version: 66.03
glider: 143
mission: 4
dive: 213
start: 5 17 108 5 50 10
data:
$ID,143
$MISSION,4
$DIVE,213
$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,135
$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,-9284.9443
$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,36
$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
$GPS1,053957,6134.062,-2626.115,32,1.4,51,-18.7
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-50.7
$GPS2,054951,6134.102,-2626.124,12,1.7,12,-18.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6126.466,-2622.473
$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,153.7,20000,-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,-194.7,0.0,0.0,0,127,0.00,0.00,-98.80,0.000,2,0.000,0.000,1468,2315,3409
$GC,130,-0.82,-194.7,3.3,-5.9,18,160,9.82,2.92,-10.80,0.000,4,0.246,0.067,2612,887,3867
$GC,306,-0.77,-194.7,35.0,-15.7,49,313,0.00,2.72,0.00,0.000,6,0.000,0.051,2612,2272,3868
$GC,449,-0.67,-194.7,58.4,-16.9,74,455,0.20,0.00,0.00,0.000,6,0.150,0.000,2644,2272,3868
$GC,792,-0.67,-194.7,104.8,-13.1,135,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2272,3868
$GC,1133,-0.67,-194.7,149.9,-13.3,196,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2272,3867
$GC,1477,-0.67,-194.7,194.2,-13.2,257,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2272,3867
$GC,1820,-0.67,-194.7,237.8,-12.6,318,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2272,3868
$GC,2162,-0.67,-194.7,280.3,-12.0,379,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2272,3867
$GC,2503,-0.67,-194.7,321.9,-12.9,440,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2272,3868
$GC,2840,-0.67,-194.7,365.0,-12.6,490,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2272,3868
$GC,3158,-0.67,-194.7,405.2,-12.3,520,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2272,3868
$GC,3477,-0.67,-194.7,444.0,-12.4,550,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2272,3868
$GC,3795,-0.67,-194.7,482.0,-11.8,580,3799,0.00,2.75,0.00,0.000,4,0.000,0.056,2645,882,3867
$GC,3812,-0.67,-194.7,483.9,-11.7,581,3816,0.00,2.72,0.00,0.000,6,0.000,0.044,2644,2295,3867
$GC,4137,-0.67,-194.7,522.7,-11.9,611,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2295,3868
$GC,4455,-0.67,-194.7,561.8,-12.4,641,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2295,3867
$GC,4773,-0.67,-194.7,600.1,-11.6,671,4778,0.00,2.83,0.00,0.000,4,0.000,0.060,2644,877,3867
$GC,4790,-0.67,-194.7,602.2,-11.9,672,4794,0.00,2.72,0.00,0.000,6,0.000,0.046,2644,2281,3867
$GC,5116,-0.67,-194.7,642.7,-12.4,688,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2281,3868
$GC,5424,-0.67,-194.7,681.6,-12.6,703,5429,0.00,2.85,0.00,0.000,4,0.000,0.067,2645,878,3867
$GC,5451,-0.67,-194.7,685.1,-12.8,704,5455,0.00,2.75,0.00,0.000,6,0.000,0.049,2644,2282,3867
$GC,5767,-0.67,-194.7,724.1,-12.5,719,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2284,3867
$GC,6075,-0.67,-194.7,760.8,-11.5,734,6080,0.00,2.88,0.00,0.000,4,0.000,0.070,2644,881,3866
