version: 66.03
glider: 143
mission: 4
dive: 207
start: 5 16 108 1 2 34
data:
$ID,143
$MISSION,4
$DIVE,207
$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,-9197.7764
$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,17
$R_STBD_OVSHOOT,13
$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
$GPS1,005537,6127.721,-2636.117,33,1.2,33,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-54.1
$GPS2,010215,6127.746,-2636.247,12,1.4,12,-18.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6137.894,-2638.001
$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,358.7,20000,-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,-93.32,0.000,2,0.000,0.000,1465,2299,3345
$GC,125,-0.82,-194.7,3.2,-5.3,17,155,9.90,2.90,-13.12,0.000,4,0.247,0.074,2614,3712,3866
$GC,201,-0.74,-194.7,17.4,-16.8,30,208,0.15,2.75,0.00,0.000,6,0.140,0.041,2635,2288,3867
$GC,345,-0.70,-194.7,39.2,-14.6,55,352,0.00,2.75,0.00,0.000,4,0.000,0.055,2635,886,3868
$GC,392,-0.70,-194.7,45.9,-13.6,63,398,0.00,2.75,0.00,0.000,6,0.000,0.047,2635,2294,3868
$GC,533,-0.65,-194.7,65.3,-13.7,88,539,0.12,0.00,0.00,0.000,6,0.147,0.000,2652,2294,3868
$GC,876,-0.65,-194.7,106.9,-12.1,149,882,0.00,2.83,0.00,0.000,4,0.000,0.058,2653,3710,3868
$GC,916,-0.65,-194.7,111.9,-12.3,156,922,0.00,2.75,0.00,0.000,6,0.000,0.041,2652,2281,3868
$GC,1260,-0.65,-194.7,152.2,-11.0,217,1266,0.00,2.75,0.00,0.000,4,0.000,0.057,2653,879,3868
$GC,1312,-0.70,-194.7,157.9,-10.6,226,1318,0.00,2.72,0.00,0.000,6,0.000,0.047,2653,2277,3868
$GC,1655,-0.70,-194.7,195.0,-11.2,287,1661,0.00,2.85,0.00,0.000,4,0.000,0.058,2653,3708,3868
$GC,1695,-0.70,-194.7,199.3,-10.6,294,1701,0.00,2.78,0.00,0.000,6,0.000,0.041,2653,2271,3868
$GC,2039,-0.70,-194.7,236.6,-10.7,355,2045,0.00,2.70,0.00,0.000,4,0.000,0.055,2653,890,3868
$GC,2087,-0.75,-194.7,241.7,-10.6,363,2093,0.00,2.70,0.00,0.000,6,0.000,0.046,2653,2280,3867
$GC,2430,-0.75,-194.7,280.8,-11.3,424,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2281,3868
$GC,2774,-0.75,-194.7,323.0,-12.3,485,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2281,3868
$GC,3116,-0.75,-194.7,362.5,-11.8,537,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2281,3868
$GC,3434,-0.75,-194.7,397.2,-10.6,567,3439,0.00,2.75,0.00,0.000,4,0.000,0.056,2653,883,3868
$GC,3473,-0.80,-194.7,401.2,-10.1,570,3479,0.15,2.70,0.00,0.000,6,0.059,0.044,2621,2281,3868
$GC,3798,-0.74,-194.7,446.9,-14.6,600,3803,0.00,2.85,0.00,0.000,4,0.000,0.058,2620,3709,3868
$GC,3841,-0.69,-194.7,453.5,-14.3,603,3848,0.17,2.78,0.00,0.000,6,0.139,0.042,2646,2271,3867
$GC,4166,-0.69,-194.7,492.1,-12.0,634,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2268,3868
$GC,4484,-0.69,-194.7,529.8,-11.1,664,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2268,3867
$GC,4803,-0.69,-194.7,563.6,-10.2,694,4807,0.00,2.72,0.00,0.000,4,0.000,0.058,2645,886,3867
$GC,4843,-0.73,-194.7,567.4,-9.8,697,4847,0.00,2.67,0.00,0.000,6,0.000,0.044,2645,2267,3867
$GC,5178,-0.73,-194.7,602.7,-11.1,727,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2268,3867
