version: 66.03
glider: 143
mission: 4
dive: 136
start: 5 1 108 16 1 34
data:
$ID,143
$MISSION,4
$DIVE,136
$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,-7703.2974
$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,16
$R_STBD_OVSHOOT,24
$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
$GPS1,155407,6118.224,-2447.291,32,1.4,32,-17.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-50.7
$GPS2,160117,6118.193,-2447.293,10,2.4,29,-17.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6128.828,-2448.188
$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,7.7,20000,-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,-194.7,0.0,0.0,0,115,0.00,0.00,-86.35,0.000,2,0.000,0.000,1467,2309,3526
$GC,117,-0.82,-194.7,3.8,-8.4,12,141,10.02,2.85,-7.22,0.000,4,0.254,0.069,2610,3705,3866
$GC,164,-0.62,-194.7,17.2,-24.0,19,172,0.25,2.80,0.00,0.000,6,0.145,0.041,2657,2288,3867
$GC,299,-0.62,-194.7,34.6,-12.6,44,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2286,3867
$GC,432,-0.62,-194.7,51.3,-12.5,69,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2286,3867
$GC,763,-0.62,-194.7,95.1,-13.3,130,770,0.00,2.80,0.00,0.000,4,0.000,0.056,2657,884,3867
$GC,839,-0.66,-194.7,104.9,-12.9,143,845,0.00,2.72,0.00,0.000,6,0.000,0.045,2657,2282,3867
$GC,1167,-0.66,-194.7,148.0,-13.0,204,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2282,3867
$GC,1508,-0.66,-194.7,191.6,-12.3,265,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2282,3867
$GC,1847,-0.66,-194.7,232.8,-11.5,326,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2282,3867
$GC,2187,-0.66,-194.7,271.2,-12.0,387,2193,0.00,2.75,0.00,0.000,4,0.000,0.054,2657,884,3867
$GC,2232,-0.71,-194.7,276.1,-11.1,395,2238,0.00,2.72,0.00,0.000,6,0.000,0.044,2657,2294,3867
$GC,2571,-0.71,-194.7,314.5,-12.4,456,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2294,3867
$GC,2912,-0.71,-194.7,355.9,-12.5,513,2916,0.00,2.78,0.00,0.000,4,0.000,0.054,2657,884,3867
$GC,2962,-0.76,-194.7,362.1,-11.5,517,2966,0.00,2.67,0.00,0.000,6,0.000,0.043,2658,2276,3867
$GC,3287,-0.76,-194.7,401.0,-12.4,547,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2276,3867
$GC,3607,-0.76,-194.7,441.5,-12.7,577,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2276,3867
$GC,3923,-0.76,-194.7,479.2,-12.3,607,3927,0.00,2.72,0.00,0.000,4,0.000,0.055,2659,889,3867
$GC,3973,-0.81,-194.7,485.0,-11.7,611,3978,0.17,2.65,0.00,0.000,6,0.056,0.043,2620,2268,3867
$GC,4299,-0.72,-194.7,539.9,-17.1,641,4301,0.12,0.00,0.00,0.000,6,0.146,0.000,2637,2267,3867
$GC,4619,-0.67,-194.7,584.9,-13.4,671,4623,0.00,2.85,0.00,0.000,4,0.000,0.058,2637,3703,3867
$GC,4657,-0.67,-194.7,590.6,-14.0,674,4661,0.00,2.80,0.00,0.000,6,0.000,0.044,2636,2260,3867
$GC,4984,-0.63,-194.7,634.1,-13.2,693,4986,0.15,0.00,0.00,0.000,6,0.150,0.000,2657,2261,3867
$GC,5293,-0.63,-194.7,668.5,-11.0,708,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2261,3867
$GC,5602,-0.63,-194.7,701.9,-10.7,723,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2260,3867
