version: 66.03
glider: 143
mission: 4
dive: 113
start: 4 26 108 21 39 39
data:
$ID,143
$MISSION,4
$DIVE,113
$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,-6256.9585
$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,19
$R_STBD_OVSHOOT,23
$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
$GPS1,212428,6109.480,-2341.018,39,3.8,58,-17.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-49.3
$GPS2,213920,6109.457,-2341.333,12,1.5,12,-17.0
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6119.604,-2343.106
$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,357.0,20000,-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,-194.7,0.0,0.0,0,142,0.00,0.00,-115.15,0.000,2,0.000,0.000,1468,2305,3669
$GC,145,-0.82,-194.7,4.0,-7.4,16,161,10.05,0.00,-4.07,0.000,6,0.255,0.000,2611,2305,3867
$GC,289,-0.70,-194.7,36.4,-18.8,42,297,0.17,0.00,0.00,0.000,6,0.155,0.000,2639,2305,3869
$GC,425,-0.64,-194.7,57.4,-15.1,67,430,0.12,0.00,0.00,0.000,6,0.151,0.000,2656,2305,3869
$GC,753,-0.64,-194.7,101.0,-13.2,128,760,0.00,2.85,0.00,0.000,4,0.000,0.054,2656,883,3869
$GC,806,-0.68,-194.7,107.5,-11.8,137,812,0.00,2.75,0.00,0.000,6,0.000,0.044,2656,2296,3869
$GC,1133,-0.68,-194.7,149.1,-12.7,198,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2297,3869
$GC,1474,-0.68,-194.7,191.2,-11.8,259,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2297,3869
$GC,1812,-0.68,-194.7,234.7,-13.2,320,1820,0.00,2.80,0.00,0.000,4,0.000,0.054,2656,887,3869
$GC,1860,-0.73,-194.7,240.8,-12.4,328,1868,0.00,2.75,0.00,0.000,6,0.000,0.044,2656,2293,3869
$GC,2204,-0.73,-194.7,283.0,-11.2,389,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2294,3869
$GC,2543,-0.73,-194.7,322.7,-11.6,450,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2294,3869
$GC,2880,-0.73,-194.7,361.2,-11.6,502,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2294,3869
$GC,3197,-0.73,-194.7,398.3,-12.3,532,3202,0.00,2.78,0.00,0.000,4,0.000,0.054,2656,881,3869
$GC,3252,-0.78,-194.7,404.9,-11.8,536,3259,0.10,2.72,0.00,0.000,6,0.051,0.042,2629,2291,3869
$GC,3576,-0.71,-194.7,452.1,-14.3,567,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2291,3869
$GC,3895,-0.65,-194.7,499.5,-15.5,597,3897,0.17,0.00,0.00,0.000,6,0.136,0.000,2654,2291,3869
$GC,4214,-0.65,-194.7,539.0,-12.0,627,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2291,3869
$GC,4535,-0.65,-194.7,577.6,-12.1,657,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2291,3869
$GC,4865,-0.65,-194.7,617.2,-11.8,682,4870,0.00,2.80,0.00,0.000,4,0.000,0.060,2654,884,3869
$GC,4908,-0.70,-194.7,622.1,-11.2,684,4913,0.00,2.70,0.00,0.000,6,0.000,0.044,2654,2288,3869
$GC,5235,-0.70,-194.7,658.2,-11.1,700,5240,0.00,2.85,0.00,0.000,4,0.000,0.064,2654,3707,3869
$GC,5278,-0.70,-194.7,663.1,-11.5,702,5282,0.00,2.78,0.00,0.000,6,0.000,0.048,2653,2286,3869
$GC,5604,-0.70,-194.7,699.2,-11.0,718,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2285,3868
