version: 66.03
glider: 143
mission: 4
dive: 94
start: 4 23 108 0 16 22
data:
$ID,143
$MISSION,4
$DIVE,94
$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,335
$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,633.11926
$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,-5857.7529
$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,27
$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
$GPS1,235102,6054.719,-2225.315,76,1.1,76,-16.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-38.9
$GPS2,001605,6054.863,-2225.854,11,99.0,30,-16.2
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6104.651,-2228.061
$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,351.2,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,138,0.00,0.00,-109.05,0.000,2,0.000,0.000,1464,2311,3524
$GC,140,-0.82,-194.7,3.0,-7.2,15,164,10.23,2.85,-7.80,0.000,4,0.259,0.062,2609,3702,3869
$GC,301,-0.71,-194.7,34.4,-16.1,44,310,0.17,2.78,0.00,0.000,6,0.146,0.040,2638,2289,3870
$GC,438,-0.65,-194.7,51.7,-11.0,69,443,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2286,3870
$GC,638,-0.60,-194.7,85.4,-16.7,106,646,0.15,0.00,0.00,0.000,6,0.140,0.000,2663,2285,3870
$GC,844,-0.60,-194.7,112.2,-13.0,143,850,0.00,2.75,0.00,0.000,4,0.000,0.054,2663,884,3870
$GC,890,-0.66,-194.7,118.0,-11.4,151,896,0.00,2.72,0.00,0.000,6,0.000,0.044,2664,2289,3870
$GC,1088,-0.66,-194.7,141.2,-11.1,188,1097,0.00,2.85,0.00,0.000,4,0.000,0.056,2663,3708,3870
$GC,1132,-0.66,-194.7,146.2,-12.3,195,1139,0.00,2.75,0.00,0.000,6,0.000,0.040,2663,2281,3870
$GC,1337,-0.66,-194.7,171.0,-12.2,232,1345,0.00,2.75,0.00,0.000,4,0.000,0.054,2663,890,3870
$GC,1380,-0.72,-194.7,175.9,-11.9,239,1386,0.00,2.72,0.00,0.000,6,0.000,0.044,2665,2298,3870
$GC,1720,-0.72,-194.7,215.6,-11.8,300,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2298,3870
$GC,2062,-0.72,-194.7,254.9,-11.6,361,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2298,3870
$GC,2400,-0.72,-194.7,294.5,-11.9,422,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2298,3870
$GC,2739,-0.72,-194.7,334.4,-11.9,483,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2298,3870
$GC,3079,-0.72,-194.7,374.4,-11.5,544,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2298,3870
$GC,3420,-0.72,-194.7,414.0,-12.0,605,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2298,3870
$GC,3759,-0.72,-194.7,453.6,-11.9,666,3765,0.00,2.78,0.00,0.000,4,0.000,0.055,2663,885,3869
$GC,3803,-0.78,-194.7,458.3,-11.6,673,3810,0.17,2.67,0.00,0.000,6,0.055,0.041,2624,2287,3869
$GC,4144,-0.70,-194.7,510.2,-15.1,734,4150,0.12,0.00,0.00,0.000,6,0.142,0.000,2641,2286,3869
$GC,4484,-0.70,-194.7,556.7,-13.1,795,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2287,3869
$GC,4825,-0.70,-194.7,600.4,-12.7,856,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2286,3869
$GC,5143,-0.70,-194.7,642.0,-13.7,886,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2286,3869
