version: 66.03
glider: 143
mission: 4
dive: 171
start: 5 8 108 15 24 9
data:
$ID,143
$MISSION,4
$DIVE,171
$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,270
$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,633.11926
$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,-8441.3984
$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,15
$R_STBD_OVSHOOT,18
$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
$GPS1,150916,6059.519,-2640.511,42,4.1,61,-18.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-36.5
$GPS2,152350,6059.527,-2640.572,10,2.0,15,-18.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6059.527,-2645.809
$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,288.5,20000,-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,-194.7,0.0,0.0,0,165,0.00,0.00,-137.38,0.000,2,0.000,0.000,1467,2311,3481
$GC,168,-0.82,-194.7,3.1,-5.3,19,199,9.93,2.92,-8.88,0.000,4,0.252,0.066,2612,884,3867
$GC,405,-0.77,-194.7,44.1,-17.1,62,413,0.00,2.80,0.00,0.000,6,0.000,0.052,2613,2286,3868
$GC,544,-0.67,-194.7,67.6,-16.9,87,550,0.20,0.00,0.00,0.000,6,0.146,0.000,2646,2286,3868
$GC,873,-0.67,-194.7,112.6,-13.6,148,881,0.00,2.80,0.00,0.000,4,0.000,0.054,2645,883,3868
$GC,926,-0.67,-194.7,119.1,-12.4,157,932,0.00,2.72,0.00,0.000,6,0.000,0.046,2647,2282,3868
$GC,1257,-0.67,-194.7,164.9,-13.9,218,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2282,3868
$GC,1594,-0.67,-194.7,211.4,-13.6,279,1601,0.00,2.78,0.00,0.000,4,0.000,0.054,2645,873,3868
$GC,1645,-0.67,-194.7,218.2,-12.6,288,1653,0.00,2.75,0.00,0.000,6,0.000,0.048,2656,2270,3868
$GC,1987,-0.67,-194.7,264.8,-14.2,349,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2270,3868
$GC,2326,-0.67,-194.7,312.6,-14.0,410,2332,0.00,2.75,0.00,0.000,4,0.000,0.054,2645,871,3868
$GC,2356,-0.67,-194.7,316.5,-14.5,415,2362,0.00,2.67,0.00,0.000,6,0.000,0.045,2648,2256,3868
$GC,2698,-0.67,-194.7,363.1,-13.5,468,2702,0.00,2.88,0.00,0.000,4,0.000,0.055,2645,3712,3868
$GC,2737,-0.67,-194.7,368.3,-13.4,471,2741,0.00,2.83,0.00,0.000,6,0.000,0.041,2644,2247,3867
$GC,3062,-0.67,-194.7,411.9,-13.7,501,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2243,3867
$GC,3379,-0.67,-194.7,454.6,-13.3,531,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2243,3867
$GC,3700,-0.67,-194.7,497.9,-13.4,561,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2243,3867
$GC,4017,-0.67,-194.7,540.7,-13.7,591,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2243,3867
$GC,4335,-0.67,-194.7,584.5,-14.1,621,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2243,3866
$GC,4658,-0.67,-194.7,630.1,-14.1,642,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2243,3866
$GC,4967,-0.67,-194.7,672.6,-13.5,657,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2243,3866
$GC,5276,-0.67,-194.7,713.5,-13.2,672,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2243,3866
$GC,5585,-0.67,-194.7,754.6,-13.1,687,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2243,3865
$GC,5895,-0.67,-194.7,792.1,-11.3,702,5900,0.00,2.97,0.00,0.000,4,0.000,0.066,2645,3705,3865
