version: 66.03
glider: 143
mission: 4
dive: 63
start: 4 16 108 15 50 35
data:
$ID,143
$MISSION,4
$DIVE,63
$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,-5220.8662
$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,17
$R_STBD_OVSHOOT,38
$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
$GPS1,153631,5939.111,-2211.526,41,1.0,46,-15.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-38.5
$GPS2,155018,5939.203,-2211.738,11,1.5,20,-15.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5933.008,-2216.221
$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,250.4,20000,-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,-194.7,0.0,0.0,0,145,0.00,0.00,-116.18,0.000,2,0.000,0.000,1471,2318,3596
$GC,147,-0.82,-194.7,3.4,-8.0,16,171,9.75,2.83,-6.00,0.000,4,0.251,0.057,2610,884,3867
$GC,298,-0.72,-194.7,39.0,-20.3,43,306,0.15,2.80,0.00,0.000,6,0.150,0.051,2634,2273,3868
$GC,433,-0.63,-194.7,60.9,-15.2,68,441,0.15,0.00,0.00,0.000,6,0.146,0.000,2658,2273,3868
$GC,637,-0.63,-194.7,85.3,-11.6,105,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2274,3868
$GC,837,-0.63,-194.7,111.7,-13.0,142,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2273,3868
$GC,1043,-0.63,-194.7,140.6,-15.0,179,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2274,3868
$GC,1242,-0.63,-194.7,168.6,-13.1,216,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2273,3868
$GC,1574,-0.63,-194.7,211.4,-12.7,277,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2273,3868
$GC,1903,-0.63,-194.7,253.0,-12.4,338,1911,0.00,2.75,0.00,0.000,4,0.000,0.052,2658,882,3868
$GC,1934,-0.63,-194.7,256.7,-12.6,343,1940,0.00,2.72,0.00,0.000,6,0.000,0.042,2659,2299,3868
$GC,2263,-0.63,-194.7,296.9,-12.1,404,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2299,3868
$GC,2596,-0.63,-194.7,335.6,-11.3,465,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2299,3868
$GC,2932,-0.63,-194.7,372.9,-11.5,526,2938,0.00,2.78,0.00,0.000,4,0.000,0.052,2658,877,3868
$GC,2966,-0.63,-194.7,376.7,-11.0,532,2972,0.00,2.70,0.00,0.000,6,0.000,0.042,2660,2288,3868
$GC,3306,-0.63,-194.7,416.3,-11.9,593,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2288,3868
$GC,3645,-0.63,-194.7,458.7,-12.7,654,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2288,3868
$GC,3988,-0.63,-194.7,500.3,-11.6,715,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2288,3868
$GC,4328,-0.63,-194.7,541.9,-13.0,776,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2288,3868
$GC,4665,-0.63,-194.7,581.5,-11.4,837,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2288,3868
$GC,5002,-0.63,-194.7,619.2,-11.2,883,5007,0.00,2.78,0.00,0.000,4,0.000,0.061,2658,881,3868
$GC,5041,-0.68,-194.7,623.4,-10.7,886,5046,0.00,2.67,0.00,0.000,6,0.000,0.044,2659,2286,3868
$GC,5366,-0.68,-194.7,661.0,-12.0,916,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2286,3868
$GC,5683,-0.68,-194.7,697.7,-10.7,946,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2287,3868
$GC,6002,-0.68,-194.7,730.9,-10.5,976,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2289,3867
