version: 66.03
glider: 143
mission: 4
dive: 54
start: 4 14 108 19 4 2
data:
$ID,143
$MISSION,4
$DIVE,54
$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,270
$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,-4997.9463
$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,2085
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,21
$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
$GPS1,185502,5933.368,-2111.771,37,1.4,37,-14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-47.9
$GPS2,190345,5933.385,-2111.782,15,1.4,15,-14.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5933.385,-2117.254
$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,284.8,20000,-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,-194.7,0.0,0.0,0,151,0.00,0.00,-122.97,0.000,2,0.000,0.000,1464,2267,3639
$GC,153,-0.82,-194.7,3.4,-6.3,17,176,10.05,2.78,-5.03,0.000,4,0.258,0.064,2610,878,3865
$GC,437,-0.74,-194.7,56.4,-17.3,70,445,0.00,2.80,0.00,0.000,6,0.000,0.049,2616,2284,3866
$GC,641,-0.62,-194.7,92.3,-17.4,107,647,0.28,0.00,0.00,0.000,6,0.154,0.000,2657,2284,3866
$GC,841,-0.62,-194.7,119.8,-13.1,144,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2284,3866
$GC,1044,-0.62,-194.7,145.9,-12.8,181,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2284,3866
$GC,1245,-0.62,-194.7,171.9,-12.5,218,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2283,3866
$GC,1576,-0.62,-194.7,215.0,-12.9,279,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2284,3866
$GC,1906,-0.62,-194.7,259.0,-12.6,340,1914,0.00,2.80,0.00,0.000,4,0.000,0.054,2653,875,3866
$GC,1941,-0.62,-194.7,263.5,-12.5,346,1949,0.00,2.78,0.00,0.000,6,0.000,0.044,2657,2297,3866
$GC,2275,-0.62,-194.7,306.1,-13.4,407,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2297,3866
$GC,2603,-0.62,-194.7,349.3,-12.7,468,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2297,3866
$GC,2948,-0.62,-194.7,393.4,-12.8,529,2954,0.00,2.78,0.00,0.000,4,0.000,0.054,2653,877,3866
$GC,2993,-0.66,-194.7,399.1,-11.8,537,3000,0.00,2.72,0.00,0.000,6,0.000,0.044,2661,2285,3866
$GC,3336,-0.66,-194.7,442.7,-12.8,598,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2285,3866
$GC,3675,-0.66,-194.7,487.1,-13.6,659,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2285,3866
$GC,4016,-0.66,-194.7,532.2,-13.0,720,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2285,3866
$GC,4361,-0.66,-194.7,575.1,-12.6,781,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2285,3866
$GC,4695,-0.66,-194.7,617.6,-12.7,829,4700,0.00,2.78,0.00,0.000,4,0.000,0.061,2653,884,3866
$GC,4734,-0.70,-194.7,622.5,-12.0,832,4738,0.00,2.67,0.00,0.000,6,0.000,0.043,2656,2288,3866
$GC,5058,-0.70,-194.7,663.0,-12.3,862,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2288,3866
$GC,5376,-0.70,-194.7,701.6,-11.7,892,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2290,3866
$GC,5694,-0.70,-194.7,738.7,-11.7,922,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2292,3866
$GC,6013,-0.70,-194.7,778.0,-12.5,952,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2292,3866
$GC,6332,-0.70,-194.7,815.4,-11.5,982,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2292,3866
$GC,6650,-0.70,-194.7,851.6,-11.7,1012,6654,0.00,2.83,0.00,0.000,4,0.000,0.070,2653,887,3866
$GC,6693,-0.76,-194.7,856.6,-11.7,1015,6700,0.00,2.67,0.00,0.000,6,0.000,0.048,2654,2274,3865
$GC,7018,-0.76,-194.7,894.0,-11.4,1046,7023,0.00,2.88,0.00,0.000,4,0.000,0.065,2654,3709,3865
$GC,7061,-0.76,-194.7,899.1,-11.9,1049,7068,0.00,2.83,0.00,0.000,6,0.000,0.051,2653,2267,3865
$GC,7386,-0.76,-194.7,935.7,-11.8,1080,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2267,3865
$GC,7704,-0.76,-194.7,970.7,-10.7,1110,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2267,3865
$STATE,7893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7893,begin apogee
$GC,7898,-0.19,0.0,990.9,10.6,1128,8097,0.60,0.00,194.43,1.455,6,0.120,0.000,2756,2069,3071
$STATE,8098,end apogee,CONTROL_FINISHED_OK
$STATE,8098,begin climb
$GC,8100,0.82,194.7,999.0,0.0,1148,8308,1.23,3.12,198.40,1.374,4,0.085,0.071,2973,685,2278
$GC,8411,0.69,194.7,973.2,12.8,1177,8416,0.15,2.90,0.00,0.000,6,0.139,0.044,2953,2085,2275
