version: 66.03
glider: 143
mission: 4
dive: 152
start: 5 4 108 22 21 4
data:
$ID,143
$MISSION,4
$DIVE,152
$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,-8013.9253
$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,33
$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
$GPS1,221426,6104.425,-2553.913,37,1.5,37,-18.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-44.6
$GPS2,222045,6104.368,-2554.042,12,1.2,12,-18.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6058.968,-2558.579
$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,258.1,20000,-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,-194.7,0.0,0.0,0,143,0.00,0.00,-115.12,0.000,2,0.000,0.000,1466,2312,3524
$GC,145,-0.82,-194.7,3.6,-6.5,16,169,9.88,2.88,-7.68,0.000,4,0.248,0.068,2613,883,3867
$GC,374,-0.76,-194.7,45.4,-15.9,58,382,0.00,2.78,0.00,0.000,6,0.000,0.051,2615,2272,3867
$GC,515,-0.66,-194.7,69.2,-17.0,83,521,0.22,0.00,0.00,0.000,6,0.148,0.000,2651,2272,3867
$GC,843,-0.66,-194.7,115.2,-14.3,144,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2272,3867
$GC,1178,-0.66,-194.7,162.4,-13.9,205,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2272,3867
$GC,1517,-0.66,-194.7,207.6,-13.1,266,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2272,3867
$GC,1854,-0.66,-194.7,250.1,-12.4,327,1861,0.00,2.88,0.00,0.000,4,0.000,0.058,2649,3722,3868
$GC,1890,-0.66,-194.7,254.5,-13.1,333,1897,0.00,2.78,0.00,0.000,6,0.000,0.042,2649,2280,3868
$GC,2231,-0.66,-194.7,299.4,-13.4,394,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2278,3868
$GC,2566,-0.66,-194.7,344.7,-13.8,455,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2278,3868
$GC,2898,-0.66,-194.7,390.2,-13.8,490,2903,0.00,2.72,0.00,0.000,4,0.000,0.055,2649,883,3868
$GC,2930,-0.66,-194.7,394.9,-13.5,492,2937,0.00,2.72,0.00,0.000,6,0.000,0.043,2649,2301,3868
$GC,3255,-0.66,-194.7,438.4,-13.1,523,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2301,3868
$GC,3575,-0.66,-194.7,479.2,-12.9,553,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2301,3868
$GC,3893,-0.66,-194.7,521.5,-13.1,583,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2301,3868
$GC,4210,-0.66,-194.7,562.7,-12.8,613,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2301,3868
$GC,4539,-0.66,-194.7,603.0,-11.9,643,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2301,3868
$GC,4848,-0.66,-194.7,635.7,-10.4,658,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2301,3868
$GC,5157,-0.66,-194.7,669.3,-11.5,673,5162,0.00,2.85,0.00,0.000,4,0.000,0.067,2649,892,3868
$GC,5195,-0.66,-194.7,673.9,-11.8,675,5200,0.00,2.72,0.00,0.000,6,0.000,0.049,2649,2292,3867
$GC,5521,-0.66,-194.7,714.3,-12.0,691,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2294,3868
$GC,5830,-0.66,-194.7,750.5,-11.4,706,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2295,3868
