version: 66.03
glider: 143
mission: 4
dive: 182
start: 5 10 108 21 59 16
data:
$ID,143
$MISSION,4
$DIVE,182
$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,70
$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,-8690.623
$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,15
$R_STBD_OVSHOOT,31
$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
$GPS1,215226,6126.316,-2633.997,39,1.4,39,-18.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-53.7
$GPS2,215857,6126.378,-2634.030,11,1.1,11,-18.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6130.072,-2629.188
$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,88.7,20000,-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,25,-0.82,-194.7,0.0,0.0,0,122,0.00,0.00,-94.40,0.000,2,0.000,0.000,1467,2315,3433
$GC,125,-0.82,-194.7,3.1,-4.8,13,156,9.90,2.88,-10.40,0.000,4,0.249,0.072,2612,3698,3867
$GC,190,-0.72,-194.7,17.3,-17.8,23,199,0.15,2.78,0.00,0.000,6,0.137,0.041,2637,2289,3868
$GC,326,-0.72,-194.7,37.3,-13.6,48,333,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2288,3868
$GC,461,-0.68,-194.7,55.6,-13.6,73,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2288,3868
$GC,789,-0.68,-194.7,100.0,-13.7,134,797,0.00,2.78,0.00,0.000,4,0.000,0.055,2637,891,3868
$GC,823,-0.68,-194.7,104.1,-13.7,139,829,0.00,2.75,0.00,0.000,6,0.000,0.048,2637,2295,3868
$GC,1152,-0.68,-194.7,149.6,-14.5,200,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2295,3868
$GC,1494,-0.68,-194.7,197.6,-14.1,261,1500,0.00,2.78,0.00,0.000,4,0.000,0.054,2637,887,3868
$GC,1522,-0.68,-194.7,201.9,-14.4,266,1528,0.00,2.78,0.00,0.000,6,0.000,0.048,2637,2307,3868
$GC,1863,-0.68,-194.7,249.6,-14.1,327,1869,0.00,2.80,0.00,0.000,4,0.000,0.055,2638,886,3868
$GC,1899,-0.68,-194.7,254.4,-13.8,333,1906,0.00,2.75,0.00,0.000,6,0.000,0.047,2638,2302,3868
$GC,2240,-0.68,-194.7,301.9,-14.0,394,2246,0.00,2.80,0.00,0.000,4,0.000,0.054,2639,884,3868
$GC,2269,-0.68,-194.7,305.9,-13.9,399,2275,0.00,2.72,0.00,0.000,6,0.000,0.047,2639,2291,3868
$GC,2614,-0.68,-194.7,352.1,-13.1,460,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2291,3868
$GC,2933,-0.68,-194.7,393.2,-12.6,490,2937,0.00,2.78,0.00,0.000,4,0.000,0.055,2640,883,3868
$GC,2965,-0.68,-194.7,397.3,-12.5,492,2971,0.00,2.70,0.00,0.000,6,0.000,0.044,2638,2278,3868
$GC,3290,-0.68,-194.7,438.0,-12.3,523,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2278,3868
$GC,3610,-0.68,-194.7,478.4,-13.2,553,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2277,3868
$GC,3926,-0.68,-194.7,523.7,-14.3,583,3931,0.00,2.75,0.00,0.000,4,0.000,0.057,2640,888,3868
$GC,3969,-0.68,-194.7,529.7,-13.4,586,3976,0.00,2.67,0.00,0.000,6,0.000,0.044,2639,2279,3868
$GC,4298,-0.68,-194.7,572.6,-13.0,617,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2279,3868
$GC,4609,-0.68,-194.7,614.0,-13.4,642,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2279,3868
$GC,4919,-0.68,-194.7,656.4,-13.8,657,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2279,3867
