version: 66.03
glider: 143
mission: 4
dive: 221
start: 5 18 108 21 29 52
data:
$ID,143
$MISSION,4
$DIVE,221
$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,120
$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,-9440.6973
$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,33
$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
$GPS1,212238,6116.274,-2547.377,35,1.0,35,-18.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-50.2
$GPS2,212933,6116.193,-2547.338,10,1.3,10,-18.2
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6110.793,-2542.830
$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,138.2,20000,-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,26,-0.82,-194.7,0.0,0.0,0,128,0.00,0.00,-99.00,0.000,2,0.000,0.000,1466,2315,3471
$GC,131,-0.82,-194.7,3.5,-6.5,18,155,9.95,0.00,-8.98,0.000,6,0.250,0.000,2613,2315,3866
$GC,293,-0.70,-194.7,36.0,-18.9,46,299,0.15,0.00,0.00,0.000,6,0.149,0.000,2638,2315,3867
$GC,436,-0.65,-194.7,58.9,-15.5,71,442,0.00,2.75,0.00,0.000,4,0.000,0.059,2637,3691,3867
$GC,453,-0.60,-194.7,61.8,-15.8,74,460,0.20,2.70,0.00,0.000,6,0.136,0.040,2667,2282,3867
$GC,797,-0.60,-194.7,102.1,-11.6,135,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2281,3867
$GC,1139,-0.60,-194.7,142.2,-11.8,196,1145,0.00,2.72,0.00,0.000,4,0.000,0.055,2667,882,3867
$GC,1163,-0.64,-194.7,144.9,-11.9,200,1169,0.00,2.67,0.00,0.000,6,0.000,0.044,2667,2275,3867
$GC,1508,-0.64,-194.7,183.9,-11.1,261,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2275,3867
$GC,1852,-0.64,-194.7,222.9,-11.6,322,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2275,3867
$GC,2195,-0.64,-194.7,262.8,-11.4,383,2201,0.00,2.72,0.00,0.000,4,0.000,0.054,2667,887,3867
$GC,2235,-0.72,-194.7,267.4,-11.3,390,2242,0.15,2.70,0.00,0.000,6,0.058,0.044,2634,2295,3867
$GC,2581,-0.67,-194.7,319.8,-15.8,451,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2295,3867
$GC,2921,-0.63,-194.7,373.2,-15.5,499,2926,0.15,2.78,0.00,0.000,4,0.133,0.054,2659,888,3867
$GC,2954,-0.67,-194.7,377.9,-13.4,501,2960,0.00,2.67,0.00,0.000,6,0.000,0.043,2659,2285,3867
$GC,3279,-0.67,-194.7,417.6,-12.1,532,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2285,3867
$GC,3597,-0.67,-194.7,455.9,-12.1,562,3602,0.00,2.78,0.00,0.000,4,0.000,0.056,2660,880,3867
$GC,3630,-0.73,-194.7,459.8,-11.5,564,3637,0.00,2.70,0.00,0.000,6,0.000,0.044,2659,2269,3867
$GC,3957,-0.73,-194.7,497.3,-11.4,595,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2269,3867
$GC,4273,-0.73,-194.7,534.2,-11.6,625,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2269,3867
$GC,4592,-0.73,-194.7,572.6,-12.3,655,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2269,3867
$GC,4918,-0.73,-194.7,612.7,-12.1,681,4923,0.00,2.75,0.00,0.000,4,0.000,0.060,2661,890,3867
$GC,4939,-0.73,-194.7,615.4,-11.9,682,4943,0.00,2.65,0.00,0.000,6,0.000,0.044,2660,2265,3867
$GC,5266,-0.73,-194.7,651.8,-10.9,698,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2265,3867
