version: 66.03
glider: 143
mission: 4
dive: 158
start: 5 6 108 3 24 27
data:
$ID,143
$MISSION,4
$DIVE,158
$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,330
$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,-8145.7944
$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,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
$GPS1,031108,6058.662,-2639.015,34,1.4,34,-18.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-47.1
$GPS2,032408,6058.698,-2639.114,9,1.5,14,-18.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6108.050,-2641.721
$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,348.5,20000,-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,-194.7,0.0,0.0,0,150,0.00,0.00,-122.12,0.000,2,0.000,0.000,1467,2306,3457
$GC,153,-0.82,-194.7,3.1,-5.4,17,184,9.85,2.90,-9.60,0.000,4,0.249,0.074,2612,3697,3867
$GC,426,-0.74,-194.7,54.5,-17.4,67,433,0.15,2.75,0.00,0.000,6,0.143,0.041,2634,2282,3869
$GC,757,-0.69,-194.7,110.3,-16.9,128,765,0.00,2.78,0.00,0.000,4,0.000,0.055,2633,884,3869
$GC,799,-0.69,-194.7,117.2,-16.0,135,806,0.00,2.72,0.00,0.000,6,0.000,0.047,2634,2291,3869
$GC,1134,-0.64,-194.7,169.2,-13.9,196,1142,0.15,0.00,0.00,0.000,6,0.138,0.000,2659,2291,3869
$GC,1478,-0.64,-194.7,208.3,-10.6,257,1484,0.00,2.78,0.00,0.000,4,0.000,0.054,2659,883,3869
$GC,1517,-0.69,-194.7,212.7,-10.2,264,1525,0.00,2.78,0.00,0.000,6,0.000,0.045,2659,2299,3868
$GC,1862,-0.69,-194.7,249.0,-11.4,325,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2299,3869
$GC,2201,-0.69,-194.7,286.4,-11.2,386,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2300,3868
$GC,2539,-0.69,-194.7,324.2,-11.0,447,2545,0.00,2.78,0.00,0.000,4,0.000,0.054,2659,889,3869
$GC,2600,-0.75,-194.7,329.9,-10.0,457,2606,0.12,2.72,0.00,0.000,6,0.062,0.044,2631,2300,3869
$GC,2931,-0.70,-194.7,375.9,-14.4,501,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2300,3869
$GC,3251,-0.65,-194.7,424.0,-14.9,531,3253,0.15,0.00,0.00,0.000,6,0.130,0.000,2654,2300,3869
$GC,3570,-0.65,-194.7,465.3,-12.6,561,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2301,3868
$GC,3886,-0.65,-194.7,507.7,-13.7,591,3890,0.00,2.78,0.00,0.000,4,0.000,0.056,2653,889,3869
$GC,3929,-0.70,-194.7,513.6,-12.6,594,3935,0.00,2.70,0.00,0.000,6,0.000,0.043,2654,2294,3868
$GC,4257,-0.70,-194.7,552.4,-11.5,625,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2294,3868
$GC,4571,-0.70,-194.7,588.2,-11.2,655,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2294,3868
$GC,4884,-0.70,-194.7,623.7,-11.9,675,4889,0.00,2.80,0.00,0.000,4,0.000,0.060,2654,890,3868
$GC,4924,-0.75,-194.7,628.3,-11.4,677,4928,0.00,2.70,0.00,0.000,6,0.000,0.045,2654,2286,3868
$GC,5249,-0.75,-194.7,665.6,-11.3,693,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2286,3868
$GC,5558,-0.75,-194.7,701.2,-11.7,708,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3868
$GC,5867,-0.75,-194.7,734.7,-10.6,723,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2289,3868
