version: 66.03
glider: 143
mission: 4
dive: 2
start: 4 4 108 11 12 18
data:
$ID,143
$MISSION,4
$DIVE,2
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$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,150
$T_MISSION,180
$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,150
$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,-1
$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,225
$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,-3978.5557
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1469
$PITCH_MAX,4022
$C_PITCH,2880
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$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,1999
$C_ROLL_CLIMB,1999
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,3
$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,4
$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
$GPS1,110803,5900.338,-2030.670,9,1.1,9,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-43.2
$GPS2,111202,5900.346,-2030.666,12,1.1,29,-14.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,VM
$TGT_LATLONG,5859.850,-2029.850
$TGT_RADIUS,400.000
$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,153.9,1203,-27.8,-10.000
$D_GRID,450
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.24,-63.1,0.0,0.0,0,113,0.00,0.00,-87.60,0.000,6,0.000,0.000,1468,2003,3330
$GC,115,-1.31,-123.0,2.0,-3.6,13,140,9.60,2.90,-9.30,0.000,4,0.252,0.069,2585,591,3574
$GC,421,-1.26,-123.0,41.5,-16.3,70,429,0.00,2.75,0.00,0.000,6,0.000,0.044,2585,1999,3575
$GC,493,-1.21,-123.0,52.9,-14.9,83,501,0.17,0.00,0.00,0.000,6,0.163,0.000,2612,1999,3575
$GC,627,-1.21,-123.0,74.2,-17.5,108,635,0.00,2.85,0.00,0.000,4,0.000,0.060,2612,3409,3575
$GC,642,-1.21,-123.0,76.7,-16.2,110,650,0.00,2.78,0.00,0.000,6,0.000,0.044,2612,1999,3575
$GC,776,-1.21,-123.0,96.3,-13.2,135,784,0.00,2.85,0.00,0.000,4,0.000,0.057,2612,3407,3575
$GC,793,-1.21,-123.0,98.1,-12.0,137,801,0.00,2.78,0.00,0.000,6,0.000,0.046,2612,2002,3575
$GC,927,-1.21,-123.0,114.1,-12.2,162,935,0.00,2.85,0.00,0.000,4,0.000,0.058,2612,3409,3575
$GC,957,-1.21,-123.0,118.1,-12.9,167,965,0.00,2.80,0.00,0.000,6,0.000,0.045,2612,1989,3575
$GC,1092,-1.21,-123.0,136.6,-13.6,192,1099,0.00,2.88,0.00,0.000,4,0.000,0.058,2612,3408,3575
$GC,1112,-1.21,-123.0,139.5,-14.7,195,1120,0.00,2.78,0.00,0.000,6,0.000,0.046,2612,2001,3575
$GC,1246,-1.21,-123.0,160.4,-14.8,220,1254,0.00,2.85,0.00,0.000,4,0.000,0.057,2612,3408,3575
$GC,1288,-1.21,-123.0,166.3,-13.9,227,1294,0.00,2.75,0.00,0.000,6,0.000,0.044,2612,1993,3575
$GC,1423,-1.21,-123.0,187.6,-16.3,252,1431,0.00,2.88,0.00,0.000,4,0.000,0.058,2612,3410,3575
$GC,1466,-1.21,-123.0,194.3,-15.5,259,1472,0.00,2.72,0.00,0.000,6,0.000,0.044,2612,1998,3575
$GC,1602,-1.21,-123.0,214.6,-14.7,284,1610,0.00,2.85,0.00,0.000,4,0.000,0.058,2612,3409,3575
$GC,1644,-1.21,-123.0,220.9,-14.6,291,1650,0.00,2.75,0.00,0.000,6,0.000,0.044,2612,1992,3575
