version: 66.03
glider: 143
mission: 4
dive: 205
start: 5 15 108 15 4 58
data:
$ID,143
$MISSION,4
$DIVE,205
$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,310
$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,-9151.1787
$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,29
$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
$GPS1,145755,6120.715,-2624.383,40,1.5,40,-18.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-52.9
$GPS2,150439,6120.817,-2624.448,13,1.4,13,-18.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6127.759,-2628.400
$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,328.6,20000,-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,-194.7,0.0,0.0,0,133,0.00,0.00,-104.30,0.000,2,0.000,0.000,1465,2314,3535
$GC,136,-0.82,-194.7,3.6,-5.5,19,160,9.90,2.80,-7.35,0.000,4,0.249,0.071,2612,3694,3866
$GC,299,-0.74,-194.7,37.8,-17.8,47,306,0.15,2.70,0.00,0.000,6,0.144,0.040,2633,2288,3867
$GC,443,-0.69,-194.7,61.5,-15.2,72,449,0.00,2.75,0.00,0.000,4,0.000,0.054,2634,878,3867
$GC,500,-0.69,-194.7,70.2,-14.6,82,507,0.00,2.70,0.00,0.000,6,0.000,0.046,2634,2266,3867
$GC,844,-0.65,-194.7,121.3,-14.5,143,851,0.15,2.90,0.00,0.000,4,0.145,0.058,2658,3712,3867
$GC,891,-0.70,-194.7,127.3,-12.0,151,897,0.00,2.80,0.00,0.000,6,0.000,0.041,2658,2262,3867
$GC,1234,-0.70,-194.7,167.0,-11.5,212,1240,0.00,2.67,0.00,0.000,4,0.000,0.055,2658,889,3867
$GC,1281,-0.76,-194.7,172.3,-11.2,220,1288,0.12,2.67,0.00,0.000,6,0.062,0.045,2631,2273,3867
$GC,1626,-0.72,-194.7,220.1,-13.8,281,1632,0.00,2.88,0.00,0.000,4,0.000,0.060,2631,3711,3867
$GC,1666,-0.72,-194.7,225.9,-14.0,288,1673,0.00,2.78,0.00,0.000,6,0.000,0.041,2631,2266,3868
$GC,2011,-0.67,-194.7,273.7,-14.0,349,2017,0.12,0.00,0.00,0.000,6,0.144,0.000,2648,2262,3867
$GC,2355,-0.67,-194.7,318.2,-13.0,410,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2262,3867
$GC,2697,-0.67,-194.7,360.6,-12.1,464,2702,0.00,2.70,0.00,0.000,4,0.000,0.055,2648,883,3868
$GC,2741,-0.71,-194.7,365.7,-11.1,467,2747,0.00,2.70,0.00,0.000,6,0.000,0.044,2648,2285,3867
$GC,3068,-0.71,-194.7,402.8,-11.5,498,3073,0.00,2.83,0.00,0.000,4,0.000,0.056,2648,3712,3867
$GC,3111,-0.71,-194.7,408.3,-11.5,501,3118,0.00,2.78,0.00,0.000,6,0.000,0.041,2648,2276,3867
$GC,3437,-0.71,-194.7,445.3,-11.0,532,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2273,3867
$GC,3754,-0.71,-194.7,483.1,-11.8,562,3759,0.00,2.72,0.00,0.000,4,0.000,0.055,2648,883,3867
$GC,3805,-0.76,-194.7,488.9,-11.3,566,3810,0.00,2.70,0.00,0.000,6,0.000,0.044,2648,2284,3867
$GC,4130,-0.76,-194.7,529.2,-12.6,596,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2284,3868
$GC,4448,-0.76,-194.7,569.5,-12.7,626,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2284,3867
$GC,4764,-0.76,-194.7,608.7,-12.6,653,4769,0.00,2.80,0.00,0.000,4,0.000,0.060,2647,882,3867
$GC,4808,-0.81,-194.7,614.1,-12.2,655,4813,0.12,2.70,0.00,0.000,6,0.062,0.046,2621,2270,3867
$GC,5129,-0.75,-194.7,660.7,-14.6,671,5133,0.00,2.90,0.00,0.000,4,0.000,0.063,2621,3709,3867
$GC,5172,-0.75,-194.7,667.6,-14.7,673,5176,0.00,2.85,0.00,0.000,6,0.000,0.048,2621,2263,3866