$GC,6096,-0.67,-194.7,763.4,-12.2,735,6100,0.00,2.72,0.00,0.000,6,0.000,0.050,2644,2269,3866
$GC,6422,-0.67,-194.7,800.9,-11.3,751,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2269,3866
$GC,6732,-0.67,-194.7,835.6,-11.2,766,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2270,3866
$GC,7041,-0.67,-194.7,870.9,-11.5,781,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2271,3865
$GC,7351,-0.67,-194.7,907.1,-11.7,796,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2272,3865
$GC,7660,-0.67,-194.7,942.3,-11.2,811,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2273,3865
$GC,7969,-0.67,-194.7,976.7,-11.2,826,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2273,3864
$STATE,8090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8091,begin apogee
$GC,8096,-0.19,0.0,990.9,11.6,832,8301,0.65,0.00,201.18,1.423,6,0.120,0.000,2753,2037,3071
$STATE,8301,end apogee,CONTROL_FINISHED_OK
$STATE,8301,begin climb
$GC,8304,0.82,194.7,999.7,0.0,842,8522,1.27,3.20,207.70,1.351,4,0.090,0.071,2970,646,2277
$GC,8629,0.70,194.7,972.5,12.1,857,8633,0.00,2.92,0.00,0.000,6,0.000,0.048,2971,2051,2273
$GC,8944,0.57,194.7,935.5,11.7,872,8949,0.25,2.92,0.00,0.000,4,0.137,0.063,2930,3471,2271
$GC,9012,0.59,212.5,929.0,9.4,875,9036,0.00,2.85,18.48,1.364,6,0.000,0.054,2930,2059,2204
$GC,9358,0.63,240.3,898.0,9.0,892,9393,0.00,2.95,29.38,1.348,4,0.000,0.061,2930,3470,2091
$GC,9426,0.65,261.4,891.5,9.3,894,9458,0.00,2.85,22.85,1.272,6,0.000,0.053,2930,2071,2004
$GC,9767,0.65,261.4,857.2,10.4,911,9768,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2071,2000
$GC,10076,0.65,261.4,825.9,10.1,926,10080,0.00,2.83,0.00,0.000,4,0.000,0.061,2930,3464,1999
$GC,10130,0.65,261.4,820.2,10.7,928,10136,0.00,2.78,0.00,0.000,6,0.000,0.053,2930,2079,1998
$GC,10446,0.67,274.8,789.8,9.5,944,10468,0.00,2.83,14.25,1.332,4,0.000,0.060,2930,3461,1949
$GC,10495,0.70,296.0,785.0,9.3,946,10525,0.00,2.72,23.15,1.226,6,0.000,0.052,2930,2107,1864
$GC,10842,0.72,313.5,752.6,9.4,963,10867,0.12,3.05,18.85,1.292,4,0.074,0.071,2954,637,1791
$GC,10888,0.72,313.5,747.0,11.9,965,10893,0.00,2.95,0.00,0.000,6,0.000,0.046,2954,2127,1791
$GC,11210,0.67,313.5,709.8,11.4,981,11214,0.00,2.70,0.00,0.000,4,0.000,0.061,2953,3470,1789
$GC,11242,0.67,313.5,705.9,11.3,982,11248,0.00,2.72,0.00,0.000,6,0.000,0.052,2954,2106,1787
$GC,11558,0.63,313.5,669.8,11.9,998,11562,0.00,2.97,0.00,0.000,4,0.000,0.069,2954,634,1787
$GC,11590,0.63,313.5,665.7,12.3,999,11596,0.00,2.88,0.00,0.000,6,0.000,0.045,2954,2116,1787
$GC,11906,0.59,313.5,628.2,11.8,1015,11911,0.15,2.67,0.00,0.000,4,0.128,0.057,2928,3464,1787
$GC,11945,0.66,326.3,623.8,9.6,1017,11967,0.00,2.65,14.10,1.238,6,0.000,0.048,2928,2105,1740
$GC,12280,0.75,356.6,594.0,9.0,1036,12322,0.15,3.00,31.67,1.181,4,0.070,0.066,2962,641,1616
$GC,12344,0.75,356.6,585.9,12.4,1042,12349,0.00,2.90,0.00,0.000,6,0.000,0.044,2962,2112,1615
$GC,12668,0.70,356.6,543.9,13.2,1072,12673,0.00,2.70,0.00,0.000,4,0.000,0.054,2961,3472,1613
$GC,12700,0.70,356.6,539.6,12.6,1074,12707,0.00,2.70,0.00,0.000,6,0.000,0.048,2961,2104,1612
