version: 66.03
glider: 143
mission: 4
dive: 150
start: 5 4 108 13 5 16
data:
$ID,143
$MISSION,4
$DIVE,150
$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,240
$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,-7975.8179
$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,29
$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
$GPS1,125838,6109.003,-2536.048,35,1.5,35,-18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-56.9
$GPS2,130457,6109.012,-2536.173,13,1.9,13,-18.0
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6103.613,-2540.698
$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,258.0,20000,-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,-194.7,0.0,0.0,0,114,0.00,0.00,-86.80,0.000,2,0.000,0.000,1462,2314,3397
$GC,117,-0.82,-194.7,3.0,-6.7,12,146,9.80,2.90,-11.62,0.000,4,0.246,0.065,2599,887,3866
$GC,269,-0.72,-194.7,31.1,-17.0,39,278,0.20,2.80,0.00,0.000,6,0.148,0.052,2634,2281,3867
$GC,406,-0.66,-194.7,52.4,-15.7,64,413,0.12,0.00,0.00,0.000,6,0.150,0.000,2650,2281,3867
$GC,740,-0.66,-194.7,93.4,-12.0,125,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2281,3867
$GC,1068,-0.66,-194.7,132.9,-12.8,186,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2281,3867
$GC,1404,-0.66,-194.7,174.9,-12.9,247,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2281,3868
$GC,1741,-0.66,-194.7,220.2,-14.2,308,1750,0.00,2.80,0.00,0.000,4,0.000,0.054,2649,878,3867
$GC,1774,-0.66,-194.7,224.5,-14.1,313,1780,0.00,2.78,0.00,0.000,6,0.000,0.046,2650,2306,3867
$GC,2112,-0.66,-194.7,272.7,-13.8,374,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2305,3867
$GC,2450,-0.66,-194.7,320.7,-14.3,435,2457,0.00,2.80,0.00,0.000,4,0.000,0.055,2649,886,3867
$GC,2478,-0.66,-194.7,324.6,-14.1,440,2486,0.00,2.75,0.00,0.000,6,0.000,0.044,2652,2295,3867
$GC,2813,-0.66,-194.7,370.5,-13.6,487,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2295,3867
$GC,3132,-0.66,-194.7,412.7,-13.0,517,3136,0.00,2.80,0.00,0.000,4,0.000,0.055,2649,876,3867
$GC,3163,-0.66,-194.7,417.0,-13.0,519,3170,0.00,2.72,0.00,0.000,6,0.000,0.044,2651,2292,3867
$GC,3489,-0.66,-194.7,456.8,-11.9,550,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2292,3867
$GC,3807,-0.66,-194.7,493.9,-11.6,580,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2292,3867
$GC,4127,-0.66,-194.7,532.6,-12.3,610,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2292,3867
$GC,4444,-0.66,-194.7,573.9,-13.0,640,4448,0.00,2.80,0.00,0.000,4,0.000,0.057,2649,879,3867
$GC,4475,-0.66,-194.7,578.1,-13.2,642,4482,0.00,2.72,0.00,0.000,6,0.000,0.044,2649,2294,3867
$GC,4795,-0.66,-194.7,619.6,-12.4,666,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2294,3867
$GC,5105,-0.66,-194.7,653.6,-11.1,681,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2294,3867
$GC,5414,-0.66,-194.7,692.6,-13.3,696,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2295,3867
$GC,5723,-0.66,-194.7,732.7,-12.8,711,5728,0.00,2.88,0.00,0.000,4,0.000,0.069,2650,882,3867
$GC,5749,-0.66,-194.7,736.2,-13.6,712,5753,0.00,2.75,0.00,0.000,6,0.000,0.048,2649,2286,3867