$GC,5911,-0.63,-194.7,734.2,-10.1,738,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2260,3866
$GC,6221,-0.63,-194.7,767.5,-11.1,753,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2260,3866
$GC,6531,-0.63,-194.7,802.1,-11.2,768,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2260,3866
$GC,6839,-0.63,-194.7,835.7,-10.4,783,6840,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2260,3866
$GC,7149,-0.63,-194.7,868.3,-10.8,798,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2260,3866
$GC,7458,-0.63,-194.7,902.2,-10.8,813,7462,0.00,2.95,0.00,0.000,4,0.000,0.066,2658,3702,3865
$GC,7496,-0.68,-194.7,906.3,-10.7,815,7501,0.00,2.83,0.00,0.000,6,0.000,0.051,2657,2276,3865
$GC,7822,-0.68,-194.7,938.7,-9.8,831,7827,0.00,2.80,0.00,0.000,4,0.000,0.068,2658,887,3865
$GC,7861,-0.74,-194.7,942.5,-10.1,833,7865,0.00,2.72,0.00,0.000,6,0.000,0.050,2658,2275,3865
$GC,8186,-0.74,-194.7,974.9,-9.8,849,8191,0.00,2.92,0.00,0.000,4,0.000,0.068,2658,3706,3865
$GC,8219,-0.78,-194.7,978.1,-10.0,850,8225,0.15,2.85,0.00,0.000,6,0.064,0.050,2627,2265,3864
$STATE,8325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8325,begin apogee
$GC,8330,-0.19,0.0,991.4,12.9,856,8532,0.80,0.00,197.85,1.435,6,0.134,0.000,2756,2040,3071
$STATE,8532,end apogee,CONTROL_FINISHED_OK
$STATE,8532,begin climb
$GC,8534,0.82,194.7,999.2,0.0,866,8752,1.27,3.20,204.73,1.362,4,0.084,0.069,2975,656,2276
$GC,8819,0.69,194.7,975.5,13.5,880,8825,0.15,2.95,0.00,0.000,6,0.136,0.045,2955,2058,2273
$GC,9146,0.57,194.7,937.8,11.5,896,9151,0.15,2.92,0.00,0.000,4,0.134,0.062,2930,3466,2271
$GC,9212,0.52,195.0,931.0,10.0,899,9217,0.00,2.85,0.00,0.000,6,0.000,0.054,2930,2074,2271
$GC,9533,0.47,195.0,900.4,10.0,915,9538,0.17,2.85,0.00,0.000,4,0.125,0.060,2900,3463,2271
$GC,9565,0.52,238.7,897.5,8.5,916,9616,0.00,2.80,43.88,1.363,6,0.000,0.053,2900,2073,2097
$GC,9943,0.68,327.5,869.6,6.9,935,10040,0.22,2.97,89.50,1.336,4,0.061,0.060,2948,3462,1736
$GC,10089,0.68,327.5,852.9,11.8,941,10094,0.00,2.88,0.00,0.000,6,0.000,0.054,2948,2102,1731
$GC,10417,0.63,327.5,811.5,12.9,957,10418,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2102,1729
$GC,10726,0.59,327.5,771.7,12.1,972,10727,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2100,1727
$GC,11036,0.54,327.5,736.1,11.7,987,11041,0.17,2.75,0.00,0.000,4,0.123,0.057,2918,3464,1727
$GC,11062,0.54,327.5,733.2,10.0,988,11067,0.00,2.75,0.00,0.000,6,0.000,0.053,2921,2106,1726
$GC,11384,0.65,373.6,706.7,8.4,1004,11437,0.00,3.08,45.95,1.269,4,0.000,0.070,2918,644,1546
$GC,11449,0.79,424.6,701.2,8.2,1007,11510,0.28,2.92,53.53,1.203,6,0.048,0.042,2979,2116,1341
$GC,11837,0.66,424.6,631.9,18.6,1026,11842,0.17,3.08,0.00,0.000,4,0.135,0.067,2950,633,1332
$GC,11858,0.59,424.6,628.0,16.9,1027,11864,0.12,2.85,0.00,0.000,6,0.116,0.041,2932,2091,1332
$GC,12181,0.70,459.7,597.7,8.8,1044,12220,0.00,0.00,36.05,1.171,6,0.000,0.000,2931,2092,1197
$GC,12538,0.86,512.9,567.7,8.2,1078,12603,0.25,3.10,56.70,1.136,4,0.051,0.067,2991,640,979
