version: 66.03
glider: 143
mission: 4
dive: 67
start: 4 17 108 12 15 59
data:
$ID,143
$MISSION,4
$DIVE,67
$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,-5300.9385
$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,18
$R_STBD_OVSHOOT,28
$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
$GPS1,120526,5934.011,-2237.708,39,1.2,39,-15.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-49.9
$GPS2,121538,5934.015,-2237.797,9,1.0,14,-15.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5937.708,-2242.928
$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,307.7,20000,-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,-194.7,0.0,0.0,0,147,0.00,0.00,-119.00,0.000,2,0.000,0.000,1465,2315,3738
$GC,149,-0.82,-194.7,3.4,-6.2,13,169,10.25,2.90,-2.70,0.000,4,0.261,0.059,2600,884,3867
$GC,434,-0.69,-194.7,64.6,-20.0,61,442,0.25,2.78,0.00,0.000,6,0.156,0.047,2642,2292,3868
$GC,645,-0.61,-194.7,99.8,-15.5,98,654,0.15,0.00,0.00,0.000,6,0.152,0.000,2664,2292,3868
$GC,859,-0.61,-194.7,127.3,-13.1,135,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2292,3867
$GC,1070,-0.61,-194.7,154.1,-13.1,172,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2292,3868
$GC,1416,-0.61,-194.7,201.8,-14.4,233,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2292,3868
$GC,1760,-0.61,-194.7,245.4,-12.2,294,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2292,3868
$GC,2106,-0.61,-194.7,288.2,-11.7,355,2113,0.00,2.78,0.00,0.000,4,0.000,0.054,2657,879,3868
$GC,2155,-0.61,-194.7,293.8,-11.1,363,2163,0.00,2.72,0.00,0.000,6,0.000,0.042,2661,2301,3868
$GC,2499,-0.61,-194.7,336.7,-12.7,424,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2301,3868
$GC,2843,-0.61,-194.7,378.5,-12.3,485,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2301,3868
$GC,3182,-0.61,-194.7,418.4,-13.0,546,3190,0.00,2.78,0.00,0.000,4,0.000,0.054,2658,879,3868
$GC,3234,-0.65,-194.7,424.9,-12.0,555,3242,0.00,2.67,0.00,0.000,6,0.000,0.041,2660,2288,3868
$GC,3577,-0.65,-194.7,467.6,-11.8,616,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2288,3868
$GC,3917,-0.65,-194.7,509.8,-13.0,677,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2288,3868
$GC,4258,-0.65,-194.7,553.4,-12.5,738,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2288,3868
$GC,4601,-0.65,-194.7,595.8,-12.4,799,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2288,3868
$GC,4928,-0.65,-194.7,633.6,-11.2,833,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2288,3868
$GC,5246,-0.65,-194.7,669.8,-11.2,863,5250,0.00,2.85,0.00,0.000,4,0.000,0.067,2657,878,3868
$GC,5285,-0.65,-194.7,674.1,-11.1,866,5289,0.00,2.70,0.00,0.000,6,0.000,0.047,2658,2275,3867
$GC,5609,-0.65,-194.7,712.4,-11.8,896,5614,0.00,2.90,0.00,0.000,4,0.000,0.067,2657,3712,3868
$GC,5659,-0.65,-194.7,718.4,-12.1,900,5664,0.00,2.83,0.00,0.000,6,0.000,0.053,2657,2276,3868
$GC,5984,-0.65,-194.7,755.7,-11.3,930,5989,0.00,2.80,0.00,0.000,4,0.000,0.071,2657,880,3868
$GC,6024,-0.70,-194.7,760.1,-11.1,933,6028,0.00,2.72,0.00,0.000,6,0.000,0.050,2657,2281,3867
