version: 66.03
glider: 143
mission: 4
dive: 172
start: 5 8 108 20 29 57
data:
$ID,143
$MISSION,4
$DIVE,172
$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,30
$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,-8458.6436
$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,21
$R_STBD_OVSHOOT,21
$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
$GPS1,201132,6059.622,-2646.521,38,2.0,38,-18.6
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-25.4
$GPS2,202938,6059.624,-2646.967,10,1.3,15,-18.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6108.976,-2644.361
$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,48.6,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.82,-194.7,0.0,0.0,0,166,0.00,0.00,-136.68,0.000,2,0.000,0.000,1466,2306,3423
$GC,169,-0.82,-194.7,3.1,-7.1,19,192,9.93,0.00,-10.52,0.000,6,0.248,0.000,2612,2306,3866
$GC,320,-0.70,-194.7,32.1,-18.8,46,329,0.17,2.85,0.00,0.000,4,0.154,0.058,2639,3701,3868
$GC,362,-0.70,-194.7,39.5,-16.3,53,370,0.00,2.75,0.00,0.000,6,0.000,0.040,2639,2295,3868
$GC,496,-0.66,-194.7,60.1,-14.7,78,504,0.00,2.80,0.00,0.000,4,0.000,0.054,2639,884,3868
$GC,522,-0.66,-194.7,63.9,-14.9,82,530,0.00,2.78,0.00,0.000,6,0.000,0.048,2639,2289,3868
$GC,856,-0.66,-194.7,111.0,-13.8,143,862,0.00,2.85,0.00,0.000,4,0.000,0.058,2639,3715,3867
$GC,891,-0.66,-194.7,116.3,-14.4,149,897,0.00,2.75,0.00,0.000,6,0.000,0.041,2639,2290,3868
$GC,1224,-0.62,-194.7,161.1,-13.3,210,1231,0.15,2.75,0.00,0.000,4,0.144,0.054,2665,884,3868
$GC,1268,-0.69,-194.7,165.8,-10.8,217,1275,0.00,2.72,0.00,0.000,6,0.000,0.044,2665,2298,3867
$GC,1606,-0.69,-194.7,203.0,-10.9,278,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2299,3868
$GC,1947,-0.69,-194.7,239.5,-10.3,339,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2299,3868
$GC,2287,-0.69,-194.7,275.0,-10.4,400,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2299,3868
$GC,2631,-0.69,-194.7,309.6,-9.7,461,2637,0.00,2.78,0.00,0.000,4,0.000,0.054,2665,886,3867
$GC,2671,-0.76,-194.7,313.7,-9.5,468,2679,0.12,2.72,0.00,0.000,6,0.047,0.044,2632,2289,3867
$GC,3016,-0.71,-194.7,358.9,-13.3,524,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2289,3867
$GC,3336,-0.66,-194.7,402.4,-13.8,554,3338,0.12,0.00,0.00,0.000,6,0.138,0.000,2650,2289,3867
$GC,3653,-0.66,-194.7,440.7,-12.0,584,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2289,3867
$GC,3973,-0.66,-194.7,478.8,-11.8,614,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2289,3866
$GC,4289,-0.66,-194.7,516.1,-11.2,644,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2289,3867
$GC,4608,-0.66,-194.7,552.0,-11.2,674,4609,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2289,3866
$GC,4926,-0.66,-194.7,588.1,-11.5,704,4931,0.00,2.78,0.00,0.000,4,0.000,0.058,2650,887,3866
$GC,4977,-0.70,-194.7,594.0,-11.8,708,4981,0.00,2.67,0.00,0.000,6,0.000,0.044,2650,2279,3866
$GC,5303,-0.70,-194.7,632.3,-12.0,726,5308,0.00,2.85,0.00,0.000,4,0.000,0.061,2649,3705,3866
$GC,5342,-0.70,-194.7,637.0,-11.9,728,5346,0.00,2.78,0.00,0.000,6,0.000,0.045,2649,2280,3866