$GC,5499,-0.69,-194.7,714.7,-14.3,689,5501,0.17,0.00,0.00,0.000,6,0.143,0.000,2646,2263,3866
$GC,5808,-0.69,-194.7,752.2,-12.2,704,5812,0.00,2.80,0.00,0.000,4,0.000,0.069,2646,879,3866
$GC,5857,-0.74,-194.7,758.0,-11.8,706,5861,0.00,2.72,0.00,0.000,6,0.000,0.049,2646,2269,3866
$GC,6172,-0.74,-194.7,794.0,-11.2,721,6177,0.00,2.92,0.00,0.000,4,0.000,0.065,2646,3711,3865
$GC,6221,-0.74,-194.7,799.7,-10.9,723,6225,0.00,2.88,0.00,0.000,6,0.000,0.050,2646,2260,3865
$GC,6542,-0.74,-194.7,835.2,-11.1,739,6546,0.00,2.78,0.00,0.000,4,0.000,0.067,2646,886,3865
$GC,6586,-0.79,-194.7,840.0,-11.2,741,6590,0.00,2.67,0.00,0.000,6,0.000,0.049,2646,2254,3865
$GC,6906,-0.79,-194.7,875.6,-11.0,757,6910,0.00,2.95,0.00,0.000,4,0.000,0.065,2646,3705,3865
$GC,6960,-0.79,-194.7,881.6,-10.7,759,6966,0.00,2.88,0.00,0.000,6,0.000,0.051,2646,2253,3865
$GC,7276,-0.79,-194.7,917.6,-11.6,775,7280,0.00,2.78,0.00,0.000,4,0.000,0.068,2646,880,3864
$GC,7319,-0.84,-194.7,922.6,-11.1,777,7324,0.17,2.70,0.00,0.000,6,0.057,0.050,2610,2260,3864
$GC,7640,-0.77,-194.7,969.4,-15.1,793,7645,0.12,2.95,0.00,0.000,4,0.147,0.066,2626,3704,3864
$GC,7680,-0.77,-194.7,975.0,-13.4,795,7684,0.00,2.88,0.00,0.000,6,0.000,0.051,2626,2253,3864
$STATE,7798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7799,begin apogee
$GC,7804,-0.19,0.0,991.0,13.4,801,8008,0.80,0.00,200.85,1.437,6,0.140,0.000,2754,2042,3071
$STATE,8009,end apogee,CONTROL_FINISHED_OK
$STATE,8009,begin climb
$GC,8011,0.82,194.7,1000.5,0.0,811,8229,1.27,3.20,207.60,1.365,4,0.087,0.071,2972,644,2277
$GC,8296,0.69,194.7,978.9,12.2,824,8302,0.00,2.95,0.00,0.000,6,0.000,0.047,2972,2050,2274
$GC,8612,0.56,194.7,939.0,12.7,840,8617,0.28,2.92,0.00,0.000,4,0.134,0.062,2927,3468,2272
$GC,8656,0.56,194.7,934.0,10.0,842,8660,0.00,2.85,0.00,0.000,6,0.000,0.051,2927,2061,2271
$GC,8983,0.60,222.9,904.0,9.0,858,9014,0.00,0.00,28.67,1.383,6,0.000,0.000,2927,2061,2162
$GC,9329,0.65,271.1,874.6,8.3,875,9380,0.00,0.00,49.17,1.358,6,0.000,0.000,2927,2060,1966
$GC,9679,0.67,280.5,842.0,9.7,892,9700,0.00,2.95,11.27,1.302,4,0.000,0.071,2927,632,1926
$GC,9745,0.67,280.5,835.5,10.8,895,9750,0.00,2.85,0.00,0.000,6,0.000,0.047,2927,2071,1925
$GC,10072,0.70,310.2,804.8,9.0,911,10113,0.12,3.03,30.98,1.307,4,0.077,0.071,2951,638,1805
$GC,10181,0.70,310.2,792.2,11.4,916,10186,0.00,2.88,0.00,0.000,6,0.000,0.047,2951,2084,1803
$GC,10507,0.65,310.2,753.5,11.9,932,10511,0.00,2.78,0.00,0.000,4,0.000,0.061,2951,3461,1802
$GC,10533,0.65,310.2,750.1,12.3,933,10538,0.00,2.75,0.00,0.000,6,0.000,0.051,2951,2081,1800
$GC,10849,0.61,310.2,711.4,12.3,948,10851,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2080,1800
$GC,11158,0.56,310.2,674.7,11.6,963,11163,0.17,2.78,0.00,0.000,4,0.125,0.058,2921,3461,1799
$GC,11175,0.56,310.2,672.8,11.3,964,11179,0.00,2.72,0.00,0.000,6,0.000,0.048,2922,2079,1799
$GC,11501,0.67,360.2,646.1,8.3,980,11555,0.12,0.00,50.65,1.232,6,0.074,0.000,2947,2078,1602
$GC,11849,0.67,360.2,605.0,12.4,997,11850,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2077,1596
