version: 66.03
glider: 143
mission: 4
dive: 134
start: 5 1 108 5 50 40
data:
$ID,143
$MISSION,4
$DIVE,134
$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,-7639.0503
$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,22
$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
$GPS1,054358,6112.147,-2443.387,37,99.0,56,-17.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-41.4
$GPS2,055021,6112.176,-2443.476,13,1.1,13,-17.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6122.812,-2444.375
$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,7.6,20000,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.82,-194.7,0.0,0.0,0,136,0.00,0.00,-108.28,0.000,2,0.000,0.000,1470,2314,3677
$GC,138,-0.82,-194.7,3.8,-5.3,15,162,10.05,2.92,-3.80,0.000,4,0.255,0.067,2611,887,3869
$GC,211,-0.75,-194.7,26.2,-19.1,27,219,0.10,2.83,0.00,0.000,6,0.156,0.051,2628,2289,3870
$GC,346,-0.64,-194.7,46.6,-16.9,52,354,0.15,0.00,0.00,0.000,6,0.147,0.000,2652,2289,3870
$GC,485,-0.64,-194.7,65.0,-12.4,77,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2289,3870
$GC,813,-0.64,-194.7,106.3,-12.4,138,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2289,3870
$GC,1146,-0.64,-194.7,149.9,-13.6,199,1152,0.00,2.80,0.00,0.000,4,0.000,0.055,2651,878,3870
$GC,1186,-0.64,-194.7,155.2,-12.6,206,1192,0.00,2.75,0.00,0.000,6,0.000,0.045,2652,2291,3870
$GC,1526,-0.64,-194.7,199.8,-12.1,267,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2291,3870
$GC,1865,-0.64,-194.7,241.3,-12.3,328,1874,0.00,2.80,0.00,0.000,4,0.000,0.054,2652,884,3870
$GC,1912,-0.64,-194.7,247.3,-12.6,336,1920,0.00,2.70,0.00,0.000,6,0.000,0.044,2652,2270,3870
$GC,2256,-0.64,-194.7,292.5,-14.1,397,2262,0.00,2.85,0.00,0.000,4,0.000,0.055,2651,3712,3870
$GC,2295,-0.64,-194.7,298.3,-13.7,404,2302,0.00,2.80,0.00,0.000,6,0.000,0.041,2652,2273,3870
$GC,2637,-0.64,-194.7,344.4,-13.4,465,2644,0.00,2.70,0.00,0.000,4,0.000,0.054,2651,882,3870
$GC,2684,-0.64,-194.7,350.6,-12.6,473,2689,0.00,2.67,0.00,0.000,6,0.000,0.043,2651,2280,3870
$GC,3009,-0.64,-194.7,393.2,-13.1,503,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2281,3869
$GC,3326,-0.64,-194.7,433.7,-12.7,533,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2281,3869
$GC,3645,-0.64,-194.7,474.6,-12.9,563,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2281,3870
$GC,3966,-0.64,-194.7,513.8,-11.8,593,3970,0.00,2.75,0.00,0.000,4,0.000,0.056,2652,886,3870
$GC,4020,-0.64,-194.7,520.5,-11.3,597,4027,0.00,2.67,0.00,0.000,6,0.000,0.042,2652,2282,3870
$GC,4345,-0.64,-194.7,557.7,-11.2,628,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2282,3869
$GC,4663,-0.64,-194.7,594.4,-11.7,658,4664,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2283,3869
$GC,4984,-0.64,-194.7,631.1,-11.0,676,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2283,3869
$GC,5293,-0.64,-194.7,664.9,-11.5,691,5298,0.00,2.83,0.00,0.000,4,0.000,0.065,2652,884,3870
$GC,5338,-0.64,-194.7,670.1,-11.4,693,5343,0.00,2.67,0.00,0.000,6,0.000,0.047,2654,2263,3869
$GC,5658,-0.64,-194.7,708.7,-12.0,709,5662,0.00,2.92,0.00,0.000,4,0.000,0.067,2651,3705,3869