$GC,5487,-0.73,-194.7,638.3,-11.1,742,5491,0.00,2.90,0.00,0.000,4,0.000,0.063,2645,3702,3867
$GC,5529,-0.73,-194.7,643.8,-12.0,744,5534,0.00,2.83,0.00,0.000,6,0.000,0.048,2645,2263,3867
$GC,5856,-0.73,-194.7,682.1,-11.4,760,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2263,3867
$GC,6166,-0.73,-194.7,715.3,-10.8,775,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2263,3866
$GC,6475,-0.73,-194.7,748.9,-11.2,790,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2263,3866
$GC,6784,-0.73,-194.7,786.6,-12.4,805,6785,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2263,3866
$GC,7093,-0.73,-194.7,824.2,-12.2,820,7098,0.00,2.95,0.00,0.000,4,0.000,0.066,2645,3711,3866
$GC,7148,-0.73,-194.7,830.3,-10.6,822,7154,0.00,2.90,0.00,0.000,6,0.000,0.051,2645,2249,3865
$GC,7463,-0.73,-194.7,864.2,-11.1,838,7464,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2249,3865
$GC,7772,-0.73,-194.7,895.0,-10.3,853,7777,0.00,2.78,0.00,0.000,4,0.000,0.069,2645,878,3865
$GC,7817,-0.79,-194.7,899.4,-10.2,855,7821,0.00,2.70,0.00,0.000,6,0.000,0.050,2645,2252,3865
$GC,8137,-0.79,-194.7,931.6,-10.9,871,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2253,3864
$GC,8446,-0.79,-194.7,964.5,-9.3,886,8447,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2253,3864
$STATE,8732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8733,begin apogee
$GC,8738,-0.19,0.0,990.7,9.3,900,8943,0.68,0.00,201.35,1.429,6,0.134,0.000,2754,2031,3072
$STATE,8944,end apogee,CONTROL_FINISHED_OK
$STATE,8944,begin climb
$GC,8946,0.82,194.7,996.8,0.0,910,9165,1.27,3.17,208.20,1.355,4,0.088,0.071,2972,651,2277
$GC,9306,0.71,194.7,962.2,12.5,926,9311,0.00,2.90,0.00,0.000,6,0.000,0.048,2973,2054,2272
$GC,9627,0.58,194.7,923.1,11.6,942,9632,0.25,2.90,0.00,0.000,4,0.134,0.063,2931,3464,2271
$GC,9666,0.61,218.1,919.1,9.2,944,9695,0.00,2.83,24.05,1.362,6,0.000,0.052,2932,2067,2181
$GC,10018,0.66,256.9,888.5,8.7,961,10064,0.00,2.92,40.42,1.349,4,0.000,0.061,2931,3462,2022
$GC,10091,0.68,271.1,881.5,9.5,964,10112,0.00,2.85,15.55,1.240,6,0.000,0.052,2931,2072,1965
$GC,10422,0.70,292.8,848.5,9.3,980,10448,0.12,0.00,23.70,1.335,6,0.080,0.000,2954,2072,1877
$GC,10752,0.64,292.8,810.0,11.5,996,10757,0.00,2.85,0.00,0.000,4,0.000,0.060,2954,3471,1873
$GC,10795,0.64,292.8,805.0,10.4,998,10800,0.00,2.78,0.00,0.000,6,0.000,0.052,2954,2088,1872
$GC,11123,0.57,292.8,765.0,12.6,1014,11128,0.17,2.80,0.00,0.000,4,0.129,0.060,2926,3467,1872
$GC,11140,0.53,292.8,763.0,11.6,1015,11145,0.00,2.75,0.00,0.000,6,0.000,0.051,2926,2087,1871
$GC,11466,0.56,316.1,734.4,9.2,1031,11495,0.00,2.85,23.83,1.308,4,0.000,0.059,2926,3470,1782
$GC,11512,0.60,351.9,729.9,8.8,1033,11557,0.00,2.75,38.33,1.225,6,0.000,0.050,2926,2104,1636
$GC,11880,0.64,351.9,693.4,10.3,1051,11881,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2103,1630
$GC,12189,0.75,398.9,665.1,8.4,1066,12240,0.17,0.00,48.72,1.231,6,0.065,0.000,2964,2102,1444
