version: 66.03
glider: 143
mission: 4
dive: 252
start: 5 25 108 4 34 21
data:
$ID,143
$MISSION,4
$DIVE,252
$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,310
$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,-10025.419
$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,26
$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
$GPS1,042732,6141.478,-2654.969,41,1.6,41,-19.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-52.9
$GPS2,043402,6141.512,-2654.994,11,1.5,11,-19.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6148.453,-2658.902
$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,329.1,20000,-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,24,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,117,0.00,0.00,-87.68,0.000,2,0.000,0.000,1470,2305,3371
$GC,120,-0.82,-194.7,3.4,-6.3,16,150,9.90,2.88,-11.88,0.000,4,0.247,0.068,2615,883,3868
$GC,375,-0.76,-194.7,47.2,-15.6,61,382,0.00,2.75,0.00,0.000,6,0.000,0.050,2615,2288,3868
$GC,518,-0.64,-194.7,71.4,-19.6,86,525,0.22,2.85,0.00,0.000,4,0.150,0.058,2650,3717,3868
$GC,559,-0.64,-194.7,78.2,-14.3,93,565,0.00,2.72,0.00,0.000,6,0.000,0.040,2651,2303,3869
$GC,902,-0.64,-194.7,124.9,-12.8,154,908,0.00,2.78,0.00,0.000,4,0.000,0.056,2651,880,3869
$GC,948,-0.68,-194.7,130.4,-11.7,162,954,0.00,2.78,0.00,0.000,6,0.000,0.045,2651,2314,3869
$GC,1292,-0.68,-194.7,170.8,-12.3,223,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2314,3869
$GC,1634,-0.68,-194.7,214.3,-12.3,284,1641,0.00,2.83,0.00,0.000,4,0.000,0.055,2651,880,3869
$GC,1675,-0.68,-194.7,219.0,-11.3,291,1681,0.00,2.78,0.00,0.000,6,0.000,0.045,2651,2308,3869
$GC,2018,-0.68,-194.7,263.1,-13.3,352,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2308,3869
$GC,2361,-0.68,-194.7,305.2,-12.1,413,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2308,3868
$GC,2704,-0.68,-194.7,349.6,-12.9,474,2710,0.00,2.80,0.00,0.000,4,0.000,0.055,2651,887,3869
$GC,2750,-0.73,-194.7,355.8,-13.0,479,2755,0.00,2.72,0.00,0.000,6,0.000,0.044,2651,2303,3869
$GC,3077,-0.73,-194.7,398.3,-13.0,509,3081,0.00,2.78,0.00,0.000,4,0.000,0.055,2650,3707,3869
$GC,3109,-0.73,-194.7,402.9,-13.0,511,3115,0.00,2.72,0.00,0.000,6,0.000,0.042,2651,2294,3869
$GC,3435,-0.73,-194.7,442.8,-12.1,542,3439,0.00,2.75,0.00,0.000,4,0.000,0.055,2650,887,3869
$GC,3486,-0.79,-194.7,449.0,-11.7,546,3490,0.00,2.72,0.00,0.000,6,0.000,0.044,2650,2301,3868
$GC,3813,-0.79,-194.7,490.1,-13.2,576,3817,0.00,2.78,0.00,0.000,4,0.000,0.055,2650,3705,3869
$GC,3864,-0.83,-194.7,497.2,-13.0,580,3869,0.17,2.75,0.00,0.000,6,0.058,0.043,2614,2285,3868
$GC,4188,-0.76,-194.7,551.3,-16.4,610,4190,0.12,0.00,0.00,0.000,6,0.145,0.000,2631,2283,3868
$GC,4509,-0.76,-194.7,594.2,-13.4,640,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2283,3868
$GC,4817,-0.76,-194.7,637.3,-14.2,657,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2283,3868
$GC,5126,-0.76,-194.7,677.3,-12.8,672,5131,0.00,2.83,0.00,0.000,4,0.000,0.067,2631,884,3868
$GC,5175,-0.76,-194.7,683.6,-12.0,674,5180,0.00,2.75,0.00,0.000,6,0.000,0.049,2631,2286,3868
$GC,5491,-0.76,-194.7,725.8,-13.2,689,5495,0.00,2.90,0.00,0.000,4,0.000,0.068,2631,3705,3868
$GC,5539,-0.76,-194.7,732.6,-13.6,691,5544,0.00,2.80,0.00,0.000,6,0.000,0.052,2631,2292,3868
$GC,5861,-0.76,-194.7,774.1,-12.2,707,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2292,3868
$GC,6169,-0.76,-194.7,812.4,-12.4,722,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2292,3867
$GC,6479,-0.76,-194.7,847.6,-10.9,737,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2292,3867
$GC,6789,-1.02,-194.7,880.4,-7.2,752,6794,0.30,2.83,0.00,0.000,4,0.143,0.060,2583,873,3866
$STATE,6955,end dive,NO_VERTICAL_VELOCITY
$STATE,6955,begin apogee
$GC,6962,-0.19,0.0,880.9,0.0,759,7169,0.90,0.00,198.90,1.336,6,0.080,0.000,2758,2059,3071
$STATE,7169,end apogee,CONTROL_FINISHED_OK
$STATE,7169,begin climb
$GC,7172,0.82,194.7,880.7,0.0,770,7386,1.52,3.25,202.45,1.268,4,0.170,0.068,2970,647,2277
$GC,7391,0.49,194.7,867.0,10.9,780,7398,0.45,2.97,0.00,0.000,6,0.163,0.044,2911,2052,2276