$GC,5696,-0.64,-194.7,713.5,-12.2,711,5701,0.00,2.85,0.00,0.000,6,0.000,0.052,2651,2263,3869
$GC,6021,-0.64,-194.7,753.6,-12.7,727,6026,0.00,2.78,0.00,0.000,4,0.000,0.070,2652,883,3869
$GC,6071,-0.69,-194.7,759.6,-11.6,729,6076,0.00,2.67,0.00,0.000,6,0.000,0.048,2652,2257,3869
$GC,6386,-0.69,-194.7,795.2,-10.9,744,6390,0.00,2.92,0.00,0.000,4,0.000,0.067,2651,3705,3869
$GC,6424,-0.69,-194.7,799.7,-11.6,746,6429,0.00,2.88,0.00,0.000,6,0.000,0.051,2651,2248,3869
$GC,6749,-0.69,-194.7,838.4,-12.3,762,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2247,3868
$GC,7058,-0.69,-194.7,874.2,-11.4,777,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2247,3868
$GC,7368,-0.69,-194.7,910.0,-11.3,792,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2247,3868
$GC,7677,-0.69,-194.7,945.2,-11.8,807,7682,0.00,2.97,0.00,0.000,4,0.000,0.065,2651,3704,3867
$GC,7731,-0.69,-194.7,951.9,-12.2,809,7738,0.00,2.90,0.00,0.000,6,0.000,0.051,2651,2243,3867
$GC,8046,-0.69,-194.7,988.3,-11.0,825,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2243,3867
$STATE,8065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8065,begin apogee
$GC,8070,-0.19,0.0,990.4,10.9,826,8271,0.62,0.00,197.60,1.443,6,0.121,0.000,2756,2035,3072
$STATE,8272,end apogee,CONTROL_FINISHED_OK
$STATE,8272,begin climb
$GC,8274,0.82,194.7,998.6,0.0,836,8492,1.27,3.20,204.45,1.371,4,0.085,0.070,2974,650,2276
$GC,8570,0.68,194.7,973.4,13.5,850,8575,0.17,2.95,0.00,0.000,6,0.136,0.045,2951,2057,2273
$GC,8885,0.58,194.7,937.3,11.4,865,8890,0.15,2.92,0.00,0.000,4,0.137,0.062,2929,3468,2271
$GC,8947,0.53,196.8,930.8,9.9,868,8952,0.00,2.85,0.00,0.000,6,0.000,0.052,2929,2075,2271
$GC,9273,0.50,207.0,899.9,9.6,884,9295,0.00,2.90,12.35,1.347,4,0.000,0.061,2929,3461,2226
$GC,9339,0.50,207.0,893.2,10.4,887,9344,0.12,2.80,0.00,0.000,6,0.146,0.052,2913,2079,2226
$GC,9665,0.55,252.7,865.6,8.4,903,9720,0.00,2.97,46.65,1.360,4,0.000,0.059,2912,3465,2039
$GC,9759,0.58,272.2,857.4,9.3,907,9785,0.00,2.80,20.40,1.285,6,0.000,0.051,2914,2106,1962
$GC,10095,0.65,331.4,830.2,8.0,923,10164,0.15,2.90,60.67,1.325,4,0.068,0.058,2941,3468,1718
$GC,10185,0.65,331.4,820.3,11.1,927,10190,0.00,2.80,0.00,0.000,6,0.000,0.051,2941,2123,1716
$GC,10507,0.66,338.6,786.8,9.7,943,10517,0.00,0.00,8.27,1.184,6,0.000,0.000,2941,2121,1690
$GC,10816,0.66,338.6,753.6,11.6,958,10817,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2121,1688
$GC,11125,0.66,338.6,716.7,11.4,973,11126,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2119,1687
$GC,11435,0.66,338.6,684.5,10.4,988,11436,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2118,1686
$GC,11744,0.66,338.6,649.8,11.7,1003,11748,0.00,2.70,0.00,0.000,4,0.000,0.058,2941,3465,1686
$GC,11770,0.66,338.6,646.5,11.5,1004,11774,0.00,2.67,0.00,0.000,6,0.000,0.048,2941,2127,1685
$GC,12091,0.66,338.6,610.8,10.7,1020,12092,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2127,1685
$GC,12406,0.66,338.6,577.6,10.8,1044,12411,0.00,3.00,0.00,0.000,4,0.000,0.066,2941,633,1685
$GC,12426,0.66,338.6,575.2,11.0,1045,12433,0.00,2.92,0.00,0.000,6,0.000,0.042,2941,2140,1685