$GC,6070,-0.66,-194.7,774.1,-10.6,728,6075,0.00,2.85,0.00,0.000,4,0.000,0.068,2649,890,3867
$GC,6102,-0.66,-194.7,777.4,-10.3,729,6109,0.00,2.72,0.00,0.000,6,0.000,0.050,2649,2281,3867
$GC,6417,-0.66,-194.7,812.7,-11.6,745,6419,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2282,3867
$GC,6727,-0.66,-194.7,852.6,-13.5,760,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2282,3867
$GC,7036,-0.66,-194.7,890.7,-11.2,775,7037,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2284,3866
$GC,7345,-0.66,-194.7,922.8,-10.0,790,7350,0.00,2.85,0.00,0.000,4,0.000,0.067,2649,880,3866
$GC,7391,-0.71,-194.7,927.6,-11.0,792,7396,0.00,2.72,0.00,0.000,6,0.000,0.051,2649,2268,3866
$GC,7711,-0.71,-194.7,964.2,-11.9,808,7715,0.00,2.95,0.00,0.000,4,0.000,0.068,2648,3708,3866
$GC,7759,-0.71,-194.7,970.4,-12.8,810,7764,0.00,2.85,0.00,0.000,6,0.000,0.052,2648,2275,3865
$STATE,7934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7934,begin apogee
$GC,7939,-0.19,0.0,992.8,13.1,819,8141,0.62,0.00,198.40,1.434,6,0.122,0.000,2753,2039,3071
$STATE,8142,end apogee,CONTROL_FINISHED_OK
$STATE,8142,begin climb
$GC,8144,0.82,194.7,1007.9,0.0,829,8361,1.27,3.17,205.07,1.364,4,0.087,0.068,2974,644,2276
$GC,8450,0.68,194.7,985.6,14.0,843,8457,0.17,2.95,0.00,0.000,6,0.141,0.045,2951,2054,2272
$GC,8766,0.57,194.7,944.4,13.6,859,8771,0.15,2.92,0.00,0.000,4,0.143,0.062,2926,3465,2271
$GC,8832,0.57,194.7,935.9,11.7,862,8837,0.00,2.85,0.00,0.000,6,0.000,0.052,2926,2067,2270
$GC,9152,0.57,194.7,893.3,13.5,878,9157,0.00,2.85,0.00,0.000,4,0.000,0.060,2927,3464,2270
$GC,9185,0.57,194.7,889.0,13.4,879,9191,0.00,2.78,0.00,0.000,6,0.000,0.051,2926,2077,2270
$GC,9500,0.64,247.9,857.3,8.2,895,9561,0.00,3.05,52.47,1.350,4,0.000,0.069,2926,638,2059
$GC,9662,0.72,316.9,844.7,7.6,902,9739,0.17,2.90,70.07,1.311,6,0.067,0.045,2958,2095,1779
$GC,10060,0.64,316.9,798.2,12.5,922,10065,0.00,3.03,0.00,0.000,4,0.000,0.069,2958,641,1773
$GC,10154,0.59,316.9,786.0,12.7,926,10159,0.20,2.88,0.00,0.000,6,0.127,0.046,2928,2099,1772
$GC,10469,0.62,342.9,757.7,9.1,941,10504,0.00,2.85,26.98,1.299,4,0.000,0.060,2929,3459,1672
$GC,10538,0.68,348.9,750.9,9.8,944,10555,0.00,2.75,7.65,1.078,6,0.000,0.051,2937,2104,1648
$GC,10863,0.68,348.9,718.4,10.1,960,10864,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2102,1644
$GC,11173,0.73,389.8,691.6,8.6,975,11217,0.12,0.00,42.42,1.236,6,0.077,0.000,2956,2102,1482
$GC,11522,0.73,389.8,645.5,14.5,992,11523,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2101,1476
$GC,11831,0.73,389.8,599.4,14.4,1007,11832,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2100,1475
$GC,12149,0.73,389.8,558.8,11.9,1037,12154,0.00,2.70,0.00,0.000,4,0.000,0.053,2951,3464,1474
$GC,12177,0.73,389.8,555.5,12.3,1039,12182,0.00,2.65,0.00,0.000,6,0.000,0.046,2951,2115,1474
$GC,12501,0.73,389.8,516.7,12.3,1069,12506,0.00,2.92,0.00,0.000,4,0.000,0.064,2951,643,1474
$GC,12534,0.73,389.8,512.6,12.1,1071,12540,0.00,2.85,0.00,0.000,6,0.000,0.041,2951,2125,1473
