version: 66.03
glider: 143
mission: 4
dive: 99
start: 4 24 108 1 11 1
data:
$ID,143
$MISSION,4
$DIVE,99
$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,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,220
$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,-5991.7803
$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,19
$R_STBD_OVSHOOT,36
$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
$GPS1,005408,6102.703,-2222.820,26,1.8,26,-16.2
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-33.6
$GPS2,011044,6102.739,-2222.565,13,1.7,30,-16.2
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6054.466,-2225.940
$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,236.2,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,172,0.00,0.00,-143.80,0.000,2,0.000,0.000,1463,2321,3531
$GC,175,-0.82,-194.7,3.2,-5.6,20,199,10.02,2.88,-7.55,0.000,4,0.252,0.064,2603,885,3867
$GC,248,-0.72,-194.7,20.5,-16.9,32,257,0.12,2.80,0.00,0.000,6,0.154,0.051,2634,2275,3868
$GC,384,-0.62,-194.7,43.7,-15.1,57,392,0.20,0.00,0.00,0.000,6,0.148,0.000,2660,2276,3868
$GC,520,-0.62,-194.7,61.8,-12.7,82,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2276,3868
$GC,854,-0.62,-194.7,105.0,-13.5,143,860,0.00,2.88,0.00,0.000,4,0.000,0.058,2650,3712,3868
$GC,882,-0.62,-194.7,109.4,-14.2,148,890,0.00,2.80,0.00,0.000,6,0.000,0.041,2650,2281,3868
$GC,1216,-0.62,-194.7,154.5,-13.3,209,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2278,3868
$GC,1555,-0.62,-194.7,199.2,-12.8,270,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2278,3868
$GC,1894,-0.62,-194.7,241.8,-11.8,331,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2278,3868
$GC,2233,-0.62,-194.7,283.0,-12.7,392,2241,0.00,2.88,0.00,0.000,4,0.000,0.058,2650,3709,3868
$GC,2268,-0.62,-194.7,287.7,-13.1,398,2274,0.00,2.72,0.00,0.000,6,0.000,0.041,2650,2281,3868
$GC,2607,-0.62,-194.7,329.7,-12.2,459,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2278,3868
$GC,2938,-0.62,-194.7,371.5,-12.6,504,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2278,3868
$GC,3258,-0.62,-194.7,411.0,-12.5,534,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2278,3868
$GC,3575,-0.62,-194.7,451.2,-12.3,564,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2278,3868
$GC,3894,-0.62,-194.7,490.8,-12.6,594,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2278,3867
$GC,4212,-0.62,-194.7,529.6,-12.0,624,4217,0.00,2.85,0.00,0.000,4,0.000,0.057,2650,3718,3867
$GC,4243,-0.62,-194.7,533.6,-12.6,626,4250,0.00,2.78,0.00,0.000,6,0.000,0.042,2650,2292,3867
$GC,4571,-0.62,-194.7,571.1,-11.6,657,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2291,3867
$GC,4885,-0.62,-194.7,608.4,-11.8,684,4889,0.00,2.75,0.00,0.000,4,0.000,0.061,2652,891,3867
$GC,4911,-0.62,-194.7,611.6,-12.2,685,4916,0.00,2.72,0.00,0.000,6,0.000,0.044,2651,2298,3867
$GC,5232,-0.62,-194.7,649.4,-11.8,701,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2298,3867
$GC,5541,-0.62,-194.7,686.1,-11.8,716,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2298,3867
