version: 66.03
glider: 143
mission: 4
dive: 151
start: 5 4 108 17 53 47
data:
$ID,143
$MISSION,4
$DIVE,151
$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,-7999.3843
$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,18
$R_STBD_OVSHOOT,28
$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
$GPS1,174708,6107.213,-2545.552,30,1.4,30,-18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-49.0
$GPS2,175329,6107.215,-2545.688,12,1.4,20,-18.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6101.816,-2550.218
$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,258.1,20000,-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,-194.7,0.0,0.0,0,129,0.00,0.00,-101.38,0.000,2,0.000,0.000,1469,2315,3638
$GC,132,-0.82,-194.7,3.9,-6.7,14,156,9.90,2.88,-4.82,0.000,4,0.251,0.060,2612,885,3869
$GC,205,-0.75,-194.7,22.6,-17.5,26,213,0.00,2.80,0.00,0.000,6,0.000,0.051,2617,2282,3870
$GC,340,-0.63,-194.7,45.8,-17.4,51,348,0.22,0.00,0.00,0.000,6,0.144,0.000,2653,2282,3870
$GC,477,-0.63,-194.7,64.9,-13.4,76,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2282,3870
$GC,811,-0.63,-194.7,109.0,-13.4,137,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2282,3870
$GC,1139,-0.63,-194.7,154.1,-14.1,198,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2282,3870
$GC,1478,-0.63,-194.7,201.3,-13.5,259,1484,0.00,2.78,0.00,0.000,4,0.000,0.054,2648,877,3870
$GC,1518,-0.63,-194.7,206.7,-13.8,266,1525,0.00,2.75,0.00,0.000,6,0.000,0.045,2651,2292,3869
$GC,1858,-0.63,-194.7,253.9,-14.2,327,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2292,3869
$GC,2199,-0.63,-194.7,303.6,-14.6,388,2207,0.00,2.80,0.00,0.000,4,0.000,0.054,2648,886,3870
$GC,2235,-0.63,-194.7,308.7,-13.8,394,2241,0.00,2.70,0.00,0.000,6,0.000,0.044,2654,2289,3870
$GC,2572,-0.63,-194.7,356.2,-14.0,451,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2289,3870
$GC,2893,-0.63,-194.7,399.5,-13.2,481,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2289,3870
$GC,3209,-0.63,-194.7,442.5,-13.7,511,3213,0.00,2.80,0.00,0.000,4,0.000,0.056,2649,874,3870
$GC,3240,-0.63,-194.7,446.8,-13.3,513,3246,0.00,2.72,0.00,0.000,6,0.000,0.044,2654,2289,3870
$GC,3565,-0.63,-194.7,488.4,-12.6,544,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2289,3870
$GC,3883,-0.63,-194.7,527.4,-12.4,574,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2290,3870
$GC,4201,-0.63,-194.7,565.9,-12.3,604,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2290,3870
$GC,4530,-0.63,-194.7,605.2,-12.0,633,4534,0.00,2.80,0.00,0.000,4,0.000,0.059,2649,886,3870
$GC,4568,-0.63,-194.7,609.7,-11.2,635,4573,0.00,2.67,0.00,0.000,6,0.000,0.044,2651,2272,3870
$GC,4894,-0.63,-194.7,649.2,-12.3,651,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2272,3870
