version: 66.03
glider: 143
mission: 4
dive: 78
start: 4 19 108 18 10 58
data:
$ID,143
$MISSION,4
$DIVE,78
$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,10
$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,-5560.3667
$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,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
$GPS1,180308,5950.310,-2237.308,34,1.7,34,-15.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-48.2
$GPS2,181039,5950.407,-2237.305,13,1.4,13,-15.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6001.042,-2236.367
$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,25.7,20000,-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,25,-0.82,-194.7,0.0,0.0,0,122,0.00,0.00,-94.35,0.000,2,0.000,0.000,1468,2309,3518
$GC,124,-0.82,-194.7,3.2,-6.0,13,149,10.32,2.92,-8.25,0.000,4,0.263,0.071,2608,3709,3867
$GC,223,-0.69,-194.7,24.9,-18.5,30,232,0.20,2.80,0.00,0.000,6,0.140,0.041,2641,2287,3868
$GC,359,-0.63,-194.7,44.6,-15.1,55,368,0.12,0.00,0.00,0.000,6,0.146,0.000,2658,2284,3869
$GC,494,-0.63,-194.7,63.3,-14.3,80,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2284,3869
$GC,698,-0.63,-194.7,90.4,-13.9,117,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2284,3869
$GC,898,-0.63,-194.7,117.4,-13.2,154,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2284,3869
$GC,1103,-0.63,-194.7,144.3,-13.0,191,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2283,3869
$GC,1302,-0.63,-194.7,170.4,-12.6,228,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2284,3869
$GC,1636,-0.63,-194.7,212.7,-12.9,289,1642,0.00,2.75,0.00,0.000,4,0.000,0.054,2658,878,3869
$GC,1682,-0.67,-194.7,218.2,-11.5,297,1689,0.00,2.78,0.00,0.000,6,0.000,0.044,2659,2310,3869
$GC,2012,-0.67,-194.7,259.6,-12.5,358,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2310,3869
$GC,2345,-0.67,-194.7,299.9,-11.9,419,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2310,3869
$GC,2673,-0.67,-194.7,338.2,-11.5,480,2681,0.00,2.83,0.00,0.000,4,0.000,0.054,2661,887,3869
$GC,2727,-0.72,-194.7,344.1,-11.2,489,2734,0.00,2.72,0.00,0.000,6,0.000,0.044,2659,2308,3869
$GC,3068,-0.72,-194.7,384.8,-11.7,550,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2308,3869
$GC,3408,-0.72,-194.7,424.9,-11.7,611,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2308,3869
$GC,3747,-0.72,-194.7,463.4,-11.1,672,3756,0.00,2.83,0.00,0.000,4,0.000,0.055,2659,884,3868
$GC,3790,-0.77,-194.7,468.1,-11.1,679,3797,0.15,2.72,0.00,0.000,6,0.059,0.042,2626,2308,3869
$GC,4131,-0.70,-194.7,519.1,-15.0,740,4138,0.12,0.00,0.00,0.000,6,0.133,0.000,2644,2309,3869
$GC,4472,-0.70,-194.7,564.3,-13.4,801,4478,0.00,2.80,0.00,0.000,4,0.000,0.058,2644,881,3868
$GC,4512,-0.70,-194.7,569.6,-12.6,808,4518,0.00,2.70,0.00,0.000,6,0.000,0.043,2644,2291,3868
$GC,4848,-0.70,-194.7,614.5,-13.4,859,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2291,3869
$GC,5166,-0.70,-194.7,656.4,-12.7,889,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2291,3868
