version: 66.03
glider: 143
mission: 4
dive: 112
start: 4 26 108 16 39 58
data:
$ID,143
$MISSION,4
$DIVE,112
$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,340
$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,-6242.229
$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,20
$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
$GPS1,163307,6106.164,-2334.639,40,1.6,46,-16.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-57.4
$GPS2,163939,6106.161,-2334.721,11,1.1,11,-16.9
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6116.309,-2336.497
$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,356.9,20000,-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,-194.7,0.0,0.0,0,107,0.00,0.00,-80.00,0.000,2,0.000,0.000,1465,2312,3459
$GC,109,-0.82,-194.7,3.3,-6.4,11,140,10.23,2.85,-9.38,0.000,4,0.260,0.068,2612,3700,3867
$GC,174,-0.71,-194.7,17.6,-18.0,21,183,0.15,2.78,0.00,0.000,6,0.139,0.041,2638,2291,3868
$GC,310,-0.65,-194.7,38.7,-14.8,46,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2291,3868
$GC,448,-0.60,-194.7,60.2,-15.5,71,455,0.15,2.78,0.00,0.000,4,0.152,0.054,2662,888,3868
$GC,506,-0.66,-194.7,68.1,-12.2,81,513,0.00,2.72,0.00,0.000,6,0.000,0.044,2662,2294,3868
$GC,835,-0.66,-194.7,108.8,-11.8,142,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2294,3868
$GC,1169,-0.66,-194.7,147.1,-11.5,203,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2294,3868
$GC,1507,-0.66,-194.7,186.8,-11.4,264,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2294,3868
$GC,1849,-0.66,-194.7,225.8,-11.5,325,1855,0.00,2.78,0.00,0.000,4,0.000,0.054,2663,882,3868
$GC,1889,-0.72,-194.7,230.6,-11.5,332,1897,0.00,2.72,0.00,0.000,6,0.000,0.044,2663,2281,3869
$GC,2233,-0.72,-194.7,270.8,-11.9,393,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2281,3868
$GC,2572,-0.72,-194.7,310.4,-11.4,454,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2282,3868
$GC,2908,-0.72,-194.7,348.7,-11.7,515,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2282,3868
$GC,3231,-0.72,-194.7,384.7,-11.0,547,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2281,3868
$GC,3553,-0.72,-194.7,420.3,-11.3,577,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2281,3868
$GC,3868,-0.72,-194.7,456.4,-11.6,607,3872,0.00,2.75,0.00,0.000,4,0.000,0.056,2663,887,3868
$GC,3918,-0.78,-194.7,462.0,-11.1,611,3923,0.20,2.70,0.00,0.000,6,0.054,0.042,2625,2295,3868
$GC,4244,-0.70,-194.7,514.5,-16.7,641,4249,0.15,2.80,0.00,0.000,4,0.139,0.055,2643,3710,3868
$GC,4293,-0.70,-194.7,522.3,-13.7,645,4298,0.00,2.78,0.00,0.000,6,0.000,0.042,2643,2270,3868
$GC,4618,-0.70,-194.7,567.6,-13.6,675,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2266,3868
$GC,4934,-0.70,-194.7,608.9,-12.9,702,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2266,3868
$GC,5243,-0.70,-194.7,647.1,-12.3,717,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2266,3868
$GC,5553,-0.70,-194.7,684.5,-12.1,732,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2266,3868