$GC,5850,-0.62,-194.7,725.2,-13.0,731,5855,0.00,2.88,0.00,0.000,4,0.000,0.073,2656,889,3866
$GC,5889,-0.62,-194.7,730.1,-13.0,733,5893,0.00,2.72,0.00,0.000,6,0.000,0.049,2651,2291,3866
$GC,6214,-0.62,-194.7,769.6,-12.2,749,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2292,3866
$GC,6523,-0.62,-194.7,805.5,-11.4,764,6528,0.00,2.85,0.00,0.000,4,0.000,0.069,2651,887,3866
$GC,6557,-0.62,-194.7,809.3,-11.9,765,6563,0.00,2.70,0.00,0.000,6,0.000,0.049,2652,2279,3866
$GC,6871,-0.62,-194.7,846.9,-11.9,781,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2279,3866
$GC,7181,-0.62,-194.7,882.4,-11.0,796,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2281,3866
$GC,7492,-0.62,-194.7,916.6,-11.1,811,7493,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2281,3865
$GC,7799,-0.62,-194.7,950.7,-11.0,826,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2282,3865
$GC,8108,-0.62,-194.7,987.1,-11.8,841,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2283,3865
$STATE,8148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8148,begin apogee
$GC,8152,-0.19,0.0,992.1,12.0,843,8352,0.60,0.00,196.50,1.464,6,0.119,0.000,2753,2044,3071
$STATE,8353,end apogee,CONTROL_FINISHED_OK
$STATE,8353,begin climb
$GC,8355,0.82,194.7,1002.5,0.0,853,8567,1.27,3.22,201.93,1.373,4,0.090,0.072,2972,654,2277
$GC,8634,0.69,194.7,982.1,11.8,866,8639,0.15,2.95,0.00,0.000,6,0.135,0.044,2956,2059,2274
$GC,8950,0.58,194.7,945.5,11.8,881,8955,0.17,2.90,0.00,0.000,4,0.138,0.061,2925,3463,2272
$GC,9016,0.61,218.6,938.7,9.2,884,9046,0.00,2.83,24.35,1.391,6,0.000,0.051,2937,2075,2179
$GC,9362,0.63,238.2,906.7,9.3,901,9390,0.00,3.03,21.23,1.388,4,0.000,0.072,2925,641,2099
$GC,9486,0.64,249.1,894.5,9.6,906,9506,0.00,2.88,12.43,1.253,6,0.000,0.044,2927,2085,2055
$GC,9822,0.65,250.7,861.4,9.9,923,9827,0.00,3.03,0.00,0.000,4,0.000,0.071,2925,634,2052
$GC,9915,0.65,250.7,851.7,10.7,927,9920,0.00,2.88,0.00,0.000,6,0.000,0.045,2927,2095,2052
$GC,10237,0.66,258.2,820.2,9.7,943,10253,0.00,3.03,10.27,1.303,4,0.000,0.071,2925,643,2018
$GC,10343,0.66,265.2,809.6,9.8,947,10357,0.00,2.88,8.62,1.189,6,0.000,0.046,2927,2104,1989
$GC,10673,0.71,300.9,779.3,8.8,963,10718,0.15,3.17,36.92,1.327,4,0.070,0.071,2958,637,1844
$GC,10825,0.66,300.9,760.9,12.0,970,10829,0.00,2.92,0.00,0.000,6,0.000,0.046,2959,2112,1841
$GC,11150,0.57,300.9,719.0,13.0,986,11155,0.17,2.72,0.00,0.000,4,0.128,0.058,2928,3467,1840
$GC,11176,0.57,300.9,715.7,11.5,987,11181,0.00,2.75,0.00,0.000,6,0.000,0.050,2928,2106,1838
$GC,11498,0.60,326.1,686.4,9.1,1003,11531,0.00,3.05,26.02,1.296,4,0.000,0.070,2928,637,1740
$GC,11543,0.64,351.5,682.1,9.1,1005,11575,0.00,2.90,26.65,1.177,6,0.000,0.042,2931,2106,1638
$GC,11883,0.64,357.4,649.2,9.8,1021,11892,0.00,0.00,6.88,1.080,6,0.000,0.000,2931,2106,1613
$GC,12193,0.66,367.8,619.4,9.6,1036,12207,0.00,0.00,11.95,1.245,6,0.000,0.000,2931,2106,1571
$GC,12506,0.73,395.9,589.6,9.0,1056,12539,0.15,0.00,29.77,1.180,6,0.066,0.000,2961,2106,1457
$GC,12858,0.68,395.9,541.0,14.1,1089,12863,0.00,3.00,0.00,0.000,4,0.000,0.064,2959,641,1452
