version: 66.03
glider: 143
mission: 4
dive: 204
start: 5 15 108 10 9 10
data:
$ID,143
$MISSION,4
$DIVE,204
$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,-9135.9893
$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,18
$R_STBD_OVSHOOT,22
$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
$GPS1,100225,6116.163,-2623.129,24,1.1,41,-18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-52.5
$GPS2,100851,6116.209,-2623.123,11,1.1,11,-18.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6126.357,-2624.889
$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,23,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,122,0.00,0.00,-93.30,0.000,2,0.000,0.000,1466,2302,3354
$GC,125,-0.82,-194.7,3.1,-5.1,17,155,9.88,2.85,-13.02,0.000,4,0.248,0.071,2612,3702,3867
$GC,241,-0.75,-194.7,23.1,-16.7,37,249,0.12,2.72,0.00,0.000,6,0.146,0.039,2629,2280,3868
$GC,386,-0.69,-194.7,43.2,-14.2,62,392,0.00,2.72,0.00,0.000,4,0.000,0.054,2629,888,3868
$GC,438,-0.69,-194.7,50.5,-12.8,71,444,0.00,2.75,0.00,0.000,6,0.000,0.050,2630,2280,3868
$GC,782,-0.63,-194.7,100.1,-15.6,132,789,0.15,2.88,0.00,0.000,4,0.147,0.060,2654,3715,3868
$GC,851,-0.63,-194.7,109.5,-12.7,144,857,0.00,2.75,0.00,0.000,6,0.000,0.041,2654,2288,3868
$GC,1195,-0.63,-194.7,153.5,-12.1,205,1201,0.00,2.75,0.00,0.000,4,0.000,0.054,2654,882,3868
$GC,1237,-0.68,-194.7,158.3,-11.4,212,1243,0.00,2.75,0.00,0.000,6,0.000,0.046,2654,2296,3868
$GC,1580,-0.68,-194.7,200.1,-12.2,273,1586,0.00,2.80,0.00,0.000,4,0.000,0.058,2654,3706,3868
$GC,1631,-0.68,-194.7,206.4,-11.9,282,1637,0.00,2.72,0.00,0.000,6,0.000,0.041,2654,2295,3868
$GC,1974,-0.68,-194.7,246.7,-12.0,343,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2292,3868
$GC,2318,-0.68,-194.7,287.5,-12.8,404,2324,0.00,2.75,0.00,0.000,4,0.000,0.056,2654,883,3868
$GC,2364,-0.73,-194.7,293.1,-11.8,412,2370,0.00,2.75,0.00,0.000,6,0.000,0.045,2654,2305,3868
$GC,2708,-0.73,-194.7,334.3,-12.0,473,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2305,3868
$GC,3044,-0.73,-194.7,374.6,-11.6,516,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2305,3868
$GC,3363,-0.73,-194.7,410.7,-11.5,546,3367,0.00,2.80,0.00,0.000,4,0.000,0.056,2654,888,3868
$GC,3402,-0.79,-194.7,415.1,-11.4,549,3408,0.12,2.72,0.00,0.000,6,0.064,0.043,2627,2302,3868
$GC,3727,-0.74,-194.7,462.2,-15.3,579,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2302,3868
$GC,4047,-0.68,-194.7,511.3,-15.3,609,4049,0.15,0.00,0.00,0.000,6,0.140,0.000,2648,2302,3868
$GC,4364,-0.68,-194.7,551.5,-11.8,639,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2302,3868
$GC,4682,-0.68,-194.7,589.0,-10.9,669,4687,0.00,2.83,0.00,0.000,4,0.000,0.058,2648,883,3868
$GC,4737,-0.73,-194.7,594.9,-10.0,673,4743,0.00,2.72,0.00,0.000,6,0.000,0.045,2648,2292,3868
$GC,5064,-0.73,-194.7,629.2,-10.4,692,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2292,3868
$GC,5373,-0.73,-194.7,660.9,-10.2,707,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2292,3868
$GC,5682,-0.73,-194.7,694.4,-11.2,722,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2294,3867
