version: 66.03
glider: 143
mission: 4
dive: 229
start: 5 20 108 13 24 57
data:
$ID,143
$MISSION,4
$DIVE,229
$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,5
$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,-9581.5537
$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,17
$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
$GPS1,130858,6121.854,-2522.529,23,2.6,42,-18.0
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-44.4
$GPS2,132439,6121.910,-2522.621,11,1.4,11,-18.0
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6132.668,-2522.173
$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,23.0,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.82,-194.7,0.0,0.0,0,134,0.00,0.00,-104.32,0.000,2,0.000,0.000,1467,2305,3536
$GC,137,-0.82,-194.7,3.5,-6.6,19,162,9.65,2.85,-7.12,0.000,4,0.242,0.067,2614,3712,3867
$GC,342,-0.74,-194.7,45.0,-16.7,55,349,0.12,2.78,0.00,0.000,6,0.140,0.042,2632,2288,3869
$GC,486,-0.67,-194.7,67.4,-15.7,80,493,0.12,2.75,0.00,0.000,4,0.154,0.053,2649,886,3869
$GC,522,-0.67,-194.7,72.8,-13.3,86,528,0.00,2.70,0.00,0.000,6,0.000,0.044,2649,2282,3869
$GC,866,-0.67,-194.7,119.2,-13.6,147,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2282,3869
$GC,1210,-0.67,-194.7,166.2,-13.5,208,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2282,3869
$GC,1553,-0.67,-194.7,214.1,-14.0,269,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2282,3869
$GC,1896,-0.67,-194.7,262.4,-13.7,330,1902,0.00,2.75,0.00,0.000,4,0.000,0.054,2649,880,3869
$GC,1942,-0.67,-194.7,268.4,-12.6,338,1949,0.00,2.70,0.00,0.000,6,0.000,0.046,2649,2279,3868
$GC,2286,-0.67,-194.7,313.5,-12.4,399,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2279,3869
$GC,2627,-0.67,-194.7,354.3,-11.7,457,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2279,3869
$GC,2945,-0.67,-194.7,392.2,-12.1,487,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2279,3869
$GC,3263,-0.67,-194.7,431.3,-12.4,517,3268,0.00,2.75,0.00,0.000,4,0.000,0.055,2649,878,3869
$GC,3302,-0.67,-194.7,436.0,-12.1,520,3307,0.00,2.70,0.00,0.000,6,0.000,0.043,2649,2285,3868
$GC,3630,-0.67,-194.7,476.3,-12.7,550,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2285,3868
$GC,3955,-0.67,-194.7,516.5,-12.0,581,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2285,3868
$GC,4274,-0.67,-194.7,554.7,-11.8,611,4278,0.00,2.78,0.00,0.000,4,0.000,0.056,2649,884,3868
$GC,4317,-0.67,-194.7,560.1,-11.5,614,4324,0.00,2.67,0.00,0.000,6,0.000,0.043,2649,2260,3868
$GC,4644,-0.67,-194.7,600.4,-12.6,645,4648,0.00,2.88,0.00,0.000,4,0.000,0.058,2649,3706,3868
$GC,4683,-0.67,-194.7,605.4,-12.6,647,4688,0.00,2.80,0.00,0.000,6,0.000,0.044,2649,2265,3868
$GC,5009,-0.67,-194.7,643.9,-11.8,663,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2265,3867
$GC,5318,-0.67,-194.7,680.4,-11.8,678,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2265,3867
$GC,5628,-0.67,-194.7,716.1,-11.5,693,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2265,3867
$GC,5936,-0.67,-194.7,750.4,-10.8,708,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2265,3867
$GC,6247,-0.67,-194.7,784.5,-11.1,723,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2265,3867
$GC,6555,-0.67,-194.7,818.8,-11.2,738,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2265,3866
$GC,6865,-0.67,-194.7,853.6,-11.1,753,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2265,3866
$GC,7174,-0.67,-194.7,888.6,-11.6,768,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2265,3865
$GC,7483,-0.67,-194.7,925.0,-11.8,783,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2265,3865
$GC,7792,-0.67,-194.7,961.6,-11.6,798,7793,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2265,3865
$STATE,8058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8058,begin apogee
$GC,8064,-0.19,0.0,991.8,11.2,811,8269,0.62,0.00,201.35,1.414,6,0.125,0.000,2753,2043,3071
$STATE,8270,end apogee,CONTROL_FINISHED_OK
$STATE,8270,begin climb
$GC,8272,0.82,194.7,1001.4,0.0,821,8490,1.27,3.17,207.57,1.345,4,0.087,0.071,2973,651,2277
$GC,8568,0.71,194.7,980.1,11.7,834,8573,0.00,2.90,0.00,0.000,6,0.000,0.046,2973,2047,2273
$GC,8884,0.57,194.7,942.8,12.3,849,8889,0.28,2.90,0.00,0.000,4,0.135,0.063,2929,3459,2272
