version: 66.03
glider: 143
mission: 4
dive: 5
start: 4 4 108 18 29 45
data:
$ID,143
$MISSION,4
$DIVE,5
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$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,250
$T_MISSION,280
$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,-4060.2175
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1469
$PITCH_MAX,4022
$C_PITCH,2840
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$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,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,20
$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,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
$GPS1,182255,5900.719,-2029.560,37,1.1,37,-14.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-63.9
$GPS2,182927,5900.761,-2029.592,14,1.0,14,-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,202.5,1705,-27.8,-10.000
$D_GRID,750
$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,-1.15,-63.1,0.0,0.0,0,77,0.00,0.00,-51.97,0.000,6,0.000,0.000,1470,2212,3328
$GC,79,-1.19,-98.5,3.0,-6.2,8,103,9.73,2.90,-3.88,0.000,4,0.258,0.063,2569,788,3475
$GC,353,-1.19,-98.5,50.7,-18.4,59,361,0.00,2.80,0.00,0.000,6,0.000,0.044,2569,2202,3476
$GC,487,-1.19,-98.5,74.3,-17.7,84,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2203,3476
$GC,620,-1.19,-98.5,97.3,-17.7,109,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2202,3476
$GC,753,-1.19,-98.5,120.7,-17.3,134,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2202,3476
$GC,887,-1.19,-98.5,143.9,-17.3,159,895,0.00,2.85,0.00,0.000,4,0.000,0.060,2569,3613,3476
$GC,912,-1.19,-98.5,148.5,-18.1,163,920,0.00,2.75,0.00,0.000,6,0.000,0.042,2569,2208,3475
$GC,1049,-1.19,-98.5,173.2,-17.7,188,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2208,3476
$GC,1187,-1.19,-98.5,197.1,-17.5,213,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2208,3476
$GC,1321,-1.19,-98.5,220.9,-17.2,238,1329,0.00,2.85,0.00,0.000,4,0.000,0.060,2569,3615,3475
$GC,1334,-1.19,-98.5,223.2,-17.6,240,1342,0.00,2.72,0.00,0.000,6,0.000,0.041,2569,2214,3475
$GC,1473,-1.19,-98.5,247.3,-16.5,265,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2214,3476
$GC,1607,-1.19,-98.5,270.2,-17.1,290,1615,0.00,2.83,0.00,0.000,4,0.000,0.058,2569,3615,3476
$GC,1620,-1.19,-98.5,272.5,-16.8,292,1629,0.00,2.72,0.00,0.000,6,0.000,0.041,2569,2211,3475
$GC,1760,-1.19,-98.5,295.8,-17.2,317,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2209,3475
$GC,1895,-1.19,-98.5,318.5,-17.1,342,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2208,3475
$GC,2033,-1.19,-98.5,341.6,-16.6,367,2040,0.00,2.72,0.00,0.000,4,0.000,0.057,2569,3614,3476
$GC,2058,-1.19,-98.5,345.7,-17.6,371,2064,0.00,2.67,0.00,0.000,6,0.000,0.041,2568,2218,3475
$GC,2196,-1.19,-98.5,368.8,-16.5,396,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2216,3475
$GC,2339,-1.19,-98.5,392.4,-17.0,421,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2215,3475
$GC,2477,-1.19,-98.5,415.7,-16.8,446,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2215,3475
$GC,2615,-1.19,-98.5,439.0,-16.9,471,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2216,3475
$GC,2753,-1.19,-98.5,462.1,-16.7,496,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2215,3475
$GC,2896,-1.19,-98.5,485.8,-17.1,521,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2215,3475
$GC,3034,-1.19,-98.5,509.7,-16.6,546,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2215,3475
$GC,3172,-1.19,-98.5,533.4,-16.7,571,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2215,3476
$GC,3314,-1.19,-98.5,557.5,-17.1,593,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2215,3475
$GC,3441,-1.19,-98.5,578.9,-16.3,605,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2215,3476
$GC,3569,-1.19,-98.5,600.3,-17.3,617,3573,0.00,2.75,0.00,0.000,4,0.000,0.056,2569,3616,3475
