version: 66.03
glider: 143
mission: 4
dive: 107
start: 4 25 108 15 46 4
data:
$ID,143
$MISSION,4
$DIVE,107
$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,300
$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,-6134.6157
$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,32
$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
$GPS1,153137,6054.098,-2257.622,40,1.6,45,-16.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-59.3
$GPS2,154547,6054.143,-2257.765,9,2.6,28,-16.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6059.542,-2302.300
$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,316.5,20000,-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,-194.7,0.0,0.0,0,122,0.00,0.00,-93.82,0.000,2,0.000,0.000,1467,2324,3531
$GC,124,-0.82,-194.7,3.3,-6.3,13,148,10.02,2.95,-7.62,0.000,4,0.254,0.062,2619,883,3868
$GC,317,-0.74,-194.7,39.8,-17.8,48,325,0.10,2.78,0.00,0.000,6,0.144,0.050,2629,2273,3869
$GC,455,-0.66,-194.7,62.6,-16.5,73,461,0.15,0.00,0.00,0.000,6,0.150,0.000,2653,2274,3869
$GC,783,-0.66,-194.7,109.2,-14.3,134,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2274,3869
$GC,1113,-0.66,-194.7,154.9,-13.6,195,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2273,3869
$GC,1453,-0.66,-194.7,200.4,-13.2,256,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2274,3869
$GC,1796,-0.66,-194.7,245.4,-13.7,317,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2273,3869
$GC,2134,-0.66,-194.7,290.9,-13.7,378,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2274,3869
$GC,2473,-0.66,-194.7,335.8,-13.4,439,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2273,3869
$GC,2807,-0.66,-194.7,379.6,-13.3,480,2811,0.00,2.72,0.00,0.000,4,0.000,0.055,2655,879,3869
$GC,2844,-0.66,-194.7,384.5,-12.8,483,2849,0.00,2.72,0.00,0.000,6,0.000,0.044,2653,2299,3869
$GC,3171,-0.66,-194.7,427.0,-13.1,513,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2299,3869
$GC,3488,-0.66,-194.7,467.6,-12.7,543,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2299,3869
$GC,3804,-0.66,-194.7,508.5,-13.0,573,3809,0.00,2.80,0.00,0.000,4,0.000,0.055,2655,874,3869
$GC,3848,-0.66,-194.7,514.2,-12.5,576,3856,0.00,2.72,0.00,0.000,6,0.000,0.042,2653,2284,3868
$GC,4173,-0.66,-194.7,556.1,-13.2,607,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2283,3869
$GC,4491,-0.66,-194.7,598.2,-12.8,637,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2284,3869
$GC,4800,-0.66,-194.7,637.8,-12.6,653,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2284,3869
$GC,5110,-0.66,-194.7,676.1,-12.2,668,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2285,3869
$GC,5419,-0.66,-194.7,712.5,-11.6,683,5424,0.00,2.85,0.00,0.000,4,0.000,0.071,2656,884,3869
$GC,5464,-0.66,-194.7,717.4,-11.0,685,5468,0.00,2.70,0.00,0.000,6,0.000,0.048,2655,2281,3868
$GC,5783,-0.66,-194.7,753.9,-11.9,701,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2282,3868
$GC,6092,-0.66,-194.7,790.5,-11.9,716,6093,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2283,3868
$GC,6402,-0.66,-194.7,826.4,-11.5,731,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2285,3868
$GC,6711,-0.66,-194.7,862.6,-11.6,746,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2285,3867
$GC,7020,-0.66,-194.7,897.3,-11.1,761,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2285,3867
$GC,7330,-0.66,-194.7,931.9,-11.1,776,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2285,3867
$GC,7639,-0.66,-194.7,966.0,-11.0,791,7643,0.00,2.85,0.00,0.000,4,0.000,0.068,2653,880,3866
$GC,7682,-0.71,-194.7,970.7,-10.5,793,7686,0.00,2.72,0.00,0.000,6,0.000,0.050,2652,2276,3866
$STATE,7903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7903,begin apogee
$GC,7908,-0.19,0.0,990.7,8.6,804,8109,0.57,0.00,197.45,1.463,6,0.102,0.000,2755,2040,3071
$STATE,8110,end apogee,CONTROL_FINISHED_OK
$STATE,8110,begin climb
$GC,8111,0.82,194.7,1001.2,0.0,814,8320,1.25,0.00,203.45,1.371,6,0.087,0.000,2972,2040,2277
$GC,8623,0.72,194.7,958.1,10.6,839,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2039,2273
$GC,8932,0.61,194.7,925.8,10.3,854,8934,0.22,0.00,0.00,0.000,6,0.130,0.000,2938,2039,2272
$GC,9242,0.61,236.3,899.5,8.6,869,9290,0.00,3.00,41.62,1.395,4,0.000,0.073,2937,649,2107
$GC,9420,0.61,236.3,882.0,10.0,877,9425,0.00,2.80,0.00,0.000,6,0.000,0.046,2939,2052,2104
