version: 66.03
glider: 143
mission: 4
dive: 115
start: 4 27 108 7 36 34
data:
$ID,143
$MISSION,4
$DIVE,115
$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,-6305.3105
$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,15
$R_STBD_OVSHOOT,34
$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
$GPS1,072607,6115.410,-2355.344,36,2.0,41,-17.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-47.1
$GPS2,073615,6115.363,-2355.406,13,1.6,13,-17.2
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6125.511,-2357.172
$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,357.2,20000,-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,-194.7,0.0,0.0,0,136,0.00,0.00,-108.53,0.000,2,0.000,0.000,1463,2315,3523
$GC,139,-0.82,-194.7,3.2,-5.2,15,163,10.07,2.85,-7.75,0.000,4,0.255,0.061,2608,883,3866
$GC,202,-0.73,-194.7,19.2,-19.9,25,210,0.15,2.80,0.00,0.000,6,0.146,0.051,2634,2276,3867
$GC,338,-0.67,-194.7,40.4,-16.2,50,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2276,3867
$GC,474,-0.61,-194.7,61.7,-15.1,75,481,0.17,0.00,0.00,0.000,6,0.145,0.000,2661,2276,3867
$GC,803,-0.61,-194.7,103.2,-11.8,136,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2276,3867
$GC,1137,-0.61,-194.7,143.5,-12.3,197,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2276,3867
$GC,1473,-0.61,-194.7,186.0,-12.5,258,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2276,3867
$GC,1812,-0.61,-194.7,228.1,-12.3,319,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2276,3867
$GC,2150,-0.61,-194.7,268.6,-11.7,380,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2276,3867
$GC,2492,-0.61,-194.7,307.8,-11.1,441,2498,0.00,2.83,0.00,0.000,4,0.000,0.055,2660,3714,3867
$GC,2532,-0.61,-194.7,312.6,-11.3,448,2539,0.00,2.78,0.00,0.000,6,0.000,0.041,2660,2284,3867
$GC,2876,-0.61,-194.7,350.3,-11.2,509,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2280,3867
$GC,3192,-0.61,-194.7,386.3,-11.5,539,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2280,3867
$GC,3513,-0.61,-194.7,422.7,-11.2,569,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2281,3867
$GC,3831,-0.61,-194.7,458.8,-11.4,599,3835,0.00,2.72,0.00,0.000,4,0.000,0.054,2665,883,3867
$GC,3869,-0.67,-194.7,463.2,-10.8,602,3873,0.00,2.72,0.00,0.000,6,0.000,0.042,2662,2305,3867
$GC,4194,-0.67,-194.7,498.5,-10.8,632,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2305,3867
$GC,4511,-0.67,-194.7,533.5,-11.2,662,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2305,3867
$GC,4830,-0.67,-194.7,568.8,-11.0,692,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2305,3867
$GC,5158,-0.67,-194.7,604.8,-10.8,721,5163,0.00,2.80,0.00,0.000,4,0.000,0.058,2682,890,3867
$GC,5197,-0.72,-194.7,609.0,-10.9,723,5201,0.00,2.67,0.00,0.000,6,0.000,0.044,2662,2283,3867
$GC,5522,-0.72,-194.7,643.5,-10.5,739,5526,0.00,2.85,0.00,0.000,4,0.000,0.062,2660,3708,3867
$GC,5565,-0.77,-194.7,648.2,-10.4,741,5570,0.15,2.78,0.00,0.000,6,0.062,0.046,2627,2279,3867
$GC,5886,-0.71,-194.7,691.6,-13.8,757,5890,0.00,2.80,0.00,0.000,4,0.000,0.066,2794,881,3867
$GC,5928,-0.71,-194.7,697.6,-13.1,759,5933,0.00,2.75,0.00,0.000,6,0.000,0.048,2627,2282,3866
$GC,6256,-0.65,-194.7,742.2,-13.6,775,6258,0.17,0.00,0.00,0.000,6,0.132,0.000,2654,2284,3866
$GC,6564,-0.65,-194.7,778.8,-12.2,790,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2285,3867
$GC,6874,-0.65,-194.7,816.3,-11.4,805,6875,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2286,3866
$GC,7183,-0.65,-194.7,851.7,-11.5,820,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2286,3866
$GC,7492,-0.65,-194.7,886.6,-11.5,835,7493,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2286,3866
$GC,7801,-0.65,-194.7,921.4,-11.2,850,7803,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2286,3866
$GC,8111,-0.65,-194.7,956.5,-11.6,865,8115,0.00,2.83,0.00,0.000,4,0.000,0.068,2683,888,3866
$GC,8156,-0.70,-194.7,961.5,-11.2,867,8160,0.00,2.72,0.00,0.000,6,0.000,0.049,2654,2286,3865
$STATE,8412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8412,begin apogee
$GC,8416,-0.19,0.0,990.9,11.0,880,8616,0.60,0.00,196.68,1.437,6,0.119,0.000,2755,2039,3071
$STATE,8617,end apogee,CONTROL_FINISHED_OK
$STATE,8617,begin climb
$GC,8619,0.82,194.7,999.1,0.0,890,8832,1.27,3.17,203.15,1.361,4,0.087,0.070,2982,647,2277
$GC,8932,0.70,194.7,971.4,13.0,904,8937,0.15,2.92,0.00,0.000,6,0.133,0.044,2954,2052,2273
