version: 66.03
glider: 143
mission: 4
dive: 109
start: 4 26 108 1 41 55
data:
$ID,143
$MISSION,4
$DIVE,109
$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,-6199.4551
$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,15
$R_STBD_OVSHOOT,17
$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
$GPS1,012508,6059.509,-2312.574,34,1.1,34,-16.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-57.4
$GPS2,014137,6059.564,-2312.635,14,1.4,30,-16.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6104.964,-2317.158
$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,316.7,20000,-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,-194.7,0.0,0.0,0,122,0.00,0.00,-94.45,0.000,2,0.000,0.000,1467,2291,3620
$GC,124,-0.82,-194.7,3.4,-5.6,13,148,10.20,2.88,-5.32,0.000,4,0.258,0.071,2611,3708,3866
$GC,265,-0.71,-194.7,33.9,-16.4,38,273,0.15,2.78,0.00,0.000,6,0.136,0.040,2637,2291,3867
$GC,402,-0.64,-194.7,54.7,-15.1,63,408,0.12,0.00,0.00,0.000,6,0.148,0.000,2654,2291,3867
$GC,732,-0.64,-194.7,97.3,-12.3,124,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3867
$GC,1064,-0.64,-194.7,137.9,-11.9,185,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3868
$GC,1397,-0.64,-194.7,180.3,-12.5,246,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3867
$GC,1737,-0.64,-194.7,224.6,-13.2,307,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3868
$GC,2077,-0.64,-194.7,269.2,-12.9,368,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3868
$GC,2419,-0.64,-194.7,313.1,-13.1,429,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3868
$GC,2754,-0.64,-194.7,357.9,-13.6,485,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3867
$GC,3073,-0.64,-194.7,400.3,-12.9,515,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3867
$GC,3393,-0.64,-194.7,439.8,-12.1,545,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3868
$GC,3710,-0.64,-194.7,477.5,-11.7,575,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3867
$GC,4028,-0.64,-194.7,515.4,-12.3,605,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3868
$GC,4347,-0.64,-194.7,554.8,-12.2,635,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3867
$GC,4667,-0.64,-194.7,593.7,-12.6,665,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3867
$GC,4986,-0.64,-194.7,635.1,-13.0,683,4991,0.00,2.80,0.00,0.000,4,0.000,0.066,2654,889,3867
$GC,5019,-0.64,-194.7,639.4,-12.7,684,5025,0.00,2.72,0.00,0.000,6,0.000,0.045,2654,2303,3867
$GC,5334,-0.64,-194.7,675.9,-10.8,700,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2304,3867
$GC,5643,-0.64,-194.7,711.2,-11.9,715,5648,0.00,2.88,0.00,0.000,4,0.000,0.071,2654,890,3867
$GC,5688,-0.69,-194.7,716.5,-11.9,717,5693,0.00,2.72,0.00,0.000,6,0.000,0.048,2654,2294,3867
$GC,6008,-0.69,-194.7,754.2,-11.3,733,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2295,3867
$GC,6317,-0.69,-194.7,786.8,-10.5,748,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2297,3866
$GC,6627,-0.69,-194.7,820.7,-11.4,763,6631,0.00,2.85,0.00,0.000,4,0.000,0.070,2654,892,3866
$GC,6670,-0.73,-194.7,825.8,-11.3,765,6674,0.00,2.70,0.00,0.000,6,0.000,0.048,2665,2282,3866
$GC,6996,-0.73,-194.7,862.9,-11.3,781,6998,0.22,0.00,0.00,0.000,6,0.060,0.000,2638,2284,3866
$GC,7306,-0.61,-194.7,913.0,-16.6,796,7308,0.20,0.00,0.00,0.000,6,0.137,0.000,2664,2284,3865
$GC,7614,-0.61,-194.7,950.8,-11.9,811,7619,0.00,2.83,0.00,0.000,4,0.000,0.069,2639,891,3865
$GC,7657,-0.61,-194.7,956.1,-11.6,813,7662,0.15,2.72,0.00,0.000,6,0.130,0.049,2662,2289,3865
$STATE,7983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7983,begin apogee
$GC,7988,-0.19,0.0,990.5,10.8,829,8188,0.55,0.00,197.23,1.454,6,0.118,0.000,2755,2044,3071
$STATE,8189,end apogee,CONTROL_FINISHED_OK
$STATE,8189,begin climb
$GC,8191,0.82,194.7,1000.5,0.0,839,8404,1.25,3.20,202.95,1.368,4,0.089,0.071,2970,644,2277
$GC,8493,0.69,194.7,977.6,12.3,853,8500,0.15,2.92,0.00,0.000,6,0.133,0.044,2977,2050,2274
$GC,8809,0.58,194.7,942.3,11.5,869,8814,0.32,2.92,0.00,0.000,4,0.131,0.061,2897,3461,2272
$GC,8853,0.70,256.3,938.2,7.9,871,8923,0.25,2.85,61.70,1.358,6,0.056,0.054,2953,2069,2026
$GC,9239,0.63,256.3,891.4,12.9,890,9243,0.00,2.88,0.00,0.000,4,0.000,0.059,2948,3469,2021
$GC,9282,0.58,256.3,885.7,12.6,892,9287,0.17,2.85,0.00,0.000,6,0.124,0.054,2928,2071,2020
$GC,9602,0.60,273.5,854.5,9.4,908,9623,0.00,0.00,17.77,1.399,6,0.000,0.000,2926,2071,1956
