version: 66.03
glider: 143
mission: 4
dive: 64
start: 4 16 108 21 5 22
data:
$ID,143
$MISSION,4
$DIVE,64
$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,-5239.1392
$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,34
$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
$GPS1,205158,5936.938,-2218.083,26,99.0,45,-15.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-42.8
$GPS2,210503,5936.897,-2218.481,16,1.2,16,-15.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5930.703,-2222.969
$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,250.5,20000,-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,-194.7,0.0,0.0,0,129,0.00,0.00,-101.25,0.000,2,0.000,0.000,1469,2327,3491
$GC,131,-0.82,-194.7,3.5,-6.8,14,156,9.77,3.00,-8.68,0.000,4,0.250,0.067,2612,881,3868
$GC,299,-0.72,-194.7,33.3,-15.5,44,307,0.00,2.80,0.00,0.000,6,0.000,0.049,2627,2279,3868
$GC,434,-0.57,-194.7,54.7,-15.3,69,441,0.28,0.00,0.00,0.000,6,0.152,0.000,2668,2279,3868
$GC,636,-0.57,-194.7,82.5,-13.1,106,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2279,3869
$GC,840,-0.57,-194.7,110.6,-13.1,143,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2279,3868
$GC,1039,-0.57,-194.7,138.1,-12.9,180,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2278,3868
$GC,1244,-0.57,-194.7,161.9,-11.8,217,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2279,3868
$GC,1573,-0.57,-194.7,200.5,-11.7,278,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2279,3868
$GC,1905,-0.57,-194.7,241.4,-12.8,339,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2278,3868
$GC,2235,-0.57,-194.7,284.0,-11.8,400,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2279,3868
$GC,2568,-0.57,-194.7,326.4,-12.2,461,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2279,3868
$GC,2901,-0.57,-194.7,369.0,-13.1,522,2908,0.00,2.72,0.00,0.000,4,0.000,0.054,2655,881,3868
$GC,2930,-0.57,-194.7,372.7,-12.9,527,2936,0.00,2.72,0.00,0.000,6,0.000,0.041,2666,2307,3868
$GC,3270,-0.57,-194.7,416.0,-12.3,588,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2307,3868
$GC,3615,-0.57,-194.7,457.1,-11.5,649,3621,0.00,2.80,0.00,0.000,4,0.000,0.054,2655,875,3868
$GC,3649,-0.57,-194.7,461.2,-11.5,655,3656,0.00,2.72,0.00,0.000,6,0.000,0.041,2670,2306,3868
$GC,3992,-0.57,-194.7,501.2,-11.4,716,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2307,3868
$GC,4332,-0.57,-194.7,542.7,-12.2,777,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2306,3868
$GC,4673,-0.57,-194.7,585.9,-12.7,838,4679,0.00,2.83,0.00,0.000,4,0.000,0.058,2655,875,3868
$GC,4712,-0.57,-194.7,591.0,-13.0,845,4719,0.12,2.72,0.00,0.000,6,0.064,0.042,2663,2304,3868
$GC,5041,-0.50,-194.7,641.3,-15.4,881,5043,0.30,0.00,0.00,0.000,6,0.128,0.000,2689,2304,3868
$GC,5360,-0.55,-194.7,675.5,-10.6,911,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2304,3868
$GC,5678,-0.59,-194.7,708.4,-10.1,941,5683,0.00,2.90,0.00,0.000,4,0.000,0.073,2676,885,3868
$GC,5710,-0.68,-194.7,711.8,-10.6,943,5717,0.15,2.72,0.00,0.000,6,0.057,0.050,2645,2283,3868
