version: 66.03
glider: 143
mission: 4
dive: 247
start: 5 24 108 8 13 34
data:
$ID,143
$MISSION,4
$DIVE,247
$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,290
$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,-9947.3545
$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,15
$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
$GPS1,080638,6133.919,-2642.783,36,1.1,36,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-53.1
$GPS2,081315,6133.945,-2642.870,12,1.1,12,-18.9
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6137.639,-2647.692
$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,308.9,20000,-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,26,-0.82,-194.7,0.0,0.0,0,133,0.00,0.00,-103.97,0.000,2,0.000,0.000,1465,2312,3296
$GC,136,-0.82,-194.7,3.3,-5.3,19,167,10.18,2.95,-14.52,0.000,4,0.255,0.067,2614,881,3866
$GC,341,-0.74,-194.7,37.7,-17.4,55,349,0.15,2.75,0.00,0.000,6,0.158,0.051,2633,2283,3868
$GC,487,-0.67,-194.7,59.5,-13.0,80,494,0.12,0.00,0.00,0.000,6,0.142,0.000,2651,2284,3868
$GC,831,-0.67,-194.7,101.4,-12.8,141,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2284,3868
$GC,1174,-0.67,-194.7,151.1,-14.0,202,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2284,3868
$GC,1516,-0.67,-194.7,195.9,-12.3,263,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2284,3868
$GC,1858,-0.67,-194.7,241.7,-14.6,324,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2284,3868
$GC,2202,-0.67,-194.7,293.2,-14.8,385,2208,0.00,2.72,0.00,0.000,4,0.000,0.055,2651,875,3868
$GC,2237,-0.67,-194.7,298.1,-14.4,391,2243,0.00,2.78,0.00,0.000,6,0.000,0.044,2652,2309,3868
$GC,2580,-0.67,-194.7,344.1,-12.9,452,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2310,3868
$GC,2910,-0.67,-194.7,385.2,-12.5,487,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2310,3868
$GC,3227,-0.67,-194.7,422.5,-9.8,517,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2310,3868
$GC,3545,-0.67,-194.7,457.6,-12.0,547,3546,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2310,3868
$GC,3864,-0.67,-194.7,492.3,-8.5,577,3868,0.00,2.83,0.00,0.000,4,0.000,0.056,2651,876,3867
$GC,3915,-0.71,-194.7,496.1,-7.1,581,3920,0.00,2.75,0.00,0.000,6,0.000,0.043,2652,2304,3867
$GC,4241,-0.71,-194.7,524.1,-10.0,611,4246,0.00,2.78,0.00,0.000,4,0.000,0.054,2651,3711,3867
$GC,4274,-0.71,-194.7,527.9,-11.1,613,4281,0.00,2.78,0.00,0.000,6,0.000,0.043,2651,2275,3868
$GC,4601,-0.71,-194.7,574.2,-14.6,644,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2271,3867
$GC,4915,-0.71,-194.7,611.5,-11.0,669,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2271,3868
$GC,5224,-0.71,-194.7,646.7,-8.1,684,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2271,3867
$GC,5533,-0.71,-194.7,677.7,-12.7,699,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2271,3867
$GC,5842,-0.71,-194.7,707.5,-8.4,714,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2271,3867
$GC,6152,-0.71,-194.7,746.0,-13.0,729,6156,0.00,2.92,0.00,0.000,4,0.000,0.065,2651,3707,3866
$GC,6184,-0.71,-194.7,750.5,-13.6,730,6191,0.00,2.80,0.00,0.000,6,0.000,0.051,2651,2289,3866
$GC,6500,-0.82,-194.7,793.6,-12.4,746,6501,0.15,0.00,0.00,0.000,6,0.094,0.000,2624,2289,3866
$STATE,6703,end dive,NO_VERTICAL_VELOCITY
$STATE,6703,begin apogee
$GC,6709,-0.19,0.0,793.6,0.0,756,6908,0.65,0.00,195.48,1.284,6,0.043,0.000,2762,2043,3071
$STATE,6909,end apogee,CONTROL_FINISHED_OK
$STATE,6909,begin climb
$GC,6911,0.82,194.7,793.5,0.0,766,7122,1.10,3.17,199.85,1.219,4,0.048,0.071,2974,646,2277
$GC,7281,0.73,203.8,765.2,9.7,783,7296,0.00,2.83,10.12,1.159,6,0.000,0.044,2975,2050,2241
