version: 66.03
glider: 143
mission: 4
dive: 122
start: 4 28 108 18 46 34
data:
$ID,143
$MISSION,4
$DIVE,122
$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,-7420.2324
$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,18
$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
$GPS1,183615,6115.877,-2346.838,42,2.3,61,-17.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-43.8
$GPS2,184617,6115.850,-2346.870,11,3.8,30,-17.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6108.214,-2343.184
$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,152.1,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,138,0.00,0.00,-109.05,0.000,2,0.000,0.000,1466,2297,3482
$GC,140,-0.82,-194.7,3.2,-5.9,15,171,10.18,2.88,-8.95,0.000,4,0.256,0.065,2607,888,3867
$GC,283,-0.72,-194.7,31.2,-18.1,40,292,0.12,2.83,0.00,0.000,6,0.150,0.052,2637,2291,3868
$GC,419,-0.64,-194.7,53.4,-16.4,65,425,0.12,0.00,0.00,0.000,6,0.146,0.000,2653,2291,3868
$GC,747,-0.64,-194.7,100.5,-14.4,126,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2291,3868
$GC,1078,-0.64,-194.7,145.4,-13.8,187,1084,0.00,2.78,0.00,0.000,4,0.000,0.054,2644,886,3868
$GC,1095,-0.64,-194.7,148.0,-13.9,190,1103,0.00,2.80,0.00,0.000,6,0.000,0.047,2650,2303,3868
$GC,1435,-0.64,-194.7,193.0,-13.3,251,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2303,3868
$GC,1774,-0.64,-194.7,238.5,-13.5,312,1781,0.00,2.83,0.00,0.000,4,0.000,0.054,2644,886,3868
$GC,1787,-0.64,-194.7,240.3,-13.3,314,1793,0.00,2.75,0.00,0.000,6,0.000,0.045,2649,2303,3868
$GC,2125,-0.64,-194.7,283.8,-12.9,375,2132,0.00,2.80,0.00,0.000,4,0.000,0.054,2645,883,3868
$GC,2150,-0.64,-194.7,286.8,-13.6,379,2156,0.00,2.75,0.00,0.000,6,0.000,0.045,2649,2303,3868
$GC,2489,-0.64,-194.7,331.1,-12.6,440,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2303,3868
$GC,2821,-0.64,-194.7,374.1,-13.0,484,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2303,3868
$GC,3140,-0.64,-194.7,415.7,-12.8,514,3144,0.00,2.80,0.00,0.000,4,0.000,0.054,2648,881,3868
$GC,3160,-0.64,-194.7,418.4,-13.0,515,3167,0.00,2.75,0.00,0.000,6,0.000,0.043,2650,2295,3868
$GC,3486,-0.64,-194.7,460.4,-13.1,546,3491,0.00,2.78,0.00,0.000,4,0.000,0.054,2648,884,3868
$GC,3502,-0.64,-194.7,462.8,-13.5,547,3506,0.00,2.70,0.00,0.000,6,0.000,0.043,2650,2288,3868
$GC,3829,-0.64,-194.7,504.9,-13.0,577,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2288,3868
$GC,4144,-0.64,-194.7,545.7,-12.8,607,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2288,3868
$GC,4463,-0.64,-194.7,587.4,-12.9,637,4467,0.00,2.80,0.00,0.000,4,0.000,0.057,2646,874,3868
$GC,4483,-0.64,-194.7,590.2,-13.3,638,4490,0.00,2.72,0.00,0.000,6,0.000,0.044,2647,2276,3868
$GC,4811,-0.64,-194.7,631.7,-12.5,658,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2277,3868
$GC,5120,-0.64,-194.7,669.2,-12.3,673,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2278,3868
$GC,5429,-0.64,-194.7,705.5,-11.2,688,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2279,3867
