version: 66.03
glider: 143
mission: 4
dive: 195
start: 5 13 108 13 54 52
data:
$ID,143
$MISSION,4
$DIVE,195
$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,220
$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,-8961.9297
$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,15
$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
$GPS1,134737,6112.400,-2556.387,39,1.0,39,-18.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-51.0
$GPS2,135433,6112.337,-2556.474,15,1.5,15,-18.2
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6104.065,-2559.832
$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,238.2,20000,-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,-194.7,0.0,0.0,0,133,0.00,0.00,-104.57,0.000,2,0.000,0.000,1468,2293,3287
$GC,136,-0.82,-194.7,3.2,-7.0,19,166,9.80,2.88,-14.82,0.000,4,0.248,0.064,2615,889,3867
$GC,330,-0.78,-194.7,34.1,-14.2,53,337,0.00,2.78,0.00,0.000,6,0.000,0.051,2612,2300,3868
$GC,473,-0.67,-194.7,56.7,-15.9,78,479,0.20,0.00,0.00,0.000,6,0.142,0.000,2645,2300,3868
$GC,817,-0.67,-194.7,101.4,-12.9,139,823,0.00,2.80,0.00,0.000,4,0.000,0.053,2645,878,3868
$GC,856,-0.67,-194.7,106.8,-12.6,146,863,0.00,2.70,0.00,0.000,6,0.000,0.045,2645,2276,3868
$GC,1200,-0.67,-194.7,152.3,-13.1,207,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2276,3868
$GC,1542,-0.67,-194.7,199.1,-13.5,268,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2276,3868
$GC,1886,-0.67,-194.7,243.2,-12.4,329,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2276,3868
$GC,2228,-0.67,-194.7,286.7,-13.0,390,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2276,3868
$GC,2569,-0.67,-194.7,330.0,-13.1,451,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2276,3868
$GC,2907,-0.67,-194.7,373.6,-12.7,496,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2276,3868
$GC,3225,-0.67,-194.7,413.9,-12.9,526,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2276,3868
$GC,3544,-0.67,-194.7,453.6,-11.9,556,3548,0.00,2.75,0.00,0.000,4,0.000,0.055,2648,881,3868
$GC,3571,-0.67,-194.7,456.9,-12.0,558,3576,0.00,2.67,0.00,0.000,6,0.000,0.044,2645,2271,3868
$GC,3896,-0.67,-194.7,495.8,-12.4,588,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2270,3868
$GC,4216,-0.67,-194.7,535.5,-12.9,618,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2270,3868
$GC,4532,-0.67,-194.7,576.9,-13.1,648,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2271,3868
$GC,4857,-0.67,-194.7,618.7,-12.8,672,4862,0.00,2.78,0.00,0.000,4,0.000,0.059,2648,880,3868
$GC,4889,-0.67,-194.7,623.0,-12.7,673,4896,0.00,2.70,0.00,0.000,6,0.000,0.046,2645,2271,3868
$GC,5205,-0.67,-194.7,661.1,-12.0,689,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2272,3868
$GC,5514,-0.67,-194.7,699.1,-12.4,704,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2273,3867
$GC,5823,-0.67,-194.7,735.9,-11.7,719,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2275,3867
$GC,6133,-0.67,-194.7,772.5,-12.0,734,6137,0.00,2.83,0.00,0.000,4,0.000,0.068,2648,887,3867
$GC,6159,-0.67,-194.7,775.7,-12.2,735,6164,0.00,2.70,0.00,0.000,6,0.000,0.049,2645,2273,3867
$GC,6480,-0.67,-194.7,811.8,-11.3,751,6484,0.00,2.83,0.00,0.000,4,0.000,0.067,2645,887,3867
$GC,6506,-0.67,-194.7,815.1,-12.2,752,6510,0.00,2.70,0.00,0.000,6,0.000,0.049,2645,2265,3867
$GC,6828,-0.67,-194.7,856.2,-12.8,768,6832,0.00,2.95,0.00,0.000,4,0.000,0.067,2645,3709,3867
$GC,6866,-0.67,-194.7,860.9,-12.3,770,6871,0.00,2.88,0.00,0.000,6,0.000,0.051,2645,2260,3867
$GC,7191,-0.67,-194.7,899.1,-11.9,786,7196,0.00,2.78,0.00,0.000,4,0.000,0.067,2645,884,3866
$GC,7224,-0.67,-194.7,903.0,-12.1,787,7230,0.00,2.72,0.00,0.000,6,0.000,0.048,2645,2273,3866
$GC,7540,-0.67,-194.7,938.5,-11.0,803,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2274,3865
$GC,7848,-0.67,-194.7,970.8,-10.1,818,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2274,3865
$STATE,8053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8053,begin apogee
$GC,8058,-0.19,0.0,991.0,9.6,828,8262,0.65,0.00,200.35,1.432,6,0.119,0.000,2755,2038,3071
$STATE,8263,end apogee,CONTROL_FINISHED_OK