$GC,5914,-0.70,-194.7,737.5,-12.6,733,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2285,3868
$GC,6223,-0.70,-194.7,774.9,-11.8,748,6228,0.00,2.83,0.00,0.000,4,0.000,0.068,2654,882,3868
$GC,6262,-0.75,-194.7,779.4,-11.4,750,6267,0.00,2.72,0.00,0.000,6,0.000,0.048,2654,2282,3868
$GC,6588,-0.75,-194.7,815.6,-10.9,766,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2283,3868
$GC,6897,-0.75,-194.7,850.3,-11.1,781,6902,0.00,2.88,0.00,0.000,4,0.000,0.065,2654,3705,3868
$GC,6945,-0.75,-194.7,855.9,-11.1,783,6950,0.00,2.83,0.00,0.000,6,0.000,0.051,2654,2271,3868
$GC,7266,-0.75,-194.7,889.7,-10.4,799,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2271,3867
$GC,7576,-0.75,-194.7,922.8,-10.7,814,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2270,3867
$GC,7885,-0.75,-194.7,956.2,-11.1,829,7889,0.00,2.92,0.00,0.000,4,0.000,0.065,2654,3708,3867
$GC,7934,-0.79,-194.7,961.9,-11.0,831,7939,0.15,2.83,0.00,0.000,6,0.063,0.051,2623,2279,3867
$STATE,8144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8144,begin apogee
$GC,8149,-0.19,0.0,990.9,13.8,841,8350,0.80,0.00,197.25,1.447,6,0.133,0.000,2754,2042,3072
$STATE,8350,end apogee,CONTROL_FINISHED_OK
$STATE,8351,begin climb
$GC,8352,0.82,194.7,999.3,0.0,851,8566,1.30,3.17,203.55,1.362,4,0.087,0.069,2976,646,2277
$GC,8633,0.70,194.7,975.2,13.6,864,8639,0.17,2.97,0.00,0.000,6,0.132,0.045,2954,2059,2273
$GC,8960,0.59,194.7,934.5,12.1,880,8965,0.15,2.92,0.00,0.000,4,0.137,0.061,2928,3468,2271
$GC,9031,0.55,194.7,926.6,10.6,883,9036,0.00,2.85,0.00,0.000,6,0.000,0.053,2928,2072,2270
$GC,9352,0.51,198.5,895.0,9.9,899,9362,0.00,2.85,4.20,0.900,4,0.000,0.059,2928,3467,2261
$GC,9401,0.51,198.5,889.9,10.5,901,9405,0.00,2.80,0.00,0.000,6,0.000,0.051,2928,2081,2260
$GC,9728,0.48,207.2,857.9,9.7,917,9744,0.15,2.83,10.05,1.289,4,0.126,0.058,2902,3471,2227
$GC,9783,0.58,257.7,853.2,8.3,918,9840,0.12,2.75,51.42,1.322,6,0.075,0.051,2926,2104,2020
$GC,10155,0.61,278.5,817.6,9.3,937,10184,0.00,2.88,21.58,1.318,4,0.000,0.058,2926,3462,1934
$GC,10212,0.62,291.3,812.0,9.6,939,10232,0.00,2.75,14.93,1.206,6,0.000,0.050,2928,2116,1882
$GC,10547,0.62,291.3,777.7,10.7,956,10548,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2116,1878
$GC,10857,0.63,297.0,745.7,9.8,971,10870,0.00,2.80,6.45,1.081,4,0.000,0.058,2925,3467,1859
$GC,10904,0.63,297.0,740.8,10.3,973,10908,0.00,2.67,0.00,0.000,6,0.000,0.049,2926,2128,1858
$GC,11231,0.67,328.7,711.2,8.9,989,11266,0.00,0.00,32.78,1.265,6,0.000,0.000,2926,2128,1731
$GC,11560,0.68,341.3,679.7,9.6,1005,11581,0.12,0.00,14.60,1.256,6,0.070,0.000,2952,2126,1679
$GC,11890,0.63,341.3,638.6,12.8,1021,11891,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2126,1676
$GC,12199,0.59,341.3,597.7,13.3,1036,12204,0.15,2.67,0.00,0.000,4,0.121,0.051,2929,3469,1676
$GC,12215,0.59,341.3,595.6,13.0,1037,12219,0.00,2.60,0.00,0.000,6,0.000,0.044,2930,2139,1675
$GC,12540,0.59,341.5,562.9,10.0,1067,12541,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2138,1675
