version: 66.03
glider: 143
mission: 4
dive: 169
start: 5 8 108 4 57 51
data:
$ID,143
$MISSION,4
$DIVE,169
$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,270
$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,-8404.6396
$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,29
$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
$GPS1,044738,6100.534,-2626.837,27,1.1,27,-18.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-50.6
$GPS2,045732,6100.521,-2626.947,11,1.3,11,-18.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6100.521,-2632.181
$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,288.4,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,138,0.00,0.00,-109.05,0.000,2,0.000,0.000,1470,2310,3500
$GC,140,-0.82,-194.7,3.5,-6.8,15,165,10.02,2.95,-8.18,0.000,4,0.254,0.069,2611,887,3868
$GC,396,-0.76,-194.7,49.1,-15.4,62,404,0.00,2.80,0.00,0.000,6,0.000,0.051,2613,2285,3868
$GC,537,-0.66,-194.7,73.1,-17.8,87,543,0.22,0.00,0.00,0.000,6,0.152,0.000,2648,2285,3868
$GC,866,-0.66,-194.7,118.8,-13.2,148,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2285,3869
$GC,1201,-0.66,-194.7,163.3,-13.2,209,1207,0.00,2.78,0.00,0.000,4,0.000,0.054,2647,881,3868
$GC,1241,-0.66,-194.7,168.6,-12.4,216,1249,0.00,2.78,0.00,0.000,6,0.000,0.047,2649,2290,3868
$GC,1584,-0.66,-194.7,211.0,-12.6,277,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2291,3869
$GC,1924,-0.66,-194.7,254.1,-12.6,338,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2291,3869
$GC,2262,-0.66,-194.7,297.9,-12.6,399,2268,0.00,2.78,0.00,0.000,4,0.000,0.053,2647,876,3868
$GC,2312,-0.66,-194.7,304.1,-12.1,408,2320,0.00,2.75,0.00,0.000,6,0.000,0.045,2648,2281,3869
$GC,2656,-0.66,-194.7,347.3,-12.8,469,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2281,3869
$GC,2986,-0.66,-194.7,391.4,-13.4,502,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2281,3869
$GC,3304,-0.66,-194.7,433.9,-12.8,532,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2281,3868
$GC,3625,-0.66,-194.7,474.4,-12.4,562,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2281,3868
$GC,3942,-0.66,-194.7,512.9,-11.8,592,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2280,3869
$GC,4260,-0.66,-194.7,551.4,-11.8,622,4265,0.00,2.78,0.00,0.000,4,0.000,0.057,2647,880,3869
$GC,4303,-0.66,-194.7,555.9,-11.2,625,4307,0.00,2.70,0.00,0.000,6,0.000,0.044,2648,2281,3868
$GC,4627,-0.66,-194.7,593.4,-11.9,655,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2282,3868
$GC,4938,-0.66,-194.7,631.2,-11.8,673,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2282,3868
$GC,5247,-0.66,-194.7,669.1,-12.1,688,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2282,3868
$GC,5556,-0.66,-194.7,706.4,-12.5,703,5557,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2284,3868
$GC,5866,-0.66,-194.7,744.3,-12.1,718,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2285,3868
