version: 66.03
glider: 143
mission: 4
dive: 160
start: 5 6 108 13 15 27
data:
$ID,143
$MISSION,4
$DIVE,160
$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,-8177.9106
$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,37
$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
$GPS1,130838,6104.329,-2644.612,36,0.9,36,-18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-52.0
$GPS2,131508,6104.333,-2644.489,9,1.0,14,-18.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6113.686,-2647.088
$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,348.6,20000,-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,-194.7,0.0,0.0,0,128,0.00,0.00,-100.85,0.000,2,0.000,0.000,1468,2311,3624
$GC,131,-0.82,-194.7,3.9,-6.9,14,154,10.02,2.83,-5.05,0.000,4,0.252,0.061,2608,881,3866
$GC,375,-0.74,-194.7,51.9,-16.3,59,381,0.17,2.75,0.00,0.000,6,0.148,0.051,2633,2275,3867
$GC,704,-0.68,-194.7,101.8,-15.4,120,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2275,3867
$GC,1038,-0.63,-194.7,150.5,-14.3,181,1043,0.17,0.00,0.00,0.000,6,0.140,0.000,2662,2275,3868
$GC,1374,-0.63,-194.7,189.9,-11.2,242,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2275,3868
$GC,1712,-0.63,-194.7,228.7,-11.5,303,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2275,3868
$GC,2052,-0.63,-194.7,269.2,-11.7,364,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2275,3868
$GC,2396,-0.63,-194.7,309.1,-11.7,425,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2275,3868
$GC,2734,-0.63,-194.7,348.9,-11.6,486,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2275,3868
$GC,3064,-0.63,-194.7,386.6,-11.4,518,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2275,3868
$GC,3382,-0.63,-194.7,422.8,-11.4,548,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2275,3868
$GC,3701,-0.63,-194.7,458.2,-10.7,578,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2275,3867
$GC,4019,-0.63,-194.7,493.3,-11.6,608,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2275,3868
$GC,4338,-0.63,-194.7,531.8,-12.5,638,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2275,3867
$GC,4657,-0.63,-194.7,568.0,-11.0,668,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2275,3867
$GC,4975,-0.63,-194.7,602.5,-11.0,697,4979,0.00,2.78,0.00,0.000,4,0.000,0.061,2662,886,3867
$GC,5013,-0.70,-194.7,606.7,-10.9,699,5018,0.00,2.72,0.00,0.000,6,0.000,0.044,2662,2300,3867
$GC,5339,-0.70,-194.7,643.7,-11.8,715,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2301,3867
$GC,5648,-0.70,-194.7,679.3,-11.2,730,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2301,3867
$GC,5957,-0.70,-194.7,712.5,-10.7,745,5962,0.00,2.88,0.00,0.000,4,0.000,0.070,2662,888,3867
$GC,6002,-0.78,-194.7,716.9,-9.8,747,6008,0.17,2.70,0.00,0.000,6,0.056,0.048,2626,2278,3867
$GC,6323,-0.72,-194.7,761.0,-14.0,763,6328,0.00,2.90,0.00,0.000,4,0.000,0.067,2624,3704,3867
$GC,6366,-0.72,-194.7,767.2,-13.7,765,6371,0.00,2.83,0.00,0.000,6,0.000,0.052,2624,2282,3867
$GC,6693,-0.66,-194.7,812.6,-13.8,781,6699,0.15,2.83,0.00,0.000,4,0.139,0.068,2649,886,3867
$GC,6762,-0.71,-194.7,820.1,-10.5,784,6766,0.00,2.70,0.00,0.000,6,0.000,0.048,2649,2270,3867
$GC,7081,-0.71,-194.7,855.1,-11.0,800,7086,0.00,2.92,0.00,0.000,4,0.000,0.067,2649,3710,3866
$GC,7124,-0.71,-194.7,860.1,-11.6,802,7128,0.00,2.88,0.00,0.000,6,0.000,0.052,2649,2259,3866
$GC,7451,-0.71,-194.7,897.4,-11.4,818,7456,0.00,2.78,0.00,0.000,4,0.000,0.068,2649,881,3867
$GC,7506,-0.76,-194.7,903.8,-11.7,820,7513,0.25,2.70,0.00,0.000,6,0.051,0.048,2619,2262,3866
$GC,7821,-0.64,-194.7,956.2,-16.8,836,7827,0.25,2.95,0.00,0.000,4,0.139,0.066,2635,3705,3866
$GC,7876,-0.64,-194.7,964.2,-12.7,838,7884,0.15,2.88,0.00,0.000,6,0.146,0.053,2656,2259,3865
$STATE,8128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8128,begin apogee
$GC,8133,-0.19,0.0,991.1,10.8,851,8335,0.57,0.00,198.88,1.429,6,0.120,0.000,2754,2038,3071
$STATE,8336,end apogee,CONTROL_FINISHED_OK
$STATE,8336,begin climb
$GC,8338,0.82,194.7,999.7,0.0,861,8555,1.30,3.15,205.62,1.358,4,0.087,0.068,2974,649,2276
$GC,8633,0.69,194.7,976.1,11.2,875,8639,0.22,2.95,0.00,0.000,6,0.132,0.045,2952,2059,2273
$GC,8949,0.60,194.7,942.7,10.4,890,8953,0.00,2.90,0.00,0.000,4,0.000,0.063,2942,3464,2271
$GC,9010,0.53,194.7,936.2,10.2,893,9015,0.17,2.85,0.00,0.000,6,0.148,0.052,2920,2063,2271
$GC,9336,0.61,260.2,910.0,7.7,909,9407,0.00,2.97,64.95,1.365,4,0.000,0.060,2919,3468,2009