$GC,5203,-0.63,-194.7,689.4,-14.0,666,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2273,3869
$GC,5513,-0.63,-194.7,736.0,-15.4,681,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2275,3870
$GC,5822,-0.63,-194.7,782.0,-14.1,696,5826,0.00,2.85,0.00,0.000,4,0.000,0.070,2649,881,3869
$GC,5853,-0.63,-194.7,786.2,-12.7,697,5860,0.00,2.70,0.00,0.000,6,0.000,0.048,2649,2261,3869
$GC,6169,-0.63,-194.7,822.3,-10.9,713,6174,0.00,2.95,0.00,0.000,4,0.000,0.068,2648,3705,3869
$GC,6212,-0.63,-194.7,826.8,-10.5,715,6216,0.00,2.88,0.00,0.000,6,0.000,0.053,2648,2260,3869
$GC,6539,-0.63,-194.7,858.6,-9.4,731,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2260,3869
$GC,6848,-0.63,-194.7,894.7,-12.8,746,6853,0.00,2.95,0.00,0.000,4,0.000,0.065,2648,3704,3869
$GC,6897,-0.63,-194.7,901.1,-12.6,748,6901,0.00,2.85,0.00,0.000,6,0.000,0.052,2648,2269,3869
$GC,7218,-0.63,-194.7,943.0,-12.9,764,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2269,3868
$GC,7527,-0.63,-194.7,981.1,-12.2,779,7528,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2269,3868
$STATE,7608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7608,begin apogee
$GC,7612,-0.19,0.0,990.9,11.9,783,7815,0.62,0.00,199.25,1.430,6,0.120,0.000,2753,2038,3071
$STATE,7816,end apogee,CONTROL_FINISHED_OK
$STATE,7816,begin climb
$GC,7818,0.82,194.7,1000.8,0.0,793,8035,1.27,3.17,205.57,1.358,4,0.088,0.069,2972,640,2276
$GC,8176,0.67,194.7,969.2,12.9,810,8181,0.17,2.92,0.00,0.000,6,0.145,0.046,2949,2055,2272
$GC,8503,0.56,194.7,932.9,10.8,826,8508,0.15,2.90,0.00,0.000,4,0.146,0.062,2925,3461,2270
$GC,8558,0.60,228.7,927.5,8.8,828,8598,0.00,2.83,34.33,1.364,6,0.000,0.052,2925,2069,2138
$GC,8915,0.67,282.2,898.3,8.2,846,8977,0.00,3.08,54.55,1.338,4,0.000,0.071,2930,635,1920
$GC,9061,0.69,302.0,885.9,9.3,852,9088,0.00,2.90,21.35,1.296,6,0.000,0.046,2934,2082,1839
$GC,9397,0.69,304.8,855.2,9.9,869,9401,0.00,3.00,0.00,0.000,4,0.000,0.071,2924,643,1836
$GC,9490,0.70,308.6,845.8,9.9,873,9503,0.03,2.85,7.65,1.174,6,0.190,0.046,2924,2089,1812
$GC,9811,0.70,308.6,813.3,10.9,889,9816,0.15,2.78,0.00,0.000,4,0.071,0.059,2949,3464,1810
$GC,9854,0.70,308.6,807.3,14.4,891,9859,0.00,2.72,0.00,0.000,6,0.000,0.051,2949,2102,1808
$GC,10182,0.64,308.6,759.5,15.0,907,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2101,1809
$GC,10491,0.59,308.6,717.4,13.1,922,10495,0.00,2.75,0.00,0.000,4,0.000,0.058,2949,3469,1808
$GC,10522,0.59,308.6,713.3,12.1,923,10529,0.00,2.70,0.00,0.000,6,0.000,0.050,2949,2109,1807
$GC,10838,0.54,308.6,678.4,10.3,939,10840,0.17,0.00,0.00,0.000,6,0.129,0.000,2922,2108,1808
$GC,11148,0.65,396.4,654.8,7.0,954,11243,0.00,3.12,89.62,1.219,4,0.000,0.067,2922,634,1454
$GC,11335,0.85,478.3,642.1,7.2,962,11430,0.32,2.97,86.53,1.170,6,0.046,0.041,2990,2136,1119
$GC,11751,0.71,478.3,561.1,21.6,990,11756,0.20,2.67,0.00,0.000,4,0.148,0.051,2958,3471,1111
