version: 66.03
glider: 143
mission: 4
dive: 137
start: 5 1 108 20 49 38
data:
$ID,143
$MISSION,4
$DIVE,137
$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,-7718.645
$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,17
$R_STBD_OVSHOOT,17
$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
$GPS1,204237,6120.180,-2448.224,31,1.6,31,-17.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-37.4
$GPS2,204920,6120.113,-2448.212,12,1.5,12,-17.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6130.748,-2449.106
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.82,-194.7,0.0,0.0,0,151,0.00,0.00,-122.75,0.000,2,0.000,0.000,1468,2297,3481
$GC,153,-0.82,-194.7,3.3,-6.1,17,178,10.18,2.97,-8.75,0.000,4,0.256,0.073,2611,3712,3867
$GC,242,-0.71,-194.7,22.2,-19.5,32,251,0.15,2.80,0.00,0.000,6,0.142,0.040,2637,2289,3869
$GC,378,-0.64,-194.7,42.3,-14.7,57,386,0.12,0.00,0.00,0.000,6,0.153,0.000,2654,2286,3868
$GC,515,-0.64,-194.7,60.6,-12.5,82,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2286,3869
$GC,848,-0.64,-194.7,104.2,-12.7,143,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2286,3869
$GC,1176,-0.64,-194.7,146.9,-12.6,204,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2286,3868
$GC,1519,-0.64,-194.7,190.2,-13.0,265,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2287,3869
$GC,1856,-0.64,-194.7,234.2,-12.9,326,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2286,3868
$GC,2196,-0.64,-194.7,278.9,-13.1,387,2202,0.00,2.83,0.00,0.000,4,0.000,0.058,2653,3706,3868
$GC,2237,-0.64,-194.7,283.9,-12.9,394,2243,0.00,2.75,0.00,0.000,6,0.000,0.041,2653,2282,3869
$GC,2576,-0.64,-194.7,327.8,-13.2,455,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2278,3869
$GC,2911,-0.64,-194.7,371.4,-12.8,502,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2278,3868
$GC,3230,-0.64,-194.7,412.3,-12.9,532,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2278,3868
$GC,3549,-0.64,-194.7,453.2,-12.6,562,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2278,3869
$GC,3869,-0.64,-194.7,494.0,-12.7,592,3873,0.00,2.85,0.00,0.000,4,0.000,0.057,2653,3711,3868
$GC,3911,-0.64,-194.7,499.8,-12.4,595,3918,0.00,2.78,0.00,0.000,6,0.000,0.042,2653,2291,3868
$GC,4238,-0.64,-194.7,540.5,-12.6,626,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2288,3868
$GC,4557,-0.64,-194.7,580.7,-12.3,656,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2288,3868
$GC,4879,-0.64,-194.7,620.3,-12.0,679,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2287,3868
$GC,5188,-0.64,-194.7,657.9,-12.1,694,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2288,3868
$GC,5497,-0.64,-194.7,695.0,-12.0,709,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2288,3868
$GC,5807,-0.64,-194.7,731.5,-12.0,724,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2288,3868
$GC,6116,-0.64,-194.7,768.8,-12.0,739,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2288,3868
