version: 66.03
glider: 143
mission: 4
dive: 180
start: 5 10 108 12 7 26
data:
$ID,143
$MISSION,4
$DIVE,180
$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,290
$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,-8662.2471
$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,19
$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
$GPS1,120008,6120.393,-2632.754,45,1.5,45,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-56.0
$GPS2,120708,6120.514,-2632.738,14,1.4,31,-18.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6124.207,-2637.595
$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,308.6,20000,-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,-194.7,0.0,0.0,0,115,0.00,0.00,-86.80,0.000,2,0.000,0.000,1466,2301,3349
$GC,118,-0.82,-194.7,3.1,-6.3,12,149,9.88,2.85,-12.93,0.000,4,0.245,0.067,2609,886,3866
$GC,157,-0.33,-194.7,10.9,-19.7,17,165,0.45,2.80,0.00,0.000,6,0.131,0.048,2716,2291,3867
$GC,294,-0.42,-194.7,24.5,-9.2,42,302,0.00,2.83,0.00,0.000,4,0.000,0.053,2692,881,3867
$GC,434,-0.55,-194.7,36.5,-8.7,68,442,0.00,2.75,0.00,0.000,6,0.000,0.041,2701,2289,3867
$GC,570,-0.64,-194.7,48.1,-8.5,93,579,0.17,2.88,0.00,0.000,4,0.056,0.055,2650,3712,3868
$GC,608,-0.64,-194.7,52.4,-12.5,99,614,0.00,2.78,0.00,0.000,6,0.000,0.041,2650,2278,3868
$GC,937,-0.64,-194.7,93.2,-12.5,160,945,0.00,2.78,0.00,0.000,4,0.000,0.056,2650,883,3868
$GC,1014,-0.64,-194.7,102.1,-11.7,173,1020,0.00,2.72,0.00,0.000,6,0.000,0.045,2650,2283,3868
$GC,1344,-0.64,-194.7,143.3,-12.2,234,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2284,3868
$GC,1684,-0.64,-194.7,185.6,-13.2,295,1690,0.00,2.78,0.00,0.000,4,0.000,0.056,2650,883,3868
$GC,1734,-0.64,-194.7,191.5,-11.4,304,1742,0.00,2.72,0.00,0.000,6,0.000,0.046,2651,2270,3868
$GC,2079,-0.64,-194.7,233.3,-12.3,365,2085,0.00,2.88,0.00,0.000,4,0.000,0.058,2650,3717,3868
$GC,2114,-0.64,-194.7,237.9,-13.1,371,2121,0.00,2.83,0.00,0.000,6,0.000,0.042,2650,2258,3868
$GC,2454,-0.64,-194.7,279.3,-12.0,432,2462,0.00,2.70,0.00,0.000,4,0.000,0.055,2650,891,3868
$GC,2501,-0.69,-194.7,284.8,-11.2,440,2509,0.00,2.67,0.00,0.000,6,0.000,0.044,2650,2260,3868
$GC,2847,-0.69,-194.7,325.2,-11.9,501,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2260,3868
$GC,3185,-0.69,-194.7,366.1,-12.2,551,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2260,3868
$GC,3503,-0.69,-194.7,404.7,-11.9,581,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2260,3868
$GC,3822,-0.69,-194.7,443.3,-12.3,611,3827,0.00,2.72,0.00,0.000,4,0.000,0.057,2650,883,3867
$GC,3866,-0.73,-194.7,448.7,-11.5,614,3873,0.00,2.65,0.00,0.000,6,0.000,0.043,2651,2263,3868
$GC,4192,-0.73,-194.7,486.6,-11.9,645,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2264,3868
$GC,4509,-0.73,-194.7,525.5,-12.3,675,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2263,3867
$GC,4830,-0.73,-194.7,564.4,-12.0,705,4834,0.00,2.75,0.00,0.000,4,0.000,0.058,2650,882,3867
$GC,4873,-0.73,-194.7,570.1,-12.2,708,4879,0.00,2.65,0.00,0.000,6,0.000,0.044,2655,2256,3868
