version: 66.03
glider: 143
mission: 4
dive: 161
start: 5 6 108 18 21 10
data:
$ID,143
$MISSION,4
$DIVE,161
$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,-8209.8242
$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,16
$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
$GPS1,180625,6107.513,-2645.161,23,1.7,40,-18.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-58.7
$GPS2,182053,6107.647,-2644.887,9,2.5,28,-18.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6117.000,-2647.482
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.82,-194.7,0.0,0.0,0,115,0.00,0.00,-86.10,0.000,2,0.000,0.000,1470,2321,3654
$GC,118,-0.82,-194.7,3.8,-6.1,12,140,9.80,2.88,-4.45,0.000,4,0.246,0.058,2609,886,3865
$GC,263,-0.74,-194.7,34.0,-17.5,38,271,0.12,2.80,0.00,0.000,6,0.206,0.052,2629,2277,3866
$GC,400,-0.67,-194.7,56.1,-15.4,63,406,0.15,0.00,0.00,0.000,6,0.154,0.000,2652,2277,3866
$GC,730,-0.67,-194.7,101.0,-13.8,124,738,0.00,2.90,0.00,0.000,4,0.000,0.058,2652,3709,3867
$GC,786,-0.67,-194.7,109.0,-13.6,134,795,0.00,2.78,0.00,0.000,6,0.000,0.041,2652,2292,3867
$GC,1117,-0.67,-194.7,153.5,-13.2,195,1123,0.00,2.75,0.00,0.000,4,0.000,0.054,2652,883,3867
$GC,1178,-0.67,-194.7,161.7,-13.1,206,1184,0.00,2.78,0.00,0.000,6,0.000,0.046,2652,2305,3866
$GC,1515,-0.67,-194.7,207.8,-13.2,267,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2305,3867
$GC,1856,-0.67,-194.7,253.0,-13.1,328,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2305,3867
$GC,2199,-0.67,-194.7,296.1,-12.4,389,2205,0.00,2.80,0.00,0.000,4,0.000,0.054,2652,886,3867
$GC,2255,-0.71,-194.7,303.2,-11.8,399,2261,0.00,2.72,0.00,0.000,6,0.000,0.044,2652,2297,3867
$GC,2596,-0.71,-194.7,346.3,-12.5,460,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2297,3866
$GC,2924,-0.71,-194.7,387.5,-12.7,493,2928,0.00,2.78,0.00,0.000,4,0.000,0.054,2652,888,3867
$GC,2967,-0.75,-194.7,393.0,-12.0,496,2976,0.00,2.70,0.00,0.000,6,0.000,0.043,2652,2277,3867
$GC,3292,-0.75,-194.7,433.3,-12.5,527,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2276,3867
$GC,3610,-0.75,-194.7,471.5,-11.7,557,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2276,3867
$GC,3929,-0.75,-194.7,510.1,-12.4,587,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2276,3867
$GC,4251,-0.75,-194.7,546.1,-10.8,617,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2276,3867
$GC,4575,-0.75,-194.7,580.2,-10.3,648,4579,0.00,2.75,0.00,0.000,4,0.000,0.057,2652,890,3867
$GC,4629,-0.80,-194.7,585.7,-9.6,652,4636,0.15,2.67,0.00,0.000,6,0.058,0.043,2619,2281,3867
$GC,4947,-0.72,-194.7,631.1,-14.6,673,4949,0.15,0.00,0.00,0.000,6,0.142,0.000,2640,2281,3866
$GC,5256,-0.72,-194.7,670.0,-12.2,688,5261,0.00,2.88,0.00,0.000,4,0.000,0.064,2640,3702,3866
$GC,5299,-0.72,-194.7,675.5,-12.3,690,5304,0.00,2.83,0.00,0.000,6,0.000,0.050,2641,2268,3866
$GC,5626,-0.72,-194.7,714.6,-11.9,706,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2268,3866
