version: 66.03
glider: 143
mission: 4
dive: 168
start: 5 7 108 23 59 22
data:
$ID,143
$MISSION,4
$DIVE,168
$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,235
$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,-8391.0781
$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,30
$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
$GPS1,234232,6102.912,-2622.226,41,1.3,41,-18.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-35.8
$GPS2,235903,6102.862,-2622.177,12,1.6,12,-18.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6056.667,-2626.474
$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,253.4,20000,-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,25,-0.82,-194.7,0.0,0.0,0,165,0.00,0.00,-137.18,0.000,2,0.000,0.000,1464,2317,3436
$GC,168,-0.82,-194.7,3.1,-5.5,19,199,10.18,2.92,-10.18,0.000,4,0.255,0.067,2610,889,3867
$GC,342,-0.76,-194.7,35.2,-16.3,50,350,0.00,2.78,0.00,0.000,6,0.000,0.051,2614,2273,3868
$GC,479,-0.64,-194.7,59.1,-18.4,75,485,0.25,0.00,0.00,0.000,6,0.143,0.000,2654,2273,3868
$GC,807,-0.64,-194.7,103.9,-13.1,136,815,0.00,2.78,0.00,0.000,4,0.000,0.054,2651,884,3868
$GC,850,-0.64,-194.7,109.2,-12.8,143,856,0.00,2.72,0.00,0.000,6,0.000,0.044,2651,2288,3868
$GC,1180,-0.64,-194.7,152.7,-13.0,204,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2288,3868
$GC,1524,-0.64,-194.7,196.8,-13.4,265,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2288,3869
$GC,1864,-0.64,-194.7,241.8,-12.9,326,1870,0.00,2.78,0.00,0.000,4,0.000,0.054,2651,880,3869
$GC,1906,-0.64,-194.7,246.8,-13.0,333,1912,0.00,2.72,0.00,0.000,6,0.000,0.044,2651,2297,3869
$GC,2247,-0.64,-194.7,291.1,-13.3,394,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2297,3868
$GC,2583,-0.64,-194.7,334.7,-12.5,455,2589,0.00,2.80,0.00,0.000,4,0.000,0.054,2651,874,3868
$GC,2623,-0.64,-194.7,339.5,-12.1,462,2630,0.00,2.72,0.00,0.000,6,0.000,0.044,2651,2291,3868
$GC,2952,-0.64,-194.7,381.0,-12.8,500,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2291,3868
$GC,3272,-0.64,-194.7,421.5,-12.9,530,3277,0.00,2.78,0.00,0.000,4,0.000,0.054,2651,880,3868
$GC,3299,-0.64,-194.7,425.2,-12.8,532,3304,0.00,2.70,0.00,0.000,6,0.000,0.042,2651,2288,3868
$GC,3624,-0.64,-194.7,463.4,-11.5,562,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2288,3868
$GC,3942,-0.64,-194.7,499.4,-11.5,592,3947,0.00,2.75,0.00,0.000,4,0.000,0.055,2651,881,3868
$GC,3986,-0.68,-194.7,504.5,-11.2,595,3992,0.00,2.65,0.00,0.000,6,0.000,0.042,2651,2269,3868
$GC,4311,-0.68,-194.7,542.7,-12.1,626,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2269,3868
$GC,4631,-0.68,-194.7,582.1,-12.5,656,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2269,3868
$GC,4942,-0.68,-194.7,620.0,-11.7,678,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2269,3867
$GC,5252,-0.68,-194.7,656.3,-11.9,693,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2270,3867
$GC,5561,-0.68,-194.7,694.3,-12.3,708,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2271,3868