$GC,5934,-0.67,-194.7,796.6,-11.7,704,5938,0.00,2.88,0.00,0.000,6,0.000,0.052,2645,2257,3865
$GC,6259,-0.67,-194.7,835.2,-12.2,720,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2257,3865
$GC,6568,-0.67,-194.7,873.0,-12.2,735,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2257,3865
$GC,6878,-0.67,-194.7,909.3,-11.6,750,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2258,3865
$GC,7187,-0.67,-194.7,944.4,-11.8,765,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2257,3864
$GC,7496,-0.67,-194.7,980.7,-11.2,780,7500,0.00,2.97,0.00,0.000,4,0.000,0.066,2645,3708,3864
$GC,7534,-0.67,-194.7,985.1,-11.4,782,7539,0.00,2.88,0.00,0.000,6,0.000,0.053,2644,2266,3864
$STATE,7590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7590,begin apogee
$GC,7595,-0.19,0.0,991.3,10.9,785,7797,0.65,0.00,198.40,1.422,6,0.121,0.000,2755,2045,3071
$STATE,7797,end apogee,CONTROL_FINISHED_OK
$STATE,7798,begin climb
$GC,7799,0.82,194.7,998.5,0.0,795,8017,1.25,3.22,205.23,1.352,4,0.086,0.067,2970,647,2276
$GC,8034,0.80,235.3,985.1,8.6,806,8086,0.00,3.00,44.28,1.302,6,0.000,0.044,2972,2054,2110
$GC,8394,0.80,235.3,949.3,10.3,824,8399,0.00,2.92,0.00,0.000,4,0.000,0.061,2970,3467,2106
$GC,8494,0.70,235.3,937.2,12.4,828,8500,0.00,2.92,0.00,0.000,6,0.000,0.053,2970,2030,2105
$GC,8809,0.56,235.3,895.5,13.5,844,8811,0.30,0.00,0.00,0.000,6,0.136,0.000,2924,2030,2105
$GC,9119,0.61,272.0,868.4,8.7,859,9162,0.00,2.95,36.50,1.355,4,0.000,0.070,2924,637,1962
$GC,9283,0.64,302.2,853.3,9.0,866,9322,0.00,2.75,32.20,1.329,6,0.000,0.044,2924,2034,1838
$GC,9646,0.68,333.0,820.1,8.9,884,9688,0.12,2.97,32.22,1.299,4,0.070,0.070,2950,644,1712
$GC,9765,0.68,333.0,806.8,10.9,889,9770,0.00,2.75,0.00,0.000,6,0.000,0.044,2951,2031,1709
$GC,10087,0.68,333.0,767.5,12.5,905,10092,0.00,2.88,0.00,0.000,4,0.000,0.059,2949,3460,1708
$GC,10118,0.68,333.0,763.4,12.1,906,10125,0.00,2.85,0.00,0.000,6,0.000,0.050,2949,2030,1707
$GC,10434,0.68,333.0,722.4,13.5,922,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2029,1707
$GC,10744,0.68,333.0,683.8,12.5,937,10745,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2027,1707
$GC,11053,0.68,333.0,647.3,11.7,952,11057,0.00,2.88,0.00,0.000,4,0.000,0.056,2949,3471,1707
$GC,11075,0.68,333.0,644.7,12.5,953,11079,0.00,2.80,0.00,0.000,6,0.000,0.048,2949,2040,1706
$GC,11395,0.68,333.0,606.6,11.9,969,11396,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2040,1706
$GC,11712,0.68,333.0,568.7,12.3,996,11716,0.00,2.83,0.00,0.000,4,0.000,0.052,2949,3471,1706
$GC,11732,0.68,333.0,565.9,12.1,997,11739,0.00,2.78,0.00,0.000,6,0.000,0.045,2949,2048,1705
$GC,12058,0.68,333.0,527.1,11.9,1028,12059,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2048,1705
$GC,12375,0.68,333.0,490.6,11.7,1058,12380,0.00,2.80,0.00,0.000,4,0.000,0.063,2949,643,1705
$GC,12396,0.68,333.0,488.0,12.2,1059,12402,0.00,2.70,0.00,0.000,6,0.000,0.041,2949,2061,1705
$GC,12721,0.68,333.0,450.3,11.5,1090,12723,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2061,1705
