version: 66.03
glider: 143
mission: 4
dive: 120
start: 4 28 108 9 14 57
data:
$ID,143
$MISSION,4
$DIVE,120
$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,135
$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,-7371.4668
$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,38
$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
$GPS1,090837,6122.531,-2357.743,31,1.5,31,-17.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-47.2
$GPS2,091439,6122.496,-2357.743,13,1.5,13,-17.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6114.860,-2354.070
$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,152.3,20000,-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,-108.90,0.000,2,0.000,0.000,1467,2333,3646
$GC,139,-0.82,-194.7,3.7,-6.4,15,162,10.15,2.92,-4.60,0.000,4,0.258,0.065,2612,890,3867
$GC,372,-0.75,-194.7,48.8,-16.4,58,380,0.10,2.78,0.00,0.000,6,0.291,0.052,2628,2276,3868
$GC,512,-0.67,-194.7,70.5,-15.0,83,518,0.15,0.00,0.00,0.000,6,0.151,0.000,2651,2276,3868
$GC,839,-0.67,-194.7,113.9,-13.0,144,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2276,3868
$GC,1174,-0.67,-194.7,157.9,-12.9,205,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2276,3868
$GC,1512,-0.67,-194.7,203.3,-13.6,266,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2276,3868
$GC,1850,-0.67,-194.7,247.9,-12.5,327,1857,0.00,2.72,0.00,0.000,4,0.000,0.054,2650,885,3868
$GC,1867,-0.67,-194.7,250.1,-12.8,330,1874,0.00,2.72,0.00,0.000,6,0.000,0.046,2650,2293,3868
$GC,2207,-0.67,-194.7,293.9,-13.0,391,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2293,3868
$GC,2544,-0.67,-194.7,337.2,-12.8,452,2553,0.00,2.80,0.00,0.000,4,0.000,0.054,2649,883,3868
$GC,2569,-0.67,-194.7,340.4,-12.6,456,2577,0.00,2.72,0.00,0.000,6,0.000,0.044,2651,2283,3868
$GC,2904,-0.67,-194.7,382.1,-12.7,494,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2283,3868
$GC,3222,-0.67,-194.7,421.5,-12.4,524,3227,0.00,2.75,0.00,0.000,4,0.000,0.054,2650,884,3868
$GC,3240,-0.67,-194.7,423.4,-12.5,525,3244,0.00,2.70,0.00,0.000,6,0.000,0.043,2651,2289,3868
$GC,3566,-0.67,-194.7,464.1,-12.5,555,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2290,3868
$GC,3884,-0.67,-194.7,504.7,-12.9,585,3889,0.00,2.78,0.00,0.000,4,0.000,0.054,2650,878,3868
$GC,3900,-0.67,-194.7,507.1,-13.1,586,3905,0.00,2.70,0.00,0.000,6,0.000,0.043,2650,2285,3868
$GC,4227,-0.67,-194.7,548.8,-12.6,616,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2285,3868
$GC,4543,-0.67,-194.7,588.8,-12.7,646,4547,0.00,2.78,0.00,0.000,4,0.000,0.057,2650,877,3868
$GC,4552,-0.67,-194.7,590.1,-12.5,646,4559,0.00,2.70,0.00,0.000,6,0.000,0.043,2650,2269,3868
$GC,4880,-0.67,-194.7,632.4,-13.1,666,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2269,3868
$GC,5189,-0.67,-194.7,672.2,-12.7,681,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2270,3868
$GC,5498,-0.67,-194.7,710.9,-12.5,696,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2271,3868