$GC,12539,0.70,398.9,620.7,12.0,1083,12540,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2101,1437
$GC,12852,0.66,398.9,583.1,13.1,1104,12857,0.00,2.97,0.00,0.000,4,0.000,0.067,2964,638,1436
$GC,12880,0.66,398.9,579.3,12.9,1106,12884,0.00,2.88,0.00,0.000,6,0.000,0.043,2964,2121,1435
$GC,13205,0.61,398.9,534.0,14.6,1136,13207,0.17,0.00,0.00,0.000,6,0.123,0.000,2937,2121,1434
$GC,13524,0.68,413.4,501.4,9.5,1166,13546,0.00,3.03,14.75,1.174,4,0.000,0.064,2937,640,1385
$GC,13574,0.79,435.1,496.4,9.2,1170,13605,0.17,2.85,23.80,1.056,6,0.057,0.041,2976,2112,1296
$GC,13929,0.71,435.1,442.2,16.0,1204,13931,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2112,1292
$GC,14249,0.63,435.1,390.6,16.6,1234,14254,0.20,3.00,0.00,0.000,4,0.131,0.063,2942,632,1291
$GC,14289,0.70,435.1,385.4,10.3,1237,14294,0.00,2.83,0.00,0.000,6,0.000,0.040,2942,2105,1290
$GC,14614,0.78,447.6,353.1,9.6,1267,14634,0.15,0.00,13.52,1.052,6,0.064,0.000,2974,2105,1246
$GC,14970,0.72,447.6,296.7,17.2,1328,14977,0.00,2.97,0.00,0.000,4,0.000,0.063,2974,635,1244
$GC,15011,0.72,447.6,290.3,13.9,1335,15017,0.00,2.80,0.00,0.000,6,0.000,0.040,2974,2093,1242
$GC,15357,0.65,447.6,235.7,16.5,1396,15364,0.20,2.95,0.00,0.000,4,0.125,0.062,2941,631,1242
$GC,15387,0.65,447.6,231.3,12.6,1401,15393,0.00,2.75,0.00,0.000,6,0.000,0.039,2941,2070,1242
$GC,15730,0.79,486.3,200.5,8.7,1462,15779,0.15,2.80,40.67,0.913,4,0.064,0.052,2977,3465,1087
$GC,15791,0.79,486.3,192.7,14.6,1473,15797,0.00,2.80,0.00,0.000,6,0.000,0.045,2977,2056,1086
$GC,16137,0.73,486.3,136.6,17.3,1534,16143,0.00,2.85,0.00,0.000,4,0.000,0.064,2977,635,1083
$GC,16178,0.73,486.3,129.6,14.6,1541,16184,0.00,2.72,0.00,0.000,6,0.000,0.040,2978,2051,1081
$GC,16521,0.68,486.3,74.0,18.2,1602,16528,0.15,0.00,0.00,0.000,6,0.133,0.000,2953,2051,1081
$GC,16865,0.77,490.7,35.1,9.8,1663,16873,0.00,0.00,4.43,0.622,6,0.000,0.000,2952,2051,1070
$GC,17011,0.86,497.8,21.3,9.8,1688,17024,0.17,0.00,9.45,0.795,6,0.058,0.000,2995,2051,1041
$STATE,17124,end climb,SURFACE_DEPTH_REACHED
$STATE,17124,begin surface coast
$FINISH,0.5,1.027276
$STATE,17137,end surface coast,CONTROL_FINISHED_OK
$STATE,17137,begin surface
$SM_CCo,17214,0.00,0.000,0,0,1038,498.69
$SM_GC,0.90,7.45,0.00,0.00,0.042,0.000,0.000,1466,2304,1038,-6.09,0.25,498.69
$IRIDIUM_FIX,6059.36,-2627.88,090897,202024
$TT8_MAMPS,0.021476
$HUMID,1720
$INTERNAL_PRESSURE,8.10578
$TCM_TEMP,16.60
$XPDR_PINGS,21
$24V_AH,19.1,67.785
$10V_AH,9.8,47.169
$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,22.000,142.225,730.775,0.000,0.000,28.132,37.108,212.032,5.250,0.000,0.000,14.498,2703.242,10565.699,799.466,2993.796,535.012,0.000,2253.938,0.000,2963.373,0.000,0.466
$DEVICE_MAMPS,246.974,73.632,1428.921,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1294.057,1198.532,614.331,874.900,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123351,1710
$CAP_FILE_SIZE,160732,0
$CFSIZE,260165632,236986368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,160508,055057,6130.896,-2640.607,34,99.0,53,-18.8