version: 66.03
glider: 143
mission: 4
dive: 68
start: 4 17 108 17 10 40
data:
$ID,143
$MISSION,4
$DIVE,68
$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,2
$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,-5332.5972
$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,35
$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
$GPS1,165437,5935.609,-2242.657,37,2.0,48,-15.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-38.1
$GPS2,171020,5935.847,-2242.809,11,1.7,29,-15.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5939.540,-2247.935
$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,291.5,20000,-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,25,-0.82,-194.7,0.0,0.0,0,158,0.00,0.00,-129.38,0.000,6,0.000,0.000,1468,2314,3866
$GC,160,-0.82,-194.7,4.0,-6.6,14,179,9.80,2.85,0.00,0.000,4,0.251,0.049,2611,886,3867
$GC,453,-0.73,-194.7,62.6,-17.3,64,462,0.12,2.78,0.00,0.000,6,0.139,0.050,2634,2274,3867
$GC,667,-0.64,-194.7,95.5,-14.7,101,674,0.15,0.00,0.00,0.000,6,0.145,0.000,2658,2274,3867
$GC,877,-0.64,-194.7,124.5,-13.2,138,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2273,3867
$GC,1089,-0.64,-194.7,152.2,-13.3,175,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2274,3867
$GC,1434,-0.64,-194.7,195.9,-12.6,236,1443,0.00,2.78,0.00,0.000,4,0.000,0.054,2656,881,3867
$GC,1502,-0.64,-194.7,203.9,-11.9,247,1509,0.00,2.72,0.00,0.000,6,0.000,0.044,2658,2294,3868
$GC,1848,-0.64,-194.7,248.1,-13.8,308,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2294,3868
$GC,2193,-0.64,-194.7,291.7,-12.1,369,2201,0.00,2.78,0.00,0.000,4,0.000,0.054,2657,874,3867
$GC,2231,-0.64,-194.7,296.5,-12.0,375,2239,0.00,2.70,0.00,0.000,6,0.000,0.043,2658,2286,3867
$GC,2576,-0.64,-194.7,340.2,-13.3,436,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2286,3867
$GC,2918,-0.64,-194.7,383.1,-11.7,497,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2287,3867
$GC,3257,-0.64,-194.7,425.0,-12.1,558,3265,0.00,2.78,0.00,0.000,4,0.000,0.054,2656,884,3867
$GC,3301,-0.64,-194.7,430.0,-11.6,565,3308,0.00,2.67,0.00,0.000,6,0.000,0.041,2657,2289,3867
$GC,3642,-0.64,-194.7,474.8,-13.5,626,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2289,3867
$GC,3983,-0.64,-194.7,521.0,-13.0,687,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2290,3867
$GC,4323,-0.64,-194.7,562.6,-12.5,748,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2289,3867
$GC,4659,-0.64,-194.7,604.4,-12.4,806,4664,0.00,2.80,0.00,0.000,4,0.000,0.059,2656,877,3867
$GC,4702,-0.68,-194.7,609.9,-12.6,809,4710,0.00,2.70,0.00,0.000,6,0.000,0.044,2659,2282,3867
$GC,5028,-0.68,-194.7,650.8,-13.3,840,5029,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2283,3867
$GC,5346,-0.68,-194.7,689.9,-11.7,870,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2283,3867
$GC,5665,-0.68,-194.7,726.0,-11.7,900,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2286,3867
