version: 66.03
glider: 143
mission: 4
dive: 66
start: 4 17 108 7 14 55
data:
$ID,143
$MISSION,4
$DIVE,66
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,290
$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,-5284.7075
$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,26
$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
$GPS1,070708,5932.907,-2231.836,40,1.8,40,-15.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-40.1
$GPS2,071433,5932.933,-2231.916,11,1.6,11,-15.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5936.626,-2237.050
$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,318.5,20000,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.82,-194.7,0.0,0.0,0,152,0.00,0.00,-124.72,0.000,2,0.000,0.000,1471,2320,3689
$GC,154,-0.82,-194.7,3.3,-5.6,13,174,9.80,2.95,-3.83,0.000,4,0.251,0.064,2608,884,3868
$GC,398,-0.72,-194.7,54.3,-16.0,54,407,0.12,2.83,0.00,0.000,6,0.158,0.051,2634,2288,3869
$GC,611,-0.62,-194.7,87.9,-15.0,91,618,0.17,0.00,0.00,0.000,6,0.150,0.000,2662,2288,3869
$GC,821,-0.62,-194.7,114.0,-11.4,128,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2288,3869
$GC,1034,-0.62,-194.7,141.5,-14.6,165,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2288,3869
$GC,1245,-0.62,-194.7,170.0,-13.4,202,1254,0.00,2.80,0.00,0.000,4,0.000,0.053,2656,881,3869
$GC,1292,-0.62,-194.7,175.8,-12.6,209,1299,0.00,2.75,0.00,0.000,6,0.000,0.042,2661,2304,3869
$GC,1635,-0.62,-194.7,221.8,-13.2,270,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2304,3869
$GC,1982,-0.62,-194.7,266.7,-13.1,331,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2304,3869
$GC,2326,-0.62,-194.7,311.3,-13.0,392,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2305,3869
$GC,2670,-0.62,-194.7,356.8,-13.7,453,2678,0.00,2.78,0.00,0.000,4,0.000,0.054,2656,881,3869
$GC,2719,-0.62,-194.7,363.3,-13.3,461,2727,0.00,2.70,0.00,0.000,6,0.000,0.041,2659,2291,3869
$GC,3059,-0.62,-194.7,409.3,-13.8,522,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2290,3869
$GC,3403,-0.62,-194.7,452.7,-12.1,583,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2291,3869
$GC,3744,-0.62,-194.7,494.5,-12.1,644,3751,0.00,2.78,0.00,0.000,4,0.000,0.054,2656,877,3869
$GC,3791,-0.62,-194.7,500.1,-12.1,652,3798,0.00,2.67,0.00,0.000,6,0.000,0.041,2657,2286,3869
$GC,4130,-0.62,-194.7,542.2,-12.0,713,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2286,3869
$GC,4470,-0.62,-194.7,581.5,-11.1,774,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2286,3869
$GC,4805,-0.62,-194.7,620.5,-11.7,819,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2286,3869
$GC,5125,-0.62,-194.7,657.4,-11.9,849,5129,0.00,2.83,0.00,0.000,4,0.000,0.066,2656,881,3869
$GC,5164,-0.66,-194.7,662.2,-11.8,852,5168,0.00,2.70,0.00,0.000,6,0.000,0.047,2656,2279,3869
$GC,5488,-0.66,-194.7,699.2,-11.4,882,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2279,3869
$GC,5808,-0.66,-194.7,736.9,-11.3,912,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2282,3868
