version: 66.03
glider: 143
mission: 4
dive: 250
start: 5 24 108 19 42 32
data:
$ID,143
$MISSION,4
$DIVE,250
$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,315
$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,-9995.7344
$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,27
$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
$GPS1,193544,6136.708,-2646.210,25,1.3,32,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-56.4
$GPS2,194214,6136.746,-2646.310,10,1.3,15,-18.9
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6144.382,-2649.925
$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,333.9,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.82,-194.7,0.0,0.0,0,107,0.00,0.00,-77.10,0.000,2,0.000,0.000,1462,2306,3376
$GC,110,-0.82,-194.7,3.2,-4.7,14,140,10.07,2.85,-11.95,0.000,4,0.251,0.067,2613,887,3868
$GC,382,-0.76,-194.7,50.7,-16.4,62,389,0.00,2.75,0.00,0.000,6,0.000,0.051,2614,2289,3868
$GC,727,-0.65,-194.7,115.8,-18.9,123,733,0.22,0.00,0.00,0.000,6,0.144,0.000,2650,2290,3868
$GC,1069,-0.65,-194.7,158.8,-10.7,184,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2290,3868
$GC,1412,-0.65,-194.7,200.5,-12.3,245,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2291,3869
$GC,1755,-0.65,-194.7,243.5,-11.9,306,1761,0.00,2.78,0.00,0.000,4,0.000,0.055,2650,880,3869
$GC,1796,-0.70,-194.7,248.2,-11.0,313,1802,0.00,2.75,0.00,0.000,6,0.000,0.045,2650,2301,3868
$GC,2140,-0.70,-194.7,285.2,-9.8,374,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2301,3869
$GC,2483,-0.70,-194.7,327.5,-12.4,435,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2301,3868
$GC,2822,-0.70,-194.7,370.6,-12.2,482,2826,0.00,2.80,0.00,0.000,4,0.000,0.054,2650,879,3869
$GC,2867,-0.74,-194.7,375.7,-10.8,485,2874,0.00,2.70,0.00,0.000,6,0.000,0.044,2650,2285,3869
$GC,3194,-0.74,-194.7,411.2,-11.6,516,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2285,3869
$GC,3510,-0.74,-194.7,448.7,-11.2,546,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2285,3869
$GC,3828,-0.74,-194.7,482.4,-10.4,576,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2285,3868
$GC,4147,-0.74,-194.7,520.0,-12.4,606,4152,0.00,2.83,0.00,0.000,4,0.000,0.057,2650,3709,3868
$GC,4191,-0.74,-194.7,525.7,-12.8,609,4197,0.00,2.75,0.00,0.000,6,0.000,0.043,2650,2288,3868
$GC,4518,-0.74,-194.7,565.8,-11.5,640,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2284,3868
$GC,4835,-0.74,-194.7,599.8,-8.9,670,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2284,3868
$GC,5153,-0.74,-194.7,630.8,-9.8,686,5158,0.00,2.78,0.00,0.000,4,0.000,0.061,2650,890,3867
$GC,5211,-0.80,-194.7,636.4,-9.8,688,5218,0.12,2.70,0.00,0.000,6,0.064,0.047,2624,2286,3868
$GC,5527,-0.74,-194.7,679.1,-14.0,704,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2288,3868
$GC,5836,-0.70,-194.7,724.5,-14.3,719,5842,0.15,2.90,0.00,0.000,4,0.131,0.066,2649,3705,3867
