version: 66.03
glider: 143
mission: 4
dive: 178
start: 5 10 108 2 33 55
data:
$ID,143
$MISSION,4
$DIVE,178
$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,340
$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,-8610.9043
$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,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
$GPS1,022225,6112.969,-2628.910,37,1.4,37,-18.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-42.2
$GPS2,023337,6113.056,-2628.685,34,1.6,44,-18.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6123.204,-2630.454
$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,358.5,20000,-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,24,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,129,0.00,0.00,-100.75,0.000,2,0.000,0.000,1470,2299,3545
$GC,132,-0.82,-194.7,3.6,-6.4,14,156,9.77,2.83,-6.82,0.000,4,0.244,0.064,2607,885,3866
$GC,300,-0.74,-194.7,40.2,-17.0,44,308,0.10,2.88,0.00,0.000,6,0.153,0.060,2633,2293,3867
$GC,439,-0.66,-194.7,65.5,-18.9,69,446,0.12,2.80,0.00,0.000,4,0.149,0.052,2641,875,3867
$GC,486,-0.66,-194.7,73.3,-14.7,77,492,0.00,2.75,0.00,0.000,6,0.000,0.048,2652,2271,3867
$GC,816,-0.66,-194.7,117.2,-12.8,138,824,0.00,2.90,0.00,0.000,4,0.000,0.059,2640,3705,3867
$GC,869,-0.66,-194.7,123.8,-12.6,147,876,0.00,2.80,0.00,0.000,6,0.000,0.041,2640,2252,3867
$GC,1204,-0.66,-194.7,168.1,-13.7,208,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2249,3867
$GC,1548,-0.66,-194.7,213.5,-13.3,269,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2249,3867
$GC,1886,-0.66,-194.7,258.6,-13.5,330,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2249,3868
$GC,2224,-0.66,-194.7,304.3,-13.7,391,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2249,3868
$GC,2561,-0.66,-194.7,350.1,-13.1,452,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2249,3867
$GC,2879,-0.66,-194.7,393.4,-13.5,482,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2249,3868
$GC,3199,-0.66,-194.7,436.9,-13.5,512,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2249,3867
$GC,3517,-0.66,-194.7,480.6,-13.6,542,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2249,3867
$GC,3835,-0.66,-194.7,522.7,-12.4,572,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2249,3867
$GC,4153,-0.66,-194.7,560.3,-11.5,602,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2249,3867
$GC,4474,-0.66,-194.7,597.1,-11.3,632,4478,0.00,2.92,0.00,0.000,4,0.000,0.059,2641,3709,3867
$GC,4517,-0.66,-194.7,602.5,-11.6,635,4522,0.00,2.83,0.00,0.000,6,0.000,0.044,2641,2258,3867
$GC,4844,-0.66,-194.7,639.1,-10.7,651,4849,0.00,2.72,0.00,0.000,4,0.000,0.064,2641,888,3866
$GC,4883,-0.66,-194.7,643.2,-10.4,653,4888,0.00,2.67,0.00,0.000,6,0.000,0.045,2648,2269,3867
$GC,5208,-0.66,-194.7,679.5,-11.9,669,5213,0.00,2.90,0.00,0.000,4,0.000,0.064,2640,3707,3867
$GC,5251,-0.66,-194.7,684.9,-12.1,671,5256,0.00,2.85,0.00,0.000,6,0.000,0.050,2640,2262,3867
