version: 66.03
glider: 143
mission: 4
dive: 133
start: 5 1 108 1 0 40
data:
$ID,143
$MISSION,4
$DIVE,133
$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,350
$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,-7623.1162
$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,21
$R_STBD_OVSHOOT,25
$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
$GPS1,005307,6107.910,-2440.513,29,1.3,29,-17.5
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-38.6
$GPS2,010021,6107.928,-2440.694,13,1.1,13,-17.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6118.563,-2441.594
$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,7.5,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,129,0.00,0.00,-100.90,0.000,2,0.000,0.000,1466,2316,3501
$GC,131,-0.82,-194.7,3.0,-4.6,14,163,10.40,2.90,-8.70,0.000,4,0.261,0.071,2611,3704,3867
$GC,237,-0.71,-194.7,24.7,-21.2,32,245,0.15,2.80,0.00,0.000,6,0.137,0.041,2636,2291,3868
$GC,373,-0.65,-194.7,51.7,-18.9,57,379,0.12,0.00,0.00,0.000,6,0.146,0.000,2654,2288,3868
$GC,702,-0.65,-194.7,93.2,-13.7,118,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3868
$GC,1036,-0.65,-194.7,139.5,-14.4,179,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3868
$GC,1371,-0.65,-194.7,185.6,-13.0,240,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2288,3868
$GC,1713,-0.65,-194.7,229.6,-12.5,301,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3868
$GC,2052,-0.65,-194.7,273.4,-12.9,362,2058,0.00,2.75,0.00,0.000,4,0.000,0.055,2654,884,3868
$GC,2098,-0.65,-194.7,278.9,-12.1,370,2104,0.00,2.70,0.00,0.000,6,0.000,0.044,2654,2291,3868
$GC,2438,-0.65,-194.7,323.7,-13.5,431,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2291,3868
$GC,2769,-0.65,-194.7,366.7,-12.6,480,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2291,3868
$GC,3089,-0.65,-194.7,406.3,-12.5,510,3094,0.00,2.78,0.00,0.000,4,0.000,0.055,2654,883,3868
$GC,3131,-0.65,-194.7,411.9,-12.2,513,3138,0.00,2.72,0.00,0.000,6,0.000,0.042,2654,2302,3868
$GC,3457,-0.65,-194.7,453.5,-13.4,544,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2302,3868
$GC,3774,-0.65,-194.7,495.5,-12.9,574,3779,0.00,2.80,0.00,0.000,4,0.000,0.055,2654,884,3868
$GC,3815,-0.65,-194.7,500.4,-12.4,577,3820,0.00,2.70,0.00,0.000,6,0.000,0.042,2654,2292,3868
$GC,4140,-0.65,-194.7,541.5,-12.4,607,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2292,3868
$GC,4458,-0.65,-194.7,580.1,-12.1,637,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2292,3868
$GC,4782,-0.65,-194.7,621.1,-12.9,660,4786,0.00,2.80,0.00,0.000,4,0.000,0.060,2654,887,3868
$GC,4820,-0.65,-194.7,625.8,-12.3,662,4824,0.00,2.67,0.00,0.000,6,0.000,0.045,2657,2283,3868
$GC,5145,-0.65,-194.7,665.6,-11.8,678,5150,0.00,2.88,0.00,0.000,4,0.000,0.065,2654,3707,3868
$GC,5194,-0.65,-194.7,671.7,-12.2,680,5198,0.00,2.80,0.00,0.000,6,0.000,0.049,2654,2282,3868
$GC,5515,-0.65,-194.7,708.4,-11.4,696,5519,0.00,2.83,0.00,0.000,4,0.000,0.070,2654,880,3867
