC,3124,-0.63,-194.7,407.7,-13.0,517,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2285,3869
$GC,3443,-0.63,-194.7,449.6,-13.4,547,3447,0.00,2.75,0.00,0.000,4,0.000,0.055,2654,889,3869
$GC,3485,-0.63,-194.7,455.2,-12.2,550,3493,0.00,2.67,0.00,0.000,6,0.000,0.042,2655,2272,3869
$GC,3811,-0.63,-194.7,496.8,-12.9,581,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2272,3868
$GC,4129,-0.63,-194.7,536.2,-12.0,611,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2272,3869
$GC,4449,-0.63,-194.7,574.8,-11.9,641,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2272,3869
$GC,4774,-0.63,-194.7,613.0,-11.6,667,4778,0.00,2.75,0.00,0.000,4,0.000,0.060,2653,891,3869
$GC,4812,-0.63,-194.7,617.4,-11.5,669,4816,0.00,2.65,0.00,0.000,6,0.000,0.044,2659,2269,3869
$GC,5137,-0.63,-194.7,656.5,-12.1,685,5142,0.00,2.88,0.00,0.000,4,0.000,0.064,2653,3702,3868
$GC,5179,-0.63,-194.7,661.9,-12.4,687,5184,0.00,2.80,0.00,0.000,6,0.000,0.049,2653,2274,3869
$GC,5506,-0.63,-194.7,701.9,-12.4,703,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2274,3868
$GC,5816,-0.63,-194.7,739.6,-12.3,718,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2274,3869
$GC,6125,-0.63,-194.7,776.3,-11.6,733,6130,0.00,2.80,0.00,0.000,4,0.000,0.070,2653,884,3868
$GC,6168,-0.68,-194.7,781.3,-11.4,735,6172,0.00,2.70,0.00,0.000,6,0.000,0.048,2654,2272,3868
$GC,6495,-0.68,-194.7,818.2,-11.2,751,6499,0.00,2.90,0.00,0.000,4,0.000,0.066,2653,3706,3868
$GC,6533,-0.68,-194.7,822.6,-11.7,753,6537,0.00,2.88,0.00,0.000,6,0.000,0.052,2654,2252,3868
$GC,6858,-0.68,-194.7,859.5,-11.2,769,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2252,3867
$GC,7168,-0.68,-194.7,893.1,-10.6,784,7169,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2252,3867
$GC,7476,-0.68,-194.7,926.3,-10.6,799,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2252,3867
$GC,7786,-0.68,-194.7,959.0,-10.7,814,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2252,3866
$STATE,8094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8094,begin apogee
$GC,8098,-0.19,0.0,991.5,10.6,829,8300,0.60,0.00,197.90,1.460,6,0.121,0.000,2754,2043,3071
$STATE,8300,end apogee,CONTROL_FINISHED_OK
$STATE,8301,begin climb
$GC,8302,0.82,194.7,999.9,0.0,839,8516,1.25,3.20,203.80,1.369,4,0.090,0.071,2970,643,2276
$GC,8635,0.70,194.7,971.3,12.7,855,8639,0.00,2.92,0.00,0.000,6,0.000,0.045,2970,2051,2273
$GC,8960,0.57,194.7,930.7,12.3,871,8966,0.25,2.92,0.00,0.000,4,0.133,0.061,2929,3465,2271
$GC,9016,0.52,195.3,924.8,10.0,873,9022,0.00,2.85,0.00,0.000,6,0.000,0.053,2930,2069,2270
$GC,9331,0.50,218.8,895.6,9.2,889,9361,0.00,2.92,24.05,1.414,4,0.000,0.060,2929,3468,2178
$GC,9412,0.50,218.8,887.4,10.5,893,9417,0.00,2.85,0.00,0.000,6,0.000,0.052,2929,2076,2177
$GC,9737,0.46,218.8,855.0,10.1,909,9743,0.15,2.85,0.00,0.000,4,0.125,0.058,2903,3468,2176
$GC,9783,0.55,253.4,850.9,8.8,911,9824,0.00,2.75,35.53,1.362,6,0.000,0.051,2904,2098,2038
$GC,10146,0.69,322.5,822.8,7.6,929,10223,0.20,3.15,69.97,1.322,4,0.061,0.071,2946,635,1755
$GC,10313,0.69,322.5,802.6,12.3,936,10317,0.00,3.00,0.00,0.000,6,0.000,0.045,2948,2127,1751
$GC,10638,0.64,322.5,759.7,13.1,952,10643,0.00,3.10,0.00,0.000,4,0.000,0.071,2946,637,1749
$GC,10731,0.64,322.5,747.6,12.3,956,10736,0.00,2.95,0.00,0.000,6,0.000,0.045,2953,2139,1749
$GC,11053,0.64,322.5,706.8,12.4,972,11054,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2139,1748
