version: 66.03
glider: 143
mission: 4
dive: 128
start: 4 30 108 0 38 46
data:
$ID,143
$MISSION,4
$DIVE,128
$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,300
$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,-7529.9458
$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,26
$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
$GPS1,003155,6058.913,-2400.281,26,1.9,44,-17.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-44.5
$GPS2,003827,6058.853,-2400.355,11,1.3,11,-17.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6104.252,-2404.879
$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,317.1,20000,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.82,-194.7,0.0,0.0,0,128,0.00,0.00,-100.68,0.000,2,0.000,0.000,1468,2305,3450
$GC,130,-0.82,-194.7,3.5,-7.4,14,161,9.85,2.90,-9.57,0.000,4,0.251,0.071,2611,3698,3868
$GC,205,-0.75,-194.7,20.6,-16.4,26,214,0.10,2.78,0.00,0.000,6,0.130,0.042,2628,2294,3868
$GC,342,-0.68,-194.7,41.1,-15.0,51,350,0.12,0.00,0.00,0.000,6,0.146,0.000,2646,2292,3869
$GC,478,-0.68,-194.7,61.8,-16.0,76,485,0.00,2.80,0.00,0.000,4,0.000,0.055,2646,891,3869
$GC,531,-0.68,-194.7,69.6,-14.0,85,537,0.00,2.70,0.00,0.000,6,0.000,0.044,2646,2278,3869
$GC,861,-0.68,-194.7,116.6,-13.8,146,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2278,3869
$GC,1194,-0.68,-194.7,162.7,-13.9,207,1201,0.00,2.75,0.00,0.000,4,0.000,0.054,2646,881,3869
$GC,1244,-0.68,-194.7,169.4,-12.8,216,1252,0.00,2.75,0.00,0.000,6,0.000,0.047,2646,2279,3868
$GC,1587,-0.68,-194.7,219.5,-16.1,277,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2279,3869
$GC,1925,-0.68,-194.7,273.0,-14.5,338,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2279,3869
$GC,2263,-0.68,-194.7,318.8,-13.4,399,2269,0.00,2.75,0.00,0.000,4,0.000,0.054,2646,880,3868
$GC,2304,-0.68,-194.7,324.0,-13.1,406,2310,0.00,2.70,0.00,0.000,6,0.000,0.044,2646,2276,3869
$GC,2644,-0.68,-194.7,368.3,-12.5,455,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2276,3869
$GC,2960,-0.68,-194.7,407.5,-12.7,485,2961,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2276,3869
$GC,3279,-0.68,-194.7,448.5,-13.1,515,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2276,3869
$GC,3600,-0.68,-194.7,488.9,-12.4,545,3605,0.00,2.75,0.00,0.000,4,0.000,0.055,2646,880,3868
$GC,3639,-0.68,-194.7,494.1,-12.6,548,3644,0.00,2.67,0.00,0.000,6,0.000,0.043,2646,2275,3869
$GC,3964,-0.68,-194.7,534.8,-12.3,578,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2275,3869
$GC,4281,-0.68,-194.7,573.8,-12.3,608,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2275,3869
$GC,4607,-0.68,-194.7,613.3,-11.7,634,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2275,3869
$GC,4917,-0.68,-194.7,649.0,-11.4,649,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2275,3869
$GC,5226,-0.68,-194.7,684.8,-11.9,664,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2276,3868