$GC,5485,-0.70,-194.7,698.1,-13.4,919,5490,0.00,2.88,0.00,0.000,4,0.000,0.071,2644,883,3868
$GC,5527,-0.70,-194.7,703.8,-13.0,922,5535,0.00,2.75,0.00,0.000,6,0.000,0.050,2643,2280,3868
$GC,5853,-0.70,-194.7,747.4,-13.8,953,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2282,3868
$GC,6171,-0.70,-194.7,789.0,-12.9,983,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2284,3868
$GC,6489,-0.70,-194.7,828.4,-11.9,1013,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2284,3868
$GC,6808,-0.70,-194.7,867.4,-12.6,1043,6812,0.00,2.83,0.00,0.000,4,0.000,0.068,2644,887,3868
$GC,6850,-0.70,-194.7,872.9,-12.5,1046,6857,0.00,2.72,0.00,0.000,6,0.000,0.049,2644,2272,3868
$GC,7176,-0.70,-194.7,912.3,-12.3,1077,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2274,3867
$GC,7494,-0.70,-194.7,950.9,-12.1,1107,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2273,3867
$GC,7813,-0.70,-194.7,989.5,-12.2,1137,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2275,3867
$STATE,7822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7822,begin apogee
$GC,7826,-0.19,0.0,990.8,12.3,1138,8027,0.68,0.00,197.00,1.472,6,0.128,0.000,2756,2038,3071
$STATE,8028,end apogee,CONTROL_FINISHED_OK
$STATE,8028,begin climb
$GC,8030,0.82,194.7,1000.4,0.0,1158,8244,1.25,3.17,201.70,1.380,4,0.090,0.071,2974,651,2276
$GC,8339,0.69,194.7,974.4,13.0,1187,8346,0.15,2.92,0.00,0.000,6,0.136,0.044,2954,2053,2272
$GC,8663,0.57,194.7,933.9,12.5,1218,8669,0.15,2.92,0.00,0.000,4,0.138,0.061,2929,3463,2271
$GC,8729,0.53,194.7,926.3,10.8,1223,8737,0.00,2.85,0.00,0.000,6,0.000,0.051,2929,2069,2270
$GC,9057,0.47,194.7,892.8,10.6,1254,9062,0.15,2.85,0.00,0.000,4,0.130,0.058,2904,3465,2270
$GC,9091,0.50,214.8,889.3,9.3,1256,9117,0.00,2.80,20.25,1.480,6,0.000,0.051,2904,2074,2194
$GC,9435,0.56,267.0,861.3,8.2,1289,9496,0.00,2.97,52.62,1.364,4,0.000,0.058,2904,3459,1981
$GC,9519,0.68,304.6,854.3,8.7,1297,9565,0.22,2.83,39.30,1.290,6,0.061,0.050,2949,2093,1828
$GC,9884,0.62,304.6,808.0,12.6,1331,9885,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2092,1822
$GC,10203,0.56,304.6,769.0,11.9,1361,10208,0.15,2.80,0.00,0.000,4,0.129,0.057,2922,3469,1821
$GC,10235,0.56,304.6,765.3,10.5,1363,10242,0.00,2.78,0.00,0.000,6,0.000,0.051,2927,2101,1820
$GC,10561,0.62,347.6,737.4,8.5,1394,10611,0.00,0.00,43.53,1.335,6,0.000,0.000,2926,2100,1652
$GC,10929,0.70,373.2,705.3,9.1,1429,10960,0.12,0.00,26.23,1.298,6,0.071,0.000,2951,2099,1549
$GC,11277,0.70,373.2,664.2,11.9,1462,11278,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2098,1545
$GC,11595,0.70,373.2,624.5,12.2,1492,11600,0.00,2.97,0.00,0.000,4,0.000,0.068,2947,636,1544
$GC,11616,0.70,373.2,621.9,12.5,1493,11622,0.00,2.88,0.00,0.000,6,0.000,0.041,2951,2116,1543
$GC,11949,0.70,373.2,581.7,12.0,1537,11955,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2117,1543
$GC,12289,0.70,373.2,540.0,11.8,1598,12295,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2117,1543