$GC,13039,0.68,333.0,414.2,10.9,1120,13040,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2061,1705
$GC,13357,0.68,333.0,379.7,10.9,1150,13358,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2061,1705
$GC,13679,0.68,333.0,344.9,10.6,1184,13687,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2061,1705
$GC,14022,0.68,333.0,307.7,10.7,1245,14028,0.00,2.85,0.00,0.000,4,0.000,0.061,2949,638,1705
$GC,14039,0.68,333.0,305.3,11.6,1248,14047,0.00,2.70,0.00,0.000,6,0.000,0.039,2949,2046,1705
$GC,14382,0.68,333.0,268.4,10.2,1309,14387,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2046,1706
$GC,14719,0.68,333.0,234.0,10.5,1370,14726,0.00,2.78,0.00,0.000,4,0.000,0.051,2949,3469,1705
$GC,14739,0.68,333.0,232.1,10.5,1373,14745,0.00,2.78,0.00,0.000,6,0.000,0.043,2957,2036,1706
$GC,15077,0.68,333.0,197.1,10.7,1434,15082,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2036,1705
$GC,15418,0.68,334.6,162.4,9.9,1495,15424,0.00,2.80,0.00,0.000,4,0.000,0.050,2949,3465,1705
$GC,15446,0.68,334.6,159.4,10.6,1500,15454,0.00,2.78,0.00,0.000,6,0.000,0.044,2949,2053,1705
$GC,15782,0.68,334.6,124.0,11.3,1561,15787,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2053,1705
$GC,16110,0.68,334.6,86.9,10.4,1622,16118,0.00,2.80,0.00,0.000,4,0.000,0.051,2949,3464,1705
$GC,16144,0.68,334.6,83.5,11.4,1627,16150,0.00,2.72,0.00,0.000,6,0.000,0.044,2955,2059,1705
$GC,16476,0.72,362.8,48.3,9.0,1688,16513,0.00,2.90,28.20,0.869,4,0.000,0.066,2949,642,1591
$GC,16531,0.72,362.8,42.3,11.1,1696,16538,0.00,2.75,0.00,0.000,6,0.000,0.038,2953,2063,1590
$GC,16665,0.72,362.8,28.4,10.8,1721,16673,0.00,2.78,0.00,0.000,4,0.000,0.051,2949,3455,1589
$GC,16691,0.72,362.8,25.6,10.6,1725,16699,0.00,2.75,0.00,0.000,6,0.000,0.043,2951,2061,1588
$GC,16828,0.78,412.0,12.5,8.3,1750,16887,0.00,2.92,47.42,0.779,4,0.000,0.062,2949,645,1390
$GC,16901,0.84,412.0,4.6,12.5,1760,16909,0.12,2.78,0.00,0.000,6,0.146,0.038,2984,2058,1388
$STATE,16925,end climb,SURFACE_DEPTH_REACHED
$STATE,16925,begin surface coast
$FINISH,0.1,1.012035
$STATE,16942,end surface coast,CONTROL_FINISHED_OK
$STATE,16943,begin surface
$SM_CCo,16958,208.55,0.732,0,0,489,633.12
$SM_GC,0.33,0.00,0.00,208.55,0.000,0.000,0.732,1465,2306,489,-6.14,0.28,633.12
$IRIDIUM_FIX,2328.57,3605.62,020897,151501
$TT8_MAMPS,0.021476
$HUMID,1660
$INTERNAL_PRESSURE,8.08625
$TCM_TEMP,12.50
$XPDR_PINGS,133
$24V_AH,19.3,58.287
$10V_AH,9.7,41.711
$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,20.075,125.575,624.450,208.550,0.000,136.220,375.802,0.000,33.250,0.000,0.000,18.384,2758.649,9599.823,926.708,3977.747,764.675,0.000,2450.787,0.000,3967.132,0.000,0.467
$DEVICE_MAMPS,252.343,69.797,1422.018,732.485,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1302.911,1242.326,668.906,905.544,1670.399,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129665,1767
$CAP_FILE_SIZE,152354,0
$CFSIZE,260165632,240132096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,080508,201132,6059.622,-2646.521,38,2.0,38,-18.6