$GC,5536,-0.68,-194.7,722.0,-12.1,679,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2278,3869
$GC,5844,-0.68,-194.7,758.7,-12.0,694,5849,0.00,2.83,0.00,0.000,4,0.000,0.070,2646,890,3868
$GC,5893,-0.68,-194.7,764.6,-12.2,696,5897,0.00,2.72,0.00,0.000,6,0.000,0.050,2661,2282,3868
$GC,6214,-0.68,-194.7,802.6,-11.8,712,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2284,3868
$GC,6523,-0.68,-194.7,839.0,-12.1,727,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2285,3868
$GC,6832,-0.68,-194.7,876.3,-11.8,742,6833,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2285,3868
$GC,7142,-0.68,-194.7,912.2,-11.5,757,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2286,3867
$GC,7451,-0.68,-194.7,947.2,-11.2,772,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2286,3867
$GC,7760,-0.68,-194.7,980.8,-10.8,787,7765,0.00,2.88,0.00,0.000,4,0.000,0.070,2646,879,3866
$GC,7798,-0.68,-194.7,985.0,-11.2,789,7803,0.00,2.72,0.00,0.000,6,0.000,0.051,2647,2266,3866
$STATE,7854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7854,begin apogee
$GC,7859,-0.19,0.0,991.1,10.9,792,8061,0.65,0.00,198.10,1.440,6,0.120,0.000,2756,2045,3071
$STATE,8061,end apogee,CONTROL_FINISHED_OK
$STATE,8061,begin climb
$GC,8063,0.82,194.7,998.4,0.0,802,8280,1.25,3.20,204.50,1.364,4,0.087,0.071,2972,649,2275
$GC,8386,0.69,194.7,969.2,12.7,817,8391,0.20,2.92,0.00,0.000,6,0.134,0.046,2956,2051,2272
$GC,8707,0.60,194.7,933.8,10.8,833,8712,0.15,2.95,0.00,0.000,4,0.135,0.063,2919,3470,2271
$GC,8761,0.63,215.8,928.4,9.3,835,8789,0.00,2.88,21.30,1.365,6,0.000,0.052,2920,2062,2191
$GC,9098,0.69,264.7,900.4,8.3,852,9150,0.15,0.00,50.17,1.353,6,0.072,0.000,2952,2061,1991
$GC,9447,0.61,264.7,858.9,12.0,869,9452,0.00,2.90,0.00,0.000,4,0.000,0.060,2952,3472,1987
$GC,9541,0.56,264.7,847.0,13.1,873,9546,0.20,2.83,0.00,0.000,6,0.130,0.054,2925,2077,1984
$GC,9857,0.57,271.1,816.1,9.8,888,9865,0.00,0.00,6.80,1.134,6,0.000,0.000,2926,2077,1965
$GC,10188,0.58,284.6,784.2,9.5,904,10210,0.00,2.97,16.05,1.338,4,0.000,0.071,2924,641,1909
$GC,10265,0.63,289.2,776.6,9.8,907,10277,0.00,2.92,6.25,1.019,6,0.000,0.044,2923,2123,1892
$GC,10585,0.65,304.1,746.5,9.5,923,10607,0.00,3.17,16.45,1.307,4,0.000,0.071,2922,634,1830
$GC,10686,0.72,320.8,737.1,9.4,927,10711,0.17,2.95,18.15,1.202,6,0.058,0.044,2959,2131,1763
$GC,11027,0.65,320.8,693.6,12.6,944,11031,0.00,2.70,0.00,0.000,4,0.000,0.059,2957,3469,1759
$GC,11053,0.60,320.8,690.0,12.9,945,11058,0.17,2.72,0.00,0.000,6,0.135,0.050,2933,2111,1758
$GC,11369,0.63,344.8,660.6,9.2,960,11397,0.00,0.00,25.52,1.244,6,0.000,0.000,2933,2110,1664
$GC,11720,0.63,350.0,626.5,9.8,977,11731,0.00,2.72,5.97,1.006,4,0.000,0.054,2932,3465,1645
$GC,11753,0.67,350.0,623.0,10.2,978,11759,0.00,2.67,0.00,0.000,6,0.000,0.046,2933,2117,1644
$GC,12070,0.67,350.0,589.5,10.8,998,12071,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2117,1643
$GC,12389,0.67,350.0,555.3,10.4,1028,12390,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2117,1643