$GC,5887,-0.75,-194.7,731.1,-11.8,721,5891,0.00,2.80,0.00,0.000,6,0.000,0.051,2649,2284,3867
$GC,6201,-0.75,-194.7,767.3,-11.3,736,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2284,3867
$GC,6512,-0.75,-194.7,802.9,-11.5,751,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2283,3867
$GC,6820,-0.75,-194.7,836.0,-10.6,766,6825,0.00,2.83,0.00,0.000,4,0.000,0.067,2649,883,3866
$GC,6859,-0.81,-194.7,840.2,-11.0,768,6864,0.15,2.75,0.00,0.000,6,0.061,0.048,2617,2289,3866
$GC,7186,-0.74,-194.7,885.8,-12.7,784,7191,0.00,2.88,0.00,0.000,4,0.000,0.066,2617,3704,3866
$GC,7241,-0.74,-194.7,893.4,-12.8,786,7248,0.00,2.80,0.00,0.000,6,0.000,0.051,2617,2287,3866
$GC,7557,-1.07,-194.7,916.8,0.0,802,7559,0.28,0.00,0.00,0.000,6,0.067,0.000,2563,2286,3866
$STATE,7616,end dive,NO_VERTICAL_VELOCITY
$STATE,7616,begin apogee
$GC,7622,-0.19,0.0,916.8,0.0,805,7826,1.00,0.00,199.93,1.361,6,0.067,0.000,2756,2036,3071
$STATE,7827,end apogee,CONTROL_FINISHED_OK
$STATE,7827,begin climb
$GC,7829,0.82,194.7,916.7,0.0,815,8043,1.25,3.25,205.10,1.292,4,0.077,0.058,2976,3464,2277
$GC,8085,0.70,194.7,896.2,12.4,828,8091,0.15,3.03,0.00,0.000,6,0.133,0.050,2956,2051,2275
$GC,8412,0.61,194.7,861.4,11.3,844,8418,0.12,2.90,0.00,0.000,4,0.138,0.058,2938,3467,2272
$GC,8440,0.57,194.7,858.1,11.4,845,8445,0.00,2.83,0.00,0.000,6,0.000,0.051,2938,2061,2272
$GC,8755,0.62,236.0,828.9,8.6,860,8799,0.00,0.00,41.72,1.296,6,0.000,0.000,2939,2061,2108
$GC,9106,0.68,287.4,799.8,8.2,877,9160,0.00,0.00,52.33,1.280,6,0.000,0.000,2938,2059,1899
$GC,9457,0.71,310.7,768.4,9.2,894,9486,0.00,2.90,24.10,1.270,4,0.000,0.058,2938,3464,1804
$GC,9559,0.71,311.3,758.2,10.0,898,9566,0.00,2.80,0.00,0.000,6,0.000,0.051,2939,2076,1801
$GC,9875,0.71,311.3,726.5,10.3,914,9879,0.00,2.80,0.00,0.000,4,0.000,0.058,2938,3462,1800
$GC,9891,0.71,311.3,724.8,10.4,915,9896,0.00,2.75,0.00,0.000,6,0.000,0.049,2939,2080,1799
$GC,10218,0.71,311.3,690.6,10.6,931,10219,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2079,1799
$GC,10527,0.71,311.3,658.3,10.1,946,10531,0.00,2.78,0.00,0.000,4,0.000,0.056,2938,3468,1798
$GC,10553,0.71,311.3,655.3,11.2,947,10557,0.00,2.72,0.00,0.000,6,0.000,0.048,2938,2086,1797
$GC,10875,0.71,311.3,622.3,10.1,963,10876,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2085,1797
$GC,11186,0.73,326.5,592.4,9.5,981,11209,0.00,2.97,17.00,1.232,4,0.000,0.067,2938,642,1739
$GC,11217,0.18,377.1,589.8,8.3,984,11280,0.55,2.83,51.92,1.131,6,0.104,0.042,2843,2097,1532
$GC,11598,0.52,377.1,552.7,11.0,1020,11600,0.38,0.00,0.00,0.000,6,0.070,0.000,2914,2096,1527
$GC,11918,0.88,394.9,522.9,9.4,1050,11943,0.35,2.97,18.55,1.156,4,0.070,0.062,2986,637,1461
$GC,11977,0.88,394.9,516.5,11.5,1055,11983,0.00,2.85,0.00,0.000,6,0.000,0.042,2986,2104,1460
$GC,12304,0.81,394.9,468.9,15.5,1086,12309,0.00,2.67,0.00,0.000,4,0.000,0.054,2986,3459,1458