$GC,6139,-0.66,-194.7,783.2,-10.5,721,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2296,3867
$GC,6448,-0.66,-194.7,815.6,-11.2,736,6453,0.00,2.85,0.00,0.000,4,0.000,0.068,2649,893,3867
$GC,6492,-0.71,-194.7,820.5,-11.0,738,6496,0.00,2.72,0.00,0.000,6,0.000,0.049,2649,2289,3867
$GC,6812,-0.71,-194.7,859.3,-12.6,754,6816,0.00,2.88,0.00,0.000,4,0.000,0.067,2649,3704,3867
$GC,6843,-0.71,-194.7,863.6,-14.2,755,6850,0.00,2.83,0.00,0.000,6,0.000,0.051,2649,2278,3867
$GC,7159,-0.71,-194.7,902.6,-11.4,771,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2278,3867
$GC,7468,-0.71,-194.7,935.1,-10.4,786,7469,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2278,3867
$GC,7777,-0.71,-194.7,966.3,-9.6,801,7779,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2278,3866
$STATE,8043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8043,begin apogee
$GC,8049,-0.19,0.0,991.1,9.4,814,8251,0.62,0.00,199.40,1.426,6,0.122,0.000,2754,2045,3071
$STATE,8252,end apogee,CONTROL_FINISHED_OK
$STATE,8252,begin climb
$GC,8254,0.82,194.7,998.7,0.0,824,8472,1.27,3.22,205.75,1.356,4,0.087,0.070,2974,650,2276
$GC,8568,0.68,194.7,974.2,11.3,839,8573,0.17,2.92,0.00,0.000,6,0.143,0.046,2951,2054,2272
$GC,8895,0.60,221.0,943.7,9.1,855,8929,0.00,3.08,26.95,1.364,4,0.000,0.073,2951,647,2168
$GC,9003,0.52,221.0,932.7,10.2,860,9008,0.22,2.88,0.00,0.000,6,0.128,0.048,2917,2076,2167
$GC,9330,0.60,286.6,908.1,7.7,876,9404,0.00,3.15,66.72,1.347,4,0.000,0.072,2917,648,1901
$GC,9479,0.70,327.0,895.3,8.6,883,9529,0.17,2.92,42.15,1.319,6,0.064,0.047,2950,2096,1737
$GC,9852,0.65,327.0,845.8,13.6,901,9856,0.00,2.78,0.00,0.000,4,0.000,0.060,2950,3462,1731
$GC,9890,0.65,327.0,840.1,13.8,903,9895,0.00,2.78,0.00,0.000,6,0.000,0.052,2955,2092,1730
$GC,10216,0.60,327.0,795.2,14.0,919,10217,0.15,0.00,0.00,0.000,6,0.130,0.000,2933,2091,1730
$GC,10525,0.60,331.5,761.9,9.8,934,10531,0.00,0.00,4.60,0.924,6,0.000,0.000,2934,2089,1719
$GC,10834,0.63,350.6,733.8,9.3,949,10857,0.00,0.00,21.40,1.299,6,0.000,0.000,2933,2088,1641
$GC,11164,0.63,355.7,702.3,9.8,965,11177,0.00,2.78,6.40,1.068,4,0.000,0.056,2928,3466,1620
$GC,11195,0.45,358.2,699.0,9.9,966,11200,0.20,2.75,0.00,0.000,6,0.111,0.050,2897,2090,1619
$GC,11511,0.70,446.7,677.0,6.9,981,11613,0.28,3.10,94.62,1.213,4,0.048,0.070,2956,632,1249
$GC,11630,0.65,446.7,661.9,12.2,986,11636,0.00,2.95,0.00,0.000,6,0.000,0.043,2956,2099,1246
$GC,11945,0.65,446.7,621.5,12.5,1002,11946,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2099,1242
$GC,12259,0.65,446.7,581.2,13.6,1023,12264,0.00,3.00,0.00,0.000,4,0.000,0.067,2955,638,1240
$GC,12298,0.65,446.7,575.7,12.8,1026,12302,0.00,2.80,0.00,0.000,6,0.000,0.042,2956,2084,1238
$GC,12624,0.65,446.7,530.7,14.0,1056,12625,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2084,1238
$GC,12942,0.65,446.7,489.3,12.6,1086,12947,0.00,2.92,0.00,0.000,4,0.000,0.064,2956,640,1238
