version: 66.03
glider: 143
mission: 4
dive: 4
start: 4 4 108 15 8 53
data:
$ID,143
$MISSION,4
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$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,250
$T_MISSION,280
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51457
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$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,225
$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,-4044.0278
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1469
$PITCH_MAX,4022
$C_PITCH,2840
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$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,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,3
$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,4
$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
$GPS1,150316,5900.558,-2030.099,8,99.0,27,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-63.8
$GPS2,150837,5900.588,-2030.139,13,1.6,29,-14.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,VM
$TGT_LATLONG,5859.850,-2029.850
$TGT_RADIUS,400.000
$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,182.8,1394,-27.8,-10.000
$D_GRID,750
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.15,-63.1,0.0,0.0,0,78,0.00,0.00,-51.95,0.000,6,0.000,0.000,1469,2003,3325
$GC,80,-1.19,-97.3,2.9,-6.4,8,104,9.68,2.47,-3.90,0.000,4,0.257,0.068,2572,796,3470
$GC,385,-1.19,-97.3,53.6,-17.3,65,393,0.00,2.78,0.00,0.000,6,0.000,0.047,2572,2194,3470
$GC,519,-1.19,-97.3,76.8,-17.1,90,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2194,3470
$GC,652,-1.19,-97.3,99.1,-16.0,115,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2194,3470
$GC,785,-1.19,-97.3,121.4,-17.7,140,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2194,3471
$GC,918,-1.19,-97.3,143.8,-17.4,165,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2193,3470
$GC,1053,-1.19,-97.3,167.1,-16.9,190,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2193,3470
$GC,1191,-1.19,-97.3,189.9,-16.1,215,1197,0.00,2.85,0.00,0.000,4,0.000,0.061,2572,3621,3470
$GC,1205,-1.19,-97.3,192.1,-16.5,217,1211,0.00,2.75,0.00,0.000,6,0.000,0.041,2572,2196,3470
$GC,1339,-1.19,-97.3,215.2,-16.3,242,1347,0.00,2.85,0.00,0.000,4,0.000,0.058,2572,3609,3471
$GC,1352,-1.19,-97.3,217.4,-16.5,244,1361,0.00,2.75,0.00,0.000,6,0.000,0.041,2572,2194,3470
$GC,1492,-1.19,-97.3,241.0,-17.8,269,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2194,3470
$GC,1627,-1.19,-97.3,265.4,-18.3,294,1635,0.00,2.88,0.00,0.000,4,0.000,0.058,2572,3618,3471
$GC,1653,-1.19,-97.3,270.1,-18.3,298,1660,0.00,2.78,0.00,0.000,6,0.000,0.042,2572,2194,3470
$GC,1791,-1.19,-97.3,294.9,-17.4,323,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2194,3470
$GC,1925,-1.19,-97.3,319.1,-17.3,348,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2193,3470
$GC,2064,-1.19,-97.3,342.9,-17.1,373,2070,0.00,2.80,0.00,0.000,4,0.000,0.058,2572,3612,3471
$GC,2079,-1.19,-97.3,345.3,-17.5,375,2085,0.00,2.72,0.00,0.000,6,0.000,0.041,2572,2189,3471
$GC,2217,-1.19,-97.3,369.9,-17.8,400,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2188,3470
$GC,2360,-1.19,-97.3,394.5,-17.4,425,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2188,3470
$GC,2498,-1.19,-97.3,418.9,-17.1,450,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2188,3470
$GC,2636,-1.19,-97.3,443.0,-17.4,475,2642,0.00,2.83,0.00,0.000,4,0.000,0.056,2572,3620,3471
$GC,2649,-1.19,-97.3,444.9,-17.4,477,2655,0.00,2.72,0.00,0.000,6,0.000,0.040,2572,2192,3471
$GC,2787,-1.19,-97.3,468.9,-16.6,502,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2191,3470
$GC,2925,-1.19,-97.3,492.0,-16.7,527,2931,0.00,2.83,0.00,0.000,4,0.000,0.055,2572,3623,3470
$GC,2938,-1.19,-97.3,493.9,-16.4,529,2944,0.00,2.72,0.00,0.000,6,0.000,0.041,2572,2201,3470
$GC,3077,-1.19,-97.3,517.2,-16.5,554,3083,0.00,2.80,0.00,0.000,4,0.000,0.056,2572,3617,3470
$GC,3088,-1.19,-97.3,519.1,-15.7,556,3096,0.00,2.75,0.00,0.000,6,0.000,0.042,2572,2201,3470
