version: 66.03
glider: 143
mission: 4
dive: 60
start: 4 16 108 0 38 22
data:
$ID,143
$MISSION,4
$DIVE,60
$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,0
$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,-5145.6079
$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,32
$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
$GPS1,002728,5940.281,-2152.672,36,99.0,55,-15.3
$_CALLS,1
$_XMS_NAKs,36
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-25.0
$GPS2,003805,5940.354,-2152.869,12,99.0,31,-15.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5940.354,-2158.322
$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,285.3,20000,-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,-194.7,0.0,0.0,0,165,0.00,0.00,-136.90,0.000,2,0.000,0.000,1474,2316,3811
$GC,168,-0.82,-194.7,3.2,-6.0,19,190,9.55,2.78,-1.27,0.000,4,0.245,0.057,2609,3696,3867
$GC,451,-0.71,-194.7,56.6,-15.0,72,459,0.17,2.75,0.00,0.000,6,0.140,0.039,2639,2292,3868
$GC,655,-0.63,-194.7,83.0,-12.6,109,661,0.12,0.00,0.00,0.000,6,0.158,0.000,2656,2289,3868
$GC,854,-0.63,-194.7,108.6,-11.9,146,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2289,3868
$GC,1058,-0.63,-194.7,133.0,-13.1,183,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2289,3867
$GC,1258,-0.63,-194.7,160.9,-12.4,220,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2290,3868
$GC,1590,-0.63,-194.7,204.9,-13.3,281,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2289,3868
$GC,1920,-0.63,-194.7,249.7,-14.0,342,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2289,3867
$GC,2252,-0.63,-194.7,294.2,-14.6,403,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2290,3868
$GC,2581,-0.63,-194.7,337.8,-12.7,464,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2289,3868
$GC,2919,-0.63,-194.7,379.8,-12.7,525,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2289,3868
$GC,3260,-0.63,-194.7,425.7,-13.7,586,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2289,3867
$GC,3600,-0.63,-194.7,469.0,-12.2,647,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2290,3868
$GC,3940,-0.63,-194.7,510.8,-12.5,708,3948,0.00,2.75,0.00,0.000,4,0.000,0.054,2655,888,3867
$GC,3972,-0.63,-194.7,514.6,-13.2,713,3978,0.00,2.65,0.00,0.000,6,0.000,0.040,2656,2285,3868
$GC,4312,-0.63,-194.7,556.9,-12.6,774,4319,0.00,2.75,0.00,0.000,4,0.000,0.054,2656,3702,3867
$GC,4354,-0.63,-194.7,561.9,-12.4,781,4361,0.00,2.70,0.00,0.000,6,0.000,0.041,2655,2289,3867
$GC,4699,-0.63,-194.7,605.8,-12.3,839,4704,0.00,2.75,0.00,0.000,4,0.000,0.060,2656,884,3867
$GC,4737,-0.63,-194.7,610.4,-11.5,842,4742,0.00,2.67,0.00,0.000,6,0.000,0.043,2656,2288,3867
$GC,5061,-0.63,-194.7,650.7,-12.5,872,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2287,3868
$GC,5380,-0.63,-194.7,689.5,-11.7,902,5381,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2288,3867
$GC,5698,-0.63,-194.7,726.5,-11.4,932,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2291,3867
$GC,6017,-0.63,-194.7,762.5,-11.5,962,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2291,3867
