version: 66.03
glider: 143
mission: 4
dive: 108
start: 4 25 108 20 37 51
data:
$ID,143
$MISSION,4
$DIVE,108
$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,-6167.0283
$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,19
$R_STBD_OVSHOOT,21
$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
$GPS1,203051,6056.725,-2305.292,34,1.9,47,-16.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-56.9
$GPS2,203734,6056.751,-2305.442,10,2.4,29,-16.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6102.151,-2309.971
$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,316.6,20000,-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,-194.7,0.0,0.0,0,136,0.00,0.00,-109.03,0.000,2,0.000,0.000,1468,2305,3803
$GC,139,-0.82,-194.7,4.2,-7.2,15,162,10.10,2.80,-1.25,0.000,4,0.255,0.058,2606,3702,3868
$GC,310,-0.69,-194.7,45.4,-18.2,46,318,0.20,2.78,0.00,0.000,6,0.137,0.041,2640,2289,3869
$GC,451,-0.62,-194.7,67.2,-15.5,71,457,0.12,0.00,0.00,0.000,6,0.156,0.000,2657,2288,3869
$GC,779,-0.62,-194.7,110.5,-12.8,132,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2288,3869
$GC,1110,-0.62,-194.7,152.8,-12.3,193,1116,0.00,2.75,0.00,0.000,4,0.000,0.054,2657,884,3869
$GC,1149,-0.62,-194.7,157.8,-12.1,200,1157,0.00,2.75,0.00,0.000,6,0.000,0.044,2682,2291,3869
$GC,1494,-0.62,-194.7,197.9,-11.4,261,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2291,3869
$GC,1832,-0.62,-194.7,237.8,-11.6,322,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2291,3869
$GC,2168,-0.62,-194.7,277.9,-12.0,383,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2291,3869
$GC,2506,-0.62,-194.7,319.1,-12.4,444,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2291,3869
$GC,2846,-0.62,-194.7,361.2,-12.5,497,2850,0.00,2.75,0.00,0.000,4,0.000,0.054,2657,887,3869
$GC,2888,-0.62,-194.7,367.0,-11.8,500,2896,0.00,2.70,0.00,0.000,6,0.000,0.042,2670,2287,3869
$GC,3215,-0.62,-194.7,406.7,-12.1,531,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2287,3869
$GC,3534,-0.62,-194.7,445.4,-11.9,561,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2287,3869
$GC,3851,-0.62,-194.7,483.0,-11.9,591,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2287,3869
$GC,4169,-0.62,-194.7,521.0,-12.1,621,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2287,3869
$GC,4488,-0.62,-194.7,560.0,-12.6,651,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2288,3869
$GC,4808,-0.62,-194.7,601.3,-13.2,681,4813,0.00,2.78,0.00,0.000,4,0.000,0.059,2657,890,3868
$GC,4852,-0.66,-194.7,607.3,-12.5,683,4857,0.15,2.67,0.00,0.000,6,0.058,0.044,2650,2287,3869
$GC,5179,-0.58,-194.7,659.2,-15.8,699,5181,0.17,0.00,0.00,0.000,6,0.134,0.000,2672,2288,3869
$GC,5487,-0.58,-194.7,698.2,-12.5,714,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2289,3869
$GC,5797,-0.58,-194.7,736.2,-12.4,729,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2291,3869
$GC,6106,-0.58,-194.7,774.3,-12.2,744,6112,0.17,2.85,0.00,0.000,4,0.064,0.068,2611,887,3868