$GC,3589,-1.19,-98.5,604.1,-17.3,618,3596,0.00,2.70,0.00,0.000,6,0.000,0.048,2569,2214,3476
$GC,3723,-1.19,-98.5,626.3,-16.6,631,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2214,3475
$GC,3850,-1.19,-98.5,647.8,-17.0,643,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2215,3475
$GC,3977,-1.19,-98.5,669.7,-16.8,655,3982,0.00,2.78,0.00,0.000,4,0.000,0.059,2569,3613,3475
$GC,4009,-1.19,-98.5,675.5,-18.5,657,4016,0.00,2.72,0.00,0.000,6,0.000,0.051,2569,2221,3475
$GC,4142,-1.19,-98.5,698.2,-16.9,670,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2221,3475
$GC,4270,-1.19,-98.5,719.0,-16.3,682,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2220,3475
$GC,4399,-1.19,-98.5,739.9,-16.4,694,4403,0.00,2.85,0.00,0.000,4,0.000,0.073,2569,3610,3475
$GC,4408,-1.19,-98.5,741.7,-15.8,694,4415,0.00,2.83,0.00,0.000,6,0.000,0.065,2569,2231,3475
$STATE,4465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4466,begin apogee
$GC,4470,-0.19,0.0,751.2,16.2,700,4609,1.40,0.00,107.07,1.228,6,0.149,0.000,2794,2087,3071
$STATE,4610,end apogee,CONTROL_FINISHED_OK
$STATE,4610,begin climb
$GC,4611,1.19,98.5,755.9,0.0,714,4768,1.60,3.17,109.90,1.123,4,0.061,0.067,3099,3513,2669
$GC,5021,0.96,98.5,708.4,16.5,752,5027,0.32,2.92,0.00,0.000,6,0.158,0.057,3053,2094,2667
$GC,5154,0.82,98.5,690.1,13.4,764,5159,0.20,2.90,0.00,0.000,4,0.170,0.068,3024,689,2667
$GC,5463,0.73,98.5,651.1,12.1,791,5468,0.15,2.78,0.00,0.000,6,0.177,0.044,3005,2113,2667
$GC,5595,0.73,98.5,636.9,10.7,803,5600,0.00,2.90,0.00,0.000,4,0.000,0.069,3005,688,2667
$GC,5660,0.68,98.5,629.4,11.2,808,5667,0.00,2.75,0.00,0.000,6,0.000,0.042,3005,2110,2667
$GC,5794,0.68,98.5,615.2,11.1,821,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2110,2667
$GC,5921,0.68,98.5,601.4,10.7,833,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2110,2667
$GC,6048,0.68,98.5,587.8,10.6,845,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2110,2667
$GC,6177,0.68,98.5,574.2,10.7,857,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2110,2666
$GC,6303,0.68,98.5,560.4,10.8,869,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2110,2666
$GC,6432,0.68,98.5,546.4,11.6,883,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2110,2666
$GC,6570,0.68,98.5,530.9,11.4,908,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2110,2666
$GC,6713,0.68,98.5,515.3,11.1,933,6719,0.00,2.85,0.00,0.000,4,0.000,0.061,3005,680,2666
$GC,6738,0.63,98.5,512.4,11.7,937,6745,0.17,2.70,0.00,0.000,6,0.173,0.039,2981,2100,2666
$GC,6877,0.63,98.5,498.0,10.0,962,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2100,2666
$GC,7016,0.64,101.2,484.7,9.7,987,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2100,2666
$GC,7155,0.64,101.9,471.5,9.9,1012,7163,0.00,0.00,4.55,0.801,6,0.000,0.000,2981,2101,2655
$GC,7299,0.64,103.0,457.7,9.9,1037,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2100,2655
$GC,7437,0.64,103.0,444.0,10.0,1062,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2101,2655
$GC,7575,0.64,103.0,430.6,10.3,1087,7581,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2100,2655
$GC,7714,0.64,106.9,417.2,9.6,1112,7728,0.00,2.75,6.43,0.910,4,0.000,0.051,2981,3507,2635
$GC,7748,0.64,106.9,414.0,10.6,1117,7754,0.00,2.78,0.00,0.000,6,0.000,0.049,2981,2071,2635
$GC,7886,0.65,109.1,399.8,9.8,1142,7892,0.00,0.00,3.85,0.699,6,0.000,0.000,2981,2071,2626
$GC,8025,0.65,112.2,386.2,9.7,1167,8038,0.00,0.00,4.97,0.815,6,0.000,0.000,2981,2071,2613
$GC,8174,0.69,112.2,371.4,10.3,1193,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2071,2613
$GC,8312,0.69,112.2,357.0,10.4,1218,8318,0.00,2.72,0.00,0.000,4,0.000,0.061,2981,692,2613
$GC,8340,0.69,112.2,354.0,11.7,1223,8346,0.00,2.67,0.00,0.000,6,0.000,0.039,2981,2100,2613
$GC,8475,0.73,112.2,340.0,10.2,1248,8483,0.00,2.78,0.00,0.000,4,0.000,0.051,2981,3511,2613
