version: 66.03
glider: 143
mission: 4
dive: 55
start: 4 14 108 23 40 31
data:
$ID,143
$MISSION,4
$DIVE,55
$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,-5008.5215
$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,16
$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
$GPS1,232938,5933.298,-2115.575,38,1.0,38,-14.9
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-47.0
$GPS2,234014,5933.340,-2115.667,8,1.8,8,-14.9
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5933.340,-2121.138
$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,284.9,20000,-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,-194.7,0.0,0.0,0,137,0.00,0.00,-108.28,0.000,2,0.000,0.000,1466,2306,3616
$GC,139,-0.82,-194.7,3.6,-8.0,15,163,10.07,2.85,-5.47,0.000,4,0.259,0.064,2611,884,3866
$GC,382,-0.74,-194.7,50.5,-17.2,60,390,0.00,2.80,0.00,0.000,6,0.000,0.049,2630,2286,3866
$GC,586,-0.62,-194.7,86.6,-17.8,97,592,0.15,0.00,0.00,0.000,6,0.153,0.000,2661,2286,3867
$GC,786,-0.55,-194.7,117.3,-14.5,134,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2287,3867
$GC,989,-0.49,-194.7,147.3,-14.5,171,996,0.17,0.00,0.00,0.000,6,0.146,0.000,2688,2286,3866
$GC,1190,-0.49,-194.7,173.1,-12.6,208,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2286,3867
$GC,1522,-0.49,-194.7,212.7,-11.8,269,1528,0.00,2.78,0.00,0.000,4,0.000,0.053,2660,874,3867
$GC,1568,-0.54,-194.7,217.9,-10.9,277,1575,0.00,2.78,0.00,0.000,6,0.000,0.044,2664,2309,3866
$GC,1898,-0.54,-194.7,254.9,-11.4,338,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2309,3867
$GC,2231,-0.54,-194.7,290.9,-10.2,399,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2309,3867
$GC,2560,-0.54,-194.7,326.8,-11.1,460,2568,0.00,2.83,0.00,0.000,4,0.000,0.053,2660,879,3867
$GC,2605,-0.60,-194.7,331.4,-10.8,467,2611,0.00,2.72,0.00,0.000,6,0.000,0.042,2666,2304,3866
$GC,2940,-0.60,-194.7,369.3,-11.5,528,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2304,3867
$GC,3284,-0.60,-194.7,409.5,-11.3,589,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2304,3867
$GC,3623,-0.60,-194.7,450.6,-12.4,650,3629,0.00,2.78,0.00,0.000,4,0.000,0.054,2660,881,3866
$GC,3663,-0.65,-194.7,455.2,-11.1,657,3670,0.00,2.67,0.00,0.000,6,0.000,0.041,2661,2294,3866
$GC,4004,-0.65,-194.7,495.8,-12.1,718,4010,0.00,2.75,0.00,0.000,4,0.000,0.053,2660,3706,3866
$GC,4043,-0.65,-194.7,500.7,-12.0,725,4050,0.00,2.72,0.00,0.000,6,0.000,0.041,2660,2273,3867
$GC,4384,-0.65,-194.7,541.4,-11.7,786,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2270,3867
$GC,4725,-0.65,-194.7,581.2,-11.4,847,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2270,3867
$GC,5055,-0.65,-194.7,620.4,-11.7,892,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2270,3867
$GC,5374,-0.65,-194.7,656.7,-10.9,922,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2269,3866
