version: 66.03
glider: 143
mission: 4
dive: 56
start: 4 15 108 4 14 3
data:
$ID,143
$MISSION,4
$DIVE,56
$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,0
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,270
$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,-5025.999
$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,2085
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,20
$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
$GPS1,040438,5934.243,-2120.350,26,1.6,26,-14.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-29.7
$GPS2,041344,5934.309,-2120.402,10,1.7,15,-14.9
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5934.309,-2125.871
$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,284.9,20000,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.82,-194.7,0.0,0.0,0,171,0.00,0.00,-144.12,0.000,2,0.000,0.000,1496,2306,3638
$GC,174,-0.82,-194.7,3.8,-8.4,20,198,9.88,2.85,-4.95,0.000,4,0.253,0.060,2561,884,3867
$GC,409,-0.62,-194.7,60.6,-20.1,63,416,0.50,2.75,0.00,0.000,6,0.156,0.046,2659,2291,3868
$GC,610,-0.56,-194.7,94.4,-15.7,100,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2291,3868
$GC,816,-0.49,-194.7,125.4,-14.8,137,822,0.15,0.00,0.00,0.000,6,0.146,0.000,2684,2291,3868
$GC,1015,-0.49,-194.7,150.7,-12.3,174,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2291,3868
$GC,1347,-0.49,-194.7,190.8,-11.9,235,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2291,3868
$GC,1676,-0.49,-194.7,231.0,-12.5,296,1684,0.00,2.80,0.00,0.000,4,0.000,0.054,2661,878,3868
$GC,1719,-0.54,-194.7,235.8,-11.8,303,1725,0.00,2.72,0.00,0.000,6,0.000,0.044,2663,2299,3868
$GC,2049,-0.54,-194.7,275.6,-11.9,364,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2299,3868
$GC,2382,-0.54,-194.7,315.8,-12.4,425,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2300,3868
$GC,2712,-0.54,-194.7,356.0,-12.1,486,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2299,3867
$GC,3053,-0.54,-194.7,398.2,-12.1,547,3059,0.00,2.78,0.00,0.000,4,0.000,0.054,2661,879,3867
$GC,3098,-0.60,-194.7,403.7,-11.8,555,3105,0.00,2.67,0.00,0.000,6,0.000,0.041,2666,2289,3868
$GC,3441,-0.60,-194.7,444.4,-12.1,616,3447,0.00,2.78,0.00,0.000,4,0.000,0.054,2661,3712,3868
$GC,3475,-0.60,-194.7,448.7,-12.4,622,3482,0.00,2.75,0.00,0.000,6,0.000,0.041,2661,2274,3868
$GC,3814,-0.60,-194.7,489.7,-12.5,683,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2270,3867
$GC,4155,-0.60,-194.7,530.4,-12.0,744,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2270,3867
$GC,4499,-0.60,-194.7,570.9,-12.0,805,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2270,3868
$GC,4840,-0.60,-194.7,611.5,-11.5,858,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2270,3868
$GC,5159,-0.60,-194.7,648.2,-11.3,888,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2270,3868
$GC,5477,-0.60,-194.7,683.9,-11.2,918,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2270,3868
$GC,5796,-0.60,-194.7,720.8,-11.5,948,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2270,3867
$GC,6114,-0.60,-194.7,757.2,-11.3,978,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2270,3867