$GC,12326,0.75,394.9,464.9,15.4,1087,12333,0.15,2.67,0.00,0.000,6,0.133,0.046,2967,2095,1458
$GC,12650,0.75,394.9,428.1,10.7,1118,12655,0.00,2.92,0.00,0.000,4,0.000,0.064,2965,634,1458
$GC,12678,0.75,394.9,425.0,10.8,1120,12682,0.00,2.83,0.00,0.000,6,0.000,0.041,2965,2104,1457
$GC,13002,0.75,394.9,386.3,12.4,1150,13006,0.00,2.67,0.00,0.000,4,0.000,0.053,2964,3465,1457
$GC,13022,0.75,394.9,383.5,13.0,1151,13029,0.00,2.67,0.00,0.000,6,0.000,0.045,2964,2098,1457
$GC,13350,0.75,394.9,342.5,11.8,1187,13357,0.00,2.92,0.00,0.000,4,0.000,0.064,2964,632,1457
$GC,13374,0.75,394.9,339.5,12.9,1191,13380,0.00,2.80,0.00,0.000,6,0.000,0.041,2964,2094,1457
$GC,13717,0.75,394.9,296.4,12.4,1252,13723,0.00,2.67,0.00,0.000,4,0.000,0.053,2964,3462,1457
$GC,13737,0.75,394.9,294.1,12.6,1255,13743,0.00,2.67,0.00,0.000,6,0.000,0.045,2965,2093,1457
$GC,14080,0.75,394.9,251.7,11.9,1316,14086,0.00,2.90,0.00,0.000,4,0.000,0.064,2964,636,1457
$GC,14103,0.75,394.9,248.8,12.3,1320,14110,0.00,2.78,0.00,0.000,6,0.000,0.041,2965,2095,1456
$GC,14447,0.75,394.9,208.3,11.9,1381,14452,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2094,1456
$GC,14789,0.75,394.9,167.2,12.5,1442,14795,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2095,1456
$GC,15134,0.75,394.9,126.6,11.1,1503,15139,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2095,1457
$GC,15477,0.75,394.9,88.5,10.7,1564,15483,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2095,1456
$GC,15821,0.75,394.9,51.5,10.2,1625,15827,0.00,2.95,0.00,0.000,4,0.000,0.064,2967,633,1456
$GC,15844,0.80,432.3,49.4,8.7,1629,15890,0.00,2.78,37.58,0.838,6,0.000,0.040,2964,2097,1308
$GC,16025,0.80,432.3,30.2,11.0,1661,16031,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2097,1304
$GC,16167,0.80,432.3,15.1,10.4,1686,16173,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2097,1303
$STATE,16295,end climb,SURFACE_DEPTH_REACHED
$STATE,16295,begin surface coast
$FINISH,0.5,1.007942
$STATE,16320,end surface coast,CONTROL_FINISHED_OK
$STATE,16320,begin surface
$SM_CCo,16398,0.00,0.000,0,0,1301,434.18
$SM_GC,1.12,7.35,0.00,0.00,0.046,0.000,0.000,1467,2293,1301,-6.08,-0.03,434.18
$IRIDIUM_FIX,6112.75,-2641.98,180897,161643
$TT8_MAMPS,0.021476
$HUMID,1757
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,16.20
$XPDR_PINGS,17
$24V_AH,19.2,78.911
$10V_AH,9.8,53.448
$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,22.300,124.800,648.225,0.000,0.000,25.298,35.575,206.787,4.250,0.000,0.000,18.567,2697.029,9664.503,756.438,3092.762,567.357,0.000,2149.117,0.000,3081.339,0.000,0.467
$DEVICE_MAMPS,250.809,66.729,1361.425,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1301.384,1203.819,632.171,1571.013,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126606,1713
$CAP_FILE_SIZE,152120,0
$CFSIZE,260165632,233107456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,250508,001707,6139.333,-2651.724,36,1.1,41,-19.0