version: 66.03
glider: 143
mission: 4
dive: 227
start: 5 20 108 3 23 45
data:
$ID,143
$MISSION,4
$DIVE,227
$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,-9551.9141
$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,14
$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
$GPS1,031201,6114.798,-2523.403,36,1.4,41,-18.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-47.2
$GPS2,032326,6114.902,-2523.545,9,1.8,14,-18.0
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6125.661,-2523.095
$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,23.0,20000,-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,25,begin dive
$GC,27,-0.82,-194.7,0.0,0.0,0,117,0.00,0.00,-87.22,0.000,2,0.000,0.000,1469,2308,3375
$GC,120,-0.82,-194.7,3.2,-6.8,16,150,9.68,2.92,-11.75,0.000,4,0.242,0.075,2614,3707,3867
$GC,242,-0.72,-194.7,25.5,-15.1,37,249,0.15,2.72,0.00,0.000,6,0.148,0.041,2635,2290,3868
$GC,389,-0.65,-194.7,49.0,-16.5,62,395,0.12,0.00,0.00,0.000,6,0.156,0.000,2652,2288,3868
$GC,530,-0.65,-194.7,68.6,-13.2,87,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2288,3868
$GC,871,-0.65,-194.7,113.8,-13.4,148,878,0.00,2.72,0.00,0.000,4,0.000,0.053,2652,884,3868
$GC,912,-0.65,-194.7,119.1,-12.9,155,918,0.00,2.78,0.00,0.000,6,0.000,0.046,2652,2312,3868
$GC,1255,-0.65,-194.7,164.8,-13.4,216,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2312,3868
$GC,1598,-0.65,-194.7,211.1,-14.0,277,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2312,3868
$GC,1940,-0.65,-194.7,258.7,-13.8,338,1946,0.00,2.80,0.00,0.000,4,0.000,0.054,2651,883,3868
$GC,1986,-0.69,-194.7,264.8,-12.5,346,1993,0.00,2.75,0.00,0.000,6,0.000,0.046,2652,2307,3868
$GC,2330,-0.69,-194.7,310.9,-13.6,407,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2307,3868
$GC,2671,-0.69,-194.7,356.0,-12.8,464,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2307,3868
$GC,2989,-0.69,-194.7,396.5,-12.3,494,2993,0.00,2.80,0.00,0.000,4,0.000,0.055,2652,887,3868
$GC,3051,-0.73,-194.7,403.6,-11.4,499,3055,0.00,2.70,0.00,0.000,6,0.000,0.044,2652,2291,3868
$GC,3379,-0.73,-194.7,442.2,-11.8,529,3383,0.00,2.80,0.00,0.000,4,0.000,0.056,2651,3708,3868
$GC,3417,-0.73,-194.7,447.3,-12.1,532,3422,0.00,2.75,0.00,0.000,6,0.000,0.042,2652,2281,3868
$GC,3743,-0.73,-194.7,485.5,-11.8,562,3747,0.00,2.72,0.00,0.000,4,0.000,0.055,2652,883,3868
$GC,3793,-0.78,-194.7,491.6,-11.4,566,3798,0.12,2.70,0.00,0.000,6,0.062,0.043,2625,2289,3868
$GC,4118,-0.70,-194.7,540.7,-15.1,596,4119,0.12,0.00,0.00,0.000,6,0.145,0.000,2642,2289,3868
$GC,4437,-0.70,-194.7,582.8,-13.4,626,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2289,3867
$GC,4760,-0.70,-194.7,625.6,-12.9,648,4764,0.00,2.80,0.00,0.000,4,0.000,0.061,2642,889,3867
$GC,4791,-0.70,-194.7,629.9,-12.8,649,4798,0.00,2.70,0.00,0.000,6,0.000,0.046,2642,2281,3867
$GC,5107,-0.70,-194.7,670.3,-12.7,665,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2282,3867
$GC,5416,-0.70,-194.7,710.3,-13.1,680,5421,0.00,2.90,0.00,0.000,4,0.000,0.066,2642,3708,3867