$GC,6349,-0.70,-194.7,794.0,-10.9,963,6353,0.00,2.85,0.00,0.000,4,0.000,0.066,2657,3704,3867
$GC,6399,-0.70,-194.7,799.8,-11.1,967,6403,0.00,2.78,0.00,0.000,6,0.000,0.051,2657,2291,3867
$GC,6724,-0.70,-194.7,836.2,-10.6,997,6728,0.00,2.80,0.00,0.000,4,0.000,0.068,2657,888,3867
$GC,6778,-0.76,-194.7,842.2,-10.9,1001,6786,0.00,2.72,0.00,0.000,6,0.000,0.049,2657,2286,3866
$GC,7104,-0.76,-194.7,877.2,-10.7,1032,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2288,3867
$GC,7421,-0.76,-194.7,910.9,-10.9,1062,7426,0.00,2.85,0.00,0.000,4,0.000,0.067,2657,3703,3866
$GC,7461,-0.80,-194.7,915.3,-11.7,1065,7466,0.17,2.83,0.00,0.000,6,0.056,0.051,2619,2266,3865
$GC,7785,-0.73,-194.7,961.8,-14.2,1095,7790,0.12,2.78,0.00,0.000,4,0.153,0.067,2636,878,3865
$GC,7824,-0.73,-194.7,966.9,-12.1,1098,7829,0.00,2.72,0.00,0.000,6,0.000,0.049,2636,2278,3864
$STATE,8009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8009,begin apogee
$GC,8014,-0.19,0.0,990.0,12.6,1115,8216,0.70,0.00,195.07,1.466,6,0.127,0.000,2754,2041,3071
$STATE,8217,end apogee,CONTROL_FINISHED_OK
$STATE,8217,begin climb
$GC,8218,0.82,194.7,999.0,0.0,1135,8429,1.25,3.17,200.98,1.378,4,0.089,0.071,2974,652,2276
$GC,8531,0.67,194.7,970.9,13.4,1162,8536,0.17,2.92,0.00,0.000,6,0.139,0.045,2949,2054,2272
$GC,8855,0.56,194.7,933.5,11.4,1192,8861,0.15,2.92,0.00,0.000,4,0.138,0.060,2924,3466,2270
$GC,8917,0.56,194.7,927.0,10.3,1197,8922,0.00,2.85,0.00,0.000,6,0.000,0.051,2924,2071,2270
$GC,9243,0.54,216.1,896.4,9.3,1227,9270,0.00,3.03,21.65,1.474,4,0.000,0.072,2928,638,2189
$GC,9386,0.54,216.1,881.8,10.1,1239,9394,0.00,2.90,0.00,0.000,6,0.000,0.045,2924,2091,2188
$GC,9713,0.55,222.1,849.8,9.8,1270,9726,0.00,3.10,7.35,1.197,4,0.000,0.071,2924,638,2165
$GC,9806,0.56,228.4,840.5,9.8,1278,9819,0.00,2.92,8.38,1.266,6,0.000,0.045,2924,2119,2139
$GC,10135,0.57,236.3,808.8,9.7,1309,10148,0.00,0.00,9.35,1.285,6,0.000,0.000,2924,2118,2107
$GC,10465,0.58,247.9,777.5,9.6,1340,10490,0.00,2.80,13.55,1.378,4,0.000,0.059,2924,3460,2059
$GC,10546,0.58,247.9,769.3,10.4,1347,10551,0.00,2.70,0.00,0.000,6,0.000,0.051,2924,2126,2058
$GC,10870,0.61,267.3,739.2,9.3,1377,10896,0.00,2.83,20.33,1.354,4,0.000,0.058,2925,3468,1981
$GC,10923,0.61,272.9,734.1,9.8,1381,10935,0.00,2.70,7.20,1.027,6,0.000,0.050,2924,2138,1958
$GC,11255,0.63,286.7,703.0,9.5,1412,11279,0.00,3.15,15.95,1.353,4,0.000,0.071,2926,634,1902
$GC,11292,0.21,315.3,699.6,9.0,1415,11329,0.45,3.03,29.48,1.188,6,0.101,0.044,2848,2156,1785
$GC,11645,0.55,315.3,664.7,11.0,1448,11650,0.32,2.62,0.00,0.000,4,0.066,0.056,2913,3462,1780
$GC,11799,0.85,333.7,651.3,9.4,1461,11824,0.38,2.60,19.73,1.302,6,0.081,0.048,2981,2158,1710
$GC,12140,0.99,358.4,620.0,9.1,1493,12173,0.17,0.00,25.90,1.239,6,0.060,0.000,3022,2158,1608
$GC,12500,0.77,358.4,549.7,21.5,1546,12507,0.32,0.00,0.00,0.000,6,0.148,0.000,2972,2157,1604
$GC,12842,0.66,358.4,494.5,15.9,1607,12850,0.15,3.03,0.00,0.000,4,0.147,0.063,2948,631,1604
$GC,12874,0.66,358.4,489.7,14.1,1612,12881,0.00,3.03,0.00,0.000,6,0.000,0.041,2948,2194,1603
