version: 66.03
glider: 143
mission: 4
dive: 173
start: 5 9 108 1 27 3
data:
$ID,143
$MISSION,4
$DIVE,173
$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,60
$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,-8475.7285
$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,23
$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
$GPS1,012004,6102.220,-2643.129,41,1.4,43,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-38.0
$GPS2,012645,6102.226,-2643.229,14,2.0,14,-18.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6107.625,-2638.713
$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,78.6,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,136,0.00,0.00,-108.12,0.000,2,0.000,0.000,1466,2302,3437
$GC,139,-0.82,-194.7,3.1,-5.1,15,170,9.88,2.92,-9.85,0.000,4,0.249,0.074,2612,3702,3867
$GC,220,-0.71,-194.7,21.3,-18.4,28,228,0.15,2.78,0.00,0.000,6,0.137,0.040,2637,2285,3868
$GC,357,-0.66,-194.7,42.5,-15.3,53,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2283,3868
$GC,491,-0.60,-194.7,61.5,-13.1,78,499,0.15,2.88,0.00,0.000,4,0.153,0.057,2661,3699,3868
$GC,534,-0.60,-194.7,66.5,-10.9,85,540,0.00,2.70,0.00,0.000,6,0.000,0.040,2662,2302,3868
$GC,864,-0.60,-194.7,102.1,-11.3,146,872,0.00,2.80,0.00,0.000,4,0.000,0.054,2662,886,3868
$GC,899,-0.65,-194.7,105.5,-11.4,151,905,0.00,2.72,0.00,0.000,6,0.000,0.043,2661,2295,3868
$GC,1229,-0.65,-194.7,144.4,-12.0,212,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2295,3868
$GC,1569,-0.65,-194.7,185.5,-12.1,273,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2295,3868
$GC,1907,-0.65,-194.7,225.9,-11.6,334,1913,0.00,2.78,0.00,0.000,4,0.000,0.054,2662,883,3868
$GC,1941,-0.70,-194.7,229.8,-11.5,340,1949,0.00,2.72,0.00,0.000,6,0.000,0.044,2661,2281,3868
$GC,2285,-0.70,-194.7,270.5,-11.8,401,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2281,3868
$GC,2623,-0.70,-194.7,309.8,-11.2,462,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2281,3868
$GC,2963,-0.70,-194.7,347.6,-11.3,523,2969,0.00,2.83,0.00,0.000,4,0.000,0.055,2661,3712,3868
$GC,2990,-0.70,-194.7,350.9,-11.7,527,2996,0.00,2.75,0.00,0.000,6,0.000,0.041,2661,2281,3868
$GC,3315,-0.70,-194.7,388.3,-11.9,558,3320,0.00,2.72,0.00,0.000,4,0.000,0.054,2662,881,3868
$GC,3348,-0.75,-194.7,392.3,-11.5,560,3357,0.10,2.72,0.00,0.000,6,0.052,0.043,2633,2286,3868
$GC,3673,-0.70,-194.7,439.6,-14.7,591,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2286,3868
$GC,3993,-0.64,-194.7,484.5,-13.8,621,3995,0.15,0.00,0.00,0.000,6,0.139,0.000,2654,2286,3868
$GC,4310,-0.64,-194.7,523.3,-12.4,651,4311,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2286,3868
$GC,4630,-0.64,-194.7,563.3,-12.4,681,4634,0.00,2.78,0.00,0.000,4,0.000,0.057,2654,883,3868
$GC,4662,-0.64,-194.7,567.7,-12.4,683,4668,0.00,2.67,0.00,0.000,6,0.000,0.043,2655,2278,3868
$GC,4985,-0.64,-194.7,605.9,-11.6,712,4990,0.00,2.85,0.00,0.000,4,0.000,0.058,2654,3709,3867
$GC,5008,-0.64,-194.7,608.6,-11.7,713,5013,0.00,2.75,0.00,0.000,6,0.000,0.044,2655,2288,3868
$GC,5329,-0.64,-194.7,644.8,-11.1,729,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2288,3868
