version: 66.03
glider: 143
mission: 4
dive: 175
start: 5 9 108 11 27 17
data:
$ID,143
$MISSION,4
$DIVE,175
$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,-8530.6924
$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,20
$R_STBD_OVSHOOT,37
$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
$GPS1,111655,6105.033,-2631.625,24,1.1,41,-18.5
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-43.4
$GPS2,112657,6105.043,-2631.761,15,1.2,15,-18.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6110.442,-2627.252
$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,78.5,20000,-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,-194.7,0.0,0.0,0,129,0.00,0.00,-101.50,0.000,2,0.000,0.000,1467,2321,3672
$GC,132,-0.82,-194.7,3.5,-7.7,14,156,10.15,2.80,-3.97,0.000,4,0.254,0.064,2612,3689,3868
$GC,221,-0.71,-194.7,26.1,-16.7,29,229,0.15,2.72,0.00,0.000,6,0.136,0.039,2638,2297,3869
$GC,356,-0.71,-194.7,47.3,-14.3,54,364,0.00,2.80,0.00,0.000,4,0.000,0.052,2639,886,3869
$GC,390,-0.71,-194.7,53.2,-15.5,60,397,0.00,2.72,0.00,0.000,6,0.000,0.048,2640,2252,3869
$GC,724,-0.66,-194.7,102.1,-14.3,121,730,0.00,2.92,0.00,0.000,4,0.000,0.058,2638,3710,3869
$GC,792,-0.66,-194.7,111.8,-13.9,133,798,0.00,2.78,0.00,0.000,6,0.000,0.041,2638,2278,3869
$GC,1123,-0.62,-194.7,158.4,-14.5,194,1128,0.15,0.00,0.00,0.000,6,0.149,0.000,2664,2275,3870
$GC,1462,-0.62,-194.7,199.4,-12.2,255,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2275,3870
$GC,1802,-0.62,-194.7,239.9,-11.6,316,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2275,3870
$GC,2145,-0.62,-194.7,278.7,-10.9,377,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2275,3869
$GC,2484,-0.62,-194.7,316.2,-11.3,438,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2275,3870
$GC,2824,-0.62,-194.7,354.0,-11.7,496,2828,0.00,2.85,0.00,0.000,4,0.000,0.054,2663,3715,3870
$GC,2850,-0.62,-194.7,357.0,-11.6,498,2855,0.00,2.78,0.00,0.000,6,0.000,0.041,2662,2276,3869
$GC,3175,-0.62,-194.7,393.4,-11.3,528,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2272,3869
$GC,3493,-0.62,-194.7,430.5,-11.7,558,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2272,3869
$GC,3812,-0.62,-194.7,467.8,-11.6,588,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2272,3869
$GC,4130,-0.62,-194.7,502.7,-10.6,618,4134,0.00,2.85,0.00,0.000,4,0.000,0.055,2663,3708,3870
$GC,4157,-0.62,-194.7,505.8,-11.7,620,4161,0.00,2.75,0.00,0.000,6,0.000,0.042,2662,2281,3869
$GC,4484,-0.62,-194.7,541.6,-11.3,650,4488,0.00,2.72,0.00,0.000,4,0.000,0.057,2663,889,3870
$GC,4511,-0.68,-194.7,545.1,-11.9,652,4516,0.00,2.70,0.00,0.000,6,0.000,0.043,2662,2295,3869
$GC,4836,-0.68,-194.7,582.4,-11.3,682,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2295,3870
$GC,5159,-0.68,-194.7,619.0,-11.1,705,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2295,3870
$GC,5468,-0.68,-194.7,652.1,-11.2,720,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2295,3869