$GC,6174,-0.66,-194.7,780.3,-11.2,733,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2285,3868
$GC,6484,-0.66,-194.7,816.8,-11.8,748,6485,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2285,3868
$GC,6793,-0.66,-194.7,853.6,-11.7,763,6798,0.00,2.88,0.00,0.000,4,0.000,0.066,2647,3702,3867
$GC,6825,-0.66,-194.7,857.6,-12.5,764,6832,0.00,2.85,0.00,0.000,6,0.000,0.052,2647,2269,3867
$GC,7141,-0.66,-194.7,894.5,-11.4,780,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2269,3867
$GC,7450,-0.66,-194.7,929.2,-10.7,795,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2269,3867
$GC,7759,-0.66,-194.7,961.1,-10.2,810,7763,0.00,2.80,0.00,0.000,4,0.000,0.068,2647,884,3867
$GC,7798,-0.71,-194.7,965.0,-10.4,812,7802,0.00,2.75,0.00,0.000,6,0.000,0.049,2646,2288,3867
$STATE,8039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8039,begin apogee
$GC,8044,-0.19,0.0,990.3,10.5,824,8248,0.65,0.00,200.20,1.423,6,0.123,0.000,2756,2041,3071
$STATE,8248,end apogee,CONTROL_FINISHED_OK
$STATE,8249,begin climb
$GC,8250,0.82,194.7,997.8,0.0,834,8468,1.25,3.22,206.02,1.351,4,0.084,0.070,2974,647,2276
$GC,8569,0.69,194.7,967.8,13.2,849,8574,0.15,2.92,0.00,0.000,6,0.138,0.046,2954,2053,2273
$GC,8890,0.58,194.7,931.2,11.0,865,8895,0.15,2.90,0.00,0.000,4,0.136,0.062,2929,3459,2271
$GC,8939,0.60,214.3,926.2,9.3,867,8965,0.00,2.80,19.98,1.365,6,0.000,0.052,2931,2076,2197
$GC,9276,0.60,241.3,896.7,9.1,883,9307,0.00,0.00,28.70,1.354,6,0.000,0.000,2935,2075,2087
$GC,9606,0.60,241.3,864.3,10.2,899,9611,0.00,2.83,0.00,0.000,4,0.000,0.059,2929,3461,2084
$GC,9716,0.60,241.3,852.9,10.5,904,9721,0.00,2.72,0.00,0.000,6,0.000,0.050,2929,2097,2083
$GC,10043,0.60,246.0,820.9,9.8,920,10054,0.00,2.78,5.57,1.043,4,0.000,0.058,2929,3467,2068
$GC,10076,0.61,253.8,817.5,9.7,921,10091,0.00,2.70,10.02,1.263,6,0.000,0.049,2929,2107,2036
$GC,10406,0.61,253.8,784.0,10.5,938,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2106,2034
$GC,10716,0.61,253.8,752.7,10.1,953,10720,0.00,2.70,0.00,0.000,4,0.000,0.058,2929,3461,2034
$GC,10754,0.61,253.8,748.6,11.4,955,10758,0.00,2.65,0.00,0.000,6,0.000,0.049,2935,2118,2033
$GC,11079,0.62,261.1,715.9,9.7,971,11094,0.00,3.00,8.57,1.154,4,0.000,0.067,2929,640,2006
$GC,11201,0.63,271.1,703.7,9.7,976,11220,0.00,2.92,11.68,1.239,6,0.000,0.044,2933,2146,1965
$GC,11542,0.64,274.1,670.3,9.9,993,11552,0.00,3.10,4.80,0.932,4,0.000,0.067,2929,640,1953
$GC,11658,0.66,291.1,658.8,9.4,998,11683,0.00,2.92,19.12,1.215,6,0.000,0.044,2930,2143,1884
$GC,11999,0.67,300.4,625.8,9.7,1015,12015,0.00,3.10,10.45,1.162,4,0.000,0.066,2930,637,1846
$GC,12115,0.67,300.4,614.1,10.7,1019,12120,0.00,2.92,0.00,0.000,6,0.000,0.043,2930,2138,1845
$GC,12436,0.67,301.7,582.3,10.0,1042,12440,0.00,3.05,0.00,0.000,4,0.000,0.064,2930,637,1845
$GC,12542,0.68,309.0,571.6,9.7,1051,12558,0.00,2.90,9.93,1.098,6,0.000,0.042,2930,2137,1811
$GC,12876,0.69,320.3,538.7,9.6,1082,12891,0.00,0.00,12.93,1.110,6,0.000,0.000,2930,2137,1765
