version: 66.03
glider: 143
mission: 4
dive: 96
start: 4 23 108 10 25 29
data:
$ID,143
$MISSION,4
$DIVE,96
$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,359
$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,-5908.8545
$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,16
$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
$GPS1,100901,6100.365,-2226.896,37,1.5,37,-16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-46.4
$GPS2,102510,6100.371,-2226.870,15,1.8,16,-16.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6111.168,-2226.961
$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,15.3,20000,-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,25,-0.82,-194.7,0.0,0.0,0,137,0.00,0.00,-108.57,0.000,2,0.000,0.000,1470,2299,3679
$GC,139,-0.82,-194.7,3.6,-7.4,15,162,9.85,2.88,-3.95,0.000,4,0.252,0.064,2611,3704,3868
$GC,368,-0.71,-194.7,56.1,-19.9,57,375,0.20,2.75,0.00,0.000,6,0.141,0.041,2640,2287,3870
$GC,569,-0.66,-194.7,85.6,-14.7,94,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2284,3869
$GC,773,-0.61,-194.7,114.9,-14.0,131,779,0.15,0.00,0.00,0.000,6,0.140,0.000,2665,2283,3869
$GC,973,-0.61,-194.7,137.6,-11.1,168,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2284,3869
$GC,1179,-0.61,-194.7,160.8,-11.5,205,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2284,3870
$GC,1517,-0.61,-194.7,200.0,-11.7,266,1523,0.00,2.72,0.00,0.000,4,0.000,0.054,2665,887,3869
$GC,1558,-0.67,-194.7,204.6,-11.5,273,1565,0.00,2.78,0.00,0.000,6,0.000,0.044,2665,2321,3869
$GC,1898,-0.67,-194.7,245.9,-11.5,334,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2321,3869
$GC,2237,-0.67,-194.7,283.7,-11.3,395,2243,0.00,2.83,0.00,0.000,4,0.000,0.054,2665,881,3869
$GC,2282,-0.74,-194.7,288.6,-10.8,403,2288,0.15,2.75,0.00,0.000,6,0.057,0.043,2632,2311,3870
$GC,2623,-0.67,-194.7,339.1,-15.1,464,2631,0.12,0.00,0.00,0.000,6,0.133,0.000,2650,2311,3869
$GC,2963,-0.67,-194.7,384.6,-13.0,525,2970,0.00,2.80,0.00,0.000,4,0.000,0.054,2650,882,3869
$GC,3002,-0.67,-194.7,389.8,-12.6,532,3008,0.00,2.72,0.00,0.000,6,0.000,0.043,2650,2301,3869
$GC,3346,-0.67,-194.7,435.5,-13.7,593,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2301,3870
$GC,3685,-0.67,-194.7,481.3,-12.9,654,3691,0.00,2.80,0.00,0.000,4,0.000,0.054,2650,877,3869
$GC,3725,-0.67,-194.7,486.4,-13.5,661,3731,0.00,2.72,0.00,0.000,6,0.000,0.043,2650,2297,3870
$GC,4066,-0.67,-194.7,530.9,-13.2,722,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2296,3869
$GC,4404,-0.67,-194.7,574.7,-12.8,783,4410,0.00,2.78,0.00,0.000,4,0.000,0.056,2650,888,3869
$GC,4449,-0.67,-194.7,580.3,-12.1,791,4456,0.00,2.67,0.00,0.000,6,0.000,0.043,2650,2285,3869
$GC,4785,-0.67,-194.7,623.3,-12.5,836,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2285,3869
$GC,5104,-0.67,-194.7,663.7,-12.3,866,5105,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2285,3869