$GC,5455,-0.70,-194.7,715.3,-13.0,682,5460,0.00,2.83,0.00,0.000,6,0.000,0.051,2641,2281,3867
$GC,5780,-0.70,-194.7,755.8,-12.2,698,5785,0.00,2.83,0.00,0.000,4,0.000,0.067,2642,879,3866
$GC,5823,-0.70,-194.7,761.1,-12.3,700,5828,0.00,2.75,0.00,0.000,6,0.000,0.049,2642,2286,3866
$GC,6145,-0.70,-194.7,798.8,-12.1,716,6146,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2288,3866
$GC,6454,-0.70,-194.7,835.4,-12.0,731,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2288,3866
$GC,6763,-0.70,-194.7,872.3,-11.5,746,6768,0.00,2.85,0.00,0.000,4,0.000,0.068,2642,886,3865
$GC,6819,-0.70,-194.7,878.7,-11.9,748,6826,0.00,2.72,0.00,0.000,6,0.000,0.051,2642,2282,3865
$GC,7134,-0.70,-194.7,916.0,-11.4,764,7139,0.00,2.90,0.00,0.000,4,0.000,0.068,2642,3710,3865
$GC,7188,-0.70,-194.7,922.6,-11.6,766,7195,0.00,2.85,0.00,0.000,6,0.000,0.051,2642,2270,3864
$GC,7504,-0.70,-194.7,960.0,-11.8,782,7509,0.00,2.78,0.00,0.000,4,0.000,0.067,2642,888,3864
$GC,7543,-0.70,-194.7,964.6,-11.5,784,7547,0.00,2.72,0.00,0.000,6,0.000,0.049,2642,2280,3864
$STATE,7763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7763,begin apogee
$GC,7769,-0.19,0.0,990.6,11.8,795,7974,0.70,0.00,201.48,1.413,6,0.133,0.000,2756,2032,3071
$STATE,7974,end apogee,CONTROL_FINISHED_OK
$STATE,7974,begin climb
$GC,7977,0.82,194.7,999.2,0.0,805,8195,1.25,3.17,207.25,1.343,4,0.084,0.070,2972,653,2277
$GC,8302,0.71,194.7,973.4,12.4,820,8307,0.00,2.90,0.00,0.000,6,0.000,0.047,2972,2058,2273
$GC,8617,0.59,194.7,936.0,11.9,835,8623,0.25,2.88,0.00,0.000,4,0.134,0.064,2932,3461,2271
$GC,8673,0.59,194.7,930.2,10.1,837,8679,0.00,2.80,0.00,0.000,6,0.000,0.053,2932,2067,2271
$GC,8989,0.58,215.1,901.4,9.3,853,9016,0.00,2.88,20.85,1.367,4,0.000,0.061,2932,3468,2194
$GC,9054,0.58,215.1,895.0,10.3,856,9059,0.00,2.78,0.00,0.000,6,0.000,0.051,2932,2090,2192
$GC,9382,0.59,229.3,863.4,9.5,872,9404,0.00,3.00,16.08,1.350,4,0.000,0.070,2932,631,2136
$GC,9528,0.59,231.0,848.9,9.9,878,9533,0.00,2.90,0.00,0.000,6,0.000,0.047,2931,2107,2133
$GC,9844,0.61,246.1,818.2,9.5,893,9869,0.00,3.10,18.38,1.327,4,0.000,0.071,2931,637,2067
$GC,9965,0.61,246.1,805.7,10.4,898,9970,0.00,2.90,0.00,0.000,6,0.000,0.047,2931,2117,2066
$GC,10286,0.62,252.2,774.3,9.8,914,10300,0.00,3.08,7.72,1.159,4,0.000,0.068,2932,641,2042
$GC,10414,0.64,265.5,761.8,9.5,919,10434,0.00,2.88,15.05,1.285,6,0.000,0.047,2932,2111,1988
$GC,10745,0.65,274.8,730.3,9.7,935,10765,0.00,3.03,11.05,1.245,4,0.000,0.068,2932,640,1949
$GC,10844,0.66,283.0,720.5,9.7,939,10859,0.00,2.90,10.10,1.103,6,0.000,0.045,2932,2123,1917
$GC,11181,0.67,290.6,688.4,9.7,956,11195,0.00,2.72,9.62,1.170,4,0.000,0.060,2931,3471,1886
$GC,11219,0.70,315.4,684.8,9.1,957,11250,0.00,2.70,25.88,1.172,6,0.000,0.049,2932,2113,1785
$GC,11569,0.74,346.5,653.4,8.9,974,11606,0.15,0.00,33.30,1.208,6,0.068,0.000,2961,2112,1658
$GC,11916,0.68,346.5,607.8,13.3,991,11921,0.00,2.72,0.00,0.000,4,0.000,0.055,2961,3469,1653
$GC,11942,0.68,346.5,603.9,13.8,992,11947,0.00,2.67,0.00,0.000,6,0.000,0.047,2961,2115,1652
$GC,12274,0.63,346.5,561.2,13.0,1022,12279,0.15,2.97,0.00,0.000,4,0.131,0.064,2934,635,1652