$GC,5935,-0.72,-194.7,751.2,-11.7,721,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2267,3865
$GC,6244,-0.72,-194.7,787.2,-11.9,736,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2268,3865
$GC,6554,-0.72,-194.7,822.9,-11.1,751,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2268,3865
$GC,6864,-0.72,-194.7,857.8,-11.8,766,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2268,3865
$GC,7172,-0.72,-194.7,895.7,-12.5,781,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2268,3865
$GC,7481,-0.72,-194.7,936.1,-13.2,796,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2268,3864
$GC,7791,-0.72,-194.7,975.1,-12.2,811,7796,0.00,2.95,0.00,0.000,4,0.000,0.066,2640,3707,3865
$GC,7830,-0.72,-194.7,980.0,-12.6,813,7835,0.00,2.88,0.00,0.000,6,0.000,0.052,2640,2265,3864
$STATE,7927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7927,begin apogee
$GC,7932,-0.19,0.0,991.8,12.0,818,8134,0.70,0.00,198.98,1.435,6,0.128,0.000,2756,2043,3071
$STATE,8135,end apogee,CONTROL_FINISHED_OK
$STATE,8135,begin climb
$GC,8137,0.82,194.7,1001.2,0.0,828,8354,1.25,3.20,205.90,1.360,4,0.084,0.068,2973,654,2277
$GC,8416,0.69,194.7,980.4,13.1,841,8421,0.15,2.92,0.00,0.000,6,0.137,0.044,2954,2048,2274
$GC,8731,0.58,194.7,943.8,11.6,856,8737,0.15,2.92,0.00,0.000,4,0.140,0.063,2929,3463,2272
$GC,8775,0.58,194.7,939.0,10.3,858,8780,0.00,2.83,0.00,0.000,6,0.000,0.051,2930,2069,2271
$GC,9097,0.55,218.8,908.9,9.2,874,9127,0.00,2.90,24.25,1.388,4,0.000,0.061,2929,3462,2179
$GC,9160,0.57,233.1,902.9,9.5,877,9181,0.00,2.83,16.25,1.261,6,0.000,0.051,2933,2073,2120
$GC,9502,0.61,260.8,872.2,9.0,894,9533,0.00,0.00,28.95,1.340,6,0.000,0.000,2933,2072,2007
$GC,9832,0.64,285.8,841.8,9.1,910,9866,0.00,2.95,26.67,1.343,4,0.000,0.060,2929,3462,1904
$GC,9911,0.65,296.3,834.3,9.6,913,9930,0.00,2.78,11.85,1.218,6,0.000,0.051,2930,2098,1863
$GC,10247,0.66,305.5,802.6,9.7,930,10260,0.00,0.00,10.70,1.275,6,0.000,0.000,2930,2097,1825
$GC,10556,0.68,317.1,772.5,9.6,945,10571,0.00,0.00,13.35,1.321,6,0.000,0.000,2930,2096,1778
$GC,10866,0.70,335.0,743.1,9.4,960,10891,0.00,2.80,20.33,1.298,4,0.000,0.058,2929,3460,1704
$GC,10907,0.73,358.3,739.0,9.2,962,10938,0.15,2.75,24.70,1.211,6,0.066,0.049,2959,2100,1610
$GC,11255,0.67,358.3,693.6,13.2,979,11256,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2098,1605
$GC,11563,0.60,358.3,651.8,13.8,994,11568,0.15,2.75,0.00,0.000,4,0.133,0.055,2934,3465,1604
$GC,11580,0.60,358.3,649.6,13.8,995,11584,0.00,2.67,0.00,0.000,6,0.000,0.048,2934,2105,1603
$GC,11905,0.62,374.6,618.6,9.4,1011,11930,0.00,3.05,16.95,1.246,4,0.000,0.067,2933,635,1542
$GC,11947,0.63,379.4,614.4,9.8,1013,11961,0.00,2.88,6.50,0.930,6,0.000,0.042,2934,2111,1524
$GC,12283,0.63,380.2,581.8,10.0,1037,12284,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2111,1522