$GC,5461,-0.70,-194.7,685.0,-13.3,916,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2288,3869
$GC,5780,-0.70,-194.7,726.7,-13.1,946,5785,0.00,2.88,0.00,0.000,4,0.000,0.074,2641,884,3869
$GC,5829,-0.70,-194.7,733.0,-12.4,950,5834,0.00,2.70,0.00,0.000,6,0.000,0.049,2641,2269,3869
$GC,6154,-0.70,-194.7,773.8,-12.6,980,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2271,3869
$GC,6472,-0.70,-194.7,813.7,-12.7,1010,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2272,3868
$GC,6792,-0.70,-194.7,853.1,-12.1,1040,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2274,3868
$GC,7109,-0.70,-194.7,892.5,-12.8,1070,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2274,3868
$GC,7429,-0.70,-194.7,932.7,-12.7,1100,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2274,3867
$GC,7746,-0.70,-194.7,972.0,-12.2,1130,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2274,3867
$STATE,7903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7904,begin apogee
$GC,7908,-0.19,0.0,991.1,12.2,1145,8108,0.70,0.00,196.40,1.460,6,0.133,0.000,2757,2049,3072
$STATE,8109,end apogee,CONTROL_FINISHED_OK
$STATE,8109,begin climb
$GC,8111,0.82,194.7,999.9,0.0,1165,8323,1.23,3.22,202.05,1.364,4,0.087,0.073,2970,650,2277
$GC,8412,0.69,194.7,972.6,13.9,1194,8419,0.00,2.95,0.00,0.000,6,0.000,0.045,2970,2059,2273
$GC,8737,0.54,194.7,927.7,14.1,1225,8743,0.30,2.92,0.00,0.000,4,0.135,0.061,2921,3467,2271
$GC,8810,0.54,194.7,919.5,10.6,1231,8815,0.00,2.85,0.00,0.000,6,0.000,0.051,2922,2069,2271
$GC,9135,0.57,222.3,889.6,9.0,1261,9169,0.00,2.95,27.60,1.403,4,0.000,0.058,2921,3462,2164
$GC,9214,0.58,225.4,881.8,9.9,1268,9224,0.00,2.83,4.65,0.937,6,0.000,0.051,2922,2080,2152
$GC,9549,0.60,244.5,850.9,9.3,1300,9575,0.00,2.88,20.73,1.384,4,0.000,0.058,2921,3465,2073
$GC,9602,0.60,244.5,845.6,10.6,1304,9609,0.00,2.80,0.00,0.000,6,0.000,0.051,2948,2109,2072
$GC,9928,0.62,258.2,814.7,9.5,1335,9950,0.00,3.08,15.10,1.390,4,0.000,0.072,2922,637,2018
$GC,10056,0.64,277.2,802.3,9.3,1346,10083,0.00,2.95,20.17,1.253,6,0.000,0.045,2921,2127,1941
$GC,10400,0.65,284.6,770.1,9.7,1379,10415,0.00,3.12,9.18,1.254,4,0.000,0.071,2921,643,1910
$GC,10505,0.66,290.9,759.8,9.8,1388,10520,0.00,2.95,8.12,1.108,6,0.000,0.044,2921,2136,1884
$GC,10845,0.67,303.2,728.1,9.6,1420,10866,0.12,0.00,13.88,1.340,6,0.070,0.000,2947,2136,1834
$GC,11183,0.62,303.2,686.2,12.3,1452,11188,0.00,2.67,0.00,0.000,4,0.000,0.058,2947,3469,1832
$GC,11200,0.58,303.2,684.1,12.6,1453,11205,0.12,2.67,0.00,0.000,6,0.124,0.048,2929,2124,1830
$GC,11524,0.58,309.9,651.8,9.8,1483,11535,0.00,0.00,7.90,1.144,6,0.000,0.000,2929,2123,1807
$GC,11853,0.61,329.5,620.5,9.3,1514,11884,0.00,2.78,21.40,1.255,4,0.000,0.054,2929,3464,1725
$GC,11900,0.62,340.6,615.9,9.6,1518,11917,0.00,2.65,12.88,1.079,6,0.000,0.046,2929,2138,1682
$GC,12242,0.63,351.3,583.5,9.6,1565,12260,0.00,3.08,11.70,1.217,4,0.000,0.065,2929,638,1638
