version: 66.03
glider: 143
mission: 4
dive: 233
start: 5 21 108 9 22 27
data:
$ID,143
$MISSION,4
$DIVE,233
$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,305
$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,-9687.4072
$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
$GPS1,091038,6128.761,-2541.433,36,1.5,42,-18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-42.1
$GPS2,092208,6128.742,-2541.601,14,1.4,14,-18.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6134.937,-2545.811
$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,323.3,20000,-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,-194.7,0.0,0.0,0,133,0.00,0.00,-103.72,0.000,2,0.000,0.000,1469,2299,3470
$GC,136,-0.82,-194.7,3.3,-5.1,19,161,9.88,2.95,-9.52,0.000,4,0.248,0.070,2614,3717,3867
$GC,387,-0.75,-194.7,48.8,-17.4,63,394,0.12,2.75,0.00,0.000,6,0.139,0.041,2631,2286,3869
$GC,532,-0.69,-194.7,73.1,-16.8,88,538,0.00,2.72,0.00,0.000,4,0.000,0.054,2632,889,3869
$GC,578,-0.69,-194.7,81.1,-15.3,96,584,0.00,2.72,0.00,0.000,6,0.000,0.046,2632,2297,3869
$GC,922,-0.63,-194.7,133.1,-13.9,157,928,0.15,0.00,0.00,0.000,6,0.141,0.000,2657,2296,3869
$GC,1265,-0.63,-194.7,175.2,-12.0,218,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2296,3869
$GC,1608,-0.63,-194.7,217.5,-12.4,279,1614,0.00,2.78,0.00,0.000,4,0.000,0.053,2657,881,3869
$GC,1659,-0.68,-194.7,223.6,-11.5,288,1666,0.00,2.70,0.00,0.000,6,0.000,0.044,2656,2288,3869
$GC,2003,-0.68,-194.7,264.1,-11.8,349,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2288,3869
$GC,2346,-0.68,-194.7,301.6,-10.1,410,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2288,3869
$GC,2689,-0.68,-194.7,337.0,-10.4,471,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2288,3869
$GC,3019,-0.68,-194.7,376.4,-12.8,512,3023,0.00,2.78,0.00,0.000,4,0.000,0.055,2657,880,3869
$GC,3074,-0.74,-194.7,383.3,-12.7,516,3080,0.00,2.70,0.00,0.000,6,0.000,0.043,2656,2289,3868
$GC,3400,-0.74,-194.7,426.1,-12.5,547,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2289,3868
$GC,3717,-0.74,-194.7,465.5,-12.0,577,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2289,3868
$GC,4036,-0.74,-194.7,504.4,-11.8,607,4040,0.00,2.78,0.00,0.000,4,0.000,0.055,2657,882,3868
$GC,4075,-0.79,-194.7,509.1,-11.9,610,4080,0.15,2.70,0.00,0.000,6,0.060,0.043,2624,2287,3868
$GC,4399,-0.73,-194.7,557.7,-15.7,640,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2286,3868
$GC,4729,-0.67,-194.7,607.4,-14.8,669,4731,0.17,0.00,0.00,0.000,6,0.129,0.000,2650,2286,3868
$GC,5036,-0.67,-194.7,642.4,-10.9,684,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2287,3868
$GC,5345,-0.67,-194.7,676.3,-11.1,699,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2288,3868
$GC,5655,-0.67,-194.7,712.1,-12.4,714,5656,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2289,3867
$GC,5964,-0.67,-194.7,749.3,-12.0,729,5969,0.00,2.85,0.00,0.000,4,0.000,0.068,2651,890,3867
$GC,6013,-0.72,-194.7,755.2,-11.6,731,6018,0.00,2.70,0.00,0.000,6,0.000,0.050,2650,2267,3867