$GC,5667,-0.70,-194.7,678.3,-13.2,744,5671,0.00,2.80,0.00,0.000,4,0.000,0.065,2650,880,3865
$GC,5706,-0.70,-194.7,683.4,-13.4,746,5710,0.00,2.72,0.00,0.000,6,0.000,0.048,2650,2279,3865
$GC,6031,-0.70,-194.7,726.5,-13.1,762,6036,0.00,2.90,0.00,0.000,4,0.000,0.067,2650,3704,3865
$GC,6074,-0.70,-194.7,732.3,-13.4,764,6078,0.00,2.80,0.00,0.000,6,0.000,0.049,2650,2283,3865
$GC,6401,-0.70,-194.7,772.6,-11.9,780,6402,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2283,3865
$GC,6710,-0.70,-194.7,807.4,-11.1,795,6714,0.00,2.83,0.00,0.000,4,0.000,0.067,2650,881,3865
$GC,6759,-0.75,-194.7,812.9,-10.6,797,6763,0.00,2.75,0.00,0.000,6,0.000,0.050,2650,2285,3865
$GC,7074,-0.75,-194.7,847.8,-10.7,812,7079,0.00,2.90,0.00,0.000,4,0.000,0.067,2649,3709,3864
$GC,7113,-0.75,-194.7,852.0,-10.8,814,7117,0.00,2.83,0.00,0.000,6,0.000,0.050,2650,2279,3864
$GC,7438,-0.75,-194.7,887.7,-11.2,830,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2278,3864
$GC,7747,-0.75,-194.7,922.2,-11.1,845,7752,0.00,2.80,0.00,0.000,4,0.000,0.067,2649,885,3864
$GC,7780,-0.80,-194.7,925.8,-11.3,846,7787,0.12,2.75,0.00,0.000,6,0.063,0.049,2622,2292,3864
$GC,8095,-0.75,-194.7,965.5,-12.5,862,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2292,3863
$STATE,8299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8299,begin apogee
$GC,8304,-0.19,0.0,990.2,11.9,872,8506,0.82,0.00,198.40,1.423,6,0.143,0.000,2752,2043,3071
$STATE,8507,end apogee,CONTROL_FINISHED_OK
$STATE,8507,begin climb
$GC,8509,0.82,194.7,995.9,0.0,882,8727,1.27,3.20,205.82,1.348,4,0.091,0.070,2970,653,2277
$GC,8816,0.71,194.7,966.4,13.7,896,8823,0.00,2.90,0.00,0.000,6,0.000,0.045,2970,2051,2273
$GC,9132,0.58,194.7,925.9,12.3,912,9138,0.25,2.92,0.00,0.000,4,0.133,0.062,2929,3470,2272
$GC,9172,0.59,205.7,921.7,9.6,914,9193,0.00,2.85,11.82,1.289,6,0.000,0.052,2932,2066,2232
$GC,9502,0.58,231.1,891.8,9.1,930,9536,0.00,2.95,27.05,1.350,4,0.000,0.059,2929,3465,2127
$GC,9559,0.60,244.7,886.4,9.5,932,9580,0.00,2.83,15.18,1.226,6,0.000,0.051,2962,2078,2073
$GC,9890,0.63,267.8,854.9,9.2,948,9919,0.00,2.90,24.00,1.338,4,0.000,0.060,2930,3468,1978
$GC,9953,0.65,286.0,849.1,9.4,951,9979,0.00,2.78,20.50,1.246,6,0.000,0.049,2933,2097,1904
$GC,10294,0.66,296.9,816.8,9.6,968,10308,0.00,0.00,12.23,1.272,6,0.000,0.000,2933,2097,1860
$GC,10602,0.66,296.9,786.2,10.2,983,10607,0.00,2.78,0.00,0.000,4,0.000,0.058,2931,3463,1857
$GC,10623,0.66,296.9,783.9,10.6,984,10627,0.00,2.72,0.00,0.000,6,0.000,0.049,2929,2097,1856
$GC,10950,0.67,306.3,751.2,9.7,1000,10962,0.00,0.00,10.55,1.226,6,0.000,0.000,2929,2096,1822
$GC,11259,0.69,316.7,721.7,9.6,1015,11280,0.00,2.80,12.23,1.271,4,0.000,0.057,2929,3458,1779
$GC,11303,0.69,316.8,717.2,10.0,1017,11308,0.00,2.70,0.00,0.000,6,0.000,0.050,2930,2109,1778
$GC,11628,0.69,316.8,684.1,10.3,1033,11630,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2108,1777
$GC,11938,0.70,328.4,653.6,9.6,1048,11958,0.12,0.00,13.25,1.195,6,0.074,0.000,2954,2108,1732
$GC,12267,0.65,328.4,612.1,12.7,1064,12268,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2106,1731