$GC,5739,-0.64,-194.7,742.8,-12.5,703,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2281,3868
$GC,6048,-0.64,-194.7,782.1,-12.9,718,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2281,3868
$GC,6357,-0.64,-194.7,820.0,-12.2,733,6362,0.00,2.83,0.00,0.000,4,0.000,0.067,2645,886,3867
$GC,6373,-0.64,-194.7,822.1,-12.2,734,6378,0.00,2.70,0.00,0.000,6,0.000,0.048,2647,2270,3867
$GC,6699,-0.64,-194.7,861.8,-12.8,750,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2271,3867
$GC,7008,-0.64,-194.7,900.0,-12.2,765,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2272,3867
$GC,7317,-0.64,-194.7,937.7,-12.3,780,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2273,3867
$GC,7626,-0.64,-194.7,974.6,-11.9,795,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2274,3867
$STATE,7769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7769,begin apogee
$GC,7774,-0.19,0.0,992.0,12.1,802,7975,0.65,0.00,197.12,1.430,6,0.125,0.000,2754,2037,3071
$STATE,7975,end apogee,CONTROL_FINISHED_OK
$STATE,7976,begin climb
$GC,7977,0.82,194.7,1000.7,0.0,812,8191,1.27,3.17,203.55,1.359,4,0.090,0.070,2972,649,2277
$GC,8264,0.69,194.7,976.6,13.5,826,8270,0.15,2.95,0.00,0.000,6,0.135,0.044,2954,2057,2273
$GC,8591,0.58,194.7,937.5,11.9,842,8596,0.17,2.92,0.00,0.000,4,0.133,0.061,2925,3468,2271
$GC,8657,0.58,194.7,930.6,10.1,845,8661,0.00,2.88,0.00,0.000,6,0.000,0.054,2925,2066,2271
$GC,8984,0.61,219.8,900.3,9.1,861,9014,0.00,2.90,25.02,1.365,4,0.000,0.059,2942,3462,2174
$GC,9065,0.61,219.8,892.3,10.1,865,9069,0.00,2.78,0.00,0.000,6,0.000,0.052,2927,2101,2173
$GC,9390,0.62,229.9,861.2,9.7,881,9411,0.00,3.08,11.45,1.311,4,0.000,0.070,2926,638,2133
$GC,9517,0.62,229.9,848.2,10.2,886,9524,0.00,2.95,0.00,0.000,6,0.000,0.045,2926,2133,2132
$GC,9832,0.63,237.4,817.3,9.7,902,9846,0.00,2.70,9.12,1.231,4,0.000,0.060,2925,3462,2102
$GC,9880,0.63,237.4,812.4,10.4,904,9885,0.00,2.72,0.00,0.000,6,0.000,0.052,2928,2126,2101
$GC,10207,0.65,253.1,781.6,9.5,920,10232,0.00,3.12,16.92,1.272,4,0.000,0.069,2929,637,2039
$GC,10352,0.65,254.0,767.7,10.0,926,10357,0.00,2.95,0.00,0.000,6,0.000,0.044,2927,2143,2038
$GC,10667,0.68,271.7,738.5,9.4,941,10692,0.00,2.72,19.27,1.254,4,0.000,0.059,2925,3461,1962
$GC,10736,0.68,271.7,731.6,10.0,944,10741,0.00,2.67,0.00,0.000,6,0.000,0.051,2928,2153,1961
$GC,11063,0.72,309.4,702.0,8.7,960,11109,0.15,3.20,38.47,1.236,4,0.070,0.067,2961,624,1809
$GC,11136,0.67,309.4,693.0,12.9,963,11141,0.00,3.05,0.00,0.000,6,0.000,0.043,2961,2153,1807
$GC,11451,0.59,309.4,652.6,12.7,978,11456,0.17,2.65,0.00,0.000,4,0.127,0.055,2935,3473,1805
$GC,11484,0.60,316.6,649.0,9.8,979,11498,0.00,2.65,7.97,1.092,6,0.000,0.048,2933,2139,1780
$GC,11820,0.62,328.7,617.5,9.6,996,11842,0.00,3.08,13.80,1.169,4,0.000,0.065,2937,635,1731
$GC,11875,0.68,333.5,612.0,9.8,998,11887,0.00,2.97,6.75,0.956,6,0.000,0.041,2933,2156,1711
$GC,12203,0.70,350.6,580.2,9.4,1023,12224,0.00,0.00,18.50,1.150,6,0.000,0.000,2932,2157,1641
$GC,12539,0.71,357.5,547.8,9.8,1055,12551,0.12,0.00,7.88,1.048,6,0.067,0.000,2958,2157,1613