$GC,7707,0.58,271.0,838.6,7.4,796,7790,0.00,3.05,76.18,1.266,4,0.000,0.069,2911,640,1965
$GC,7860,0.72,315.3,825.6,8.5,803,7913,0.28,2.90,45.78,1.232,6,0.128,0.046,2954,2082,1785
$GC,8229,0.72,315.3,784.0,10.7,821,8233,0.00,2.80,0.00,0.000,4,0.000,0.062,2954,3459,1780
$GC,8261,0.72,315.3,780.4,10.6,822,8268,0.00,2.75,0.00,0.000,6,0.000,0.051,2954,2082,1778
$GC,8577,0.72,315.3,743.4,11.6,838,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2082,1778
$GC,8886,0.72,315.3,705.8,12.0,853,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2081,1778
$GC,9195,0.72,315.3,671.8,10.9,868,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2080,1777
$GC,9505,0.72,315.3,638.0,10.9,883,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2079,1777
$GC,9813,0.72,315.3,602.3,11.6,898,9814,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2079,1777
$GC,10132,0.72,315.3,566.3,10.6,927,10134,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2079,1777
$GC,10451,0.72,315.3,534.5,10.2,957,10455,0.00,2.75,0.00,0.000,4,0.000,0.053,2954,3472,1777
$GC,10478,0.72,315.3,531.4,11.4,959,10483,0.00,2.72,0.00,0.000,6,0.000,0.046,2954,2076,1776
$GC,10803,0.72,315.3,497.7,11.1,989,10804,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2077,1776
$GC,11122,0.72,315.3,461.8,11.0,1019,11123,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2076,1776
$GC,11441,0.72,315.3,427.2,10.6,1049,11442,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2077,1776
$GC,11759,0.72,315.3,393.0,11.3,1079,11760,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2076,1776
$GC,12078,0.72,315.3,358.0,11.0,1109,12079,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2076,1776
$GC,12409,0.72,315.3,320.6,10.5,1162,12414,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2076,1776
$GC,12752,0.72,315.3,283.2,11.7,1223,12758,0.00,2.75,0.00,0.000,4,0.000,0.051,2954,3471,1776
$GC,12769,0.72,315.3,281.1,11.4,1226,12776,0.00,2.67,0.00,0.000,6,0.000,0.043,2954,2089,1776
$GC,13113,0.72,315.3,242.5,11.0,1287,13118,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2089,1776
$GC,13455,0.73,315.9,204.0,10.0,1348,13461,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2089,1776
$GC,13799,0.73,315.9,169.9,10.4,1409,13805,0.00,2.90,0.00,0.000,4,0.000,0.064,2953,635,1776
$GC,13823,0.73,315.9,167.4,10.7,1413,13829,0.00,2.80,0.00,0.000,6,0.000,0.040,2954,2106,1776
$GC,14165,0.73,315.9,130.2,10.5,1474,14171,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2106,1776
$GC,14509,0.73,315.9,91.4,10.1,1535,14514,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2106,1776
$GC,14851,0.73,315.9,53.7,11.8,1596,14858,0.00,2.95,0.00,0.000,4,0.000,0.063,2954,638,1776
$GC,14881,0.73,315.9,50.3,11.3,1601,14887,0.00,2.78,0.00,0.000,6,0.000,0.040,2954,2093,1776
$GC,15225,0.73,323.0,15.8,9.8,1662,15238,0.00,2.92,7.32,0.726,4,0.000,0.060,2954,641,1755
$GC,15245,0.77,353.4,13.9,9.0,1665,15285,0.00,2.72,31.27,0.813,6,0.000,0.037,2954,2084,1629
$STATE,15379,end climb,SURFACE_DEPTH_REACHED
$STATE,15381,begin surface coast
$FINISH,0.3,1.026491
$STATE,15404,end surface coast,CONTROL_FINISHED_OK
$STATE,15404,begin surface
$SM_CCo,15481,0.00,0.000,0,0,1624,354.95
$SM_GC,0.96,7.93,0.00,0.00,0.080,0.000,0.000,1469,2303,1624,-6.10,0.23,354.95
$IRIDIUM_FIX,6112.75,-2654.12,190897,000044
$TT8_MAMPS,0.021476
$HUMID,1738
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,15.30
$XPDR_PINGS,22
$24V_AH,19.2,79.349
$10V_AH,9.8,53.734
$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,21.800,106.925,561.900,0.000,0.000,28.738,33.412,203.704,5.500,0.000,0.000,12.946,2645.317,8937.439,659.402,3060.175,556.358,0.000,2022.742,0.000,3059.098,0.000,0.466
$DEVICE_MAMPS,246.974,69.030,1336.114,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1277.021,1192.858,662.108,1593.606,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126598,1693
$CAP_FILE_SIZE,142626,0
$CFSIZE,260165632,232947712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250508,085338,6143.945,-2658.805,40,1.2,40,-19.1