version: 66.03
glider: 143
mission: 4
dive: 193
start: 5 13 108 4 9 52
data:
$ID,143
$MISSION,4
$DIVE,193
$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,220
$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,-8929.3271
$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,17
$R_STBD_OVSHOOT,34
$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
$GPS1,040255,6121.018,-2545.080,41,1.4,41,-18.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-53.0
$GPS2,040935,6120.965,-2545.169,13,2.2,32,-18.2
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6112.692,-2548.512
$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,238.2,20000,-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,26,-0.82,-194.7,0.0,0.0,0,122,0.00,0.00,-93.05,0.000,2,0.000,0.000,1465,2316,3353
$GC,125,-0.82,-194.7,3.2,-5.3,17,155,10.12,2.85,-12.80,0.000,4,0.254,0.068,2614,886,3865
$GC,296,-0.77,-194.7,30.5,-14.2,47,302,0.00,2.75,0.00,0.000,6,0.000,0.052,2613,2277,3866
$GC,438,-0.67,-194.7,52.3,-15.9,72,444,0.20,0.00,0.00,0.000,6,0.147,0.000,2645,2277,3867
$GC,781,-0.67,-194.7,96.3,-13.2,133,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2277,3867
$GC,1123,-0.67,-194.7,140.7,-12.6,194,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2277,3867
$GC,1465,-0.67,-194.7,186.5,-14.2,255,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2277,3867
$GC,1808,-0.67,-194.7,233.7,-12.8,316,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2277,3867
$GC,2151,-0.67,-194.7,276.8,-12.3,377,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2277,3867
$GC,2494,-0.67,-194.7,318.5,-11.8,438,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2277,3867
$GC,2837,-0.67,-194.7,360.5,-12.6,492,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2277,3867
$GC,3156,-0.67,-194.7,402.4,-13.5,522,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2277,3867
$GC,3476,-0.67,-194.7,446.6,-14.4,552,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2277,3867
$GC,3795,-0.67,-194.7,492.8,-14.4,582,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2277,3867
$GC,4111,-0.67,-194.7,538.4,-14.2,612,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2278,3867
$GC,4430,-0.67,-194.7,580.6,-12.7,642,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2278,3867
$GC,4755,-0.67,-194.7,619.5,-11.5,665,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2278,3867
$GC,5063,-0.67,-194.7,655.1,-12.0,680,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2278,3866
$GC,5373,-0.67,-194.7,695.0,-13.3,695,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2279,3866
$GC,5682,-0.67,-194.7,735.5,-12.9,710,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2281,3866
$GC,5991,-0.67,-194.7,776.5,-13.3,725,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2281,3866
$GC,6301,-0.67,-194.7,812.9,-11.5,740,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2281,3866
$GC,6609,-0.67,-194.7,846.1,-10.2,755,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2281,3866
$GC,6919,-0.67,-194.7,878.7,-10.4,770,6923,0.00,2.90,0.00,0.000,4,0.000,0.067,2645,3706,3866
$GC,6945,-0.67,-194.7,881.5,-11.4,771,6950,0.00,2.78,0.00,0.000,6,0.000,0.052,2645,2308,3866
$GC,7260,-0.67,-194.7,915.7,-11.2,786,7265,0.00,2.90,0.00,0.000,4,0.000,0.068,2645,876,3865
$GC,7286,-0.67,-194.7,918.7,-12.3,787,7291,0.00,2.83,0.00,0.000,6,0.000,0.050,2645,2314,3865
$GC,7608,-0.67,-194.7,953.9,-10.4,803,7609,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2315,3865
$GC,7917,-0.67,-194.7,984.8,-9.6,818,7922,0.00,2.92,0.00,0.000,4,0.000,0.067,2645,875,3865
$GC,7962,-0.73,-194.7,989.0,-9.6,820,7967,0.00,2.83,0.00,0.000,6,0.000,0.051,2645,2308,3864
$STATE,7971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7971,begin apogee
$GC,7976,-0.19,0.0,990.1,9.0,821,8180,0.65,0.00,200.35,1.434,6,0.122,0.000,2754,2033,3071
$STATE,8181,end apogee,CONTROL_FINISHED_OK
$STATE,8181,begin climb
$GC,8183,0.82,194.7,996.0,0.0,831,8401,1.25,3.20,207.12,1.356,4,0.087,0.070,2970,647,2277
$GC,8507,0.71,194.7,965.4,13.0,846,8512,0.00,2.92,0.00,0.000,6,0.000,0.046,2970,2058,2274
$GC,8822,0.58,194.7,925.4,12.4,861,8828,0.25,2.90,0.00,0.000,4,0.135,0.061,2929,3468,2272
$GC,8872,0.58,194.7,920.0,10.1,863,8877,0.00,2.85,0.00,0.000,6,0.000,0.052,2930,2061,2271
$GC,9188,0.53,194.7,887.2,11.0,878,9192,0.00,2.85,0.00,0.000,4,0.000,0.059,2930,3463,2271
$GC,9236,0.53,194.7,881.4,12.0,880,9241,0.00,2.78,0.00,0.000,6,0.000,0.052,2930,2080,2271