$GC,5983,-0.68,-194.7,762.9,-11.2,930,5987,0.00,2.85,0.00,0.000,4,0.000,0.071,2656,878,3867
$GC,6022,-0.74,-194.7,767.1,-11.1,933,6027,0.00,2.72,0.00,0.000,6,0.000,0.049,2658,2285,3867
$GC,6347,-0.74,-194.7,802.2,-10.9,963,6348,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2286,3866
$GC,6665,-0.74,-194.7,837.5,-11.4,993,6666,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2287,3866
$GC,6983,-0.74,-194.7,874.0,-11.2,1023,6984,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2288,3865
$GC,7302,-0.74,-194.7,910.2,-11.8,1053,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2289,3865
$GC,7620,-0.74,-194.7,945.7,-10.6,1083,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2289,3865
$GC,7939,-0.74,-194.7,980.8,-11.5,1113,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2290,3864
$STATE,8024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8024,begin apogee
$GC,8028,-0.19,0.0,990.6,11.6,1121,8229,0.52,0.00,195.50,1.459,6,0.118,0.000,2751,2038,3071
$STATE,8230,end apogee,CONTROL_FINISHED_OK
$STATE,8230,begin climb
$GC,8232,0.82,194.7,1000.6,0.0,1141,8443,1.27,3.25,201.12,1.379,4,0.094,0.072,2970,643,2277
$GC,8492,0.70,194.7,982.0,12.4,1163,8500,0.00,2.97,0.00,0.000,6,0.000,0.044,2971,2054,2274
$GC,8820,0.57,194.7,941.9,12.7,1194,8826,0.28,2.92,0.00,0.000,4,0.131,0.060,2925,3460,2271
$GC,8894,0.53,194.7,933.6,10.7,1200,8898,0.00,2.85,0.00,0.000,6,0.000,0.053,2925,2072,2271
$GC,9219,0.49,199.6,901.7,9.8,1230,9232,0.00,2.85,5.35,1.050,4,0.000,0.058,2925,3463,2256
$GC,9266,0.49,199.6,896.8,10.1,1234,9271,0.00,2.80,0.00,0.000,6,0.000,0.052,2925,2080,2256
$GC,9592,0.48,226.1,866.8,9.1,1264,9628,0.00,2.90,28.02,1.447,4,0.000,0.059,2925,3467,2148
$GC,9674,0.48,226.1,858.8,10.2,1271,9678,0.00,2.78,0.00,0.000,6,0.000,0.052,2925,2111,2146
$GC,9999,0.50,241.8,828.5,9.5,1301,10022,0.00,3.12,17.30,1.437,4,0.000,0.071,2925,643,2085
$GC,10028,-0.33,257.5,825.6,9.5,1303,10051,1.15,2.95,16.60,1.212,6,0.109,0.043,2729,2124,2021
$GC,10376,0.18,355.2,803.2,6.6,1336,10484,0.52,3.30,98.90,1.312,4,0.070,0.069,2833,639,1622
$GC,10787,0.46,355.2,759.4,12.3,1372,10792,0.32,2.42,0.00,0.000,6,0.058,0.041,2901,1875,1615
$GC,11111,0.81,355.2,724.8,11.4,1402,11116,0.38,2.58,0.00,0.000,4,0.088,0.068,2967,632,1612
$GC,11246,0.87,355.2,711.0,10.7,1413,11253,0.00,2.40,0.00,0.000,6,0.000,0.041,2970,1874,1613
$GC,11573,0.80,355.2,665.7,14.4,1444,11578,0.00,3.20,0.00,0.000,4,0.000,0.057,2967,3469,1613
$GC,11668,0.80,355.2,651.7,14.4,1452,11673,0.00,3.15,0.00,0.000,6,0.000,0.053,2967,1894,1611
$GC,11993,0.72,355.2,603.3,15.2,1482,11998,0.00,3.12,0.00,0.000,4,0.000,0.054,2967,3462,1610
$GC,12065,0.72,355.2,592.6,14.0,1492,12072,0.00,3.00,0.00,0.000,6,0.000,0.049,2968,1944,1610
$GC,12407,0.63,355.2,537.1,16.8,1553,12415,0.15,3.00,0.00,0.000,4,0.131,0.051,2941,3464,1610
$GC,12460,0.67,355.2,529.9,11.4,1562,12467,0.00,2.92,0.00,0.000,6,0.000,0.047,2941,1972,1610