$GC,6125,-0.66,-194.7,773.0,-11.2,942,6126,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2282,3868
$GC,6444,-0.66,-194.7,809.7,-11.6,972,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2282,3868
$GC,6762,-0.66,-194.7,846.1,-11.3,1002,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2283,3868
$GC,7082,-0.66,-194.7,882.1,-11.3,1032,7084,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2283,3867
$GC,7399,-0.66,-194.7,917.6,-11.1,1062,7403,0.00,2.83,0.00,0.000,4,0.000,0.070,2656,885,3867
$GC,7440,-0.72,-194.7,922.0,-11.8,1065,7444,0.00,2.70,0.00,0.000,6,0.000,0.048,2656,2276,3867
$GC,7767,-0.72,-194.7,959.3,-11.6,1095,7768,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2276,3866
$STATE,8029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8029,begin apogee
$GC,8034,-0.19,0.0,990.0,11.6,1120,8236,0.55,0.00,195.48,1.463,6,0.123,0.000,2752,2040,3071
$STATE,8236,end apogee,CONTROL_FINISHED_OK
$STATE,8236,begin climb
$GC,8238,0.82,194.7,1000.1,0.0,1140,8449,1.27,3.20,200.62,1.378,4,0.091,0.073,2973,648,2277
$GC,8532,0.68,194.7,976.0,13.4,1165,8540,0.17,2.92,0.00,0.000,6,0.140,0.044,2951,2049,2273
$GC,8857,0.56,194.7,937.3,12.0,1196,8863,0.15,2.92,0.00,0.000,4,0.138,0.059,2925,3459,2271
$GC,8946,0.52,194.7,927.6,10.2,1203,8954,0.00,2.80,0.00,0.000,6,0.000,0.052,2926,2090,2270
$GC,9272,0.48,200.9,896.3,9.8,1234,9285,0.00,0.00,6.57,1.137,6,0.000,0.000,2925,2089,2251
$GC,9603,0.45,216.1,864.7,9.5,1265,9627,0.15,3.10,16.42,1.439,4,0.126,0.072,2899,635,2190
$GC,9632,-0.03,264.5,862.1,8.3,1267,9690,0.60,2.90,49.08,1.301,6,0.103,0.044,2794,2097,1992
$GC,10005,0.33,264.5,829.1,10.1,1302,10010,0.38,2.78,0.00,0.000,4,0.067,0.057,2868,3461,1988
$GC,10316,0.71,274.2,799.2,9.7,1329,10332,0.43,2.75,10.35,1.279,6,0.064,0.050,2951,2087,1953
$GC,10657,0.86,312.3,769.9,8.7,1361,10701,0.15,0.00,39.83,1.326,6,0.056,0.000,2990,2086,1797
$GC,11017,0.71,312.3,714.1,16.7,1395,11022,0.17,2.80,0.00,0.000,4,0.138,0.056,2961,3459,1792
$GC,11057,0.65,312.3,708.1,14.6,1398,11061,0.00,2.58,0.00,0.000,6,0.000,0.051,2961,2184,1790
$GC,11381,0.56,312.3,662.4,13.8,1428,11387,0.20,3.15,0.00,0.000,4,0.133,0.069,2927,644,1790
$GC,11422,0.61,320.4,658.0,9.7,1431,11438,0.00,3.00,8.62,1.158,6,0.000,0.044,2927,2178,1763
$GC,11763,0.64,340.7,626.0,9.3,1463,11788,0.00,0.00,22.23,1.282,6,0.000,0.000,2927,2178,1682
$GC,12115,0.66,363.4,594.3,9.2,1501,12149,0.00,3.25,23.58,1.237,4,0.000,0.065,2927,646,1588
$GC,12174,0.76,384.0,588.4,9.3,1510,12205,0.20,3.03,22.38,1.106,6,0.054,0.041,2971,2178,1504
$GC,12539,0.66,384.0,530.3,17.2,1574,12547,0.15,3.17,0.00,0.000,4,0.136,0.063,2946,634,1499
$GC,12570,0.66,384.0,525.7,13.9,1579,12577,0.00,2.97,0.00,0.000,6,0.000,0.039,2949,2162,1499
$GC,12909,0.66,384.0,486.3,11.7,1640,12917,0.00,3.08,0.00,0.000,4,0.000,0.062,2945,642,1498
$GC,12933,0.66,384.0,483.3,12.0,1644,12942,0.00,2.92,0.00,0.000,6,0.000,0.040,2949,2143,1498
