version: 66.03
glider: 143
mission: 4
dive: 231
start: 5 20 108 23 24 22
data:
$ID,143
$MISSION,4
$DIVE,231
$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,305
$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,-9632.9609
$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,28
$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
$GPS1,231632,6126.719,-2529.029,40,2.0,40,-18.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-44.8
$GPS2,232403,6126.738,-2529.106,14,1.1,14,-18.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6132.932,-2533.321
$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,323.1,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.82,-194.7,0.0,0.0,0,124,0.00,0.00,-93.70,0.000,2,0.000,0.000,1469,2322,3516
$GC,127,-0.82,-194.7,3.6,-7.5,17,151,10.05,2.78,-7.50,0.000,4,0.251,0.068,2615,3695,3867
$GC,305,-0.74,-194.7,38.5,-16.1,48,312,0.12,2.70,0.00,0.000,6,0.142,0.041,2632,2288,3868
$GC,449,-0.66,-194.7,60.4,-14.6,73,456,0.12,2.75,0.00,0.000,4,0.140,0.053,2650,887,3868
$GC,514,-0.66,-194.7,68.2,-11.5,84,520,0.00,2.67,0.00,0.000,6,0.000,0.046,2650,2266,3868
$GC,859,-0.66,-194.7,112.8,-12.4,145,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2267,3868
$GC,1201,-0.66,-194.7,155.7,-12.2,206,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2266,3869
$GC,1544,-0.66,-194.7,197.9,-12.3,267,1550,0.00,2.72,0.00,0.000,4,0.000,0.054,2650,880,3868
$GC,1595,-0.66,-194.7,203.9,-11.3,276,1602,0.00,2.70,0.00,0.000,6,0.000,0.047,2650,2270,3868
$GC,1941,-0.66,-194.7,245.5,-12.3,337,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2270,3869
$GC,2283,-0.66,-194.7,286.4,-12.4,398,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2270,3868
$GC,2626,-0.66,-194.7,327.3,-12.1,459,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2270,3868
$GC,2959,-0.66,-194.7,368.7,-12.7,506,2961,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2270,3869
$GC,3278,-0.66,-194.7,408.9,-12.4,536,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2271,3869
$GC,3597,-0.66,-194.7,449.6,-13.0,566,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2270,3868
$GC,3915,-0.66,-194.7,490.0,-12.2,596,3920,0.00,2.75,0.00,0.000,4,0.000,0.057,2650,881,3868
$GC,3959,-0.71,-194.7,495.3,-11.8,599,3965,0.00,2.67,0.00,0.000,6,0.000,0.043,2650,2272,3868
$GC,4285,-0.71,-194.7,532.2,-10.7,630,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2272,3868
$GC,4602,-0.71,-194.7,565.6,-10.5,660,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2272,3868
$GC,4931,-0.71,-194.7,602.9,-11.8,690,4932,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2272,3868
$GC,5240,-0.71,-194.7,640.5,-12.7,705,5245,0.00,2.80,0.00,0.000,4,0.000,0.063,2650,883,3868
$GC,5295,-0.75,-194.7,647.4,-12.0,707,5301,0.00,2.67,0.00,0.000,6,0.000,0.045,2650,2263,3868
$GC,5611,-0.75,-194.7,685.3,-12.4,723,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2265,3868