$GC,5778,-0.68,-194.7,687.0,-11.4,735,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2297,3869
$GC,6087,-0.68,-194.7,720.7,-10.7,750,6088,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2298,3869
$GC,6396,-0.68,-194.7,753.9,-10.6,765,6401,0.00,2.88,0.00,0.000,4,0.000,0.071,2663,891,3869
$GC,6422,-0.73,-194.7,756.8,-11.2,766,6427,0.00,2.72,0.00,0.000,6,0.000,0.049,2662,2282,3868
$GC,6738,-0.73,-194.7,790.2,-10.4,781,6740,0.12,0.00,0.00,0.000,6,0.065,0.000,2636,2284,3868
$GC,7047,-0.73,-194.7,829.8,-12.7,796,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2285,3868
$GC,7357,-0.73,-194.7,867.7,-12.2,811,7361,0.00,2.85,0.00,0.000,4,0.000,0.068,2636,884,3869
$GC,7395,-0.73,-194.7,872.4,-12.7,813,7399,0.00,2.72,0.00,0.000,6,0.000,0.048,2636,2278,3868
$GC,7720,-0.73,-194.7,911.6,-12.1,829,7725,0.00,2.92,0.00,0.000,4,0.000,0.067,2636,3708,3868
$GC,7752,-0.73,-194.7,915.6,-12.9,830,7759,0.00,2.85,0.00,0.000,6,0.000,0.051,2635,2271,3868
$GC,8068,-0.73,-194.7,952.1,-11.3,846,8069,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2270,3868
$GC,8377,-0.73,-194.7,988.5,-12.3,861,8378,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2271,3867
$STATE,8395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8395,begin apogee
$GC,8400,-0.19,0.0,991.1,12.4,862,8604,0.73,0.00,200.40,1.426,6,0.130,0.000,2754,2033,3071
$STATE,8605,end apogee,CONTROL_FINISHED_OK
$STATE,8605,begin climb
$GC,8607,0.82,194.7,1000.2,0.0,872,8825,1.27,3.17,206.18,1.357,4,0.087,0.069,2974,653,2276
$GC,8921,0.69,194.7,974.4,12.6,887,8927,0.15,2.90,0.00,0.000,6,0.139,0.044,2954,2054,2274
$GC,9248,0.57,194.7,935.1,12.4,903,9253,0.17,2.90,0.00,0.000,4,0.140,0.061,2927,3468,2271
$GC,9325,0.57,194.7,926.7,10.4,906,9332,0.00,2.80,0.00,0.000,6,0.000,0.053,2939,2085,2271
$GC,9641,0.61,226.3,897.5,8.9,922,9682,0.00,2.92,31.67,1.381,4,0.000,0.059,2927,3465,2148
$GC,9709,0.65,255.1,891.2,9.0,925,9747,0.00,2.80,30.52,1.302,6,0.000,0.051,2927,2091,2030
$GC,10056,0.67,274.8,859.3,9.3,942,10083,0.00,2.90,20.67,1.320,4,0.000,0.058,2927,3465,1949
$GC,10191,0.69,287.3,846.2,9.6,948,10211,0.12,2.80,14.65,1.339,6,0.078,0.051,2950,2082,1899
$GC,10539,0.62,287.3,806.0,11.6,965,10544,0.00,2.95,0.00,0.000,4,0.000,0.071,2950,640,1896
$GC,10649,0.62,287.3,792.9,10.9,970,10654,0.00,2.88,0.00,0.000,6,0.000,0.045,2950,2109,1896
$GC,10977,0.55,287.3,753.9,12.0,986,10982,0.15,2.72,0.00,0.000,4,0.133,0.058,2925,3468,1895
$GC,11004,0.55,290.4,751.0,9.9,987,11008,0.00,2.72,0.00,0.000,6,0.000,0.051,2925,2097,1894
$GC,11325,0.61,340.8,724.6,8.3,1003,11387,0.00,2.88,54.33,1.273,4,0.000,0.058,2925,3468,1681
$GC,11410,0.71,371.7,717.2,8.9,1007,11452,0.15,2.78,32.33,1.204,6,0.066,0.049,2954,2106,1554
$GC,11762,0.67,371.7,671.7,13.2,1024,11766,0.00,3.00,0.00,0.000,4,0.000,0.068,2954,638,1548
$GC,11800,0.67,371.7,666.6,12.1,1026,11805,0.00,2.90,0.00,0.000,6,0.000,0.043,2954,2123,1547
$GC,12126,0.62,371.7,623.1,13.7,1042,12127,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2123,1547