$GC,5638,-0.64,-194.7,678.5,-10.9,744,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3867
$GC,5947,-0.64,-194.7,712.5,-11.0,759,5952,0.00,2.83,0.00,0.000,4,0.000,0.067,2654,888,3867
$GC,5986,-0.70,-194.7,716.7,-10.5,761,5991,0.00,2.72,0.00,0.000,6,0.000,0.048,2655,2284,3867
$GC,6311,-0.70,-194.7,752.0,-10.8,777,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2285,3867
$GC,6621,-0.70,-194.7,785.6,-11.0,792,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2286,3867
$GC,6930,-0.70,-194.7,819.2,-10.3,807,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3867
$GC,7239,-0.70,-194.7,851.2,-10.2,822,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3866
$GC,7549,-0.70,-194.7,882.6,-10.4,837,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3866
$GC,7858,-0.70,-194.7,914.7,-10.8,852,7862,0.00,2.85,0.00,0.000,4,0.000,0.067,2655,888,3866
$GC,7890,-0.76,-194.7,918.2,-11.3,853,7897,0.00,2.75,0.00,0.000,6,0.000,0.050,2655,2291,3866
$GC,8205,-0.76,-194.7,951.6,-10.2,869,8206,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2291,3865
$GC,8514,-0.76,-194.7,984.4,-11.2,884,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2291,3865
$STATE,8574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8574,begin apogee
$GC,8579,-0.19,0.0,991.2,10.9,887,8782,0.60,0.00,199.25,1.426,6,0.130,0.000,2753,2043,3071
$STATE,8782,end apogee,CONTROL_FINISHED_OK
$STATE,8782,begin climb
$GC,8784,0.82,194.7,1000.4,0.0,897,9003,1.27,3.17,205.68,1.357,4,0.090,0.070,2971,649,2277
$GC,9092,0.70,194.7,977.0,11.7,911,9098,0.00,2.92,0.00,0.000,6,0.000,0.046,2972,2051,2274
$GC,9408,0.57,194.7,939.6,12.2,927,9413,0.28,2.90,0.00,0.000,4,0.133,0.061,2926,3461,2272
$GC,9492,0.58,204.5,930.9,9.7,931,9508,0.00,2.80,10.75,1.283,6,0.000,0.053,2926,2080,2237
$GC,9817,0.60,224.8,900.7,9.3,946,9846,0.00,2.92,21.80,1.343,4,0.000,0.060,2926,3467,2153
$GC,9886,0.62,234.9,893.9,9.7,949,9904,0.00,2.80,11.45,1.216,6,0.000,0.051,2927,2085,2113
$GC,10212,0.64,257.7,864.1,9.2,965,10242,0.00,2.88,24.42,1.326,4,0.000,0.059,2927,3471,2020
$GC,10280,0.64,257.7,857.3,10.3,968,10285,0.00,2.75,0.00,0.000,6,0.000,0.050,2926,2113,2017
$GC,10595,0.64,257.7,824.1,11.0,983,10597,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2112,2017
$GC,10905,0.66,270.7,793.4,9.6,998,10927,0.00,2.78,13.82,1.318,4,0.000,0.059,2926,3470,1967
$GC,10960,0.67,275.3,788.1,9.8,1000,10972,0.00,2.67,6.55,1.009,6,0.000,0.050,2926,2134,1948
$GC,11280,0.75,345.2,762.7,7.6,1016,11362,0.15,2.88,71.75,1.272,4,0.071,0.058,2959,3471,1662
$GC,11452,0.75,345.2,743.0,12.1,1024,11457,0.00,2.72,0.00,0.000,6,0.000,0.051,2960,2133,1658
$GC,11778,0.69,345.2,702.9,12.4,1040,11782,0.00,2.70,0.00,0.000,4,0.000,0.056,2959,3468,1655
$GC,11894,0.69,345.2,688.9,12.3,1045,11899,0.00,2.62,0.00,0.000,6,0.000,0.050,2960,2137,1654
$GC,12215,0.62,345.2,648.6,13.0,1061,12221,0.15,3.03,0.00,0.000,4,0.129,0.066,2933,638,1654
$GC,12256,0.68,348.5,644.2,9.9,1063,12260,0.00,2.90,0.00,0.000,6,0.000,0.044,2933,2140,1654
