version: 66.03
glider: 143
mission: 4
dive: 57
start: 4 15 108 9 25 22
data:
$ID,143
$MISSION,4
$DIVE,57
$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,-5042.918
$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,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
$GPS1,091308,5935.141,-2127.592,34,2.0,34,-15.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-30.5
$GPS2,092503,5935.243,-2127.846,14,1.7,14,-15.0
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5935.243,-2133.313
$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,285.0,20000,-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,-194.7,0.0,0.0,0,157,0.00,0.00,-128.90,0.000,2,0.000,0.000,1470,2315,3671
$GC,159,-0.82,-194.7,3.5,-6.7,18,183,9.85,2.88,-4.30,0.000,4,0.252,0.060,2614,885,3868
$GC,425,-0.74,-194.7,58.7,-21.0,67,432,0.15,2.75,0.00,0.000,6,0.156,0.046,2635,2289,3869
$GC,625,-0.67,-194.7,91.8,-15.0,104,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2289,3869
$GC,830,-0.60,-194.7,123.3,-14.5,141,836,0.15,0.00,0.00,0.000,6,0.152,0.000,2660,2289,3870
$GC,1030,-0.60,-194.7,150.8,-13.8,178,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2289,3869
$GC,1362,-0.60,-194.7,195.9,-14.0,239,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2289,3870
$GC,1690,-0.60,-194.7,239.6,-13.0,300,1698,0.00,2.80,0.00,0.000,4,0.000,0.054,2658,878,3869
$GC,1734,-0.64,-194.7,244.7,-12.4,307,1740,0.00,2.75,0.00,0.000,6,0.000,0.044,2660,2305,3869
$GC,2065,-0.64,-194.7,285.9,-11.7,368,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2305,3869
$GC,2397,-0.64,-194.7,325.7,-11.9,429,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2305,3869
$GC,2733,-0.64,-194.7,364.8,-12.2,490,2739,0.00,2.78,0.00,0.000,4,0.000,0.054,2658,882,3869
$GC,2778,-0.69,-194.7,370.0,-10.9,498,2785,0.00,2.72,0.00,0.000,6,0.000,0.042,2660,2292,3869
$GC,3121,-0.69,-194.7,408.7,-11.4,559,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2292,3869
$GC,3460,-0.69,-194.7,445.8,-10.9,620,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2292,3869
$GC,3800,-0.69,-194.7,483.0,-10.5,681,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2292,3869
$GC,4141,-0.69,-194.7,520.7,-11.4,742,4147,0.00,2.75,0.00,0.000,4,0.000,0.054,2659,883,3869
$GC,4182,-0.74,-194.7,525.3,-11.6,749,4188,0.00,2.67,0.00,0.000,6,0.000,0.041,2660,2291,3869
$GC,4524,-0.74,-194.7,564.8,-11.7,810,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2291,3869
$GC,4868,-0.74,-194.7,605.4,-11.9,868,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2291,3869
$GC,5186,-0.74,-194.7,642.6,-11.7,898,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2291,3869
$GC,5505,-0.74,-194.7,679.0,-11.5,928,5509,0.00,2.83,0.00,0.000,4,0.000,0.067,2658,881,3869
$GC,5543,-0.79,-194.7,683.3,-10.9,931,5549,0.17,2.70,0.00,0.000,6,0.053,0.047,2621,2284,3869
$GC,5867,-0.70,-194.7,733.3,-16.2,961,5869,0.15,0.00,0.00,0.000,6,0.142,0.000,2642,2286,3869
$GC,6187,-0.70,-194.7,778.4,-13.9,991,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2287,3869
$GC,6504,-0.70,-194.7,820.2,-12.9,1021,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2288,3869
$GC,6823,-0.70,-194.7,861.5,-12.9,1051,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2288,3868
$GC,7141,-0.70,-194.7,901.0,-12.4,1081,7146,0.00,2.83,0.00,0.000,4,0.000,0.067,2640,877,3868
$GC,7180,-0.70,-194.7,905.7,-12.1,1084,7185,0.00,2.72,0.00,0.000,6,0.000,0.049,2645,2283,3868
$GC,7504,-0.70,-194.7,946.3,-12.3,1114,7509,0.00,2.85,0.00,0.000,4,0.000,0.065,2640,3706,3868
$GC,7542,-0.70,-194.7,951.2,-12.8,1117,7547,0.00,2.80,0.00,0.000,6,0.000,0.050,2640,2268,3868
$STATE,7866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7866,begin apogee
$GC,7870,-0.19,0.0,991.0,12.3,1147,8069,0.68,0.00,195.00,1.458,6,0.130,0.000,2754,2042,3071
$STATE,8070,end apogee,CONTROL_FINISHED_OK
$STATE,8070,begin climb
$GC,8072,0.82,194.7,1000.0,0.0,1167,8280,1.25,3.15,198.57,1.372,4,0.087,0.071,2973,653,2277
$GC,8359,0.69,194.7,976.0,13.3,1194,8365,0.15,2.90,0.00,0.000,6,0.136,0.044,2954,2051,2273
$GC,8683,0.57,194.7,936.3,12.4,1224,8688,0.17,2.92,0.00,0.000,4,0.136,0.058,2926,3470,2272
$GC,8745,0.52,194.7,929.6,10.9,1229,8749,0.00,2.85,0.00,0.000,6,0.000,0.051,2926,2071,2272