$GC,5871,-0.68,-194.7,730.1,-11.6,723,5875,0.00,2.83,0.00,0.000,4,0.000,0.069,2651,883,3868
$GC,5914,-0.73,-194.7,735.3,-11.2,725,5918,0.00,2.70,0.00,0.000,6,0.000,0.048,2651,2271,3867
$GC,6235,-0.73,-194.7,769.5,-10.2,741,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2272,3867
$GC,6544,-0.73,-194.7,801.6,-10.6,756,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2273,3867
$GC,6853,-0.73,-194.7,835.6,-11.6,771,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2275,3866
$GC,7162,-0.73,-194.7,868.6,-10.4,786,7167,0.00,2.83,0.00,0.000,4,0.000,0.068,2651,886,3866
$GC,7195,-0.78,-194.7,871.9,-10.0,787,7202,0.00,2.67,0.00,0.000,6,0.000,0.048,2651,2255,3866
$GC,7511,-0.78,-194.7,902.6,-9.9,803,7512,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2256,3866
$GC,7821,-0.78,-194.7,936.1,-11.3,818,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2256,3865
$GC,8129,-0.78,-194.7,971.3,-11.1,833,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2257,3865
$STATE,8312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8312,begin apogee
$GC,8318,-0.19,0.0,992.1,11.3,842,8520,0.60,0.00,198.93,1.431,6,0.119,0.000,2753,2034,3071
$STATE,8521,end apogee,CONTROL_FINISHED_OK
$STATE,8521,begin climb
$GC,8523,0.82,194.7,1002.0,0.0,852,8740,1.27,3.17,205.60,1.358,4,0.087,0.070,2973,647,2277
$GC,8852,0.70,194.7,974.3,12.8,867,8859,0.00,2.92,0.00,0.000,6,0.000,0.046,2973,2054,2273
$GC,9168,0.56,194.7,935.3,12.0,883,9173,0.28,2.90,0.00,0.000,4,0.135,0.061,2928,3462,2271
$GC,9230,0.59,214.0,929.4,9.3,886,9255,0.00,2.80,19.85,1.371,6,0.000,0.051,2928,2076,2198
$GC,9577,0.62,241.2,899.3,9.1,903,9611,0.00,3.03,28.62,1.360,4,0.000,0.071,2932,634,2087
$GC,9702,0.62,241.2,886.8,10.2,908,9708,0.00,2.90,0.00,0.000,6,0.000,0.046,2928,2094,2086
$GC,10017,0.66,271.5,856.9,9.0,924,10058,0.00,3.08,31.00,1.332,4,0.000,0.071,2928,642,1962
$GC,10126,0.71,314.8,847.4,8.5,929,10177,0.15,2.92,44.88,1.303,6,0.067,0.047,2957,2108,1787
$GC,10492,0.63,314.8,801.5,12.8,947,10497,0.00,2.75,0.00,0.000,4,0.000,0.061,2956,3464,1782
$GC,10535,0.63,314.8,795.8,12.2,949,10540,0.00,2.72,0.00,0.000,6,0.000,0.051,2957,2105,1780
$GC,10863,0.56,314.8,755.7,12.3,965,10865,0.22,0.00,0.00,0.000,6,0.127,0.000,2923,2104,1780
$GC,11172,0.64,376.3,731.0,7.9,980,11241,0.00,3.15,61.90,1.264,4,0.000,0.069,2923,640,1535
$GC,11317,0.78,417.6,719.2,8.6,986,11367,0.25,2.95,43.97,1.233,6,0.049,0.044,2976,2128,1368
$GC,11694,0.69,417.6,658.0,17.1,1005,11699,0.15,3.08,0.00,0.000,4,0.136,0.067,2953,641,1359
$GC,11788,0.69,417.6,646.3,11.0,1009,11793,0.00,2.90,0.00,0.000,6,0.000,0.044,2952,2128,1358
$GC,12104,0.69,417.6,607.6,13.0,1024,12105,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2128,1357
$GC,12421,0.69,417.6,567.6,12.2,1051,12426,0.00,3.05,0.00,0.000,4,0.000,0.067,2951,634,1357
$GC,12452,0.69,417.6,563.6,11.3,1053,12459,0.00,2.85,0.00,0.000,6,0.000,0.041,2953,2115,1356
$GC,12778,0.69,417.6,526.8,11.5,1084,12780,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2115,1356