$GC,5228,-0.68,-194.7,697.9,-13.4,672,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2280,3868
$GC,5537,-0.68,-194.7,740.9,-13.9,687,5541,0.00,2.85,0.00,0.000,4,0.000,0.071,2639,890,3868
$GC,5580,-0.68,-194.7,746.9,-13.2,689,5584,0.00,2.70,0.00,0.000,6,0.000,0.049,2642,2266,3867
$GC,5907,-0.68,-194.7,789.9,-13.2,705,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2267,3867
$GC,6216,-0.68,-194.7,829.3,-12.4,720,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2269,3867
$GC,6525,-0.68,-194.7,865.6,-11.2,735,6529,0.00,2.83,0.00,0.000,4,0.000,0.069,2638,884,3867
$GC,6557,-0.68,-194.7,869.2,-10.9,736,6563,0.00,2.70,0.00,0.000,6,0.000,0.049,2654,2259,3867
$GC,6872,-0.68,-194.7,903.5,-11.1,752,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2261,3867
$GC,7181,-0.68,-194.7,940.5,-13.4,767,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2260,3866
$GC,7491,-0.68,-194.7,981.2,-12.7,782,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2262,3866
$STATE,7571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7571,begin apogee
$GC,7576,-0.19,0.0,991.5,12.7,786,7780,0.62,0.00,200.57,1.443,6,0.126,0.000,2756,2038,3071
$STATE,7781,end apogee,CONTROL_FINISHED_OK
$STATE,7781,begin climb
$GC,7783,0.82,194.7,1002.1,0.0,796,8001,1.30,3.20,207.32,1.368,4,0.092,0.072,2959,652,2277
$GC,8045,0.70,194.7,985.1,11.9,808,8052,0.00,2.97,0.00,0.000,6,0.000,0.045,2959,2052,2274
$GC,8361,0.59,194.7,951.0,10.9,824,8363,0.20,0.00,0.00,0.000,6,0.135,0.000,2930,2052,2271
$GC,8670,0.58,233.2,923.9,8.7,839,8715,0.00,2.97,38.88,1.388,4,0.000,0.063,2930,3469,2120
$GC,8827,0.58,233.2,907.8,10.9,846,8832,0.00,2.90,0.00,0.000,6,0.000,0.054,2941,2048,2116
$GC,9141,0.58,233.2,875.4,10.2,861,9147,0.17,2.90,0.00,0.000,4,0.129,0.060,2901,3468,2115
$GC,9253,0.68,276.9,865.9,8.5,866,9304,0.25,2.88,44.42,1.366,6,0.063,0.052,2951,2030,1942
$GC,9614,0.60,276.9,821.6,12.5,883,9618,0.00,2.85,0.00,0.000,4,0.000,0.071,2951,642,1938
$GC,9663,0.55,276.9,815.2,12.9,885,9668,0.20,2.75,0.00,0.000,6,0.124,0.046,2921,2039,1937
$GC,9979,0.62,332.9,788.7,8.1,900,10043,0.00,3.03,57.05,1.321,4,0.000,0.061,2920,3464,1713
$GC,10049,0.39,389.3,782.7,8.1,903,10116,0.20,2.97,59.33,1.261,6,0.117,0.050,2889,2020,1483
$GC,10425,0.72,389.3,746.0,11.0,921,10430,0.32,2.85,0.00,0.000,4,0.089,0.067,2949,633,1473
$GC,10735,1.07,435.4,716.3,8.4,935,10790,0.45,2.67,47.33,1.268,6,0.087,0.042,3032,2016,1295
$GC,11106,0.86,435.4,635.0,24.7,953,11111,0.25,2.92,0.00,0.000,4,0.157,0.058,2993,3459,1288
$GC,11173,0.82,435.4,621.1,17.2,956,11178,0.17,2.88,0.00,0.000,6,0.155,0.051,2980,2023,1287
$GC,11501,0.76,435.4,569.5,15.8,981,11506,0.15,2.88,0.00,0.000,4,0.149,0.054,2944,3456,1286
$GC,11534,0.81,435.4,564.6,12.9,983,11541,0.12,2.80,0.00,0.000,6,0.061,0.048,2980,2040,1286
$GC,11859,0.74,435.4,513.8,15.7,1014,11863,0.00,2.83,0.00,0.000,4,0.000,0.054,2974,3455,1285
$GC,11880,0.69,435.4,510.3,15.1,1015,11887,0.17,2.72,0.00,0.000,6,0.137,0.047,2953,2063,1285