$GC,12296,0.63,346.5,558.2,12.1,1023,12302,0.00,2.90,0.00,0.000,6,0.000,0.042,2935,2139,1651
$GC,12623,0.65,365.6,527.9,9.3,1054,12645,0.00,0.00,19.45,1.166,6,0.000,0.000,2935,2139,1580
$GC,12959,0.74,393.8,496.9,9.0,1086,12995,0.12,3.10,30.08,1.111,4,0.070,0.064,2960,632,1464
$GC,13011,0.74,393.8,490.9,12.2,1090,13018,0.00,2.92,0.00,0.000,6,0.000,0.041,2960,2128,1463
$GC,13338,0.74,393.8,448.7,13.6,1121,13340,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2128,1460
$GC,13655,0.74,393.8,407.0,12.7,1151,13660,0.00,3.00,0.00,0.000,4,0.000,0.064,2960,633,1459
$GC,13688,0.74,393.8,402.8,11.9,1153,13694,0.00,2.88,0.00,0.000,6,0.000,0.041,2960,2127,1459
$GC,14015,0.74,393.8,361.0,13.2,1184,14016,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2127,1459
$GC,14344,0.74,393.8,318.0,13.4,1236,14350,0.00,3.00,0.00,0.000,4,0.000,0.063,2960,632,1459
$GC,14373,0.74,393.8,314.1,13.0,1241,14379,0.00,2.83,0.00,0.000,6,0.000,0.041,2960,2110,1459
$GC,14716,0.74,393.8,270.6,12.5,1302,14722,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2110,1458
$GC,15059,0.74,393.8,227.4,12.5,1363,15064,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2110,1459
$GC,15402,0.74,393.8,183.3,13.5,1424,15408,0.00,2.95,0.00,0.000,4,0.000,0.063,2961,634,1458
$GC,15432,0.74,393.8,179.4,13.5,1429,15438,0.00,2.78,0.00,0.000,6,0.000,0.040,2960,2095,1458
$GC,15775,0.74,393.8,133.5,13.4,1490,15782,0.00,2.65,0.00,0.000,4,0.000,0.052,2960,3456,1458
$GC,15794,0.74,393.8,131.0,14.3,1493,15800,0.00,2.67,0.00,0.000,6,0.000,0.044,2960,2075,1458
$GC,16137,0.74,393.8,85.6,13.6,1554,16143,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2075,1458
$GC,16481,0.76,407.5,43.2,9.5,1615,16499,0.00,0.00,14.05,0.836,6,0.000,0.000,2960,2075,1409
$GC,16634,0.76,407.5,25.2,13.6,1642,16640,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2075,1408
$GC,16775,0.76,407.5,7.2,12.0,1667,16781,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2075,1407
$STATE,16831,end climb,SURFACE_DEPTH_REACHED
$STATE,16831,begin surface coast
$FINISH,0.1,1.027085
$STATE,16849,end surface coast,CONTROL_FINISHED_OK
$STATE,16849,begin surface
$SM_CCo,16926,0.00,0.000,0,0,1405,408.42
$SM_GC,0.81,7.25,0.00,0.00,0.044,0.000,0.000,1468,2313,1405,-6.08,0.51,408.42
$IRIDIUM_FIX,6050.49,-2523.96,140897,030346
$TT8_MAMPS,0.022243
$HUMID,1726
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,15.40
$XPDR_PINGS,29
$24V_AH,19.2,72.912
$10V_AH,9.8,49.968
$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,20.075,154.425,640.325,0.000,0.000,57.455,69.918,367.249,7.250,0.000,0.000,16.074,2687.406,10174.596,748.836,3192.801,790.926,0.000,2221.656,0.000,3167.740,0.000,0.468
$DEVICE_MAMPS,241.605,75.166,1412.814,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1255.349,1195.274,613.394,1483.556,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123210,1680
$CAP_FILE_SIZE,163072,0
$CFSIZE,260165632,235188224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200508,080707,6118.560,-2523.386,35,0.9,40,-18.0