version: 66.03
glider: 143
mission: 4
dive: 61
start: 4 16 108 5 47 52
data:
$ID,143
$MISSION,4
$DIVE,61
$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,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,-5161.6147
$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,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
$GPS1,053526,5941.429,-2159.693,40,1.5,40,-15.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-38.1
$GPS2,054733,5941.546,-2159.928,13,1.4,13,-15.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5935.352,-2204.406
$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,250.3,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.82,-194.7,0.0,0.0,0,151,0.00,0.00,-122.75,0.000,2,0.000,0.000,1471,2312,3698
$GC,153,-0.82,-194.7,3.0,-4.3,17,177,9.90,2.97,-3.65,0.000,4,0.255,0.075,2610,884,3867
$GC,283,-0.73,-194.7,33.0,-16.9,40,292,0.12,2.78,0.00,0.000,6,0.176,0.048,2632,2275,3869
$GC,421,-0.63,-194.7,52.1,-13.5,65,426,0.15,0.00,0.00,0.000,6,0.151,0.000,2656,2275,3868
$GC,620,-0.63,-194.7,76.6,-12.0,102,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2275,3868
$GC,823,-0.63,-194.7,102.1,-13.7,139,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2275,3869
$GC,1022,-0.63,-194.7,135.5,-16.6,176,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2275,3869
$GC,1226,-0.63,-194.7,162.9,-11.1,213,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2275,3868
$GC,1555,-0.63,-194.7,205.1,-13.6,274,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2275,3869
$GC,1887,-0.63,-194.7,253.9,-12.6,335,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2275,3869
$GC,2216,-0.63,-194.7,294.7,-12.1,396,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2275,3868
$GC,2548,-0.63,-194.7,335.9,-11.9,457,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2275,3868
$GC,2884,-0.63,-194.7,381.6,-14.6,518,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2275,3868
$GC,3223,-0.63,-194.7,428.3,-13.2,579,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2275,3869
$GC,3564,-0.63,-194.7,472.8,-13.2,640,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2275,3869
$GC,3905,-0.63,-194.7,514.8,-11.9,701,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2275,3868
$GC,4243,-0.63,-194.7,557.3,-13.0,762,4250,0.00,2.72,0.00,0.000,4,0.000,0.058,2654,882,3868
$GC,4268,-0.63,-194.7,560.3,-13.2,766,4274,0.00,2.67,0.00,0.000,6,0.000,0.042,2656,2286,3868
$GC,4612,-0.63,-194.7,604.3,-12.1,825,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2286,3868
$GC,4929,-0.63,-194.7,641.9,-11.7,855,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2286,3868
$GC,5249,-0.63,-194.7,680.4,-12.8,885,5254,0.00,2.83,0.00,0.000,4,0.000,0.069,2654,887,3868
$GC,5277,-0.63,-194.7,684.1,-13.1,887,5281,0.00,2.65,0.00,0.000,6,0.000,0.048,2655,2265,3867
$GC,5601,-0.63,-194.7,725.6,-13.1,917,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2268,3868
$GC,5919,-0.63,-194.7,765.2,-12.0,947,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2269,3868
$GC,6238,-0.63,-194.7,801.9,-11.4,977,6242,0.00,2.90,0.00,0.000,4,0.000,0.066,2654,3710,3867
$GC,6269,-0.63,-194.7,805.7,-11.7,979,6276,0.00,2.88,0.00,0.000,6,0.000,0.051,2654,2245,3867
$GC,6595,-0.63,-194.7,844.3,-11.9,1010,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2245,3867
$GC,6912,-0.63,-194.7,881.4,-11.0,1040,6917,0.00,2.95,0.00,0.000,4,0.000,0.064,2654,3712,3867
$GC,6962,-0.63,-194.7,886.9,-11.0,1044,6967,0.00,2.85,0.00,0.000,6,0.000,0.051,2654,2252,3866
$GC,7286,-0.63,-194.7,921.4,-10.7,1074,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2253,3866
$GC,7604,-0.63,-194.7,956.3,-11.4,1104,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2252,3865
$STATE,7889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7889,begin apogee
$GC,7894,-0.19,0.0,990.5,12.0,1131,8093,0.60,0.00,195.30,1.473,6,0.126,0.000,2756,2041,3071
$STATE,8094,end apogee,CONTROL_FINISHED_OK
$STATE,8094,begin climb
$GC,8096,0.82,194.7,1000.5,0.0,1151,8310,1.25,3.15,199.88,1.378,4,0.088,0.071,2973,651,2275
$GC,8434,0.69,194.7,972.9,12.5,1183,8439,0.15,2.90,0.00,0.000,6,0.137,0.044,2953,2054,2272
$GC,8758,0.56,194.7,936.1,11.8,1213,8763,0.15,2.90,0.00,0.000,4,0.139,0.059,2929,3460,2270
$GC,8824,0.52,195.5,929.0,10.0,1218,8831,0.00,2.80,0.00,0.000,6,0.000,0.052,2929,2078,2269
$GC,9150,0.48,210.3,898.1,9.5,1249,9172,0.15,3.03,15.70,1.420,4,0.129,0.072,2906,634,2212
$GC,9285,0.56,274.7,887.0,7.8,1261,9358,0.00,2.88,64.50,1.335,6,0.000,0.044,2909,2084,1951