$GC,6335,-0.63,-194.7,800.0,-11.6,992,6339,0.00,2.85,0.00,0.000,4,0.000,0.071,2656,883,3866
$GC,6366,-0.63,-194.7,803.8,-11.7,994,6373,0.00,2.70,0.00,0.000,6,0.000,0.047,2657,2281,3866
$GC,6694,-0.63,-194.7,841.7,-11.5,1025,6698,0.00,2.85,0.00,0.000,4,0.000,0.065,2656,3705,3866
$GC,6732,-0.63,-194.7,846.4,-12.2,1028,6736,0.00,2.80,0.00,0.000,6,0.000,0.051,2656,2278,3866
$GC,7057,-0.63,-194.7,882.3,-10.8,1058,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2278,3866
$GC,7374,-0.63,-194.7,918.4,-11.5,1088,7378,0.00,2.80,0.00,0.000,4,0.000,0.070,2655,880,3865
$GC,7417,-0.69,-194.7,923.4,-11.6,1091,7424,0.00,2.72,0.00,0.000,6,0.000,0.048,2657,2286,3865
$GC,7742,-0.69,-194.7,959.2,-11.0,1122,7747,0.00,2.85,0.00,0.000,4,0.000,0.066,2656,3708,3864
$GC,7780,-0.69,-194.7,963.5,-11.6,1125,7785,0.00,2.78,0.00,0.000,6,0.000,0.051,2655,2292,3865
$STATE,8028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8028,begin apogee
$GC,8032,-0.19,0.0,990.9,10.8,1148,8232,0.57,0.00,194.98,1.473,6,0.120,0.000,2754,2040,3071
$STATE,8232,end apogee,CONTROL_FINISHED_OK
$STATE,8232,begin climb
$GC,8234,0.82,194.7,999.9,0.0,1168,8448,1.25,3.17,199.75,1.377,4,0.087,0.071,2973,644,2275
$GC,8527,0.69,194.7,975.9,12.8,1196,8532,0.15,2.95,0.00,0.000,6,0.137,0.044,2955,2059,2273
$GC,8851,0.57,194.7,938.8,10.9,1226,8856,0.15,2.92,0.00,0.000,4,0.137,0.059,2929,3470,2271
$GC,8918,0.52,195.0,932.0,10.0,1231,8924,0.00,2.85,0.00,0.000,6,0.000,0.052,2929,2077,2270
$GC,9243,0.47,198.1,901.7,9.9,1262,9248,0.15,2.85,0.00,0.000,4,0.128,0.058,2904,3471,2270
$GC,9275,0.53,244.2,898.6,8.4,1264,9333,0.00,2.80,49.15,1.417,6,0.000,0.052,2904,2084,2074
$GC,9650,0.60,301.8,869.3,8.0,1300,9716,0.15,3.15,58.00,1.359,4,0.068,0.072,2932,643,1840
$GC,9800,0.60,301.8,853.2,10.9,1314,9804,0.00,2.95,0.00,0.000,6,0.000,0.045,2934,2108,1837
$GC,10124,0.60,301.8,817.4,10.8,1344,10129,0.00,3.08,0.00,0.000,4,0.000,0.071,2932,639,1835
$GC,10208,0.60,301.8,808.3,10.8,1351,10212,0.00,2.92,0.00,0.000,6,0.000,0.044,2939,2124,1834
$GC,10531,0.60,301.8,773.7,10.9,1381,10535,0.00,2.70,0.00,0.000,4,0.000,0.058,2933,3468,1834
$GC,10552,0.60,301.8,771.2,11.1,1382,10559,0.00,2.75,0.00,0.000,6,0.000,0.051,2932,2094,1832
$GC,10877,0.60,301.8,734.7,11.4,1413,10878,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2093,1832
$GC,11196,0.60,301.8,699.6,10.7,1443,11197,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2092,1832
$GC,11514,0.60,301.8,666.7,11.0,1473,11518,0.00,2.72,0.00,0.000,4,0.000,0.055,2933,3469,1832
$GC,11552,0.60,301.8,662.3,11.3,1476,11557,0.00,2.67,0.00,0.000,6,0.000,0.050,2932,2113,1830
$GC,11876,0.60,301.8,625.3,11.1,1506,11880,0.00,2.97,0.00,0.000,4,0.000,0.068,2932,635,1830
$GC,11896,0.60,301.8,622.9,10.8,1507,11903,0.00,2.88,0.00,0.000,6,0.000,0.041,2934,2137,1830
$GC,12226,0.60,301.8,588.3,10.4,1548,12234,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2137,1830
$GC,12571,0.60,301.8,552.6,11.1,1609,12577,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2137,1830