$GC,5991,-0.73,-194.7,729.2,-11.3,737,5996,0.00,2.88,0.00,0.000,4,0.000,0.068,2648,887,3867
$GC,6035,-0.78,-194.7,734.1,-10.9,739,6040,0.00,2.72,0.00,0.000,6,0.000,0.048,2648,2279,3867
$GC,6355,-0.78,-194.7,766.9,-9.9,755,6360,0.00,2.90,0.00,0.000,4,0.000,0.066,2648,3703,3866
$GC,6404,-0.78,-194.7,771.7,-9.4,757,6409,0.00,2.83,0.00,0.000,6,0.000,0.051,2648,2275,3867
$GC,6720,-0.78,-194.7,801.7,-9.8,772,6725,0.00,2.83,0.00,0.000,4,0.000,0.068,2648,880,3866
$GC,6775,-0.83,-194.7,807.2,-9.4,774,6782,0.15,2.72,0.00,0.000,6,0.061,0.048,2616,2272,3866
$GC,7091,-0.77,-194.7,848.6,-14.0,790,7096,0.00,2.92,0.00,0.000,4,0.000,0.065,2616,3709,3866
$GC,7158,-0.77,-194.7,858.2,-13.8,793,7163,0.00,2.85,0.00,0.000,6,0.000,0.051,2616,2270,3866
$GC,7478,-0.72,-194.7,903.0,-13.6,809,7483,0.15,2.80,0.00,0.000,4,0.140,0.065,2638,883,3866
$GC,7523,-0.76,-194.7,908.3,-10.7,811,7527,0.00,2.72,0.00,0.000,6,0.000,0.048,2638,2273,3866
$GC,7842,-0.76,-194.7,945.4,-12.0,827,7847,0.00,2.92,0.00,0.000,4,0.000,0.067,2638,3707,3865
$GC,7903,-0.76,-194.7,953.0,-12.6,830,7908,0.00,2.85,0.00,0.000,6,0.000,0.051,2638,2274,3865
$STATE,8207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8207,begin apogee
$GC,8212,-0.19,0.0,990.4,12.3,845,8418,0.73,0.00,201.73,1.434,6,0.132,0.000,2756,2037,3071
$STATE,8418,end apogee,CONTROL_FINISHED_OK
$STATE,8418,begin climb
$GC,8420,0.82,194.7,1000.1,0.0,855,8639,1.25,3.17,207.85,1.364,4,0.087,0.070,2970,650,2277
$GC,8711,0.70,194.7,979.1,12.8,868,8716,0.00,2.95,0.00,0.000,6,0.000,0.046,2970,2056,2274
$GC,9033,0.57,194.7,942.2,11.3,884,9038,0.25,2.90,0.00,0.000,4,0.135,0.061,2930,3464,2272
$GC,9082,0.60,219.6,937.2,9.1,886,9115,0.00,2.83,25.95,1.371,6,0.000,0.051,2930,2069,2175
$GC,9423,0.65,257.0,907.6,8.7,903,9468,0.00,2.95,38.78,1.363,4,0.000,0.061,2930,3475,2023
$GC,9513,0.69,289.3,899.5,8.9,907,9553,0.00,2.85,34.55,1.314,6,0.000,0.051,2930,2080,1892
$GC,9875,0.71,304.6,865.9,9.5,925,9898,0.12,3.05,16.38,1.359,4,0.075,0.071,2953,635,1828
$GC,10016,0.71,304.6,849.0,11.8,931,10021,0.00,2.88,0.00,0.000,6,0.000,0.048,2953,2088,1827
$GC,10331,0.64,304.6,809.5,12.3,946,10336,0.00,2.97,0.00,0.000,4,0.000,0.071,2954,640,1825
$GC,10425,0.64,304.6,797.3,12.8,950,10430,0.00,2.88,0.00,0.000,6,0.000,0.047,2953,2106,1825
$GC,10741,0.58,304.6,758.5,11.9,965,10743,0.17,0.00,0.00,0.000,6,0.127,0.000,2926,2106,1824
$GC,11050,0.66,370.5,731.6,7.7,980,11119,0.00,0.00,67.62,1.285,6,0.000,0.000,2927,2106,1560
$GC,11420,0.79,429.1,702.6,8.0,998,11485,0.22,0.00,61.75,1.249,6,0.059,0.000,2972,2107,1321
$GC,11789,0.71,429.1,648.3,15.4,1016,11794,0.00,3.05,0.00,0.000,4,0.000,0.070,2972,638,1313
$GC,11821,0.71,429.1,643.2,14.4,1017,11828,0.00,2.83,0.00,0.000,6,0.000,0.044,2973,2086,1312
$GC,12137,0.64,429.1,593.5,16.4,1034,12139,0.20,0.00,0.00,0.000,6,0.126,0.000,2942,2086,1311
$GC,12458,0.68,429.1,558.5,10.4,1064,12462,0.00,2.95,0.00,0.000,4,0.000,0.065,2942,635,1310
$GC,12478,0.74,429.1,556.0,10.7,1065,12485,0.00,2.78,0.00,0.000,6,0.000,0.042,2942,2073,1309