$GC,5862,-0.70,-194.7,721.5,-12.2,747,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2266,3868
$GC,6171,-0.70,-194.7,760.3,-12.6,762,6176,0.00,2.90,0.00,0.000,4,0.000,0.065,2643,3700,3868
$GC,6232,-0.70,-194.7,768.1,-13.0,765,6237,0.00,2.80,0.00,0.000,6,0.000,0.051,2643,2284,3868
$GC,6557,-0.70,-194.7,807.8,-12.0,781,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2284,3868
$GC,6866,-0.70,-194.7,845.6,-12.4,796,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2284,3867
$GC,7176,-0.70,-194.7,883.1,-12.1,811,7177,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2283,3867
$GC,7485,-0.70,-194.7,920.7,-12.3,826,7489,0.00,2.88,0.00,0.000,4,0.000,0.064,2643,3702,3867
$GC,7533,-0.70,-194.7,926.7,-12.4,828,7538,0.00,2.80,0.00,0.000,6,0.000,0.050,2643,2281,3867
$GC,7854,-0.70,-194.7,964.6,-11.7,844,7856,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2281,3866
$STATE,8079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8079,begin apogee
$GC,8084,-0.19,0.0,990.9,11.7,855,8285,0.68,0.00,197.90,1.457,6,0.130,0.000,2754,2035,3071
$STATE,8286,end apogee,CONTROL_FINISHED_OK
$STATE,8286,begin climb
$GC,8288,0.82,194.7,999.2,0.0,865,8506,1.30,3.22,203.82,1.368,4,0.085,0.071,3017,649,2276
$GC,8596,0.68,194.7,971.3,13.9,880,8601,0.20,2.92,0.00,0.000,6,0.136,0.046,2952,2046,2274
$GC,8922,0.57,194.7,934.0,10.9,896,8927,0.17,2.95,0.00,0.000,4,0.134,0.062,2921,3467,2271
$GC,8988,0.60,218.3,927.5,9.2,899,9019,0.00,2.85,23.90,1.368,6,0.000,0.052,2921,2071,2181
$GC,9335,0.65,257.6,898.2,8.6,916,9381,0.00,2.95,40.80,1.361,4,0.000,0.059,2921,3464,2019
$GC,9431,0.67,270.3,889.3,9.6,920,9451,0.12,2.85,13.70,1.254,6,0.077,0.052,2945,2084,1969
$GC,9767,0.60,270.3,850.1,11.6,937,9772,0.00,2.83,0.00,0.000,4,0.000,0.058,2944,3464,1965
$GC,9800,0.55,270.3,846.0,11.5,938,9807,0.15,2.75,0.00,0.000,6,0.134,0.053,2924,2107,1964
$GC,10115,0.58,291.0,816.5,9.3,954,10139,0.00,0.00,22.38,1.343,6,0.000,0.000,2923,2107,1884
$GC,10445,0.62,325.7,786.9,8.8,970,10487,0.00,2.85,35.75,1.309,4,0.000,0.058,2923,3469,1742
$GC,10520,0.70,355.3,780.1,9.0,973,10557,0.15,2.80,31.35,1.253,6,0.067,0.051,2952,2105,1622
$GC,10879,0.65,355.3,735.4,12.7,991,10880,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2104,1615
$GC,11187,0.60,355.3,694.0,13.8,1006,11192,0.00,2.75,0.00,0.000,4,0.000,0.057,2951,3464,1615
$GC,11204,0.56,355.3,691.6,13.8,1007,11209,0.17,2.67,0.00,0.000,6,0.127,0.051,2926,2118,1614
$GC,11530,0.63,375.6,660.9,9.3,1023,11553,0.00,0.00,20.83,1.299,6,0.000,0.000,2926,2117,1539
$GC,11860,0.73,410.7,630.3,8.8,1039,11905,0.15,3.12,37.15,1.215,4,0.065,0.068,2964,646,1395
$GC,11916,0.69,410.7,623.3,14.3,1041,11922,0.00,2.92,0.00,0.000,6,0.000,0.042,2960,2120,1393
$GC,12235,0.64,410.7,576.3,14.9,1064,12236,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2120,1390
$GC,12555,0.59,410.7,528.6,14.6,1094,12560,0.17,3.03,0.00,0.000,4,0.121,0.064,2936,637,1389
