version: 66.03
glider: 143
mission: 4
dive: 48
start: 4 13 108 13 14 33
data:
$ID,143
$MISSION,4
$DIVE,48
$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,0
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,45
$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,-4902.46
$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,2260
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,26
$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
$GPS1,130332,5914.682,-2124.907,38,1.8,38,-14.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-56.8
$GPS2,131414,5914.696,-2125.251,10,1.9,15,-14.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5922.332,-2121.361
$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,59.8,20000,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.82,-194.7,0.0,0.0,0,121,0.00,0.00,-94.30,0.000,2,0.000,0.000,1464,2279,3609
$GC,123,-0.82,-194.7,3.6,-6.1,13,146,9.88,2.80,-5.45,0.000,4,0.253,0.065,2613,3669,3865
$GC,361,-0.73,-194.7,49.6,-15.4,57,369,0.12,2.78,0.00,0.000,6,0.292,0.041,2633,2255,3866
$GC,500,-0.67,-194.7,70.6,-14.6,82,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2255,3866
$GC,704,-0.61,-194.7,101.7,-15.7,119,710,0.15,0.00,0.00,0.000,6,0.137,0.000,2658,2254,3866
$GC,903,-0.61,-194.7,127.6,-12.0,156,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2252,3866
$GC,1107,-0.61,-194.7,152.8,-13.5,193,1113,0.00,2.83,0.00,0.000,4,0.000,0.058,2659,3669,3866
$GC,1132,-0.61,-194.7,156.1,-13.1,197,1139,0.00,2.72,0.00,0.000,6,0.000,0.040,2658,2255,3866
$GC,1461,-0.61,-194.7,197.9,-12.7,258,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2254,3866
$GC,1793,-0.61,-194.7,241.4,-13.1,319,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2252,3866
$GC,2121,-0.61,-194.7,284.0,-11.9,380,2129,0.00,2.80,0.00,0.000,4,0.000,0.055,2659,3660,3866
$GC,2164,-0.61,-194.7,289.0,-12.9,387,2170,0.00,2.67,0.00,0.000,6,0.000,0.041,2658,2263,3866
$GC,2494,-0.61,-194.7,329.3,-12.5,448,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2259,3866
$GC,2829,-0.61,-194.7,369.9,-12.3,509,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2259,3866
$GC,3168,-0.61,-194.7,412.1,-12.5,570,3174,0.00,2.75,0.00,0.000,4,0.000,0.053,2659,3672,3866
$GC,3196,-0.61,-194.7,415.7,-13.1,575,3203,0.00,2.70,0.00,0.000,6,0.000,0.041,2658,2261,3866
$GC,3540,-0.61,-194.7,458.3,-12.7,636,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2257,3866
$GC,3885,-0.61,-194.7,500.5,-11.9,697,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2257,3866
$GC,4223,-0.61,-194.7,540.0,-11.5,758,4229,0.00,2.75,0.00,0.000,4,0.000,0.054,2658,3663,3866
$GC,4257,-0.61,-194.7,543.8,-11.4,764,4263,0.00,2.67,0.00,0.000,6,0.000,0.041,2658,2267,3866
$GC,4596,-0.61,-194.7,580.0,-10.5,825,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2267,3866
$GC,4929,-0.61,-194.7,614.7,-10.4,873,4931,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2267,3866
$GC,5248,-0.61,-194.7,648.8,-10.5,903,5252,0.00,2.78,0.00,0.000,4,0.000,0.060,2658,3662,3866
