version: 66.03
glider: 143
mission: 4
dive: 248
start: 5 24 108 12 19 40
data:
$ID,143
$MISSION,4
$DIVE,248
$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,45
$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,-9963.457
$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,30
$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
$GPS1,121201,6134.261,-2649.071,35,1.1,40,-18.9
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-59.1
$GPS2,121921,6134.263,-2649.114,14,1.1,14,-18.9
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6141.899,-2645.494
$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,63.9,20000,-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,28,-0.82,-194.7,0.0,0.0,0,106,0.00,0.00,-75.82,0.000,2,0.000,0.000,1467,2315,3374
$GC,109,-0.82,-194.7,3.4,-4.8,14,139,10.25,2.83,-11.88,0.000,4,0.255,0.074,2615,3693,3867
$GC,292,-0.73,-194.7,38.6,-17.6,46,299,0.15,2.70,0.00,0.000,6,0.141,0.042,2636,2292,3868
$GC,436,-0.67,-194.7,61.7,-15.2,71,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2292,3868
$GC,779,-0.61,-194.7,113.8,-15.1,132,785,0.15,0.00,0.00,0.000,6,0.155,0.000,2660,2292,3868
$GC,1123,-0.61,-194.7,153.9,-10.9,193,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2292,3868
$GC,1466,-0.61,-194.7,195.2,-12.1,254,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2292,3869
$GC,1809,-0.61,-194.7,237.2,-12.3,315,1815,0.00,2.78,0.00,0.000,4,0.000,0.057,2660,880,3868
$GC,1850,-0.67,-194.7,242.2,-12.0,322,1856,0.00,2.70,0.00,0.000,6,0.000,0.043,2660,2286,3869
$GC,2194,-0.67,-194.7,282.8,-11.6,383,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2287,3869
$GC,2536,-0.67,-194.7,323.0,-12.0,444,2542,0.00,2.78,0.00,0.000,4,0.000,0.054,2660,3705,3868
$GC,2570,-0.67,-194.7,327.4,-13.1,450,2577,0.00,2.75,0.00,0.000,6,0.000,0.042,2660,2277,3868
$GC,2910,-0.67,-194.7,368.2,-12.2,498,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2274,3868
$GC,3229,-0.67,-194.7,404.9,-11.4,528,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2274,3868
$GC,3547,-0.67,-194.7,442.0,-12.1,558,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2273,3868
$GC,3866,-0.67,-194.7,480.8,-12.8,588,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2273,3868
$GC,4185,-0.67,-194.7,517.0,-10.6,618,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2274,3868
$GC,4503,-0.67,-194.7,550.2,-11.2,648,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2274,3868
$GC,4822,-0.67,-194.7,583.7,-10.4,678,4823,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2274,3868
$GC,5136,-0.67,-194.7,615.6,-10.9,701,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2274,3868
$GC,5445,-0.67,-194.7,651.2,-12.2,716,5450,0.00,2.90,0.00,0.000,4,0.000,0.062,2660,3708,3867
$GC,5478,-0.72,-194.7,655.3,-12.2,717,5484,0.00,2.80,0.00,0.000,6,0.000,0.047,2660,2281,3868
$GC,5793,-0.72,-194.7,693.1,-11.7,733,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2280,3867
$GC,6103,-0.72,-194.7,729.2,-11.3,748,6107,0.00,2.83,0.00,0.000,4,0.000,0.069,2660,886,3867
$GC,6142,-0.79,-194.7,733.8,-11.1,750,6147,0.17,2.72,0.00,0.000,6,0.057,0.048,2623,2281,3867
$GC,6470,-1.00,-194.7,776.9,-6.5,766,6472,0.22,0.00,0.00,0.000,6,0.074,0.000,2581,2282,3867
$STATE,6631,end dive,NO_VERTICAL_VELOCITY
$STATE,6631,begin apogee
$GC,6637,-0.19,0.0,776.9,0.0,774,6837,0.90,0.00,196.32,1.272,6,0.058,0.000,2762,2046,3071
$STATE,6838,end apogee,CONTROL_FINISHED_OK
$STATE,6838,begin climb
$GC,6840,0.82,194.7,776.8,0.0,784,7050,1.15,3.22,199.05,1.206,4,0.064,0.061,2975,3460,2276
$GC,7237,0.70,194.7,745.6,10.7,802,7242,0.12,2.88,0.00,0.000,6,0.141,0.050,2959,2052,2274
$GC,7553,0.60,194.7,714.5,10.5,817,7558,0.17,2.90,0.00,0.000,4,0.134,0.070,2930,640,2272
$GC,7653,0.60,194.7,704.0,10.1,821,7660,0.00,2.83,0.00,0.000,6,0.000,0.045,2931,2084,2272