$GC,12584,0.59,328.4,571.8,12.6,1089,12586,0.15,0.00,0.00,0.000,6,0.124,0.000,2931,2105,1731
$GC,12901,0.64,365.3,542.3,8.7,1119,12945,0.00,3.00,37.88,1.141,4,0.000,0.064,2930,643,1580
$GC,12962,0.73,396.1,536.7,8.9,1124,13001,0.15,2.92,32.28,1.093,6,0.057,0.041,2963,2135,1456
$GC,13318,0.67,396.1,486.8,14.3,1158,13322,0.00,3.05,0.00,0.000,4,0.000,0.064,2962,638,1449
$GC,13345,0.67,396.1,482.8,14.3,1160,13349,0.00,2.88,0.00,0.000,6,0.000,0.041,2963,2122,1449
$GC,13670,0.61,396.1,437.5,14.1,1190,13672,0.17,0.00,0.00,0.000,6,0.127,0.000,2936,2123,1448
$GC,13989,0.68,416.8,406.9,9.3,1220,14015,0.00,3.00,20.80,1.062,4,0.000,0.062,2936,640,1370
$GC,14043,0.81,455.4,401.8,8.7,1224,14092,0.15,2.85,40.28,1.007,6,0.044,0.039,2976,2102,1213
$GC,14411,0.73,455.4,343.0,16.0,1262,14417,0.00,2.97,0.00,0.000,4,0.000,0.063,2976,641,1207
$GC,14445,0.69,455.4,337.4,15.7,1268,14453,0.12,2.83,0.00,0.000,6,0.115,0.039,2953,2089,1206
$GC,14787,0.69,455.4,299.9,10.2,1329,14793,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2089,1205
$GC,15126,0.69,455.4,262.8,10.5,1390,15132,0.00,2.92,0.00,0.000,4,0.000,0.061,2953,635,1205
$GC,15160,0.75,455.4,259.1,10.5,1396,15167,0.00,2.75,0.00,0.000,6,0.000,0.038,2953,2065,1204
$GC,15501,0.75,455.4,222.1,11.0,1457,15506,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2065,1204
$GC,15840,0.75,455.4,183.4,10.5,1518,15846,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2065,1204
$GC,16181,0.78,474.9,146.8,9.3,1579,16208,0.00,2.88,19.67,0.943,4,0.000,0.061,2953,636,1133
$GC,16233,0.85,474.9,141.7,10.6,1587,16240,0.15,2.72,0.00,0.000,6,0.055,0.038,2988,2060,1131
$GC,16564,0.75,474.9,84.9,16.1,1648,16572,0.15,0.00,0.00,0.000,6,0.140,0.000,2963,2061,1131
$GC,16897,0.75,474.9,45.2,12.0,1709,16905,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2061,1130
$GC,17032,0.75,474.9,28.5,13.9,1734,17039,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2061,1130
$GC,17166,0.75,474.9,12.9,13.7,1759,17173,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2061,1130
$STATE,17241,end climb,SURFACE_DEPTH_REACHED
$STATE,17241,begin surface coast
$FINISH,0.1,1.003597
$STATE,17254,end surface coast,CONTROL_FINISHED_OK
$STATE,17254,begin surface
$SM_CCo,17329,0.00,0.000,0,0,1129,476.62
$SM_GC,0.61,7.30,0.00,0.00,0.046,0.000,0.000,1466,2298,1129,-6.08,0.08,476.62
$IRIDIUM_FIX,6032.86,-2659.68,020897,202017
$TT8_MAMPS,0.021476
$HUMID,1719
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,12.00
$XPDR_PINGS,197
$24V_AH,19.3,58.601
$10V_AH,9.8,41.907
$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,21.450,136.950,701.925,0.000,0.000,53.414,75.053,775.319,49.250,0.000,0.000,16.618,2795.490,9650.618,794.110,3984.982,1175.066,0.000,2345.753,0.000,3979.291,0.000,0.467
$DEVICE_MAMPS,247.741,69.797,1422.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1312.015,1248.016,628.015,889.639,1605.440,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132765,1775
$CAP_FILE_SIZE,175701,0
$CFSIZE,260165632,240103424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,090508,012004,6102.220,-2643.129,41,1.4,43,-18.6