version: 66.03
glider: 143
mission: 4
dive: 226
start: 5 19 108 22 15 34
data:
$ID,143
$MISSION,4
$DIVE,226
$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,5
$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,-9535.2119
$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,16
$R_STBD_OVSHOOT,20
$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
$GPS1,220322,6110.730,-2524.795,68,3.5,87,-17.9
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-46.6
$GPS2,221515,6110.842,-2524.821,12,1.7,12,-17.9
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6121.600,-2524.370
$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,22.9,20000,-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,27,-0.82,-194.7,0.0,0.0,0,122,0.00,0.00,-91.90,0.000,2,0.000,0.000,1466,2308,3498
$GC,125,-0.82,-194.7,3.6,-7.6,17,150,9.80,2.85,-8.18,0.000,4,0.244,0.071,2615,3709,3866
$GC,308,-0.73,-194.7,40.0,-18.8,49,315,0.15,2.72,0.00,0.000,6,0.142,0.040,2636,2289,3868
$GC,452,-0.67,-194.7,61.7,-14.1,74,458,0.00,2.72,0.00,0.000,4,0.000,0.054,2636,889,3868
$GC,494,-0.67,-194.7,67.5,-13.5,81,500,0.00,2.72,0.00,0.000,6,0.000,0.048,2636,2289,3868
$GC,837,-0.61,-194.7,118.4,-14.8,142,844,0.15,0.00,0.00,0.000,6,0.145,0.000,2660,2289,3868
$GC,1181,-0.61,-194.7,160.8,-11.5,203,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2289,3868
$GC,1523,-0.61,-194.7,199.8,-11.5,264,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2289,3868
$GC,1866,-0.61,-194.7,240.0,-12.0,325,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2289,3868
$GC,2208,-0.61,-194.7,280.3,-11.3,386,2214,0.00,2.78,0.00,0.000,4,0.000,0.055,2661,879,3868
$GC,2249,-0.68,-194.7,284.8,-10.9,393,2255,0.00,2.72,0.00,0.000,6,0.000,0.045,2661,2291,3868
$GC,2592,-0.68,-194.7,324.0,-11.5,454,2598,0.00,2.80,0.00,0.000,4,0.000,0.056,2660,3712,3868
$GC,2633,-0.72,-194.7,328.9,-12.1,461,2639,0.00,2.75,0.00,0.000,6,0.000,0.041,2660,2284,3868
$GC,2968,-0.72,-194.7,367.1,-11.2,508,2972,0.00,2.72,0.00,0.000,4,0.000,0.054,2660,884,3868
$GC,3012,-0.78,-194.7,371.9,-10.5,511,3019,0.17,2.70,0.00,0.000,6,0.058,0.044,2622,2293,3868
$GC,3338,-0.70,-194.7,418.6,-14.1,542,3340,0.15,0.00,0.00,0.000,6,0.144,0.000,2644,2294,3868
$GC,3656,-0.70,-194.7,456.1,-12.2,572,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2294,3868
$GC,3973,-0.70,-194.7,495.6,-12.7,602,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2293,3868
$GC,4292,-0.70,-194.7,538.9,-13.7,632,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2293,3867
$GC,4610,-0.70,-194.7,581.7,-13.0,662,4614,0.00,2.80,0.00,0.000,4,0.000,0.058,2644,880,3868
$GC,4649,-0.70,-194.7,586.6,-12.7,665,4653,0.00,2.72,0.00,0.000,6,0.000,0.045,2644,2289,3867
$GC,4967,-0.70,-194.7,627.0,-12.6,685,4969,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2289,3867
$GC,5276,-0.70,-194.7,665.5,-12.4,700,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2291,3867
$GC,5586,-0.70,-194.7,704.8,-12.9,715,5591,0.00,2.88,0.00,0.000,4,0.000,0.068,2644,882,3867
$GC,5629,-0.70,-194.7,710.4,-12.5,717,5634,0.00,2.72,0.00,0.000,6,0.000,0.049,2644,2282,3866