$GC,5422,-0.67,-194.7,702.4,-12.3,896,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2286,3869
$GC,5741,-0.67,-194.7,740.2,-11.8,926,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2288,3868
$GC,6061,-0.67,-194.7,777.3,-11.5,956,6066,0.00,2.85,0.00,0.000,4,0.000,0.070,2650,886,3868
$GC,6099,-0.67,-194.7,781.8,-11.0,959,6104,0.00,2.70,0.00,0.000,6,0.000,0.049,2650,2270,3868
$GC,6424,-0.67,-194.7,818.7,-11.8,989,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2272,3868
$GC,6741,-0.67,-194.7,856.1,-11.1,1019,6746,0.00,2.90,0.00,0.000,4,0.000,0.067,2650,3705,3867
$GC,6780,-0.67,-194.7,860.4,-11.2,1022,6784,0.00,2.83,0.00,0.000,6,0.000,0.052,2650,2275,3867
$GC,7106,-0.67,-194.7,896.8,-11.4,1052,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2275,3867
$GC,7422,-0.67,-194.7,931.8,-11.0,1082,7423,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2275,3867
$GC,7740,-0.67,-194.7,965.8,-10.6,1112,7745,0.00,2.80,0.00,0.000,4,0.000,0.068,2650,880,3866
$GC,7772,-0.67,-194.7,969.4,-10.9,1114,7779,0.00,2.78,0.00,0.000,6,0.000,0.050,2653,2284,3866
$STATE,7968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7968,begin apogee
$GC,7973,-0.19,0.0,990.5,10.9,1133,8173,0.60,0.00,196.57,1.461,6,0.124,0.000,2754,2036,3071
$STATE,8174,end apogee,CONTROL_FINISHED_OK
$STATE,8174,begin climb
$GC,8176,0.82,194.7,997.9,0.0,1153,8388,1.27,3.20,201.65,1.364,4,0.089,0.071,2971,651,2276
$GC,8473,0.70,194.7,971.4,13.2,1182,8478,0.00,2.92,0.00,0.000,6,0.000,0.044,2972,2051,2273
$GC,8798,0.55,194.7,927.8,13.2,1212,8803,0.30,2.92,0.00,0.000,4,0.135,0.060,2922,3463,2271
$GC,8852,0.55,194.7,921.6,10.1,1216,8860,0.00,2.85,0.00,0.000,6,0.000,0.051,2925,2068,2271
$GC,9178,0.58,217.1,891.5,9.2,1247,9210,0.00,2.95,22.55,1.431,4,0.000,0.059,2922,3467,2185
$GC,9248,0.58,217.1,884.5,10.8,1253,9255,0.00,2.85,0.00,0.000,6,0.000,0.051,2923,2069,2184
$GC,9574,0.59,226.8,853.8,9.7,1284,9595,0.00,3.03,11.45,1.364,4,0.000,0.071,2923,642,2146
$GC,9689,0.62,250.6,842.4,9.2,1294,9720,0.00,2.90,24.83,1.287,6,0.000,0.044,2925,2107,2049
$GC,10045,0.67,290.3,810.9,8.6,1328,10096,0.00,3.12,40.92,1.337,4,0.000,0.071,2922,643,1886
$GC,10163,0.68,301.6,800.3,9.6,1339,10185,0.40,2.97,12.18,1.210,6,0.103,0.045,2909,2127,1840
$GC,10502,1.03,301.6,769.1,10.4,1371,10508,0.60,2.72,0.00,0.000,4,0.073,0.059,2966,3468,1838
$GC,10542,1.18,334.6,765.3,8.9,1374,10584,0.45,2.75,34.25,1.309,6,0.058,0.049,3058,2097,1706
$GC,10901,0.87,334.6,671.9,27.4,1408,10903,0.43,0.00,0.00,0.000,6,0.153,0.000,2995,2095,1702
$GC,11222,0.72,334.6,611.1,18.5,1438,11227,0.22,2.75,0.00,0.000,4,0.149,0.053,2957,3468,1702
$GC,11243,0.61,334.6,606.9,17.0,1439,11250,0.17,2.67,0.00,0.000,6,0.143,0.047,2936,2114,1700
$GC,11579,0.61,334.6,571.6,10.4,1494,11585,0.17,0.00,0.00,0.000,6,0.116,0.000,2932,2114,1700
$GC,11918,0.85,438.7,549.3,6.4,1555,12027,0.22,0.00,102.62,1.161,6,0.052,0.000,2980,2113,1282