$GC,9675,0.68,340.9,857.6,7.7,1298,9751,0.17,3.20,67.93,1.340,4,0.064,0.072,2945,642,1680
$GC,9817,0.68,340.9,840.6,11.5,1311,9824,0.00,2.97,0.00,0.000,6,0.000,0.044,2947,2110,1676
$GC,10143,0.64,340.9,800.9,12.3,1342,10148,0.00,2.75,0.00,0.000,4,0.000,0.058,2945,3466,1674
$GC,10164,0.64,340.9,798.0,12.5,1343,10171,0.00,2.83,0.00,0.000,6,0.000,0.053,2945,2091,1673
$GC,10490,0.64,340.9,759.4,12.0,1374,10491,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2089,1672
$GC,10807,0.64,340.9,719.3,12.8,1404,10812,0.00,2.78,0.00,0.000,4,0.000,0.056,2946,3468,1671
$GC,10834,0.64,340.9,715.7,13.4,1406,10839,0.00,2.72,0.00,0.000,6,0.000,0.052,2945,2103,1670
$GC,11158,0.64,340.9,673.8,12.7,1436,11159,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2102,1670
$GC,11477,0.64,340.9,634.7,12.0,1466,11478,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2100,1670
$GC,11797,0.64,340.9,595.0,12.7,1499,11803,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2099,1670
$GC,12136,0.64,340.9,553.5,11.6,1560,12144,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2099,1670
$GC,12482,0.64,340.9,512.6,11.6,1621,12487,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2099,1670
$GC,12821,0.64,340.9,473.7,10.7,1682,12827,0.00,2.67,0.00,0.000,4,0.000,0.051,2945,3466,1670
$GC,12851,0.64,340.9,470.4,11.4,1687,12857,0.00,2.65,0.00,0.000,6,0.000,0.044,2946,2097,1669
$GC,13191,0.64,340.9,433.4,10.0,1748,13197,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2097,1669
$GC,13531,0.64,340.9,396.0,10.6,1809,13538,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2097,1669
$GC,13872,0.64,340.9,359.2,10.9,1870,13879,0.00,2.67,0.00,0.000,4,0.000,0.049,2946,3475,1669
$GC,13895,0.64,340.9,356.6,11.5,1874,13901,0.00,2.62,0.00,0.000,6,0.000,0.044,2945,2114,1669
$GC,14229,0.65,349.4,322.0,9.7,1935,14244,0.00,2.92,7.47,0.909,4,0.000,0.063,2945,640,1646
$GC,14261,0.65,349.4,318.5,10.9,1940,14269,0.00,2.85,0.00,0.000,6,0.000,0.039,2954,2125,1646
$GC,14595,0.65,349.4,284.7,10.5,2001,14601,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2126,1646
$GC,14924,0.65,349.4,247.6,11.6,2062,14932,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2126,1646
$GC,15258,0.65,349.4,208.4,11.9,2123,15263,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2125,1646
$GC,15585,0.65,349.4,167.0,10.8,2184,15593,0.00,2.97,0.00,0.000,4,0.000,0.063,2945,645,1646
$GC,15617,0.65,349.4,163.8,11.7,2189,15623,0.00,2.80,0.00,0.000,6,0.000,0.038,2954,2127,1646
$GC,15947,0.65,349.4,131.1,10.3,2250,15955,0.00,2.60,0.00,0.000,4,0.000,0.049,2945,3462,1646
$GC,15981,0.65,349.4,127.7,11.4,2255,15987,0.00,2.60,0.00,0.000,6,0.000,0.044,2957,2113,1645
$GC,16181,0.65,349.4,106.9,10.4,2292,16189,0.00,2.95,0.00,0.000,4,0.000,0.064,2945,641,1645
$GC,16213,0.65,349.4,103.9,10.3,2297,16219,0.00,2.80,0.00,0.000,6,0.000,0.038,2946,2121,1645
$GC,16413,0.65,349.4,80.8,12.0,2334,16421,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2121,1645
$GC,16616,0.65,349.4,56.5,12.7,2371,16622,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2121,1646
$GC,16812,0.65,349.4,26.4,16.9,2408,16820,0.00,2.97,0.00,0.000,4,0.000,0.063,2945,647,1645
$GC,16843,0.70,349.4,21.8,14.5,2413,16851,0.00,2.80,0.00,0.000,6,0.000,0.040,2946,2107,1645
$GC,16978,0.70,349.4,9.0,14.9,2438,16985,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2108,1645
$STATE,17043,end climb,SURFACE_DEPTH_REACHED
$STATE,17043,begin surface coast
$FINISH,0.9,1.027310
$STATE,17055,end surface coast,CONTROL_FINISHED_OK
$STATE,17055,begin surface
$SM_CCo,17130,0.00,0.000,0,0,1644,350.04
$SM_GC,0.45,7.20,0.00,0.00,0.047,0.000,0.000,1467,2317,1644,-6.09,0.62,350.04
$IRIDIUM_FIX,5919.67,-2155.21,110797,050509
$TT8_MAMPS,0.021476
$HUMID,1654
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,12.80
$XPDR_PINGS,308
$24V_AH,19.7,28.471
$10V_AH,9.8,19.222
$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,19.850,102.775,550.775,0.000,0.000,61.267,72.530,397.163,77.000,0.000,0.000,15.380,3713.504,7234.768,672.137,5383.929,827.036,0.000,2573.689,0.000,5402.576,0.000,0.469
$DEVICE_MAMPS,254.644,75.166,1473.407,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1781.477,1779.707,1103.148,1010.654,2607.172,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,186771,2452
$CAP_FILE_SIZE,185787,0
$CFSIZE,260165632,250851328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160408,103458,5940.517,-2205.428,42,2.3,61,-15.4