$GC,13207,0.73,351.7,508.1,8.9,1113,13246,0.15,0.00,32.50,1.103,6,0.067,0.000,2960,2137,1636
$GC,13566,0.68,351.7,462.8,13.0,1147,13571,0.00,3.05,0.00,0.000,4,0.000,0.062,2959,638,1633
$GC,13598,0.68,351.7,458.3,12.7,1149,13604,0.00,2.90,0.00,0.000,6,0.000,0.041,2960,2138,1632
$GC,13924,0.63,351.7,418.1,12.1,1180,13925,0.12,0.00,0.00,0.000,6,0.129,0.000,2942,2138,1632
$GC,14244,0.64,356.4,386.4,9.8,1210,14255,0.00,3.05,5.45,0.844,4,0.000,0.061,2941,641,1617
$GC,14266,0.64,356.4,383.7,10.3,1212,14273,0.00,2.85,0.00,0.000,6,0.000,0.039,2942,2128,1617
$GC,14592,0.64,356.4,350.4,10.6,1243,14593,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2129,1616
$GC,14926,0.64,356.4,314.2,10.3,1302,14931,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2129,1616
$GC,15266,0.64,356.4,277.4,10.8,1363,15272,0.00,3.00,0.00,0.000,4,0.000,0.061,2940,632,1616
$GC,15295,0.69,356.4,274.4,11.2,1368,15303,0.00,2.88,0.00,0.000,6,0.000,0.040,2943,2123,1616
$GC,15640,0.69,356.4,240.3,10.2,1429,15645,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2123,1616
$GC,15977,0.70,364.4,206.7,9.7,1490,15989,0.00,0.00,9.40,0.894,6,0.000,0.000,2942,2123,1585
$GC,16321,0.75,405.4,174.9,8.6,1552,16367,0.00,0.00,40.90,0.901,6,0.000,0.000,2942,2122,1418
$GC,16696,0.84,432.6,139.3,9.1,1620,16730,0.17,3.03,26.92,0.871,4,0.060,0.062,2981,641,1306
$GC,16765,0.84,432.6,129.9,14.1,1631,16771,0.00,2.90,0.00,0.000,6,0.000,0.041,2985,2125,1304
$GC,17094,0.74,432.6,72.4,18.1,1692,17102,0.15,0.00,0.00,0.000,6,0.133,0.000,2960,2125,1301
$GC,17423,0.74,432.6,30.0,11.5,1753,17431,0.00,3.03,0.00,0.000,4,0.000,0.063,2955,641,1301
$GC,17460,0.80,432.6,25.8,12.2,1759,17468,0.00,2.85,0.00,0.000,6,0.000,0.040,2960,2111,1300
$GC,17595,0.80,432.6,10.7,12.9,1784,17603,0.00,2.67,0.00,0.000,4,0.000,0.052,2955,3460,1300
$GC,17622,0.85,432.6,7.6,11.0,1788,17630,0.10,2.67,0.00,0.000,6,0.054,0.044,2984,2103,1300
$STATE,17662,end climb,SURFACE_DEPTH_REACHED
$STATE,17662,begin surface coast
$FINISH,0.6,1.027298
$STATE,17674,end surface coast,CONTROL_FINISHED_OK
$STATE,17674,begin surface
$SM_CCo,17750,0.00,0.000,0,0,1297,435.16
$SM_GC,0.77,7.43,0.00,0.00,0.046,0.000,0.000,1470,2315,1297,-6.08,0.57,435.16
$IRIDIUM_FIX,6032.86,-2228.34,020897,040412
$TT8_MAMPS,0.021476
$HUMID,1693
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,12.40
$XPDR_PINGS,129
$24V_AH,19.3,57.698
$10V_AH,9.8,41.318
$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,20.575,121.525,663.150,0.000,0.000,49.180,80.985,282.107,32.250,0.000,0.000,12.932,2839.521,10038.890,724.924,4046.271,679.479,0.000,2269.977,0.000,4045.094,0.000,0.467
$DEVICE_MAMPS,253.877,69.797,1422.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1336.506,1257.459,622.514,889.946,1596.280,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,133060,1797
$CAP_FILE_SIZE,163435,0
$CFSIZE,260165632,240394240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,080508,095456,6059.932,-2634.664,40,1.0,40,-18.5