version: 66.03
glider: 143
mission: 4
dive: 105
start: 4 25 108 5 58 58
data:
$ID,143
$MISSION,4
$DIVE,105
$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,240
$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,-6084.7163
$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,29
$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
$GPS1,055208,6052.614,-2242.994,29,1.2,29,-16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-56.7
$GPS2,055839,6052.681,-2243.028,9,1.4,9,-16.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6047.282,-2247.592
$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,256.3,20000,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.82,-194.7,0.0,0.0,0,114,0.00,0.00,-87.30,0.000,2,0.000,0.000,1470,2310,3471
$GC,116,-0.82,-194.7,3.1,-6.1,12,148,10.02,2.90,-9.30,0.000,4,0.254,0.063,2612,884,3867
$GC,249,-0.73,-194.7,28.2,-17.0,35,257,0.00,2.80,0.00,0.000,6,0.000,0.051,2620,2281,3868
$GC,381,-0.59,-194.7,52.4,-17.1,60,389,0.28,0.00,0.00,0.000,6,0.152,0.000,2662,2281,3868
$GC,714,-0.59,-194.7,96.5,-13.4,121,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2281,3869
$GC,1041,-0.59,-194.7,140.8,-13.3,182,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2281,3869
$GC,1378,-0.59,-194.7,185.9,-13.0,243,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2281,3868
$GC,1718,-0.59,-194.7,231.1,-13.4,304,1727,0.00,2.78,0.00,0.000,4,0.000,0.054,2654,883,3869
$GC,1751,-0.59,-194.7,235.2,-13.8,309,1757,0.00,2.72,0.00,0.000,6,0.000,0.045,2658,2292,3869
$GC,2091,-0.59,-194.7,279.6,-13.3,370,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2293,3869
$GC,2429,-0.59,-194.7,323.6,-12.5,431,2435,0.00,2.78,0.00,0.000,4,0.000,0.054,2653,877,3869
$GC,2464,-0.59,-194.7,327.9,-12.7,437,2470,0.00,2.72,0.00,0.000,6,0.000,0.044,2672,2292,3869
$GC,2796,-0.59,-194.7,371.0,-12.9,483,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2292,3869
$GC,3118,-0.59,-194.7,413.3,-13.2,513,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2293,3869
$GC,3432,-0.59,-194.7,454.9,-13.0,543,3437,0.00,2.78,0.00,0.000,4,0.000,0.054,2656,880,3868
$GC,3461,-0.59,-194.7,458.4,-13.1,545,3466,0.00,2.70,0.00,0.000,6,0.000,0.043,2669,2291,3869
$GC,3785,-0.59,-194.7,499.6,-12.8,575,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2291,3868
$GC,4104,-0.59,-194.7,539.5,-12.5,605,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2291,3869
$GC,4422,-0.59,-194.7,579.3,-12.5,635,4426,0.00,2.80,0.00,0.000,4,0.000,0.058,2655,873,3869
$GC,4455,-0.59,-194.7,583.3,-11.9,637,4461,0.00,2.70,0.00,0.000,6,0.000,0.044,2670,2285,3868
$GC,4784,-0.59,-194.7,622.7,-12.1,660,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2285,3868
$GC,5093,-0.59,-194.7,660.9,-12.5,675,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2285,3868
$GC,5403,-0.59,-194.7,699.3,-12.2,690,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2286,3868
$GC,5711,-0.59,-194.7,735.5,-11.5,705,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2288,3868
$GC,6021,-0.59,-194.7,771.0,-11.4,720,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2288,3868
$GC,6331,-0.59,-194.7,806.8,-11.8,735,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2288,3868
$GC,6639,-0.59,-194.7,842.7,-11.3,750,6644,0.00,2.88,0.00,0.000,4,0.000,0.068,2652,3703,3868
$GC,6682,-0.59,-194.7,847.7,-11.0,752,6687,0.00,2.83,0.00,0.000,6,0.000,0.052,2652,2271,3867
$GC,7009,-0.59,-194.7,883.1,-10.8,768,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2271,3867
$GC,7318,-0.59,-194.7,917.4,-11.3,783,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2271,3866
$GC,7627,-0.59,-194.7,951.8,-11.0,798,7632,0.00,2.90,0.00,0.000,4,0.000,0.066,2652,3704,3866
$GC,7688,-0.59,-194.7,958.8,-11.7,801,7693,0.00,2.83,0.00,0.000,6,0.000,0.053,2652,2276,3866
$STATE,7992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7992,begin apogee
$GC,7996,-0.19,0.0,991.7,10.4,816,8197,0.60,0.00,197.60,1.467,6,0.123,0.000,2753,2045,3071
$STATE,8198,end apogee,CONTROL_FINISHED_OK
$STATE,8198,begin climb
$GC,8200,0.82,194.7,999.5,0.0,826,8413,1.27,3.20,202.82,1.375,4,0.089,0.071,2973,643,2277
$GC,8508,0.69,194.7,972.8,12.9,841,8514,0.17,2.92,0.00,0.000,6,0.136,0.047,2952,2047,2273