$GC,12896,0.68,395.9,535.4,12.7,1092,12901,0.00,2.85,0.00,0.000,6,0.000,0.041,2966,2107,1451
$GC,13220,0.63,395.9,491.5,13.6,1122,13222,0.17,0.00,0.00,0.000,6,0.121,0.000,2939,2106,1451
$GC,13541,0.74,436.5,462.2,8.6,1152,13585,0.12,0.00,40.92,1.133,6,0.067,0.000,2964,2107,1291
$GC,13899,0.74,436.5,417.4,12.3,1186,13903,0.00,3.00,0.00,0.000,4,0.000,0.063,2957,637,1285
$GC,13942,0.79,436.5,412.2,11.0,1189,13948,0.00,2.83,0.00,0.000,6,0.000,0.040,2962,2097,1284
$GC,14267,0.79,436.5,371.6,12.6,1220,14272,0.00,2.70,0.00,0.000,4,0.000,0.051,2957,3468,1284
$GC,14287,0.79,436.5,368.7,12.3,1221,14294,0.00,2.75,0.00,0.000,6,0.000,0.044,2958,2078,1283
$GC,14620,0.79,436.5,328.6,12.5,1267,14626,0.00,2.88,0.00,0.000,4,0.000,0.063,2958,643,1283
$GC,14655,0.79,436.5,324.6,11.1,1273,14662,0.00,2.75,0.00,0.000,6,0.000,0.039,2961,2087,1283
$GC,14996,0.79,436.5,282.4,13.3,1334,15002,0.00,2.70,0.00,0.000,4,0.000,0.051,2957,3466,1283
$GC,15026,0.79,436.5,278.9,12.4,1339,15032,0.00,2.72,0.00,0.000,6,0.000,0.044,2960,2066,1282
$GC,15365,0.79,436.5,237.3,12.4,1400,15372,0.00,2.85,0.00,0.000,4,0.000,0.063,2958,645,1282
$GC,15399,0.79,436.5,233.1,11.2,1406,15406,0.00,2.72,0.00,0.000,6,0.000,0.038,2960,2082,1282
$GC,15738,0.79,436.5,190.3,12.3,1467,15745,0.00,2.67,0.00,0.000,4,0.000,0.050,2957,3458,1282
$GC,15762,0.79,436.5,187.4,12.6,1471,15768,0.00,2.70,0.00,0.000,6,0.000,0.044,2971,2067,1282
$GC,16100,0.79,436.5,146.1,12.7,1532,16108,0.00,2.88,0.00,0.000,4,0.000,0.064,2957,640,1282
$GC,16132,0.79,436.5,142.2,13.1,1537,16138,0.00,2.72,0.00,0.000,6,0.000,0.038,2970,2076,1282
$GC,16461,0.79,436.5,99.1,13.1,1598,16469,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2076,1282
$GC,16794,0.79,436.5,56.7,16.7,1659,16800,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2075,1282
$GC,17114,0.79,436.5,15.1,12.7,1720,17122,0.00,2.90,0.00,0.000,4,0.000,0.060,2958,638,1282
$GC,17140,0.79,436.5,12.0,12.4,1724,17148,0.00,2.75,0.00,0.000,6,0.000,0.038,2969,2073,1281
$STATE,17221,end climb,SURFACE_DEPTH_REACHED
$STATE,17221,begin surface coast
$FINISH,-0.1,1.018863
$STATE,17239,end surface coast,CONTROL_FINISHED_OK
$STATE,17239,begin surface
$SM_CCo,17314,0.00,0.000,0,0,1280,439.33
$SM_GC,0.57,7.32,0.00,0.00,0.041,0.000,0.000,1468,2308,1280,-6.09,0.37,439.33
$IRIDIUM_FIX,6037.25,-2223.53,190797,010151
$TT8_MAMPS,0.021476
$HUMID,1669
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,12.50
$XPDR_PINGS,169
$24V_AH,19.6,39.217
$10V_AH,9.8,28.486
$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,20.650,137.600,654.450,0.000,0.000,88.737,176.034,477.845,42.250,0.000,0.000,31.535,2765.424,9832.133,761.095,3963.735,972.469,0.000,2288.380,0.000,3947.410,0.000,0.467
$DEVICE_MAMPS,251.576,72.865,1464.203,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1287.737,1228.542,667.595,861.301,1582.609,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129679,1742
$CAP_FILE_SIZE,166399,0
$CFSIZE,260165632,246681600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240408,060038,6100.613,-2224.140,29,0.8,29,-16.2