$GC,6320,-0.68,-194.7,765.7,-10.7,1006,6325,0.00,2.85,0.00,0.000,4,0.000,0.070,2658,880,3867
$GC,6359,-0.73,-194.7,769.8,-11.1,1009,6364,0.12,2.70,0.00,0.000,6,0.063,0.048,2638,2273,3867
$GC,6685,-0.67,-194.7,813.2,-13.4,1039,6689,0.00,2.88,0.00,0.000,4,0.000,0.065,2631,3705,3867
$GC,6717,-0.63,-194.7,817.8,-13.8,1041,6724,0.17,2.83,0.00,0.000,6,0.136,0.051,2656,2268,3867
$GC,7041,-0.63,-194.7,853.4,-11.1,1072,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2268,3867
$GC,7359,-0.63,-194.7,888.8,-10.8,1102,7361,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2268,3866
$GC,7678,-0.63,-194.7,923.1,-10.7,1132,7679,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2268,3866
$GC,7996,-0.63,-194.7,956.3,-10.4,1162,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2268,3865
$STATE,8313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8314,begin apogee
$GC,8319,-0.19,0.0,990.8,11.1,1192,8518,0.57,0.00,195.25,1.471,6,0.123,0.000,2754,2032,3071
$STATE,8519,end apogee,CONTROL_FINISHED_OK
$STATE,8519,begin climb
$GC,8521,0.82,194.7,1000.3,0.0,1212,8735,1.25,3.15,200.27,1.377,4,0.089,0.071,2972,647,2275
$GC,8836,0.68,194.7,973.4,13.1,1242,8842,0.15,2.92,0.00,0.000,6,0.143,0.044,2953,2053,2272
$GC,9160,0.56,194.7,935.4,11.9,1272,9166,0.17,2.92,0.00,0.000,4,0.137,0.058,2925,3470,2270
$GC,9233,0.52,194.7,927.9,10.3,1278,9238,0.00,2.85,0.00,0.000,6,0.000,0.052,2925,2076,2270
$GC,9558,0.47,194.7,897.3,10.0,1308,9563,0.15,2.83,0.00,0.000,4,0.129,0.058,2900,3461,2270
$GC,9601,0.52,239.1,893.3,8.5,1311,9652,0.00,2.78,44.35,1.424,6,0.000,0.051,2899,2086,2095
$GC,9978,0.65,305.1,864.6,7.7,1347,10053,0.17,3.20,66.43,1.357,4,0.065,0.073,2938,638,1827
$GC,10137,0.65,305.1,846.2,12.6,1362,10141,0.00,2.97,0.00,0.000,6,0.000,0.045,2950,2113,1823
$GC,10461,0.65,305.1,808.8,11.1,1392,10466,0.00,3.08,0.00,0.000,4,0.000,0.071,2938,640,1820
$GC,10568,0.65,305.1,797.0,11.0,1401,10573,0.00,2.92,0.00,0.000,6,0.000,0.045,2941,2122,1820
$GC,10892,0.65,305.1,761.3,11.3,1431,10896,0.00,2.70,0.00,0.000,4,0.000,0.058,2938,3469,1819
$GC,10930,0.65,305.1,757.0,11.0,1434,10935,0.00,2.72,0.00,0.000,6,0.000,0.052,2938,2109,1818
$GC,11254,0.65,305.1,722.4,10.7,1464,11255,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2108,1818
$GC,11573,0.65,305.1,687.7,11.0,1494,11577,0.00,2.72,0.00,0.000,4,0.000,0.056,2938,3467,1817
$GC,11599,0.65,305.1,684.6,11.3,1496,11604,0.00,2.67,0.00,0.000,6,0.000,0.051,2938,2117,1817
$GC,11923,0.65,305.1,647.8,11.4,1526,11924,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2116,1817
$GC,12242,0.65,305.1,612.2,10.9,1556,12246,0.00,2.67,0.00,0.000,4,0.000,0.053,2938,3464,1817
$GC,12268,0.65,305.1,609.1,11.6,1558,12273,0.00,2.62,0.00,0.000,6,0.000,0.046,2938,2117,1816
$GC,12603,0.65,305.1,572.0,11.9,1610,12609,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2116,1816
$GC,12945,0.65,305.1,535.0,10.5,1671,12951,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2116,1816
$GC,13286,0.65,305.1,498.6,11.2,1732,13292,0.00,2.65,0.00,0.000,4,0.000,0.051,2938,3465,1816
$GC,13321,0.65,305.1,494.6,10.8,1738,13327,0.00,2.60,0.00,0.000,6,0.000,0.044,2940,2123,1816