$GC,5576,-0.70,-194.7,715.4,-11.3,699,5581,0.00,2.72,0.00,0.000,6,0.000,0.049,2653,2275,3867
$GC,5902,-0.70,-194.7,755.1,-12.9,715,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2276,3867
$GC,6211,-0.70,-194.7,795.9,-12.9,730,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2278,3867
$GC,6521,-0.70,-194.7,832.1,-10.9,745,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2277,3866
$GC,6830,-0.70,-194.7,865.3,-11.1,760,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2278,3867
$GC,7139,-0.70,-194.7,901.9,-12.2,775,7144,0.00,2.83,0.00,0.000,4,0.000,0.067,2654,887,3866
$GC,7179,-0.75,-194.7,906.7,-12.5,777,7183,0.00,2.70,0.00,0.000,6,0.000,0.050,2654,2266,3866
$GC,7504,-0.75,-194.7,945.3,-11.6,793,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2266,3865
$GC,7814,-0.75,-194.7,976.9,-9.5,808,7815,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2267,3865
$STATE,7956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7956,begin apogee
$GC,7961,-0.19,0.0,990.2,9.2,815,8162,0.60,0.00,197.77,1.443,6,0.121,0.000,2755,2044,3071
$STATE,8163,end apogee,CONTROL_FINISHED_OK
$STATE,8163,begin climb
$GC,8164,0.82,194.7,995.6,0.0,825,8382,1.30,3.22,204.25,1.368,4,0.086,0.070,2976,651,2276
$GC,8472,0.69,194.7,965.3,13.8,840,8478,0.17,2.92,0.00,0.000,6,0.135,0.045,2953,2050,2272
$GC,8798,0.58,194.7,925.9,12.1,856,8804,0.15,2.92,0.00,0.000,4,0.138,0.061,2928,3459,2271
$GC,8853,0.58,194.7,919.8,10.3,858,8860,0.00,2.85,0.00,0.000,6,0.000,0.052,2928,2063,2270
$GC,9169,0.53,195.2,888.7,10.0,874,9174,0.00,2.85,0.00,0.000,4,0.000,0.058,2929,3461,2270
$GC,9217,0.53,195.2,883.3,11.1,876,9222,0.00,2.78,0.00,0.000,6,0.000,0.051,2929,2081,2270
$GC,9540,0.49,195.8,850.8,10.0,892,9545,0.12,2.80,0.00,0.000,4,0.130,0.058,2911,3461,2269
$GC,9579,0.52,222.8,847.0,9.1,894,9613,0.00,2.72,27.85,1.384,6,0.000,0.051,2918,2097,2161
$GC,9931,0.61,296.9,819.1,7.4,911,10013,0.00,2.92,74.22,1.326,4,0.000,0.059,2911,3462,1859
$GC,10041,0.75,352.0,810.7,8.1,916,10106,0.28,2.80,56.95,1.275,6,0.058,0.051,2964,2115,1634
$GC,10427,0.67,352.0,754.5,15.8,935,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2114,1626
$GC,10737,0.59,352.0,704.7,15.9,950,10742,0.17,2.75,0.00,0.000,4,0.130,0.057,2934,3466,1625
$GC,10759,0.59,352.0,701.4,14.8,951,10763,0.00,2.67,0.00,0.000,6,0.000,0.049,2934,2128,1624
$GC,11079,0.59,352.0,667.3,10.3,967,11084,0.00,3.03,0.00,0.000,4,0.000,0.068,2934,644,1623
$GC,11105,0.59,352.0,664.3,11.2,968,11110,0.00,2.90,0.00,0.000,6,0.000,0.043,2934,2124,1623
$GC,11426,0.59,352.0,629.8,10.9,984,11431,0.00,2.67,0.00,0.000,4,0.000,0.056,2934,3468,1623
$GC,11447,0.59,352.0,627.4,11.0,985,11452,0.00,2.65,0.00,0.000,6,0.000,0.047,2934,2121,1622
$GC,11765,0.59,352.0,594.4,10.3,1003,11766,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2121,1622
$GC,12089,0.60,358.9,562.4,9.8,1033,12096,0.00,0.00,5.75,0.966,6,0.000,0.000,2934,2120,1607