$GC,12167,0.67,360.2,564.1,12.9,1025,12168,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2077,1595
$GC,12485,0.67,360.2,523.5,12.7,1055,12486,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2076,1595
$GC,12804,0.67,360.2,483.5,12.3,1085,12805,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2076,1594
$GC,13122,0.67,360.2,446.7,10.9,1115,13123,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2076,1594
$GC,13441,0.67,360.2,413.4,10.2,1145,13445,0.00,2.75,0.00,0.000,4,0.000,0.053,2947,3466,1594
$GC,13461,0.67,360.2,411.0,10.5,1146,13468,0.00,2.70,0.00,0.000,6,0.000,0.045,2947,2082,1593
$GC,13788,0.67,360.2,376.8,10.6,1177,13793,0.00,2.90,0.00,0.000,4,0.000,0.064,2947,634,1592
$GC,13805,0.67,360.2,374.8,10.7,1178,13810,0.00,2.78,0.00,0.000,6,0.000,0.040,2947,2087,1592
$GC,14134,0.67,360.2,339.8,10.2,1216,14140,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2087,1592
$GC,14477,0.67,360.2,302.8,11.9,1277,14482,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2087,1593
$GC,14819,0.67,360.2,261.5,12.5,1338,14824,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2087,1592
$GC,15161,0.67,360.2,218.4,13.1,1399,15166,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2087,1592
$GC,15503,0.67,360.2,176.1,12.0,1460,15508,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2087,1593
$GC,15846,0.67,360.2,137.5,10.5,1521,15851,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2087,1592
$GC,16189,0.67,362.8,102.6,9.9,1582,16195,0.00,2.90,0.00,0.000,4,0.000,0.064,2947,641,1593
$GC,16207,0.67,363.8,100.7,10.0,1585,16213,0.00,2.75,0.00,0.000,6,0.000,0.041,2947,2080,1593
$GC,16551,0.69,380.2,66.8,9.4,1646,16579,0.00,2.78,19.45,0.880,4,0.000,0.054,2947,3455,1520
$GC,16592,0.74,380.2,62.6,10.7,1653,16598,0.00,2.70,0.00,0.000,6,0.000,0.044,2948,2078,1520
$GC,16935,0.78,380.2,26.9,10.1,1714,16940,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2078,1518
$GC,17078,0.82,380.2,12.4,11.1,1739,17084,0.15,0.00,0.00,0.000,6,0.064,0.000,2985,2078,1518
$STATE,17157,end climb,SURFACE_DEPTH_REACHED
$STATE,17157,begin surface coast
$FINISH,0.3,1.027263
$STATE,17168,end surface coast,CONTROL_FINISHED_OK
$STATE,17168,begin surface
$SM_CCo,17244,0.00,0.000,0,0,1517,381.20
$SM_GC,0.93,7.35,0.00,0.00,0.039,0.000,0.000,1465,2296,1517,-6.09,0.03,381.20
$IRIDIUM_FIX,6050.49,-2619.90,090897,101004
$TT8_MAMPS,0.021476
$HUMID,1717
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,16.50
$XPDR_PINGS,15
$24V_AH,19.2,67.244
$10V_AH,9.8,46.910
$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,21.325,146.975,598.650,0.000,0.000,22.248,31.980,229.934,3.750,0.000,0.000,14.563,2792.587,10473.242,728.629,3096.261,542.499,0.000,2201.457,0.000,3072.464,0.000,0.466
$DEVICE_MAMPS,248.508,71.331,1436.591,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1325.214,1228.251,656.348,918.173,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126499,1755
$CAP_FILE_SIZE,162698,0
$CFSIZE,260165632,237166592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,150508,195337,6124.900,-2629.968,40,1.2,40,-18.7