$GC,9932,0.62,290.0,823.1,9.4,924,9956,0.00,2.90,18.50,1.328,4,0.000,0.058,2921,3460,1888
$GC,10007,0.62,290.0,815.5,10.2,927,10011,0.00,2.83,0.00,0.000,6,0.000,0.051,2921,2071,1886
$GC,10329,0.67,327.4,785.4,8.7,943,10371,0.12,0.00,38.28,1.309,6,0.073,0.000,2946,2069,1736
$GC,10679,0.67,327.4,743.9,12.6,960,10683,0.00,2.85,0.00,0.000,4,0.000,0.058,2945,3469,1731
$GC,10733,0.67,327.4,737.1,11.9,962,10740,0.00,2.78,0.00,0.000,6,0.000,0.051,2946,2091,1730
$GC,11049,0.67,327.4,696.8,13.3,978,11050,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2089,1730
$GC,11357,0.67,327.4,661.8,10.5,993,11359,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2088,1729
$GC,11667,0.67,327.4,627.3,11.9,1008,11668,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2087,1729
$GC,11979,0.67,327.4,589.3,12.0,1027,11983,0.00,2.72,0.00,0.000,4,0.000,0.053,2946,3467,1729
$GC,12017,0.67,327.4,584.7,12.0,1030,12021,0.00,2.67,0.00,0.000,6,0.000,0.047,2946,2098,1728
$GC,12341,0.67,327.4,547.6,10.8,1060,12342,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2098,1728
$GC,12659,0.67,327.4,512.0,11.4,1090,12663,0.00,2.70,0.00,0.000,4,0.000,0.052,2946,3465,1728
$GC,12686,0.67,327.4,508.8,11.8,1092,12690,0.00,2.65,0.00,0.000,6,0.000,0.045,2951,2102,1727
$GC,13010,0.67,327.4,472.6,11.1,1122,13011,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2102,1727
$GC,13328,0.67,327.4,436.3,11.8,1152,13329,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2102,1727
$GC,13647,0.67,327.4,398.3,12.3,1182,13651,0.00,2.70,0.00,0.000,4,0.000,0.051,2945,3477,1728
$GC,13678,0.67,327.4,394.3,11.5,1184,13685,0.00,2.65,0.00,0.000,6,0.000,0.044,2947,2120,1728
$GC,14004,0.67,327.4,357.6,11.1,1215,14009,0.00,2.95,0.00,0.000,4,0.000,0.063,2946,637,1728
$GC,14033,0.67,327.4,354.5,10.7,1217,14038,0.00,2.83,0.00,0.000,6,0.000,0.039,2946,2130,1728
$GC,14371,0.67,327.4,318.2,10.8,1273,14376,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2130,1728
$GC,14711,0.67,327.4,279.4,11.5,1334,14716,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2130,1728
$GC,15051,0.67,327.4,240.0,11.5,1395,15057,0.00,2.97,0.00,0.000,4,0.000,0.061,2946,634,1728
$GC,15086,0.67,327.4,236.0,12.0,1401,15093,0.00,2.83,0.00,0.000,6,0.000,0.039,2946,2128,1728
$GC,15428,0.67,327.4,196.6,10.7,1462,15433,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2129,1728
$GC,15766,0.67,327.4,160.0,10.3,1523,15772,0.00,2.97,0.00,0.000,4,0.000,0.061,2946,638,1728
$GC,15802,0.67,332.7,156.5,9.8,1529,15814,0.00,2.80,5.47,0.752,6,0.000,0.039,2946,2119,1715
$GC,16141,0.67,332.7,121.0,11.4,1591,16146,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2119,1714
$GC,16469,0.67,332.7,82.6,10.9,1652,16477,0.00,2.97,0.00,0.000,4,0.000,0.061,2946,642,1714
$GC,16501,0.67,332.7,79.1,11.2,1657,16507,0.00,2.78,0.00,0.000,6,0.000,0.038,2946,2109,1714
$GC,16831,0.67,332.7,44.1,11.6,1718,16839,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2110,1714
$GC,16965,0.67,332.7,29.4,10.8,1743,16973,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2109,1714
$GC,17099,0.70,351.1,15.8,9.4,1768,17130,0.00,2.97,19.08,0.851,4,0.000,0.061,2946,645,1638
$GC,17138,0.70,352.4,12.0,10.0,1773,17146,0.00,2.80,0.00,0.000,6,0.000,0.038,2946,2098,1637
$STATE,17235,end climb,SURFACE_DEPTH_REACHED
$STATE,17235,begin surface coast
$FINISH,-0.0,1.013046
$STATE,17253,end surface coast,CONTROL_FINISHED_OK
$STATE,17253,begin surface
$SM_CCo,17328,0.00,0.000,0,0,1635,352.25
$SM_GC,0.67,7.20,0.00,0.00,0.041,0.000,0.000,1465,2300,1635,-6.09,0.14,352.25
$IRIDIUM_FIX,6037.25,-2241.63,210797,010158
$TT8_MAMPS,0.021476
$HUMID,1660
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,12.60
$XPDR_PINGS,143
$24V_AH,19.5,41.754
$10V_AH,9.7,30.328
$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,21.075,102.725,560.975,0.000,0.000,111.479,146.168,412.119,35.750,0.000,0.000,31.798,2819.567,9886.975,637.676,4034.392,923.838,0.000,2124.241,0.000,4029.445,0.000,0.467
$DEVICE_MAMPS,257.712,71.331,1454.232,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1327.571,1269.092,678.358,906.924,1675.816,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,133028,1794
$CAP_FILE_SIZE,161106,0
$CFSIZE,260165632,245780480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,260408,063155,6101.971,-2319.721,38,1.9,38,-16.7