$GC,12860,0.61,358.7,532.4,9.4,1097,12881,0.00,0.00,17.83,1.220,6,0.000,0.000,2930,2138,1608
$GC,13201,0.67,373.2,500.8,9.5,1129,13223,0.00,3.05,15.70,1.134,4,0.000,0.062,2931,632,1549
$GC,13235,0.67,375.1,497.3,9.9,1132,13239,0.00,2.95,0.00,0.000,6,0.000,0.039,2929,2153,1548
$GC,13560,0.76,398.7,466.5,9.2,1162,13590,0.17,0.00,27.10,1.087,6,0.061,0.000,2966,2153,1445
$GC,13907,0.69,398.7,415.0,15.1,1195,13912,0.00,3.08,0.00,0.000,4,0.000,0.063,2971,638,1441
$GC,13950,0.69,398.7,408.7,13.8,1198,13957,0.00,2.90,0.00,0.000,6,0.000,0.040,2967,2141,1440
$GC,14276,0.61,398.7,362.4,15.4,1229,14282,0.17,3.05,0.00,0.000,4,0.129,0.061,2958,634,1440
$GC,14305,0.61,398.7,358.5,12.3,1231,14309,0.00,2.88,0.00,0.000,6,0.000,0.039,2938,2134,1440
$GC,14640,0.66,405.5,326.3,9.8,1282,14651,0.00,0.00,7.18,0.913,6,0.000,0.000,2938,2134,1418
$GC,14985,0.75,430.7,292.0,9.1,1344,15017,0.12,3.10,26.25,1.004,4,0.068,0.061,2975,641,1315
$GC,15042,0.75,430.7,284.9,13.6,1353,15048,0.00,2.88,0.00,0.000,6,0.000,0.040,2966,2124,1313
$GC,15384,0.70,430.7,234.4,14.9,1414,15390,0.00,3.00,0.00,0.000,4,0.000,0.061,2974,640,1311
$GC,15411,0.70,430.7,230.2,14.6,1419,15418,0.00,2.80,0.00,0.000,6,0.000,0.039,2970,2098,1311
$GC,15750,0.65,430.7,180.4,14.5,1480,15758,0.17,0.00,0.00,0.000,6,0.122,0.000,2941,2099,1310
$GC,16094,0.80,485.4,149.9,8.1,1541,16157,0.17,3.03,54.70,0.894,4,0.058,0.063,2997,636,1091
$GC,16182,0.80,485.4,137.9,16.0,1555,16188,0.10,2.83,0.00,0.000,6,0.127,0.038,2968,2080,1088
$GC,16512,0.80,485.4,94.3,12.7,1616,16519,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2081,1085
$GC,16845,0.80,485.4,49.2,14.9,1677,16853,0.00,2.95,0.00,0.000,4,0.000,0.063,2964,638,1084
$GC,16887,0.86,485.4,43.8,12.3,1684,16895,0.00,2.78,0.00,0.000,6,0.000,0.039,2965,2068,1083
$GC,17021,0.86,485.4,27.0,12.7,1709,17029,0.12,0.00,0.00,0.000,6,0.069,0.000,2991,2068,1083
$STATE,17154,end climb,SURFACE_DEPTH_REACHED
$STATE,17154,begin surface coast
$FINISH,0.1,1.027333
$STATE,17162,end surface coast,CONTROL_FINISHED_OK
$STATE,17162,begin surface
$SM_CCo,17237,0.00,0.000,0,0,1081,488.15
$SM_GC,0.52,7.43,0.00,0.00,0.041,0.000,0.000,1468,2316,1081,-6.09,0.59,488.15
$IRIDIUM_FIX,6046.07,-2342.36,210797,212100
$TT8_MAMPS,0.021476
$HUMID,1679
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,12.30
$XPDR_PINGS,125
$24V_AH,19.5,42.807
$10V_AH,9.7,31.080
$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,22.225,126.450,705.550,0.000,0.000,86.068,108.376,455.189,31.250,0.000,0.000,14.101,2739.278,9851.635,778.768,3850.569,895.241,0.000,2273.309,0.000,3856.957,0.000,0.467
$DEVICE_MAMPS,254.644,69.030,1447.329,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1287.838,1220.452,615.389,832.293,1524.849,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126670,1735
$CAP_FILE_SIZE,165629,0
$CFSIZE,260165632,245411840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,270408,022807,6112.547,-2349.036,37,1.6,37,-17.1