$GC,7969,0.71,279.8,677.8,7.1,837,8061,0.12,2.92,82.85,1.204,4,0.075,0.058,2955,3462,1929
$GC,8091,0.74,303.6,668.0,9.2,842,8121,0.00,2.80,24.88,1.137,6,0.000,0.049,2956,2082,1833
$GC,8444,0.74,303.6,637.6,10.2,860,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2081,1828
$GC,8752,0.74,303.6,596.2,12.7,876,8757,0.00,2.78,0.00,0.000,4,0.000,0.055,2954,3470,1827
$GC,8784,0.74,303.6,591.8,13.9,878,8791,0.00,2.72,0.00,0.000,6,0.000,0.048,2955,2084,1825
$GC,9111,0.74,303.6,549.1,12.2,909,9113,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2084,1825
$GC,9428,0.74,303.6,511.0,12.1,939,9432,0.00,2.72,0.00,0.000,4,0.000,0.054,2954,3462,1825
$GC,9449,0.74,303.6,508.3,11.9,940,9456,0.00,2.70,0.00,0.000,6,0.000,0.046,2955,2077,1824
$GC,9776,0.74,303.6,470.9,12.0,971,9777,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2077,1824
$GC,10093,0.77,325.2,434.2,9.3,1001,10116,0.00,0.00,21.52,1.118,6,0.000,0.000,2955,2078,1745
$GC,10437,0.87,410.6,405.2,7.1,1033,10531,0.15,2.88,85.07,1.034,4,0.072,0.053,2988,3464,1396
$GC,10549,0.81,410.6,392.1,12.8,1043,10555,0.00,2.78,0.00,0.000,6,0.000,0.047,2989,2093,1394
$GC,10875,0.73,410.6,350.5,14.6,1074,10881,0.15,2.95,0.00,0.000,4,0.139,0.064,2963,635,1388
$GC,10909,0.73,410.6,345.5,12.9,1079,10915,0.00,2.83,0.00,0.000,6,0.000,0.041,2963,2101,1387
$GC,11253,0.73,410.6,308.2,10.9,1140,11258,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2102,1386
$GC,11596,0.73,410.6,268.4,12.2,1201,11602,0.00,2.95,0.00,0.000,4,0.000,0.064,2963,641,1386
$GC,11619,0.73,410.6,265.5,12.4,1205,11626,0.00,2.78,0.00,0.000,6,0.000,0.041,2963,2093,1384
$GC,11962,0.73,410.6,227.3,11.2,1266,11968,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2093,1385
$GC,12305,0.73,410.6,184.5,12.1,1327,12311,0.00,2.95,0.00,0.000,4,0.000,0.064,2963,632,1385
$GC,12334,0.78,410.6,180.8,12.2,1332,12341,0.00,2.75,0.00,0.000,6,0.000,0.040,2963,2080,1384
$GC,12678,0.78,410.6,137.6,12.9,1393,12684,0.00,2.70,0.00,0.000,4,0.000,0.051,2963,3458,1384
$GC,12701,0.78,410.6,134.7,12.7,1397,12707,0.00,2.72,0.00,0.000,6,0.000,0.046,2963,2062,1384
$GC,13044,0.78,410.6,90.3,11.9,1458,13051,0.00,2.85,0.00,0.000,4,0.000,0.066,2963,638,1383
$GC,13068,0.82,410.6,87.5,12.2,1462,13075,0.00,2.72,0.00,0.000,6,0.000,0.040,2963,2069,1384
$GC,13414,0.86,410.6,50.3,10.5,1523,13421,0.12,2.72,0.00,0.000,4,0.071,0.052,2988,3459,1384
$GC,13440,0.86,410.6,47.4,11.4,1527,13447,0.00,2.72,0.00,0.000,6,0.000,0.046,2989,2057,1383
$GC,13582,0.86,410.6,28.9,13.1,1552,13588,0.00,2.83,0.00,0.000,4,0.000,0.067,2988,646,1383
$GC,13611,0.86,410.6,24.8,14.5,1557,13617,0.00,2.70,0.00,0.000,6,0.000,0.041,2989,2066,1383
$GC,13754,0.86,410.6,5.4,13.5,1582,13760,0.00,2.72,0.00,0.000,4,0.000,0.052,2989,3459,1383
$STATE,13776,end climb,SURFACE_DEPTH_REACHED
$STATE,13776,begin surface coast
$FINISH,0.4,1.027187
$STATE,13790,end surface coast,CONTROL_FINISHED_OK
$STATE,13790,begin surface
$SM_CCo,13868,0.00,0.000,0,0,1381,414.56
$SM_GC,1.04,7.55,0.00,0.00,0.053,0.000,0.000,1468,2276,1381,-6.09,-0.54,414.56
$IRIDIUM_FIX,6108.28,-2635.92,180897,080823
$TT8_MAMPS,0.021476
$HUMID,1748
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,16.30
$XPDR_PINGS,15
$24V_AH,19.3,78.478
$10V_AH,9.9,53.170
$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,21.400,106.575,609.700,0.000,0.000,25.591,33.954,256.547,3.750,0.000,0.000,15.475,2473.608,7662.330,674.401,2895.686,590.860,0.000,1986.118,0.000,2890.146,0.000,0.466
$DEVICE_MAMPS,254.644,73.632,1271.686,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1197.757,1109.773,614.515,1474.420,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116849,1588
$CAP_FILE_SIZE,135356,0
$CFSIZE,260165632,233283584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240508,161201,6135.321,-2646.614,37,1.3,37,-18.9