version: 66.03
glider: 143
mission: 4
dive: 72
start: 4 18 108 12 46 36
data:
$ID,143
$MISSION,4
$DIVE,72
$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,270
$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,-5428.0933
$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,22
$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
$GPS1,123846,5936.318,-2240.837,39,99.0,58,-15.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-44.5
$GPS2,124617,5936.352,-2240.925,9,2.2,28,-15.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5936.352,-2246.389
$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,287.5,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,142,0.00,0.00,-113.43,0.000,2,0.000,0.000,1465,2302,3548
$GC,144,-0.82,-194.7,3.1,-5.7,12,173,9.82,2.88,-7.53,0.000,4,0.251,0.063,2609,884,3866
$GC,448,-0.72,-194.7,58.1,-17.8,63,456,0.20,2.75,0.00,0.000,6,0.152,0.049,2639,2289,3867
$GC,661,-0.65,-194.7,91.1,-15.2,100,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2289,3867
$GC,875,-0.58,-194.7,122.7,-15.0,137,882,0.17,0.00,0.00,0.000,6,0.147,0.000,2667,2290,3868
$GC,1085,-0.58,-194.7,148.5,-11.9,174,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2290,3867
$GC,1298,-0.58,-194.7,173.7,-11.5,211,1305,0.00,2.78,0.00,0.000,4,0.000,0.053,2665,876,3867
$GC,1359,-0.63,-194.7,180.8,-11.4,221,1366,0.00,2.75,0.00,0.000,6,0.000,0.044,2669,2301,3867
$GC,1703,-0.63,-194.7,221.6,-11.2,282,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2301,3867
$GC,2050,-0.63,-194.7,260.0,-11.1,343,2057,0.00,2.78,0.00,0.000,4,0.000,0.052,2666,885,3867
$GC,2093,-0.69,-194.7,264.9,-11.2,350,2102,0.00,2.70,0.00,0.000,6,0.000,0.042,2669,2279,3867
$GC,2442,-0.69,-194.7,305.3,-11.6,411,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2279,3868
$GC,2787,-0.69,-194.7,345.1,-11.5,472,2795,0.00,2.75,0.00,0.000,4,0.000,0.054,2665,887,3867
$GC,2820,-0.73,-194.7,348.6,-11.5,477,2829,0.17,2.65,0.00,0.000,6,0.054,0.041,2636,2278,3867
$GC,3167,-0.66,-194.7,401.3,-16.0,538,3173,0.15,0.00,0.00,0.000,6,0.134,0.000,2658,2278,3867
$GC,3506,-0.66,-194.7,447.4,-13.0,599,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2278,3867
$GC,3846,-0.66,-194.7,491.6,-13.2,660,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2278,3867
$GC,4193,-0.66,-194.7,537.2,-12.4,721,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2278,3868
$GC,4532,-0.66,-194.7,582.4,-13.8,782,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2278,3867
$GC,4867,-0.66,-194.7,626.0,-12.3,825,4871,0.00,2.78,0.00,0.000,4,0.000,0.062,2652,884,3867
$GC,4909,-0.66,-194.7,631.4,-11.5,828,4917,0.00,2.70,0.00,0.000,6,0.000,0.044,2658,2274,3867
$GC,5235,-0.66,-194.7,671.8,-13.5,859,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2274,3867
$GC,5553,-0.66,-194.7,714.1,-13.0,889,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2275,3868
$GC,5872,-0.66,-194.7,755.2,-13.1,919,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2278,3867