$GC,9070,0.48,205.2,898.1,9.6,1259,9090,0.00,2.97,10.93,1.290,4,0.000,0.070,2926,635,2234
$GC,9185,0.49,210.9,886.2,9.8,1269,9201,0.00,2.88,7.28,1.211,6,0.000,0.044,2927,2093,2211
$GC,9519,0.46,221.7,852.9,9.6,1301,9534,0.15,0.00,12.45,1.338,6,0.126,0.000,2900,2093,2167
$GC,9853,0.56,307.7,829.2,7.0,1332,9946,0.00,3.17,85.88,1.324,4,0.000,0.070,2900,637,1815
$GC,9980,0.75,368.0,820.0,7.9,1344,10053,0.32,3.00,61.78,1.265,6,0.047,0.042,2968,2121,1569
$GC,10370,0.64,368.0,756.7,17.0,1381,10372,0.17,0.00,0.00,0.000,6,0.133,0.000,2943,2121,1561
$GC,10690,0.64,368.0,717.0,11.9,1411,10691,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2121,1560
$GC,11006,0.64,368.0,678.6,12.3,1441,11011,0.00,3.05,0.00,0.000,4,0.000,0.069,2942,638,1559
$GC,11038,0.64,368.0,674.6,11.9,1443,11045,0.00,2.88,0.00,0.000,6,0.000,0.043,2942,2118,1559
$GC,11363,0.64,368.0,636.6,11.4,1474,11365,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2118,1559
$GC,11681,0.64,368.0,599.1,11.6,1504,11687,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2118,1559
$GC,12020,0.64,368.0,561.5,11.5,1565,12026,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2118,1558
$GC,12360,0.65,375.6,524.8,9.7,1626,12373,0.00,2.97,6.82,0.982,4,0.000,0.064,2942,641,1538
$GC,12379,0.65,375.6,522.7,10.6,1629,12385,0.00,2.80,0.00,0.000,6,0.000,0.038,2943,2117,1538
$GC,12720,0.65,375.6,484.3,10.5,1690,12727,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2117,1537
$GC,13063,0.65,375.6,445.3,11.2,1751,13068,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2117,1537
$GC,13402,0.65,375.6,406.2,11.1,1812,13409,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2117,1537
$GC,13746,0.65,375.6,368.1,10.1,1873,13751,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2117,1537
$GC,14080,0.66,386.8,332.0,9.6,1934,14102,0.00,3.00,12.50,1.004,4,0.000,0.062,2941,641,1493
$GC,14125,0.66,386.8,327.4,10.2,1941,14132,0.00,2.80,0.00,0.000,6,0.000,0.038,2944,2115,1493
$GC,14456,0.66,386.8,291.1,10.6,2002,14464,0.00,2.65,0.00,0.000,4,0.000,0.048,2941,3466,1492
$GC,14482,0.66,386.8,288.3,11.4,2006,14490,0.00,2.67,0.00,0.000,6,0.000,0.043,2942,2097,1491
$GC,14816,0.66,386.8,251.1,11.3,2067,14822,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2097,1491
$GC,15145,0.66,386.8,213.7,11.8,2128,15152,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2097,1492
$GC,15478,0.66,386.8,177.3,10.4,2189,15483,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2097,1492
$GC,15805,0.66,386.8,141.1,10.8,2250,15814,0.00,2.67,0.00,0.000,4,0.000,0.049,2941,3459,1492
$GC,15827,0.66,386.8,138.8,11.2,2253,15833,0.00,2.60,0.00,0.000,6,0.000,0.042,2942,2099,1491
$GC,16029,0.66,386.8,117.4,10.1,2290,16038,0.00,2.90,0.00,0.000,4,0.000,0.064,2942,645,1491
$GC,16054,0.71,386.8,114.8,10.5,2294,16061,0.00,2.78,0.00,0.000,6,0.000,0.038,2943,2101,1491
$GC,16259,0.80,453.3,97.1,7.7,2331,16335,0.15,2.78,64.20,0.899,4,0.065,0.049,2977,3468,1222
$GC,16348,0.72,453.3,83.4,17.2,2345,16354,0.00,2.72,0.00,0.000,6,0.000,0.044,2977,2103,1221
$GC,16549,0.62,453.3,49.1,18.7,2382,16557,0.22,3.00,0.00,0.000,4,0.121,0.064,2938,643,1216
$GC,16591,0.87,545.6,44.6,6.8,2389,16694,0.20,2.80,89.70,0.781,6,0.141,0.038,3002,2081,845
$STATE,16809,end climb,SURFACE_DEPTH_REACHED
$STATE,16809,begin surface coast
$FINISH,1.1,1.027320
$STATE,16816,end surface coast,CONTROL_FINISHED_OK
$STATE,16816,begin surface
$SM_CCo,16892,0.00,0.000,0,0,838,547.75
$SM_GC,0.34,7.85,0.00,0.00,0.054,0.000,0.000,1469,2316,838,-6.10,0.59,547.75
$IRIDIUM_FIX,5911.23,-2126.02,100797,090948
$TT8_MAMPS,0.021476
$HUMID,1628
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,12.80
$XPDR_PINGS,293
$24V_AH,19.7,27.323
$10V_AH,9.7,18.176
$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,21.800,108.600,745.100,0.000,0.000,61.819,88.100,374.283,73.250,0.000,0.000,16.292,3637.739,7097.040,780.543,5262.090,804.031,0.000,2732.981,0.000,5281.796,0.000,0.468
$DEVICE_MAMPS,251.576,71.331,1458.067,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1757.783,1762.723,1051.276,958.501,2508.131,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,183461,2426
$CAP_FILE_SIZE,186950,0
$CFSIZE,260165632,251310080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150408,140825,5936.524,-2136.490,41,1.4,57,-15.1