$GC,12204,0.69,435.4,473.8,10.9,1046,12205,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2062,1285
$GC,12523,0.69,435.4,439.7,10.3,1076,12528,0.00,2.78,0.00,0.000,4,0.000,0.051,2949,3466,1285
$GC,12551,0.74,435.4,436.7,10.8,1078,12555,0.00,2.70,0.00,0.000,6,0.000,0.046,2952,2084,1284
$GC,12874,0.74,435.4,401.9,10.7,1108,12879,0.00,2.90,0.00,0.000,4,0.000,0.064,2949,634,1284
$GC,12914,0.82,435.4,397.8,10.1,1111,12919,0.15,2.78,0.00,0.000,6,0.056,0.041,2985,2087,1283
$GC,13240,0.72,435.4,343.5,16.3,1144,13249,0.17,2.72,0.00,0.000,4,0.143,0.052,2956,3459,1283
$GC,13285,0.78,435.4,337.6,10.9,1151,13291,0.00,2.70,0.00,0.000,6,0.000,0.047,2957,2080,1283
$GC,13624,0.78,435.4,299.7,10.7,1212,13632,0.00,2.90,0.00,0.000,4,0.000,0.064,2957,640,1283
$GC,13650,0.78,435.4,296.7,11.8,1216,13657,0.00,2.80,0.00,0.000,6,0.000,0.041,2957,2090,1283
$GC,13993,0.78,435.4,256.5,11.7,1277,13999,0.00,2.70,0.00,0.000,4,0.000,0.052,2956,3465,1283
$GC,14012,0.78,435.4,253.9,12.4,1280,14019,0.00,2.70,0.00,0.000,6,0.000,0.045,2964,2094,1283
$GC,14355,0.78,435.4,211.4,12.1,1341,14361,0.00,2.90,0.00,0.000,4,0.000,0.064,2956,638,1283
$GC,14383,0.82,435.4,207.5,12.6,1346,14390,0.00,2.80,0.00,0.000,6,0.000,0.041,2957,2105,1283
$GC,14722,0.82,435.4,166.1,11.3,1407,14728,0.00,2.67,0.00,0.000,4,0.000,0.053,2956,3470,1283
$GC,14746,0.82,435.4,163.4,12.2,1411,14753,0.00,2.70,0.00,0.000,6,0.000,0.045,2975,2084,1282
$GC,15080,0.82,435.4,124.6,10.7,1472,15088,0.00,2.92,0.00,0.000,4,0.000,0.064,2956,638,1282
$GC,15112,0.87,435.4,121.2,11.2,1477,15119,0.17,2.78,0.00,0.000,6,0.054,0.040,2998,2091,1282
$GC,15442,0.74,435.4,56.7,20.9,1538,15450,0.20,2.72,0.00,0.000,4,0.147,0.054,2966,3459,1282
$GC,15467,0.67,435.4,52.0,18.1,1542,15476,0.15,2.70,0.00,0.000,6,0.146,0.044,2953,2086,1282
$GC,15791,0.77,447.3,20.2,9.6,1603,15808,0.00,2.95,11.07,0.815,4,0.000,0.064,2941,641,1247
$GC,15822,0.88,459.7,17.3,9.6,1607,15845,0.20,2.80,14.70,0.874,6,0.047,0.039,2993,2091,1196
$STATE,15918,end climb,SURFACE_DEPTH_REACHED
$STATE,15918,begin surface coast
$FINISH,0.3,1.027304
$STATE,15932,end surface coast,CONTROL_FINISHED_OK
$STATE,15932,begin surface
$SM_CCo,16008,0.00,0.000,0,0,1192,460.92
$SM_GC,0.89,7.55,0.00,0.00,0.048,0.000,0.000,1467,2305,1192,-6.09,0.25,460.92
$IRIDIUM_FIX,6059.36,-2635.91,040897,171707
$TT8_MAMPS,0.021476
$HUMID,1701
$INTERNAL_PRESSURE,8.11555
$TCM_TEMP,11.80
$XPDR_PINGS,111
$24V_AH,19.2,61.252
$10V_AH,9.7,43.763
$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,23.250,158.225,680.675,0.000,0.000,29.779,32.791,212.501,27.750,0.000,0.000,12.858,2611.657,8712.474,756.334,3771.632,533.125,0.000,2227.656,0.000,3763.322,0.000,0.466
$DEVICE_MAMPS,248.508,72.098,1442.727,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1211.252,1136.946,598.647,834.825,1526.079,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120212,1626
$CAP_FILE_SIZE,157460,0
$CFSIZE,260165632,239206400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,110508,022708,6128.133,-2629.470,29,1.4,29,-18.7