$GC,5956,-0.70,-194.7,751.9,-12.6,733,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2283,3866
$GC,6265,-0.70,-194.7,790.3,-12.3,748,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2285,3866
$GC,6576,-0.70,-194.7,828.3,-11.9,763,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2286,3865
$GC,6884,-0.70,-194.7,862.6,-11.0,778,6888,0.00,2.85,0.00,0.000,4,0.000,0.068,2644,883,3865
$GC,6922,-0.70,-194.7,866.8,-11.1,780,6927,0.00,2.72,0.00,0.000,6,0.000,0.049,2644,2271,3865
$GC,7248,-0.70,-194.7,903.9,-11.8,796,7253,0.00,2.92,0.00,0.000,4,0.000,0.068,2644,3704,3865
$GC,7280,-0.70,-194.7,907.9,-12.2,797,7286,0.00,2.85,0.00,0.000,6,0.000,0.051,2644,2268,3865
$GC,7595,-0.70,-194.7,944.6,-11.6,813,7596,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2268,3864
$GC,7905,-0.70,-194.7,981.4,-11.6,828,7909,0.00,2.80,0.00,0.000,4,0.000,0.067,2644,881,3864
$GC,7944,-0.75,-194.7,985.9,-11.8,830,7948,0.00,2.72,0.00,0.000,6,0.000,0.049,2644,2270,3864
$STATE,7979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7979,begin apogee
$GC,7984,-0.19,0.0,990.1,11.7,832,8189,0.68,0.00,201.62,1.413,6,0.133,0.000,2753,2034,3071
$STATE,8190,end apogee,CONTROL_FINISHED_OK
$STATE,8190,begin climb
$GC,8193,0.82,194.7,999.0,0.0,842,8410,1.27,3.17,207.02,1.345,4,0.087,0.070,2973,654,2276
$GC,8522,0.70,194.7,971.9,12.6,857,8529,0.00,2.90,0.00,0.000,6,0.000,0.047,2974,2056,2273
$GC,8838,0.57,194.7,932.2,12.6,873,8843,0.28,2.90,0.00,0.000,4,0.134,0.063,2929,3470,2271
$GC,8878,0.58,196.1,928.1,10.0,875,8882,0.00,2.83,0.00,0.000,6,0.000,0.053,2929,2069,2271
$GC,9204,0.65,256.4,900.9,7.9,891,9273,0.00,2.92,61.72,1.347,4,0.000,0.060,2928,3467,2025
$GC,9313,0.66,265.3,891.3,9.7,896,9330,0.00,2.85,10.25,1.186,6,0.000,0.052,2929,2075,1989
$GC,9639,0.69,289.4,861.5,9.2,912,9671,0.00,2.90,25.95,1.322,4,0.000,0.060,2928,3471,1891
$GC,9682,0.49,301.2,857.3,9.6,914,9702,0.00,2.80,13.75,1.188,6,0.000,0.051,2928,2091,1842
$GC,10030,0.51,310.9,823.8,9.7,931,10051,0.00,2.83,11.25,1.269,4,0.000,0.060,2928,3469,1801
$GC,10062,0.12,311.9,820.4,10.0,932,10068,0.57,2.78,0.00,0.000,6,0.110,0.052,2830,2092,1800
$GC,10378,0.46,311.9,788.6,11.6,947,10383,0.32,2.80,0.00,0.000,4,0.064,0.058,2896,3475,1799
$GC,10525,0.72,311.9,773.7,10.1,953,10531,0.30,2.72,0.00,0.000,6,0.087,0.051,2951,2098,1798
$GC,10841,0.91,341.5,745.7,9.0,969,10876,0.20,0.00,32.72,1.260,6,0.061,0.000,3001,2098,1678
$GC,11172,0.78,341.5,693.7,18.0,985,11177,0.15,2.78,0.00,0.000,4,0.145,0.058,2976,3465,1674
$GC,11193,0.66,341.5,689.5,17.6,986,11199,0.20,2.72,0.00,0.000,6,0.142,0.050,2947,2097,1673
$GC,11515,0.66,341.5,651.1,11.9,1002,11519,0.00,2.95,0.00,0.000,4,0.000,0.068,2947,637,1673
$GC,11535,0.66,341.5,648.4,12.2,1003,11540,0.00,2.85,0.00,0.000,6,0.000,0.044,2947,2111,1672
$GC,11857,0.66,341.5,611.1,11.5,1019,11861,0.00,2.67,0.00,0.000,4,0.000,0.055,2947,3466,1672
$GC,11873,0.66,341.5,609.2,11.5,1020,11877,0.00,2.67,0.00,0.000,6,0.000,0.047,2947,2100,1672
$GC,12196,0.66,341.5,574.3,10.5,1046,12197,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2099,1671
$GC,12514,0.66,341.5,541.1,10.4,1076,12516,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2100,1672