$GC,12911,0.60,301.8,517.1,10.1,1670,12917,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2137,1830
$GC,13253,0.60,301.8,482.2,10.0,1731,13260,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2137,1830
$GC,13595,0.60,301.8,447.7,10.4,1792,13600,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2137,1830
$GC,13934,0.60,301.8,413.2,10.2,1853,13940,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2137,1830
$GC,14275,0.61,311.4,379.4,9.7,1914,14293,0.00,3.03,9.07,0.980,4,0.000,0.062,2932,641,1800
$GC,14310,0.61,311.4,375.7,10.3,1920,14318,0.00,2.85,0.00,0.000,6,0.000,0.038,2934,2127,1800
$GC,14653,0.65,340.0,343.6,9.0,1981,14691,0.00,0.00,29.67,1.167,6,0.000,0.000,2934,2127,1683
$GC,15016,0.65,340.0,307.3,10.7,2047,15021,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2127,1681
$GC,15344,0.65,340.0,273.3,10.7,2108,15352,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2127,1680
$GC,15678,0.65,340.0,239.4,10.2,2169,15684,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2127,1680
$GC,16008,0.69,378.3,208.3,8.7,2230,16054,0.00,0.00,36.90,1.032,6,0.000,0.000,2934,2127,1526
$GC,16382,0.77,378.3,173.7,10.2,2297,16389,0.17,3.00,0.00,0.000,4,0.052,0.058,2976,637,1523
$GC,16420,0.82,422.8,170.7,8.5,2303,16471,0.00,2.85,43.40,0.927,6,0.000,0.037,2977,2122,1347
$GC,16798,0.72,422.8,110.6,18.5,2371,16804,0.00,3.00,0.00,0.000,4,0.000,0.059,2976,641,1340
$GC,16825,0.65,422.8,105.0,18.3,2376,16833,0.17,2.85,0.00,0.000,6,0.110,0.039,2946,2097,1339
$GC,17028,0.69,422.8,81.1,14.3,2413,17033,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2098,1339
$GC,17228,0.79,450.4,56.1,9.0,2450,17263,0.12,0.00,26.92,0.923,6,0.064,0.000,2973,2098,1233
$GC,17454,0.79,492.9,29.8,8.5,2491,17506,0.00,3.10,42.45,0.791,4,0.000,0.067,2972,643,1060
$GC,17529,0.74,492.9,22.6,12.8,2502,17537,0.00,2.88,0.00,0.000,6,0.000,0.038,2974,2093,1057
$STATE,17662,end climb,SURFACE_DEPTH_REACHED
$STATE,17663,begin surface coast
$FINISH,-0.0,1.027305
$STATE,17675,end surface coast,CONTROL_FINISHED_OK
$STATE,17675,begin surface
$SM_CCo,17750,0.00,0.000,0,0,1053,495.02
$SM_GC,0.28,7.53,0.00,0.00,0.046,0.000,0.000,1472,2310,1053,-6.08,0.42,495.02
$IRIDIUM_FIX,5915.45,-2144.13,100797,191925
$TT8_MAMPS,0.020709
$HUMID,1643
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,12.50
$XPDR_PINGS,329
$24V_AH,19.7,28.217
$10V_AH,9.7,18.963
$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,20.275,114.925,690.300,0.000,0.000,28.256,32.877,436.281,82.250,0.000,0.000,33.445,3801.203,7470.322,756.635,5542.646,789.243,0.000,2777.088,0.000,5552.736,0.000,0.469
$DEVICE_MAMPS,245.440,72.098,1473.407,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1837.194,1844.430,1109.871,1026.282,2649.993,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,189778,2529
$CAP_FILE_SIZE,193858,0
$CFSIZE,260165632,250953728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160408,053526,5941.429,-2159.693,40,1.5,40,-15.3