version: 66.03
glider: 143
mission: 4
dive: 116
start: 4 27 108 12 42 15
data:
$ID,143
$MISSION,4
$DIVE,116
$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,340
$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,-6321.4033
$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,15
$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
$GPS1,122555,6118.090,-2400.062,41,1.5,41,-17.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-55.2
$GPS2,124157,6118.049,-2400.135,12,1.4,12,-17.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6128.197,-2401.899
$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,357.3,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,130,0.00,0.00,-101.22,0.000,2,0.000,0.000,1470,2293,3655
$GC,132,-0.82,-194.7,3.9,-7.0,14,149,10.20,0.00,-4.40,0.000,6,0.261,0.000,2612,2293,3867
$GC,276,-0.70,-194.7,35.5,-17.3,40,284,0.17,0.00,0.00,0.000,6,0.150,0.000,2640,2293,3869
$GC,411,-0.66,-194.7,54.8,-14.1,65,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2293,3868
$GC,738,-0.62,-194.7,97.5,-13.0,126,746,0.12,0.00,0.00,0.000,6,0.145,0.000,2658,2293,3869
$GC,1072,-0.62,-194.7,134.4,-10.8,187,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2293,3869
$GC,1405,-0.62,-194.7,172.0,-11.5,248,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2293,3869
$GC,1746,-0.62,-194.7,212.1,-12.2,309,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2293,3869
$GC,2083,-0.62,-194.7,253.3,-12.2,370,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2293,3869
$GC,2421,-0.62,-194.7,295.3,-12.6,431,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2293,3869
$GC,2759,-0.62,-194.7,336.8,-12.1,492,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2293,3869
$GC,3094,-0.62,-194.7,376.6,-11.8,533,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2293,3868
$GC,3413,-0.62,-194.7,413.6,-11.3,563,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2293,3869
$GC,3735,-0.62,-194.7,449.5,-11.1,593,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2293,3868
$GC,4049,-0.62,-194.7,484.8,-11.1,623,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2293,3869
$GC,4367,-0.62,-194.7,520.5,-11.3,653,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2293,3868
$GC,4686,-0.62,-194.7,557.4,-11.7,683,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2293,3869
$GC,5009,-0.62,-194.7,593.3,-10.9,713,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2293,3869
$GC,5335,-0.62,-194.7,629.2,-10.8,732,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2293,3868
$GC,5644,-0.62,-194.7,662.0,-10.5,747,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2293,3868
$GC,5953,-0.62,-194.7,694.9,-10.7,762,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2293,3868
$GC,6263,-0.62,-194.7,728.5,-11.1,777,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2295,3868
$GC,6572,-0.62,-194.7,762.6,-11.1,792,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2295,3868
$GC,6882,-0.62,-194.7,795.1,-10.3,807,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2295,3868
$GC,7191,-0.62,-194.7,827.8,-10.6,822,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2295,3868
$GC,7500,-0.62,-194.7,859.6,-10.0,837,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2294,3868
$GC,7809,-0.62,-194.7,891.0,-10.1,852,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2294,3868
$GC,8118,-0.62,-194.7,922.3,-10.2,867,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2295,3868
$GC,8428,-0.62,-194.7,953.7,-10.0,882,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2295,3867
$GC,8737,-0.62,-194.7,985.7,-10.9,897,8738,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2295,3867
$STATE,8777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8777,begin apogee
$GC,8781,-0.19,0.0,990.3,11.1,899,8982,0.57,0.00,197.75,1.438,6,0.119,0.000,2756,2045,3071
$STATE,8983,end apogee,CONTROL_FINISHED_OK
$STATE,8983,begin climb
$GC,8985,0.82,194.7,1000.2,0.0,909,9202,1.27,3.20,203.38,1.361,4,0.087,0.071,2985,643,2276
$GC,9270,0.69,194.7,978.2,12.8,923,9275,0.15,2.97,0.00,0.000,6,0.137,0.045,2956,2056,2274
$GC,9596,0.57,194.7,939.1,12.0,939,9601,0.17,2.92,0.00,0.000,4,0.136,0.063,2925,3461,2272
$GC,9651,0.59,206.0,933.1,9.6,941,9671,0.15,2.85,12.05,1.325,6,0.133,0.054,2927,2071,2231