$GC,12832,0.66,341.5,508.5,10.3,1106,12833,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2099,1672
$GC,13150,0.66,341.5,474.8,10.7,1136,13154,0.00,2.70,0.00,0.000,4,0.000,0.054,2947,3465,1671
$GC,13167,0.66,341.5,473.1,10.7,1137,13171,0.00,2.65,0.00,0.000,6,0.000,0.044,2947,2102,1671
$GC,13493,0.67,349.6,439.9,9.7,1167,13503,0.00,0.00,8.32,0.986,6,0.000,0.000,2947,2102,1646
$GC,13821,0.67,349.6,407.7,10.0,1198,13822,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2102,1645
$GC,14138,0.67,349.6,375.5,10.3,1228,14139,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2102,1645
$GC,14461,0.67,349.6,340.6,11.3,1265,14467,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2102,1645
$GC,14804,0.67,349.6,302.1,11.2,1326,14811,0.00,2.67,0.00,0.000,4,0.000,0.051,2947,3469,1645
$GC,14823,0.67,349.6,300.0,11.3,1329,14829,0.00,2.65,0.00,0.000,6,0.000,0.044,2947,2102,1644
$GC,15166,0.67,349.6,262.1,10.3,1390,15172,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2102,1644
$GC,15509,0.67,349.6,225.5,10.7,1451,15514,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2102,1644
$GC,15851,0.67,349.6,189.4,10.6,1512,15857,0.00,2.67,0.00,0.000,4,0.000,0.051,2947,3469,1644
$GC,15869,0.67,349.6,187.5,10.3,1515,15875,0.00,2.62,0.00,0.000,6,0.000,0.043,2947,2112,1644
$GC,16212,0.67,350.4,151.9,10.0,1576,16218,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2112,1644
$GC,16556,0.67,352.1,116.1,9.9,1637,16562,0.00,0.00,4.32,0.630,6,0.000,0.000,2947,2112,1635
$GC,16899,0.70,376.5,82.0,9.2,1698,16932,0.00,3.00,25.20,0.869,4,0.000,0.064,2947,633,1536
$GC,16945,0.76,385.5,77.9,9.7,1706,16962,0.00,2.88,10.73,0.739,6,0.000,0.039,2947,2134,1498
$GC,17301,0.80,385.5,43.1,10.5,1769,17307,0.15,0.00,0.00,0.000,6,0.067,0.000,2981,2134,1495
$GC,17443,0.71,385.5,21.4,17.7,1794,17451,0.15,3.03,0.00,0.000,4,0.129,0.063,2956,635,1495
$GC,17458,0.63,385.5,18.8,18.6,1796,17465,0.00,2.83,0.00,0.000,6,0.000,0.038,2956,2120,1495
$GC,17600,0.63,386.6,3.0,10.0,1821,17605,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2121,1493
$STATE,17609,end climb,SURFACE_DEPTH_REACHED
$STATE,17610,begin surface coast
$FINISH,0.1,1.004030
$STATE,17633,end surface coast,CONTROL_FINISHED_OK
$STATE,17633,begin surface
$SM_CCo,17710,0.00,0.000,0,0,1492,387.33
$SM_GC,0.82,7.25,0.00,0.00,0.044,0.000,0.000,1469,2304,1492,-6.08,0.25,387.33
$IRIDIUM_FIX,6046.07,-2520.13,130897,222210
$TT8_MAMPS,0.021476
$HUMID,1726
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,16.80
$XPDR_PINGS,31
$24V_AH,19.2,72.647
$10V_AH,9.8,49.818
$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,21.950,135.100,612.875,0.000,0.000,54.574,78.389,391.739,7.750,0.000,0.000,14.356,2875.454,10656.973,717.623,3329.415,828.535,0.000,2229.444,0.000,3311.589,0.000,0.469
$DEVICE_MAMPS,243.906,71.331,1412.814,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1372.391,1298.844,671.592,1603.742,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136098,1827
$CAP_FILE_SIZE,168180,0
$CFSIZE,260165632,235266048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200508,031201,6114.798,-2523.403,36,1.4,41,-18.0