version: 66.03
glider: 143
mission: 4
dive: 98
start: 4 23 108 20 12 57
data:
$ID,143
$MISSION,4
$DIVE,98
$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,220
$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,-5959.6157
$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,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
$GPS1,195207,6105.361,-2222.199,36,0.9,41,-16.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-54.4
$GPS2,201239,6105.351,-2221.835,13,1.0,13,-16.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6057.078,-2225.205
$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,236.3,20000,-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,-194.7,0.0,0.0,0,115,0.00,0.00,-87.68,0.000,2,0.000,0.000,1459,2318,3548
$GC,117,-0.82,-194.7,3.0,-4.8,12,141,10.10,2.90,-7.18,0.000,4,0.255,0.066,2612,884,3866
$GC,284,-0.75,-194.7,34.9,-15.2,42,292,0.10,2.80,0.00,0.000,6,0.143,0.050,2629,2283,3867
$GC,421,-0.68,-194.7,55.4,-15.2,67,427,0.15,0.00,0.00,0.000,6,0.153,0.000,2652,2283,3866
$GC,748,-0.68,-194.7,99.5,-12.0,128,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2284,3867
$GC,1080,-0.68,-194.7,140.5,-13.4,189,1086,0.00,2.85,0.00,0.000,4,0.000,0.058,2652,3714,3867
$GC,1119,-0.68,-194.7,145.8,-12.6,196,1127,0.00,2.80,0.00,0.000,6,0.000,0.039,2652,2278,3867
$GC,1462,-0.68,-194.7,187.9,-12.7,257,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2273,3867
$GC,1800,-0.68,-194.7,230.8,-13.0,318,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2274,3867
$GC,2141,-0.68,-194.7,273.8,-12.7,379,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2274,3867
$GC,2479,-0.68,-194.7,315.2,-11.8,440,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2273,3867
$GC,2826,-0.68,-194.7,356.6,-11.9,497,2831,0.00,2.85,0.00,0.000,4,0.000,0.054,2652,3715,3867
$GC,2853,-0.68,-194.7,360.4,-12.5,499,2857,0.00,2.75,0.00,0.000,6,0.000,0.039,2652,2281,3867
$GC,3179,-0.68,-194.7,399.3,-11.7,529,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2278,3867
$GC,3495,-0.68,-194.7,436.5,-11.6,559,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2278,3867
$GC,3813,-0.68,-194.7,473.4,-11.7,589,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2278,3867
$GC,4132,-0.68,-194.7,509.7,-11.1,619,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2278,3867
$GC,4453,-0.68,-194.7,545.0,-10.7,649,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2278,3867
$GC,4769,-0.68,-194.7,579.9,-11.4,679,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2278,3867
$GC,5083,-0.68,-194.7,618.0,-12.2,702,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2278,3867
$GC,5393,-0.68,-194.7,656.9,-12.6,717,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2278,3867
$GC,5702,-0.68,-194.7,697.5,-13.1,732,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2278,3867
$GC,6011,-0.68,-194.7,737.5,-12.7,747,6012,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2278,3866
$GC,6321,-0.68,-194.7,774.4,-11.8,762,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2278,3866
$GC,6630,-0.68,-194.7,810.8,-12.0,777,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2278,3866
$GC,6939,-0.68,-194.7,846.2,-11.5,792,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2278,3866
$GC,7248,-0.68,-194.7,882.3,-12.2,807,7253,0.00,2.80,0.00,0.000,4,0.000,0.070,2652,894,3866
$GC,7269,-0.68,-194.7,885.0,-12.7,808,7274,0.00,2.72,0.00,0.000,6,0.000,0.050,2653,2292,3865
$GC,7596,-0.68,-194.7,924.8,-12.1,824,7597,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2293,3865
$GC,7905,-0.68,-194.7,961.1,-11.3,839,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2294,3865
$STATE,8172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8172,begin apogee
$GC,8176,-0.19,0.0,990.3,10.9,852,8376,0.60,0.00,196.62,1.457,6,0.124,0.000,2755,2046,3071
$STATE,8377,end apogee,CONTROL_FINISHED_OK
$STATE,8377,begin climb
$GC,8379,0.82,194.7,998.7,0.0,862,8591,1.27,3.22,202.02,1.363,4,0.089,0.072,2972,646,2277
$GC,8663,0.69,194.7,974.9,13.2,875,8670,0.15,2.95,0.00,0.000,6,0.132,0.044,2953,2053,2273
$GC,8979,0.57,194.7,936.1,12.4,891,8984,0.15,2.95,0.00,0.000,4,0.138,0.061,2928,3471,2271
$GC,9051,0.53,194.7,927.9,10.9,894,9055,0.00,2.85,0.00,0.000,6,0.000,0.050,2929,2069,2271
$GC,9366,0.48,194.7,896.1,10.0,909,9371,0.15,2.85,0.00,0.000,4,0.127,0.057,2906,3467,2271