$GC,12600,0.63,380.2,548.5,10.6,1067,12602,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2111,1522
$GC,12921,0.63,380.2,514.0,10.8,1097,12922,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2111,1521
$GC,13239,0.63,380.2,480.1,10.5,1127,13240,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2111,1521
$GC,13557,0.67,380.2,447.0,10.1,1157,13562,0.00,2.97,0.00,0.000,4,0.000,0.063,2934,631,1521
$GC,13580,0.73,380.2,444.6,10.8,1158,13587,0.12,2.78,0.00,0.000,6,0.061,0.040,2961,2117,1520
$GC,13904,0.67,380.2,400.0,13.2,1189,13908,0.00,2.62,0.00,0.000,4,0.000,0.051,2961,3464,1520
$GC,13921,0.62,380.2,397.7,13.3,1190,13926,0.15,2.65,0.00,0.000,6,0.134,0.044,2940,2086,1520
$GC,14247,0.63,382.9,364.2,9.9,1220,14255,0.00,0.00,4.75,0.801,6,0.000,0.000,2940,2086,1509
$GC,14582,0.63,382.9,330.0,10.2,1268,14589,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2086,1509
$GC,14925,0.63,382.9,293.7,10.4,1329,14930,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2086,1509
$GC,15265,0.69,401.0,258.6,9.4,1390,15288,0.00,0.00,20.00,1.032,6,0.000,0.000,2940,2086,1436
$GC,15623,0.79,438.7,224.8,8.7,1454,15665,0.15,0.00,38.12,0.938,6,0.067,0.000,2975,2086,1282
$GC,16003,0.72,438.7,163.1,16.8,1521,16009,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2085,1277
$GC,16336,0.65,438.7,108.5,17.6,1582,16344,0.17,2.92,0.00,0.000,4,0.126,0.062,2944,643,1276
$GC,16350,0.60,438.7,105.9,16.9,1584,16359,0.00,2.83,0.00,0.000,6,0.000,0.039,2944,2102,1275
$GC,16684,0.66,438.7,70.6,10.6,1645,16690,0.00,2.95,0.00,0.000,4,0.000,0.061,2944,640,1274
$GC,16702,0.73,438.7,68.5,11.1,1648,16710,0.00,2.83,0.00,0.000,6,0.000,0.038,2944,2102,1274
$GC,17031,0.83,456.8,36.2,9.4,1709,17054,0.15,0.00,18.17,0.846,6,0.066,0.000,2979,2102,1208
$GC,17182,0.75,456.8,12.8,17.1,1736,17190,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2102,1205
$STATE,17247,end climb,SURFACE_DEPTH_REACHED
$STATE,17247,begin surface coast
$FINISH,0.2,1.014741
$STATE,17259,end surface coast,CONTROL_FINISHED_OK
$STATE,17259,begin surface
$SM_CCo,17335,0.00,0.000,0,0,1203,458.22
$SM_GC,0.82,7.43,0.00,0.00,0.046,0.000,0.000,1469,2312,1203,-6.08,0.48,458.22
$IRIDIUM_FIX,6041.65,-2657.80,310797,181819
$TT8_MAMPS,0.021476
$HUMID,1708
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,12.10
$XPDR_PINGS,121
$24V_AH,19.3,55.659
$10V_AH,9.7,39.927
$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,21.100,108.425,686.425,0.000,0.000,91.982,99.405,414.427,30.250,0.000,0.000,31.285,2762.493,9949.844,721.592,3883.330,869.108,0.000,2208.358,0.000,3870.043,0.000,0.467
$DEVICE_MAMPS,246.207,68.263,1435.057,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1310.543,1225.326,624.464,847.438,1550.026,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129958,1750
$CAP_FILE_SIZE,163213,0
$CFSIZE,260165632,241065984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,060508,231108,6111.719,-2645.296,28,1.4,28,-18.7