$GC,6433,-0.60,-194.7,793.5,-11.1,1008,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2270,3867
$GC,6752,-0.60,-194.7,829.6,-11.1,1038,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2270,3867
$GC,7070,-0.60,-194.7,864.2,-11.2,1068,7075,0.00,2.88,0.00,0.000,4,0.000,0.065,2661,3701,3867
$GC,7109,-0.65,-194.7,868.5,-11.1,1071,7113,0.00,2.78,0.00,0.000,6,0.000,0.052,2661,2287,3867
$GC,7433,-0.65,-194.7,904.2,-10.9,1101,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2287,3867
$GC,7751,-0.65,-194.7,939.0,-11.0,1131,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2287,3867
$GC,8070,-0.65,-194.7,972.0,-10.1,1161,8074,0.00,2.80,0.00,0.000,4,0.000,0.070,2661,884,3867
$GC,8103,-0.71,-194.7,975.3,-10.5,1163,8109,0.00,2.72,0.00,0.000,6,0.000,0.049,2661,2295,3866
$STATE,8256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8256,begin apogee
$GC,8261,-0.19,0.0,990.9,9.9,1178,8459,0.55,0.00,194.70,1.450,6,0.111,0.000,2757,2071,3071
$STATE,8460,end apogee,CONTROL_FINISHED_OK
$STATE,8460,begin climb
$GC,8462,0.82,194.7,998.6,0.0,1198,8675,1.23,3.12,198.88,1.372,4,0.088,0.071,2972,688,2275
$GC,8781,0.69,194.7,970.2,13.2,1228,8788,0.12,2.90,0.00,0.000,6,0.142,0.044,2956,2093,2272
$GC,9105,0.56,194.7,929.2,12.7,1259,9111,0.17,2.88,0.00,0.000,4,0.137,0.060,2928,3496,2270
$GC,9155,0.56,194.7,923.7,10.3,1263,9160,0.00,2.83,0.00,0.000,6,0.000,0.053,2928,2113,2270
$GC,9481,0.53,217.0,893.1,9.2,1293,9512,0.00,3.05,22.02,1.440,4,0.000,0.069,2927,676,2186
$GC,9625,0.54,223.7,879.0,9.8,1306,9639,0.00,2.88,8.38,1.165,6,0.000,0.044,2928,2123,2159
$GC,9965,0.51,234.0,846.4,9.6,1338,9986,0.00,2.88,11.80,1.321,4,0.000,0.058,2928,3503,2116
$GC,10025,0.52,248.2,840.5,9.5,1343,10046,0.00,2.80,15.80,1.223,6,0.000,0.051,2927,2121,2059
$GC,10365,0.53,251.8,807.4,9.9,1375,10376,0.00,2.97,5.00,0.986,4,0.000,0.069,2927,672,2044
$GC,10493,0.53,251.8,794.0,10.0,1386,10500,0.00,2.90,0.00,0.000,6,0.000,0.044,2928,2146,2043
$GC,10818,0.54,258.3,761.6,9.8,1417,10832,0.00,3.08,8.12,1.169,4,0.000,0.070,2928,678,2017
$GC,10941,0.56,278.5,749.6,9.3,1428,10972,0.00,2.88,21.55,1.334,6,0.000,0.044,2928,2147,1934
$GC,11289,0.56,278.5,715.3,10.0,1461,11294,0.00,3.05,0.00,0.000,4,0.000,0.069,2927,672,1932
$GC,11397,0.56,278.5,704.7,10.4,1470,11401,0.00,2.90,0.00,0.000,6,0.000,0.044,2928,2154,1932
$GC,11720,0.56,278.5,672.2,10.1,1500,11724,0.00,2.65,0.00,0.000,4,0.000,0.056,2927,3494,1931
$GC,11748,0.56,278.5,669.5,10.6,1502,11752,0.00,2.67,0.00,0.000,6,0.000,0.048,2928,2137,1930
$GC,12072,0.57,284.2,637.4,9.8,1532,12083,0.00,3.00,6.75,1.041,4,0.000,0.065,2927,676,1912
$GC,12094,0.57,284.2,634.9,10.4,1534,12099,0.00,2.85,0.00,0.000,6,0.000,0.041,2928,2154,1912
$GC,12418,0.57,284.2,602.8,10.0,1564,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2155,1911
$GC,12755,0.57,284.2,569.4,10.0,1621,12760,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2154,1911
$GC,13094,0.58,291.3,535.5,9.8,1682,13106,0.00,0.00,8.90,1.066,6,0.000,0.000,2928,2155,1882
$GC,13441,0.60,305.9,500.6,9.5,1744,13465,0.00,3.03,15.57,1.213,4,0.000,0.062,2927,670,1823