$GC,9421,0.54,247.2,891.2,8.2,911,9480,0.00,2.75,52.12,1.381,6,0.000,0.050,2907,2094,2062
$GC,9797,0.62,312.1,862.9,7.8,930,9869,0.15,3.12,65.30,1.345,4,0.068,0.072,2939,640,1798
$GC,9964,0.62,312.1,843.8,11.7,938,9970,0.30,2.97,0.00,0.000,6,0.108,0.044,2907,2118,1794
$GC,10291,0.88,421.6,822.0,6.2,954,10414,0.45,3.30,111.90,1.305,4,0.048,0.072,2988,642,1351
$GC,10508,0.83,421.6,783.4,16.2,964,10514,0.20,3.00,0.00,0.000,6,0.128,0.046,3010,2117,1344
$GC,10829,0.78,421.6,736.1,14.4,980,10831,0.17,0.00,0.00,0.000,6,0.129,0.000,2971,2117,1342
$GC,11138,0.83,421.6,703.2,10.1,995,11139,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2117,1340
$GC,11447,0.89,421.6,671.2,10.5,1010,11453,0.15,3.05,0.00,0.000,4,0.064,0.071,2967,640,1339
$GC,11480,0.89,421.6,666.9,13.6,1011,11486,0.00,2.88,0.00,0.000,6,0.000,0.044,2975,2118,1338
$GC,11795,0.81,421.6,616.6,16.2,1027,11800,0.00,2.67,0.00,0.000,4,0.000,0.055,2966,3464,1338
$GC,11816,0.75,421.6,612.9,16.2,1028,11821,0.00,2.70,0.00,0.000,6,0.000,0.048,2967,2097,1338
$GC,12140,0.67,421.6,562.6,15.9,1054,12145,0.00,2.92,0.00,0.000,4,0.000,0.065,2966,641,1337
$GC,12168,0.62,421.6,558.1,15.2,1056,12173,0.17,2.83,0.00,0.000,6,0.116,0.041,2939,2114,1338
$GC,12492,0.62,421.6,522.8,10.9,1086,12493,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2114,1337
$GC,12812,0.66,421.6,487.1,11.2,1116,12816,0.00,2.95,0.00,0.000,4,0.000,0.062,2939,641,1337
$GC,12844,0.74,421.6,483.1,11.4,1118,12850,0.00,2.80,0.00,0.000,6,0.000,0.041,2939,2108,1337
$GC,13169,0.78,421.6,446.0,11.1,1149,13171,0.15,0.00,0.00,0.000,6,0.063,0.000,2971,2108,1337
$GC,13488,0.70,421.6,393.2,17.4,1179,13489,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2108,1337
$GC,13808,0.62,421.6,338.7,16.6,1215,13814,0.17,0.00,0.00,0.000,6,0.127,0.000,2941,2108,1337
$GC,14146,0.66,421.6,302.8,10.3,1276,14154,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2108,1337
$GC,14490,0.71,421.6,268.2,10.3,1337,14496,0.00,2.95,0.00,0.000,4,0.000,0.061,2941,632,1337
$GC,14518,0.79,421.6,265.0,10.8,1342,14525,0.15,2.78,0.00,0.000,6,0.058,0.038,2975,2100,1337
$GC,14860,0.71,421.6,209.3,16.5,1403,14866,0.00,2.65,0.00,0.000,4,0.000,0.051,2975,3459,1337
$GC,14904,0.71,421.6,202.4,13.3,1411,14911,0.15,2.67,0.00,0.000,6,0.123,0.044,2955,2079,1337
$GC,15244,0.71,421.6,163.6,12.0,1472,15253,0.00,2.88,0.00,0.000,4,0.000,0.064,2953,641,1337
$GC,15269,0.71,421.6,160.4,12.0,1476,15277,0.00,2.78,0.00,0.000,6,0.000,0.039,2962,2090,1337
$GC,15606,0.71,421.6,119.7,12.4,1537,15612,0.00,2.67,0.00,0.000,4,0.000,0.051,2952,3466,1336
$GC,15630,0.71,421.6,116.8,12.7,1541,15636,0.00,2.67,0.00,0.000,6,0.000,0.044,2954,2083,1336
$GC,15958,0.71,421.6,79.3,11.5,1602,15966,0.00,2.90,0.00,0.000,4,0.000,0.064,2953,641,1336
$GC,15990,0.76,421.6,75.9,12.1,1607,15996,0.00,2.72,0.00,0.000,6,0.000,0.038,2956,2088,1337
$GC,16318,0.76,421.6,36.3,11.9,1668,16326,0.00,2.70,0.00,0.000,4,0.000,0.051,2952,3459,1336
$GC,16349,0.81,421.6,32.5,13.0,1673,16357,0.08,2.67,0.00,0.000,6,0.289,0.044,2974,2084,1336
$GC,16485,0.77,421.6,12.3,17.0,1698,16493,0.00,2.90,0.00,0.000,4,0.000,0.065,2977,644,1336
$GC,16532,0.82,421.6,5.9,12.2,1706,16539,0.00,2.72,0.00,0.000,6,0.000,0.040,2995,2065,1336
$STATE,16566,end climb,SURFACE_DEPTH_REACHED
$STATE,16566,begin surface coast
$FINISH,-0.1,1.018900
$STATE,16589,end surface coast,CONTROL_FINISHED_OK
$STATE,16589,begin surface
$SM_CCo,16604,199.32,0.766,1,0,490,633.12
$SM_GC,0.28,0.00,0.00,199.32,0.000,0.000,0.766,1464,2321,490,-6.14,0.71,633.12
$IRIDIUM_FIX,6041.65,-2221.11,180797,202036
$TT8_MAMPS,0.02301
$HUMID,1627
$INTERNAL_PRESSURE,8.07648
$TCM_TEMP,12.40
$XPDR_PINGS,139
$24V_AH,19.6,38.923
$10V_AH,9.9,28.293
$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,22.425,114.875,627.975,199.325,0.000,133.884,306.658,409.429,34.750,0.000,0.000,14.459,2714.006,9467.368,896.234,3856.728,1085.429,0.000,2348.598,0.000,3856.568,0.000,0.467
$DEVICE_MAMPS,289.159,72.098,1456.533,766.233,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1269.342,1207.283,670.417,852.698,1575.244,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126530,1716
$CAP_FILE_SIZE,162378,0
$CFSIZE,260165632,246759424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240408,005408,6102.703,-2222.820,26,1.8,26,-16.2