$GC,5919,-0.75,-194.7,721.4,-11.1,738,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2266,3868
$GC,6229,-0.75,-194.7,755.1,-10.4,753,6230,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2268,3867
$GC,6539,-0.75,-194.7,786.2,-9.6,768,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2268,3867
$GC,6848,-0.75,-194.7,814.5,-9.8,783,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2268,3867
$GC,7156,-0.75,-194.7,849.4,-12.0,798,7161,0.00,2.83,0.00,0.000,4,0.000,0.068,2651,882,3867
$GC,7195,-0.81,-194.7,853.9,-11.4,800,7201,0.15,2.70,0.00,0.000,6,0.061,0.050,2619,2258,3866
$GC,7522,-0.75,-194.7,897.4,-12.9,816,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2258,3866
$GC,7831,-0.69,-194.7,936.7,-13.2,831,7836,0.15,2.97,0.00,0.000,4,0.139,0.067,2643,3706,3866
$GC,7871,-0.69,-194.7,941.5,-11.5,833,7876,0.00,2.90,0.00,0.000,6,0.000,0.051,2643,2246,3866
$GC,8196,-0.69,-194.7,979.0,-11.6,849,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2246,3865
$STATE,8297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8297,begin apogee
$GC,8303,-0.19,0.0,991.1,11.7,854,8508,0.68,0.00,202.02,1.411,6,0.124,0.000,2755,2036,3071
$STATE,8509,end apogee,CONTROL_FINISHED_OK
$STATE,8509,begin climb
$GC,8512,0.82,194.7,1001.9,0.0,864,8730,1.25,3.15,208.07,1.345,4,0.087,0.070,2971,649,2276
$GC,8814,0.71,194.7,982.0,11.2,877,8821,0.00,2.92,0.00,0.000,6,0.000,0.047,2972,2054,2273
$GC,9130,0.59,194.7,942.7,12.5,893,9135,0.22,2.90,0.00,0.000,4,0.134,0.062,2934,3467,2271
$GC,9202,0.55,194.7,934.5,10.7,896,9207,0.00,2.78,0.00,0.000,6,0.000,0.051,2934,2077,2271
$GC,9518,0.56,240.0,905.7,8.4,911,9566,0.00,0.00,45.65,1.351,6,0.000,0.000,2933,2077,2092
$GC,9869,0.57,248.6,872.5,9.7,928,9884,0.00,2.97,10.10,1.262,4,0.000,0.071,2933,633,2057
$GC,9936,0.58,261.5,866.1,9.6,930,9956,0.00,2.90,14.62,1.225,6,0.000,0.047,2934,2104,2004
$GC,10284,0.61,287.6,833.8,9.1,947,10319,0.00,3.12,27.75,1.322,4,0.000,0.071,2934,641,1898
$GC,10394,0.64,307.0,823.5,9.3,952,10420,0.00,2.92,20.98,1.267,6,0.000,0.048,2933,2113,1819
$GC,10743,0.64,308.4,790.1,10.0,969,10747,0.00,2.72,0.00,0.000,4,0.000,0.062,2933,3468,1815
$GC,10775,0.64,308.4,786.4,10.5,970,10782,0.00,2.75,0.00,0.000,6,0.000,0.051,2935,2109,1813
$GC,11091,0.65,316.5,755.1,9.7,986,11104,0.00,0.00,10.60,1.223,6,0.000,0.000,2934,2108,1780
$GC,11400,0.65,318.4,725.0,9.9,1001,11401,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2107,1779
$GC,11710,0.66,321.6,694.9,9.9,1016,11724,0.00,3.03,6.97,1.086,4,0.000,0.068,2934,640,1759
$GC,11802,0.69,348.3,686.0,9.1,1020,11840,0.00,2.90,28.88,1.238,6,0.000,0.045,2933,2128,1651
$GC,12150,0.70,360.8,653.1,9.6,1037,12171,0.00,3.10,13.80,1.233,4,0.000,0.068,2934,634,1599
$GC,12262,0.76,360.8,641.6,10.7,1042,12267,0.17,2.90,0.00,0.000,6,0.061,0.044,2970,2122,1598
$GC,12580,0.69,360.8,595.1,14.9,1059,12585,0.00,2.67,0.00,0.000,4,0.000,0.055,2970,3473,1597