$GC,5207,-0.73,-194.7,610.2,-12.1,736,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2257,3868
$GC,5515,-0.73,-194.7,645.7,-11.6,751,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2257,3867
$GC,5824,-0.73,-194.7,682.1,-12.0,766,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2258,3867
$GC,6133,-0.73,-194.7,718.1,-11.4,781,6138,0.00,2.83,0.00,0.000,4,0.000,0.071,2650,884,3867
$GC,6183,-0.77,-194.7,723.7,-11.4,783,6188,0.28,2.65,0.00,0.000,6,0.051,0.048,2621,2243,3866
$GC,6498,-0.65,-194.7,778.2,-17.5,798,6503,0.25,2.97,0.00,0.000,4,0.137,0.065,2632,3701,3866
$GC,6542,-0.65,-194.7,784.6,-12.5,800,6547,0.15,2.88,0.00,0.000,6,0.135,0.052,2654,2255,3866
$GC,6869,-0.65,-194.7,819.5,-10.8,816,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2255,3866
$GC,7178,-0.65,-194.7,852.2,-10.3,831,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2255,3866
$GC,7487,-0.65,-194.7,885.1,-10.6,846,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2254,3865
$GC,7796,-0.65,-194.7,919.7,-11.5,861,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2255,3865
$GC,8105,-0.65,-194.7,954.0,-10.9,876,8110,0.00,2.78,0.00,0.000,4,0.000,0.070,2655,883,3865
$GC,8151,-0.73,-194.7,958.9,-11.5,878,8155,0.00,2.67,0.00,0.000,6,0.000,0.048,2654,2252,3865
$STATE,8448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8448,begin apogee
$GC,8454,-0.19,0.0,990.3,10.5,893,8657,0.60,0.00,199.80,1.438,6,0.118,0.000,2756,2031,3071
$STATE,8658,end apogee,CONTROL_FINISHED_OK
$STATE,8658,begin climb
$GC,8659,0.82,194.7,998.9,0.0,903,8878,1.25,3.22,207.18,1.365,4,0.085,0.072,2971,647,2276
$GC,9006,0.71,194.7,967.8,13.7,919,9011,0.00,2.92,0.00,0.000,6,0.000,0.048,2971,2054,2273
$GC,9322,0.58,194.7,927.9,13.0,934,9328,0.25,2.90,0.00,0.000,4,0.134,0.061,2930,3467,2271
$GC,9361,0.58,194.7,923.2,11.1,936,9366,0.00,2.85,0.00,0.000,6,0.000,0.051,2930,2060,2271
$GC,9687,0.58,229.9,892.7,8.8,952,9728,0.00,0.00,35.50,1.377,6,0.000,0.000,2930,2059,2133
$GC,10038,0.65,282.4,862.8,8.2,969,10099,0.00,3.05,53.55,1.353,4,0.000,0.071,2930,635,1919
$GC,10132,0.69,314.3,854.4,8.9,973,10172,0.00,2.90,33.62,1.292,6,0.000,0.045,2930,2074,1789
$GC,10495,0.70,328.0,820.9,9.5,991,10517,0.12,2.85,15.20,1.341,4,0.075,0.059,2953,3464,1732
$GC,10567,0.70,328.0,811.9,13.2,994,10571,0.00,2.80,0.00,0.000,6,0.000,0.050,2954,2081,1730
$GC,10895,0.66,328.0,770.2,12.6,1010,10899,0.00,2.95,0.00,0.000,4,0.000,0.069,2953,634,1729
$GC,10988,0.66,328.0,758.9,12.0,1014,10992,0.00,2.90,0.00,0.000,6,0.000,0.046,2954,2111,1728
$GC,11310,0.60,328.0,717.7,13.2,1030,11315,0.12,2.72,0.00,0.000,4,0.133,0.058,2935,3468,1728
$GC,11342,0.60,328.0,713.6,11.5,1031,11349,0.00,2.72,0.00,0.000,6,0.000,0.050,2935,2098,1727
$GC,11658,0.60,328.0,679.4,10.8,1047,11659,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2097,1727
$GC,11967,0.60,328.0,647.7,10.5,1062,11971,0.00,2.72,0.00,0.000,4,0.000,0.057,2935,3461,1727
$GC,11999,0.60,328.0,644.2,10.1,1063,12006,0.28,2.67,0.00,0.000,6,0.121,0.048,2934,2103,1726
