version: 66.03
glider: 143
mission: 4
dive: 159
start: 5 6 108 8 16 34
data:
$ID,143
$MISSION,4
$DIVE,159
$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,330
$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,-8161.3252
$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,20
$R_STBD_OVSHOOT,34
$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
$GPS1,080932,6101.559,-2643.571,40,1.7,40,-18.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-53.3
$GPS2,081615,6101.535,-2643.559,13,1.8,13,-18.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6110.887,-2646.161
$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,348.5,20000,-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,-194.7,0.0,0.0,0,129,0.00,0.00,-101.40,0.000,2,0.000,0.000,1467,2314,3585
$GC,132,-0.82,-194.7,3.5,-6.1,14,154,9.93,2.80,-6.15,0.000,4,0.251,0.069,2611,3695,3865
$GC,250,-0.72,-194.7,29.7,-17.4,35,258,0.15,2.75,0.00,0.000,6,0.130,0.040,2636,2291,3867
$GC,386,-0.66,-194.7,50.7,-15.5,60,394,0.00,2.80,0.00,0.000,4,0.000,0.054,2636,885,3866
$GC,443,-0.66,-194.7,59.8,-14.3,70,451,0.00,2.75,0.00,0.000,6,0.000,0.048,2638,2269,3867
$GC,777,-0.61,-194.7,109.9,-14.9,131,782,0.15,0.00,0.00,0.000,6,0.147,0.000,2662,2269,3867
$GC,1106,-0.61,-194.7,150.6,-11.5,192,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2269,3867
$GC,1449,-0.61,-194.7,191.3,-11.9,253,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2269,3867
$GC,1787,-0.61,-194.7,231.4,-11.5,314,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2269,3867
$GC,2125,-0.61,-194.7,269.8,-10.9,375,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2269,3867
$GC,2466,-0.61,-194.7,307.0,-10.9,436,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2269,3867
$GC,2810,-0.61,-194.7,343.7,-10.8,497,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2269,3867
$GC,3138,-0.61,-194.7,380.4,-11.1,533,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2269,3867
$GC,3456,-0.61,-194.7,415.4,-10.9,563,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2269,3867
$GC,3777,-0.61,-194.7,450.7,-11.0,593,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2269,3867
$GC,4092,-0.61,-194.7,485.0,-10.9,623,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2269,3867
$GC,4410,-0.61,-194.7,518.8,-10.5,653,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2269,3867
$GC,4729,-0.61,-194.7,555.0,-11.3,683,4734,0.00,2.75,0.00,0.000,4,0.000,0.057,2661,878,3867
$GC,4769,-0.67,-194.7,559.3,-10.9,686,4773,0.00,2.72,0.00,0.000,6,0.000,0.043,2665,2297,3867
$GC,5095,-0.67,-194.7,594.4,-11.1,716,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2297,3867
$GC,5413,-0.67,-194.7,629.8,-11.4,734,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2297,3867
$GC,5723,-0.67,-194.7,664.1,-11.2,749,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2297,3867
$GC,6032,-0.67,-194.7,698.0,-10.8,764,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2298,3867
$GC,6341,-0.67,-194.7,731.7,-11.1,779,6346,0.00,2.88,0.00,0.000,4,0.000,0.070,2661,888,3867