$GC,3231,-1.19,-97.3,542.4,-16.5,581,3237,0.00,2.80,0.00,0.000,4,0.000,0.057,2572,3618,3470
$GC,3256,-1.19,-97.3,546.6,-17.2,585,3262,0.00,2.72,0.00,0.000,6,0.000,0.042,2572,2199,3471
$GC,3395,-1.19,-97.3,570.1,-16.5,600,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2199,3470
$GC,3522,-1.19,-97.3,590.8,-16.1,612,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2199,3470
$GC,3650,-1.19,-97.3,611.8,-16.8,624,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2199,3470
$GC,3779,-1.19,-97.3,633.0,-16.5,636,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2199,3470
$GC,3905,-1.19,-97.3,653.7,-16.0,648,3909,0.00,2.80,0.00,0.000,4,0.000,0.059,2572,3612,3470
$GC,3947,-1.19,-97.3,661.2,-17.0,651,3954,0.00,2.75,0.00,0.000,6,0.000,0.050,2572,2204,3470
$GC,4081,-1.19,-97.3,683.3,-16.6,664,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2204,3470
$GC,4208,-1.19,-97.3,704.6,-16.8,676,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2204,3470
$GC,4337,-1.19,-97.3,725.7,-16.7,688,4342,0.00,2.88,0.00,0.000,4,0.000,0.071,2572,3613,3470
$GC,4392,-1.19,-97.3,736.0,-18.0,692,4399,0.00,2.88,0.00,0.000,6,0.000,0.067,2572,2202,3470
$STATE,4481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4481,begin apogee
$GC,4486,-0.19,0.0,751.1,16.3,701,4604,1.38,0.00,100.05,1.299,6,0.147,0.000,2795,2098,3071
$STATE,4605,end apogee,CONTROL_FINISHED_OK
$STATE,4605,begin climb
$GC,4606,1.19,97.3,755.4,0.0,713,4780,1.60,3.15,114.97,1.073,4,0.059,0.087,3097,693,2673
$GC,4853,0.95,97.3,734.9,16.7,736,4861,0.35,2.90,0.00,0.000,6,0.175,0.053,3051,2105,2672
$GC,4987,0.81,97.3,715.8,13.8,749,4992,0.20,2.90,0.00,0.000,4,0.170,0.068,3021,3512,2672
$GC,5037,0.73,97.3,708.9,13.6,753,5043,0.15,2.92,0.00,0.000,6,0.169,0.059,3002,2094,2672
$GC,5170,0.69,97.3,693.2,11.9,765,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2094,2672
$GC,5297,0.69,97.3,678.1,11.8,777,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2095,2672
$GC,5424,0.69,97.3,663.5,11.4,789,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2095,2671
$GC,5552,0.69,97.3,649.2,11.1,801,5556,0.00,2.85,0.00,0.000,4,0.000,0.054,3002,3516,2671
$GC,5613,0.65,97.3,642.0,12.3,806,5618,0.00,2.80,0.00,0.000,6,0.000,0.045,3002,2096,2672
$GC,5745,0.65,97.3,626.8,11.3,818,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2096,2671
$GC,5873,0.65,97.3,612.5,11.3,830,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2096,2671
$GC,6000,0.65,97.3,598.4,11.1,842,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2096,2672
$GC,6127,0.65,97.3,584.4,10.9,854,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2096,2672
$GC,6255,0.65,97.3,571.0,10.6,866,6257,0.12,0.00,0.00,0.000,6,0.174,0.000,2987,2096,2671
$GC,6384,0.65,100.8,558.6,9.6,878,6393,0.00,0.00,4.72,0.848,6,0.000,0.000,2987,2096,2660
$GC,6521,0.65,100.8,544.7,10.4,895,6526,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2096,2660
$GC,6659,0.65,101.6,530.7,9.9,920,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2096,2659
$GC,6803,0.65,101.6,516.4,10.2,945,6809,0.00,2.78,0.00,0.000,4,0.000,0.049,2987,3520,2659
$GC,6841,0.65,101.6,512.0,11.0,952,6849,0.00,2.78,0.00,0.000,6,0.000,0.042,2987,2097,2659
$GC,6984,0.65,101.6,497.6,10.6,977,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2097,2659
$GC,7122,0.65,101.6,483.4,10.4,1002,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2097,2659
$GC,7260,0.65,101.6,469.3,10.4,1027,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2097,2659
$GC,7398,0.65,101.6,455.1,10.5,1052,7406,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2097,2659
$GC,7542,0.65,102.3,440.9,9.9,1077,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2097,2659
$GC,7680,0.66,104.4,427.4,9.8,1102,7690,0.00,0.00,5.43,0.862,6,0.000,0.000,2987,2097,2644
$GC,7823,0.66,109.7,413.4,9.4,1128,7831,0.00,0.00,6.80,0.929,6,0.000,0.000,2987,2097,2623
$GC,7967,0.66,111.7,399.5,9.8,1153,7973,0.00,2.80,0.00,0.000,4,0.000,0.049,2987,3526,2622