$GC,12629,0.70,373.2,499.4,11.9,1659,12636,0.00,2.97,0.00,0.000,4,0.000,0.064,2948,635,1543
$GC,12658,0.70,373.2,495.9,11.5,1664,12664,0.00,2.83,0.00,0.000,6,0.000,0.040,2964,2115,1542
$GC,12999,0.70,373.2,455.6,12.2,1725,13005,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2115,1542
$GC,13340,0.70,373.2,414.3,11.5,1786,13346,0.00,2.97,0.00,0.000,4,0.000,0.063,2957,631,1542
$GC,13359,0.70,373.2,412.1,12.3,1789,13365,0.00,2.80,0.00,0.000,6,0.000,0.039,2957,2102,1542
$GC,13699,0.70,373.2,371.0,11.9,1850,13705,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2102,1542
$GC,14037,0.71,381.0,333.9,9.7,1911,14050,0.00,0.00,8.48,0.976,6,0.000,0.000,2957,2102,1516
$GC,14377,0.71,381.0,296.4,11.7,1973,14382,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2102,1516
$GC,14705,0.71,381.0,258.5,10.9,2034,14713,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2102,1515
$GC,15038,0.71,381.0,220.2,11.6,2095,15044,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2102,1515
$GC,15367,0.71,381.0,182.6,11.1,2156,15374,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2102,1515
$GC,15700,0.71,381.0,146.2,10.5,2217,15706,0.00,2.92,0.00,0.000,4,0.000,0.063,2950,634,1515
$GC,15726,0.71,381.0,143.3,11.5,2221,15733,0.35,2.78,0.00,0.000,6,0.094,0.038,2918,2097,1515
$GC,15928,0.99,381.0,125.0,11.0,2258,15937,0.50,2.92,0.00,0.000,4,0.069,0.058,3003,638,1515
$GC,15972,1.25,406.1,120.9,9.1,2265,16005,0.10,2.72,25.98,1.045,6,0.069,0.038,3015,2080,1415
$GC,16198,1.05,406.1,74.5,23.1,2306,16206,0.00,2.75,0.00,0.000,4,0.000,0.051,3013,3461,1412
$GC,16220,0.86,406.1,69.8,23.4,2309,16227,0.17,2.75,0.00,0.000,6,0.145,0.044,2989,2061,1411
$GC,16420,0.75,406.1,31.4,19.4,2346,16428,0.15,0.00,0.00,0.000,6,0.145,0.000,2965,2061,1411
$GC,16554,0.75,406.1,11.5,12.8,2371,16561,0.00,2.78,0.00,0.000,4,0.000,0.049,2965,3453,1411
$GC,16579,0.75,406.1,8.0,14.1,2375,16587,0.00,2.72,0.00,0.000,6,0.000,0.043,2965,2072,1411
$STATE,16624,end climb,SURFACE_DEPTH_REACHED
$STATE,16624,begin surface coast
$FINISH,0.1,1.027153
$STATE,16636,end surface coast,CONTROL_FINISHED_OK
$STATE,16636,begin surface
$SM_CCo,16711,0.00,0.000,0,0,1409,407.44
$SM_GC,0.77,7.45,0.00,0.00,0.051,0.000,0.000,1467,2292,1409,-6.09,-0.08,407.44
$IRIDIUM_FIX,5958.08,-1158.70,140797,131351
$TT8_MAMPS,0.021476
$HUMID,1649
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,12.40
$XPDR_PINGS,207
$24V_AH,19.6,33.226
$10V_AH,9.8,23.483
$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,22.525,108.625,615.075,0.000,0.000,29.543,33.318,266.844,51.750,0.000,0.000,14.725,3599.662,7034.970,720.800,5183.378,599.374,0.000,2572.349,0.000,5202.827,0.000,0.467
$DEVICE_MAMPS,263.081,71.331,1479.543,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1762.179,1705.275,965.990,957.766,2492.790,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,180368,2385
$CAP_FILE_SIZE,180277,0
$CFSIZE,260165632,248950784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,190408,225038,5954.910,-2235.352,35,1.0,35,-15.7