version: 66.03
glider: 143
mission: 4
dive: 123
start: 4 28 108 23 37 58
data:
$ID,143
$MISSION,4
$DIVE,123
$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,180
$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,-7434.0952
$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,30
$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
$GPS1,233125,6113.031,-2342.726,41,1.4,41,-17.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-44.9
$GPS2,233739,6112.979,-2342.741,11,1.5,11,-17.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6102.180,-2342.741
$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,197.1,20000,-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,25,-0.82,-194.7,0.0,0.0,0,114,0.00,0.00,-86.65,0.000,2,0.000,0.000,1471,2323,3414
$GC,116,-0.82,-194.7,3.2,-6.3,12,147,10.43,2.85,-10.73,0.000,4,0.265,0.075,2602,3691,3868
$GC,415,-0.72,-194.7,62.0,-18.4,67,422,0.22,2.72,0.00,0.000,6,0.142,0.041,2636,2289,3868
$GC,745,-0.68,-194.7,111.6,-14.5,128,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2289,3869
$GC,1079,-0.63,-194.7,160.1,-15.6,189,1086,0.15,2.78,0.00,0.000,4,0.140,0.055,2661,883,3869
$GC,1092,-0.59,-194.7,162.3,-15.0,191,1098,0.00,2.72,0.00,0.000,6,0.000,0.044,2661,2288,3869
$GC,1431,-0.59,-194.7,206.1,-12.8,252,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2288,3868
$GC,1773,-0.59,-194.7,248.9,-12.1,313,1779,0.00,2.78,0.00,0.000,4,0.000,0.055,2661,883,3869
$GC,1800,-0.59,-194.7,252.7,-12.6,318,1807,0.00,2.72,0.00,0.000,6,0.000,0.043,2662,2300,3869
$GC,2140,-0.59,-194.7,294.1,-12.2,379,2146,0.00,2.80,0.00,0.000,4,0.000,0.054,2661,878,3868
$GC,2164,-0.59,-194.7,296.9,-12.1,383,2170,0.00,2.70,0.00,0.000,6,0.000,0.044,2662,2279,3868
$GC,2503,-0.59,-194.7,337.5,-11.6,444,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2279,3868
$GC,2833,-0.59,-194.7,377.7,-11.9,484,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2279,3869
$GC,3151,-0.59,-194.7,415.1,-11.8,514,3156,0.00,2.75,0.00,0.000,4,0.000,0.056,2661,887,3869
$GC,3171,-0.59,-194.7,417.6,-11.4,515,3179,0.00,2.70,0.00,0.000,6,0.000,0.042,2662,2278,3869
$GC,3498,-0.59,-194.7,454.5,-11.2,546,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2279,3868
$GC,3815,-0.59,-194.7,490.3,-11.2,576,3820,0.00,2.75,0.00,0.000,4,0.000,0.056,2661,884,3869
$GC,3835,-0.59,-194.7,492.7,-11.8,577,3842,0.00,2.70,0.00,0.000,6,0.000,0.042,2663,2278,3868
$GC,4160,-0.59,-194.7,530.1,-11.6,608,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2278,3869
$GC,4478,-0.59,-194.7,568.0,-12.2,638,4483,0.00,2.75,0.00,0.000,4,0.000,0.058,2662,888,3869
$GC,4499,-0.59,-194.7,570.6,-11.8,639,4506,0.00,2.65,0.00,0.000,6,0.000,0.042,2663,2270,3868
$GC,4832,-0.59,-194.7,609.9,-11.7,667,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2270,3869
$GC,5141,-0.59,-194.7,644.5,-11.2,682,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2270,3868
$GC,5451,-0.59,-194.7,679.1,-10.9,697,5455,0.00,2.80,0.00,0.000,4,0.000,0.066,2662,887,3868