$GC,8939,0.57,194.7,936.7,10.1,851,8946,0.00,2.80,0.00,0.000,6,0.000,0.052,2929,2071,2271
$GC,9255,0.60,217.8,907.2,9.2,867,9284,0.00,2.90,23.70,1.358,4,0.000,0.061,2929,3469,2182
$GC,9323,0.60,217.8,900.5,10.1,870,9327,0.00,2.80,0.00,0.000,6,0.000,0.051,2929,2084,2180
$GC,9650,0.62,228.6,869.8,9.6,886,9672,0.00,2.85,12.25,1.335,4,0.000,0.059,2929,3457,2138
$GC,9700,0.63,236.7,864.6,9.7,888,9717,0.00,2.72,10.00,1.141,6,0.000,0.051,2929,2105,2105
$GC,10025,0.66,267.1,834.2,9.0,904,10067,0.00,2.83,31.55,1.326,4,0.000,0.059,2929,3466,1980
$GC,10094,0.68,284.0,827.7,9.4,907,10119,0.00,2.72,18.95,1.231,6,0.000,0.051,2929,2124,1913
$GC,10441,0.71,307.7,796.4,9.2,924,10469,0.15,0.00,25.05,1.298,6,0.073,0.000,2958,2123,1816
$GC,10770,0.65,307.7,755.9,12.2,940,10772,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2121,1812
$GC,11080,0.58,307.7,717.4,12.5,955,11085,0.17,2.70,0.00,0.000,4,0.126,0.058,2930,3461,1811
$GC,11097,0.58,307.7,715.3,12.1,956,11101,0.00,2.62,0.00,0.000,6,0.000,0.049,2930,2135,1810
$GC,11423,0.64,355.5,686.2,8.4,972,11474,0.00,0.00,49.12,1.236,6,0.000,0.000,2929,2134,1621
$GC,11773,0.73,379.2,656.0,9.2,989,11800,0.15,0.00,24.73,1.210,6,0.067,0.000,2964,2133,1525
$GC,12104,0.67,379.2,609.1,15.2,1005,12109,0.00,3.03,0.00,0.000,4,0.000,0.067,2964,641,1520
$GC,12136,0.67,379.2,603.9,14.0,1006,12143,0.00,2.90,0.00,0.000,6,0.000,0.043,2964,2138,1519
$GC,12464,0.61,379.2,555.5,15.0,1035,12469,0.17,0.00,0.00,0.000,6,0.123,0.000,2938,2138,1519
$GC,12790,0.66,385.5,521.9,9.8,1066,12802,0.00,3.10,7.30,0.998,4,0.000,0.064,2937,632,1499
$GC,12826,0.68,400.1,518.1,9.5,1069,12848,0.00,2.88,17.15,1.135,6,0.000,0.041,2937,2127,1439
$GC,13166,0.78,427.8,485.2,9.0,1101,13198,0.15,0.00,29.23,1.099,6,0.066,0.000,2969,2127,1327
$GC,13514,0.72,427.8,433.2,15.7,1134,13519,0.00,3.03,0.00,0.000,4,0.000,0.063,2969,632,1323
$GC,13541,0.72,427.8,428.9,15.1,1136,13546,0.00,2.88,0.00,0.000,6,0.000,0.041,2969,2125,1321
$GC,13868,0.67,427.8,379.3,16.1,1166,13869,0.15,0.00,0.00,0.000,6,0.129,0.000,2947,2125,1321
$GC,14187,0.71,427.8,342.4,10.4,1202,14194,0.00,2.97,0.00,0.000,4,0.000,0.062,2947,640,1321
$GC,14218,0.79,427.8,339.2,10.9,1207,14224,0.12,2.80,0.00,0.000,6,0.063,0.040,2976,2107,1320
$GC,14563,0.72,427.8,284.2,17.1,1268,14569,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2107,1320
$GC,14907,0.66,427.8,228.9,15.9,1329,14914,0.17,2.95,0.00,0.000,4,0.130,0.062,2946,640,1320
$GC,14937,0.66,427.8,224.7,13.4,1334,14944,0.00,2.78,0.00,0.000,6,0.000,0.040,2946,2099,1319
$GC,15285,0.77,467.1,192.1,8.6,1395,15328,0.00,0.00,40.42,0.920,6,0.000,0.000,2946,2099,1166
$GC,15667,0.91,509.1,158.4,8.6,1463,15716,0.22,0.00,43.25,0.875,6,0.055,0.000,2998,2099,994
$GC,16054,0.79,509.1,78.1,22.8,1532,16061,0.15,2.97,0.00,0.000,4,0.138,0.064,2973,634,988
$GC,16109,0.86,509.1,69.0,12.3,1541,16115,0.00,2.78,0.00,0.000,6,0.000,0.039,2973,2081,987
$GC,16453,0.86,509.1,22.0,12.6,1602,16459,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2081,987
$GC,16594,0.86,509.1,3.4,14.7,1627,16600,0.00,2.92,0.00,0.000,4,0.000,0.064,2973,632,987
$STATE,16605,end climb,SURFACE_DEPTH_REACHED
$STATE,16605,begin surface coast
$FINISH,0.3,1.027218
$STATE,16619,end surface coast,CONTROL_FINISHED_OK
$STATE,16619,begin surface
$SM_CCo,16698,0.00,0.000,0,0,984,511.94
$SM_GC,0.74,7.40,0.00,0.00,0.048,0.000,0.000,1467,2292,984,-6.09,-0.08,511.94
$IRIDIUM_FIX,6059.36,-2525.68,140897,131312
$TT8_MAMPS,0.021476
$HUMID,1751
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,16.70
$XPDR_PINGS,44
$24V_AH,19.2,73.493
$10V_AH,9.9,50.265
$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,21.100,108.750,741.625,0.000,0.000,73.794,108.985,504.369,11.000,0.000,0.000,13.251,2544.661,10357.657,808.364,2934.483,977.952,0.000,2173.587,0.000,2925.627,0.000,0.467
$DEVICE_MAMPS,241.605,70.564,1413.581,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1227.233,1160.739,550.870,1428.402,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120441,1631
$CAP_FILE_SIZE,153518,0
$CFSIZE,260165632,235016192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200508,180437,6125.049,-2522.643,35,1.3,46,-18.1