$GC,6329,-0.72,-194.7,792.6,-11.3,746,6330,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2269,3867
$GC,6638,-0.72,-194.7,826.1,-11.0,761,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2270,3867
$GC,6947,-0.72,-194.7,860.1,-11.1,776,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2271,3866
$GC,7257,-0.72,-194.7,893.2,-10.7,791,7261,0.00,2.83,0.00,0.000,4,0.000,0.067,2650,883,3866
$GC,7297,-0.77,-194.7,897.6,-11.3,793,7301,0.00,2.72,0.00,0.000,6,0.000,0.050,2650,2270,3866
$GC,7622,-0.77,-194.7,934.6,-11.5,809,7627,0.00,2.92,0.00,0.000,4,0.000,0.068,2650,3705,3866
$GC,7671,-0.82,-194.7,940.4,-11.4,811,7677,0.15,2.85,0.00,0.000,6,0.066,0.051,2621,2266,3866
$GC,7987,-0.77,-194.7,982.9,-13.0,826,7992,0.00,2.80,0.00,0.000,4,0.000,0.067,2620,878,3865
$GC,8042,-0.77,-194.7,989.8,-11.8,828,8048,0.00,2.72,0.00,0.000,6,0.000,0.050,2620,2267,3865
$STATE,8066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8067,begin apogee
$GC,8073,-0.19,0.0,992.8,11.9,830,8278,0.82,0.00,202.07,1.412,6,0.133,0.000,2755,2032,3071
$STATE,8279,end apogee,CONTROL_FINISHED_OK
$STATE,8279,begin climb
$GC,8281,0.82,194.7,1000.1,0.0,840,8499,1.25,3.17,207.68,1.343,4,0.085,0.071,2972,643,2277
$GC,8606,0.71,194.7,971.6,12.8,855,8610,0.00,2.92,0.00,0.000,6,0.000,0.048,2972,2055,2272
$GC,8921,0.59,194.7,931.9,13.0,870,8926,0.25,2.90,0.00,0.000,4,0.133,0.063,2930,3468,2271
$GC,8983,0.59,194.7,925.0,10.4,873,8988,0.00,2.80,0.00,0.000,6,0.000,0.052,2930,2072,2271
$GC,9311,0.58,226.8,894.3,8.9,889,9345,0.00,0.00,32.40,1.352,6,0.000,0.000,2930,2071,2146
$GC,9641,0.63,265.7,865.7,8.7,905,9683,0.00,0.00,40.10,1.328,6,0.000,0.000,2930,2070,1987
$GC,9991,0.66,287.6,834.4,9.2,922,10021,0.00,3.03,23.60,1.313,4,0.000,0.070,2930,640,1898
$GC,10043,0.70,318.7,829.3,8.9,924,10084,0.00,2.90,32.97,1.252,6,0.000,0.046,2930,2096,1770
$GC,10408,0.72,335.9,796.4,9.4,942,10433,0.12,3.08,18.83,1.297,4,0.074,0.071,2954,645,1701
$GC,10511,0.72,335.9,783.6,11.7,946,10518,0.00,2.88,0.00,0.000,6,0.000,0.047,2955,2102,1700
$GC,10828,0.68,335.9,743.8,12.7,962,10832,0.00,2.75,0.00,0.000,4,0.000,0.061,2954,3471,1698
$GC,10859,0.68,335.9,739.4,12.7,963,10866,0.00,2.72,0.00,0.000,6,0.000,0.052,2956,2107,1697
$GC,11176,0.68,335.9,698.8,12.9,979,11177,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2106,1696
$GC,11485,0.68,335.9,659.1,13.0,994,11489,0.00,2.72,0.00,0.000,4,0.000,0.057,2955,3471,1696
$GC,11505,0.68,335.9,656.1,13.2,995,11509,0.00,2.67,0.00,0.000,6,0.000,0.048,2955,2112,1695
$GC,11832,0.68,335.9,614.7,12.1,1011,11834,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2112,1695
$GC,12147,0.68,335.9,577.3,11.9,1034,12148,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2111,1696
$GC,12467,0.85,365.9,547.8,9.0,1064,12503,0.15,3.00,30.25,1.163,4,0.057,0.065,2991,641,1578
$GC,12574,0.79,365.9,534.9,13.2,1073,12578,0.00,3.08,0.00,0.000,6,0.000,0.044,2991,2212,1576
$GC,12899,0.68,365.9,484.0,16.2,1103,12901,0.25,0.00,0.00,0.000,6,0.129,0.000,2952,2212,1575
