version: 66.03
glider: 143
mission: 4
dive: 71
start: 4 18 108 8 11 54
data:
$ID,143
$MISSION,4
$DIVE,71
$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,2
$FERRY_MAX,45
$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,-5396.7769
$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,19
$R_STBD_OVSHOOT,16
$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
$GPS1,080402,5936.930,-2235.512,36,1.1,36,-15.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-51.9
$GPS2,081133,5936.922,-2235.653,15,1.1,15,-15.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5936.922,-2241.115
$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,274.4,20000,-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,-194.7,0.0,0.0,0,128,0.00,0.00,-100.75,0.000,2,0.000,0.000,1463,2299,3622
$GC,130,-0.82,-194.7,3.5,-7.3,11,151,10.10,2.90,-5.40,0.000,4,0.258,0.065,2610,890,3869
$GC,382,-0.73,-194.7,52.6,-19.1,53,390,0.17,2.78,0.00,0.000,6,0.151,0.049,2637,2296,3869
$GC,594,-0.65,-194.7,88.7,-17.6,90,603,0.12,0.00,0.00,0.000,6,0.137,0.000,2655,2297,3869
$GC,807,-0.65,-194.7,117.9,-12.5,127,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2297,3870
$GC,1015,-0.65,-194.7,146.0,-13.7,164,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2297,3870
$GC,1229,-0.65,-194.7,174.1,-13.1,201,1236,0.00,2.78,0.00,0.000,4,0.000,0.053,2655,881,3870
$GC,1272,-0.65,-194.7,179.9,-12.8,208,1282,0.00,2.75,0.00,0.000,6,0.000,0.044,2658,2287,3869
$GC,1621,-0.65,-194.7,225.3,-12.6,269,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2288,3870
$GC,1964,-0.65,-194.7,270.4,-12.8,330,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2288,3869
$GC,2312,-0.65,-194.7,314.0,-12.6,391,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2288,3870
$GC,2657,-0.65,-194.7,356.7,-12.2,452,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2288,3870
$GC,2998,-0.65,-194.7,398.9,-12.3,513,3006,0.00,2.75,0.00,0.000,4,0.000,0.054,2657,874,3869
$GC,3041,-0.65,-194.7,404.0,-11.6,520,3049,0.10,2.70,0.00,0.000,6,0.068,0.043,2646,2288,3870
$GC,3382,-0.59,-194.7,452.7,-14.3,581,3389,0.15,0.00,0.00,0.000,6,0.132,0.000,2666,2288,3869
$GC,3720,-0.59,-194.7,492.3,-11.4,642,3728,0.00,2.75,0.00,0.000,4,0.000,0.054,2659,878,3870
$GC,3764,-0.59,-194.7,496.9,-11.0,649,3772,0.00,2.67,0.00,0.000,6,0.000,0.042,2669,2281,3869
$GC,4108,-0.59,-194.7,536.7,-12.0,710,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2281,3870
$GC,4449,-0.59,-194.7,579.0,-12.3,771,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2280,3870
$GC,4782,-0.59,-194.7,622.0,-12.6,816,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2281,3869
$GC,5101,-0.59,-194.7,661.2,-12.2,846,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2280,3869
$GC,5420,-0.59,-194.7,700.3,-11.8,876,5424,0.00,2.85,0.00,0.000,4,0.000,0.071,2657,880,3870
$GC,5463,-0.64,-194.7,705.3,-10.9,879,5471,0.00,2.70,0.00,0.000,6,0.000,0.050,2664,2268,3870
$GC,5788,-0.64,-194.7,742.8,-11.5,910,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2271,3870
$GC,6106,-0.64,-194.7,778.4,-10.8,940,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2272,3869
$GC,6425,-0.64,-194.7,814.3,-12.3,970,6426,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2272,3869
$GC,6743,-0.64,-194.7,855.9,-12.6,1000,6744,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2272,3869
$GC,7062,-0.64,-194.7,895.4,-11.7,1030,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2272,3868
$GC,7380,-0.64,-194.7,932.3,-11.3,1060,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2272,3868
$GC,7699,-0.64,-194.7,968.2,-11.5,1090,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2273,3867
$STATE,7899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7899,begin apogee
$GC,7903,-0.19,0.0,990.4,10.8,1109,8106,0.55,0.00,196.27,1.456,6,0.120,0.000,2754,2046,3071
$STATE,8107,end apogee,CONTROL_FINISHED_OK
$STATE,8107,begin climb
$GC,8109,0.82,194.7,998.0,0.0,1129,8320,1.25,3.22,201.25,1.375,4,0.092,0.072,2966,653,2277
$GC,8342,0.71,194.7,980.0,11.9,1149,8350,0.00,2.97,0.00,0.000,6,0.000,0.044,2968,2050,2274
$GC,8668,0.57,194.7,936.7,13.7,1180,8673,0.25,2.95,0.00,0.000,4,0.133,0.060,2926,3466,2272
$GC,8752,0.57,194.7,926.7,11.9,1187,8757,0.00,2.85,0.00,0.000,6,0.000,0.053,2927,2078,2271