$GC,12581,0.68,348.5,611.6,10.0,1079,12585,0.00,2.62,0.00,0.000,4,0.000,0.054,2933,3474,1654
$GC,12607,0.73,348.5,608.7,10.3,1080,12612,0.12,2.62,0.00,0.000,6,0.071,0.046,2959,2131,1652
$GC,12932,0.67,348.5,564.7,14.0,1106,12936,0.00,3.00,0.00,0.000,4,0.000,0.064,2958,632,1652
$GC,12970,0.67,348.5,559.2,13.1,1109,12975,0.00,2.88,0.00,0.000,6,0.000,0.042,2959,2128,1652
$GC,13296,0.61,348.5,515.0,13.8,1139,13298,0.15,0.00,0.00,0.000,6,0.127,0.000,2936,2128,1652
$GC,13616,0.63,358.5,482.6,9.7,1169,13637,0.00,3.05,12.35,1.108,4,0.000,0.063,2937,641,1609
$GC,13654,0.63,359.6,478.6,10.0,1172,13660,0.00,2.85,0.00,0.000,6,0.000,0.041,2936,2123,1608
$GC,13979,0.66,385.0,448.2,9.1,1203,14010,0.00,0.00,28.02,1.099,6,0.000,0.000,2936,2122,1501
$GC,14328,0.74,418.1,417.5,8.9,1236,14370,0.12,3.08,34.08,1.046,4,0.071,0.063,2961,641,1365
$GC,14394,0.74,418.1,409.9,12.6,1242,14399,0.00,2.88,0.00,0.000,6,0.000,0.039,2962,2110,1364
$GC,14721,0.74,418.1,367.7,12.8,1272,14722,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2110,1361
$GC,15043,0.74,418.1,323.5,13.2,1319,15049,0.00,2.97,0.00,0.000,4,0.000,0.062,2961,635,1360
$GC,15083,0.74,418.1,318.4,11.9,1326,15089,0.00,2.80,0.00,0.000,6,0.000,0.039,2962,2100,1359
$GC,15425,0.74,418.1,273.6,12.4,1387,15430,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2100,1359
$GC,15765,0.74,418.1,227.6,14.4,1448,15772,0.00,2.95,0.00,0.000,4,0.000,0.062,2962,645,1358
$GC,15807,0.74,418.1,222.0,12.4,1455,15814,0.00,2.72,0.00,0.000,6,0.000,0.040,2962,2076,1358
$GC,16147,0.74,418.1,176.2,12.8,1516,16155,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2076,1358
$GC,16489,0.74,418.1,132.0,12.7,1577,16494,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2076,1358
$GC,16819,0.74,418.1,87.5,14.5,1638,16826,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2076,1358
$GC,17151,0.74,418.1,37.8,13.8,1699,17159,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2076,1358
$GC,17285,0.74,418.1,19.0,17.1,1724,17293,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2080,1358
$STATE,17403,end climb,SURFACE_DEPTH_REACHED
$STATE,17403,begin surface coast
$FINISH,0.1,1.027288
$STATE,17420,end surface coast,CONTROL_FINISHED_OK
$STATE,17420,begin surface
$SM_CCo,17496,0.00,0.000,0,0,1356,420.69
$SM_GC,0.74,7.25,0.00,0.00,0.044,0.000,0.000,1466,2320,1356,-6.09,0.68,420.69
$IRIDIUM_FIX,6032.86,-2713.53,020897,202025
$TT8_MAMPS,0.021476
$HUMID,1711
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,12.30
$XPDR_PINGS,128
$24V_AH,19.3,58.859
$10V_AH,9.8,42.092
$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,20.525,136.325,639.925,0.000,0.000,31.299,36.657,213.683,32.000,0.000,0.000,16.456,2771.878,9859.967,745.525,3940.947,561.557,0.000,2271.061,0.000,3944.126,0.000,0.466
$DEVICE_MAMPS,249.275,74.399,1425.853,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1295.667,1233.623,633.272,846.584,1560.387,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,130043,1749
$CAP_FILE_SIZE,159248,0
$CFSIZE,260165632,240025600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090508,061954,6103.505,-2636.853,26,1.7,40,-18.5