$GC,8735,0.56,194.7,934.3,11.4,1207,8740,0.15,2.92,0.00,0.000,4,0.138,0.059,2929,3502,2273
$GC,8801,0.52,203.0,927.7,9.7,1212,8818,0.00,2.85,8.93,1.221,6,0.000,0.053,2929,2109,2244
$GC,9136,0.46,203.0,897.5,10.0,1244,9141,0.17,2.85,0.00,0.000,4,0.126,0.058,2901,3503,2243
$GC,9180,0.55,236.5,893.3,8.8,1247,9220,0.00,2.80,34.42,1.356,6,0.000,0.052,2899,2115,2107
$GC,9545,0.69,314.5,865.4,7.3,1282,9631,0.22,3.12,78.70,1.340,4,0.061,0.071,2947,674,1787
$GC,9725,0.69,314.5,842.6,13.5,1298,9732,0.00,2.92,0.00,0.000,6,0.000,0.044,2947,2127,1783
$GC,10051,0.62,314.5,800.3,12.4,1329,10056,0.00,3.03,0.00,0.000,4,0.000,0.071,2947,677,1781
$GC,10150,0.62,314.5,788.3,11.8,1337,10157,0.00,2.85,0.00,0.000,6,0.000,0.044,2948,2129,1781
$GC,10476,0.56,314.5,746.6,13.7,1368,10477,0.15,0.00,0.00,0.000,6,0.127,0.000,2925,2129,1780
$GC,10794,0.56,315.3,712.8,10.0,1398,10799,0.00,2.72,0.00,0.000,4,0.000,0.058,3041,3498,1779
$GC,10814,0.56,317.7,710.5,9.9,1399,10821,0.00,2.72,0.00,0.000,6,0.000,0.050,2925,2126,1778
$GC,11142,0.58,329.6,679.7,9.6,1430,11163,0.00,3.00,14.82,1.272,4,0.000,0.069,2924,676,1727
$GC,11272,0.62,329.6,666.6,10.0,1442,11277,0.00,2.85,0.00,0.000,6,0.000,0.042,2926,2140,1726
$GC,11597,0.65,351.3,635.8,9.2,1472,11628,0.00,3.08,23.23,1.276,4,0.000,0.067,2924,680,1637
$GC,11719,0.75,374.1,624.4,9.2,1483,11751,0.15,2.85,23.38,1.158,6,0.059,0.041,2963,2138,1546
$GC,12078,0.68,374.1,574.9,14.8,1531,12083,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2139,1541
$GC,12417,0.61,374.1,527.0,13.4,1592,12423,0.15,0.00,0.00,0.000,6,0.129,0.000,2936,2138,1541
$GC,12756,0.64,392.9,494.9,9.3,1653,12782,0.00,3.00,19.55,1.213,4,0.000,0.062,2931,672,1469
$GC,12801,0.70,406.8,490.8,9.5,1660,12824,0.00,2.83,15.77,1.007,6,0.000,0.039,2936,2130,1412
$GC,13159,0.81,448.9,456.9,8.5,1724,13205,0.17,0.00,42.65,1.081,6,0.058,0.000,2977,2130,1240
$GC,13543,0.70,448.9,388.7,19.5,1792,13549,0.15,2.97,0.00,0.000,4,0.133,0.062,2948,671,1235
$GC,13589,0.74,448.9,381.0,12.0,1800,13597,0.00,2.83,0.00,0.000,6,0.000,0.038,3045,2120,1234
$GC,13931,0.74,448.9,341.7,11.4,1861,13937,0.55,0.00,0.00,0.000,6,0.104,0.000,2957,2120,1234
$GC,14260,1.07,448.9,303.3,13.3,1922,14268,0.40,0.00,0.00,0.000,6,0.064,0.000,3023,2120,1232
$GC,14593,1.41,448.9,268.3,10.5,1983,14600,0.40,2.88,0.00,0.000,4,0.055,0.058,3018,671,1232
$GC,14688,1.31,448.9,253.8,19.6,2000,14696,0.30,2.78,0.00,0.000,6,0.053,0.040,3084,2108,1231
$GC,15024,0.89,448.9,122.8,39.5,2061,15030,0.55,0.00,0.00,0.000,6,0.167,0.000,2999,2108,1231
$GC,15227,0.69,448.9,68.6,24.2,2098,15235,0.28,2.90,0.00,0.000,4,0.151,0.063,2953,676,1231
$GC,15259,0.62,448.9,61.9,19.9,2103,15266,0.00,2.72,0.00,0.000,6,0.000,0.038,2955,2110,1231
$GC,15459,0.62,448.9,37.3,12.2,2140,15466,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2110,1231
$GC,15592,0.62,448.9,22.0,12.4,2165,15600,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2111,1231
$GC,15726,0.62,448.9,6.9,12.2,2190,15734,0.00,2.90,0.00,0.000,4,0.000,0.061,2953,672,1232
$GC,15752,0.69,448.9,3.7,12.5,2194,15760,0.00,2.72,0.00,0.000,6,0.000,0.038,2954,2094,1231
$STATE,15771,end climb,SURFACE_DEPTH_REACHED
$STATE,15771,begin surface coast
$FINISH,0.0,1.027339
$STATE,15789,end surface coast,CONTROL_FINISHED_OK
$STATE,15789,begin surface
$SM_CCo,15864,0.00,0.000,0,0,1230,451.60
$SM_GC,0.66,7.20,0.00,0.00,0.044,0.000,0.000,1467,2305,1230,-6.08,0.28,451.60
$IRIDIUM_FIX,5907.03,-2118.98,090797,141400
$TT8_MAMPS,0.021476
$HUMID,1646
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,12.80
$XPDR_PINGS,264
$24V_AH,19.7,26.392
$10V_AH,9.8,17.441
$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,23.300,109.200,654.275,0.000,0.000,30.677,33.082,338.373,66.000,0.000,0.000,17.185,3346.608,6850.039,732.331,4790.496,642.455,0.000,2506.643,0.000,4792.696,0.000,0.468
$DEVICE_MAMPS,258.479,71.331,1454.999,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1596.155,1590.038,932.114,874.664,2203.385,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,164453,2200
$CAP_FILE_SIZE,176209,0
$CFSIZE,260165632,251666432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140408,232938,5933.298,-2115.575,38,1.0,38,-14.9