$GC,6177,-0.75,-194.7,768.2,-10.5,738,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2289,3868
$GC,6486,-0.75,-194.7,800.5,-10.3,753,6490,0.00,2.85,0.00,0.000,4,0.000,0.070,2654,893,3867
$GC,6541,-0.81,-194.7,805.8,-9.9,755,6548,0.17,2.70,0.00,0.000,6,0.056,0.050,2617,2275,3867
$GC,6856,-0.75,-194.7,848.3,-14.2,771,6861,0.12,2.92,0.00,0.000,4,0.135,0.067,2634,3708,3867
$GC,6911,-0.75,-194.7,855.8,-13.1,773,6917,0.00,2.85,0.00,0.000,6,0.000,0.052,2634,2272,3866
$GC,7226,-0.75,-194.7,896.8,-12.8,789,7231,0.00,2.78,0.00,0.000,4,0.000,0.067,2634,886,3867
$GC,7274,-0.75,-194.7,902.8,-11.6,791,7279,0.00,2.70,0.00,0.000,6,0.000,0.048,2633,2268,3866
$GC,7596,-0.75,-194.7,940.8,-11.7,807,7600,0.00,2.92,0.00,0.000,4,0.000,0.067,2634,3706,3866
$GC,7639,-0.75,-194.7,946.3,-12.2,809,7643,0.00,2.88,0.00,0.000,6,0.000,0.051,2634,2257,3866
$GC,7965,-0.75,-194.7,988.1,-13.1,825,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2257,3866
$STATE,7984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7984,begin apogee
$GC,7989,-0.19,0.0,990.8,13.1,826,8191,0.73,0.00,198.48,1.430,6,0.132,0.000,2753,2033,3071
$STATE,8192,end apogee,CONTROL_FINISHED_OK
$STATE,8192,begin climb
$GC,8194,0.82,194.7,999.7,0.0,836,8411,1.30,3.15,205.07,1.358,4,0.087,0.069,2973,653,2277
$GC,8483,0.69,194.7,976.5,12.5,850,8489,0.17,2.92,0.00,0.000,6,0.136,0.044,2952,2051,2273
$GC,8804,0.58,194.7,940.5,10.8,866,8809,0.15,2.92,0.00,0.000,4,0.139,0.062,2928,3466,2271
$GC,8866,0.60,209.2,934.3,9.5,869,8888,0.00,2.83,14.88,1.359,6,0.000,0.051,2928,2071,2218
$GC,9196,0.58,231.4,903.6,9.2,885,9226,0.00,2.90,23.83,1.325,4,0.000,0.061,2928,3464,2127
$GC,9276,0.58,231.4,895.5,10.2,888,9283,0.00,2.80,0.00,0.000,6,0.000,0.051,2928,2099,2124
$GC,9592,0.60,245.7,865.8,9.5,904,9613,0.00,0.00,15.32,1.305,6,0.000,0.000,2928,2098,2069
$GC,9922,0.63,272.4,835.2,9.1,920,9956,0.00,2.88,27.85,1.310,4,0.000,0.059,2929,3465,1959
$GC,9996,0.65,288.4,828.2,9.4,923,10021,0.00,2.75,18.15,1.247,6,0.000,0.050,2928,2110,1895
$GC,10337,0.70,325.2,798.4,8.7,940,10379,0.12,0.00,37.78,1.287,6,0.078,0.000,2951,2110,1745
$GC,10687,0.64,325.2,753.5,13.2,957,10688,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2108,1740
$GC,10996,0.59,325.2,712.2,13.5,972,11001,0.15,2.75,0.00,0.000,4,0.128,0.057,2926,3473,1739
$GC,11012,0.59,325.2,710.0,13.9,973,11018,0.38,2.70,0.00,0.000,6,0.112,0.048,2937,2107,1738
$GC,11339,0.93,325.2,679.4,10.6,989,11345,0.65,2.95,0.00,0.000,4,0.070,0.064,2992,640,1738
$GC,11379,1.01,325.2,675.0,10.3,991,11384,0.12,2.83,0.00,0.000,6,0.074,0.043,3016,2102,1737
$GC,11705,0.80,325.2,608.6,21.3,1007,11710,0.22,2.70,0.00,0.000,4,0.150,0.054,2980,3465,1738
$GC,11745,0.70,325.2,601.1,16.9,1009,11750,0.17,2.70,0.00,0.000,6,0.137,0.048,2954,2093,1736
$GC,12070,0.65,325.2,559.3,12.0,1039,12074,0.00,2.75,0.00,0.000,4,0.000,0.054,2953,3476,1737
$GC,12086,0.60,325.2,557.3,11.9,1040,12091,0.17,2.67,0.00,0.000,6,0.128,0.045,2931,2106,1737
$GC,12412,0.69,404.2,533.5,7.3,1070,12493,0.12,0.00,78.35,1.137,6,0.072,0.000,2952,2106,1423