$GC,9742,0.71,276.2,853.8,8.6,893,9784,0.00,0.00,39.97,1.362,6,0.000,0.000,2939,2052,1945
$GC,10092,0.83,304.7,822.5,9.0,910,10125,0.20,0.00,30.10,1.341,6,0.058,0.000,2982,2052,1828
$GC,10421,0.83,304.7,786.8,10.9,926,10425,0.00,2.88,0.00,0.000,4,0.000,0.060,2979,3471,1824
$GC,10520,0.75,304.7,773.0,14.5,930,10527,0.00,2.67,0.00,0.000,6,0.000,0.052,2982,2144,1822
$GC,10836,0.61,304.7,723.1,16.3,946,10842,0.28,3.08,0.00,0.000,4,0.133,0.071,2935,641,1822
$GC,10880,0.61,304.7,717.2,11.5,948,10885,0.22,2.90,0.00,0.000,6,0.105,0.044,2919,2131,1822
$GC,11201,0.86,408.5,695.4,6.4,964,11309,0.32,0.00,104.85,1.254,6,0.045,0.000,2989,2131,1405
$GC,11611,0.77,408.5,629.6,16.7,984,11617,0.15,3.10,0.00,0.000,4,0.130,0.068,2949,644,1395
$GC,11632,0.72,408.5,626.2,14.9,985,11637,0.00,2.88,0.00,0.000,6,0.000,0.041,2950,2111,1394
$GC,11951,0.72,408.5,588.7,12.3,1004,11956,0.00,3.03,0.00,0.000,4,0.000,0.067,2950,641,1393
$GC,11971,0.72,408.5,586.1,12.0,1005,11979,0.00,2.88,0.00,0.000,6,0.000,0.041,2952,2107,1392
$GC,12298,0.72,408.5,548.1,12.0,1036,12299,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2107,1391
$GC,12617,0.72,408.5,508.6,12.5,1066,12622,0.00,2.97,0.00,0.000,4,0.000,0.064,2951,640,1392
$GC,12650,0.72,408.5,504.2,11.8,1068,12656,0.00,2.80,0.00,0.000,6,0.000,0.040,2955,2105,1391
$GC,12975,0.72,408.5,464.8,12.4,1099,12976,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2105,1391
$GC,13294,0.72,408.5,424.9,12.3,1129,13299,0.00,2.95,0.00,0.000,4,0.000,0.063,2955,640,1391
$GC,13322,0.72,408.5,421.3,12.1,1131,13327,0.00,2.78,0.00,0.000,6,0.000,0.038,2972,2097,1390
$GC,13648,0.72,408.5,382.4,12.3,1161,13652,0.00,2.92,0.00,0.000,4,0.000,0.062,2962,642,1391
$GC,13663,0.72,408.5,380.3,11.7,1162,13668,0.00,2.70,0.00,0.000,6,0.000,0.038,2968,2069,1390
$GC,13990,0.72,408.5,341.7,11.6,1198,13995,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2069,1390
$GC,14328,0.72,408.5,302.4,11.1,1259,14334,0.00,2.85,0.00,0.000,4,0.000,0.061,2959,647,1390
$GC,14364,0.77,408.5,298.7,10.8,1265,14370,0.00,2.70,0.00,0.000,6,0.000,0.039,2961,2069,1390
$GC,14704,0.77,408.5,261.0,10.8,1326,14710,0.00,2.70,0.00,0.000,4,0.000,0.050,2949,3459,1390
$GC,14723,0.77,408.5,259.0,10.4,1329,14730,0.00,2.70,0.00,0.000,6,0.000,0.044,2949,2058,1390
$GC,15064,0.77,408.5,222.2,11.1,1390,15070,0.00,2.83,0.00,0.000,4,0.000,0.062,2949,635,1390
$GC,15086,0.77,408.5,219.7,11.4,1394,15092,0.00,2.67,0.00,0.000,6,0.000,0.038,2964,2060,1390
$GC,15424,0.77,408.5,182.5,10.5,1455,15429,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2060,1390
$GC,15763,0.77,408.5,144.6,12.2,1516,15770,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2060,1390
$GC,16096,0.77,408.5,106.5,11.8,1577,16102,0.00,2.85,0.00,0.000,4,0.000,0.062,2950,635,1390
$GC,16112,0.77,408.5,104.4,11.1,1580,16120,0.00,2.70,0.00,0.000,6,0.000,0.038,2954,2050,1390
$GC,16444,0.77,411.1,68.5,9.9,1641,16451,0.00,2.75,0.00,0.000,4,0.000,0.051,2949,3467,1390
$GC,16474,0.83,411.1,65.3,11.4,1646,16482,0.10,2.75,0.00,0.000,6,0.054,0.044,2978,2056,1390
$GC,16800,0.74,411.1,13.7,14.3,1707,16808,0.00,2.85,0.00,0.000,4,0.000,0.065,2976,641,1390
$GC,16827,0.67,411.1,9.3,16.4,1711,16835,0.22,2.70,0.00,0.000,6,0.163,0.039,2936,2054,1390
$STATE,16903,end climb,SURFACE_DEPTH_REACHED
$STATE,16903,begin surface coast
$FINISH,-0.1,1.022021
$STATE,16931,end surface coast,CONTROL_FINISHED_OK
$STATE,16932,begin surface
$SM_CCo,17006,0.00,0.000,0,0,1388,412.84
$SM_GC,0.65,7.12,0.00,0.00,0.043,0.000,0.000,1469,2301,1388,-6.08,0.17,412.84
$IRIDIUM_FIX,6032.86,-2307.85,200797,151551
$TT8_MAMPS,0.021476
$HUMID,1678
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,11.90
$XPDR_PINGS,118
$24V_AH,19.5,41.255
$10V_AH,9.8,29.941
$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,20.950,108.150,617.450,0.000,0.000,87.557,141.272,364.993,29.500,0.000,0.000,30.867,2731.251,9730.585,715.339,3836.497,826.844,0.000,2131.336,0.000,3826.503,0.000,0.467
$DEVICE_MAMPS,253.877,72.865,1462.669,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1278.144,1221.201,628.968,844.412,1551.693,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126513,1730
$CAP_FILE_SIZE,154951,0
$CFSIZE,260165632,245977088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250408,203051,6056.725,-2305.292,34,1.9,47,-16.6