$GC,5576,-0.73,-194.7,685.2,-10.8,713,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2266,3867
$GC,5884,-0.73,-194.7,717.6,-10.2,728,5889,0.00,2.80,0.00,0.000,4,0.000,0.068,2661,890,3867
$GC,5906,-0.77,-194.7,719.9,-10.2,729,5911,0.15,2.70,0.00,0.000,6,0.058,0.049,2627,2272,3866
$GC,6228,-0.72,-194.7,762.5,-14.0,745,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2273,3866
$GC,6536,-0.68,-194.7,806.9,-14.8,760,6541,0.15,2.83,0.00,0.000,4,0.136,0.067,2652,887,3866
$GC,6557,-0.68,-194.7,809.9,-13.6,761,6562,0.00,2.72,0.00,0.000,6,0.000,0.050,2653,2278,3866
$GC,6878,-0.68,-194.7,848.0,-11.8,777,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2279,3866
$GC,7187,-0.68,-194.7,883.7,-11.5,792,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2280,3865
$GC,7496,-0.68,-194.7,919.5,-11.4,807,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2281,3865
$GC,7805,-0.68,-194.7,953.3,-10.7,822,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2282,3864
$GC,8114,-0.68,-194.7,985.1,-10.4,837,8119,0.00,2.85,0.00,0.000,4,0.000,0.068,2652,883,3864
$GC,8135,-0.68,-194.7,987.4,-10.8,838,8140,0.00,2.75,0.00,0.000,6,0.000,0.050,2652,2288,3863
$STATE,8171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8171,begin apogee
$GC,8177,-0.19,0.0,991.2,10.5,840,8382,0.62,0.00,201.27,1.414,6,0.130,0.000,2754,2040,3071
$STATE,8382,end apogee,CONTROL_FINISHED_OK
$STATE,8382,begin climb
$GC,8385,0.82,194.7,999.3,0.0,850,8604,1.27,3.20,207.32,1.346,4,0.087,0.069,2973,651,2277
$GC,8710,0.69,194.7,970.9,13.4,865,8715,0.15,2.90,0.00,0.000,6,0.140,0.046,2954,2055,2273
$GC,9026,0.59,194.7,935.0,11.0,880,9031,0.15,2.90,0.00,0.000,4,0.139,0.063,2929,3466,2272
$GC,9088,0.61,208.4,928.8,9.5,883,9109,0.00,2.78,14.48,1.341,6,0.000,0.053,2932,2079,2221
$GC,9419,0.67,258.1,901.1,8.3,899,9476,0.00,2.92,51.45,1.338,4,0.000,0.060,2930,3471,2017
$GC,9515,0.69,275.7,892.8,9.4,902,9542,0.00,2.80,18.65,1.252,6,0.000,0.052,2929,2098,1948
$GC,9851,0.71,290.7,862.3,9.5,919,9876,0.12,2.88,17.10,1.328,4,0.077,0.060,2953,3462,1885
$GC,9898,0.67,290.7,856.8,11.4,921,9903,0.00,2.75,0.00,0.000,6,0.000,0.052,2952,2105,1884
$GC,10219,0.61,290.7,815.9,13.4,937,10220,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2104,1883
$GC,10528,0.55,290.7,775.8,12.8,952,10530,0.20,0.00,0.00,0.000,6,0.127,0.000,2921,2103,1882
$GC,10838,0.62,342.8,748.9,8.2,967,10900,0.00,2.88,53.58,1.275,4,0.000,0.059,2921,3466,1672
$GC,10928,0.72,359.5,741.2,9.4,971,10953,0.17,2.75,18.27,1.187,6,0.061,0.050,2959,2113,1604
$GC,11277,0.66,359.5,698.3,12.4,988,11281,0.00,3.00,0.00,0.000,4,0.000,0.067,2959,637,1598
$GC,11320,0.66,359.5,692.6,11.8,990,11324,0.00,2.88,0.00,0.000,6,0.000,0.044,2959,2110,1597
$GC,11642,0.62,359.5,651.5,13.0,1006,11647,0.15,2.70,0.00,0.000,4,0.130,0.056,2933,3465,1597
$GC,11675,0.69,380.6,647.8,9.3,1007,11702,0.00,2.70,21.65,1.219,6,0.000,0.048,2933,2097,1519
$GC,12012,0.81,431.7,619.6,8.2,1024,12075,0.17,3.08,53.80,1.177,4,0.061,0.067,2975,643,1310