$GC,6190,-0.66,-194.7,795.2,-12.1,949,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2278,3867
$GC,6509,-0.66,-194.7,835.0,-13.2,979,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2278,3867
$GC,6827,-0.66,-194.7,874.3,-12.0,1009,6832,0.00,2.80,0.00,0.000,4,0.000,0.068,2651,889,3866
$GC,6859,-0.66,-194.7,878.3,-12.3,1011,6867,0.00,2.67,0.00,0.000,6,0.000,0.048,2653,2268,3866
$GC,7184,-0.66,-194.7,916.1,-11.3,1042,7189,0.00,2.90,0.00,0.000,4,0.000,0.066,2651,3709,3866
$GC,7217,-0.66,-194.7,919.9,-11.2,1044,7225,0.00,2.83,0.00,0.000,6,0.000,0.051,2651,2268,3866
$GC,7542,-0.66,-194.7,954.5,-11.1,1075,7544,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2268,3865
$STATE,7859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7859,begin apogee
$GC,7864,-0.19,0.0,991.0,11.7,1105,8066,0.62,0.00,195.90,1.463,6,0.123,0.000,2756,2032,3071
$STATE,8067,end apogee,CONTROL_FINISHED_OK
$STATE,8067,begin climb
$GC,8068,0.82,194.7,1001.1,0.0,1125,8280,1.23,3.20,201.65,1.378,4,0.085,0.070,2972,650,2277
$GC,8352,0.70,194.7,980.8,11.8,1149,8360,0.00,2.95,0.00,0.000,6,0.000,0.044,2972,2056,2273
$GC,8678,0.56,194.7,940.8,13.1,1180,8684,0.30,2.92,0.00,0.000,4,0.131,0.060,2925,3465,2272
$GC,8745,0.51,194.7,933.2,10.4,1185,8753,0.00,2.88,0.00,0.000,6,0.000,0.052,2925,2063,2270
$GC,9071,0.48,198.1,900.9,9.9,1216,9075,0.00,2.88,0.00,0.000,4,0.000,0.058,2925,3472,2270
$GC,9121,0.48,198.1,895.5,11.3,1220,9125,0.00,2.80,0.00,0.000,6,0.000,0.051,2925,2083,2270
$GC,9446,0.46,218.6,864.5,9.3,1250,9482,0.15,3.03,24.20,1.496,4,0.127,0.071,2915,638,2178
$GC,9574,0.59,282.6,854.2,7.8,1261,9646,0.12,2.95,64.85,1.315,6,0.071,0.044,2927,2124,1918
$GC,9971,0.59,282.6,812.4,10.5,1298,9976,0.00,3.10,0.00,0.000,4,0.000,0.070,2929,641,1912
$GC,10054,0.59,282.6,803.7,10.2,1305,10059,0.00,2.95,0.00,0.000,6,0.000,0.045,2928,2131,1912
$GC,10379,0.61,302.3,773.6,9.3,1335,10404,0.00,2.80,20.10,1.420,4,0.000,0.059,2927,3468,1838
$GC,10428,0.34,308.8,768.9,9.8,1339,10442,0.32,2.75,7.65,1.039,6,0.111,0.051,2874,2118,1812
$GC,10757,0.70,308.8,740.9,10.3,1370,10759,0.40,0.00,0.00,0.000,6,0.079,0.000,2946,2117,1809
$GC,11077,0.90,336.1,711.6,9.1,1400,11114,0.20,3.15,29.42,1.328,4,0.055,0.070,3000,637,1699
$GC,11149,0.80,336.1,702.6,14.9,1406,11154,0.17,3.03,0.00,0.000,6,0.140,0.044,2978,2153,1697
$GC,11473,0.69,336.1,650.4,16.8,1436,11478,0.15,2.65,0.00,0.000,4,0.134,0.056,2948,3471,1696
$GC,11494,0.62,336.1,646.9,15.6,1437,11502,0.00,2.67,0.00,0.000,6,0.000,0.048,2953,2132,1695
$GC,11819,0.62,336.1,606.5,12.0,1468,11820,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2131,1695
$GC,12149,0.62,336.1,569.0,11.2,1522,12156,0.00,3.00,0.00,0.000,4,0.000,0.064,2949,638,1695
$GC,12175,0.62,336.1,566.1,11.6,1526,12183,0.00,2.92,0.00,0.000,6,0.000,0.041,2949,2152,1695
$GC,12515,0.62,336.1,527.6,10.7,1587,12522,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2152,1695
$GC,12857,0.62,336.1,487.8,11.8,1648,12864,0.00,3.05,0.00,0.000,4,0.000,0.062,2949,634,1695
