version: 66.03
glider: 143
mission: 4
dive: 163
start: 5 7 108 4 0 2
data:
$ID,143
$MISSION,4
$DIVE,163
$D_SURF,2
$D_FLARE,3
$D_TGT,720
$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,240
$T_MISSION,270
$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,140
$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,-8238.1748
$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,36
$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
$GPS1,035338,6110.512,-2637.451,29,1.4,29,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-57.4
$GPS2,035944,6110.545,-2637.325,12,1.3,12,-18.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6102.273,-2633.964
$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,158.6,20000,-15.7,-10.000
$D_GRID,720
$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,26,-0.82,-194.7,0.0,0.0,0,129,0.00,0.00,-101.05,0.000,2,0.000,0.000,1468,2318,3563
$GC,132,-0.82,-194.7,3.6,-5.5,14,155,9.80,0.00,-6.78,0.000,6,0.246,0.000,2611,2318,3866
$GC,283,-0.70,-194.7,34.9,-18.7,41,291,0.17,2.80,0.00,0.000,4,0.151,0.061,2638,3686,3867
$GC,320,-0.70,-194.7,41.3,-15.0,47,328,0.00,2.72,0.00,0.000,6,0.000,0.042,2638,2297,3868
$GC,455,-0.65,-194.7,60.9,-14.3,72,463,0.12,0.00,0.00,0.000,6,0.151,0.000,2655,2295,3868
$GC,788,-0.65,-194.7,102.6,-12.6,133,794,0.00,2.78,0.00,0.000,4,0.000,0.055,2655,881,3868
$GC,835,-0.69,-194.7,108.3,-12.2,141,841,0.00,2.70,0.00,0.000,6,0.000,0.045,2655,2276,3868
$GC,1165,-0.69,-194.7,149.2,-12.1,202,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2276,3868
$GC,1505,-0.69,-194.7,188.3,-11.3,263,1511,0.00,2.75,0.00,0.000,4,0.000,0.054,2655,881,3868
$GC,1529,-0.69,-194.7,190.9,-11.4,267,1536,0.00,2.72,0.00,0.000,6,0.000,0.045,2655,2291,3868
$GC,1872,-0.69,-194.7,231.5,-12.5,328,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2292,3868
$GC,2218,-0.69,-194.7,276.2,-13.2,389,2224,0.00,2.78,0.00,0.000,4,0.000,0.055,2655,881,3868
$GC,2246,-0.69,-194.7,280.2,-13.6,394,2253,0.00,2.70,0.00,0.000,6,0.000,0.044,2655,2284,3868
$GC,2587,-0.69,-194.7,325.8,-13.8,455,2594,0.00,2.75,0.00,0.000,4,0.000,0.055,2655,883,3868
$GC,2605,-0.69,-194.7,328.2,-13.3,458,2611,0.00,2.70,0.00,0.000,6,0.000,0.044,2655,2286,3868
$GC,2943,-0.69,-194.7,373.3,-13.1,504,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2286,3868
$GC,3262,-0.69,-194.7,413.8,-12.4,534,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2286,3867
$GC,3579,-0.69,-194.7,452.8,-12.3,564,3584,0.00,2.75,0.00,0.000,4,0.000,0.056,2655,886,3868
$GC,3601,-0.69,-194.7,455.4,-11.7,565,3607,0.00,2.65,0.00,0.000,6,0.000,0.041,2655,2272,3867
$GC,3927,-0.69,-194.7,494.2,-12.1,596,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2272,3868
$GC,4244,-0.69,-194.7,533.5,-12.7,626,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2272,3868
$GC,4564,-0.69,-194.7,573.2,-13.0,656,4569,0.00,2.75,0.00,0.000,4,0.000,0.058,2655,884,3868
$GC,4604,-0.74,-194.7,578.4,-12.4,659,4608,0.00,2.65,0.00,0.000,6,0.000,0.043,2655,2263,3867
$GC,4934,-0.74,-194.7,618.2,-11.8,683,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2263,3868
$GC,5243,-0.74,-194.7,653.1,-11.2,698,5248,0.00,2.90,0.00,0.000,4,0.000,0.063,2655,3703,3867
$GC,5264,-0.74,-194.7,655.5,-11.3,699,5269,0.00,2.83,0.00,0.000,6,0.000,0.048,2654,2259,3868
$GC,5584,-0.74,-194.7,690.6,-11.2,715,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2259,3868
$STATE,5850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5850,begin apogee
$GC,5855,-0.19,0.0,720.6,11.8,728,6053,0.60,0.00,190.70,1.242,6,0.120,0.000,2756,2039,3071
$STATE,6054,end apogee,CONTROL_FINISHED_OK
$STATE,6054,begin climb
$GC,6057,0.82,194.7,730.1,0.0,738,6262,1.23,3.20,195.10,1.180,4,0.086,0.070,2972,650,2276
$GC,6334,0.71,194.7,711.0,11.3,751,6339,0.00,2.92,0.00,0.000,6,0.000,0.044,2972,2057,2274