$GC,8528,0.73,112.2,334.5,10.8,1257,8535,0.00,2.72,0.00,0.000,6,0.000,0.041,2981,2096,2613
$GC,8664,0.77,112.2,320.2,10.3,1282,8672,0.15,2.78,0.00,0.000,4,0.087,0.058,3012,697,2613
$GC,8690,0.77,112.2,317.3,11.7,1286,8698,0.00,2.67,0.00,0.000,6,0.000,0.038,3012,2094,2613
$GC,8829,0.77,112.2,300.7,11.8,1311,8834,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2094,2612
$GC,8963,0.77,112.2,284.2,11.9,1336,8971,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2095,2613
$GC,9102,0.77,112.2,267.6,11.9,1361,9108,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2094,2612
$GC,9236,0.77,112.2,251.1,12.1,1386,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2095,2612
$GC,9375,0.77,112.2,234.9,11.8,1411,9380,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2095,2613
$GC,9509,0.77,112.2,218.5,11.8,1436,9516,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2095,2613
$GC,9647,0.77,112.2,202.4,11.7,1461,9653,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2095,2613
$GC,9781,0.77,112.2,186.4,11.9,1486,9789,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2095,2612
$GC,9920,0.77,112.2,170.6,11.9,1511,9926,0.00,2.75,0.00,0.000,4,0.000,0.051,3012,3518,2613
$GC,9955,0.73,112.2,166.4,12.6,1517,9961,0.00,2.72,0.00,0.000,6,0.000,0.041,3012,2097,2613
$GC,10090,0.73,112.2,150.9,11.3,1542,10097,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2097,2613
$GC,10224,0.73,112.2,136.2,11.0,1567,10232,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2097,2613
$GC,10357,0.73,112.2,121.2,11.2,1592,10365,0.00,2.78,0.00,0.000,4,0.000,0.061,3012,695,2613
$GC,10389,0.69,112.2,117.5,12.0,1597,10396,0.10,2.67,0.00,0.000,6,0.157,0.039,2996,2097,2613
$GC,10524,0.69,112.2,102.7,11.3,1622,10531,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2097,2613
$GC,10657,0.69,112.2,88.1,11.7,1647,10664,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2097,2613
$GC,10791,0.69,112.2,73.8,10.8,1672,10798,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2097,2613
$GC,10924,0.69,112.2,59.5,10.9,1697,10931,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2098,2613
$GC,11057,0.69,112.2,44.9,10.9,1722,11065,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2097,2613
$GC,11129,0.69,112.2,37.0,11.1,1735,11136,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2098,2613
$GC,11200,0.69,112.2,29.1,11.1,1748,11208,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2097,2613
$GC,11272,0.69,112.2,21.4,10.9,1761,11279,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2097,2613
$GC,11343,0.69,112.2,13.3,11.4,1774,11351,0.00,2.78,0.00,0.000,4,0.000,0.052,2996,3511,2613
$GC,11374,0.69,112.2,9.5,13.0,1779,11382,0.00,2.75,0.00,0.000,6,0.000,0.044,2996,2099,2613
$STATE,11440,end climb,SURFACE_DEPTH_REACHED
$STATE,11440,begin surface coast
$FINISH,0.1,1.027321
$STATE,11458,end surface coast,CONTROL_FINISHED_OK
$STATE,11458,begin surface
$SM_CCo,11472,101.20,0.950,0,0,2153,225.19
$SM_GC,0.86,0.00,0.00,101.20,0.000,0.000,0.950,1470,2226,2153,-6.30,0.74,225.19
$IRIDIUM_FIX,5837.82,-2028.96,290697,151521
$TT8_MAMPS,0.021476
$HUMID,1599
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,13.10
$XPDR_PINGS,688
$24V_AH,20.0,12.237
$10V_AH,9.9,4.570
$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,21.325,106.275,236.775,101.200,0.000,22.355,30.826,231.630,172.000,0.000,0.000,15.561,2805.692,3528.026,631.022,4495.606,492.364,0.000,2150.437,0.000,4512.700,0.000,0.468
$DEVICE_MAMPS,258.479,80.535,1227.967,949.546,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1280.773,1281.941,913.362,1409.661,2758.274,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136163,1794
$CAP_FILE_SIZE,161424,0
$CFSIZE,260165632,257310720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,12,0
$GPS,040408,214355,5900.630,-2029.645,23,0.8,41,-14.2