version: 66.03
glider: 143
mission: 4
dive: 142
start: 5 2 108 21 41 21
data:
$ID,143
$MISSION,4
$DIVE,142
$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,240
$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,-7829.7168
$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,22
$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
$GPS1,213152,6122.539,-2458.956,38,2.4,57,-17.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-53.3
$GPS2,214102,6122.560,-2458.831,9,1.0,14,-17.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6117.160,-2503.324
$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,257.8,20000,-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,-194.7,0.0,0.0,0,121,0.00,0.00,-93.70,0.000,2,0.000,0.000,1468,2308,3596
$GC,124,-0.82,-194.7,3.4,-5.5,13,146,9.88,2.85,-6.00,0.000,4,0.250,0.062,2607,878,3867
$GC,366,-0.76,-194.7,49.6,-15.4,58,375,0.08,2.83,0.00,0.000,6,0.138,0.052,2622,2286,3868
$GC,509,-0.68,-194.7,74.1,-17.2,83,515,0.15,0.00,0.00,0.000,6,0.145,0.000,2646,2286,3868
$GC,837,-0.68,-194.7,120.9,-13.5,144,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2286,3868
$GC,1173,-0.68,-194.7,166.5,-13.4,205,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2286,3868
$GC,1512,-0.68,-194.7,211.5,-13.2,266,1518,0.00,2.78,0.00,0.000,4,0.000,0.053,2645,876,3868
$GC,1553,-0.68,-194.7,216.8,-13.4,273,1559,0.00,2.78,0.00,0.000,6,0.000,0.046,2647,2304,3868
$GC,1893,-0.68,-194.7,262.3,-13.4,334,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2304,3868
$GC,2229,-0.68,-194.7,306.0,-12.8,395,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2304,3868
$GC,2568,-0.68,-194.7,348.1,-12.6,456,2576,0.00,2.83,0.00,0.000,4,0.000,0.054,2645,883,3868
$GC,2609,-0.68,-194.7,353.4,-12.1,461,2616,0.00,2.72,0.00,0.000,6,0.000,0.044,2647,2297,3868
$GC,2934,-0.68,-194.7,394.4,-12.6,492,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2297,3868
$GC,3252,-0.68,-194.7,435.9,-13.6,522,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2296,3868
$GC,3572,-0.68,-194.7,479.2,-13.4,552,3577,0.00,2.80,0.00,0.000,4,0.000,0.055,2645,876,3868
$GC,3604,-0.68,-194.7,483.9,-13.1,554,3611,0.00,2.70,0.00,0.000,6,0.000,0.044,2648,2279,3868
$GC,3933,-0.68,-194.7,525.7,-12.8,585,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2279,3868
$GC,4247,-0.68,-194.7,566.3,-13.2,615,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2279,3868
$GC,4566,-0.68,-194.7,608.2,-13.1,642,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2279,3868
$GC,4873,-0.68,-194.7,648.3,-12.8,657,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2280,3868
$GC,5182,-0.68,-194.7,687.2,-12.9,672,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2281,3868
$GC,5492,-0.68,-194.7,726.2,-12.3,687,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2283,3867
$GC,5801,-0.68,-194.7,764.1,-11.9,702,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2284,3867
$GC,6110,-0.68,-194.7,802.1,-12.4,717,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2283,3867
$GC,6420,-0.68,-194.7,837.7,-11.6,732,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2284,3867
$GC,6728,-0.68,-194.7,874.0,-11.7,747,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2283,3867
$GC,7038,-0.68,-194.7,907.8,-10.7,762,7039,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2284,3867
$GC,7347,-0.68,-194.7,941.4,-11.1,777,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2284,3867
$GC,7656,-0.68,-194.7,974.2,-10.3,792,7661,0.00,2.85,0.00,0.000,4,0.000,0.067,2645,877,3866
$GC,7688,-0.68,-194.7,977.6,-11.0,793,7695,0.00,2.75,0.00,0.000,6,0.000,0.050,2652,2276,3866
$STATE,7816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7816,begin apogee
$GC,7821,-0.19,0.0,991.2,10.5,800,8022,0.60,0.00,197.55,1.430,6,0.123,0.000,2754,2042,3071
$STATE,8023,end apogee,CONTROL_FINISHED_OK
$STATE,8023,begin climb
$GC,8025,0.82,194.7,998.6,0.0,810,8240,1.27,3.20,204.68,1.357,4,0.090,0.070,2964,644,2277
$GC,8297,0.70,194.7,976.6,12.8,823,8302,0.00,2.97,0.00,0.000,6,0.000,0.044,2965,2055,2273
$GC,8617,0.57,194.7,935.6,12.8,839,8622,0.22,2.92,0.00,0.000,4,0.133,0.062,2927,3463,2271
$GC,8678,0.57,194.7,928.8,10.5,842,8683,0.00,2.85,0.00,0.000,6,0.000,0.054,2928,2070,2271
$GC,9004,0.53,194.7,897.2,10.0,858,9008,0.00,2.85,0.00,0.000,4,0.000,0.059,2927,3465,2271