$GC,6145,-0.51,-194.7,780.0,-15.5,746,6151,0.45,2.72,0.00,0.000,6,0.122,0.050,2684,2285,3869
$GC,6472,-0.59,-194.7,810.0,-8.9,762,6477,0.00,2.88,0.00,0.000,4,0.000,0.067,2684,3705,3868
$GC,6511,-0.70,-194.7,813.5,-9.4,764,6517,0.20,2.80,0.00,0.000,6,0.051,0.051,2639,2285,3868
$GC,6837,-0.70,-194.7,855.1,-13.1,780,6841,0.00,2.83,0.00,0.000,4,0.000,0.068,2639,879,3867
$GC,6880,-0.70,-194.7,860.6,-12.5,782,6884,0.00,2.75,0.00,0.000,6,0.000,0.049,2639,2289,3867
$GC,7206,-0.70,-194.7,903.2,-13.5,798,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2291,3867
$GC,7516,-0.70,-194.7,943.7,-13.1,813,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2291,3867
$GC,7825,-0.70,-194.7,985.1,-13.6,828,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2292,3867
$STATE,7865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7865,begin apogee
$GC,7869,-0.19,0.0,990.9,14.0,830,8070,0.68,0.00,197.27,1.453,6,0.121,0.000,2753,2042,3071
$STATE,8071,end apogee,CONTROL_FINISHED_OK
$STATE,8071,begin climb
$GC,8072,0.82,194.7,1002.7,0.0,840,8285,1.27,3.20,202.62,1.372,4,0.090,0.071,2972,642,2277
$GC,8374,0.70,194.7,980.3,12.5,854,8381,0.00,2.95,0.00,0.000,6,0.000,0.044,2973,2058,2274
$GC,8690,0.55,194.7,939.4,13.2,870,8696,0.30,2.92,0.00,0.000,4,0.133,0.061,2925,3469,2272
$GC,8758,0.55,194.7,932.1,10.6,873,8762,0.00,2.88,0.00,0.000,6,0.000,0.054,2925,2062,2272
$GC,9078,0.54,215.9,902.0,9.3,889,9106,0.00,2.97,21.52,1.408,4,0.000,0.071,2927,634,2189
$GC,9219,0.54,215.9,887.3,10.9,895,9224,0.00,2.90,0.00,0.000,6,0.000,0.044,2926,2098,2187
$GC,9540,0.56,233.3,856.3,9.4,911,9564,0.00,3.10,18.30,1.355,4,0.000,0.070,2926,641,2120
$GC,9655,0.59,260.9,845.5,9.0,916,9692,0.00,2.88,29.02,1.303,6,0.000,0.045,2926,2093,2006
$GC,10000,0.61,277.7,812.5,9.4,933,10025,0.00,2.85,17.67,1.318,4,0.000,0.060,2925,3458,1938
$GC,10053,0.61,279.0,807.3,10.0,935,10058,0.00,2.78,0.00,0.000,6,0.000,0.050,2961,2093,1937
$GC,10368,0.66,317.0,779.4,8.7,950,10411,0.00,0.00,40.58,1.301,6,0.000,0.000,2949,2092,1778
$GC,10718,0.71,355.5,749.6,8.7,967,10763,0.00,2.88,39.72,1.276,4,0.000,0.058,2925,3467,1620
$GC,10807,0.78,361.6,741.3,9.8,971,10822,0.22,2.78,7.47,1.091,6,0.058,0.050,2975,2111,1596
$GC,11150,0.68,361.6,687.1,16.6,988,11155,0.15,3.03,0.00,0.000,4,0.133,0.068,2953,638,1591
$GC,11176,0.68,361.6,682.8,15.0,989,11181,0.00,2.90,0.00,0.000,6,0.000,0.043,2948,2119,1591
$GC,11497,0.68,361.6,644.0,11.7,1005,11502,0.00,2.67,0.00,0.000,4,0.000,0.056,2947,3464,1591
$GC,11513,0.68,361.6,642.0,11.7,1006,11518,0.00,2.67,0.00,0.000,6,0.000,0.047,2949,2108,1590
$GC,11839,0.68,361.6,603.2,12.3,1022,11844,0.00,2.97,0.00,0.000,4,0.000,0.066,2948,632,1590
$GC,11865,0.68,361.6,599.7,12.3,1023,11870,0.00,2.88,0.00,0.000,6,0.000,0.041,2948,2126,1589
$GC,12197,0.68,361.6,558.6,12.4,1054,12198,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2126,1589
$GC,12514,0.68,361.6,520.6,11.5,1084,12519,0.00,3.00,0.00,0.000,4,0.000,0.064,2948,638,1589