$GC,5693,-0.65,-194.7,692.0,-10.7,952,5694,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2270,3867
$GC,6011,-0.65,-194.7,726.7,-11.1,982,6012,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2270,3866
$GC,6330,-0.65,-194.7,760.9,-10.4,1012,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2270,3866
$GC,6649,-0.65,-194.7,795.4,-11.3,1042,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2270,3867
$GC,6967,-0.65,-194.7,830.7,-11.5,1072,6971,0.00,2.88,0.00,0.000,4,0.000,0.064,2660,3705,3867
$GC,7010,-0.69,-194.7,835.8,-11.5,1075,7017,0.00,2.78,0.00,0.000,6,0.000,0.052,2660,2289,3867
$GC,7335,-0.69,-194.7,871.6,-10.7,1106,7340,0.00,2.80,0.00,0.000,4,0.000,0.069,2660,883,3867
$GC,7379,-0.78,-194.7,876.5,-10.7,1109,7386,0.17,2.67,0.00,0.000,6,0.054,0.048,2621,2269,3867
$GC,7703,-0.72,-194.7,922.2,-14.1,1140,7705,0.12,0.00,0.00,0.000,6,0.134,0.000,2639,2271,3866
$GC,8022,-0.72,-194.7,961.4,-12.7,1170,8027,0.00,2.88,0.00,0.000,4,0.000,0.065,2639,3710,3865
$GC,8061,-0.72,-194.7,966.3,-12.7,1173,8065,0.00,2.83,0.00,0.000,6,0.000,0.052,2639,2270,3866
$STATE,8255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8255,begin apogee
$GC,8260,-0.19,0.0,990.9,12.4,1191,8459,0.68,0.00,195.62,1.462,6,0.128,0.000,2753,2072,3071
$STATE,8460,end apogee,CONTROL_FINISHED_OK
$STATE,8460,begin climb
$GC,8462,0.82,194.7,999.3,0.0,1211,8676,1.25,3.12,199.68,1.373,4,0.088,0.070,2971,688,2275
$GC,8736,0.69,194.7,976.9,13.7,1237,8743,0.00,2.92,0.00,0.000,6,0.000,0.045,2972,2087,2272
$GC,9064,0.54,194.7,933.8,13.5,1268,9069,0.30,2.92,0.00,0.000,4,0.131,0.059,2923,3500,2271
$GC,9125,0.54,194.7,926.7,10.1,1273,9130,0.00,2.85,0.00,0.000,6,0.000,0.053,2924,2105,2270
$GC,9450,0.52,215.9,897.4,9.3,1303,9481,0.00,2.97,21.30,1.444,4,0.000,0.070,2922,677,2189
$GC,9594,0.56,249.1,883.5,8.9,1316,9636,0.00,2.88,34.33,1.312,6,0.000,0.045,2923,2123,2055
$GC,9954,0.57,259.6,850.0,9.6,1350,9975,0.00,2.88,11.57,1.303,4,0.000,0.059,2923,3495,2011
$GC,10031,0.57,259.6,842.3,10.0,1357,10035,0.00,2.78,0.00,0.000,6,0.000,0.050,2924,2126,2009
$GC,10355,0.61,290.8,813.1,8.9,1387,10396,0.00,3.10,32.55,1.320,4,0.000,0.070,2922,674,1884
$GC,10401,0.58,327.7,808.6,8.7,1391,10449,0.00,2.95,38.08,1.259,6,0.000,0.044,2923,2147,1734
$GC,10766,0.58,331.5,773.5,9.9,1426,10778,0.00,2.78,4.45,0.897,4,0.000,0.058,2922,3504,1719
$GC,10881,0.63,331.5,762.1,10.3,1436,10886,0.00,2.80,0.00,0.000,6,0.000,0.052,2923,2118,1717
$GC,11205,0.64,347.0,732.1,9.5,1466,11229,0.00,3.03,17.40,1.343,4,0.000,0.070,2922,679,1656
$GC,11241,0.27,374.7,728.6,9.0,1469,11279,0.38,2.88,28.85,1.193,6,0.097,0.041,2858,2137,1543
$GC,11596,0.60,374.7,690.1,12.2,1503,11598,0.38,0.00,0.00,0.000,6,0.062,0.000,2930,2137,1537
$GC,11917,0.93,433.0,661.7,8.0,1533,11984,0.32,2.85,59.60,1.230,4,0.067,0.056,2997,3503,1305