$GC,12271,0.56,356.0,580.8,9.8,1570,12283,0.00,2.95,6.32,0.884,6,0.000,0.041,2929,2147,1619
$GC,12619,0.58,369.6,547.1,9.5,1632,12637,0.00,0.00,15.02,1.212,6,0.000,0.000,2928,2147,1564
$GC,12972,0.65,384.2,513.2,9.5,1695,12996,0.00,3.12,16.33,1.177,4,0.000,0.064,2929,636,1504
$GC,13013,0.72,397.7,509.2,9.5,1702,13038,0.15,2.95,15.48,1.022,6,0.058,0.040,2962,2146,1448
$GC,13372,0.67,397.7,457.1,14.7,1766,13378,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2146,1444
$GC,13711,0.62,397.7,407.5,14.4,1827,13718,0.17,3.08,0.00,0.000,4,0.123,0.062,2932,631,1444
$GC,13751,0.70,397.7,402.7,10.3,1834,13757,0.00,2.90,0.00,0.000,6,0.000,0.039,2933,2140,1443
$GC,14091,0.80,427.3,370.1,9.0,1895,14126,0.17,0.00,29.73,1.101,6,0.061,0.000,2974,2140,1329
$GC,14462,0.71,427.3,309.2,16.6,1961,14468,0.00,3.05,0.00,0.000,4,0.000,0.062,2973,638,1324
$GC,14501,0.71,427.3,302.3,14.9,1968,14509,0.00,2.90,0.00,0.000,6,0.000,0.040,2974,2124,1324
$GC,14845,0.62,427.3,246.7,16.7,2029,14851,0.20,0.00,0.00,0.000,6,0.124,0.000,2939,2124,1323
$GC,15186,0.71,449.9,211.8,9.2,2090,15216,0.00,3.03,23.10,1.035,4,0.000,0.061,2939,634,1236
$GC,15243,0.84,467.1,206.3,9.4,2100,15268,0.17,2.88,19.30,0.857,6,0.040,0.037,2988,2109,1166
$GC,15602,0.72,467.1,138.5,18.5,2164,15610,0.15,0.00,0.00,0.000,6,0.138,0.000,2962,2109,1162
$GC,15808,0.72,467.1,107.5,15.3,2201,15814,0.00,2.97,0.00,0.000,4,0.000,0.061,2962,634,1161
$GC,15843,0.72,467.1,102.2,13.6,2207,15849,0.00,2.83,0.00,0.000,6,0.000,0.038,2962,2107,1161
$GC,16043,0.72,467.1,73.6,16.2,2244,16051,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2107,1160
$GC,16246,0.72,467.1,44.0,17.4,2281,16254,0.00,3.00,0.00,0.000,4,0.000,0.062,2962,635,1161
$GC,16266,0.72,467.1,40.8,15.1,2284,16275,0.00,2.78,0.00,0.000,6,0.000,0.038,2963,2074,1159
$GC,16402,0.78,512.8,24.4,8.4,2309,16453,0.00,0.00,45.38,0.846,6,0.000,0.000,2963,2075,979
$STATE,16574,end climb,SURFACE_DEPTH_REACHED
$STATE,16574,begin surface coast
$FINISH,0.0,1.027349
$STATE,16586,end surface coast,CONTROL_FINISHED_OK
$STATE,16586,begin surface
$SM_CCo,16601,114.00,0.746,1,0,489,633.12
$SM_GC,0.35,0.00,0.00,114.00,0.000,0.000,0.746,1468,2312,489,-6.13,0.48,633.12
$IRIDIUM_FIX,6032.86,-2228.34,180797,000036
$TT8_MAMPS,0.022243
$HUMID,1629
$INTERNAL_PRESSURE,8.08625
$TCM_TEMP,12.50
$XPDR_PINGS,185
$24V_AH,19.6,37.780
$10V_AH,9.7,27.428
$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,21.675,121.875,742.400,114.000,0.000,146.494,198.494,730.568,46.250,0.000,0.000,33.142,3526.543,7638.332,907.768,4750.697,1375.770,0.000,2774.096,0.000,4730.578,0.000,0.467
$DEVICE_MAMPS,259.246,73.632,1460.368,745.524,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1714.811,1665.779,802.444,938.704,1640.444,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,170862,2341
$CAP_FILE_SIZE,197931,0
$CFSIZE,260165632,247128064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,1,0
$GPS,230408,045608,6057.564,-2226.734,29,1.1,29,-16.2