$GC,6034,-0.68,-194.7,753.4,-12.8,974,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2287,3868
$GC,6353,-0.68,-194.7,793.2,-12.4,1004,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2288,3868
$GC,6671,-0.68,-194.7,832.7,-12.2,1034,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2288,3867
$GC,6990,-0.68,-194.7,871.2,-12.3,1064,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2288,3867
$GC,7309,-0.68,-194.7,909.5,-11.9,1094,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2288,3867
$GC,7627,-0.68,-194.7,947.9,-12.6,1124,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2288,3866
$GC,7946,-0.68,-194.7,987.0,-12.0,1154,7950,0.00,2.85,0.00,0.000,4,0.000,0.069,2642,878,3866
$STATE,7971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7971,begin apogee
$GC,7977,-0.19,0.0,990.3,13.0,1156,8177,0.62,0.00,195.35,1.460,6,0.121,0.000,2752,2056,3071
$STATE,8177,end apogee,CONTROL_FINISHED_OK
$STATE,8178,begin climb
$GC,8179,0.82,194.7,998.8,0.0,1176,8393,1.27,3.30,199.93,1.374,4,0.090,0.071,2973,644,2276
$GC,8476,0.69,194.7,972.7,13.1,1204,8484,0.15,2.92,0.00,0.000,6,0.138,0.044,2954,2048,2273
$GC,8802,0.57,194.7,933.8,12.2,1235,8807,0.17,2.92,0.00,0.000,4,0.137,0.059,2925,3459,2271
$GC,8868,0.57,196.8,926.6,9.9,1240,8874,0.00,2.85,0.00,0.000,6,0.000,0.052,2925,2067,2271
$GC,9194,0.53,199.8,895.5,9.9,1271,9206,0.00,2.85,5.55,1.057,4,0.000,0.057,2925,3462,2255
$GC,9239,0.53,199.8,890.7,10.6,1275,9243,0.00,2.78,0.00,0.000,6,0.000,0.051,2925,2086,2255
$GC,9564,0.49,203.9,859.5,9.9,1305,9576,0.00,2.80,5.97,1.101,4,0.000,0.057,2926,3462,2238
$GC,9614,0.49,203.9,854.2,10.5,1309,9621,0.00,2.72,0.00,0.000,6,0.000,0.051,2925,2109,2237
$GC,9940,0.52,227.9,823.8,9.2,1340,9972,0.00,3.10,25.25,1.445,4,0.000,0.071,2925,634,2140
$GC,10085,0.52,227.9,809.7,10.1,1353,10090,0.00,2.97,0.00,0.000,6,0.000,0.044,2926,2134,2139
$GC,10411,0.57,270.7,780.3,8.5,1383,10463,0.00,3.25,42.38,1.338,4,0.000,0.071,2925,642,1967
$GC,10565,0.59,287.6,765.7,9.4,1397,10590,0.00,3.00,18.75,1.277,6,0.000,0.045,2926,2141,1898
$GC,10915,0.60,293.9,731.9,9.8,1430,10929,0.00,3.20,7.65,1.157,4,0.000,0.071,2925,637,1872
$GC,11036,0.60,293.9,719.6,10.0,1441,11040,0.00,2.95,0.00,0.000,6,0.000,0.044,2928,2135,1871
$GC,11361,0.61,304.2,688.0,9.6,1471,11382,0.00,3.17,11.70,1.255,4,0.000,0.069,2925,640,1830
$GC,11465,0.61,304.2,677.3,10.2,1480,11472,0.00,2.95,0.00,0.000,6,0.000,0.043,2928,2141,1828
$GC,11790,0.63,322.5,646.4,9.4,1511,11812,0.00,0.00,19.10,1.217,6,0.000,0.000,2928,2141,1756
$GC,12129,0.66,342.3,614.3,9.3,1543,12153,0.00,0.00,21.70,1.206,6,0.000,0.000,2928,2141,1675
$GC,12478,0.73,367.7,581.7,9.1,1592,12509,0.15,0.00,26.00,1.214,6,0.065,0.000,2962,2141,1571
$GC,12848,0.68,367.7,531.8,13.2,1657,12854,0.00,3.08,0.00,0.000,4,0.000,0.063,2959,641,1567
$GC,12882,0.68,367.7,526.5,13.1,1663,12888,0.00,2.92,0.00,0.000,6,0.000,0.040,2964,2143,1566
$GC,13223,0.62,367.7,480.3,13.7,1724,13229,0.17,0.00,0.00,0.000,6,0.122,0.000,2936,2143,1566