$GC,9064,0.53,194.7,890.8,10.3,861,9069,0.00,2.78,0.00,0.000,6,0.000,0.052,2927,2080,2270
$GC,9390,0.55,214.7,859.9,9.3,877,9416,0.00,3.00,19.88,1.370,4,0.000,0.071,2927,635,2195
$GC,9521,0.55,214.7,846.9,10.3,883,9526,0.00,2.90,0.00,0.000,6,0.000,0.044,2927,2103,2194
$GC,9848,0.58,237.4,817.7,9.2,899,9877,0.00,3.08,23.77,1.335,4,0.000,0.070,2927,641,2103
$GC,9973,0.58,237.4,805.0,10.0,904,9980,0.00,2.92,0.00,0.000,6,0.000,0.046,2934,2114,2102
$GC,10289,0.59,242.1,775.3,9.8,920,10300,0.00,2.75,5.95,1.065,4,0.000,0.060,2927,3471,2085
$GC,10344,0.59,242.1,769.6,10.4,922,10350,0.00,2.72,0.00,0.000,6,0.000,0.052,2928,2116,2083
$GC,10659,0.59,242.1,737.9,10.1,938,10660,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2115,2084
$GC,10968,0.62,270.0,708.5,9.0,953,10999,0.00,0.00,28.80,1.276,6,0.000,0.000,2928,2114,1970
$GC,11298,0.64,287.1,677.0,9.4,969,11322,0.00,2.80,18.95,1.220,4,0.000,0.057,2927,3474,1900
$GC,11356,0.65,294.4,671.4,9.7,971,11371,0.00,2.75,9.00,1.065,6,0.000,0.048,2927,2111,1869
$GC,11693,0.68,314.0,639.9,9.3,988,11719,0.00,3.03,20.33,1.195,4,0.000,0.066,2927,643,1790
$GC,11735,0.72,347.7,635.7,8.8,990,11776,0.12,2.95,35.50,1.150,6,0.065,0.042,2958,2136,1653
$GC,12090,0.68,347.7,590.5,12.6,1011,12091,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2136,1647
$GC,12409,0.68,347.7,550.5,12.1,1041,12414,0.00,3.05,0.00,0.000,4,0.000,0.064,2954,638,1646
$GC,12448,0.68,347.7,545.5,11.7,1044,12452,0.00,2.90,0.00,0.000,6,0.000,0.043,2958,2131,1645
$GC,12772,0.63,347.7,505.3,12.6,1074,12773,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2132,1645
$GC,13090,0.63,347.7,466.3,12.4,1104,13091,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2131,1645
$GC,13410,0.63,347.7,425.4,13.0,1134,13415,0.00,3.03,0.00,0.000,4,0.000,0.063,2954,635,1645
$GC,13442,0.63,347.7,420.8,13.1,1136,13449,0.12,2.85,0.00,0.000,6,0.104,0.040,2939,2112,1645
$GC,13767,0.68,347.7,387.8,10.2,1167,13768,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2112,1644
$GC,14087,0.76,375.1,357.2,9.1,1197,14117,0.15,0.00,26.40,1.063,6,0.064,0.000,2968,2112,1541
$GC,14450,0.76,375.1,309.6,13.1,1257,14457,0.00,2.97,0.00,0.000,4,0.000,0.062,2968,640,1537
$GC,14484,0.76,375.1,304.6,13.3,1263,14491,0.00,2.85,0.00,0.000,6,0.000,0.040,2961,2119,1536
$GC,14825,0.76,375.1,257.7,13.5,1324,14833,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2120,1536
$GC,15168,0.76,375.1,210.0,13.1,1385,15174,0.00,2.97,0.00,0.000,4,0.000,0.061,2962,640,1536
$GC,15204,0.76,375.1,205.0,13.2,1391,15210,0.00,2.83,0.00,0.000,6,0.000,0.040,2976,2114,1536
$GC,15544,0.76,375.1,160.2,12.9,1452,15551,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2114,1536
$GC,15878,0.76,375.1,113.6,14.1,1513,15884,0.00,2.97,0.00,0.000,4,0.000,0.062,2961,637,1535
$GC,15913,0.76,375.1,108.9,13.3,1519,15919,0.00,2.78,0.00,0.000,6,0.000,0.039,2962,2095,1536
$GC,16243,0.76,375.1,65.5,12.9,1580,16250,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2094,1536
$GC,16569,0.72,375.1,21.9,11.3,1641,16576,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2095,1536
$GC,16703,0.72,375.1,3.8,12.3,1666,16710,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2094,1535
$STATE,16721,end climb,SURFACE_DEPTH_REACHED
$STATE,16721,begin surface coast
$FINISH,0.5,1.027376
$STATE,16739,end surface coast,CONTROL_FINISHED_OK
$STATE,16739,begin surface
$SM_CCo,16814,0.00,0.000,0,0,1534,377.03
$SM_GC,0.75,7.22,0.00,0.00,0.041,0.000,0.000,1468,2302,1534,-6.08,0.20,377.03
$IRIDIUM_FIX,6059.36,-2455.59,270797,212124
$TT8_MAMPS,0.021476
$HUMID,1681
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,12.30
$XPDR_PINGS,109
$24V_AH,19.4,50.548
$10V_AH,9.8,36.469
$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,19.825,104.425,590.800,0.000,0.000,61.917,110.177,201.103,27.250,0.000,0.000,16.181,2649.314,9702.597,669.152,3728.206,602.028,0.000,2071.014,0.000,3723.590,0.000,0.467
$DEVICE_MAMPS,250.042,70.564,1429.688,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1240.124,1174.726,595.031,812.095,1482.668,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123420,1672
$CAP_FILE_SIZE,147438,0
$CFSIZE,260165632,242786304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,030508,022238,6121.086,-2500.093,29,1.9,29,-17.8