version: 66.03
glider: 143
mission: 4
dive: 167
start: 5 7 108 19 6 7
data:
$ID,143
$MISSION,4
$DIVE,167
$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,180
$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,-8376.7119
$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,31
$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
$GPS1,185237,6105.892,-2621.949,35,1.0,41,-18.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-55.0
$GPS2,190550,6105.944,-2622.007,13,1.1,30,-18.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6055.145,-2622.007
$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,198.4,20000,-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,26,-0.82,-194.7,0.0,0.0,0,115,0.00,0.00,-86.78,0.000,2,0.000,0.000,1464,2312,3383
$GC,118,-0.82,-194.7,3.0,-6.4,12,149,9.93,2.92,-11.85,0.000,4,0.249,0.067,2611,890,3867
$GC,214,-0.76,-194.7,20.5,-16.5,28,222,0.10,2.80,0.00,0.000,6,0.144,0.052,2628,2280,3868
$GC,350,-0.67,-194.7,41.1,-14.7,53,358,0.15,0.00,0.00,0.000,6,0.149,0.000,2651,2280,3868
$GC,484,-0.67,-194.7,58.5,-12.4,78,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2281,3868
$GC,817,-0.67,-194.7,99.0,-12.3,139,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2281,3868
$GC,1145,-0.67,-194.7,142.1,-12.9,200,1153,0.00,2.80,0.00,0.000,4,0.000,0.054,2651,881,3868
$GC,1166,-0.67,-194.7,144.6,-13.2,203,1172,0.00,2.78,0.00,0.000,6,0.000,0.045,2651,2305,3868
$GC,1505,-0.67,-194.7,189.1,-13.0,264,1513,0.00,2.83,0.00,0.000,4,0.000,0.054,2651,889,3868
$GC,1537,-0.67,-194.7,193.1,-13.5,269,1544,0.00,2.75,0.00,0.000,6,0.000,0.045,2651,2305,3868
$GC,1877,-0.67,-194.7,239.3,-13.6,330,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2305,3868
$GC,2218,-0.67,-194.7,284.9,-13.4,391,2224,0.00,2.83,0.00,0.000,4,0.000,0.054,2651,875,3868
$GC,2258,-0.67,-194.7,290.0,-12.7,398,2264,0.00,2.75,0.00,0.000,6,0.000,0.045,2652,2292,3868
$GC,2596,-0.67,-194.7,332.6,-11.8,459,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2292,3868
$GC,2928,-0.67,-194.7,371.9,-11.8,503,2933,0.00,2.78,0.00,0.000,4,0.000,0.054,2651,885,3868
$GC,2950,-0.67,-194.7,374.7,-11.8,504,2959,0.00,2.72,0.00,0.000,6,0.000,0.044,2652,2282,3868
$GC,3275,-0.67,-194.7,414.0,-12.5,535,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2283,3868
$GC,3593,-0.67,-194.7,454.8,-12.8,565,3598,0.00,2.78,0.00,0.000,4,0.000,0.055,2651,880,3868
$GC,3613,-0.67,-194.7,457.6,-12.9,566,3620,0.00,2.70,0.00,0.000,6,0.000,0.044,2652,2285,3868
$GC,3939,-0.67,-194.7,498.8,-12.5,597,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2285,3868
$GC,4257,-0.67,-194.7,537.2,-11.7,627,4262,0.00,2.78,0.00,0.000,4,0.000,0.056,2651,883,3868
$GC,4284,-0.67,-194.7,540.5,-12.2,629,4288,0.00,2.67,0.00,0.000,6,0.000,0.043,2652,2279,3868
$GC,4609,-0.67,-194.7,578.2,-11.3,659,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2279,3868
$GC,4933,-0.67,-194.7,614.8,-11.1,684,4938,0.00,2.78,0.00,0.000,4,0.000,0.058,2651,887,3868