$GC,12597,0.62,360.8,592.5,15.0,1060,12602,0.22,2.70,0.00,0.000,6,0.123,0.046,2937,2099,1596
$GC,12922,0.69,388.4,561.9,9.0,1090,12953,0.00,0.00,29.40,1.147,6,0.000,0.000,2937,2099,1487
$GC,13271,0.80,422.9,530.6,8.8,1123,13312,0.20,0.00,36.40,1.124,6,0.062,0.000,2977,2099,1347
$GC,13630,0.72,422.9,476.1,15.5,1157,13631,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2099,1341
$GC,13950,0.65,422.9,424.3,16.5,1187,13955,0.20,2.72,0.00,0.000,4,0.127,0.052,2943,3471,1340
$GC,13968,0.61,422.9,421.2,16.4,1188,13972,0.00,2.65,0.00,0.000,6,0.000,0.044,2943,2112,1339
$GC,14292,0.71,453.0,389.8,9.0,1218,14329,0.00,3.00,31.12,1.047,4,0.000,0.063,2943,635,1223
$GC,14346,0.85,492.8,385.0,8.6,1222,14395,0.20,2.88,42.25,0.984,6,0.051,0.039,2989,2124,1062
$GC,14721,0.74,492.8,317.9,18.3,1272,14727,0.15,0.00,0.00,0.000,6,0.138,0.000,2965,2124,1055
$GC,15064,0.74,492.8,273.3,11.7,1333,15070,0.00,3.00,0.00,0.000,4,0.000,0.064,2964,641,1054
$GC,15105,0.82,492.8,268.7,10.5,1340,15112,0.00,2.83,0.00,0.000,6,0.000,0.040,2964,2123,1053
$GC,15450,0.82,492.8,228.3,11.7,1401,15456,0.00,3.00,0.00,0.000,4,0.000,0.063,2965,638,1053
$GC,15474,0.82,492.8,225.3,13.0,1405,15480,0.00,2.80,0.00,0.000,6,0.000,0.039,2965,2105,1052
$GC,15817,0.82,492.8,183.8,11.8,1466,15823,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2105,1052
$GC,16162,0.82,492.8,141.6,11.8,1527,16168,0.00,2.95,0.00,0.000,4,0.000,0.063,2965,641,1052
$GC,16203,0.90,492.8,136.5,11.4,1534,16210,0.15,2.75,0.00,0.000,6,0.056,0.040,2999,2090,1051
$GC,16550,0.76,492.8,66.7,22.9,1595,16556,0.17,0.00,0.00,0.000,6,0.143,0.000,2970,2090,1051
$GC,16894,0.76,492.8,15.8,12.7,1656,16900,0.00,2.90,0.00,0.000,4,0.000,0.063,2970,642,1051
$GC,16924,0.80,492.8,12.3,11.3,1661,16930,0.00,2.70,0.00,0.000,6,0.000,0.039,2970,2071,1050
$STATE,17015,end climb,SURFACE_DEPTH_REACHED
$STATE,17015,begin surface coast
$FINISH,0.3,1.027242
$STATE,17032,end surface coast,CONTROL_FINISHED_OK
$STATE,17032,begin surface
$SM_CCo,17109,0.00,0.000,0,0,1049,496.00
$SM_GC,0.69,7.38,0.00,0.00,0.048,0.000,0.000,1467,2306,1049,-6.09,0.31,496.00
$IRIDIUM_FIX,6103.81,-2523.55,140897,181813
$TT8_MAMPS,0.021476
$HUMID,1733
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,15.20
$XPDR_PINGS,26
$24V_AH,19.1,74.038
$10V_AH,9.9,50.571
$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,21.600,120.075,728.625,0.000,0.000,24.498,43.789,257.058,6.500,0.000,0.000,16.228,2670.774,10372.771,786.517,3106.019,606.938,0.000,2222.677,0.000,3091.185,0.000,0.466
$DEVICE_MAMPS,250.809,70.564,1410.513,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1269.411,1182.448,573.617,1474.632,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123588,1680
$CAP_FILE_SIZE,156878,0
$CFSIZE,260165632,234831872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210508,041038,6127.825,-2534.344,32,1.4,32,-18.2