$GC,5807,-0.67,-194.7,747.6,-11.5,711,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2273,3868
$GC,6117,-0.67,-194.7,781.6,-10.9,726,6122,0.00,2.80,0.00,0.000,4,0.000,0.068,2650,888,3868
$GC,6143,-0.67,-194.7,784.6,-11.8,727,6148,0.00,2.72,0.00,0.000,6,0.000,0.049,2650,2266,3867
$GC,6464,-0.67,-194.7,821.2,-11.7,743,6465,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2266,3867
$GC,6774,-0.67,-194.7,858.2,-12.1,758,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2268,3867
$GC,7083,-0.67,-194.7,893.2,-10.9,773,7087,0.00,2.95,0.00,0.000,4,0.000,0.069,2649,3709,3867
$GC,7108,-0.67,-194.7,896.3,-12.0,774,7113,0.00,2.85,0.00,0.000,6,0.000,0.050,2650,2260,3867
$GC,7430,-0.67,-194.7,930.5,-10.6,790,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2260,3867
$GC,7739,-0.67,-194.7,964.3,-11.0,805,7744,0.00,2.95,0.00,0.000,4,0.000,0.065,2649,3711,3867
$GC,7759,-0.67,-194.7,966.7,-11.1,806,7764,0.00,2.83,0.00,0.000,6,0.000,0.049,2649,2276,3867
$STATE,7981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7981,begin apogee
$GC,7986,-0.19,0.0,990.1,10.4,817,8188,0.62,0.00,198.02,1.430,6,0.124,0.000,2754,2039,3071
$STATE,8188,end apogee,CONTROL_FINISHED_OK
$STATE,8188,begin climb
$GC,8190,0.82,194.7,997.2,0.0,827,8404,1.25,3.17,203.93,1.358,4,0.088,0.070,2971,646,2276
$GC,8516,0.70,194.7,968.2,12.4,842,8522,0.00,2.92,0.00,0.000,6,0.000,0.045,2971,2052,2273
$GC,8831,0.58,194.7,931.0,11.8,858,8837,0.25,2.92,0.00,0.000,4,0.133,0.061,2930,3464,2271
$GC,8916,0.52,194.7,922.1,10.0,862,8920,0.00,2.80,0.00,0.000,6,0.000,0.051,2934,2088,2271
$GC,9241,0.47,194.7,889.8,10.3,878,9246,0.17,2.83,0.00,0.000,4,0.124,0.058,2902,3471,2271
$GC,9280,0.55,232.6,886.3,8.7,880,9325,0.00,2.75,37.47,1.356,6,0.000,0.051,2903,2101,2122
$GC,9653,0.70,313.7,858.6,7.2,898,9743,0.22,2.97,81.40,1.324,4,0.061,0.058,2949,3467,1791
$GC,9770,0.70,313.7,844.8,12.3,903,9777,0.00,2.80,0.00,0.000,6,0.000,0.051,2950,2121,1788
$GC,10086,0.64,313.7,806.3,12.3,919,10087,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2120,1785
$GC,10396,0.58,313.7,767.9,12.8,934,10398,0.15,0.00,0.00,0.000,6,0.124,0.000,2928,2118,1784
$GC,10704,0.58,313.7,736.0,10.2,949,10709,0.00,2.72,0.00,0.000,4,0.000,0.057,2927,3470,1783
$GC,10736,0.58,313.7,732.5,10.5,950,10743,0.00,2.70,0.00,0.000,6,0.000,0.049,2927,2128,1782
$GC,11052,0.58,313.7,700.3,10.3,966,11056,0.00,3.03,0.00,0.000,4,0.000,0.067,2927,638,1781
$GC,11084,0.63,313.7,696.8,10.4,967,11090,0.00,2.90,0.00,0.000,6,0.000,0.043,2927,2137,1781
$GC,11399,0.63,316.3,665.3,9.9,983,11403,0.00,2.62,0.00,0.000,4,0.000,0.057,2926,3462,1781
$GC,11431,0.67,316.3,661.9,10.4,984,11437,0.00,2.65,0.00,0.000,6,0.000,0.048,2933,2120,1781
$GC,11747,0.68,317.8,630.6,9.9,1000,11748,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2118,1781
$GC,12055,0.69,331.5,600.6,9.5,1015,12079,0.00,2.75,17.83,1.262,4,0.000,0.054,2926,3466,1719
$GC,12090,0.69,331.5,597.1,10.0,1017,12097,0.00,2.70,0.00,0.000,6,0.000,0.045,2938,2118,1717
