version: 66.03
glider: 143
mission: 4
dive: 103
start: 4 24 108 20 17 45
data:
$ID,143
$MISSION,4
$DIVE,103
$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,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,240
$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,-6058.2236
$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,32
$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
$GPS1,201126,6054.652,-2231.087,39,1.1,39,-16.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-49.1
$GPS2,201726,6054.677,-2231.073,8,0.9,13,-16.2
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6049.278,-2235.632
$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,256.2,20000,-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,-194.7,0.0,0.0,0,144,0.00,0.00,-116.00,0.000,2,0.000,0.000,1470,2317,3603
$GC,146,-0.82,-194.7,3.4,-5.6,16,170,10.20,2.83,-5.72,0.000,4,0.261,0.060,2611,880,3866
$GC,297,-0.75,-194.7,34.1,-16.2,43,305,0.00,2.80,0.00,0.000,6,0.000,0.050,2619,2279,3867
$GC,431,-0.63,-194.7,58.4,-18.1,68,438,0.22,0.00,0.00,0.000,6,0.150,0.000,2655,2279,3867
$GC,764,-0.63,-194.7,104.5,-14.0,129,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2279,3867
$GC,1094,-0.63,-194.7,148.9,-13.0,190,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2279,3867
$GC,1433,-0.63,-194.7,194.4,-13.5,251,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2279,3867
$GC,1771,-0.63,-194.7,239.8,-13.5,312,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2280,3867
$GC,2114,-0.63,-194.7,285.7,-13.2,373,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2279,3867
$GC,2453,-0.63,-194.7,331.7,-13.2,434,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2279,3867
$GC,2782,-0.63,-194.7,375.4,-13.0,477,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2279,3867
$GC,3101,-0.63,-194.7,416.9,-13.2,507,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2279,3867
$GC,3423,-0.63,-194.7,458.6,-13.1,537,3428,0.00,2.75,0.00,0.000,4,0.000,0.054,2648,877,3867
$GC,3444,-0.63,-194.7,462.0,-13.7,538,3451,0.00,2.75,0.00,0.000,6,0.000,0.044,2654,2297,3867
$GC,3772,-0.63,-194.7,504.4,-13.6,569,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2296,3867
$GC,4088,-0.63,-194.7,546.2,-13.1,599,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2297,3867
$GC,4405,-0.63,-194.7,586.3,-12.5,629,4410,0.00,2.78,0.00,0.000,4,0.000,0.056,2649,884,3867
$GC,4437,-0.63,-194.7,590.4,-12.6,631,4444,0.00,2.70,0.00,0.000,6,0.000,0.043,2654,2281,3867
$GC,4765,-0.63,-194.7,631.2,-12.5,651,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2282,3867
$GC,5074,-0.63,-194.7,669.0,-12.2,666,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2282,3867
$GC,5383,-0.63,-194.7,706.4,-11.9,681,5388,0.00,2.83,0.00,0.000,4,0.000,0.069,2650,881,3867
$GC,5421,-0.63,-194.7,710.8,-11.4,683,5426,0.00,2.72,0.00,0.000,6,0.000,0.050,2648,2285,3867
$GC,5747,-0.63,-194.7,749.1,-12.1,699,5748,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2286,3867
$GC,6056,-0.63,-194.7,787.3,-12.4,714,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2288,3867
$GC,6365,-0.63,-194.7,826.4,-12.8,729,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2289,3866
$GC,6675,-0.63,-194.7,864.9,-12.3,744,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2290,3866
$GC,6984,-0.63,-194.7,902.4,-12.1,759,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2289,3866
$GC,7293,-0.63,-194.7,938.2,-11.3,774,7298,0.00,2.83,0.00,0.000,4,0.000,0.067,2647,887,3865
$GC,7327,-0.63,-194.7,941.9,-11.2,775,7333,0.00,2.70,0.00,0.000,6,0.000,0.051,2650,2275,3865
$GC,7641,-0.63,-194.7,976.9,-11.1,791,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2275,3864
$STATE,7764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7764,begin apogee
$GC,7768,-0.19,0.0,991.0,11.4,797,7969,0.62,0.00,197.02,1.460,6,0.123,0.000,2754,2039,3071
$STATE,7969,end apogee,CONTROL_FINISHED_OK
$STATE,7969,begin climb
$GC,7971,0.82,194.7,1000.0,0.0,807,8184,1.27,3.20,202.35,1.372,4,0.089,0.071,2971,651,2277
$GC,8285,0.68,194.7,972.5,14.4,822,8291,0.15,2.92,0.00,0.000,6,0.142,0.046,2953,2055,2273
$GC,8611,0.57,194.7,933.2,11.9,838,8617,0.15,2.92,0.00,0.000,4,0.140,0.063,2927,3465,2271