$GC,4954,-0.67,-194.7,617.2,-11.2,685,4959,0.00,2.67,0.00,0.000,6,0.000,0.044,2652,2273,3867
$GC,5281,-0.67,-194.7,654.5,-11.7,701,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2273,3867
$GC,5590,-0.67,-194.7,692.1,-12.2,716,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2274,3867
$GC,5900,-0.67,-194.7,729.1,-11.7,731,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2276,3868
$GC,6209,-0.67,-194.7,764.7,-11.4,746,6214,0.00,2.83,0.00,0.000,4,0.000,0.068,2651,889,3868
$GC,6235,-0.67,-194.7,768.0,-12.5,747,6240,0.00,2.70,0.00,0.000,6,0.000,0.048,2652,2256,3867
$GC,6556,-0.67,-194.7,802.5,-10.2,763,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2258,3867
$GC,6866,-0.67,-194.7,835.9,-10.6,778,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2259,3867
$GC,7175,-0.67,-194.7,868.1,-10.4,793,7180,0.00,2.95,0.00,0.000,4,0.000,0.067,2651,3709,3867
$GC,7201,-0.67,-194.7,870.8,-10.8,794,7206,0.00,2.85,0.00,0.000,6,0.000,0.051,2651,2272,3866
$GC,7523,-0.67,-194.7,901.8,-9.9,810,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2272,3866
$GC,7831,-0.67,-194.7,935.7,-11.8,825,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2272,3866
$GC,8140,-0.67,-194.7,971.4,-11.2,840,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2272,3866
$STATE,8324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8324,begin apogee
$GC,8330,-0.19,0.0,992.0,11.1,849,8533,0.62,0.00,199.40,1.432,6,0.123,0.000,2756,2038,3071
$STATE,8533,end apogee,CONTROL_FINISHED_OK
$STATE,8533,begin climb
$GC,8535,0.82,194.7,1001.8,0.0,859,8753,1.25,3.20,205.77,1.362,4,0.085,0.071,2972,651,2276
$GC,8854,0.68,194.7,976.3,13.1,874,8859,0.15,2.92,0.00,0.000,6,0.140,0.045,2953,2059,2273
$GC,9174,0.57,194.7,940.2,11.6,890,9180,0.15,2.90,0.00,0.000,4,0.137,0.062,2928,3466,2271
$GC,9259,0.52,194.7,931.5,10.6,894,9264,0.00,2.80,0.00,0.000,6,0.000,0.052,2928,2082,2271
$GC,9585,0.50,214.0,900.9,9.3,910,9610,0.00,3.00,19.67,1.385,4,0.000,0.071,2929,637,2197
$GC,9722,0.51,227.0,887.5,9.6,916,9743,0.12,2.88,14.70,1.279,6,0.126,0.046,2912,2097,2145
$GC,10059,0.60,298.4,862.1,7.5,933,10141,0.00,3.17,72.43,1.336,4,0.000,0.070,2910,643,1853
$GC,10219,0.71,329.8,848.8,8.9,940,10260,0.20,2.95,33.05,1.292,6,0.058,0.045,2954,2112,1725
$GC,10582,0.66,329.8,803.7,12.2,958,10586,0.00,2.72,0.00,0.000,4,0.000,0.059,2950,3459,1720
$GC,10625,0.66,329.8,798.3,11.4,960,10629,0.00,2.72,0.00,0.000,6,0.000,0.050,2954,2099,1719
$GC,10952,0.61,329.8,757.4,12.7,976,10954,0.43,0.00,0.00,0.000,6,0.117,0.000,2938,2098,1719
$GC,11261,1.01,377.3,734.4,8.4,991,11316,0.43,3.08,47.85,1.276,4,0.077,0.069,2963,635,1531
$GC,11367,1.01,377.3,724.9,10.3,996,11372,0.12,2.95,0.00,0.000,6,0.058,0.044,3026,2126,1528
$GC,11694,0.85,377.3,665.1,19.6,1012,11699,0.25,2.67,0.00,0.000,4,0.142,0.055,2950,3460,1526
$GC,11726,0.85,377.3,659.7,15.2,1013,11733,0.15,2.70,0.00,0.000,6,0.068,0.049,2985,2106,1525
$GC,12042,0.71,377.3,603.7,18.9,1029,12047,0.15,2.95,0.00,0.000,4,0.142,0.065,2956,641,1525