$GC,12807,0.80,439.8,524.8,9.6,1096,12823,0.15,2.75,10.27,1.110,4,0.067,0.054,2977,3461,1278
$GC,12839,0.75,439.8,520.1,13.5,1098,12846,0.00,2.75,0.00,0.000,6,0.000,0.048,2977,2068,1277
$GC,13166,0.67,439.8,465.9,16.8,1129,13171,0.17,2.88,0.00,0.000,4,0.133,0.063,2948,632,1275
$GC,13187,0.67,439.8,462.1,16.4,1130,13194,0.00,2.78,0.00,0.000,6,0.000,0.041,2949,2077,1275
$GC,13514,0.67,439.8,427.0,11.0,1161,13515,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2077,1275
$GC,13833,0.71,439.8,391.9,10.7,1191,13837,0.00,2.90,0.00,0.000,4,0.000,0.064,2949,640,1275
$GC,13854,0.76,439.8,389.4,10.8,1192,13860,0.00,2.72,0.00,0.000,6,0.000,0.041,2949,2068,1274
$GC,14180,0.81,439.8,355.7,10.1,1223,14182,0.15,0.00,0.00,0.000,6,0.065,0.000,2980,2068,1274
$GC,14512,0.72,439.8,301.3,16.3,1278,14519,0.15,2.88,0.00,0.000,4,0.133,0.062,2959,641,1274
$GC,14531,0.66,439.8,298.3,15.9,1281,14537,0.00,2.72,0.00,0.000,6,0.000,0.040,2959,2067,1274
$GC,14874,0.66,439.8,259.4,10.9,1342,14879,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2067,1274
$GC,15217,0.66,439.8,220.6,10.9,1403,15223,0.00,2.88,0.00,0.000,4,0.000,0.062,2959,638,1274
$GC,15240,0.66,439.8,217.8,11.1,1407,15246,0.00,2.70,0.00,0.000,6,0.000,0.039,2958,2056,1274
$GC,15585,0.66,439.8,180.2,10.6,1468,15591,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2057,1274
$GC,15929,0.66,439.8,142.1,10.2,1529,15934,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2057,1274
$GC,16271,0.66,439.8,101.9,13.1,1590,16277,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2056,1274
$GC,16614,0.66,439.8,61.2,11.2,1651,16620,0.00,2.85,0.00,0.000,4,0.000,0.063,2959,640,1274
$GC,16638,0.66,439.8,58.6,11.1,1655,16644,0.00,2.70,0.00,0.000,6,0.000,0.040,2958,2055,1274
$GC,16982,0.66,439.8,20.7,11.9,1716,16988,0.00,2.75,0.00,0.000,4,0.000,0.052,2958,3467,1273
$GC,17000,0.66,439.8,18.5,12.5,1719,17007,0.00,2.75,0.00,0.000,6,0.000,0.043,2959,2039,1273
$GC,17144,0.66,439.8,2.6,11.4,1744,17149,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2038,1273
$STATE,17153,end climb,SURFACE_DEPTH_REACHED
$STATE,17154,begin surface coast
$FINISH,0.3,1.021723
$STATE,17173,end surface coast,CONTROL_FINISHED_OK
$STATE,17174,begin surface
$SM_CCo,17250,0.00,0.000,0,0,1272,441.05
$SM_GC,0.92,7.32,0.00,0.00,0.048,0.000,0.000,1465,2313,1272,-6.10,0.54,441.05
$IRIDIUM_FIX,6050.49,-2617.92,090897,050508
$TT8_MAMPS,0.021476
$HUMID,1729
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,16.70
$XPDR_PINGS,19
$24V_AH,19.1,66.999
$10V_AH,9.9,46.780
$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,21.625,159.225,664.875,0.000,0.000,30.296,31.792,204.776,4.750,0.000,0.000,12.579,2790.651,10397.642,803.056,3089.338,540.144,0.000,2272.080,0.000,3072.554,0.000,0.466
$DEVICE_MAMPS,247.741,71.331,1433.523,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1316.635,1223.397,652.854,917.827,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123453,1749
$CAP_FILE_SIZE,164503,0
$CFSIZE,260165632,237252608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150508,145755,6120.715,-2624.383,40,1.5,40,-18.6