$GC,1779,-1.21,-123.0,239.9,-14.7,316,1787,0.00,2.85,0.00,0.000,4,0.000,0.056,2612,3409,3575
$GC,1822,-1.21,-123.0,246.2,-15.3,323,1828,0.00,2.72,0.00,0.000,6,0.000,0.044,2612,1993,3575
$GC,1958,-1.21,-123.0,264.6,-14.4,348,1966,0.00,2.85,0.00,0.000,4,0.000,0.058,2612,3408,3574
$GC,2011,-1.21,-123.0,272.1,-15.0,357,2017,0.00,2.75,0.00,0.000,6,0.000,0.044,2612,1987,3574
$GC,2146,-1.21,-123.0,291.4,-13.8,382,2154,0.00,2.85,0.00,0.000,4,0.000,0.057,2612,3407,3575
$GC,2199,-1.21,-123.0,298.5,-14.1,391,2205,0.00,2.72,0.00,0.000,6,0.000,0.044,2612,1998,3574
$GC,2334,-1.25,-123.0,316.8,-13.6,416,2342,0.00,2.83,0.00,0.000,4,0.000,0.057,2612,3407,3575
$GC,2388,-1.25,-123.0,324.0,-13.4,425,2394,0.00,2.72,0.00,0.000,6,0.000,0.043,2612,1996,3575
$GC,2523,-1.29,-123.0,342.8,-13.6,450,2530,0.00,2.83,0.00,0.000,4,0.000,0.057,2612,3405,3574
$GC,2579,-1.33,-123.0,350.6,-13.8,460,2587,0.10,2.72,0.00,0.000,6,0.071,0.043,2589,2004,3574
$GC,2723,-1.33,-123.0,372.5,-15.6,485,2729,0.00,2.75,0.00,0.000,4,0.000,0.053,2589,3409,3574
$GC,2778,-1.33,-123.0,381.9,-15.7,495,2785,0.00,2.72,0.00,0.000,6,0.000,0.041,2589,1993,3574
$GC,2917,-1.33,-123.0,403.3,-15.5,520,2925,0.00,2.83,0.00,0.000,4,0.000,0.053,2589,3413,3574
$GC,2963,-1.33,-123.0,410.7,-15.5,528,2971,0.00,2.75,0.00,0.000,6,0.000,0.042,2589,2001,3574
$GC,3107,-1.33,-123.0,432.0,-15.2,553,3113,0.00,2.78,0.00,0.000,4,0.000,0.053,2589,3410,3574
$GC,3140,-1.33,-123.0,437.5,-15.6,559,3146,0.00,2.72,0.00,0.000,6,0.000,0.041,2589,1991,3574
$STATE,3226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3227,begin apogee
$GC,3230,-0.21,0.0,450.8,15.0,575,3355,1.42,0.00,118.10,1.251,6,0.138,0.000,2826,1990,3071
$STATE,3356,end apogee,CONTROL_FINISHED_OK
$STATE,3356,begin climb
$GC,3358,1.31,123.0,451.9,0.0,597,3483,1.75,3.03,116.57,1.069,4,0.054,0.061,3168,595,2569
$GC,3549,1.00,123.0,420.3,26.0,631,3556,0.50,2.80,0.00,0.000,6,0.189,0.038,3104,2006,2566
$GC,3688,0.79,123.0,389.8,20.8,656,3696,0.30,0.00,0.00,0.000,6,0.168,0.000,3060,2006,2565
$GC,3832,0.67,123.0,364.1,17.4,681,3838,0.20,2.83,0.00,0.000,4,0.179,0.052,3032,3414,2565
$GC,3882,0.62,123.0,355.3,16.0,690,3888,0.00,2.83,0.00,0.000,6,0.000,0.044,3032,1996,2565
$GC,4020,0.56,123.0,334.8,14.8,715,4026,0.17,0.00,0.00,0.000,6,0.179,0.000,3007,1996,2565
$GC,4154,0.56,123.0,316.8,12.4,740,4163,0.00,2.83,0.00,0.000,4,0.000,0.048,3007,3404,2565
$GC,4211,0.56,123.0,309.1,14.2,750,4219,0.00,2.80,0.00,0.000,6,0.000,0.044,3007,1993,2565
$GC,4350,0.56,123.0,290.4,13.1,775,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1993,2565
$GC,4484,0.56,123.0,272.3,13.3,800,4492,0.00,2.83,0.00,0.000,4,0.000,0.048,3007,3410,2564
$GC,4527,0.56,123.0,266.6,13.7,807,4533,0.00,2.75,0.00,0.000,6,0.000,0.042,3007,1992,2565
$GC,4663,0.56,123.0,248.8,12.8,832,4671,0.00,2.83,0.00,0.000,4,0.000,0.048,3007,3413,2564
$GC,4705,0.56,123.0,243.1,13.7,839,4711,0.00,2.78,0.00,0.000,6,0.000,0.042,3006,1989,2564