$GC,12983,0.70,446.7,484.3,11.8,1089,12988,0.00,2.75,0.00,0.000,6,0.000,0.041,2956,2074,1237
$GC,13307,0.70,446.7,443.0,13.1,1119,13312,0.00,2.72,0.00,0.000,4,0.000,0.051,2955,3468,1237
$GC,13328,0.70,446.7,440.0,14.2,1120,13337,0.00,2.80,0.00,0.000,6,0.000,0.045,2957,2049,1237
$GC,13654,0.70,446.7,399.3,11.7,1151,13659,0.00,2.83,0.00,0.000,4,0.000,0.064,2956,632,1237
$GC,13675,0.70,446.7,396.5,12.3,1152,13683,0.00,2.75,0.00,0.000,6,0.000,0.039,2956,2063,1236
$GC,14001,0.70,446.7,358.0,12.1,1183,14005,0.00,2.72,0.00,0.000,4,0.000,0.051,2956,3458,1236
$GC,14040,0.76,446.7,353.4,11.6,1186,14044,0.00,2.72,0.00,0.000,6,0.000,0.045,2960,2059,1236
$GC,14378,0.76,446.7,314.3,11.8,1243,14384,0.00,2.83,0.00,0.000,4,0.000,0.064,2956,643,1236
$GC,14407,0.76,446.7,310.8,12.1,1248,14414,0.00,2.72,0.00,0.000,6,0.000,0.040,2956,2061,1236
$GC,14751,0.76,446.7,266.7,13.3,1309,14757,0.00,2.75,0.00,0.000,4,0.000,0.051,2955,3469,1236
$GC,14776,0.76,446.7,263.2,14.0,1313,14782,0.12,2.75,0.00,0.000,6,0.128,0.045,2942,2055,1236
$GC,15117,0.86,446.7,226.8,10.2,1374,15124,0.20,2.83,0.00,0.000,4,0.059,0.063,2983,634,1235
$GC,15138,0.91,446.7,224.5,11.4,1377,15144,0.00,2.70,0.00,0.000,6,0.000,0.039,2984,2066,1235
$GC,15482,0.82,446.7,161.9,17.2,1438,15488,0.00,2.72,0.00,0.000,4,0.000,0.051,2983,3459,1235
$GC,15505,0.76,446.7,157.7,18.4,1442,15511,0.00,2.75,0.00,0.000,6,0.000,0.046,2986,2047,1234
$GC,15837,0.67,446.7,102.4,17.6,1503,15844,0.20,0.00,0.00,0.000,6,0.132,0.000,2951,2047,1235
$GC,16170,0.76,468.9,66.5,9.2,1564,16196,0.00,0.00,21.48,0.905,6,0.000,0.000,2951,2047,1159
$GC,16516,0.82,468.9,31.4,10.4,1628,16524,0.15,0.00,0.00,0.000,6,0.067,0.000,2984,2047,1156
$GC,16652,0.74,468.9,8.2,21.8,1653,16660,0.15,2.85,0.00,0.000,4,0.134,0.065,2959,645,1156
$GC,16678,0.74,468.9,3.0,19.4,1657,16686,0.00,2.72,0.00,0.000,6,0.000,0.039,2958,2058,1155
$STATE,16692,end climb,SURFACE_DEPTH_REACHED
$STATE,16692,begin surface coast
$FINISH,0.0,1.025536
$STATE,16704,end surface coast,CONTROL_FINISHED_OK
$STATE,16704,begin surface
$SM_CCo,16780,0.00,0.000,0,0,1154,470.24
$SM_GC,0.57,7.30,0.00,0.00,0.044,0.000,0.000,1465,2302,1154,-6.10,0.20,470.24
$IRIDIUM_FIX,6041.65,-2548.10,290797,171739
$TT8_MAMPS,0.021476
$HUMID,1674
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,11.70
$XPDR_PINGS,106
$24V_AH,19.4,53.139
$10V_AH,9.8,38.280
$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,21.325,125.450,689.475,0.000,0.000,29.777,29.214,210.324,26.500,0.000,0.000,13.914,2640.577,9494.559,753.197,3747.246,512.767,0.000,2209.167,0.000,3746.092,0.000,0.466
$DEVICE_MAMPS,247.741,72.865,1425.853,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1233.616,1165.194,603.029,810.804,1492.992,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123507,1661
$CAP_FILE_SIZE,152984,0
$CFSIZE,260165632,241876992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050508,030216,6100.904,-2601.643,37,2.2,56,-18.2