$GC,8006,0.66,111.7,395.1,11.1,1160,8013,0.00,2.78,0.00,0.000,6,0.000,0.046,2987,2103,2622
$GC,8149,0.67,113.6,381.0,9.8,1185,8160,0.00,0.00,5.30,0.837,6,0.000,0.000,2987,2103,2608
$GC,8292,0.67,119.1,366.9,9.4,1211,8306,0.00,0.00,6.85,0.913,6,0.000,0.000,2987,2103,2586
$GC,8441,0.68,123.3,352.7,9.5,1237,8452,0.00,0.00,5.85,0.864,6,0.000,0.000,2987,2103,2568
$GC,8584,0.68,123.3,338.6,10.4,1263,8589,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2103,2567
$GC,8717,0.68,123.3,324.6,11.1,1288,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2103,2567
$GC,8856,0.68,123.3,310.2,10.6,1313,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2103,2567
$GC,8990,0.68,123.3,295.7,10.6,1338,8997,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2103,2567
$GC,9128,0.68,123.3,280.9,11.1,1363,9134,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2103,2567
$GC,9263,0.72,123.3,266.1,10.6,1388,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2103,2567
$GC,9402,0.72,123.3,251.3,10.8,1413,9407,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2103,2567
$GC,9536,0.76,123.3,236.6,10.5,1438,9544,0.00,2.80,0.00,0.000,4,0.000,0.067,2987,699,2567
$GC,9557,0.76,123.3,234.3,11.6,1441,9563,0.00,2.67,0.00,0.000,6,0.000,0.038,2987,2114,2567
$GC,9692,0.76,123.3,219.1,10.7,1466,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2114,2567
$GC,9831,0.76,123.3,204.3,11.0,1491,9836,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2114,2567
$GC,9965,0.76,123.3,189.4,11.1,1516,9972,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2115,2567
$GC,10104,0.76,123.3,174.1,10.7,1541,10109,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2115,2567
$GC,10238,0.76,123.3,158.4,11.8,1566,10246,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2115,2567
$GC,10376,0.81,123.3,143.5,11.0,1591,10384,0.15,0.00,0.00,0.000,6,0.087,0.000,3017,2115,2567
$GC,10510,0.81,123.3,126.5,13.6,1616,10518,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2115,2567
$GC,10644,0.81,123.3,109.1,12.7,1641,10651,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2115,2567
$GC,10777,0.81,123.3,91.7,13.2,1666,10785,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2115,2567
$GC,10911,0.81,123.3,74.7,12.0,1691,10919,0.00,2.72,0.00,0.000,4,0.000,0.051,3017,3508,2567
$GC,10942,0.76,123.3,70.5,13.8,1696,10950,0.00,2.72,0.00,0.000,6,0.000,0.043,3017,2102,2567
$GC,11076,0.76,123.3,53.2,13.3,1721,11083,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2102,2567
$GC,11210,0.76,123.3,35.4,13.7,1746,11217,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2102,2567
$GC,11281,0.76,123.3,25.5,14.2,1759,11288,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2102,2567
$GC,11352,0.76,123.3,15.6,14.3,1772,11360,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2102,2567
$GC,11424,0.76,123.3,5.5,14.7,1785,11432,0.00,2.80,0.00,0.000,4,0.000,0.062,3017,693,2567
$STATE,11448,end climb,SURFACE_DEPTH_REACHED
$STATE,11448,begin surface coast
$FINISH,0.3,1.027306
$STATE,11460,end surface coast,CONTROL_FINISHED_OK
$STATE,11460,begin surface
$SM_CCo,11478,91.00,0.960,0,0,2153,225.19
$SM_GC,0.81,0.00,0.00,91.00,0.000,0.000,0.960,1470,2211,2153,-6.30,0.31,225.19
$IRIDIUM_FIX,5837.82,-2031.41,290697,131324
$TT8_MAMPS,0.021476
$HUMID,1610
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,13.10
$XPDR_PINGS,654
$24V_AH,20.5,12.096
$10V_AH,9.9,4.329
$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,21.300,106.625,249.975,91.000,0.000,25.502,33.150,155.461,163.500,0.000,0.000,30.752,2790.502,3650.411,640.052,4392.550,412.642,0.000,2122.484,0.000,4393.138,0.000,0.468
$DEVICE_MAMPS,256.945,86.671,1298.531,959.517,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1279.548,1285.987,894.212,1373.627,2685.835,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136069,1791
$CAP_FILE_SIZE,158792,0
$CFSIZE,260165632,257400832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,12,0
$GPS,040408,182255,5900.719,-2029.560,37,1.1,37,-14.2