$GC,12315,0.99,360.4,621.7,8.9,1079,12357,0.52,3.05,32.65,1.221,4,0.074,0.066,2995,635,1601
$GC,12367,0.99,360.4,615.8,11.1,1081,12371,0.00,2.90,0.00,0.000,6,0.000,0.043,2996,2109,1600
$GC,12697,0.86,360.4,557.2,18.2,1108,12701,0.00,2.70,0.00,0.000,4,0.000,0.055,2995,3465,1597
$GC,12736,0.76,360.4,550.0,18.1,1111,12741,0.17,2.70,0.00,0.000,6,0.141,0.046,2971,2098,1596
$GC,13061,0.69,360.4,504.5,13.2,1141,13062,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2098,1596
$GC,13382,0.62,360.4,461.9,12.9,1171,13387,0.17,2.72,0.00,0.000,4,0.132,0.053,2940,3466,1596
$GC,13410,0.62,360.4,458.3,10.8,1173,13414,0.00,2.67,0.00,0.000,6,0.000,0.046,2941,2099,1595
$GC,13736,0.65,383.3,428.5,9.2,1203,13765,0.00,0.00,23.62,1.130,6,0.000,0.000,2942,2098,1508
$GC,14083,0.67,401.0,395.6,9.4,1236,14104,0.00,0.00,19.15,1.064,6,0.000,0.000,2941,2098,1436
$GC,14423,0.72,406.5,363.0,9.8,1268,14432,0.00,0.00,6.97,0.930,6,0.000,0.000,2941,2098,1413
$GC,14762,0.82,438.0,330.9,8.9,1317,14802,0.15,0.00,32.92,1.007,6,0.066,0.000,2978,2098,1284
$GC,15139,0.75,438.0,275.7,15.2,1384,15146,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2098,1279
$GC,15483,0.69,438.0,223.3,15.9,1445,15489,0.15,0.00,0.00,0.000,6,0.130,0.000,2952,2098,1279
$GC,15824,0.69,438.0,183.7,10.5,1506,15829,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2098,1278
$GC,16166,0.73,438.0,146.7,11.4,1567,16173,0.00,2.92,0.00,0.000,4,0.000,0.064,2950,635,1278
$GC,16192,0.78,438.0,143.9,11.2,1571,16198,0.00,2.85,0.00,0.000,6,0.000,0.040,2950,2125,1277
$GC,16523,0.83,441.7,110.3,9.9,1632,16531,0.15,0.00,0.00,0.000,6,0.068,0.000,2986,2126,1277
$GC,16857,0.74,441.7,55.7,16.5,1693,16863,0.15,0.00,0.00,0.000,6,0.134,0.000,2961,2126,1277
$GC,17179,0.74,441.7,15.4,11.5,1754,17186,0.00,3.03,0.00,0.000,4,0.000,0.064,2960,641,1277
$GC,17220,0.81,441.7,10.8,11.3,1761,17228,0.00,2.85,0.00,0.000,6,0.000,0.040,2960,2120,1276
$STATE,17291,end climb,SURFACE_DEPTH_REACHED
$STATE,17291,begin surface coast
$FINISH,0.5,1.027349
$STATE,17304,end surface coast,CONTROL_FINISHED_OK
$STATE,17304,begin surface
$SM_CCo,17380,0.00,0.000,0,0,1275,440.56
$SM_GC,0.88,7.30,0.00,0.00,0.047,0.000,0.000,1469,2296,1275,-6.08,0.03,440.56
$IRIDIUM_FIX,6050.49,-2629.90,040897,070705
$TT8_MAMPS,0.022243
$HUMID,1711
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,11.90
$XPDR_PINGS,125
$24V_AH,19.2,60.712
$10V_AH,9.8,43.400
$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,22.575,135.900,660.175,0.000,0.000,29.755,47.994,207.285,31.250,0.000,0.000,34.207,2821.970,9588.170,737.265,4078.556,559.733,0.000,2263.485,0.000,4061.587,0.000,0.466
$DEVICE_MAMPS,245.440,72.098,1438.125,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1325.616,1243.370,675.720,928.203,1712.051,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132782,1776
$CAP_FILE_SIZE,162441,0
$CFSIZE,260165632,239374336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100508,165808,6122.846,-2637.021,27,1.7,27,-18.7