$GC,5572,-0.66,-194.7,724.6,-12.0,687,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2262,3867
$GC,5881,-0.66,-194.7,761.0,-12.1,702,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2262,3866
$GC,6191,-0.66,-194.7,800.2,-12.7,717,6195,0.00,2.80,0.00,0.000,4,0.000,0.070,2641,879,3866
$GC,6245,-0.66,-194.7,806.9,-11.7,719,6251,0.00,2.72,0.00,0.000,6,0.000,0.048,2641,2270,3866
$GC,6560,-0.66,-194.7,847.4,-13.1,735,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2271,3866
$GC,6870,-0.66,-194.7,888.4,-13.4,750,6874,0.00,2.92,0.00,0.000,4,0.000,0.065,2641,3711,3866
$GC,6918,-0.66,-194.7,895.2,-13.5,752,6923,0.00,2.88,0.00,0.000,6,0.000,0.051,2640,2257,3865
$GC,7239,-0.66,-194.7,934.1,-10.9,768,7244,0.00,2.78,0.00,0.000,4,0.000,0.068,2640,886,3865
$GC,7282,-0.66,-194.7,938.8,-10.3,770,7287,0.00,2.70,0.00,0.000,6,0.000,0.049,2642,2264,3865
$GC,7610,-0.66,-194.7,973.4,-9.9,786,7614,0.00,2.95,0.00,0.000,4,0.000,0.067,2640,3708,3864
$GC,7671,-0.66,-194.7,980.3,-11.5,789,7675,0.00,2.85,0.00,0.000,6,0.000,0.050,2641,2261,3864
$STATE,7767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7767,begin apogee
$GC,7773,-0.19,0.0,991.4,11.8,794,7976,0.70,0.00,199.48,1.430,6,0.128,0.000,2756,2041,3071
$STATE,7976,end apogee,CONTROL_FINISHED_OK
$STATE,7976,begin climb
$GC,7978,0.82,194.7,999.4,0.0,804,8196,1.25,3.22,206.10,1.358,4,0.087,0.070,2972,646,2277
$GC,8292,0.70,194.7,970.5,13.6,819,8298,0.12,2.92,0.00,0.000,6,0.142,0.045,2957,2053,2273
$GC,8619,0.58,194.7,931.9,11.9,835,8624,0.17,2.90,0.00,0.000,4,0.141,0.060,2929,3466,2271
$GC,8681,0.58,194.7,925.1,10.5,838,8686,0.00,2.85,0.00,0.000,6,0.000,0.053,2929,2061,2270
$GC,9007,0.55,210.2,895.3,9.5,854,9029,0.00,2.95,15.77,1.386,4,0.000,0.070,2928,633,2214
$GC,9135,0.55,211.7,882.4,9.9,859,9141,0.00,2.88,0.00,0.000,6,0.000,0.045,2929,2090,2212
$GC,9450,0.58,239.4,853.9,9.0,875,9486,0.00,3.08,30.40,1.333,4,0.000,0.070,2929,633,2095
$GC,9559,0.61,258.8,843.7,9.3,879,9585,0.00,2.92,21.23,1.295,6,0.000,0.045,2929,2105,2015
$GC,9900,0.61,258.8,811.0,10.6,896,9905,0.00,2.75,0.00,0.000,4,0.000,0.060,2928,3466,2011
$GC,9926,0.61,258.8,808.0,10.9,897,9931,0.00,2.75,0.00,0.000,6,0.000,0.050,2928,2093,2010
$GC,10248,0.61,258.8,773.8,10.1,913,10253,0.00,2.78,0.00,0.000,4,0.000,0.059,2928,3465,2010
$GC,10264,0.61,258.8,772.2,10.0,914,10268,0.00,2.70,0.00,0.000,6,0.000,0.049,2928,2102,2009
$GC,10589,0.66,302.6,743.3,8.5,930,10636,0.00,0.00,44.10,1.282,6,0.000,0.000,2928,2101,1837
$GC,10940,0.67,305.4,709.2,9.9,947,10944,0.00,2.78,0.00,0.000,4,0.000,0.058,2928,3469,1833
$GC,10983,0.67,305.4,704.5,10.5,949,10987,0.00,2.70,0.00,0.000,6,0.000,0.049,2928,2117,1831
$GC,11310,0.67,305.7,671.8,10.0,965,11311,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2116,1831
$GC,11619,0.67,310.8,641.6,9.8,980,11632,0.00,0.00,8.90,1.135,6,0.000,0.000,2929,2115,1803
$GC,11949,0.69,327.6,610.0,9.4,996,11974,0.12,2.75,18.42,1.197,4,0.074,0.055,2953,3456,1734
$GC,11990,0.69,327.6,605.2,12.2,998,11995,0.00,2.67,0.00,0.000,6,0.000,0.046,2953,2110,1733