$STATE,8263,begin climb
$GC,8265,0.82,194.7,997.0,0.0,838,8483,1.25,3.20,206.93,1.357,4,0.087,0.069,2970,652,2276
$GC,8573,0.70,194.7,969.9,13.3,852,8579,0.00,2.92,0.00,0.000,6,0.000,0.046,2970,2055,2274
$GC,8888,0.58,194.7,932.0,11.8,868,8894,0.25,2.92,0.00,0.000,4,0.135,0.062,2930,3472,2272
$GC,8966,0.61,221.5,924.3,9.1,871,9001,0.00,2.85,27.73,1.365,6,0.000,0.053,2930,2067,2166
$GC,9324,0.67,266.0,893.5,8.5,889,9375,0.00,3.03,45.15,1.354,4,0.000,0.071,2932,641,1986
$GC,9460,0.69,283.4,881.1,9.4,895,9485,0.00,2.90,19.52,1.317,6,0.000,0.047,2933,2093,1915
$GC,9794,0.69,283.4,848.2,10.5,911,9799,0.00,3.03,0.00,0.000,4,0.000,0.071,2930,635,1911
$GC,9888,0.69,283.4,838.2,10.3,915,9893,0.28,2.88,0.00,0.000,6,0.109,0.046,2920,2096,1911
$GC,10205,0.95,386.9,818.3,6.4,930,10320,0.43,3.17,105.90,1.309,4,0.045,0.070,2981,637,1492
$GC,10398,0.95,386.9,786.4,15.8,939,10403,0.00,3.00,0.00,0.000,6,0.000,0.048,2994,2116,1487
$GC,10719,0.83,386.9,726.6,19.1,955,10724,0.00,3.08,0.00,0.000,4,0.000,0.069,2981,634,1482
$GC,10830,0.83,386.9,707.6,15.9,960,10834,0.00,2.90,0.00,0.000,6,0.000,0.048,2982,2110,1482
$GC,11152,0.72,386.9,646.9,18.9,976,11154,0.15,0.00,0.00,0.000,6,0.142,0.000,2961,2110,1481
$GC,11460,0.68,386.9,601.0,14.0,991,11462,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2110,1480
$GC,11780,0.63,386.9,557.9,12.9,1020,11782,0.12,0.00,0.00,0.000,6,0.134,0.000,2942,2110,1480
$GC,12098,0.63,386.9,524.6,10.4,1050,12099,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2110,1480
$GC,12415,0.63,386.9,490.6,10.5,1080,12417,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2110,1479
$GC,12734,0.63,386.9,457.0,10.7,1110,12735,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2110,1480
$GC,13052,0.63,386.9,424.0,10.4,1140,13054,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2110,1480
$GC,13371,0.63,386.9,390.7,10.8,1170,13372,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2110,1480
$GC,13691,0.63,386.9,355.6,11.1,1200,13692,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2110,1480
$GC,14023,0.63,386.9,320.0,10.6,1255,14029,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2109,1479
$GC,14366,0.64,388.4,286.2,9.9,1316,14372,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2110,1480
$GC,14710,0.71,414.8,254.1,9.1,1377,14741,0.00,0.00,26.73,1.012,6,0.000,0.000,2942,2110,1379
$GC,15080,0.84,468.7,222.9,8.1,1443,15144,0.17,3.08,54.90,0.936,4,0.061,0.064,2982,640,1159
$GC,15167,0.84,468.7,211.2,15.0,1459,15173,0.00,2.90,0.00,0.000,6,0.000,0.040,2983,2115,1157
$GC,15511,0.76,468.7,158.0,15.7,1520,15517,0.00,3.00,0.00,0.000,4,0.000,0.063,2983,632,1154
$GC,15545,0.76,468.7,152.5,15.1,1526,15551,0.00,2.80,0.00,0.000,6,0.000,0.040,2983,2086,1153
$GC,15889,0.69,468.7,96.3,16.7,1587,15895,0.15,0.00,0.00,0.000,6,0.130,0.000,2957,2086,1153
$GC,16232,0.73,468.7,55.4,11.4,1648,16238,0.00,2.92,0.00,0.000,4,0.000,0.063,2961,632,1152
$GC,16273,0.84,468.7,51.0,10.0,1655,16280,0.12,2.75,0.00,0.000,6,0.058,0.039,2987,2073,1151
$STATE,16576,end climb,SURFACE_DEPTH_REACHED
$STATE,16576,begin surface coast
$FINISH,0.4,1.006853
$STATE,16588,end surface coast,CONTROL_FINISHED_OK
$STATE,16589,begin surface
$SM_CCo,16665,0.00,0.000,0,0,1150,471.22
$SM_GC,0.92,7.43,0.00,0.00,0.046,0.000,0.000,1469,2304,1150,-6.08,0.25,471.22
$IRIDIUM_FIX,6050.49,-2545.88,070897,090948
$TT8_MAMPS,0.022243
$HUMID,1735
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,16.60
$XPDR_PINGS,23
$24V_AH,19.2,64.588
$10V_AH,9.9,45.614
$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,21.000,98.650,687.200,0.000,0.000,29.992,50.328,215.758,5.750,0.000,0.000,16.619,2664.287,10115.003,740.199,3008.131,540.531,0.000,2174.219,0.000,2988.087,0.000,0.467
$DEVICE_MAMPS,247.741,71.331,1431.989,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1288.150,1198.478,609.600,873.339,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120233,1711
$CAP_FILE_SIZE,147638,0
$CFSIZE,260165632,238051328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130508,183338,6108.122,-2602.414,26,1.7,26,-18.3