$GC,9559,0.49,204.0,848.1,9.7,896,9574,0.12,2.83,9.68,1.252,4,0.131,0.060,2912,3467,2240
$GC,9601,0.55,248.8,844.2,8.5,897,9653,0.00,2.75,46.38,1.341,6,0.000,0.051,2911,2095,2056
$GC,9964,0.66,341.4,819.0,6.8,914,10067,0.15,3.15,94.00,1.309,4,0.069,0.071,2945,640,1678
$GC,10139,0.66,341.4,801.5,10.1,922,10143,0.00,3.00,0.00,0.000,6,0.000,0.046,2945,2123,1673
$GC,10466,0.66,341.4,766.0,11.0,938,10471,0.00,3.10,0.00,0.000,4,0.000,0.071,2945,632,1670
$GC,10565,0.66,341.4,754.8,10.5,942,10572,0.00,2.92,0.00,0.000,6,0.000,0.047,2945,2118,1671
$GC,10881,0.66,341.4,720.1,11.4,958,10885,0.00,2.70,0.00,0.000,4,0.000,0.060,2945,3461,1670
$GC,10907,0.66,341.4,716.9,11.7,959,10912,0.00,2.67,0.00,0.000,6,0.000,0.051,2946,2117,1668
$GC,11222,0.66,341.4,678.7,13.1,974,11227,0.00,3.00,0.00,0.000,4,0.000,0.070,2945,634,1668
$GC,11248,0.66,341.4,674.9,14.2,975,11253,0.00,2.90,0.00,0.000,6,0.000,0.044,2945,2127,1668
$GC,11570,0.66,341.4,634.4,12.3,991,11574,0.00,2.67,0.00,0.000,4,0.000,0.057,2945,3472,1668
$GC,11596,0.66,341.4,631.1,12.1,992,11600,0.00,2.67,0.00,0.000,6,0.000,0.048,2948,2113,1667
$GC,11918,0.66,341.4,596.4,10.7,1009,11919,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2112,1667
$GC,12238,0.66,341.4,561.4,11.2,1039,12239,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2112,1667
$GC,12555,0.66,341.4,526.3,10.9,1069,12560,0.00,2.70,0.00,0.000,4,0.000,0.054,2945,3471,1667
$GC,12583,0.66,341.4,523.0,11.3,1071,12588,0.00,2.62,0.00,0.000,6,0.000,0.046,2945,2117,1666
$GC,12908,0.66,341.4,486.2,11.6,1101,12912,0.00,2.95,0.00,0.000,4,0.000,0.064,2945,638,1666
$GC,12935,0.66,341.4,482.9,12.1,1103,12939,0.00,2.88,0.00,0.000,6,0.000,0.041,2947,2138,1667
$GC,13259,0.66,341.4,446.4,11.2,1133,13263,0.00,2.60,0.00,0.000,4,0.000,0.052,2945,3467,1666
$GC,13291,0.66,341.4,442.6,11.7,1135,13297,0.00,2.62,0.00,0.000,6,0.000,0.045,2945,2117,1666
$GC,13617,0.66,341.4,405.6,11.5,1166,13622,0.00,2.95,0.00,0.000,4,0.000,0.062,2946,637,1666
$GC,13637,0.66,341.4,402.9,11.8,1167,13644,0.00,2.88,0.00,0.000,6,0.000,0.041,2979,2141,1666
$GC,13964,0.66,341.4,366.8,10.6,1198,13965,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2141,1666
$GC,14290,0.66,341.4,330.7,11.6,1243,14296,0.00,3.03,0.00,0.000,4,0.000,0.061,2945,634,1666
$GC,14331,0.71,341.4,326.3,10.9,1250,14337,0.00,2.88,0.00,0.000,6,0.000,0.041,2945,2140,1666
$GC,14674,0.71,341.4,287.3,11.7,1311,14679,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2141,1667
$GC,15017,0.71,341.4,246.5,10.9,1372,15024,0.00,3.00,0.00,0.000,4,0.000,0.061,2946,641,1666
$GC,15053,0.75,341.4,242.3,11.2,1378,15059,0.00,2.83,0.00,0.000,6,0.000,0.040,2945,2121,1666
$GC,15396,0.75,341.4,203.7,11.1,1439,15401,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2121,1666
$GC,15738,0.75,343.7,167.7,9.9,1500,15744,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2121,1666
$GC,16082,0.78,371.3,134.5,9.0,1561,16115,0.12,0.00,27.62,0.941,6,0.073,0.000,2972,2121,1557
$GC,16454,0.72,371.3,82.2,15.2,1627,16459,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2121,1555
$GC,16796,0.65,371.3,29.8,15.7,1688,16803,0.15,0.00,0.00,0.000,6,0.128,0.000,2946,2121,1554
$GC,16939,0.69,404.0,14.2,8.9,1713,16979,0.00,3.03,32.58,0.808,4,0.000,0.064,2947,637,1423
$GC,16999,0.76,404.0,8.2,11.0,1723,17005,0.00,2.85,0.00,0.000,6,0.000,0.038,2946,2118,1422
$STATE,17065,end climb,SURFACE_DEPTH_REACHED
$STATE,17065,begin surface coast
$FINISH,0.3,1.027251
$STATE,17089,end surface coast,CONTROL_FINISHED_OK
$STATE,17089,begin surface
$SM_CCo,17166,0.00,0.000,0,0,1418,405.48
$SM_GC,0.97,7.22,0.00,0.00,0.041,0.000,0.000,1470,2312,1418,-6.08,0.51,405.48
$IRIDIUM_FIX,6059.36,-2541.70,060897,232354
$TT8_MAMPS,0.021476
$HUMID,1734
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,16.70
$XPDR_PINGS,22
$24V_AH,19.2,64.040
$10V_AH,9.8,45.363
$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,20.250,115.325,617.725,0.000,0.000,23.722,32.340,208.255,5.500,0.000,0.000,34.708,2734.668,10543.079,696.304,3061.544,517.288,0.000,2142.970,0.000,3019.678,0.000,0.466
$DEVICE_MAMPS,253.877,70.564,1433.523,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1317.091,1214.218,634.496,904.862,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123208,1739
$CAP_FILE_SIZE,152618,0
$CFSIZE,260165632,238219264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,130508,085707,6116.748,-2550.602,34,1.2,34,-18.2