$GC,12801,0.67,355.2,489.6,11.4,1623,12809,0.00,2.95,0.00,0.000,4,0.000,0.051,2941,3471,1610
$GC,12844,0.72,355.2,484.8,11.0,1630,12852,0.00,2.88,0.00,0.000,6,0.000,0.046,2941,1990,1610
$GC,13185,0.73,367.0,450.3,9.6,1691,13203,0.00,2.92,10.82,1.072,4,0.000,0.051,2941,3467,1573
$GC,13239,0.79,376.3,445.2,9.7,1699,13255,0.15,2.85,10.75,1.152,6,0.064,0.044,2974,2010,1537
$GC,13591,0.68,376.3,390.3,15.8,1761,13599,0.15,0.00,0.00,0.000,6,0.131,0.000,2949,2010,1536
$GC,13935,0.68,376.3,350.7,11.3,1822,13942,0.00,2.85,0.00,0.000,4,0.000,0.048,2949,3464,1536
$GC,13990,0.68,376.3,344.8,10.3,1831,13997,0.00,2.80,0.00,0.000,6,0.000,0.044,2948,2028,1535
$GC,14336,0.68,376.3,305.4,11.7,1892,14345,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2027,1535
$GC,14686,0.68,376.3,263.7,11.1,1953,14693,0.00,2.80,0.00,0.000,4,0.000,0.048,2948,3465,1535
$GC,14728,0.68,376.3,258.6,11.5,1960,14737,0.00,2.78,0.00,0.000,6,0.000,0.044,2948,2050,1535
$GC,15076,0.68,376.3,218.8,11.6,2021,15083,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2050,1535
$GC,15419,0.68,376.3,181.1,11.8,2082,15427,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2050,1535
$GC,15769,0.68,376.3,140.1,13.0,2143,15776,0.00,2.78,0.00,0.000,4,0.000,0.049,2949,3474,1535
$GC,15798,0.68,376.3,136.0,13.4,2148,15807,0.00,2.78,0.00,0.000,6,0.000,0.044,2949,2056,1535
$GC,16012,0.68,376.3,110.5,11.7,2185,16019,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2056,1535
$GC,16222,0.68,376.3,82.3,15.4,2222,16231,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2056,1535
$GC,16436,0.77,446.6,61.1,7.6,2259,16514,0.00,0.00,68.32,0.896,6,0.000,0.000,2948,2056,1250
$GC,16722,0.83,446.6,34.9,10.6,2305,16731,0.15,0.00,0.00,0.000,6,0.062,0.000,2984,2056,1244
$GC,16871,0.74,446.6,10.4,14.6,2330,16880,0.15,0.00,0.00,0.000,6,0.129,0.000,2962,2056,1243
$STATE,16951,end climb,SURFACE_DEPTH_REACHED
$STATE,16951,begin surface coast
$FINISH,-0.0,1.027319
$STATE,16970,end surface coast,CONTROL_FINISHED_OK
$STATE,16970,begin surface
$SM_CCo,17045,0.00,0.000,0,0,1240,449.14
$SM_GC,0.55,7.43,0.00,0.00,0.048,0.000,0.000,1469,2318,1240,-6.09,0.65,449.14
$IRIDIUM_FIX,5915.45,-2245.69,120797,171741
$TT8_MAMPS,0.02301
$HUMID,1651
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,12.70
$XPDR_PINGS,287
$24V_AH,19.6,30.490
$10V_AH,9.7,21.001
$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,22.700,121.000,652.700,0.000,0.000,96.931,273.550,257.698,71.750,0.000,0.000,31.032,4664.276,6423.873,813.489,5154.761,910.326,0.000,2661.433,0.000,5162.548,0.000,0.467
$DEVICE_MAMPS,250.809,72.098,1458.834,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1716.863,1691.194,955.574,931.302,2416.733,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,177297,2346
$CAP_FILE_SIZE,184349,0
$CFSIZE,260165632,250060800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106, 90.9,1
$GPS,170408,215616,5936.380,-2246.597,37,2.7,56,-15.7