$GC,13476,0.60,305.9,496.9,10.2,1750,13483,0.00,2.85,0.00,0.000,6,0.000,0.039,2928,2148,1822
$GC,13820,0.63,332.1,463.9,9.1,1811,13849,0.00,0.00,26.40,1.086,6,0.000,0.000,2928,2148,1717
$GC,14185,0.64,345.7,427.8,9.5,1876,14207,0.00,3.03,14.77,1.058,4,0.000,0.061,2927,674,1661
$GC,14219,0.64,345.7,424.2,10.2,1882,14225,0.00,2.85,0.00,0.000,6,0.000,0.038,2929,2142,1660
$GC,14560,0.71,365.7,390.6,9.3,1943,14584,0.12,0.00,19.95,1.038,6,0.069,0.000,2954,2143,1580
$GC,14921,0.67,365.7,344.0,13.4,2007,14927,0.00,2.97,0.00,0.000,4,0.000,0.061,2953,670,1577
$GC,14948,0.67,365.7,339.9,12.5,2012,14957,0.00,2.85,0.00,0.000,6,0.000,0.038,2954,2135,1576
$GC,15283,0.63,365.7,297.1,13.7,2073,15289,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2136,1576
$GC,15612,0.63,365.7,255.5,13.3,2134,15620,0.00,2.95,0.00,0.000,4,0.000,0.061,2953,671,1575
$GC,15634,0.59,365.7,253.0,12.3,2137,15641,0.12,2.75,0.00,0.000,6,0.105,0.038,2930,2126,1576
$GC,15967,0.72,427.5,223.7,7.9,2198,16031,0.15,0.00,59.50,0.960,6,0.064,0.000,2965,2127,1328
$GC,16355,0.66,427.5,168.5,14.5,2268,16363,0.12,2.97,0.00,0.000,4,0.126,0.061,2946,678,1321
$GC,16387,0.66,427.5,164.3,13.4,2273,16393,0.00,2.80,0.00,0.000,6,0.000,0.038,2948,2128,1320
$GC,16717,0.66,427.5,127.8,11.9,2334,16725,0.00,2.95,0.00,0.000,4,0.000,0.060,2947,680,1319
$GC,16738,0.66,427.5,125.6,11.7,2337,16744,0.00,2.75,0.00,0.000,6,0.000,0.038,2948,2114,1319
$GC,16940,0.66,427.5,102.5,11.1,2374,16948,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2115,1319
$GC,17143,0.66,427.5,79.7,11.0,2411,17148,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2115,1318
$GC,17342,0.70,427.5,56.8,10.7,2448,17350,0.00,2.92,0.00,0.000,4,0.000,0.061,2947,675,1318
$GC,17378,0.88,497.0,54.0,7.6,2454,17452,0.17,2.75,66.55,0.839,6,0.038,0.038,2994,2100,1044
$GC,17579,0.73,497.0,20.5,24.0,2489,17587,0.20,0.00,0.00,0.000,6,0.139,0.000,2962,2101,1040
$GC,17714,0.79,543.1,4.5,8.4,2514,17765,0.00,3.03,45.35,0.765,4,0.000,0.072,2961,673,855
$STATE,17771,end climb,SURFACE_DEPTH_REACHED
$STATE,17771,begin surface coast
$FINISH,0.1,1.027335
$STATE,17799,end surface coast,CONTROL_FINISHED_OK
$STATE,17799,begin surface
$SM_CCo,17877,0.00,0.000,0,0,851,544.57
$SM_GC,0.28,7.53,0.00,0.00,0.046,0.000,0.000,1471,2313,851,-6.08,0.54,544.57
$IRIDIUM_FIX,5911.23,-2112.61,090797,232344
$TT8_MAMPS,0.021476
$HUMID,1633
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,12.30
$XPDR_PINGS,313
$24V_AH,19.7,27.023
$10V_AH,9.7,17.924
$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,21.025,132.700,750.000,0.000,0.000,24.360,34.519,350.631,78.250,0.000,0.000,16.848,3804.952,7611.240,802.355,5478.429,693.370,0.000,2843.745,0.000,5491.820,0.000,0.470
$DEVICE_MAMPS,253.110,72.098,1450.397,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1832.601,1835.138,1095.548,986.335,2569.972,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,189709,2527
$CAP_FILE_SIZE,198622,0
$CFSIZE,260165632,251408384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150408,091308,5935.141,-2127.592,34,2.0,34,-15.0