$GC,5471,-0.59,-194.7,681.4,-11.3,698,5475,0.00,2.67,0.00,0.000,6,0.000,0.047,2663,2262,3868
$GC,5797,-0.59,-194.7,716.6,-11.0,714,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2263,3868
$GC,6107,-0.59,-194.7,750.8,-11.1,729,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2265,3868
$GC,6416,-0.59,-194.7,783.8,-10.6,744,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2266,3868
$GC,6725,-0.59,-194.7,816.9,-10.7,759,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2266,3868
$GC,7035,-0.59,-194.7,850.4,-11.2,774,7039,0.00,2.80,0.00,0.000,4,0.000,0.068,2663,887,3867
$GC,7061,-0.64,-194.7,853.4,-12.0,775,7065,0.00,2.67,0.00,0.000,6,0.000,0.048,2663,2259,3867
$GC,7382,-0.64,-194.7,887.8,-10.4,791,7383,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2259,3867
$GC,7691,-0.64,-194.7,919.2,-10.0,806,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2260,3867
$GC,8000,-0.64,-194.7,949.7,-10.0,821,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2261,3867
$GC,8309,-0.64,-194.7,980.7,-10.1,836,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2262,3868
$STATE,8411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8411,begin apogee
$GC,8415,-0.19,0.0,990.7,9.6,841,8617,0.55,0.00,198.00,1.430,6,0.116,0.000,2756,2038,3071
$STATE,8617,end apogee,CONTROL_FINISHED_OK
$STATE,8617,begin climb
$GC,8619,0.82,194.7,997.9,0.0,851,8833,1.25,3.17,203.82,1.358,4,0.089,0.070,2971,652,2277
$GC,8934,0.70,194.7,968.6,13.5,866,8938,0.00,2.92,0.00,0.000,6,0.000,0.044,2972,2058,2273
$GC,9255,0.57,194.7,926.0,13.0,882,9261,0.28,2.92,0.00,0.000,4,0.132,0.061,2925,3468,2271
$GC,9321,0.57,194.7,918.6,10.6,885,9326,0.00,2.85,0.00,0.000,6,0.000,0.054,2926,2076,2271
$GC,9648,0.60,226.2,888.7,8.9,901,9685,0.00,2.90,31.25,1.362,4,0.000,0.059,2926,3467,2148
$GC,9734,0.60,226.2,880.2,10.1,904,9739,0.00,2.83,0.00,0.000,6,0.000,0.051,2926,2082,2147
$GC,10061,0.62,242.4,849.4,9.4,920,10082,0.00,0.00,17.80,1.318,6,0.000,0.000,2926,2082,2082
$GC,10391,0.62,242.4,816.5,10.3,936,10395,0.00,2.80,0.00,0.000,4,0.000,0.058,2925,3462,2079
$GC,10451,0.62,242.4,809.8,10.8,939,10456,0.00,2.75,0.00,0.000,6,0.000,0.052,2931,2094,2078
$GC,10777,0.63,248.0,776.6,9.8,955,10792,0.00,3.03,6.70,1.104,4,0.000,0.069,2925,638,2059
$GC,10893,0.65,260.4,765.2,9.6,960,10913,0.00,2.90,14.18,1.302,6,0.000,0.043,2926,2127,2008
$GC,11240,0.66,269.3,731.7,9.7,977,11256,0.00,3.08,10.18,1.240,4,0.000,0.067,2926,640,1972
$GC,11362,0.66,271.5,719.3,9.9,981,11368,0.00,2.92,0.00,0.000,6,0.000,0.043,2926,2133,1971
$GC,11677,0.67,276.0,689.2,9.8,997,11691,0.00,2.72,8.52,1.147,4,0.000,0.058,2925,3468,1945
$GC,11730,0.67,276.0,683.7,10.3,999,11734,0.00,2.70,0.00,0.000,6,0.000,0.048,2928,2112,1943
$GC,12051,0.69,295.8,653.6,9.3,1015,12074,0.00,0.00,21.33,1.206,6,0.000,0.000,2928,2112,1865
$GC,12380,0.70,300.6,622.4,9.8,1031,12394,0.12,2.72,6.22,1.009,4,0.071,0.054,2950,3466,1844
$GC,12427,0.70,300.6,616.8,13.1,1033,12431,0.00,2.67,0.00,0.000,6,0.000,0.046,2952,2118,1842
$GC,12752,0.65,300.6,576.8,12.0,1057,12753,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2118,1843