$GC,9464,0.68,317.5,899.8,8.0,915,9530,0.15,2.83,58.97,1.321,6,0.069,0.051,2946,2089,1776
$GC,9845,0.64,317.5,856.7,11.7,934,9846,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2088,1770
$GC,10154,0.60,317.5,820.0,11.9,949,10159,0.00,2.80,0.00,0.000,4,0.000,0.059,2956,3471,1768
$GC,10177,0.60,317.5,817.2,13.4,950,10181,0.00,2.75,0.00,0.000,6,0.000,0.051,2946,2093,1767
$GC,10496,0.60,317.5,777.4,12.5,966,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2092,1767
$GC,10805,0.60,317.5,739.4,12.2,981,10806,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2091,1767
$GC,11115,0.60,317.5,702.3,11.8,996,11116,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2090,1767
$GC,11424,0.60,317.5,665.3,12.0,1011,11428,0.00,2.75,0.00,0.000,4,0.000,0.057,2945,3465,1767
$GC,11462,0.60,317.5,660.6,12.7,1013,11467,0.00,2.67,0.00,0.000,6,0.000,0.049,2946,2108,1765
$GC,11788,0.60,317.5,618.8,12.7,1029,11789,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2107,1765
$GC,12101,0.60,317.5,579.2,12.6,1051,12102,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2107,1765
$GC,12423,0.60,317.5,541.2,11.2,1081,12428,0.00,2.70,0.00,0.000,4,0.000,0.053,2946,3471,1765
$GC,12462,0.60,317.5,536.3,11.1,1084,12466,0.00,2.67,0.00,0.000,6,0.000,0.046,2946,2101,1765
$GC,12786,0.60,317.5,499.5,11.0,1114,12788,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2101,1764
$GC,13104,0.60,317.5,462.6,11.7,1144,13109,0.00,2.70,0.00,0.000,4,0.000,0.052,2945,3471,1765
$GC,13132,0.60,317.5,459.2,12.4,1146,13136,0.00,2.65,0.00,0.000,6,0.000,0.045,2946,2109,1765
$GC,13459,0.60,317.5,419.1,12.5,1176,13460,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2109,1765
$GC,13774,0.60,317.5,380.7,11.2,1206,13775,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2108,1765
$GC,14094,0.60,317.5,346.5,11.0,1238,14100,0.00,2.67,0.00,0.000,4,0.000,0.051,2946,3465,1765
$GC,14128,0.60,317.5,342.6,10.2,1244,14135,0.00,2.62,0.00,0.000,6,0.000,0.044,2946,2125,1765
$GC,14471,0.60,317.5,305.6,10.4,1305,14478,0.00,2.97,0.00,0.000,4,0.000,0.064,2946,631,1765
$GC,14496,0.60,317.5,302.7,11.5,1309,14502,0.00,2.88,0.00,0.000,6,0.000,0.039,2946,2145,1765
$GC,14835,0.60,317.5,265.4,11.7,1370,14840,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2145,1765
$GC,15175,0.60,317.5,227.6,11.0,1431,15181,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2145,1765
$GC,15514,0.60,317.5,190.4,10.6,1492,15522,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2145,1764
$GC,15859,0.60,317.5,153.6,10.5,1553,15864,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2145,1765
$GC,16187,0.60,317.5,119.1,10.7,1614,16195,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2146,1765
$GC,16521,0.60,317.5,85.3,11.9,1675,16527,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2145,1765
$GC,16853,0.60,317.5,49.1,12.1,1736,16860,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2145,1765
$GC,16987,0.60,317.5,34.5,11.8,1761,16994,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2145,1765
$GC,17121,0.60,317.7,20.0,10.0,1786,17129,0.00,3.08,0.00,0.000,4,0.000,0.063,2946,634,1765
$GC,17142,0.60,317.7,17.7,11.3,1789,17150,0.00,2.88,0.00,0.000,6,0.000,0.038,2946,2133,1765
$GC,17276,0.60,317.7,3.1,10.5,1814,17284,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2133,1765
$STATE,17290,end climb,SURFACE_DEPTH_REACHED
$STATE,17290,begin surface coast
$FINISH,0.1,1.012721
$STATE,17307,end surface coast,CONTROL_FINISHED_OK
$STATE,17307,begin surface
$SM_CCo,17383,0.00,0.000,0,0,1764,320.61
$SM_GC,0.90,7.25,0.00,0.00,0.048,0.000,0.000,1471,2322,1764,-6.08,0.76,320.61
$IRIDIUM_FIX,6037.25,-2645.81,310797,080801
$TT8_MAMPS,0.021476
$HUMID,1679
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,11.80
$XPDR_PINGS,122
$24V_AH,19.3,55.370
$10V_AH,9.8,39.739
$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,21.025,102.200,528.425,0.000,0.000,30.802,25.767,215.697,30.500,0.000,0.000,15.958,2870.934,9656.046,620.691,4089.801,520.456,0.000,2124.108,0.000,4088.292,0.000,0.467
$DEVICE_MAMPS,251.576,69.797,1428.921,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1348.428,1277.938,673.490,918.873,1680.507,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,133040,1819
$CAP_FILE_SIZE,154633,0
$CFSIZE,260165632,241160192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,060508,180625,6107.513,-2645.161,23,1.7,40,-18.6