$GC,12416,0.72,354.5,566.7,9.2,1048,12447,0.00,0.00,24.15,1.154,6,0.000,0.000,2938,2118,1624
$GC,12767,0.81,386.0,535.0,8.9,1081,12806,0.20,0.00,32.20,1.121,6,0.061,0.000,2979,2118,1496
$GC,13123,0.73,386.0,479.4,16.1,1115,13125,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2117,1492
$GC,13445,0.65,386.0,429.2,15.1,1145,13452,0.22,0.00,0.00,0.000,6,0.122,0.000,2944,2117,1491
$GC,13771,0.74,419.3,398.2,8.9,1176,13810,0.00,0.00,33.60,1.052,6,0.000,0.000,2944,2117,1359
$GC,14128,0.88,480.9,369.0,7.9,1210,14204,0.20,3.12,62.65,1.006,4,0.058,0.064,2982,642,1109
$GC,14227,0.83,480.9,354.6,16.4,1219,14232,0.00,2.97,0.00,0.000,6,0.000,0.040,2981,2142,1107
$GC,14564,0.73,480.9,292.8,18.9,1276,14573,0.12,3.10,0.00,0.000,4,0.137,0.063,2963,641,1103
$GC,14598,0.73,480.9,287.2,16.8,1281,14604,0.00,2.85,0.00,0.000,6,0.000,0.040,2963,2115,1101
$GC,14939,0.73,480.9,239.7,13.8,1342,14944,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2115,1102
$GC,15275,0.73,480.9,192.0,13.9,1403,15282,0.00,2.97,0.00,0.000,4,0.000,0.062,2969,641,1101
$GC,15326,0.80,480.9,185.7,11.0,1412,15333,0.00,2.80,0.00,0.000,6,0.000,0.041,2963,2088,1100
$GC,15667,0.80,480.9,141.1,14.2,1473,15673,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2088,1099
$GC,15995,0.80,480.9,95.8,14.3,1534,16003,0.00,2.95,0.00,0.000,4,0.000,0.063,2967,640,1100
$GC,16027,0.80,480.9,91.7,14.0,1539,16034,0.00,2.75,0.00,0.000,6,0.000,0.040,2963,2082,1099
$GC,16359,0.80,480.9,48.5,12.5,1600,16367,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2083,1099
$GC,16493,0.80,480.9,30.3,14.1,1625,16501,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2083,1099
$GC,16627,0.80,480.9,12.4,10.2,1650,16635,0.00,2.92,0.00,0.000,4,0.000,0.063,2962,642,1099
$GC,16658,0.80,480.9,8.2,13.7,1655,16666,0.00,2.72,0.00,0.000,6,0.000,0.039,2963,2061,1098
$STATE,16713,end climb,SURFACE_DEPTH_REACHED
$STATE,16713,begin surface coast
$FINISH,-0.0,1.013975
$STATE,16731,end surface coast,CONTROL_FINISHED_OK
$STATE,16731,begin surface
$SM_CCo,16806,0.00,0.000,0,0,1097,484.22
$SM_GC,0.62,7.22,0.00,0.00,0.040,0.000,0.000,1465,2312,1097,-6.10,0.48,484.22
$IRIDIUM_FIX,6059.36,-2403.22,230797,040457
$TT8_MAMPS,0.021476
$HUMID,1679
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,11.60
$XPDR_PINGS,112
$24V_AH,19.5,44.785
$10V_AH,9.8,32.418
$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,21.050,125.500,691.250,0.000,0.000,26.147,31.008,197.430,28.000,0.000,0.000,14.648,2620.548,9574.437,775.496,3714.141,470.483,0.000,2226.761,0.000,3709.986,0.000,0.467
$DEVICE_MAMPS,291.460,69.797,1429.688,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1238.886,1170.180,602.252,809.776,1493.952,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123401,1668
$CAP_FILE_SIZE,151129,0
$CFSIZE,260165632,244797440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280408,135607,6119.152,-2352.217,30,1.2,30,-17.2