$GC,11362,0.64,322.5,669.4,11.8,987,11363,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2139,1747
$GC,11671,0.64,322.5,634.5,11.2,1002,11672,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2139,1747
$GC,11981,0.64,322.5,598.6,11.8,1017,11982,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2139,1747
$GC,12299,0.64,322.5,560.9,11.9,1047,12300,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2139,1747
$GC,12618,0.64,322.5,522.0,12.1,1077,12620,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2139,1747
$GC,12936,0.64,322.5,483.7,11.8,1107,12937,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2139,1747
$GC,13259,0.64,322.5,446.1,11.7,1137,13264,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2139,1747
$GC,13582,0.64,322.5,407.6,12.4,1168,13583,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2138,1747
$GC,13901,0.64,322.5,368.5,12.0,1198,13906,0.00,3.00,0.00,0.000,4,0.000,0.062,2948,641,1747
$GC,13917,0.64,322.5,366.5,12.0,1199,13921,0.00,2.83,0.00,0.000,6,0.000,0.039,2949,2129,1747
$GC,14250,0.64,322.5,328.9,11.5,1245,14256,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2129,1747
$GC,14588,0.64,322.5,289.2,12.4,1306,14594,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2129,1747
$GC,14927,0.64,322.5,251.2,10.6,1367,14933,0.00,2.62,0.00,0.000,4,0.000,0.051,2946,3472,1747
$GC,14950,0.64,322.5,248.7,11.8,1371,14957,0.00,2.60,0.00,0.000,6,0.000,0.044,2947,2124,1746
$GC,15292,0.64,322.5,209.7,11.5,1432,15300,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2124,1746
$GC,15635,0.64,322.5,171.7,11.2,1493,15641,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2124,1746
$GC,15970,0.64,322.5,133.6,10.2,1554,15977,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2124,1746
$GC,16303,0.64,322.5,98.7,10.7,1615,16309,0.00,2.65,0.00,0.000,4,0.000,0.051,2946,3474,1746
$GC,16320,0.64,322.5,96.5,10.8,1618,16328,0.00,2.62,0.00,0.000,6,0.000,0.043,2946,2129,1746
$GC,16654,0.64,322.5,60.0,10.6,1679,16660,0.00,2.97,0.00,0.000,4,0.000,0.064,2946,635,1746
$GC,16671,0.64,322.5,57.5,11.3,1682,16679,0.00,2.88,0.00,0.000,6,0.000,0.038,2946,2140,1746
$GC,16996,0.65,324.8,22.7,9.9,1743,17003,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2140,1746
$GC,17130,0.65,324.8,9.1,11.8,1768,17137,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2141,1746
$STATE,17194,end climb,SURFACE_DEPTH_REACHED
$STATE,17195,begin surface coast
$FINISH,-0.0,1.027315
$STATE,17212,end surface coast,CONTROL_FINISHED_OK
$STATE,17212,begin surface
$SM_CCo,17287,0.00,0.000,0,0,1746,325.02
$SM_GC,0.78,7.12,0.00,0.00,0.041,0.000,0.000,1465,2309,1746,-6.08,0.40,325.02
$IRIDIUM_FIX,6037.25,-2317.16,210797,060656
$TT8_MAMPS,0.021476
$HUMID,1673
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,12.00
$XPDR_PINGS,133
$24V_AH,19.5,42.232
$10V_AH,9.8,30.706
$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,20.200,91.525,531.250,0.000,0.000,23.611,33.507,265.585,33.250,0.000,0.000,15.200,2818.059,9718.273,614.531,4015.811,539.295,0.000,2085.353,0.000,4015.840,0.000,0.467
$DEVICE_MAMPS,261.547,70.564,1459.601,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1315.688,1260.588,667.241,892.701,1651.206,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132994,1783
$CAP_FILE_SIZE,151473,0
$CFSIZE,260165632,245608448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,260408,163307,6106.164,-2334.639,40,1.6,46,-16.9