$GC,6402,-0.74,-194.7,738.8,-12.4,782,6408,0.68,2.72,0.00,0.000,6,0.041,0.050,2528,2286,3867
$GC,6729,-0.44,-194.7,820.6,-25.4,798,6732,1.10,0.00,0.00,0.000,6,0.155,0.000,2697,2289,3866
$GC,7039,-0.55,-194.7,849.0,-8.9,813,7040,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2289,3866
$GC,7348,-0.65,-194.7,876.8,-8.7,828,7350,0.20,0.00,0.00,0.000,6,0.055,0.000,2655,2291,3866
$GC,7656,-0.65,-194.7,913.2,-11.8,843,7661,0.00,2.85,0.00,0.000,4,0.000,0.067,2643,884,3866
$GC,7699,-0.65,-194.7,918.2,-11.2,845,7704,0.00,2.75,0.00,0.000,6,0.000,0.048,2644,2289,3866
$GC,8026,-0.65,-194.7,955.7,-11.4,861,8027,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2289,3865
$STATE,8334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8334,begin apogee
$GC,8339,-0.19,0.0,990.0,10.8,876,8541,0.68,0.00,198.75,1.427,6,0.120,0.000,2757,2040,3071
$STATE,8542,end apogee,CONTROL_FINISHED_OK
$STATE,8542,begin climb
$GC,8543,0.82,194.7,997.5,0.0,886,8760,1.27,3.17,205.50,1.356,4,0.084,0.069,2975,649,2276
$GC,8866,0.69,194.7,966.5,13.5,901,8874,0.17,2.90,0.00,0.000,6,0.140,0.046,2953,2050,2272
$GC,9182,0.58,194.7,930.4,11.4,917,9188,0.17,2.92,0.00,0.000,4,0.137,0.061,2924,3468,2271
$GC,9244,0.59,207.0,924.1,9.6,920,9265,0.00,2.80,12.65,1.321,6,0.000,0.051,2924,2081,2227
$GC,9574,0.59,207.0,891.5,10.1,936,9578,0.00,2.83,0.00,0.000,4,0.000,0.059,2924,3468,2225
$GC,9600,0.60,210.8,888.6,9.9,937,9612,0.00,2.78,5.43,1.045,6,0.000,0.050,2925,2082,2211
$GC,9921,0.61,223.6,858.0,9.6,953,9942,0.00,2.83,14.62,1.313,4,0.000,0.059,2924,3461,2158
$GC,9975,0.62,226.7,852.5,9.9,955,9987,0.00,2.72,4.97,0.943,6,0.000,0.050,2924,2104,2146
$GC,10296,0.63,235.8,821.5,9.7,971,10312,0.00,2.78,10.90,1.266,4,0.000,0.058,2923,3465,2108
$GC,10339,0.63,235.8,816.9,10.3,972,10343,0.00,2.72,0.00,0.000,6,0.000,0.049,2924,2105,2107
$GC,10666,0.66,260.0,785.3,9.2,988,10697,0.00,2.80,25.23,1.298,4,0.000,0.058,2924,3466,2010
$GC,10718,0.70,295.2,780.4,8.8,990,10761,0.15,2.70,36.70,1.255,6,0.069,0.048,2953,2125,1867
$GC,11071,0.63,295.2,736.7,12.6,1007,11075,0.00,3.05,0.00,0.000,4,0.000,0.069,2954,635,1862
$GC,11109,0.63,295.2,731.5,13.1,1009,11114,0.00,2.90,0.00,0.000,6,0.000,0.044,2955,2117,1862
$GC,11435,0.56,295.2,688.9,13.6,1025,11440,0.17,2.70,0.00,0.000,4,0.129,0.056,2923,3469,1861
$GC,11467,0.56,295.2,684.9,11.1,1026,11473,0.00,2.67,0.00,0.000,6,0.000,0.048,2924,2113,1859
$GC,11782,0.58,311.1,654.4,9.5,1042,11803,0.00,0.00,16.15,1.271,6,0.000,0.000,2924,2112,1802
$GC,12112,0.62,342.9,624.3,8.9,1058,12151,0.00,0.00,33.58,1.188,6,0.000,0.000,2923,2111,1672
$GC,12462,0.74,393.9,595.0,8.2,1077,12516,0.20,0.00,51.50,1.159,6,0.061,0.000,2965,2111,1465
$GC,12831,0.67,393.9,541.9,15.1,1112,12832,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2110,1458
$GC,13152,0.62,393.9,495.6,14.1,1142,13157,0.17,2.97,0.00,0.000,4,0.125,0.063,2935,634,1457
$GC,13173,0.62,393.9,492.3,13.8,1143,13180,0.00,2.90,0.00,0.000,6,0.000,0.041,2936,2139,1457