$GC,13275,0.66,384.0,444.1,11.3,1705,13283,0.00,3.03,0.00,0.000,4,0.000,0.062,2945,641,1498
$GC,13299,0.66,384.0,441.1,11.7,1709,13307,0.00,2.85,0.00,0.000,6,0.000,0.038,2949,2129,1498
$GC,13642,0.66,384.0,402.4,11.3,1770,13649,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2128,1498
$GC,13982,0.66,384.0,365.4,10.7,1831,13989,0.00,3.00,0.00,0.000,4,0.000,0.062,2946,633,1498
$GC,14005,0.66,384.0,362.7,11.3,1835,14013,0.00,2.83,0.00,0.000,6,0.000,0.038,2949,2120,1498
$GC,14350,0.66,384.0,327.4,10.6,1896,14359,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2120,1498
$GC,14699,0.66,384.0,290.2,10.6,1957,14706,0.00,2.95,0.00,0.000,4,0.000,0.060,2945,637,1498
$GC,14714,0.66,384.0,288.5,10.8,1959,14722,0.00,2.80,0.00,0.000,6,0.000,0.038,2949,2118,1498
$GC,15061,0.66,384.0,248.5,10.9,2020,15069,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2118,1498
$GC,15411,0.66,384.0,209.1,10.6,2081,15418,0.00,2.95,0.00,0.000,4,0.000,0.061,2945,640,1498
$GC,15430,0.66,384.0,206.5,11.2,2084,15439,0.00,2.80,0.00,0.000,6,0.000,0.038,2949,2105,1498
$GC,15778,0.68,399.7,171.1,9.5,2145,15801,0.00,0.00,15.48,0.940,6,0.000,0.000,2948,2105,1440
$GC,16140,0.69,409.9,135.2,9.6,2208,16156,0.00,0.00,11.25,0.930,6,0.000,0.000,2948,2105,1400
$GC,16358,0.69,409.9,111.6,11.0,2246,16367,0.00,2.97,0.00,0.000,4,0.000,0.061,2945,641,1399
$GC,16381,0.74,409.9,109.2,11.7,2249,16388,0.00,2.80,0.00,0.000,6,0.000,0.038,2954,2107,1398
$GC,16593,0.79,419.6,85.9,9.7,2286,16608,0.00,0.00,11.00,0.893,6,0.000,0.000,2954,2107,1360
$GC,16811,0.87,436.3,62.2,9.4,2324,16836,0.15,0.00,17.92,0.976,6,0.064,0.000,2989,2107,1291
$GC,17045,0.77,436.3,23.7,19.3,2363,17054,0.15,3.00,0.00,0.000,4,0.125,0.062,2955,644,1289
$GC,17074,0.77,436.3,18.7,16.5,2367,17083,0.00,2.83,0.00,0.000,6,0.000,0.038,2964,2096,1288
$GC,17225,0.93,509.7,4.9,7.5,2392,17262,0.15,0.00,34.70,0.838,2,0.068,0.000,2998,2097,1154
$STATE,17263,end climb,SURFACE_DEPTH_REACHED
$STATE,17263,begin surface coast
$FINISH,0.0,1.027289
$STATE,17283,end surface coast,CONTROL_FINISHED_OK
$STATE,17283,begin surface
$SM_CCo,17358,0.00,0.000,0,0,1151,470.98
$SM_GC,0.47,7.68,0.00,0.00,0.043,0.000,0.000,1465,2312,1151,-6.10,0.48,470.98
$IRIDIUM_FIX,5911.23,-2226.74,120797,020259
$TT8_MAMPS,0.021476
$HUMID,1637
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,12.30
$XPDR_PINGS,338
$24V_AH,19.6,29.913
$10V_AH,9.7,20.512
$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,22.800,122.300,685.500,0.000,0.000,29.806,32.275,265.704,84.500,0.000,0.000,12.510,4770.496,6366.319,844.687,5212.442,587.100,0.000,2719.991,0.000,5221.907,0.000,0.469
$DEVICE_MAMPS,250.809,72.865,1462.669,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1746.040,1731.039,972.747,945.396,2459.165,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,180510,2399
$CAP_FILE_SIZE,188051,0
$CFSIZE,260165632,250277888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,272.2,1
$GPS,170408,120526,5934.011,-2237.708,39,1.2,39,-15.6