$GC,4840,0.56,123.0,225.4,12.9,864,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1989,2564
$GC,4979,0.56,123.0,206.7,14.6,889,4985,0.00,2.80,0.00,0.000,4,0.000,0.048,3007,3417,2564
$GC,5014,0.56,123.0,201.4,14.7,895,5020,0.00,2.75,0.00,0.000,6,0.000,0.043,3006,1999,2564
$GC,5148,0.56,123.0,182.4,12.6,920,5156,0.00,2.80,0.00,0.000,4,0.000,0.047,3006,3414,2564
$GC,5183,0.56,123.0,178.1,12.9,926,5191,0.00,2.78,0.00,0.000,6,0.000,0.042,3007,2000,2564
$GC,5322,0.56,123.0,161.2,12.8,951,5328,0.00,2.75,0.00,0.000,4,0.000,0.047,3006,3409,2564
$GC,5349,0.56,123.0,157.2,13.7,956,5358,0.00,2.75,0.00,0.000,6,0.000,0.042,3007,2002,2564
$GC,5486,0.56,123.0,139.6,13.7,981,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2002,2564
$GC,5620,0.56,123.0,123.5,11.1,1006,5628,0.00,2.78,0.00,0.000,4,0.000,0.048,3007,3409,2564
$GC,5656,0.56,123.0,119.3,11.5,1012,5663,0.00,2.78,0.00,0.000,6,0.000,0.043,3006,1993,2564
$GC,5789,0.56,123.0,101.5,13.2,1037,5797,0.00,2.80,0.00,0.000,4,0.000,0.047,3007,3413,2564
$GC,5831,0.56,123.0,96.1,12.6,1044,5839,0.00,2.78,0.00,0.000,6,0.000,0.045,3007,2000,2564
$GC,5964,0.56,123.0,77.1,15.1,1069,5972,0.00,2.78,0.00,0.000,4,0.000,0.048,3006,3407,2564
$GC,5995,0.56,123.0,73.0,14.2,1074,6003,0.00,2.75,0.00,0.000,6,0.000,0.044,3006,2003,2564
$GC,6129,0.56,123.0,55.2,14.5,1099,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2003,2564
$GC,6262,0.56,123.0,36.8,14.4,1124,6270,0.00,2.78,0.00,0.000,4,0.000,0.048,3006,3410,2564
$GC,6293,0.56,123.0,32.7,13.8,1129,6301,0.00,2.78,0.00,0.000,6,0.000,0.045,3007,1996,2564
$GC,6365,0.56,123.0,23.2,13.8,1142,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1996,2564
$GC,6436,0.56,123.0,13.2,13.3,1155,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1996,2564
$GC,6508,0.56,123.0,3.7,11.5,1168,6516,0.00,2.78,0.00,0.000,4,0.000,0.048,3007,3404,2564
$STATE,6523,end climb,SURFACE_DEPTH_REACHED
$STATE,6523,begin surface coast
$FINISH,-0.1,1.002463
$STATE,6541,end surface coast,CONTROL_FINISHED_OK
$STATE,6541,begin surface
$SM_CCo,6558,90.22,0.950,0,0,2153,225.19
$SM_GC,0.57,0.00,0.00,90.22,0.000,0.000,0.950,1471,1990,2153,-6.48,-0.25,225.19
$IRIDIUM_FIX,5837.82,-2032.87,290697,111130
$TT8_MAMPS,0.021476
$HUMID,1606
$INTERNAL_PRESSURE,8.26204
$TCM_TEMP,12.80
$XPDR_PINGS,518
$24V_AH,20.4,11.835
$10V_AH,9.9,3.898
$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,22.000,162.125,234.675,90.225,0.000,0.000,0.000,0.000,129.500,0.000,0.000,31.358,1811.663,982.147,516.103,3288.501,135.221,0.000,1603.243,0.000,3294.529,0.000,0.469
$DEVICE_MAMPS,252.343,69.030,1250.977,950.313,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,832.958,841.992,753.678,1265.613,2475.019,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91899,1173
$CAP_FILE_SIZE,122429,0
$CFSIZE,260165632,257601536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040408,130407,5900.424,-2029.586,8,1.3,24,-14.2