$GC,13661,0.66,309.3,458.2,9.9,1799,13666,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2123,1816
$GC,14000,0.66,309.3,422.7,10.1,1860,14008,0.00,2.65,0.00,0.000,4,0.000,0.050,2943,3464,1816
$GC,14026,0.66,309.3,420.0,11.4,1864,14032,0.00,2.58,0.00,0.000,6,0.000,0.043,2938,2130,1816
$GC,14365,0.66,309.3,383.7,10.3,1925,14371,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2130,1816
$GC,14704,0.66,314.6,346.8,9.8,1986,14717,0.00,0.00,8.77,0.949,6,0.000,0.000,2938,2129,1788
$GC,15039,0.66,314.6,310.8,10.7,2048,15046,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2129,1788
$GC,15373,0.67,320.0,275.1,9.8,2109,15386,0.00,0.00,6.95,0.876,6,0.000,0.000,2938,2129,1766
$GC,15713,0.67,320.0,238.7,10.8,2171,15719,0.00,2.62,0.00,0.000,4,0.000,0.048,2938,3472,1765
$GC,15740,0.67,320.0,235.4,11.7,2176,15748,0.00,2.60,0.00,0.000,6,0.000,0.042,2938,2142,1764
$GC,16074,0.69,333.4,200.0,9.5,2237,16100,0.00,3.05,15.05,1.007,4,0.000,0.064,2938,640,1710
$GC,16118,0.69,333.4,195.2,10.9,2244,16126,0.00,2.92,0.00,0.000,6,0.000,0.038,2938,2154,1710
$GC,16451,0.69,333.4,160.3,10.5,2305,16456,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2154,1709
$GC,16779,0.69,333.4,127.0,11.9,2366,16787,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2154,1709
$GC,16983,0.69,333.4,104.9,11.9,2403,16989,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2155,1709
$GC,17184,0.69,333.4,83.8,10.1,2440,17191,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2154,1710
$GC,17389,0.69,333.4,62.3,12.1,2477,17395,0.00,3.05,0.00,0.000,4,0.000,0.062,2938,631,1709
$GC,17414,0.73,333.4,59.4,11.4,2481,17420,0.00,2.88,0.00,0.000,6,0.000,0.038,2969,2152,1709
$GC,17612,0.73,333.4,37.0,11.9,2518,17620,0.00,2.58,0.00,0.000,4,0.000,0.051,2938,3464,1708
$GC,17633,0.73,333.4,34.3,12.9,2521,17641,0.00,2.60,0.00,0.000,6,0.000,0.041,2938,2129,1708
$GC,17768,0.76,356.0,19.2,9.2,2546,17799,0.12,2.97,22.27,0.935,4,0.068,0.061,2965,632,1618
$GC,17838,0.91,475.6,14.0,5.9,2557,17920,0.12,2.90,75.53,0.749,2,0.040,0.038,3002,2134,1290
$STATE,17920,end climb,SURFACE_DEPTH_REACHED
$STATE,17921,begin surface coast
$FINISH,0.1,1.027303
$STATE,17927,end surface coast,CONTROL_FINISHED_OK
$STATE,17927,begin surface
$SM_CCo,18003,0.00,0.000,0,0,1284,438.35
$SM_GC,0.25,7.88,0.00,0.00,0.052,0.000,0.000,1469,2327,1284,-6.09,0.90,438.35
$IRIDIUM_FIX,5923.90,-1937.79,110797,151526
$TT8_MAMPS,0.021476
$HUMID,1628
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,12.80
$XPDR_PINGS,363
$24V_AH,19.6,29.046
$10V_AH,9.7,19.746
$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,20.950,118.475,634.875,0.000,0.000,53.628,102.848,473.626,90.750,0.000,0.000,22.254,3887.547,7652.104,709.287,5639.108,914.946,0.000,2741.745,0.000,5639.283,0.000,0.469
$DEVICE_MAMPS,250.809,72.865,1471.106,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1866.076,1860.168,1141.594,1036.585,2699.205,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,192888,2569
$CAP_FILE_SIZE,200299,0
$CFSIZE,260165632,250605568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160408,205158,5936.938,-2218.083,26,99.0,45,-15.5