$GC,13216,0.66,358.4,449.2,12.2,1673,13223,0.00,3.15,0.00,0.000,4,0.000,0.063,2949,636,1603
$GC,13246,0.66,358.4,445.6,12.4,1678,13253,0.00,2.95,0.00,0.000,6,0.000,0.040,2948,2172,1603
$GC,13587,0.66,358.4,403.8,11.3,1739,13594,0.00,3.10,0.00,0.000,4,0.000,0.063,2947,633,1603
$GC,13605,0.66,358.4,401.5,11.9,1742,13613,0.22,2.92,0.00,0.000,6,0.110,0.039,2940,2160,1603
$GC,13946,0.91,452.5,376.8,6.8,1803,14046,0.25,3.28,92.95,1.060,4,0.048,0.061,2971,640,1225
$GC,14063,0.84,452.5,359.4,17.3,1820,14071,0.00,3.03,0.00,0.000,6,0.000,0.039,2987,2157,1222
$GC,14410,0.76,452.5,299.4,17.0,1881,14419,0.15,3.10,0.00,0.000,4,0.132,0.061,2946,640,1218
$GC,14449,0.76,452.5,293.4,12.9,1887,14458,0.00,2.88,0.00,0.000,6,0.000,0.038,2981,2133,1216
$GC,14797,0.80,452.5,256.8,10.5,1948,14807,0.15,3.05,0.00,0.000,4,0.107,0.060,2918,637,1215
$GC,14821,0.92,468.6,254.7,9.4,1951,14846,0.38,2.85,16.45,1.056,6,0.044,0.037,3001,2124,1160
$GC,15186,0.74,468.6,170.7,23.7,2014,15196,0.22,3.05,0.00,0.000,4,0.146,0.062,2961,635,1157
$GC,15222,0.67,468.6,163.5,20.6,2019,15230,0.00,2.80,0.00,0.000,6,0.000,0.038,2964,2095,1156
$GC,15567,0.67,468.6,117.0,13.5,2080,15576,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2095,1156
$GC,15781,0.67,468.6,88.7,14.1,2117,15788,0.00,2.92,0.00,0.000,4,0.000,0.062,2961,641,1156
$GC,15808,0.67,468.6,85.1,12.8,2121,15816,0.00,2.75,0.00,0.000,6,0.000,0.038,2963,2086,1155
$GC,16019,0.67,468.6,58.6,12.9,2158,16027,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2086,1155
$GC,16234,0.67,468.6,32.3,11.2,2195,16243,0.00,2.92,0.00,0.000,4,0.000,0.060,2961,634,1155
$GC,16268,0.67,468.6,27.6,13.7,2200,16277,0.00,2.72,0.00,0.000,6,0.000,0.038,2963,2056,1154
$GC,16417,0.67,468.6,11.2,12.7,2225,16426,0.00,2.78,0.00,0.000,4,0.000,0.051,2961,3462,1154
$GC,16446,0.77,493.9,8.6,9.1,2229,16482,0.00,2.78,25.42,0.943,6,0.000,0.048,2961,2063,1057
$STATE,16529,end climb,SURFACE_DEPTH_REACHED
$STATE,16529,begin surface coast
$FINISH,-0.1,1.013639
$STATE,16561,end surface coast,CONTROL_FINISHED_OK
$STATE,16561,begin surface
$SM_CCo,16636,0.00,0.000,0,0,1053,495.02
$SM_GC,0.39,7.40,0.00,0.00,0.047,0.000,0.000,1468,2313,1053,-6.09,0.54,495.02
$IRIDIUM_FIX,5911.23,-2240.13,120797,121205
$TT8_MAMPS,0.021476
$HUMID,1642
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,12.80
$XPDR_PINGS,269
$24V_AH,19.6,30.206
$10V_AH,9.7,20.748
$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,23.800,162.025,709.725,0.000,0.000,54.613,127.002,250.580,67.250,0.000,0.000,15.603,4490.243,6260.278,880.863,4904.215,690.225,0.000,2698.816,0.000,4907.796,0.000,0.468
$DEVICE_MAMPS,260.780,72.098,1474.174,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1638.581,1618.735,893.251,872.994,2236.837,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,167569,2246
$CAP_FILE_SIZE,187676,0
$CFSIZE,260165632,250183680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.074, 30.5,1
$GPS,170408,165437,5935.609,-2242.657,37,2.0,48,-15.7