$GC,5275,-0.61,-194.7,651.6,-10.7,905,5279,0.00,2.67,0.00,0.000,6,0.000,0.048,2658,2281,3866
$GC,5599,-0.61,-194.7,684.2,-10.2,935,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2281,3866
$GC,5917,-0.61,-194.7,717.6,-10.7,965,5922,0.00,2.88,0.00,0.000,4,0.000,0.073,2658,852,3866
$GC,5937,-0.61,-194.7,720.0,-10.8,966,5944,0.00,2.78,0.00,0.000,6,0.000,0.048,2658,2270,3866
$GC,6263,-0.61,-194.7,755.4,-11.4,997,6267,0.00,2.80,0.00,0.000,4,0.000,0.064,2658,3675,3866
$GC,6289,-0.61,-194.7,758.6,-12.3,999,6294,0.00,2.72,0.00,0.000,6,0.000,0.051,2658,2284,3866
$GC,6614,-0.61,-194.7,794.9,-11.0,1029,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2284,3866
$GC,6932,-0.61,-194.7,828.3,-9.7,1059,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2284,3865
$GC,7250,-0.61,-194.7,860.2,-10.2,1089,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2284,3865
$GC,7569,-0.61,-194.7,892.3,-10.0,1119,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2284,3865
$GC,7887,-0.61,-194.7,925.7,-11.0,1149,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2284,3864
$GC,8206,-0.61,-194.7,959.5,-10.9,1179,8207,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2284,3864
$STATE,8491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8491,begin apogee
$GC,8495,-0.19,0.0,990.1,10.6,1206,8695,0.55,0.00,194.32,1.467,6,0.115,0.000,2753,2036,3071
$STATE,8695,end apogee,CONTROL_FINISHED_OK
$STATE,8695,begin climb
$GC,8697,0.82,194.7,999.9,0.0,1226,8907,1.25,3.17,199.23,1.387,4,0.087,0.074,2972,646,2276
$GC,9008,0.68,194.7,975.5,12.2,1256,9014,0.15,2.92,0.00,0.000,6,0.137,0.044,2953,2057,2272
$GC,9332,0.55,194.7,939.1,11.4,1286,9338,0.17,2.90,0.00,0.000,4,0.137,0.058,2925,3461,2270
$GC,9406,0.51,203.3,932.0,9.7,1292,9420,0.00,2.83,8.85,1.225,6,0.000,0.051,2925,2077,2242
$GC,9746,0.47,213.3,900.6,9.7,1324,9767,0.15,3.08,11.50,1.345,4,0.129,0.072,2899,635,2201
$GC,9881,0.54,274.2,889.5,7.9,1336,9952,0.00,2.88,61.47,1.342,6,0.000,0.044,2899,2088,1953
$GC,10270,0.67,332.0,857.9,8.0,1373,10336,0.20,2.92,59.25,1.341,4,0.060,0.059,2943,3463,1717
$GC,10388,0.67,332.0,844.0,11.9,1383,10394,0.00,2.85,0.00,0.000,6,0.000,0.051,2943,2088,1713
$GC,10713,0.62,332.0,803.9,12.0,1414,10717,0.00,2.80,0.00,0.000,4,0.000,0.057,2944,3461,1711
$GC,10829,0.62,332.0,789.6,12.0,1424,10834,0.00,2.78,0.00,0.000,6,0.000,0.053,2943,2086,1709
$GC,11154,0.58,332.0,752.1,11.6,1454,11159,0.00,2.80,0.00,0.000,4,0.000,0.057,2944,3469,1709
$GC,11170,0.58,332.0,750.0,11.8,1455,11174,0.00,2.72,0.00,0.000,6,0.000,0.051,2943,2108,1708
$GC,11497,0.54,332.0,712.3,12.0,1485,11499,0.15,0.00,0.00,0.000,6,0.123,0.000,2921,2106,1708
$GC,11813,0.58,366.9,683.9,8.8,1515,11854,0.00,2.80,34.25,1.325,4,0.000,0.055,2921,3468,1575
$GC,11860,0.53,421.2,679.7,8.1,1519,11926,0.00,2.75,56.70,1.196,6,0.000,0.046,2921,2105,1353
$GC,12244,0.68,468.2,649.4,8.4,1556,12300,0.15,3.15,49.20,1.214,4,0.061,0.070,2956,635,1162
$GC,12316,0.68,468.2,640.1,14.5,1562,12322,0.00,2.97,0.00,0.000,6,0.000,0.040,2956,2121,1159