$GC,12315,0.65,327.6,565.5,12.5,1026,12317,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2110,1733
$GC,12635,0.60,327.6,523.7,12.9,1056,12644,0.15,0.00,0.00,0.000,6,0.131,0.000,2930,2110,1732
$GC,12961,0.60,327.6,488.3,10.6,1087,12962,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2109,1732
$GC,13279,0.60,327.6,453.6,11.0,1117,13280,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2109,1732
$GC,13598,0.63,348.5,422.0,9.3,1147,13622,0.00,0.00,22.12,1.114,6,0.000,0.000,2931,2109,1650
$GC,13936,0.69,364.0,390.4,9.5,1179,13956,0.00,0.00,16.23,1.043,6,0.000,0.000,2931,2109,1587
$GC,14276,0.74,364.0,357.1,10.3,1211,14278,0.15,0.00,0.00,0.000,6,0.064,0.000,2961,2109,1584
$GC,14609,0.69,364.0,308.4,14.3,1265,14614,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2109,1584
$GC,14947,0.65,364.0,261.1,13.4,1326,14953,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2109,1584
$GC,15288,0.60,364.0,213.8,14.1,1387,15295,0.15,2.67,0.00,0.000,4,0.127,0.050,2935,3466,1584
$GC,15302,0.60,364.0,212.0,13.5,1389,15309,0.00,2.62,0.00,0.000,6,0.000,0.042,2935,2108,1583
$GC,15644,0.70,397.4,179.3,8.8,1450,15685,0.00,0.00,33.60,0.916,6,0.000,0.000,2935,2107,1450
$GC,16022,0.85,458.6,147.9,7.9,1517,16085,0.22,0.00,60.28,0.868,6,0.055,0.000,2987,2107,1201
$GC,16413,0.76,458.6,79.6,20.4,1587,16420,0.00,2.95,0.00,0.000,4,0.000,0.064,2987,641,1194
$GC,16442,0.70,458.6,73.5,20.9,1592,16449,0.17,2.88,0.00,0.000,6,0.112,0.040,2955,2114,1192
$GC,16770,0.70,458.6,35.7,10.8,1653,16778,0.00,3.03,0.00,0.000,4,0.000,0.063,2955,640,1191
$GC,16786,0.70,458.6,33.8,11.1,1655,16794,0.00,2.83,0.00,0.000,6,0.000,0.038,2955,2102,1191
$GC,16921,0.70,458.6,18.7,12.2,1680,16928,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2102,1191
$GC,17055,0.70,458.6,2.5,13.9,1705,17062,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2102,1190
$STATE,17068,end climb,SURFACE_DEPTH_REACHED
$STATE,17068,begin surface coast
$FINISH,0.0,1.003995
$STATE,17086,end surface coast,CONTROL_FINISHED_OK
$STATE,17086,begin surface
$SM_CCo,17162,0.00,0.000,0,0,1188,461.90
$SM_GC,0.65,7.35,0.00,0.00,0.050,0.000,0.000,1470,2313,1188,-6.08,0.51,461.90
$IRIDIUM_FIX,6050.49,-2631.91,040897,020206
$TT8_MAMPS,0.020709
$HUMID,1715
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,11.80
$XPDR_PINGS,127
$24V_AH,19.3,60.200
$10V_AH,9.8,43.026
$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,20.575,119.825,676.625,0.000,0.000,58.238,72.954,324.015,31.750,0.000,0.000,46.856,2700.242,9790.211,725.955,3893.718,706.799,0.000,2218.246,0.000,3847.704,0.000,0.467
$DEVICE_MAMPS,243.906,69.797,1430.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1261.950,1201.527,593.133,838.045,1515.912,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126798,1710
$CAP_FILE_SIZE,158098,0
$CFSIZE,260165632,239566848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100508,072128,6117.061,-2629.060,36,2.3,55,-18.6