version: 66.03
glider: 143
mission: 4
dive: 179
start: 5 10 108 7 28 22
data:
$ID,143
$MISSION,4
$DIVE,179
$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,310
$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,-8627.4141
$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,15
$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
$GPS1,072128,6117.061,-2629.060,36,2.3,55,-18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-46.4
$GPS2,072803,6117.155,-2628.965,14,1.2,14,-18.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6124.096,-2632.925
$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,328.6,20000,-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,-194.7,0.0,0.0,0,144,0.00,0.00,-115.95,0.000,2,0.000,0.000,1470,2315,3693
$GC,147,-0.82,-194.7,4.1,-7.3,16,171,10.05,2.90,-3.47,0.000,4,0.254,0.061,2612,879,3868
$GC,335,-0.73,-194.7,45.7,-17.5,50,343,0.10,2.80,0.00,0.000,6,0.148,0.051,2630,2279,3869
$GC,475,-0.66,-194.7,67.2,-15.0,75,482,0.15,0.00,0.00,0.000,6,0.147,0.000,2655,2279,3868
$GC,806,-0.66,-194.7,107.5,-12.3,136,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2279,3869
$GC,1138,-0.66,-194.7,149.0,-13.1,197,1144,0.00,2.78,0.00,0.000,4,0.000,0.054,2653,874,3869
$GC,1186,-0.71,-194.7,155.0,-12.6,205,1192,0.00,2.78,0.00,0.000,6,0.000,0.045,2658,2304,3869
$GC,1524,-0.71,-194.7,199.1,-13.0,266,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2304,3869
$GC,1862,-0.71,-194.7,241.6,-12.5,327,1870,0.00,2.83,0.00,0.000,4,0.000,0.054,2653,870,3869
$GC,1923,-0.76,-194.7,248.7,-12.2,337,1930,0.17,2.78,0.00,0.000,6,0.056,0.045,2627,2301,3869
$GC,2263,-0.67,-194.7,304.7,-15.9,398,2269,0.15,0.00,0.00,0.000,6,0.138,0.000,2651,2302,3869
$GC,2601,-0.67,-194.7,349.0,-12.7,459,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2302,3869
$GC,2932,-0.67,-194.7,391.9,-13.3,491,2937,0.00,2.80,0.00,0.000,4,0.000,0.054,2641,881,3869
$GC,2998,-0.67,-194.7,400.7,-12.0,496,3006,0.00,2.75,0.00,0.000,6,0.000,0.044,2647,2294,3869
$GC,3324,-0.67,-194.7,441.2,-12.5,527,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2294,3869
$GC,3641,-0.67,-194.7,483.4,-13.6,557,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2294,3869
$GC,3960,-0.67,-194.7,527.0,-13.7,587,3965,0.00,2.80,0.00,0.000,4,0.000,0.056,2642,880,3869
$GC,4026,-0.67,-194.7,536.0,-13.2,592,4035,0.00,2.72,0.00,0.000,6,0.000,0.043,2645,2279,3869
$GC,4352,-0.67,-194.7,580.1,-13.1,623,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2279,3869
$GC,4675,-0.67,-194.7,621.1,-12.5,646,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2279,3869
$GC,4984,-0.67,-194.7,659.3,-12.0,661,4988,0.00,2.83,0.00,0.000,4,0.000,0.065,2644,883,3868
$GC,5027,-0.67,-194.7,664.3,-10.9,663,5032,0.00,2.72,0.00,0.000,6,0.000,0.047,2644,2283,3868
$GC,5348,-0.67,-194.7,703.1,-12.7,679,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2284,3868