$GC,6425,-0.64,-194.7,803.4,-10.8,754,6430,0.00,2.90,0.00,0.000,4,0.000,0.066,2653,3706,3868
$GC,6468,-0.64,-194.7,808.2,-11.2,756,6472,0.00,2.78,0.00,0.000,6,0.000,0.052,2653,2304,3868
$GC,6794,-0.64,-194.7,842.9,-10.5,772,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2304,3867
$GC,7104,-0.64,-194.7,876.3,-10.6,787,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2304,3867
$GC,7413,-0.64,-194.7,908.0,-10.3,802,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2304,3867
$GC,7722,-0.64,-194.7,940.0,-10.6,817,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2304,3867
$GC,8031,-0.64,-194.7,974.6,-11.3,832,8036,0.00,2.88,0.00,0.000,4,0.000,0.065,2653,3711,3867
$GC,8080,-0.64,-194.7,980.3,-11.7,834,8084,0.00,2.80,0.00,0.000,6,0.000,0.051,2653,2298,3866
$STATE,8172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8172,begin apogee
$GC,8177,-0.19,0.0,990.8,11.4,839,8379,0.60,0.00,197.88,1.437,6,0.120,0.000,2754,2038,3071
$STATE,8379,end apogee,CONTROL_FINISHED_OK
$STATE,8380,begin climb
$GC,8381,0.82,194.7,999.6,0.0,849,8599,1.30,3.22,204.60,1.363,4,0.087,0.071,2975,649,2276
$GC,8683,0.69,194.7,974.2,12.3,863,8690,0.17,2.92,0.00,0.000,6,0.133,0.044,2952,2049,2273
$GC,8998,0.58,194.7,937.5,11.3,879,9004,0.15,2.92,0.00,0.000,4,0.138,0.062,2926,3461,2271
$GC,9076,0.60,212.4,929.7,9.4,882,9103,0.00,2.83,18.20,1.359,6,0.000,0.053,2927,2077,2204
$GC,9411,0.61,221.9,898.5,9.7,899,9424,0.00,0.00,10.95,1.320,6,0.000,0.000,2926,2077,2166
$GC,9721,0.63,235.5,868.7,9.5,914,9742,0.00,2.85,15.48,1.325,4,0.000,0.058,2926,3461,2109
$GC,9769,0.65,251.7,863.6,9.4,916,9794,0.00,2.80,17.73,1.252,6,0.000,0.052,2927,2081,2044
$GC,10116,0.65,251.7,828.7,10.0,933,10121,0.00,2.83,0.00,0.000,4,0.000,0.058,2926,3465,2041
$GC,10142,0.65,251.7,825.9,10.1,934,10147,0.00,2.75,0.00,0.000,6,0.000,0.052,2930,2102,2040
$GC,10464,0.65,254.7,794.4,9.9,950,10465,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2101,2040
$GC,10773,0.67,269.1,764.8,9.5,965,10793,0.00,0.00,17.98,1.303,6,0.000,0.000,2929,2100,1973
$GC,11102,0.68,276.1,732.6,9.8,981,11113,0.00,0.00,8.60,1.190,6,0.000,0.000,2929,2099,1945
$GC,11411,0.69,289.1,703.0,9.6,996,11433,0.00,2.78,15.05,1.224,4,0.000,0.057,2926,3471,1891
$GC,11449,0.70,291.7,699.3,9.9,997,11456,0.12,2.78,0.00,0.000,6,0.071,0.051,2951,2098,1889
$GC,11765,0.63,291.7,659.7,12.9,1013,11766,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2097,1889
$GC,12074,0.57,291.7,620.6,12.5,1028,12079,0.15,2.75,0.00,0.000,4,0.127,0.054,2925,3469,1888
$GC,12100,0.57,291.7,617.5,10.5,1029,12105,0.00,2.70,0.00,0.000,6,0.000,0.048,2925,2100,1887
$GC,12426,0.61,320.1,587.4,9.0,1051,12462,0.00,2.78,30.90,1.180,4,0.000,0.053,2925,3467,1765
$GC,12478,0.67,368.8,582.6,8.3,1055,12533,0.00,2.72,49.40,1.133,6,0.000,0.045,2925,2118,1567
$GC,12852,0.78,411.4,550.8,8.5,1090,12904,0.20,3.12,43.33,1.124,4,0.058,0.066,2970,643,1392
$GC,12920,0.72,411.4,541.2,16.1,1096,12929,0.00,2.95,0.00,0.000,6,0.000,0.041,2970,2116,1390