$GC,12575,0.59,410.7,525.5,13.0,1095,12583,0.00,2.88,0.00,0.000,6,0.000,0.041,2931,2111,1388
$GC,12902,0.68,430.9,494.8,9.3,1126,12925,0.00,0.00,20.40,1.195,6,0.000,0.000,2931,2111,1314
$GC,13240,0.80,463.8,464.5,8.9,1158,13284,0.20,3.10,35.15,1.102,4,0.056,0.064,2984,640,1180
$GC,13300,0.75,463.8,456.0,16.3,1163,13307,0.00,2.90,0.00,0.000,6,0.000,0.040,2976,2113,1178
$GC,13626,0.67,463.8,398.2,18.4,1194,13631,0.15,3.03,0.00,0.000,4,0.130,0.062,2963,633,1176
$GC,13647,0.62,463.8,394.1,17.5,1195,13655,0.00,2.80,0.00,0.000,6,0.000,0.038,2950,2088,1175
$GC,13973,0.62,463.8,356.6,11.4,1226,13975,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2088,1175
$GC,14304,0.62,463.8,316.5,11.7,1280,14312,0.00,2.95,0.00,0.000,4,0.000,0.063,2956,643,1173
$GC,14318,0.62,463.8,314.7,12.0,1282,14324,0.00,2.75,0.00,0.000,6,0.000,0.038,2950,2083,1173
$GC,14659,0.67,463.8,277.1,10.3,1343,14664,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2082,1173
$GC,14997,0.71,463.8,240.5,10.4,1404,15006,0.00,2.92,0.00,0.000,4,0.000,0.062,2953,641,1173
$GC,15032,0.78,463.8,237.1,10.7,1409,15038,0.00,2.72,0.00,0.000,6,0.000,0.038,2951,2073,1172
$GC,15372,0.82,463.8,202.1,10.2,1470,15379,0.15,2.70,0.00,0.000,4,0.064,0.050,2982,3459,1172
$GC,15395,0.82,463.8,199.2,13.0,1474,15402,0.00,2.72,0.00,0.000,6,0.000,0.044,2983,2059,1172
$GC,15739,0.73,463.8,140.9,18.1,1535,15746,0.15,2.83,0.00,0.000,4,0.135,0.063,2956,643,1172
$GC,15765,0.68,463.8,136.2,16.7,1539,15771,0.00,2.70,0.00,0.000,6,0.000,0.040,2957,2067,1172
$GC,16093,0.68,463.8,97.6,11.1,1600,16101,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2067,1172
$GC,16427,0.68,463.8,56.8,12.8,1661,16433,0.00,2.88,0.00,0.000,4,0.000,0.063,2957,637,1171
$GC,16441,0.68,463.8,54.7,12.6,1663,16447,0.00,2.70,0.00,0.000,6,0.000,0.038,2957,2065,1172
$GC,16762,0.68,463.8,15.6,13.1,1724,16769,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2067,1171
$STATE,16878,end climb,SURFACE_DEPTH_REACHED
$STATE,16878,begin surface coast
$FINISH,0.1,1.027324
$STATE,16901,end surface coast,CONTROL_FINISHED_OK
$STATE,16902,begin surface
$SM_CCo,16977,0.00,0.000,0,0,1171,466.07
$SM_GC,0.65,7.25,0.00,0.00,0.045,0.000,0.000,1469,2305,1171,-6.08,0.28,466.07
$IRIDIUM_FIX,6037.25,-2327.08,210797,111131
$TT8_MAMPS,0.021476
$HUMID,1695
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,12.40
$XPDR_PINGS,127
$24V_AH,19.5,42.512
$10V_AH,9.8,30.893
$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,22.050,126.000,683.125,0.000,0.000,25.090,40.617,216.303,31.750,0.000,0.000,12.795,2769.386,9377.371,768.712,3925.220,515.332,0.000,2241.689,0.000,3932.648,0.000,0.467
$DEVICE_MAMPS,260.013,70.564,1456.533,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1296.648,1233.864,653.135,880.940,1623.987,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129717,1750
$CAP_FILE_SIZE,157848,0
$CFSIZE,260165632,245510144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,260408,212428,6109.480,-2341.018,39,3.8,58,-17.0