$GC,13068,0.60,300.6,537.9,12.3,1087,13069,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2118,1843
$GC,13386,0.56,300.6,498.1,12.2,1117,13391,0.17,2.67,0.00,0.000,4,0.120,0.051,2921,3467,1843
$GC,13419,0.62,308.2,494.6,9.7,1119,13438,0.00,2.60,8.50,1.039,6,0.000,0.044,2923,2130,1815
$GC,13755,0.73,356.5,466.3,8.3,1151,13810,0.17,3.08,48.08,1.096,4,0.062,0.062,2959,631,1617
$GC,13832,0.73,356.5,456.7,13.2,1158,13837,0.00,3.00,0.00,0.000,6,0.000,0.041,2960,2154,1616
$GC,14156,0.67,356.5,413.4,13.8,1188,14161,0.00,2.60,0.00,0.000,4,0.000,0.051,2959,3468,1613
$GC,14184,0.67,356.5,409.4,14.1,1190,14188,0.00,2.62,0.00,0.000,6,0.000,0.044,2964,2134,1612
$GC,14508,0.63,356.5,365.3,13.5,1220,14513,0.15,3.00,0.00,0.000,4,0.124,0.061,2934,637,1612
$GC,14536,0.63,356.5,361.9,11.4,1222,14540,0.00,2.90,0.00,0.000,6,0.000,0.040,2936,2145,1611
$GC,14869,0.66,379.7,330.3,9.2,1270,14897,0.00,0.00,23.00,1.037,6,0.000,0.000,2936,2146,1522
$GC,15232,0.75,417.1,297.0,8.7,1335,15280,0.15,3.15,37.72,0.969,4,0.064,0.061,2971,638,1369
$GC,15302,0.75,417.1,287.8,14.7,1347,15309,0.00,2.92,0.00,0.000,6,0.000,0.040,2972,2135,1367
$GC,15643,0.70,417.1,238.3,13.9,1408,15650,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2136,1364
$GC,15986,0.64,417.1,189.1,14.1,1469,15993,0.17,3.03,0.00,0.000,4,0.121,0.061,2939,637,1363
$GC,16020,0.71,417.1,184.6,10.9,1475,16027,0.00,2.88,0.00,0.000,6,0.000,0.040,2952,2135,1363
$GC,16360,0.82,455.6,154.0,8.7,1536,16404,0.15,0.00,37.28,0.898,6,0.063,0.000,2985,2135,1213
$GC,16729,0.76,455.6,95.0,18.6,1603,16735,0.00,3.05,0.00,0.000,4,0.000,0.062,2977,634,1209
$GC,16775,0.76,455.6,87.3,15.0,1611,16781,0.00,2.85,0.00,0.000,6,0.000,0.040,2981,2114,1207
$GC,17104,0.69,455.6,31.2,19.8,1672,17112,0.15,0.00,0.00,0.000,6,0.122,0.000,2955,2115,1207
$GC,17238,0.75,455.6,12.6,12.8,1697,17246,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2114,1207
$STATE,17365,end climb,SURFACE_DEPTH_REACHED
$STATE,17365,begin surface coast
$FINISH,0.2,1.027416
$STATE,17394,end surface coast,CONTROL_FINISHED_OK
$STATE,17394,begin surface
$SM_CCo,17468,0.00,0.000,0,0,1205,457.73
$SM_GC,0.71,7.20,0.00,0.00,0.041,0.000,0.000,1465,2293,1205,-6.09,-0.06,457.73
$IRIDIUM_FIX,6050.49,-2351.85,230797,181809
$TT8_MAMPS,0.021476
$HUMID,1681
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,12.20
$XPDR_PINGS,107
$24V_AH,19.5,45.565
$10V_AH,9.8,32.956
$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,21.325,136.400,672.575,0.000,0.000,26.378,27.688,211.050,26.750,0.000,0.000,13.234,2735.945,10017.407,731.618,3864.750,478.836,0.000,2233.405,0.000,3854.792,0.000,0.467
$DEVICE_MAMPS,264.615,75.166,1429.688,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1278.386,1207.864,580.931,831.900,1495.029,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126468,1726
$CAP_FILE_SIZE,160056,0
$CFSIZE,260165632,244523008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,290408,043028,6109.329,-2342.729,28,2.2,47,-17.0