$GC,12753,0.66,338.6,539.2,11.5,1076,12754,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2140,1684
$GC,13070,0.66,338.6,503.0,11.2,1106,13071,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2140,1684
$GC,13390,0.66,338.6,468.6,10.3,1136,13395,0.00,3.03,0.00,0.000,4,0.000,0.063,2941,635,1684
$GC,13417,0.66,338.6,465.5,11.0,1138,13422,0.00,2.88,0.00,0.000,6,0.000,0.040,2941,2139,1685
$GC,13741,0.66,338.6,431.4,10.7,1168,13742,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2139,1684
$GC,14060,0.66,338.6,397.4,10.3,1198,14061,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2140,1685
$GC,14378,0.66,338.6,363.8,10.7,1228,14379,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2140,1684
$GC,14706,0.66,338.6,327.4,11.5,1276,14713,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2140,1684
$GC,15050,0.66,338.6,289.4,10.8,1337,15056,0.00,3.00,0.00,0.000,4,0.000,0.061,2941,640,1684
$GC,15075,0.66,338.6,286.6,11.3,1341,15081,0.00,2.85,0.00,0.000,6,0.000,0.041,2941,2137,1684
$GC,15416,0.66,338.6,250.2,10.1,1402,15421,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2137,1685
$GC,15752,0.68,358.7,215.5,9.3,1463,15781,0.00,3.05,19.75,0.997,4,0.000,0.061,2941,644,1608
$GC,15792,0.69,362.8,211.5,9.9,1470,15805,0.00,2.83,5.82,0.701,6,0.000,0.040,2941,2119,1591
$GC,16135,0.69,362.8,178.6,10.0,1532,16143,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2119,1589
$GC,16477,0.70,374.9,145.7,9.6,1593,16496,0.00,3.00,12.95,0.913,4,0.000,0.063,2941,637,1541
$GC,16526,0.76,374.9,140.5,10.3,1601,16533,0.12,2.85,0.00,0.000,6,0.058,0.039,2973,2120,1540
$GC,16856,0.68,374.9,91.1,17.1,1662,16864,0.15,0.00,0.00,0.000,6,0.129,0.000,2948,2120,1540
$GC,17190,0.74,429.2,59.7,8.1,1723,17254,0.00,3.08,52.25,0.821,4,0.000,0.061,2948,644,1320
$GC,17271,0.81,429.2,49.6,12.3,1736,17279,0.10,2.88,0.00,0.000,6,0.045,0.038,2978,2106,1318
$GC,17407,0.73,429.2,28.2,15.9,1761,17414,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2106,1316
$GC,17542,0.65,429.2,5.0,15.4,1786,17549,0.20,0.00,0.00,0.000,6,0.128,0.000,2945,2106,1314
$STATE,17566,end climb,SURFACE_DEPTH_REACHED
$STATE,17566,begin surface coast
$FINISH,0.1,1.027269
$STATE,17583,end surface coast,CONTROL_FINISHED_OK
$STATE,17583,begin surface
$SM_CCo,17658,0.00,0.000,0,0,1313,431.24
$SM_GC,0.79,7.28,0.00,0.00,0.044,0.000,0.000,1468,2296,1313,-6.09,0.03,431.24
$IRIDIUM_FIX,6041.65,-2438.43,260797,010138
$TT8_MAMPS,0.021476
$HUMID,1668
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,12.10
$XPDR_PINGS,118
$24V_AH,19.4,48.476
$10V_AH,9.8,34.971
$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,20.650,132.275,641.175,0.000,0.000,25.695,31.646,213.611,29.500,0.000,0.000,15.304,2812.518,10018.776,732.096,3954.013,511.101,0.000,2265.547,0.000,3957.412,0.000,0.467
$DEVICE_MAMPS,255.411,69.797,1443.494,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1331.632,1265.472,635.843,855.880,1562.351,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132662,1793
$CAP_FILE_SIZE,159162,0
$CFSIZE,260165632,243503104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,010508,104620,6115.627,-2444.447,35,2.0,48,-17.6