$GC,13027,0.70,356.6,497.3,13.0,1105,13032,0.00,2.95,0.00,0.000,4,0.000,0.065,2962,632,1612
$GC,13048,0.70,356.6,494.1,14.0,1106,13055,0.00,2.85,0.00,0.000,6,0.000,0.042,2962,2114,1611
$GC,13375,0.66,356.6,451.2,13.2,1137,13376,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2114,1611
$GC,13692,0.66,356.6,408.1,14.0,1167,13693,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2114,1611
$GC,14011,0.66,356.6,365.1,13.1,1197,14015,0.00,2.95,0.00,0.000,4,0.000,0.062,2964,640,1611
$GC,14043,0.66,356.6,360.6,12.7,1199,14049,0.00,2.80,0.00,0.000,6,0.000,0.041,2961,2108,1611
$GC,14381,0.66,356.6,316.9,13.0,1252,14387,0.00,2.65,0.00,0.000,4,0.000,0.054,2961,3464,1611
$GC,14421,0.66,356.6,311.7,13.0,1259,14428,0.00,2.65,0.00,0.000,6,0.000,0.045,2962,2100,1610
$GC,14765,0.66,356.6,267.8,12.6,1320,14772,0.00,2.88,0.00,0.000,4,0.000,0.062,2962,643,1610
$GC,14811,0.66,356.6,262.1,11.5,1328,14818,0.00,2.80,0.00,0.000,6,0.000,0.042,2961,2109,1610
$GC,15156,0.66,356.6,219.1,12.2,1389,15162,0.00,2.67,0.00,0.000,4,0.000,0.054,2961,3472,1610
$GC,15190,0.66,356.6,214.7,12.2,1395,15196,0.00,2.67,0.00,0.000,6,0.000,0.045,2962,2096,1610
$GC,15533,0.66,356.6,171.4,12.7,1456,15540,0.00,2.88,0.00,0.000,4,0.000,0.063,2962,643,1610
$GC,15568,0.66,356.6,166.8,12.2,1462,15574,0.00,2.80,0.00,0.000,6,0.000,0.041,2961,2106,1610
$GC,15911,0.66,356.6,123.1,13.0,1523,15917,0.00,2.67,0.00,0.000,4,0.000,0.054,2961,3468,1610
$GC,15941,0.66,356.6,119.2,13.0,1528,15948,0.00,2.67,0.00,0.000,6,0.000,0.044,2962,2084,1610
$GC,16285,0.66,356.6,75.3,13.5,1589,16290,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2084,1610
$GC,16627,0.66,356.6,30.6,11.4,1650,16633,0.00,2.88,0.00,0.000,4,0.000,0.064,2963,634,1610
$GC,16652,0.66,356.6,27.6,13.5,1654,16658,0.00,2.80,0.00,0.000,6,0.000,0.040,2961,2112,1610
$GC,16794,0.66,356.6,10.6,10.6,1679,16801,0.00,2.62,0.00,0.000,4,0.000,0.051,2961,3465,1610
$GC,16835,0.66,356.6,5.5,11.9,1686,16841,0.00,2.65,0.00,0.000,6,0.000,0.044,2961,2092,1610
$STATE,16868,end climb,SURFACE_DEPTH_REACHED
$STATE,16868,begin surface coast
$FINISH,0.2,1.027226
$STATE,16886,end surface coast,CONTROL_FINISHED_OK
$STATE,16886,begin surface
$SM_CCo,16963,0.00,0.000,0,0,1609,358.63
$SM_GC,0.91,7.30,0.00,0.00,0.046,0.000,0.000,1462,2324,1609,-6.10,0.82,358.63
$IRIDIUM_FIX,6108.28,-2625.83,110897,050534
$TT8_MAMPS,0.021476
$HUMID,1716
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,16.80
$XPDR_PINGS,35
$24V_AH,19.1,69.296
$10V_AH,9.9,47.927
$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,19.925,141.375,581.600,0.000,0.000,57.856,62.834,275.006,8.750,0.000,0.000,15.126,2678.223,10528.783,704.576,2957.711,674.631,0.000,2125.911,0.000,2934.068,0.000,0.467
$DEVICE_MAMPS,246.207,71.331,1422.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1275.789,1192.524,615.745,869.278,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120322,1695
$CAP_FILE_SIZE,156056,0
$CFSIZE,260165632,236474368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170508,103408,6132.682,-2621.772,39,1.1,39,-18.7