$GC,5657,-0.67,-194.7,744.1,-13.0,694,5662,0.00,2.85,0.00,0.000,4,0.000,0.068,2647,886,3868
$GC,5706,-0.67,-194.7,750.2,-11.7,696,5710,0.00,2.70,0.00,0.000,6,0.000,0.049,2643,2268,3868
$GC,6021,-0.67,-194.7,787.9,-11.6,711,6026,0.00,2.95,0.00,0.000,4,0.000,0.068,2640,3711,3868
$GC,6069,-0.67,-194.7,793.8,-11.6,713,6074,0.00,2.88,0.00,0.000,6,0.000,0.052,2640,2265,3867
$GC,6391,-0.67,-194.7,831.6,-12.4,729,6396,0.00,2.80,0.00,0.000,4,0.000,0.068,2640,874,3868
$GC,6434,-0.67,-194.7,837.0,-12.4,731,6438,0.00,2.72,0.00,0.000,6,0.000,0.048,2641,2266,3867
$GC,6761,-0.67,-194.7,877.4,-12.5,747,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2266,3867
$GC,7070,-0.67,-194.7,916.6,-12.5,762,7072,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2268,3867
$GC,7379,-0.67,-194.7,954.0,-11.9,777,7380,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2269,3866
$STATE,7687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7687,begin apogee
$GC,7692,-0.19,0.0,990.2,11.9,792,7895,0.70,0.00,199.93,1.434,6,0.133,0.000,2755,2033,3071
$STATE,7896,end apogee,CONTROL_FINISHED_OK
$STATE,7896,begin climb
$GC,7898,0.82,194.7,998.8,0.0,802,8116,1.25,3.20,206.48,1.363,4,0.086,0.070,2972,652,2277
$GC,8167,0.71,194.7,980.5,11.1,815,8172,0.00,2.97,0.00,0.000,6,0.000,0.045,2972,2059,2274
$GC,8493,0.58,194.7,945.1,10.7,831,8498,0.28,2.90,0.00,0.000,4,0.136,0.062,2927,3464,2271
$GC,8548,0.62,228.2,940.2,8.8,833,8588,0.00,2.85,34.20,1.358,6,0.000,0.052,2930,2064,2140
$GC,8906,0.66,262.0,911.1,8.8,851,8946,0.00,0.00,35.08,1.370,6,0.000,0.000,2930,2063,2001
$GC,9255,0.69,285.9,878.4,9.2,868,9284,0.00,0.00,25.50,1.361,6,0.000,0.000,2930,2063,1905
$GC,9607,0.69,285.9,843.7,10.2,885,9611,0.00,2.92,0.00,0.000,4,0.000,0.070,2929,634,1901
$GC,9717,0.69,285.9,832.1,10.5,890,9723,0.82,2.88,0.00,0.000,6,0.109,0.046,2828,2098,1901
$GC,10039,1.03,285.9,801.5,10.3,906,10042,1.10,0.00,0.00,0.000,6,0.065,0.000,3022,2098,1900
$GC,10348,0.89,285.9,754.7,16.0,921,10353,0.15,2.75,0.00,0.000,4,0.147,0.061,2975,3464,1899
$GC,10397,0.81,285.9,746.9,14.5,923,10402,0.00,2.72,0.00,0.000,6,0.000,0.051,2980,2093,1898
$GC,10713,0.70,285.9,699.5,15.2,938,10715,0.17,0.00,0.00,0.000,6,0.138,0.000,2954,2090,1898
$GC,11022,0.66,285.9,662.6,11.8,953,11026,0.00,2.75,0.00,0.000,4,0.000,0.058,2948,3464,1898
$GC,11065,0.66,285.9,657.3,11.7,955,11070,0.25,2.70,0.00,0.000,6,0.129,0.048,2942,2095,1897
$GC,11386,0.83,371.4,634.1,7.1,971,11474,0.22,0.00,85.38,1.221,6,0.061,0.000,2979,2094,1555
$GC,11779,0.83,371.4,583.5,13.6,995,11784,0.00,2.75,0.00,0.000,4,0.000,0.054,2954,3464,1548
$GC,11817,0.83,371.4,577.9,13.4,998,11822,0.00,2.70,0.00,0.000,6,0.000,0.047,2958,2107,1546
$GC,12141,0.83,371.4,532.6,13.2,1028,12143,0.12,0.00,0.00,0.000,6,0.080,0.000,2981,2107,1545