$GC,9248,0.59,194.7,934.8,11.6,919,9253,0.15,2.92,0.00,0.000,4,0.137,0.061,2928,3464,2271
$GC,9297,0.59,194.7,929.3,10.3,921,9301,0.00,2.85,0.00,0.000,6,0.000,0.054,2932,2074,2271
$GC,9619,0.54,194.7,897.2,10.1,937,9623,0.00,2.85,0.00,0.000,4,0.000,0.059,2928,3472,2271
$GC,9657,0.54,194.7,893.2,10.4,939,9661,0.00,2.80,0.00,0.000,6,0.000,0.052,2929,2082,2271
$GC,9983,0.51,203.6,861.9,9.7,955,9993,0.00,0.00,8.85,1.237,6,0.000,0.000,2929,2082,2241
$GC,10292,0.49,220.0,832.5,9.4,970,10317,0.12,2.88,18.17,1.367,4,0.127,0.058,2910,3461,2173
$GC,10379,0.55,264.7,825.2,8.5,974,10430,0.00,2.78,45.15,1.290,6,0.000,0.051,2911,2087,1991
$GC,10746,0.69,346.0,797.9,7.2,992,10832,0.15,0.00,82.53,1.284,6,0.068,0.000,2945,2086,1660
$GC,11137,0.69,346.0,753.3,11.7,1011,11141,0.00,2.83,0.00,0.000,4,0.000,0.056,2943,3467,1652
$GC,11168,0.69,346.0,749.3,11.5,1012,11175,0.00,2.78,0.00,0.000,6,0.000,0.051,2954,2099,1651
$GC,11483,0.69,346.0,713.2,11.5,1028,11485,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2097,1651
$GC,11793,0.69,346.0,677.1,11.8,1043,11794,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2096,1650
$GC,12102,0.69,346.0,640.5,11.7,1058,12104,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2095,1650
$GC,12411,0.69,346.0,604.4,11.7,1073,12412,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2094,1650
$GC,12729,0.69,346.0,566.2,12.1,1101,12731,0.17,0.00,0.00,0.000,6,0.117,0.000,2950,2094,1650
$GC,13050,0.83,398.0,539.3,8.2,1131,13103,0.30,0.00,50.60,1.172,6,0.051,0.000,2982,2094,1448
$GC,13418,0.71,398.0,474.3,18.2,1166,13420,0.17,0.00,0.00,0.000,6,0.134,0.000,2956,2094,1442
$GC,13736,0.71,398.0,430.8,13.0,1196,13737,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2094,1441
$GC,14054,0.71,398.0,389.2,13.2,1226,14059,0.00,2.95,0.00,0.000,4,0.000,0.064,2953,632,1441
$GC,14081,0.71,398.0,385.6,13.1,1228,14086,0.00,2.85,0.00,0.000,6,0.000,0.039,2958,2120,1440
$GC,14407,0.71,398.0,343.8,13.4,1262,14413,0.00,3.00,0.00,0.000,4,0.000,0.063,2956,635,1440
$GC,14426,0.71,398.0,341.5,12.9,1265,14432,0.00,2.80,0.00,0.000,6,0.000,0.039,2955,2102,1440
$GC,14766,0.71,398.0,297.1,13.3,1326,14771,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2102,1439
$GC,15105,0.71,398.0,251.4,13.0,1387,15111,0.00,2.95,0.00,0.000,4,0.000,0.062,2957,635,1439
$GC,15140,0.71,398.0,247.0,12.7,1393,15146,0.00,2.78,0.00,0.000,6,0.000,0.039,2963,2093,1440
$GC,15480,0.71,398.0,202.7,12.2,1454,15486,0.00,2.67,0.00,0.000,4,0.000,0.051,2953,3462,1440
$GC,15502,0.71,398.0,199.8,12.5,1458,15510,0.00,2.70,0.00,0.000,6,0.000,0.044,2954,2070,1440
$GC,15845,0.71,398.0,157.4,12.8,1519,15851,0.00,2.85,0.00,0.000,4,0.000,0.064,2956,644,1440
$GC,15858,0.71,398.0,155.9,12.0,1521,15865,0.00,2.75,0.00,0.000,6,0.000,0.039,2954,2092,1439
$GC,16191,0.71,398.0,115.4,11.6,1582,16199,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2093,1439
$GC,16524,0.71,398.0,75.7,10.9,1643,16530,0.00,2.92,0.00,0.000,4,0.000,0.062,2962,637,1439
$GC,16548,0.71,398.0,73.0,11.5,1647,16555,0.00,2.72,0.00,0.000,6,0.000,0.038,2953,2078,1439
$GC,16876,0.71,398.0,38.0,10.2,1708,16883,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2078,1439
$GC,17009,0.71,398.0,23.0,11.1,1733,17017,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2078,1439
$GC,17144,0.71,398.0,7.9,13.7,1758,17151,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2078,1439
$STATE,17193,end climb,SURFACE_DEPTH_REACHED
$STATE,17193,begin surface coast
$FINISH,0.0,1.025008
$STATE,17211,end surface coast,CONTROL_FINISHED_OK
$STATE,17211,begin surface
$SM_CCo,17286,0.00,0.000,0,0,1436,401.07
$SM_GC,0.83,7.25,0.00,0.00,0.046,0.000,0.000,1470,2290,1436,-6.08,-0.14,401.07
$IRIDIUM_FIX,6050.49,-2400.02,220797,070734
$TT8_MAMPS,0.021476
$HUMID,1677
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,12.30
$XPDR_PINGS,125
$24V_AH,19.5,43.328
$10V_AH,9.8,31.456
$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,21.075,102.550,605.125,0.000,0.000,54.851,68.267,305.354,31.250,0.000,0.000,15.311,2780.057,9795.459,713.318,3927.417,665.114,0.000,2158.586,0.000,3935.396,0.000,0.467
$DEVICE_MAMPS,254.644,69.797,1437.358,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1313.986,1245.301,664.222,889.023,1646.415,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129898,1770
$CAP_FILE_SIZE,154886,0
$CFSIZE,260165632,245235712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,270408,122555,6118.090,-2400.062,41,1.5,41,-17.3