$GC,12056,0.87,433.0,643.1,16.1,1545,12062,0.00,2.65,0.00,0.000,6,0.000,0.048,2998,2200,1301
$GC,12388,0.68,433.0,567.5,24.3,1588,12395,0.28,3.12,0.00,0.000,4,0.145,0.064,2953,669,1297
$GC,12462,0.68,433.0,555.1,11.7,1601,12468,0.00,2.95,0.00,0.000,6,0.000,0.041,2954,2182,1296
$GC,12802,0.68,433.0,507.5,13.6,1662,12809,0.00,3.05,0.00,0.000,4,0.000,0.063,2953,669,1296
$GC,12844,0.68,433.0,502.2,12.6,1669,12851,0.25,2.88,0.00,0.000,6,0.108,0.039,2946,2164,1296
$GC,13186,0.94,530.8,478.8,6.6,1730,13294,0.35,3.22,100.05,1.093,4,0.046,0.063,2990,674,906
$GC,13319,0.80,530.8,453.2,25.2,1753,13326,0.00,2.95,0.00,0.000,6,0.000,0.039,2991,2152,903
$GC,13661,0.61,530.8,367.4,27.9,1814,13667,0.32,3.03,0.00,0.000,4,0.141,0.062,2937,672,900
$GC,13718,0.73,530.8,357.7,10.3,1824,13725,0.00,2.80,0.00,0.000,6,0.000,0.038,2951,2108,898
$GC,14055,0.93,589.9,329.8,8.0,1885,14119,0.22,3.08,57.97,1.004,4,0.048,0.063,2992,670,665
$GC,14147,0.82,589.9,312.9,22.9,1900,14155,0.15,2.83,0.00,0.000,6,0.122,0.038,2981,2086,663
$GC,14482,0.82,589.9,253.5,16.5,1961,14488,0.00,2.88,0.00,0.000,4,0.000,0.062,2967,667,661
$GC,14529,0.87,589.9,246.0,14.5,1969,14535,0.12,2.70,0.00,0.000,6,0.109,0.038,2967,2067,659
$GC,14859,1.07,643.3,215.2,8.2,2030,14905,0.32,0.00,41.47,0.949,6,0.044,0.000,3035,2067,490
$GC,15232,0.77,643.3,79.8,37.6,2097,15239,0.38,2.85,0.00,0.000,4,0.153,0.069,2965,674,485
$GC,15313,0.89,643.3,61.3,10.6,2111,15319,0.00,2.65,0.00,0.000,6,0.000,0.038,2974,2052,483
$GC,15513,0.96,643.3,40.7,10.1,2148,15522,0.15,2.88,0.00,0.000,4,0.061,0.050,3001,3497,483
$GC,15534,1.01,643.3,38.0,12.6,2151,15543,0.00,2.90,0.00,0.000,6,0.000,0.046,3001,2039,483
$GC,15670,0.86,643.3,8.7,27.9,2176,15678,0.00,2.78,0.00,0.000,4,0.000,0.067,3001,677,483
$STATE,15695,end climb,SURFACE_DEPTH_REACHED
$STATE,15695,begin surface coast
$FINISH,0.8,1.027317
$STATE,15702,end surface coast,CONTROL_FINISHED_OK
$STATE,15702,begin surface
$SM_CCo,15787,0.00,0.000,0,0,480,635.57
$SM_GC,0.32,14.65,0.00,0.00,0.264,0.000,0.000,1502,2305,480,-5.98,0.28,635.57
$IRIDIUM_FIX,5911.23,-2115.03,090797,232312
$TT8_MAMPS,0.021476
$HUMID,1647
$INTERNAL_PRESSURE,8.08625
$TCM_TEMP,12.20
$XPDR_PINGS,269
$24V_AH,19.7,26.731
$10V_AH,9.8,17.665
$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,31.200,143.925,842.925,0.000,0.000,53.960,63.463,345.260,67.250,0.000,0.000,9.949,3282.082,6812.339,872.157,4723.043,711.374,0.000,2683.170,0.000,4730.833,0.000,0.468
$DEVICE_MAMPS,263.848,69.797,1461.902,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1578.628,1577.735,907.999,833.205,2149.966,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,164796,2181
$CAP_FILE_SIZE,182339,8
$CFSIZE,260165632,251559936
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,14,0,0,0
$GPS,150408,040438,5934.243,-2120.350,26,1.6,26,-14.9