$GC,13246,0.64,411.4,488.9,16.3,1127,13251,0.15,3.03,0.00,0.000,4,0.131,0.064,2945,641,1386
$GC,13276,0.64,411.4,484.6,14.6,1129,13281,0.00,2.83,0.00,0.000,6,0.000,0.040,2945,2099,1386
$GC,13600,0.64,411.4,446.9,11.9,1159,13601,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2099,1385
$GC,13919,0.64,411.4,409.5,11.6,1189,13923,0.00,2.95,0.00,0.000,4,0.000,0.063,2945,643,1384
$GC,13935,0.64,411.4,407.6,12.2,1190,13939,0.00,2.78,0.00,0.000,6,0.000,0.039,2945,2091,1384
$GC,14259,0.64,411.4,369.4,11.3,1220,14260,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2091,1384
$GC,14583,0.64,411.4,333.0,10.8,1263,14589,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2091,1384
$GC,14922,0.64,411.4,297.2,11.0,1324,14930,0.00,2.92,0.00,0.000,4,0.000,0.062,2945,647,1383
$GC,14941,0.64,411.4,295.2,10.1,1327,14948,0.00,2.72,0.00,0.000,6,0.000,0.039,2946,2106,1383
$GC,15281,0.64,413.5,259.8,9.9,1388,15288,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2106,1383
$GC,15623,0.64,413.5,223.8,10.4,1449,15629,0.00,2.92,0.00,0.000,4,0.000,0.062,2945,642,1383
$GC,15649,0.69,413.5,221.1,10.7,1453,15655,0.00,2.72,0.00,0.000,6,0.000,0.040,2946,2074,1383
$GC,15988,0.69,413.5,185.3,11.4,1514,15994,0.00,2.70,0.00,0.000,4,0.000,0.051,2944,3461,1383
$GC,16007,0.73,413.5,183.4,11.8,1517,16013,0.00,2.70,0.00,0.000,6,0.000,0.044,2952,2069,1382
$GC,16345,0.73,413.5,146.4,10.7,1578,16352,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2069,1382
$GC,16677,0.74,416.8,113.2,9.9,1639,16683,0.00,0.00,4.30,0.650,6,0.000,0.000,2946,2069,1372
$GC,17007,0.79,420.8,81.9,9.9,1700,17016,0.12,0.00,6.05,0.746,6,0.070,0.000,2972,2069,1355
$GC,17339,0.73,420.8,32.4,18.9,1761,17347,0.00,2.90,0.00,0.000,4,0.000,0.067,2971,643,1354
$GC,17355,0.67,420.8,30.0,15.7,1763,17363,0.12,2.75,0.00,0.000,6,0.118,0.038,2950,2072,1354
$GC,17490,0.67,420.8,14.6,10.7,1788,17498,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2072,1354
$STATE,17617,end climb,SURFACE_DEPTH_REACHED
$STATE,17617,begin surface coast
$FINISH,0.2,1.020280
$STATE,17629,end surface coast,CONTROL_FINISHED_OK
$STATE,17630,begin surface
$SM_CCo,17705,0.00,0.000,0,0,1352,421.67
$SM_GC,0.80,7.20,0.00,0.00,0.043,0.000,0.000,1465,2295,1352,-6.09,0.00,421.67
$IRIDIUM_FIX,6054.92,-2449.64,260797,161636
$TT8_MAMPS,0.021476
$HUMID,1685
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,11.90
$XPDR_PINGS,118
$24V_AH,19.4,49.270
$10V_AH,9.8,35.538
$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,20.750,108.900,640.425,0.000,0.000,30.197,59.810,201.472,29.500,0.000,0.000,14.717,2835.015,9963.185,736.350,4028.460,530.581,0.000,2249.602,0.000,4030.117,0.000,0.467
$DEVICE_MAMPS,256.178,72.865,1436.591,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1345.563,1270.955,677.395,905.453,1670.526,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132783,1814
$CAP_FILE_SIZE,155618,0
$CFSIZE,260165632,243224576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020508,014556,6121.321,-2448.139,39,1.1,39,-17.7