$GC,13096,0.69,417.6,489.7,11.2,1114,13097,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2115,1356
$GC,13414,0.69,417.6,452.4,12.1,1144,13419,0.00,2.97,0.00,0.000,4,0.000,0.062,2953,638,1356
$GC,13446,0.73,417.6,448.7,11.6,1146,13453,0.00,2.83,0.00,0.000,6,0.000,0.041,2952,2118,1356
$GC,13774,0.73,417.6,411.6,11.2,1177,13775,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2118,1355
$GC,14088,0.73,417.6,376.5,11.0,1207,14090,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2118,1355
$GC,14411,0.73,417.6,341.8,11.0,1243,14417,0.00,2.97,0.00,0.000,4,0.000,0.061,2953,637,1355
$GC,14447,0.78,417.6,338.0,11.5,1249,14453,0.00,2.80,0.00,0.000,6,0.000,0.040,2951,2106,1355
$GC,14786,0.78,417.6,299.1,12.0,1310,14792,0.00,2.67,0.00,0.000,4,0.000,0.051,2950,3472,1355
$GC,14805,0.78,417.6,296.9,11.3,1313,14812,0.00,2.70,0.00,0.000,6,0.000,0.044,2954,2080,1354
$GC,15144,0.78,417.6,255.5,12.1,1374,15150,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2080,1354
$GC,15485,0.78,417.6,213.2,12.7,1435,15490,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2080,1354
$GC,15824,0.78,417.6,171.5,11.3,1496,15832,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2080,1354
$GC,16163,0.78,417.6,133.0,10.9,1557,16170,0.00,2.85,0.00,0.000,4,0.000,0.062,2951,644,1354
$GC,16189,0.83,417.6,130.1,10.8,1561,16196,0.12,2.75,0.00,0.000,6,0.060,0.039,2982,2092,1354
$GC,16518,0.74,417.6,76.5,16.0,1622,16525,0.00,2.70,0.00,0.000,4,0.000,0.053,2980,3452,1354
$GC,16552,0.74,417.6,71.0,17.0,1628,16560,0.20,2.70,0.00,0.000,6,0.116,0.044,2969,2079,1354
$GC,16883,0.87,468.8,40.2,8.2,1689,16941,0.15,2.95,49.30,0.837,4,0.064,0.064,2981,646,1158
$GC,16965,0.87,468.8,29.3,15.0,1701,16973,0.00,2.80,0.00,0.000,6,0.000,0.039,2981,2075,1156
$GC,17101,0.80,468.8,9.5,18.4,1726,17109,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2075,1155
$STATE,17145,end climb,SURFACE_DEPTH_REACHED
$STATE,17145,begin surface coast
$FINISH,0.1,1.014984
$STATE,17158,end surface coast,CONTROL_FINISHED_OK
$STATE,17158,begin surface
$SM_CCo,17234,0.00,0.000,0,0,1153,470.49
$SM_GC,0.75,7.47,0.00,0.00,0.046,0.000,0.000,1470,2309,1153,-6.08,0.40,470.49
$IRIDIUM_FIX,6037.25,-2627.95,020897,000057
$TT8_MAMPS,0.021476
$HUMID,1706
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,12.10
$XPDR_PINGS,113
$24V_AH,19.3,57.434
$10V_AH,9.7,41.128
$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,21.300,125.875,684.050,0.000,0.000,104.724,196.851,380.844,28.250,0.000,0.000,13.736,2731.754,9837.820,755.503,3922.620,963.460,0.000,2288.427,0.000,3922.120,0.000,0.467
$DEVICE_MAMPS,254.644,70.564,1431.222,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1288.412,1218.786,624.390,853.789,1562.453,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126771,1736
$CAP_FILE_SIZE,163022,0
$CFSIZE,260165632,240500736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,080508,044738,6100.534,-2626.837,27,1.1,27,-18.4