$GC,12542,0.68,361.6,517.5,10.9,1086,12546,0.00,2.83,0.00,0.000,6,0.000,0.041,2948,2113,1589
$GC,12866,0.68,361.6,481.9,10.7,1116,12867,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2113,1588
$GC,13186,0.68,361.6,449.0,10.6,1146,13187,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2113,1589
$GC,13503,0.68,361.6,413.5,11.7,1176,13504,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2113,1589
$GC,13821,0.68,361.6,373.1,13.3,1206,13826,0.00,2.95,0.00,0.000,4,0.000,0.062,2949,637,1588
$GC,13841,0.68,361.6,370.1,13.5,1207,13848,0.00,2.80,0.00,0.000,6,0.000,0.039,2948,2113,1589
$GC,14173,0.68,361.6,326.6,12.8,1254,14179,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2112,1589
$GC,14513,0.68,361.6,284.1,12.7,1315,14519,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2113,1589
$GC,14852,0.68,361.6,242.7,12.5,1376,14860,0.00,2.97,0.00,0.000,4,0.000,0.061,2949,637,1589
$GC,14871,0.68,361.6,240.3,12.1,1379,14877,0.00,2.78,0.00,0.000,6,0.000,0.038,2948,2104,1588
$GC,15208,0.68,361.6,202.0,11.0,1440,15216,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2104,1588
$GC,15550,0.68,361.6,165.7,10.7,1501,15555,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2104,1589
$GC,15882,0.68,361.6,130.8,10.3,1562,15890,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2104,1588
$GC,16215,0.68,361.6,93.7,11.0,1623,16221,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2104,1589
$GC,16545,0.69,367.8,57.7,9.8,1684,16558,0.00,2.95,6.43,0.741,4,0.000,0.063,2948,629,1571
$GC,16576,0.69,367.8,54.4,10.6,1689,16583,0.00,2.78,0.00,0.000,6,0.000,0.038,2949,2107,1570
$GC,16898,0.69,367.8,21.1,10.1,1750,16906,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2107,1570
$GC,17031,0.69,367.8,6.8,10.2,1775,17039,0.00,2.95,0.00,0.000,4,0.000,0.061,2948,640,1570
$GC,17048,0.69,367.8,5.1,10.4,1777,17056,0.00,2.78,0.00,0.000,6,0.000,0.038,2949,2094,1570
$STATE,17077,end climb,SURFACE_DEPTH_REACHED
$STATE,17077,begin surface coast
$FINISH,0.2,1.027307
$STATE,17094,end surface coast,CONTROL_FINISHED_OK
$STATE,17094,begin surface
$SM_CCo,17169,0.00,0.000,0,0,1569,368.44
$SM_GC,0.63,7.15,0.00,0.00,0.041,0.000,0.000,1467,2288,1569,-6.09,-0.20,368.44
$IRIDIUM_FIX,6028.48,-2300.31,200797,151515
$TT8_MAMPS,0.020709
$HUMID,1664
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,12.70
$XPDR_PINGS,136
$24V_AH,19.5,41.499
$10V_AH,9.8,30.132
$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,21.350,120.650,580.625,0.000,0.000,22.751,31.637,221.217,34.000,0.000,0.000,31.785,2830.758,9479.238,680.837,4066.712,499.767,0.000,2196.580,0.000,4053.272,0.000,0.467
$DEVICE_MAMPS,254.644,70.564,1453.465,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1319.015,1264.344,669.887,899.758,1660.157,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132811,1785
$CAP_FILE_SIZE,157997,0
$CFSIZE,260165632,245874688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,260408,012508,6059.509,-2312.574,34,1.1,34,-16.7