$GC,12462,0.74,371.4,481.1,16.0,1058,12466,0.00,2.70,0.00,0.000,4,0.000,0.052,2978,3462,1546
$GC,12501,0.70,371.4,474.6,16.3,1061,12507,0.70,2.65,0.00,0.000,6,0.118,0.045,2952,2110,1545
$GC,12827,1.03,371.4,440.0,12.0,1091,12833,0.45,2.92,0.00,0.000,4,0.064,0.060,2953,637,1544
$GC,12996,1.25,371.4,423.2,10.1,1105,13003,0.57,2.80,0.00,0.000,6,0.054,0.038,3077,2125,1544
$GC,13323,0.95,371.4,334.4,27.2,1140,13331,0.43,2.67,0.00,0.000,4,0.159,0.054,3008,3465,1544
$GC,13343,0.68,371.4,329.0,26.5,1143,13351,0.38,2.62,0.00,0.000,6,0.156,0.044,2953,2103,1544
$GC,13686,0.68,371.4,288.1,11.1,1204,13694,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2102,1544
$GC,14030,0.68,371.4,251.0,10.6,1265,14035,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2102,1544
$GC,14369,0.68,371.4,212.8,11.5,1326,14376,0.00,2.67,0.00,0.000,4,0.000,0.052,2951,3462,1544
$GC,14393,0.68,371.4,210.3,11.3,1330,14399,0.35,2.62,0.00,0.000,6,0.127,0.044,2898,2108,1544
$GC,14733,0.94,371.4,180.4,10.5,1391,14740,0.55,2.90,0.00,0.000,4,0.084,0.058,3001,641,1544
$GC,14846,0.90,371.4,166.9,14.5,1411,14853,0.03,2.78,0.00,0.000,6,0.201,0.041,2999,2091,1544
$GC,15178,0.79,371.4,110.2,17.6,1472,15187,0.15,2.72,0.00,0.000,4,0.143,0.053,2972,3463,1544
$GC,15214,0.75,371.4,105.0,16.4,1477,15221,0.15,2.67,0.00,0.000,6,0.141,0.044,2967,2086,1543
$GC,15542,0.75,371.4,67.3,12.1,1538,15550,0.00,2.90,0.00,0.000,4,0.000,0.064,2951,647,1543
$GC,15576,0.75,371.4,63.5,12.3,1543,15582,0.00,2.75,0.00,0.000,6,0.000,0.040,2954,2090,1543
$GC,15901,0.75,371.4,26.5,11.3,1604,15909,0.00,2.72,0.00,0.000,4,0.000,0.053,2950,3461,1543
$GC,15922,0.75,371.4,24.2,11.0,1607,15930,0.00,2.70,0.00,0.000,6,0.000,0.043,2962,2082,1543
$GC,16057,0.75,371.4,10.2,10.9,1632,16064,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2082,1543
$STATE,16132,end climb,SURFACE_DEPTH_REACHED
$STATE,16133,begin surface coast
$FINISH,0.2,1.027300
$STATE,16150,end surface coast,CONTROL_FINISHED_OK
$STATE,16150,begin surface
$SM_CCo,16226,0.00,0.000,0,0,1542,375.06
$SM_GC,0.80,7.25,0.00,0.00,0.044,0.000,0.000,1467,2298,1542,-6.10,0.08,375.06
$IRIDIUM_FIX,6050.49,-2631.91,040897,020224
$TT8_MAMPS,0.021476
$HUMID,1713
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,12.00
$XPDR_PINGS,120
$24V_AH,19.2,60.444
$10V_AH,9.8,43.205
$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,26.700,129.225,586.550,0.000,0.000,31.286,32.783,212.391,30.000,0.000,0.000,15.881,2640.574,8968.844,705.674,3752.551,539.311,0.000,2123.398,0.000,3757.015,0.000,0.468
$DEVICE_MAMPS,253.877,69.797,1434.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1229.679,1163.557,623.589,834.941,1550.200,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123379,1649
$CAP_FILE_SIZE,152137,0
$CFSIZE,260165632,239480832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100508,120008,6120.393,-2632.754,45,1.5,45,-18.6