$GC,8835,0.58,194.7,935.3,11.2,857,8840,0.15,2.95,0.00,0.000,4,0.137,0.062,2928,3470,2271
$GC,8902,0.53,195.7,928.5,10.0,860,8907,0.00,2.85,0.00,0.000,6,0.000,0.052,2935,2073,2271
$GC,9222,0.52,222.2,899.6,9.1,876,9257,0.17,3.05,27.27,1.422,4,0.124,0.072,2905,643,2165
$GC,9354,0.68,305.7,890.0,7.1,882,9445,0.00,2.88,84.88,1.348,6,0.000,0.045,2907,2087,1824
$GC,9760,0.90,408.6,863.0,6.5,902,9875,0.43,3.22,105.97,1.325,4,0.048,0.071,2988,644,1404
$GC,9959,0.84,408.6,828.1,16.3,911,9965,0.35,2.97,0.00,0.000,6,0.124,0.047,2988,2099,1399
$GC,10274,0.84,408.6,793.7,10.7,926,10279,0.00,2.80,0.00,0.000,4,0.000,0.061,2934,3467,1394
$GC,10301,0.88,408.6,790.6,11.6,927,10306,0.30,2.78,0.00,0.000,6,0.051,0.051,2997,2092,1393
$GC,10617,0.69,408.6,721.9,23.0,942,10619,0.30,0.00,0.00,0.000,6,0.148,0.000,2952,2089,1392
$GC,10925,0.69,408.6,676.5,13.9,957,10926,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2088,1392
$GC,11234,0.69,408.6,634.7,13.4,972,11239,0.00,2.75,0.00,0.000,4,0.000,0.055,2952,3471,1391
$GC,11255,0.69,408.6,631.8,13.9,973,11259,0.00,2.72,0.00,0.000,6,0.000,0.048,2954,2086,1390
$GC,11573,0.69,408.6,588.9,14.2,992,11574,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2085,1391
$GC,11894,0.69,408.6,544.7,14.0,1022,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2084,1390
$GC,12210,0.69,408.6,502.1,12.6,1052,12211,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2084,1390
$GC,12529,0.69,408.6,462.1,12.6,1082,12530,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2084,1390
$GC,12849,0.69,408.6,422.4,12.2,1112,12850,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2084,1390
$GC,13166,0.69,408.6,382.4,12.9,1142,13167,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2084,1390
$GC,13490,0.69,408.6,341.9,13.1,1177,13495,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2084,1390
$GC,13827,0.69,408.6,299.3,12.8,1238,13833,0.00,2.88,0.00,0.000,4,0.000,0.063,2965,632,1390
$GC,13846,0.69,408.6,297.1,12.9,1241,13852,0.00,2.78,0.00,0.000,6,0.000,0.038,2955,2105,1390
$GC,14186,0.69,408.6,254.9,11.0,1302,14192,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2106,1390
$GC,14527,0.69,408.6,214.1,12.4,1363,14533,0.00,2.92,0.00,0.000,4,0.000,0.063,2956,640,1390
$GC,14555,0.69,408.6,210.5,12.9,1368,14562,0.00,2.78,0.00,0.000,6,0.000,0.038,2953,2095,1390
$GC,14898,0.69,408.6,169.0,12.1,1429,14903,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2096,1390
$GC,15230,0.69,408.6,128.1,13.5,1490,15238,0.00,2.92,0.00,0.000,4,0.000,0.062,2953,641,1390
$GC,15264,0.69,408.6,124.3,12.6,1495,15270,0.00,2.72,0.00,0.000,6,0.000,0.039,2956,2084,1390
$GC,15593,0.69,408.6,84.7,11.7,1556,15600,0.00,2.70,0.00,0.000,4,0.000,0.051,2952,3458,1390
$GC,15624,0.69,408.6,81.2,12.7,1561,15631,0.25,2.67,0.00,0.000,6,0.113,0.044,2937,2063,1390
$GC,15953,0.97,408.6,56.3,11.0,1622,15961,0.43,2.83,0.00,0.000,4,0.060,0.060,2998,641,1390
$GC,16018,0.93,408.6,49.4,13.4,1633,16026,0.00,2.65,0.00,0.000,6,0.000,0.039,3001,2034,1390
$GC,16153,0.77,408.6,23.7,21.2,1658,16162,0.17,2.80,0.00,0.000,4,0.139,0.051,2970,3459,1390
$GC,16185,0.71,408.6,17.6,18.0,1663,16193,0.00,2.75,0.00,0.000,6,0.000,0.044,2971,2053,1390
$STATE,16302,end climb,SURFACE_DEPTH_REACHED
$STATE,16303,begin surface coast
$FINISH,0.1,1.027310
$STATE,16316,end surface coast,CONTROL_FINISHED_OK
$STATE,16316,begin surface
$SM_CCo,16391,0.00,0.000,0,0,1389,412.59
$SM_GC,0.71,7.25,0.00,0.00,0.041,0.000,0.000,1466,2319,1389,-6.09,0.68,412.59
$IRIDIUM_FIX,6028.48,-2242.30,200797,010106
$TT8_MAMPS,0.021476
$HUMID,1683
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,12.10
$XPDR_PINGS,127
$24V_AH,19.5,40.740
$10V_AH,9.8,29.570
$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,22.150,108.550,618.550,0.000,0.000,32.991,37.394,212.224,31.750,0.000,0.000,12.116,2667.968,9147.207,672.897,3786.505,493.827,0.000,2106.140,0.000,3787.858,0.000,0.467
$DEVICE_MAMPS,253.877,72.098,1467.271,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1242.883,1193.269,633.998,823.086,1531.383,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123292,1687
$CAP_FILE_SIZE,147449,0
$CFSIZE,260165632,246169600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250408,103325,6051.985,-2250.072,25,1.2,42,-16.4