$GC,12620,0.75,512.9,553.7,21.0,1085,12627,0.20,2.88,0.00,0.000,6,0.131,0.041,2965,2084,977
$GC,12945,0.75,512.9,504.1,14.6,1116,12949,0.00,2.97,0.00,0.000,4,0.000,0.064,2962,638,974
$GC,12976,0.75,512.9,499.5,14.0,1118,12983,0.00,2.78,0.00,0.000,6,0.000,0.041,2963,2066,972
$GC,13302,0.75,512.9,455.7,14.4,1149,13303,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2065,971
$GC,13620,0.75,512.9,409.9,14.1,1179,13624,0.00,2.90,0.00,0.000,4,0.000,0.064,2962,640,971
$GC,13651,0.75,512.9,405.4,14.0,1181,13658,0.00,2.72,0.00,0.000,6,0.000,0.039,2971,2061,969
$GC,13977,0.75,512.9,361.4,13.8,1212,13978,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2061,969
$GC,14305,0.75,512.9,316.3,13.5,1264,14313,0.00,2.90,0.00,0.000,4,0.000,0.063,2962,638,969
$GC,14342,0.80,512.9,311.6,11.9,1270,14348,0.00,2.67,0.00,0.000,6,0.000,0.039,2962,2040,968
$GC,14681,0.80,512.9,266.6,13.7,1331,14686,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2040,969
$GC,15017,0.80,512.9,220.5,13.2,1392,15024,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2040,968
$GC,15358,0.80,512.9,177.1,12.8,1453,15364,0.00,2.83,0.00,0.000,4,0.000,0.063,2961,640,968
$GC,15383,0.80,512.9,173.9,13.0,1457,15389,0.00,2.65,0.00,0.000,6,0.000,0.039,2963,2031,968
$GC,15718,0.80,512.9,132.0,12.8,1518,15726,0.00,2.83,0.00,0.000,4,0.000,0.051,2962,3456,968
$GC,15739,0.80,512.9,129.4,14.0,1521,15746,0.00,2.80,0.00,0.000,6,0.000,0.044,2962,2017,968
$GC,16071,0.80,512.9,88.3,12.1,1582,16079,0.00,2.78,0.00,0.000,4,0.000,0.065,2962,644,968
$GC,16096,0.85,512.9,85.0,13.1,1586,16104,0.00,2.65,0.00,0.000,6,0.000,0.039,2964,2024,968
$GC,16427,0.85,512.9,43.4,11.5,1647,16435,0.00,2.85,0.00,0.000,4,0.000,0.053,2962,3461,968
$GC,16444,0.85,512.9,41.5,11.3,1649,16452,0.00,2.83,0.00,0.000,6,0.000,0.044,2996,2020,967
$GC,16579,0.85,512.9,27.1,10.4,1674,16586,0.00,2.80,0.00,0.000,4,0.000,0.066,2962,641,968
$GC,16595,0.92,536.9,25.8,9.2,1676,16625,0.15,2.65,23.23,0.871,6,0.040,0.038,3005,2022,881
$STATE,16714,end climb,SURFACE_DEPTH_REACHED
$STATE,16714,begin surface coast
$FINISH,0.1,1.027372
$STATE,16722,end surface coast,CONTROL_FINISHED_OK
$STATE,16723,begin surface
$SM_CCo,16798,0.00,0.000,0,0,878,537.94
$SM_GC,0.56,7.53,0.00,0.00,0.043,0.000,0.000,1468,2292,878,-6.09,-0.08,537.94
$IRIDIUM_FIX,6054.92,-2441.82,260797,111100
$TT8_MAMPS,0.021476
$HUMID,1688
$INTERNAL_PRESSURE,8.10578
$TCM_TEMP,11.70
$XPDR_PINGS,125
$24V_AH,19.4,49.013
$10V_AH,9.7,35.346
$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,22.525,142.600,751.400,0.000,0.000,27.592,28.017,245.424,31.250,0.000,0.000,31.514,2687.196,9336.152,800.766,3854.677,532.680,0.000,2295.966,0.000,3827.127,0.000,0.467
$DEVICE_MAMPS,253.877,69.797,1435.057,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1256.833,1190.080,624.312,838.768,1548.934,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126797,1698
$CAP_FILE_SIZE,158988,0
$CFSIZE,260165632,243322880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010508,204237,6120.180,-2448.224,31,1.6,31,-17.7