$GC,12413,0.60,358.9,530.1,10.0,1064,12414,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2120,1607
$GC,12733,0.60,358.9,497.5,10.4,1094,12734,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2120,1607
$GC,13049,0.60,358.9,464.9,10.1,1124,13050,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2119,1607
$GC,13369,0.60,360.6,433.0,9.9,1154,13370,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2120,1607
$GC,13687,0.62,373.7,401.9,9.5,1184,13708,0.00,0.00,16.42,1.142,6,0.000,0.000,2934,2120,1546
$GC,14028,0.69,390.7,369.6,9.4,1216,14048,0.00,0.00,18.35,1.064,6,0.000,0.000,2934,2120,1478
$GC,14370,0.80,428.2,339.0,8.7,1259,14411,0.17,0.00,38.22,1.006,6,0.059,0.000,2976,2120,1325
$GC,14746,0.71,428.2,279.3,17.1,1326,14752,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2119,1319
$GC,15086,0.62,428.2,221.3,16.5,1387,15093,0.22,2.67,0.00,0.000,4,0.126,0.049,2938,3469,1319
$GC,15101,0.55,428.2,219.2,16.0,1389,15107,0.00,2.62,0.00,0.000,6,0.000,0.042,2938,2124,1318
$GC,15444,0.65,442.5,185.2,9.5,1450,15468,0.00,3.05,14.25,0.934,4,0.000,0.063,2938,637,1266
$GC,15479,0.74,442.5,181.6,10.1,1456,15488,0.08,2.90,0.00,0.000,6,0.050,0.038,2962,2132,1266
$GC,15820,0.74,442.5,134.0,13.0,1517,15825,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2133,1265
$GC,16149,0.74,442.5,91.6,13.6,1578,16157,0.00,3.03,0.00,0.000,4,0.000,0.063,2962,647,1264
$GC,16181,0.74,442.5,87.2,14.3,1583,16187,0.00,2.83,0.00,0.000,6,0.000,0.040,2962,2120,1264
$GC,16512,0.74,442.5,44.6,10.4,1644,16519,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2122,1264
$GC,16645,0.74,442.5,25.2,14.6,1669,16653,0.00,3.00,0.00,0.000,4,0.000,0.061,2962,642,1264
$GC,16671,0.74,442.5,21.2,15.9,1673,16679,0.00,2.83,0.00,0.000,6,0.000,0.040,2962,2102,1263
$GC,16805,0.74,442.5,4.0,13.6,1698,16813,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2104,1263
$STATE,16818,end climb,SURFACE_DEPTH_REACHED
$STATE,16819,begin surface coast
$FINISH,0.1,1.016986
$STATE,16831,end surface coast,CONTROL_FINISHED_OK
$STATE,16831,begin surface
$SM_CCo,16906,0.00,0.000,0,0,1261,443.99
$SM_GC,0.68,7.35,0.00,0.00,0.048,0.000,0.000,1470,2310,1261,-6.09,0.42,443.99
$IRIDIUM_FIX,6041.65,-2440.61,250797,202023
$TT8_MAMPS,0.021476
$HUMID,1665
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,12.00
$XPDR_PINGS,127
$24V_AH,19.4,48.221
$10V_AH,9.8,34.786
$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,21.300,113.625,654.050,0.000,0.000,30.941,33.814,259.630,31.750,0.000,0.000,14.810,2678.735,9586.715,721.849,3783.152,557.749,0.000,2175.793,0.000,3782.689,0.000,0.467
$DEVICE_MAMPS,260.780,70.564,1442.727,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1262.451,1199.033,606.724,823.096,1505.765,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126498,1702
$CAP_FILE_SIZE,151805,0
$CFSIZE,260165632,243609600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,010508,054358,6112.147,-2443.387,37,99.0,56,-17.6