$GC,13220,0.69,375.5,450.7,9.7,1133,13241,0.00,3.20,10.82,1.063,4,0.000,0.063,2952,634,1539
$GC,13281,0.76,392.9,444.3,9.4,1138,13308,0.00,3.03,19.48,1.016,6,0.000,0.041,2952,2203,1468
$GC,13626,0.76,392.9,407.5,11.5,1171,13631,0.00,3.15,0.00,0.000,4,0.000,0.063,2952,635,1465
$GC,13654,0.81,392.9,404.3,11.0,1173,13660,0.12,2.97,0.00,0.000,6,0.061,0.041,2980,2178,1464
$GC,13979,0.74,392.9,356.2,14.4,1203,13984,0.00,3.10,0.00,0.000,4,0.000,0.063,2980,641,1464
$GC,14008,0.69,392.9,351.9,16.0,1205,14013,0.17,2.92,0.00,0.000,6,0.121,0.041,2953,2166,1464
$GC,14349,0.69,392.9,309.9,12.5,1264,14356,0.00,3.05,0.00,0.000,4,0.000,0.061,2953,641,1464
$GC,14373,0.69,392.9,307.0,12.6,1268,14380,0.00,2.88,0.00,0.000,6,0.000,0.040,2953,2149,1463
$GC,14717,0.69,392.9,264.6,11.9,1329,14723,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2149,1463
$GC,15059,0.69,392.9,226.7,10.0,1390,15066,0.00,3.03,0.00,0.000,4,0.000,0.062,2953,641,1463
$GC,15090,0.74,393.1,223.7,10.0,1395,15096,0.00,2.88,0.00,0.000,6,0.000,0.041,2953,2146,1463
$GC,15434,0.75,400.8,190.4,9.7,1456,15445,0.00,0.00,8.77,0.867,6,0.000,0.000,2953,2146,1437
$GC,15782,0.75,400.8,153.6,11.0,1518,15789,0.00,3.03,0.00,0.000,4,0.000,0.061,2953,637,1437
$GC,15813,0.81,400.8,150.3,11.8,1523,15820,0.12,2.85,0.00,0.000,6,0.061,0.040,2982,2129,1436
$GC,16157,0.75,400.8,99.9,15.0,1584,16163,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2130,1436
$GC,16500,0.70,400.8,50.7,14.4,1645,16507,0.15,3.00,0.00,0.000,4,0.126,0.063,2956,642,1436
$GC,16519,0.70,400.8,48.2,12.3,1648,16527,0.00,2.83,0.00,0.000,6,0.000,0.040,2955,2122,1436
$GC,16663,0.78,469.2,36.8,7.6,1673,16737,0.00,2.75,68.30,0.795,4,0.000,0.051,2955,3464,1158
$GC,16761,0.88,469.2,28.4,10.3,1690,16768,0.17,2.58,0.00,0.000,6,0.061,0.042,2991,2155,1156
$GC,16907,0.88,469.2,8.0,15.0,1715,16913,0.00,3.08,0.00,0.000,4,0.000,0.065,2992,635,1152
$STATE,16946,end climb,SURFACE_DEPTH_REACHED
$STATE,16946,begin surface coast
$FINISH,0.2,1.027248
$STATE,16958,end surface coast,CONTROL_FINISHED_OK
$STATE,16958,begin surface
$SM_CCo,17038,0.00,0.000,0,0,1148,471.47
$SM_GC,0.90,7.53,0.00,0.00,0.046,0.000,0.000,1470,2299,1148,-6.08,0.11,471.47
$IRIDIUM_FIX,6103.81,-2537.49,150897,090924
$TT8_MAMPS,0.021476
$HUMID,1746
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,16.60
$XPDR_PINGS,31
$24V_AH,19.2,74.582
$10V_AH,9.8,50.874
$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,21.750,144.650,695.275,0.000,0.000,58.782,69.817,367.305,7.750,0.000,0.000,15.932,2722.836,10233.120,781.593,3169.021,806.175,0.000,2250.362,0.000,3159.566,0.000,0.467
$DEVICE_MAMPS,247.741,70.564,1412.047,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1300.902,1218.695,605.041,1530.502,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126634,1724
$CAP_FILE_SIZE,164959,0
$CFSIZE,260165632,234639360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210508,140758,6129.563,-2546.784,37,2.4,56,-18.3