$GC,13563,0.68,385.8,445.9,9.4,1785,13588,0.00,3.08,18.62,1.201,4,0.000,0.062,2932,641,1497
$GC,13617,0.79,406.5,440.7,9.3,1794,13647,0.17,2.88,22.35,1.009,6,0.054,0.038,2978,2130,1413
$GC,13981,0.70,406.5,382.9,17.0,1859,13987,0.15,0.00,0.00,0.000,6,0.132,0.000,2953,2131,1408
$GC,14319,0.70,406.5,343.9,11.2,1920,14327,0.00,3.05,0.00,0.000,4,0.000,0.061,2947,637,1407
$GC,14354,0.76,406.5,340.1,10.6,1926,14362,0.00,2.85,0.00,0.000,6,0.000,0.038,2955,2110,1407
$GC,14688,0.76,408.5,304.7,9.9,1987,14693,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2110,1407
$GC,15017,0.76,408.5,269.4,10.3,2048,15024,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2110,1407
$GC,15350,0.76,408.5,233.7,10.8,2109,15356,0.00,2.95,0.00,0.000,4,0.000,0.061,2947,631,1406
$GC,15374,0.76,408.5,231.0,11.1,2113,15381,0.00,2.80,0.00,0.000,6,0.000,0.037,2959,2114,1406
$GC,15706,0.76,410.5,196.2,9.9,2174,15714,0.00,0.00,4.15,0.657,6,0.000,0.000,2955,2114,1397
$GC,16039,0.76,410.5,161.1,10.7,2235,16045,0.00,2.95,0.00,0.000,4,0.000,0.061,2947,634,1397
$GC,16075,0.83,410.5,157.2,10.8,2241,16082,0.12,2.78,0.00,0.000,6,0.107,0.038,2956,2101,1396
$GC,16406,0.96,430.1,127.7,9.3,2302,16433,0.30,2.75,20.75,0.989,4,0.048,0.050,2996,3471,1317
$GC,16451,0.88,430.1,121.0,18.0,2309,16458,0.00,2.72,0.00,0.000,6,0.000,0.044,3002,2080,1316
$GC,16651,0.73,430.1,79.0,23.7,2346,16659,0.20,2.90,0.00,0.000,4,0.140,0.061,2962,645,1315
$GC,16683,0.67,430.1,72.8,21.8,2351,16690,0.00,2.78,0.00,0.000,6,0.000,0.038,2968,2094,1314
$GC,16884,0.67,430.1,42.0,16.0,2388,16892,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2094,1314
$GC,17018,0.67,430.1,25.4,12.8,2413,17026,0.12,0.00,0.00,0.000,6,0.120,0.000,2948,2095,1313
$GC,17154,0.76,430.7,10.7,10.0,2438,17161,0.00,2.97,0.00,0.000,4,0.000,0.064,2943,637,1313
$GC,17174,0.88,430.7,8.2,10.5,2441,17182,0.17,2.78,0.00,0.000,6,0.038,0.038,2995,2078,1313
$STATE,17225,end climb,SURFACE_DEPTH_REACHED
$STATE,17225,begin surface coast
$FINISH,0.3,1.027316
$STATE,17237,end surface coast,CONTROL_FINISHED_OK
$STATE,17237,begin surface
$SM_CCo,17312,0.00,0.000,0,0,1311,431.48
$SM_GC,0.36,7.40,0.00,0.00,0.040,0.000,0.000,1467,2321,1311,-6.08,0.74,431.48
$IRIDIUM_FIX,5911.23,-2218.88,110797,212133
$TT8_MAMPS,0.021476
$HUMID,1668
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,12.40
$XPDR_PINGS,384
$24V_AH,19.7,29.334
$10V_AH,9.7,20.004
$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,21.825,127.525,645.200,0.000,0.000,52.154,63.416,476.106,96.000,0.000,0.000,17.643,3728.144,7341.585,745.327,5383.411,871.819,0.000,2671.298,0.000,5389.190,0.000,0.468
$DEVICE_MAMPS,250.042,72.865,1460.368,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1784.538,1781.412,1083.324,1000.541,2577.947,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,186393,2452
$CAP_FILE_SIZE,197785,0
$CFSIZE,260165632,250486784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170408,015508,5934.797,-2224.927,40,1.6,40,-15.5