$GC,12099,0.76,431.7,607.7,15.7,1028,12103,0.00,2.90,0.00,0.000,6,0.000,0.043,2975,2102,1308
$GC,12424,0.67,431.7,553.3,17.6,1056,12426,0.17,0.00,0.00,0.000,6,0.135,0.000,2950,2102,1304
$GC,12741,0.67,431.7,515.3,11.6,1086,12742,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2102,1303
$GC,13058,0.67,431.7,479.2,11.1,1116,13063,0.00,2.97,0.00,0.000,4,0.000,0.064,2950,634,1302
$GC,13091,0.74,431.7,475.4,11.2,1118,13098,0.00,2.80,0.00,0.000,6,0.000,0.041,2950,2104,1301
$GC,13417,0.74,431.7,440.0,10.8,1149,13421,0.00,2.67,0.00,0.000,4,0.000,0.052,2950,3465,1301
$GC,13445,0.80,431.7,436.8,11.4,1151,13451,0.12,2.70,0.00,0.000,6,0.071,0.046,2977,2082,1301
$GC,13770,0.71,431.7,383.3,17.2,1181,13776,0.15,2.88,0.00,0.000,4,0.137,0.063,2951,640,1301
$GC,13815,0.78,431.7,376.9,12.1,1184,13822,0.00,2.78,0.00,0.000,6,0.000,0.041,2952,2096,1300
$GC,14143,0.78,431.7,340.4,11.7,1222,14149,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2096,1300
$GC,14486,0.78,431.7,300.8,11.1,1283,14491,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2096,1300
$GC,14828,0.78,431.7,261.8,10.9,1344,14835,0.00,2.92,0.00,0.000,4,0.000,0.063,2952,642,1300
$GC,14858,0.84,431.7,258.5,11.5,1349,14865,0.15,2.72,0.00,0.000,6,0.055,0.040,2986,2072,1300
$GC,15202,0.72,431.7,197.2,18.0,1410,15209,0.17,2.72,0.00,0.000,4,0.139,0.052,2957,3461,1299
$GC,15238,0.72,431.7,191.5,14.4,1416,15244,0.00,2.72,0.00,0.000,6,0.000,0.046,2958,2054,1299
$GC,15583,0.72,431.7,155.5,10.4,1477,15589,0.00,2.83,0.00,0.000,4,0.000,0.064,2957,640,1299
$GC,15612,0.77,431.7,152.2,11.0,1482,15618,0.00,2.72,0.00,0.000,6,0.000,0.041,2957,2076,1299
$GC,15956,0.81,465.2,116.1,8.8,1543,15995,0.00,2.83,33.42,0.885,4,0.000,0.052,2956,3469,1174
$GC,16020,0.94,514.0,110.7,8.3,1554,16081,0.22,2.75,50.58,0.815,6,0.053,0.044,3007,2066,973
$GC,16419,0.80,514.0,20.4,22.9,1625,16426,0.15,2.88,0.00,0.000,4,0.146,0.064,2980,638,967
$GC,16460,0.80,514.0,12.6,15.4,1632,16467,0.00,2.75,0.00,0.000,6,0.000,0.039,2980,2079,965
$STATE,16544,end climb,SURFACE_DEPTH_REACHED
$STATE,16544,begin surface coast
$FINISH,0.4,1.027266
$STATE,16556,end surface coast,CONTROL_FINISHED_OK
$STATE,16556,begin surface
$SM_CCo,16633,0.00,0.000,0,0,964,516.85
$SM_GC,0.80,7.30,0.00,0.00,0.037,0.000,0.000,1466,2308,964,-6.09,0.37,516.85
$IRIDIUM_FIX,6054.92,-2549.78,120897,161604
$TT8_MAMPS,0.021476
$HUMID,1725
$INTERNAL_PRESSURE,8.11555
$TCM_TEMP,16.50
$XPDR_PINGS,27
$24V_AH,19.2,71.356
$10V_AH,9.8,49.057
$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,22.375,140.825,741.575,0.000,0.000,28.627,32.340,233.645,6.750,0.000,0.000,12.286,2612.865,10002.456,805.411,3036.387,574.010,0.000,2245.774,0.000,3023.894,0.000,0.468
$DEVICE_MAMPS,250.042,69.030,1413.581,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1239.204,1161.257,580.351,1427.640,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123306,1649
$CAP_FILE_SIZE,159031,0
$CFSIZE,260165632,235757568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190508,020828,6112.254,-2541.737,28,2.5,47,-18.1