$GC,12861,0.73,389.8,473.9,11.6,1102,12865,0.00,2.62,0.00,0.000,4,0.000,0.053,2951,3460,1473
$GC,12881,0.73,389.8,471.1,11.3,1103,12888,0.00,2.67,0.00,0.000,6,0.000,0.044,2951,2086,1473
$GC,13207,0.73,389.8,428.0,13.8,1134,13209,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2086,1473
$GC,13525,0.73,389.8,382.3,13.8,1164,13526,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2086,1473
$GC,13849,0.73,389.8,338.6,13.4,1201,13854,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2086,1473
$GC,14186,0.73,389.8,297.8,11.8,1262,14192,0.00,2.72,0.00,0.000,4,0.000,0.051,2951,3469,1473
$GC,14215,0.73,389.8,294.6,11.8,1267,14221,0.00,2.65,0.00,0.000,6,0.000,0.044,2951,2107,1473
$GC,14555,0.73,389.8,256.1,11.8,1328,14563,0.00,2.95,0.00,0.000,4,0.000,0.063,2952,640,1473
$GC,14588,0.73,389.8,252.4,11.9,1333,14594,0.00,2.83,0.00,0.000,6,0.000,0.039,2952,2126,1473
$GC,14927,0.73,389.8,209.7,12.7,1394,14932,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2126,1473
$GC,15267,0.73,389.8,167.3,12.4,1455,15273,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2126,1473
$GC,15601,0.73,389.8,129.1,12.1,1516,15609,0.00,3.03,0.00,0.000,4,0.000,0.062,2951,637,1473
$GC,15633,0.73,389.8,125.6,12.0,1521,15640,0.00,2.83,0.00,0.000,6,0.000,0.040,2953,2120,1473
$GC,15965,0.73,389.8,90.6,10.8,1582,15973,0.00,2.65,0.00,0.000,4,0.000,0.052,2952,3458,1473
$GC,15997,0.73,389.8,87.3,11.0,1587,16004,0.00,2.62,0.00,0.000,6,0.000,0.044,2952,2102,1473
$GC,16329,0.73,389.8,52.1,10.3,1648,16337,0.00,2.95,0.00,0.000,4,0.000,0.064,2951,643,1473
$GC,16362,0.77,389.8,48.6,11.7,1653,16370,0.00,2.83,0.00,0.000,6,0.000,0.040,2952,2111,1473
$GC,16497,0.77,389.8,34.0,11.8,1678,16505,0.00,2.67,0.00,0.000,4,0.000,0.051,2952,3467,1473
$GC,16523,0.77,389.8,30.9,11.6,1682,16530,0.00,2.67,0.00,0.000,6,0.000,0.044,2952,2105,1472
$GC,16657,0.77,389.8,16.0,11.0,1707,16665,0.00,2.95,0.00,0.000,4,0.000,0.063,2951,644,1472
$GC,16689,0.83,389.8,12.3,12.4,1712,16697,0.10,2.83,0.00,0.000,6,0.048,0.040,2980,2108,1473
$STATE,16760,end climb,SURFACE_DEPTH_REACHED
$STATE,16760,begin surface coast
$FINISH,-0.1,1.027342
$STATE,16772,end surface coast,CONTROL_FINISHED_OK
$STATE,16772,begin surface
$SM_CCo,16848,0.00,0.000,0,0,1471,392.48
$SM_GC,0.53,7.30,0.00,0.00,0.041,0.000,0.000,1469,2316,1471,-6.08,0.62,392.48
$IRIDIUM_FIX,6050.49,-2532.02,290797,080828
$TT8_MAMPS,0.021476
$HUMID,1673
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,12.30
$XPDR_PINGS,123
$24V_AH,19.4,52.584
$10V_AH,9.8,37.940
$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,20.250,141.850,603.075,0.000,0.000,23.698,31.736,209.069,30.750,0.000,0.000,15.347,2746.195,9322.268,714.038,3919.497,510.918,0.000,2192.448,0.000,3919.605,0.000,0.467
$DEVICE_MAMPS,246.207,69.030,1433.523,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1283.430,1213.049,666.803,867.331,1630.689,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126901,1727
$CAP_FILE_SIZE,155547,0
$CFSIZE,260165632,242053120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040508,174708,6107.213,-2545.552,30,1.4,30,-18.1