$GC,12075,0.66,377.3,598.0,15.4,1030,12081,0.00,2.85,0.00,0.000,6,0.000,0.042,2964,2115,1524
$GC,12400,0.61,377.3,554.1,13.2,1061,12406,0.15,2.67,0.00,0.000,4,0.126,0.052,2930,3472,1524
$GC,12428,0.61,377.3,550.6,12.0,1063,12433,0.00,2.67,0.00,0.000,6,0.000,0.045,2934,2105,1523
$GC,12753,0.71,411.2,521.4,8.8,1093,12797,0.00,3.03,34.55,1.155,4,0.000,0.064,2930,640,1393
$GC,12813,0.85,461.7,516.1,8.3,1098,12873,0.00,2.90,53.33,1.091,6,0.000,0.040,2940,2128,1187
$GC,13200,1.05,528.5,486.3,7.7,1135,13276,0.40,3.20,69.38,1.075,4,0.042,0.064,3020,641,915
$GC,13305,0.80,528.5,460.5,31.4,1144,13313,0.32,2.95,0.00,0.000,6,0.143,0.041,2974,2103,911
$GC,13629,0.74,528.5,400.8,17.2,1175,13634,0.00,3.00,0.00,0.000,4,0.000,0.064,2969,635,909
$GC,13660,0.74,528.5,396.2,16.2,1177,13665,0.00,2.80,0.00,0.000,6,0.000,0.039,2972,2086,907
$GC,13986,0.70,528.5,343.9,16.2,1210,13993,0.00,2.95,0.00,0.000,4,0.000,0.064,2969,631,907
$GC,14015,0.70,528.5,339.2,16.3,1215,14022,0.15,2.72,0.00,0.000,6,0.117,0.039,2949,2059,906
$GC,14357,0.82,541.8,305.7,9.5,1276,14376,0.15,0.00,12.68,0.994,6,0.058,0.000,2986,2059,861
$GC,14710,0.70,541.8,234.5,22.7,1339,14716,0.17,2.88,0.00,0.000,4,0.137,0.064,2954,641,859
$GC,14746,0.70,541.8,227.7,16.6,1345,14752,0.00,2.70,0.00,0.000,6,0.000,0.039,2956,2052,858
$GC,15087,0.81,564.0,193.6,9.2,1406,15116,0.00,0.00,23.05,0.920,6,0.000,0.000,2955,2053,771
$GC,15448,0.95,600.3,160.2,8.7,1471,15491,0.22,2.97,36.62,0.883,4,0.053,0.064,3006,638,622
$GC,15512,0.85,600.3,150.2,20.2,1481,15518,0.15,2.75,0.00,0.000,6,0.136,0.040,2987,2047,621
$GC,15843,0.74,600.3,80.3,21.6,1542,15852,0.15,2.90,0.00,0.000,4,0.142,0.064,2959,641,619
$GC,15876,0.74,600.3,74.4,18.9,1547,15882,0.00,2.65,0.00,0.000,6,0.000,0.039,2961,2017,618
$GC,16207,0.89,627.5,43.6,9.1,1608,16237,0.15,0.00,26.45,0.818,6,0.058,0.000,2999,2018,511
$GC,16365,0.77,627.5,13.5,24.0,1636,16373,0.15,0.00,0.00,0.000,6,0.141,0.000,2974,2019,508
$STATE,16421,end climb,SURFACE_DEPTH_REACHED
$STATE,16421,begin surface coast
$FINISH,0.1,1.013771
$STATE,16433,end surface coast,CONTROL_FINISHED_OK
$STATE,16433,begin surface
$SM_CCo,16509,0.00,0.000,0,0,507,628.95
$SM_GC,0.66,7.35,0.00,0.00,0.040,0.000,0.000,1465,2313,507,-6.09,0.51,628.95
$IRIDIUM_FIX,6041.65,-2625.95,010897,191916
$TT8_MAMPS,0.021476
$HUMID,1717
$INTERNAL_PRESSURE,8.06672
$TCM_TEMP,12.10
$XPDR_PINGS,118
$24V_AH,19.3,57.141
$10V_AH,9.8,40.938
$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,23.725,148.875,848.925,0.000,0.000,86.547,102.879,331.917,29.500,0.000,0.000,32.164,2610.065,9259.245,852.328,3771.643,789.938,0.000,2372.239,0.000,3743.139,0.000,0.466
$DEVICE_MAMPS,249.275,70.564,1431.989,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1226.656,1150.850,583.570,793.230,1458.670,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123684,1648
$CAP_FILE_SIZE,164843,0
$CFSIZE,260165632,240582656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,070508,234232,6102.912,-2622.226,41,1.3,41,-18.4