$GC,11813,0.78,478.3,551.5,12.7,995,11817,0.00,2.78,0.00,0.000,6,0.000,0.048,2976,2083,1111
$GC,12138,0.78,478.3,508.1,13.4,1025,12143,0.00,2.92,0.00,0.000,4,0.000,0.066,2958,641,1109
$GC,12193,0.85,478.3,500.9,12.2,1029,12200,0.12,2.80,0.00,0.000,6,0.064,0.041,2985,2089,1107
$GC,12518,0.73,478.3,437.3,19.6,1060,12523,0.15,2.95,0.00,0.000,4,0.145,0.064,2961,638,1106
$GC,12546,0.67,478.3,432.4,17.0,1062,12550,0.00,2.72,0.00,0.000,6,0.000,0.041,2960,2057,1106
$GC,12870,0.67,478.3,388.8,14.0,1092,12871,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2057,1106
$GC,13191,0.67,478.3,341.8,14.6,1126,13197,0.00,2.88,0.00,0.000,4,0.000,0.063,2961,632,1106
$GC,13213,0.67,478.3,338.2,15.5,1130,13219,0.00,2.70,0.00,0.000,6,0.000,0.039,2961,2050,1105
$GC,13552,0.67,478.3,287.6,14.3,1191,13558,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2050,1106
$GC,13892,0.67,478.3,236.9,14.7,1252,13900,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2050,1105
$GC,14235,0.67,478.3,186.8,14.4,1313,14242,0.00,2.85,0.00,0.000,4,0.000,0.063,2960,634,1105
$GC,14271,0.73,478.3,181.8,13.3,1319,14277,0.00,2.67,0.00,0.000,6,0.000,0.040,2961,2040,1104
$GC,14607,0.73,478.3,137.8,12.4,1380,14614,0.00,2.80,0.00,0.000,4,0.000,0.051,2960,3455,1104
$GC,14640,0.78,478.3,134.2,12.6,1385,14646,0.00,2.80,0.00,0.000,6,0.000,0.046,2962,2020,1104
$GC,14970,0.78,478.3,91.0,13.5,1446,14978,0.00,2.80,0.00,0.000,4,0.000,0.066,2961,637,1104
$GC,15013,0.86,478.3,85.4,12.4,1453,15020,0.12,2.65,0.00,0.000,6,0.061,0.039,2988,2032,1104
$GC,15340,0.76,478.3,20.1,19.1,1514,15349,0.15,2.83,0.00,0.000,4,0.144,0.052,2963,3458,1104
$GC,15378,0.76,478.3,13.9,13.4,1520,15385,0.00,2.83,0.00,0.000,6,0.000,0.048,2974,2028,1104
$STATE,15474,end climb,SURFACE_DEPTH_REACHED
$STATE,15474,begin surface coast
$FINISH,0.1,1.027372
$STATE,15493,end surface coast,CONTROL_FINISHED_OK
$STATE,15493,begin surface
$SM_CCo,15568,0.00,0.000,0,0,1103,482.75
$SM_GC,0.67,7.25,0.00,0.00,0.041,0.000,0.000,1466,2310,1103,-6.10,0.42,482.75
$IRIDIUM_FIX,6046.07,-2534.12,290797,131305
$TT8_MAMPS,0.021476
$HUMID,1708
$INTERNAL_PRESSURE,8.11555
$TCM_TEMP,11.40
$XPDR_PINGS,94
$24V_AH,19.4,52.863
$10V_AH,9.8,38.104
$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,21.025,131.200,698.850,0.000,0.000,28.379,30.120,201.563,23.500,0.000,0.000,22.937,2465.176,8677.717,762.038,3544.858,484.378,0.000,2146.778,0.000,3528.618,0.000,0.466
$DEVICE_MAMPS,250.809,71.331,1430.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1141.354,1082.366,558.130,737.725,1367.347,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,114023,1541
$CAP_FILE_SIZE,145578,0
$CFSIZE,260165632,241983488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040508,221426,6104.425,-2553.913,37,1.5,37,-18.1