$GC,9078,0.53,194.7,892.7,10.3,1217,9082,0.00,2.83,0.00,0.000,4,0.000,0.059,2926,3462,2270
$GC,9116,0.53,194.7,888.4,11.5,1220,9121,0.00,2.78,0.00,0.000,6,0.000,0.051,2927,2086,2270
$GC,9442,0.49,194.7,855.1,10.0,1250,9446,0.00,2.80,0.00,0.000,4,0.000,0.058,2926,3467,2270
$GC,9484,0.49,194.7,850.1,10.8,1253,9492,0.00,2.75,0.00,0.000,6,0.000,0.051,2927,2108,2269
$GC,9811,0.49,227.0,819.3,8.9,1284,9854,0.00,3.10,32.15,1.463,4,0.000,0.072,2927,636,2144
$GC,9968,0.52,258.0,804.8,8.9,1298,10008,0.12,2.95,31.77,1.315,6,0.124,0.044,2912,2123,2018
$GC,10332,0.60,323.2,777.5,7.7,1332,10405,0.00,3.30,65.90,1.302,4,0.000,0.071,2909,637,1752
$GC,10485,0.74,352.1,765.1,9.0,1345,10523,0.12,3.00,30.52,1.241,6,0.108,0.043,2905,2130,1635
$GC,10838,1.09,375.0,733.4,9.2,1378,10874,0.68,3.17,23.70,1.299,4,0.061,0.070,3024,640,1540
$GC,10935,0.94,375.0,717.1,19.9,1386,10943,0.15,2.88,0.00,0.000,6,0.154,0.045,3008,2074,1538
$GC,11260,0.74,375.0,644.3,23.4,1417,11265,0.28,2.80,0.00,0.000,4,0.152,0.054,2961,3468,1536
$GC,11303,0.74,375.0,635.6,17.1,1420,11311,0.00,2.78,0.00,0.000,6,0.000,0.048,2961,2082,1535
$GC,11634,0.68,375.0,587.0,13.8,1459,11640,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2081,1535
$GC,11974,0.62,375.0,537.9,14.1,1520,11982,0.15,2.75,0.00,0.000,4,0.132,0.051,2935,3470,1535
$GC,12007,0.62,375.0,533.8,13.4,1525,12015,0.00,2.70,0.00,0.000,6,0.000,0.045,2935,2089,1534
$GC,12350,0.65,399.2,500.5,9.2,1586,12386,0.00,2.97,25.30,1.276,4,0.000,0.063,2935,644,1442
$GC,12392,0.70,440.7,496.6,8.6,1592,12443,0.00,2.88,43.08,1.063,6,0.000,0.039,2937,2119,1273
$GC,12779,0.83,482.5,463.1,8.6,1659,12829,0.20,0.00,43.38,1.099,6,0.054,0.000,2982,2119,1104
$GC,13167,0.73,482.5,391.8,18.6,1726,13175,0.15,3.00,0.00,0.000,4,0.133,0.061,2959,644,1099
$GC,13214,0.78,482.5,384.4,12.1,1734,13223,0.00,2.83,0.00,0.000,6,0.000,0.039,2962,2110,1097
$GC,13558,0.78,482.5,337.4,14.1,1795,13564,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2110,1097
$GC,13900,0.78,482.5,286.4,15.1,1856,13909,0.00,2.97,0.00,0.000,4,0.000,0.062,2958,645,1096
$GC,13946,0.86,482.5,280.2,12.9,1863,13955,0.12,2.75,0.00,0.000,6,0.059,0.038,2990,2090,1095
$GC,14293,0.73,482.5,208.7,20.8,1924,14302,0.17,0.00,0.00,0.000,6,0.137,0.000,2962,2090,1095
$GC,14643,0.73,482.5,159.2,13.9,1985,14650,0.00,2.92,0.00,0.000,4,0.000,0.062,2961,635,1095
$GC,14685,0.80,482.5,153.5,12.2,1992,14694,0.00,2.75,0.00,0.000,6,0.000,0.038,2975,2066,1094
$GC,15034,0.80,482.5,109.2,14.4,2053,15040,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2065,1094
$GC,15243,0.80,482.5,80.6,15.1,2090,15251,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2066,1094
$GC,15456,0.80,482.5,52.3,11.8,2127,15463,0.00,2.85,0.00,0.000,4,0.000,0.063,2960,642,1094
$GC,15484,0.80,482.5,49.1,11.8,2131,15493,0.00,2.70,0.00,0.000,6,0.000,0.038,2994,2053,1094
$GC,15631,0.80,482.5,32.6,11.3,2156,15640,0.00,2.78,0.00,0.000,4,0.000,0.051,2960,3458,1094
$GC,15655,0.85,482.5,30.0,11.6,2159,15665,0.08,2.78,0.00,0.000,6,0.054,0.044,2983,2045,1094
$GC,15806,0.79,482.5,6.0,16.3,2184,15815,0.00,2.85,0.00,0.000,4,0.000,0.066,2983,635,1094
$STATE,15827,end climb,SURFACE_DEPTH_REACHED
$STATE,15828,begin surface coast
$FINISH,0.4,1.027291
$STATE,15841,end surface coast,CONTROL_FINISHED_OK
$STATE,15841,begin surface
$SM_CCo,15919,0.00,0.000,0,0,1092,485.20
$SM_GC,0.63,7.40,0.00,0.00,0.041,0.000,0.000,1472,2299,1092,-6.08,0.08,485.20
$IRIDIUM_FIX,5911.23,-2236.21,130797,030351
$TT8_MAMPS,0.021476
$HUMID,1652
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,12.30
$XPDR_PINGS,243
$24V_AH,19.6,31.334
$10V_AH,9.8,21.732
$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,22.325,120.875,693.325,0.000,0.000,25.492,30.179,274.204,60.750,0.000,0.000,16.587,4336.733,5853.701,847.396,4737.881,572.663,0.000,2571.635,0.000,4742.331,0.000,0.467
$DEVICE_MAMPS,257.712,72.098,1462.669,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1593.423,1582.328,874.374,852.193,2206.311,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,164312,2189
$CAP_FILE_SIZE,172941,0
$CFSIZE,260165632,249749504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.010,167.3,1
$GPS,180408,123846,5936.318,-2240.837,39,99.0,58,-15.6