$GC,12644,0.64,468.2,591.1,14.9,1598,12650,0.00,3.08,0.00,0.000,4,0.000,0.067,2956,632,1156
$GC,12680,0.64,468.2,585.8,14.3,1604,12686,0.00,2.85,0.00,0.000,6,0.000,0.040,2956,2094,1154
$GC,13021,0.64,468.2,535.5,14.6,1665,13027,0.00,2.95,0.00,0.000,4,0.000,0.064,2956,640,1154
$GC,13038,0.64,468.2,532.7,15.2,1668,13046,0.00,2.78,0.00,0.000,6,0.000,0.038,2956,2071,1153
$GC,13383,0.64,468.2,482.1,14.2,1729,13388,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2071,1153
$GC,13722,0.64,468.2,432.0,13.8,1790,13729,0.00,2.88,0.00,0.000,4,0.000,0.064,2956,640,1153
$GC,13740,0.64,468.2,429.4,14.9,1793,13746,0.00,2.72,0.00,0.000,6,0.000,0.038,2956,2072,1152
$GC,14081,0.64,468.2,380.5,13.8,1854,14087,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2072,1152
$GC,14419,0.64,468.2,333.5,13.2,1915,14424,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2072,1152
$GC,14749,0.64,468.2,289.0,14.3,1976,14757,0.00,2.90,0.00,0.000,4,0.000,0.063,2956,640,1152
$GC,14770,0.64,468.2,286.1,14.3,1979,14776,0.00,2.70,0.00,0.000,6,0.000,0.038,2956,2068,1152
$GC,15099,0.64,468.2,241.9,14.8,2040,15107,0.00,2.72,0.00,0.000,4,0.000,0.048,2956,3459,1151
$GC,15112,0.64,468.2,240.0,13.9,2042,15120,0.10,2.75,0.00,0.000,6,0.115,0.042,2942,2048,1151
$GC,15448,0.75,495.0,208.7,9.1,2103,15479,0.00,0.00,25.90,1.015,6,0.000,0.000,2942,2048,1052
$GC,15804,0.89,521.3,177.9,9.1,2168,15839,0.22,0.00,28.05,0.946,6,0.051,0.000,2995,2048,946
$GC,16165,0.76,521.3,103.3,21.8,2233,16171,0.15,0.00,0.00,0.000,6,0.138,0.000,2971,2048,942
$GC,16363,0.76,521.3,69.5,16.3,2270,16371,0.00,2.85,0.00,0.000,4,0.000,0.065,2967,647,941
$GC,16387,0.76,521.3,65.5,16.8,2274,16394,0.00,2.72,0.00,0.000,6,0.000,0.038,2967,2062,940
$GC,16587,0.76,521.3,35.6,14.1,2311,16595,0.00,2.90,0.00,0.000,4,0.000,0.064,2967,641,940
$GC,16602,0.76,521.3,33.1,15.8,2313,16610,0.00,2.70,0.00,0.000,6,0.000,0.038,2967,2043,940
$GC,16736,0.76,521.3,12.7,16.5,2338,16744,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2044,940
$STATE,16806,end climb,SURFACE_DEPTH_REACHED
$STATE,16806,begin surface coast
$FINISH,0.5,1.027276
$STATE,16819,end surface coast,CONTROL_FINISHED_OK
$STATE,16819,begin surface
$SM_CCo,16893,0.00,0.000,0,0,939,522.98
$SM_GC,0.53,7.25,0.00,0.00,0.038,0.000,0.000,1466,2281,939,-6.09,0.62,522.98
$IRIDIUM_FIX,5850.29,-2125.47,080797,131311
$TT8_MAMPS,0.021476
$HUMID,1662
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,12.80
$XPDR_PINGS,292
$24V_AH,19.7,24.749
$10V_AH,9.8,15.935
$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,20.650,130.825,728.725,0.000,0.000,51.085,143.654,263.708,73.000,0.000,0.000,16.474,3559.654,7336.984,785.580,5102.192,727.014,0.000,2673.883,0.000,5115.045,0.000,0.469
$DEVICE_MAMPS,292.227,73.632,1467.271,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1714.924,1704.049,1008.803,909.048,2352.841,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,177269,2353
$CAP_FILE_SIZE,183592,0
$CFSIZE,260165632,252334080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130408,175708,5918.422,-2124.673,28,1.0,28,-14.8