$GC,7617,0.62,203.8,733.1,10.3,800,7623,0.22,2.90,0.00,0.000,4,0.136,0.066,2939,641,2238
$GC,7740,0.62,203.8,720.5,10.3,805,7746,0.00,2.78,0.00,0.000,6,0.000,0.046,2939,2057,2238
$GC,8056,0.62,203.8,689.2,10.9,821,8060,0.00,2.83,0.00,0.000,4,0.000,0.059,2939,3471,2237
$GC,8095,0.62,203.8,684.6,12.5,823,8100,0.00,2.80,0.00,0.000,6,0.000,0.051,2939,2062,2237
$GC,8421,0.62,203.8,646.6,11.2,839,8426,0.00,2.80,0.00,0.000,4,0.000,0.057,2939,3469,2236
$GC,8461,0.62,203.8,642.4,10.5,841,8465,0.00,2.75,0.00,0.000,6,0.000,0.048,2939,2075,2236
$GC,8787,0.62,203.8,601.5,11.8,857,8792,0.00,2.78,0.00,0.000,4,0.000,0.056,2939,3467,2236
$GC,8842,0.62,203.8,595.1,11.0,861,8849,0.00,2.67,0.00,0.000,6,0.000,0.047,2944,2100,2235
$GC,9169,0.78,330.8,569.7,5.6,892,9297,0.12,0.00,123.93,1.145,6,0.080,0.000,2967,2100,1722
$GC,9612,0.78,330.8,522.8,14.1,934,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2099,1714
$GC,9931,0.78,330.8,483.9,12.0,964,9935,0.00,2.72,0.00,0.000,4,0.000,0.054,2962,3463,1713
$GC,9947,0.78,330.8,481.9,11.8,965,9952,0.00,2.67,0.00,0.000,6,0.000,0.046,2963,2102,1712
$GC,10273,0.78,330.8,448.3,12.2,995,10275,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2102,1712
$GC,10592,0.78,330.8,411.6,11.3,1025,10593,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2102,1711
$GC,10909,0.78,330.8,377.0,10.7,1055,10910,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2102,1711
$GC,11230,0.78,330.8,340.1,12.7,1092,11236,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2102,1711
$GC,11573,0.78,330.8,298.4,12.1,1153,11579,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2103,1712
$GC,11916,0.78,330.8,261.6,10.6,1214,11922,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2103,1712
$GC,12260,0.78,330.8,221.7,11.7,1275,12265,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2102,1711
$GC,12603,0.78,330.8,178.2,12.1,1336,12608,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2102,1711
$GC,12945,0.78,330.8,136.1,12.7,1397,12950,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2102,1711
$GC,13287,0.78,330.8,95.2,11.8,1458,13293,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2103,1711
$GC,13631,0.78,330.8,56.8,10.6,1519,13637,0.00,2.70,0.00,0.000,4,0.000,0.051,2962,3470,1711
$GC,13654,0.78,330.8,53.8,12.1,1523,13660,0.00,2.65,0.00,0.000,6,0.000,0.045,2962,2109,1710
$GC,13999,0.78,331.7,15.6,10.0,1584,14005,0.00,2.95,0.00,0.000,4,0.000,0.067,2962,637,1710
$GC,14035,0.78,331.7,11.6,11.0,1590,14041,0.00,2.78,0.00,0.000,6,0.000,0.040,2962,2102,1710
$STATE,14130,end climb,SURFACE_DEPTH_REACHED
$STATE,14130,begin surface coast
$FINISH,0.4,1.026614
$STATE,14153,end surface coast,CONTROL_FINISHED_OK
$STATE,14155,begin surface
$SM_CCo,14231,0.00,0.000,0,0,1709,333.85
$SM_GC,1.19,7.38,0.00,0.00,0.049,0.000,0.000,1467,2315,1709,-6.09,0.57,333.85
$IRIDIUM_FIX,6112.75,-2641.98,180897,030351
$TT8_MAMPS,0.021476
$HUMID,1747
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,16.50
$XPDR_PINGS,21
$24V_AH,19.3,78.255
$10V_AH,9.9,53.032
$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,20.075,73.675,529.375,0.000,0.000,25.305,39.835,208.783,5.250,0.000,0.000,13.737,2497.674,8033.211,611.498,2932.095,539.331,0.000,1909.739,0.000,2928.379,0.000,0.466
$DEVICE_MAMPS,255.411,70.564,1283.958,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1215.612,1126.612,640.864,1519.394,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120090,1611
$CAP_FILE_SIZE,130506,0
$CFSIZE,260165632,233365504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,240508,121201,6134.261,-2649.071,35,1.1,40,-18.9