$GC,12439,0.58,371.7,581.7,13.5,1063,12444,0.15,3.03,0.00,0.000,4,0.125,0.064,2928,632,1545
$GC,12460,0.58,371.7,579.0,11.4,1064,12469,0.00,2.88,0.00,0.000,6,0.000,0.042,2928,2113,1545
$GC,12787,0.68,413.1,550.6,8.6,1095,12830,0.00,0.00,41.65,1.150,6,0.000,0.000,2928,2113,1387
$GC,13146,0.86,487.9,522.6,7.4,1129,13232,0.25,3.12,77.68,1.107,4,0.051,0.065,2987,639,1080
$GC,13256,0.77,487.9,505.1,18.7,1139,13261,0.00,2.92,0.00,0.000,6,0.000,0.041,2988,2105,1077
$GC,13584,0.65,487.9,444.1,19.5,1169,13590,0.25,3.00,0.00,0.000,4,0.138,0.064,2946,638,1073
$GC,13628,0.73,487.9,437.1,11.1,1172,13635,0.00,2.78,0.00,0.000,6,0.000,0.040,2946,2076,1071
$GC,13955,0.85,529.3,408.2,8.6,1203,14000,0.15,0.00,42.08,1.039,6,0.064,0.000,2982,2076,913
$GC,14321,0.76,529.3,343.4,17.5,1240,14329,0.00,2.95,0.00,0.000,4,0.000,0.064,2982,644,908
$GC,14375,0.76,529.3,334.7,13.7,1249,14382,0.00,2.75,0.00,0.000,6,0.000,0.040,2982,2070,906
$GC,14716,0.68,529.3,273.8,19.1,1310,14723,0.17,2.90,0.00,0.000,4,0.132,0.063,2953,638,905
$GC,14746,0.68,529.3,269.1,16.0,1315,14752,0.00,2.67,0.00,0.000,6,0.000,0.038,2953,2039,905
$GC,15085,0.77,540.7,236.3,9.6,1376,15105,0.00,2.83,11.32,0.938,4,0.000,0.051,2953,3453,866
$GC,15119,0.85,542.7,233.2,9.9,1381,15126,0.15,2.80,0.00,0.000,6,0.061,0.044,2988,2026,866
$GC,15461,0.75,542.7,171.0,19.6,1442,15468,0.15,2.78,0.00,0.000,4,0.140,0.064,2962,642,864
$GC,15513,0.85,542.7,163.4,10.9,1451,15519,0.10,2.65,0.00,0.000,6,0.064,0.039,2986,2030,864
$GC,15845,0.77,542.7,105.9,19.6,1512,15852,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2031,864
$GC,16178,0.68,542.7,44.4,19.2,1573,16188,0.20,2.83,3.28,0.502,4,0.131,0.064,2952,634,859
$GC,16201,0.68,542.7,40.2,17.7,1576,16209,0.00,2.65,0.00,0.000,6,0.000,0.038,2952,2010,858
$GC,16338,0.85,589.7,27.9,8.4,1601,16391,0.15,0.00,47.20,0.802,6,0.060,0.000,2989,2010,667
$STATE,16489,end climb,SURFACE_DEPTH_REACHED
$STATE,16490,begin surface coast
$FINISH,0.2,1.027332
$STATE,16503,end surface coast,CONTROL_FINISHED_OK
$STATE,16503,begin surface
$SM_CCo,16579,0.00,0.000,0,0,662,590.93
$SM_GC,0.41,7.50,0.00,0.00,0.043,0.000,0.000,1468,2299,662,-6.08,0.11,590.93
$IRIDIUM_FIX,6041.65,-2631.91,030897,111125
$TT8_MAMPS,0.021476
$HUMID,1703
$INTERNAL_PRESSURE,8.08625
$TCM_TEMP,11.80
$XPDR_PINGS,110
$24V_AH,19.3,59.422
$10V_AH,9.7,42.458
$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,22.550,142.900,813.950,0.000,0.000,46.710,66.204,304.778,27.500,0.000,0.000,16.857,2579.243,9384.374,833.999,3684.106,686.243,0.000,2324.526,0.000,3675.958,0.000,0.467
$DEVICE_MAMPS,253.877,70.564,1425.853,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1210.032,1138.987,552.921,777.877,1400.663,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120135,1629
$CAP_FILE_SIZE,160007,0
$CFSIZE,260165632,239841280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,090508,160457,6105.883,-2626.139,26,99.0,45,-18.4