$GC,12809,0.69,404.2,487.1,12.7,1108,12810,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2105,1415
$GC,13128,0.69,404.2,446.5,12.7,1138,13129,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2105,1413
$GC,13449,0.69,404.2,405.1,12.8,1168,13450,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2105,1413
$GC,13765,0.69,404.2,363.8,13.0,1198,13769,0.00,2.95,0.00,0.000,4,0.000,0.063,2951,634,1413
$GC,13785,0.69,404.2,361.1,12.4,1199,13792,0.00,2.83,0.00,0.000,6,0.000,0.039,2951,2116,1413
$GC,14120,0.69,404.2,320.7,10.9,1251,14126,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2116,1412
$GC,14460,0.69,404.2,280.7,11.6,1312,14468,0.00,3.00,0.00,0.000,4,0.000,0.061,2951,636,1412
$GC,14485,0.69,404.2,277.6,12.0,1316,14493,0.00,2.85,0.00,0.000,6,0.000,0.040,2951,2116,1412
$GC,14830,0.69,404.2,238.8,10.9,1377,14835,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2116,1412
$GC,15169,0.69,404.2,199.4,10.9,1438,15174,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2115,1412
$GC,15504,0.69,404.2,160.1,12.0,1499,15510,0.00,2.95,0.00,0.000,4,0.000,0.061,2951,641,1412
$GC,15541,0.74,404.2,156.1,11.8,1505,15547,0.00,2.80,0.00,0.000,6,0.000,0.040,2951,2111,1412
$GC,15872,0.74,404.2,118.9,11.5,1566,15880,0.00,2.67,0.00,0.000,4,0.000,0.053,2950,3461,1412
$GC,15894,0.74,404.2,116.7,11.3,1569,15901,0.00,2.65,0.00,0.000,6,0.000,0.044,2951,2089,1411
$GC,16225,0.74,404.2,80.0,10.7,1630,16233,0.00,2.90,0.00,0.000,4,0.000,0.064,2951,648,1411
$GC,16246,0.74,404.2,77.8,11.4,1633,16252,0.00,2.78,0.00,0.000,6,0.000,0.039,2951,2109,1411
$GC,16576,0.74,404.2,41.6,10.2,1694,16585,0.00,2.97,0.00,0.000,4,0.000,0.062,2951,644,1411
$GC,16598,0.74,404.2,39.1,11.0,1697,16606,0.00,2.80,0.00,0.000,6,0.000,0.039,2951,2100,1410
$GC,16732,0.74,404.2,24.7,10.0,1722,16740,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2100,1411
$GC,16867,0.74,404.2,9.7,10.4,1747,16874,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2100,1411
$STATE,16937,end climb,SURFACE_DEPTH_REACHED
$STATE,16937,begin surface coast
$FINISH,0.1,1.018460
$STATE,16954,end surface coast,CONTROL_FINISHED_OK
$STATE,16954,begin surface
$SM_CCo,17030,0.00,0.000,0,0,1409,407.69
$SM_GC,0.68,7.22,0.00,0.00,0.045,0.000,0.000,1467,2311,1409,-6.09,0.42,407.69
$IRIDIUM_FIX,6037.25,-2709.59,310797,030333
$TT8_MAMPS,0.021476
$HUMID,1688
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,12.40
$XPDR_PINGS,123
$24V_AH,19.4,54.894
$10V_AH,9.8,39.357
$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,22.425,135.925,619.700,0.000,0.000,73.588,151.949,313.308,30.750,0.000,0.000,16.184,2785.586,9502.084,740.498,3966.119,803.397,0.000,2244.029,0.000,3968.854,0.000,0.467
$DEVICE_MAMPS,249.275,73.632,1429.688,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1307.468,1237.285,646.125,896.958,1632.061,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129849,1763
$CAP_FILE_SIZE,163677,0
$CFSIZE,260165632,241344512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,060508,080932,6101.559,-2643.571,40,1.7,40,-18.5