$GC,6656,0.58,194.7,673.9,12.1,767,6661,0.25,2.88,0.00,0.000,4,0.131,0.058,2931,3462,2272
$GC,6740,0.60,208.2,665.3,9.5,771,6761,0.00,2.78,13.75,1.154,6,0.000,0.048,2931,2073,2222
$GC,7070,0.62,227.7,634.9,9.3,787,7096,0.00,2.83,20.25,1.154,4,0.000,0.055,2931,3465,2143
$GC,7152,0.62,228.5,626.9,10.0,791,7156,0.00,2.72,0.00,0.000,6,0.000,0.047,2930,2093,2141
$GC,7468,0.65,249.1,597.0,9.3,808,7496,0.00,2.80,22.30,1.144,4,0.000,0.054,2931,3469,2055
$GC,7523,0.66,257.9,591.7,9.7,812,7540,0.00,2.70,10.07,1.017,6,0.000,0.044,2931,2112,2019
$GC,7858,0.68,273.3,560.3,9.5,844,7880,0.00,2.75,16.12,1.118,4,0.000,0.053,2931,3472,1956
$GC,7903,0.70,288.2,556.0,9.5,848,7926,0.00,2.67,16.42,1.047,6,0.000,0.044,2940,2124,1896
$GC,8244,0.72,307.2,524.0,9.3,880,8266,0.00,0.00,19.52,1.097,6,0.000,0.000,2939,2124,1818
$GC,8584,0.75,334.8,492.6,9.0,912,8614,0.12,0.00,28.30,1.085,6,0.071,0.000,2963,2124,1706
$GC,8933,0.71,334.8,449.3,13.0,945,8938,0.00,2.67,0.00,0.000,4,0.000,0.051,2955,3467,1703
$GC,8960,0.71,334.8,445.4,13.0,947,8965,0.00,2.62,0.00,0.000,6,0.000,0.044,2960,2130,1701
$GC,9288,0.66,334.8,403.2,12.7,977,9293,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2130,1701
$GC,9613,0.62,334.8,362.0,12.1,1008,9618,0.15,2.65,0.00,0.000,4,0.123,0.051,2929,3469,1701
$GC,9641,0.62,334.8,358.9,10.7,1010,9645,0.00,2.58,0.00,0.000,6,0.000,0.044,2937,2146,1700
$GC,9975,0.72,381.6,330.4,8.4,1060,10030,0.12,3.10,45.10,1.003,4,0.071,0.062,2954,641,1514
$GC,10055,0.72,381.6,321.7,11.9,1073,10061,0.00,2.97,0.00,0.000,6,0.000,0.040,2956,2161,1513
$GC,10395,0.72,381.6,280.2,12.2,1134,10400,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2161,1510
$GC,10735,0.72,381.6,239.0,12.2,1195,10741,0.00,3.08,0.00,0.000,4,0.000,0.061,2955,637,1509
$GC,10779,0.72,381.6,233.7,11.9,1203,10786,0.00,2.88,0.00,0.000,6,0.000,0.040,2955,2141,1508
$GC,11120,0.72,381.6,191.0,13.5,1264,11128,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2141,1509
$GC,11463,0.72,381.6,146.5,13.3,1325,11469,0.00,3.03,0.00,0.000,4,0.000,0.062,2955,634,1508
$GC,11498,0.72,381.6,141.9,13.2,1331,11505,0.00,2.88,0.00,0.000,6,0.000,0.041,2955,2137,1508
$GC,11829,0.72,381.6,100.8,11.5,1392,11837,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2138,1508
$GC,12161,0.72,381.6,60.7,11.9,1453,12167,0.00,3.03,0.00,0.000,4,0.000,0.064,2955,634,1508
$GC,12189,0.72,381.6,57.3,11.4,1458,12197,0.00,2.88,0.00,0.000,6,0.000,0.040,2955,2127,1508
$GC,12513,0.72,381.6,19.4,11.7,1519,12521,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2127,1508
$GC,12647,0.72,381.6,3.0,11.8,1544,12654,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2128,1508
$STATE,12660,end climb,SURFACE_DEPTH_REACHED
$STATE,12660,begin surface coast
$FINISH,0.1,1.014270
$STATE,12678,end surface coast,CONTROL_FINISHED_OK
$STATE,12678,begin surface
$SM_CCo,12753,0.00,0.000,0,0,1506,383.89
$SM_GC,0.72,7.28,0.00,0.00,0.046,0.000,0.000,1466,2314,1506,-6.09,0.54,383.89
$IRIDIUM_FIX,6046.07,-2645.87,310797,232340
$TT8_MAMPS,0.021476
$HUMID,1690
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,12.30
$XPDR_PINGS,120
$24V_AH,19.5,56.128
$10V_AH,9.8,40.277
$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,19.850,107.300,577.650,0.000,0.000,30.592,29.304,193.336,30.000,0.000,0.000,14.014,2409.764,5983.564,655.264,3570.917,486.062,0.000,1963.179,0.000,3581.892,0.000,0.467
$DEVICE_MAMPS,246.207,69.797,1241.773,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1139.928,1082.671,645.484,881.218,1624.792,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,114076,1549
$CAP_FILE_SIZE,131198,0
$CFSIZE,260165632,240930816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070508,073338,6109.928,-2632.269,28,1.5,28,-18.5