$GC,13501,0.66,393.9,459.5,10.5,1174,13502,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2139,1457
$GC,13817,0.71,396.6,426.0,9.9,1204,13822,0.00,3.03,0.00,0.000,4,0.000,0.061,2935,632,1457
$GC,13849,0.79,396.6,422.4,10.3,1206,13857,0.17,2.85,0.00,0.000,6,0.057,0.039,2975,2130,1456
$GC,14174,0.69,396.6,370.8,16.7,1237,14176,0.15,0.00,0.00,0.000,6,0.130,0.000,2953,2130,1456
$GC,14501,0.69,396.6,328.9,12.1,1281,14508,0.00,2.97,0.00,0.000,4,0.000,0.061,2951,640,1456
$GC,14537,0.69,396.6,324.3,11.6,1287,14543,0.00,2.83,0.00,0.000,6,0.000,0.040,2953,2126,1456
$GC,14877,0.69,396.6,282.9,12.2,1348,14884,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2125,1455
$GC,15220,0.69,396.6,242.9,11.9,1409,15226,0.00,2.97,0.00,0.000,4,0.000,0.061,2952,637,1456
$GC,15248,0.69,396.6,239.3,11.5,1414,15254,0.00,2.80,0.00,0.000,6,0.000,0.039,2954,2108,1455
$GC,15588,0.69,396.6,201.4,10.5,1475,15594,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2109,1455
$GC,15924,0.69,396.6,165.2,12.0,1536,15931,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2109,1455
$GC,16262,0.69,396.6,125.5,11.9,1597,16268,0.00,2.95,0.00,0.000,4,0.000,0.061,2951,632,1456
$GC,16286,0.69,396.6,122.4,12.5,1601,16292,0.00,2.80,0.00,0.000,6,0.000,0.040,2953,2105,1455
$GC,16615,0.69,396.6,83.6,12.5,1662,16623,0.00,2.67,0.00,0.000,4,0.000,0.052,2951,3464,1456
$GC,16639,0.69,396.6,81.0,12.1,1666,16647,0.00,2.70,0.00,0.000,6,0.000,0.044,2951,2082,1455
$GC,16970,0.69,396.6,44.3,11.5,1727,16978,0.00,2.88,0.00,0.000,4,0.000,0.064,2951,647,1455
$GC,17007,0.75,398.6,40.2,9.9,1733,17017,0.00,2.78,4.40,0.624,6,0.000,0.040,2952,2092,1445
$GC,17145,0.75,398.6,25.4,11.9,1758,17153,0.00,2.70,0.00,0.000,4,0.000,0.051,2951,3462,1445
$GC,17160,0.75,398.6,23.5,10.6,1760,17168,0.00,2.72,0.00,0.000,6,0.000,0.043,2955,2069,1445
$GC,17295,0.75,398.6,9.0,11.7,1785,17303,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2069,1445
$STATE,17360,end climb,SURFACE_DEPTH_REACHED
$STATE,17360,begin surface coast
$FINISH,0.0,1.014486
$STATE,17378,end surface coast,CONTROL_FINISHED_OK
$STATE,17378,begin surface
$SM_CCo,17453,0.00,0.000,0,0,1442,399.59
$SM_GC,0.73,7.32,0.00,0.00,0.050,0.000,0.000,1469,2311,1442,-6.08,0.45,399.59
$IRIDIUM_FIX,6032.86,-2637.86,310797,030308
$TT8_MAMPS,0.021476
$HUMID,1682
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,12.30
$XPDR_PINGS,128
$24V_AH,19.3,55.146
$10V_AH,9.8,39.547
$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,22.850,119.525,620.375,0.000,0.000,23.903,27.383,236.543,32.000,0.000,0.000,14.902,2841.445,9715.565,731.908,4006.493,545.196,0.000,2225.299,0.000,4011.503,0.000,0.467
$DEVICE_MAMPS,250.809,69.797,1426.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1336.985,1261.459,659.175,907.136,1651.332,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132775,1800
$CAP_FILE_SIZE,159501,0
$CFSIZE,260165632,241250304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060508,130838,6104.329,-2644.612,36,0.9,36,-18.6