$GC,12881,0.62,336.1,484.6,12.7,1652,12889,0.00,2.90,0.00,0.000,6,0.000,0.040,2950,2150,1695
$GC,13222,0.62,336.1,442.6,12.0,1713,13229,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2150,1695
$GC,13563,0.62,336.1,402.1,11.6,1774,13569,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2150,1695
$GC,13904,0.62,336.1,362.2,11.3,1835,13911,0.00,3.00,0.00,0.000,4,0.000,0.061,2950,639,1695
$GC,13928,0.62,336.1,359.2,12.2,1839,13936,0.00,2.85,0.00,0.000,6,0.000,0.039,2950,2147,1695
$GC,14274,0.62,336.1,318.4,11.6,1900,14282,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2147,1695
$GC,14622,0.62,336.1,276.5,11.2,1961,14628,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2147,1695
$GC,14964,0.62,336.1,235.3,12.0,2022,14973,0.00,3.03,0.00,0.000,4,0.000,0.061,2949,641,1694
$GC,14986,0.62,336.1,232.7,12.4,2025,14994,0.00,2.83,0.00,0.000,6,0.000,0.039,2950,2137,1695
$GC,15332,0.62,336.1,191.2,11.7,2086,15341,0.00,2.60,0.00,0.000,4,0.000,0.051,2948,3462,1695
$GC,15354,0.62,336.1,188.6,12.4,2089,15361,0.00,2.58,0.00,0.000,6,0.000,0.043,2949,2123,1694
$GC,15700,0.62,336.1,148.0,11.0,2150,15710,0.00,2.95,0.00,0.000,4,0.000,0.062,2948,640,1694
$GC,15726,0.62,336.1,145.0,11.6,2154,15735,0.00,2.85,0.00,0.000,6,0.000,0.039,2952,2130,1695
$GC,15939,0.62,336.1,121.4,11.2,2191,15946,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2130,1694
$GC,16149,0.62,336.1,95.8,12.6,2228,16157,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2130,1694
$GC,16361,0.62,336.1,68.8,12.3,2265,16367,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2131,1694
$GC,16573,0.62,336.1,44.7,11.1,2302,16581,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2130,1694
$GC,16720,0.62,336.1,27.4,11.0,2327,16728,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2131,1695
$GC,16868,0.66,369.8,12.7,8.8,2352,16903,0.00,0.00,31.77,0.950,6,0.000,0.000,2952,2131,1563
$STATE,16978,end climb,SURFACE_DEPTH_REACHED
$STATE,16978,begin surface coast
$FINISH,0.1,1.027294
$STATE,17003,end surface coast,CONTROL_FINISHED_OK
$STATE,17003,begin surface
$SM_CCo,17078,0.00,0.000,0,0,1557,371.14
$SM_GC,0.74,7.32,0.00,0.00,0.044,0.000,0.000,1466,2299,1557,-6.10,0.11,371.14
$IRIDIUM_FIX,5915.45,-2232.29,130797,080836
$TT8_MAMPS,0.021476
$HUMID,1642
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,12.80
$XPDR_PINGS,276
$24V_AH,19.6,31.582
$10V_AH,9.7,21.985
$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,21.525,120.750,575.550,0.000,0.000,33.052,45.950,238.601,69.000,0.000,0.000,30.684,4718.985,6216.239,776.868,5214.502,582.169,0.000,2612.590,0.000,5213.503,0.000,0.467
$DEVICE_MAMPS,250.809,71.331,1496.417,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1732.509,1707.063,978.477,970.864,2501.542,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,177197,2373
$CAP_FILE_SIZE,182436,0
$CFSIZE,260165632,249622528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040, 58.0,1
$GPS,180408,173226,5936.440,-2246.079,38,1.3,38,-15.7