$GC,12359,0.85,438.7,492.3,11.9,1635,12366,0.00,3.03,0.00,0.000,4,0.000,0.064,2956,634,1273
$GC,12388,0.85,438.7,488.7,13.3,1640,12397,0.10,2.95,0.00,0.000,6,0.044,0.041,2985,2131,1271
$GC,12731,0.73,438.7,426.0,19.3,1701,12738,0.15,3.05,0.00,0.000,4,0.133,0.064,2960,638,1271
$GC,12777,0.73,438.7,418.6,13.7,1709,12783,0.00,2.83,0.00,0.000,6,0.000,0.040,2960,2101,1270
$GC,13115,0.73,438.7,371.0,14.6,1770,13121,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2102,1270
$GC,13454,0.73,438.7,322.3,14.0,1831,13461,0.00,2.95,0.00,0.000,4,0.000,0.063,2960,640,1269
$GC,13495,0.73,438.7,317.0,13.6,1838,13501,0.00,2.75,0.00,0.000,6,0.000,0.039,2960,2079,1269
$GC,13835,0.73,438.7,269.0,13.5,1899,13840,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2080,1269
$GC,14174,0.73,438.7,222.2,12.7,1960,14182,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2080,1268
$GC,14517,0.73,438.7,177.3,13.2,2021,14523,0.00,2.90,0.00,0.000,4,0.000,0.062,2960,635,1269
$GC,14550,0.73,438.7,172.5,13.2,2027,14556,0.00,2.72,0.00,0.000,6,0.000,0.038,2960,2073,1268
$GC,14885,0.73,438.7,127.7,12.4,2088,14892,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2073,1269
$GC,15088,0.73,438.7,100.4,12.9,2125,15094,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2073,1268
$GC,15287,0.73,438.7,74.6,11.9,2162,15295,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2074,1268
$GC,15491,0.73,438.7,49.7,12.4,2199,15499,0.00,2.90,0.00,0.000,4,0.000,0.062,2960,641,1268
$GC,15511,0.73,438.7,47.0,12.3,2202,15520,0.00,2.72,0.00,0.000,6,0.000,0.038,2960,2064,1268
$GC,15646,0.73,438.7,31.1,13.1,2227,15654,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2064,1268
$GC,15779,0.73,438.7,14.6,12.6,2252,15787,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2065,1268
$STATE,15886,end climb,SURFACE_DEPTH_REACHED
$STATE,15886,begin surface coast
$FINISH,-0.1,1.027323
$STATE,15903,end surface coast,CONTROL_FINISHED_OK
$STATE,15903,begin surface
$SM_CCo,15978,0.00,0.000,0,0,1267,442.52
$SM_GC,0.56,7.20,0.00,0.00,0.041,0.000,0.000,1467,2304,1267,-6.09,0.25,442.52
$IRIDIUM_FIX,6041.65,-2323.00,180797,101031
$TT8_MAMPS,0.021476
$HUMID,1666
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,12.10
$XPDR_PINGS,162
$24V_AH,19.6,38.355
$10V_AH,9.8,27.878
$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,22.775,120.425,647.025,0.000,0.000,82.819,111.793,513.792,40.500,0.000,0.000,18.315,3420.695,7144.597,749.383,4649.696,957.754,0.000,2535.219,0.000,4639.194,0.000,0.467
$DEVICE_MAMPS,251.576,71.331,1461.135,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1662.598,1623.665,804.694,933.329,1657.353,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,167605,2275
$CAP_FILE_SIZE,181431,0
$CFSIZE,260165632,246931456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230408,145302,6102.749,-2224.646,41,1.0,41,-16.3