$GC,9987,0.68,284.2,907.9,7.3,958,10072,0.00,3.10,79.18,1.345,4,0.000,0.071,2904,641,1912
$GC,10174,0.83,334.3,893.6,8.3,967,10236,0.38,2.92,52.03,1.317,6,0.046,0.044,2986,2096,1707
$GC,10544,0.68,334.3,831.1,17.3,985,10549,0.20,3.05,0.00,0.000,4,0.137,0.069,2962,641,1702
$GC,10632,0.68,334.3,819.2,11.7,989,10637,0.00,2.90,0.00,0.000,6,0.000,0.045,2967,2105,1702
$GC,10960,0.64,334.3,778.9,12.3,1005,10965,0.15,2.75,0.00,0.000,4,0.125,0.059,2923,3468,1701
$GC,10986,0.64,334.3,775.9,10.5,1006,10991,0.00,2.78,0.00,0.000,6,0.000,0.051,2926,2081,1699
$GC,11308,0.74,379.4,748.8,8.4,1022,11355,0.17,0.00,44.97,1.284,6,0.064,0.000,2961,2080,1524
$GC,11657,0.68,379.4,700.8,14.2,1039,11658,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2079,1518
$GC,11966,0.62,379.4,657.6,14.2,1054,11972,0.15,2.78,0.00,0.000,4,0.123,0.054,2932,3462,1517
$GC,11982,0.62,379.4,655.3,14.0,1055,11987,0.00,2.70,0.00,0.000,6,0.000,0.048,2939,2099,1517
$GC,12309,0.70,407.8,624.7,9.0,1071,12340,0.00,0.00,29.60,1.216,6,0.000,0.000,2939,2099,1408
$GC,12641,0.82,448.5,596.0,8.6,1089,12694,0.17,3.10,42.53,1.171,4,0.060,0.067,2976,640,1241
$GC,12706,0.75,448.5,587.4,14.9,1095,12710,0.00,2.92,0.00,0.000,6,0.000,0.041,2978,2113,1239
$GC,13030,0.67,448.5,536.1,16.2,1125,13036,0.17,3.03,0.00,0.000,4,0.127,0.064,2952,638,1237
$GC,13063,0.67,448.5,531.4,11.9,1127,13070,0.00,2.83,0.00,0.000,6,0.000,0.040,2951,2094,1235
$GC,13389,0.73,457.9,500.2,9.7,1158,13401,0.00,0.00,10.15,1.082,6,0.000,0.000,2951,2094,1204
$GC,13718,0.81,475.5,469.1,9.4,1189,13744,0.12,3.00,20.02,1.091,4,0.067,0.064,2974,637,1132
$GC,13759,0.81,475.5,463.6,13.1,1192,13768,0.00,2.85,0.00,0.000,6,0.000,0.039,2974,2083,1130
$GC,14086,0.76,475.5,414.5,16.1,1223,14090,0.00,2.95,0.00,0.000,4,0.000,0.064,2972,632,1129
$GC,14115,0.76,475.5,409.9,16.5,1225,14119,0.00,2.78,0.00,0.000,6,0.000,0.039,2973,2073,1127
$GC,14439,0.70,475.5,357.1,17.0,1255,14440,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2073,1128
$GC,14769,0.66,475.5,303.2,16.0,1310,14776,0.17,2.90,0.00,0.000,4,0.122,0.062,2943,635,1128
$GC,14804,0.73,475.5,298.6,12.4,1316,14811,0.00,2.72,0.00,0.000,6,0.000,0.038,2945,2053,1127
$GC,15148,0.87,519.5,266.2,8.5,1377,15201,0.17,2.80,45.17,0.976,4,0.055,0.049,2986,3463,954
$GC,15222,0.82,519.5,255.5,18.0,1389,15228,0.00,2.83,0.00,0.000,6,0.000,0.046,2989,2052,954
$GC,15562,0.71,519.5,190.4,19.5,1450,15569,0.17,2.88,0.00,0.000,4,0.133,0.064,2958,632,950
$GC,15606,0.76,519.5,183.9,13.3,1457,15612,0.00,2.70,0.00,0.000,6,0.000,0.038,2962,2041,948
$GC,15945,0.81,519.5,144.8,11.6,1518,15952,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2042,948
$GC,16278,0.86,519.5,107.3,11.4,1579,16283,0.12,0.00,0.00,0.000,6,0.067,0.000,2989,2042,948
$GC,16608,0.76,519.5,46.3,19.0,1640,16617,0.12,2.85,0.00,0.000,4,0.133,0.064,2968,645,947
$GC,16640,0.76,519.5,40.8,18.1,1645,16647,0.00,2.67,0.00,0.000,6,0.000,0.040,2970,2032,946
$GC,16774,0.76,519.5,24.2,12.9,1670,16782,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2031,946
$GC,16908,0.76,519.5,5.5,13.4,1695,16915,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2031,947
$STATE,16931,end climb,SURFACE_DEPTH_REACHED
$STATE,16931,begin surface coast
$FINISH,0.1,1.027371
$STATE,16943,end surface coast,CONTROL_FINISHED_OK
$STATE,16943,begin surface
$SM_CCo,16959,108.47,0.770,1,0,490,633.12
$SM_GC,0.44,0.00,0.00,108.47,0.000,0.000,0.770,1466,2306,490,-6.14,0.31,633.12
$IRIDIUM_FIX,6054.92,-2407.75,220797,121229
$TT8_MAMPS,0.022243
$HUMID,1651
$INTERNAL_PRESSURE,8.06672
$TCM_TEMP,12.10
$XPDR_PINGS,108
$24V_AH,19.5,43.651
$10V_AH,9.8,31.640
$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,22.425,81.725,736.825,108.475,0.000,135.625,475.352,0.000,27.000,0.000,0.000,15.467,2654.757,9897.491,907.402,3734.421,828.555,0.000,2326.153,0.000,3736.016,0.000,0.467
$DEVICE_MAMPS,260.780,71.331,1438.125,770.068,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1268.824,1195.103,612.270,819.971,1510.835,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123475,1701
$CAP_FILE_SIZE,146009,0
$CFSIZE,260165632,245112832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270408,124157,6118.049,-2400.135,12,1.4,12,-17.3