$GC,12868,0.66,357.5,504.3,13.6,1086,12873,0.00,3.08,0.00,0.000,4,0.000,0.063,2959,641,1612
$GC,12911,0.66,357.5,498.5,12.1,1089,12917,0.00,2.92,0.00,0.000,6,0.000,0.042,2959,2148,1611
$GC,13236,0.61,357.5,455.1,13.9,1120,13238,0.15,0.00,0.00,0.000,6,0.121,0.000,2936,2148,1611
$GC,13555,0.61,357.5,421.8,10.2,1150,13559,0.00,3.05,0.00,0.000,4,0.000,0.062,2938,634,1611
$GC,13582,0.66,357.5,418.9,10.0,1152,13587,0.00,2.88,0.00,0.000,6,0.000,0.040,2937,2136,1611
$GC,13906,0.68,372.6,386.7,9.5,1182,13928,0.00,2.62,16.30,1.067,4,0.000,0.051,2932,3471,1550
$GC,13953,0.74,375.2,382.3,9.9,1186,13958,0.12,2.65,0.00,0.000,6,0.068,0.044,2962,2120,1549
$GC,14279,0.74,375.2,339.0,13.2,1223,14285,0.00,2.95,0.00,0.000,4,0.000,0.062,2959,641,1548
$GC,14324,0.74,375.2,333.3,12.9,1231,14330,0.00,2.88,0.00,0.000,6,0.000,0.041,2962,2136,1548
$GC,14664,0.70,375.2,288.6,13.4,1292,14672,0.00,2.65,0.00,0.000,4,0.000,0.051,2958,3470,1548
$GC,14688,0.70,375.2,285.2,13.5,1296,14696,0.00,2.67,0.00,0.000,6,0.000,0.045,2961,2114,1547
$GC,15031,0.70,375.2,241.4,13.1,1357,15037,0.00,2.95,0.00,0.000,4,0.000,0.062,2960,634,1547
$GC,15066,0.70,375.2,236.8,12.7,1363,15072,0.00,2.85,0.00,0.000,6,0.000,0.040,2961,2125,1547
$GC,15405,0.70,375.2,192.4,12.7,1424,15413,0.00,2.65,0.00,0.000,4,0.000,0.052,2957,3462,1547
$GC,15438,0.70,375.2,188.4,13.8,1429,15444,0.00,2.65,0.00,0.000,6,0.000,0.044,2966,2102,1547
$GC,15775,0.70,375.2,146.6,11.2,1490,15783,0.00,2.92,0.00,0.000,4,0.000,0.063,2959,643,1547
$GC,15817,0.70,375.2,141.8,11.7,1497,15824,0.00,2.83,0.00,0.000,6,0.000,0.041,2961,2125,1547
$GC,16149,0.70,375.2,98.5,12.8,1558,16156,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2126,1547
$GC,16480,0.70,375.2,56.6,11.3,1619,16485,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2126,1547
$GC,16800,0.70,375.2,15.4,13.6,1680,16808,0.00,3.00,0.00,0.000,4,0.000,0.063,2959,644,1547
$GC,16841,0.70,375.2,10.1,13.8,1687,16850,0.00,2.83,0.00,0.000,6,0.000,0.040,2963,2111,1547
$STATE,16922,end climb,SURFACE_DEPTH_REACHED
$STATE,16923,begin surface coast
$FINISH,0.1,1.027313
$STATE,16940,end surface coast,CONTROL_FINISHED_OK
$STATE,16940,begin surface
$SM_CCo,17016,0.00,0.000,0,0,1546,374.08
$SM_GC,0.85,7.38,0.00,0.00,0.049,0.000,0.000,1466,2323,1546,-6.09,0.79,374.08
$IRIDIUM_FIX,6050.49,-2351.85,230797,181835
$TT8_MAMPS,0.021476
$HUMID,1687
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,12.20
$XPDR_PINGS,118
$24V_AH,19.5,45.304
$10V_AH,9.8,32.777
$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,20.775,154.475,592.150,0.000,0.000,51.624,66.571,287.740,29.500,0.000,0.000,33.059,2722.588,9653.448,702.353,3893.370,632.521,0.000,2199.757,0.000,3858.667,0.000,0.468
$DEVICE_MAMPS,256.178,69.797,1430.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1260.664,1198.163,619.764,844.377,1552.191,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126309,1705
$CAP_FILE_SIZE,162248,0
$CFSIZE,260165632,244609024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280408,233125,6113.031,-2342.726,41,1.4,41,-17.1