$GC,8678,0.53,194.7,926.0,10.1,841,8683,0.00,2.83,0.00,0.000,6,0.000,0.053,2928,2076,2271
$GC,8999,0.49,203.9,895.0,9.7,857,9014,0.00,2.97,9.75,1.297,4,0.000,0.072,2927,642,2239
$GC,9133,0.49,203.9,881.6,10.0,862,9138,0.15,2.85,0.00,0.000,6,0.123,0.047,2910,2084,2238
$GC,9453,0.57,266.5,855.9,7.8,878,9523,0.00,3.15,62.30,1.365,4,0.000,0.071,2905,643,1983
$GC,9597,0.69,308.9,844.2,8.5,884,9647,0.00,2.92,43.85,1.309,6,0.000,0.046,2913,2104,1810
$GC,9975,0.85,378.5,815.1,7.6,903,10053,0.35,3.20,70.72,1.312,4,0.051,0.072,2981,637,1527
$GC,10143,0.78,378.5,788.1,16.2,910,10149,0.62,2.97,0.00,0.000,6,0.125,0.047,2972,2111,1521
$GC,10470,1.13,378.5,756.6,11.1,926,10475,0.40,2.75,0.00,0.000,4,0.097,0.060,2954,3465,1518
$GC,10654,1.21,378.5,738.2,10.1,934,10660,0.55,2.78,0.00,0.000,6,0.051,0.050,3065,2073,1517
$GC,10970,0.83,378.5,640.6,33.3,949,10972,0.52,0.00,0.00,0.000,6,0.166,0.000,2988,2069,1516
$GC,11283,0.66,378.5,574.1,20.3,970,11285,0.28,0.00,0.00,0.000,6,0.154,0.000,2948,2068,1516
$GC,11601,0.66,378.5,532.7,12.5,1000,11603,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2068,1516
$GC,11922,0.66,378.5,494.0,12.0,1030,11926,0.00,2.75,0.00,0.000,4,0.000,0.053,2949,3465,1516
$GC,11949,0.66,378.5,490.4,12.4,1032,11953,0.00,2.70,0.00,0.000,6,0.000,0.046,2948,2077,1515
$GC,12274,0.66,378.5,452.1,11.6,1062,12275,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2077,1515
$GC,12591,0.66,378.5,414.7,12.2,1092,12592,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2077,1515
$GC,12910,0.66,378.5,377.6,11.6,1122,12912,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2077,1515
$GC,13231,0.66,378.5,341.3,10.9,1159,13237,0.00,2.72,0.00,0.000,4,0.000,0.051,2947,3472,1515
$GC,13254,0.66,378.5,338.8,11.5,1163,13260,0.00,2.70,0.00,0.000,6,0.000,0.044,2948,2077,1515
$GC,13593,0.66,378.5,301.6,10.8,1224,13601,0.00,2.88,0.00,0.000,4,0.000,0.064,2948,641,1515
$GC,13618,0.66,378.5,298.9,10.7,1228,13626,0.00,2.78,0.00,0.000,6,0.000,0.040,2947,2093,1515
$GC,13960,0.66,378.5,262.6,10.5,1289,13966,0.00,2.65,0.00,0.000,4,0.000,0.050,2947,3459,1515
$GC,13985,0.66,378.5,259.8,11.3,1293,13991,0.00,2.65,0.00,0.000,6,0.000,0.044,2948,2085,1515
$GC,14326,0.66,378.5,223.2,10.5,1354,14331,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2085,1515
$GC,14664,0.66,378.5,186.5,10.3,1415,14669,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2085,1515
$GC,14999,0.66,378.5,149.6,10.3,1476,15007,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2085,1515
$GC,15333,0.66,378.5,114.2,11.3,1537,15338,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2085,1515
$GC,15661,0.66,378.5,78.6,10.9,1598,15669,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2085,1515
$GC,15992,0.66,378.5,43.9,10.5,1659,15999,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2085,1515
$GC,16126,0.66,378.5,29.6,11.5,1684,16133,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2085,1515
$GC,16260,0.66,378.5,14.8,10.3,1709,16267,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2085,1515
$STATE,16376,end climb,SURFACE_DEPTH_REACHED
$STATE,16376,begin surface coast
$FINISH,-0.0,1.027318
$STATE,16394,end surface coast,CONTROL_FINISHED_OK
$STATE,16394,begin surface
$SM_CCo,16468,0.00,0.000,0,0,1514,381.93
$SM_GC,0.60,7.10,0.00,0.00,0.038,0.000,0.000,1465,2306,1514,-6.10,0.31,381.93
$IRIDIUM_FIX,6032.86,-2228.34,190797,151555
$TT8_MAMPS,0.021476
$HUMID,1666
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,12.70
$XPDR_PINGS,134
$24V_AH,19.5,40.229
$10V_AH,9.8,29.201
$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,22.600,85.875,586.000,0.000,0.000,29.510,36.838,188.992,33.500,0.000,0.000,15.105,2737.272,8975.455,657.094,3980.645,466.688,0.000,2132.275,0.000,3981.129,0.000,0.467
$DEVICE_MAMPS,260.780,72.098,1459.601,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1276.549,1225.604,697.093,895.646,1660.637,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126866,1734
$CAP_FILE_SIZE,147156,0
$CFSIZE,260165632,246345728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,250408,005326,6053.630,-2236.944,39,1.2,39,-16.3