$GC,12707,0.67,350.0,521.3,10.8,1058,12708,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2116,1642
$GC,13026,0.67,350.0,488.6,10.0,1088,13030,0.00,2.67,0.00,0.000,4,0.000,0.051,2932,3471,1642
$GC,13052,0.72,350.0,485.8,10.5,1090,13058,0.12,2.62,0.00,0.000,6,0.069,0.044,2958,2124,1641
$GC,13377,0.68,350.0,444.5,12.5,1120,13381,0.00,2.97,0.00,0.000,4,0.000,0.063,2957,632,1641
$GC,13396,0.68,350.0,441.6,12.9,1121,13403,0.00,2.90,0.00,0.000,6,0.000,0.041,2957,2149,1641
$GC,13722,0.63,350.0,400.8,12.9,1152,13724,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2149,1641
$GC,14041,0.58,350.0,359.2,12.7,1182,14043,0.17,0.00,0.00,0.000,6,0.122,0.000,2930,2148,1641
$GC,14372,0.67,387.4,328.3,8.7,1233,14419,0.00,3.12,37.85,1.040,4,0.000,0.062,2930,638,1490
$GC,14436,0.77,404.7,322.0,9.4,1244,14461,0.15,2.95,18.60,0.940,6,0.048,0.039,2969,2143,1421
$GC,14794,0.71,404.7,265.5,17.9,1308,14802,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2143,1415
$GC,15135,0.65,404.7,207.9,15.4,1369,15142,0.15,3.05,0.00,0.000,4,0.126,0.061,2943,634,1415
$GC,15171,0.71,404.7,203.2,11.0,1375,15177,0.00,2.88,0.00,0.000,6,0.000,0.039,2942,2133,1414
$GC,15509,0.75,404.7,172.6,10.1,1436,15517,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2133,1414
$GC,15848,0.87,460.9,136.7,8.1,1497,15912,0.20,3.08,55.10,0.877,4,0.058,0.061,2988,638,1189
$GC,15936,0.81,460.9,124.8,16.9,1511,15942,0.00,2.92,0.00,0.000,6,0.000,0.040,2988,2129,1187
$GC,16266,0.71,460.9,68.1,14.4,1572,16275,0.17,2.67,0.00,0.000,4,0.131,0.050,2959,3466,1184
$GC,16288,0.64,460.9,65.2,14.8,1575,16295,0.15,2.62,0.00,0.000,6,0.120,0.041,2942,2121,1184
$GC,16616,0.75,460.9,38.6,10.2,1636,16624,0.00,3.03,0.00,0.000,4,0.000,0.064,2939,637,1182
$GC,16658,0.98,500.4,34.5,8.6,1643,16704,0.32,2.90,38.50,0.801,6,0.059,0.038,3015,2135,1030
$STATE,16814,end climb,SURFACE_DEPTH_REACHED
$STATE,16814,begin surface coast
$FINISH,0.1,1.027366
$STATE,16821,end surface coast,CONTROL_FINISHED_OK
$STATE,16821,begin surface
$SM_CCo,16896,0.00,0.000,0,0,1023,502.37
$SM_GC,0.66,7.62,0.00,0.00,0.039,0.000,0.000,1466,2306,1023,-6.10,0.31,502.37
$IRIDIUM_FIX,6032.86,-2351.45,240797,191956
$TT8_MAMPS,0.021476
$HUMID,1677
$INTERNAL_PRESSURE,8.11555
$TCM_TEMP,12.40
$XPDR_PINGS,108
$24V_AH,19.5,46.883
$10V_AH,9.7,33.870
$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,22.100,120.400,719.325,0.000,0.000,30.766,28.316,219.717,27.000,0.000,0.000,13.179,2633.533,9675.913,743.995,3724.269,495.820,0.000,2214.821,0.000,3717.931,0.000,0.467
$DEVICE_MAMPS,250.809,71.331,1440.426,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1243.762,1169.217,594.818,807.075,1474.683,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123589,1671
$CAP_FILE_SIZE,154537,0
$CFSIZE,260165632,244060160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300408,052137,6059.150,-2409.924,41,1.1,41,-17.2