version: 66.03
glider: 143
mission: 4
dive: 183
start: 5 11 108 2 33 46
data:
$ID,143
$MISSION,4
$DIVE,183
$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,-8707.2529
$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,28
$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
$GPS1,022708,6128.133,-2629.470,29,1.4,29,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-50.1
$GPS2,023326,6128.201,-2629.368,9,1.4,14,-18.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6131.894,-2624.531
$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,-194.7,0.0,0.0,0,137,0.00,0.00,-108.80,0.000,2,0.000,0.000,1467,2308,3497
$GC,140,-0.82,-194.7,3.5,-5.6,15,170,9.77,2.90,-8.35,0.000,4,0.246,0.071,2611,3696,3868
$GC,323,-0.75,-194.7,38.3,-15.7,48,331,0.10,2.78,0.00,0.000,6,0.130,0.041,2629,2288,3868
$GC,461,-0.69,-194.7,58.6,-14.4,73,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2285,3869
$GC,791,-0.64,-194.7,108.6,-15.5,134,799,0.15,0.00,0.00,0.000,6,0.141,0.000,2654,2284,3869
$GC,1123,-0.64,-194.7,150.3,-12.2,195,1130,0.00,2.75,0.00,0.000,4,0.000,0.055,2654,880,3869
$GC,1162,-0.68,-194.7,154.6,-11.1,201,1168,0.00,2.70,0.00,0.000,6,0.000,0.046,2654,2275,3869
$GC,1502,-0.68,-194.7,197.4,-12.6,262,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2275,3869
$GC,1841,-0.68,-194.7,239.8,-11.6,323,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2275,3869
$GC,2178,-0.68,-194.7,279.4,-11.4,384,2185,0.00,2.78,0.00,0.000,4,0.000,0.055,2654,883,3869
$GC,2219,-0.73,-194.7,284.2,-11.5,391,2225,0.00,2.70,0.00,0.000,6,0.000,0.045,2654,2281,3869
$GC,2558,-0.73,-194.7,323.7,-11.7,452,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2281,3869
$GC,2898,-0.73,-194.7,364.5,-12.4,503,2903,0.00,2.75,0.00,0.000,4,0.000,0.055,2654,886,3869
$GC,2937,-0.78,-194.7,369.1,-11.7,506,2943,0.12,2.67,0.00,0.000,6,0.063,0.044,2627,2276,3869
$GC,3264,-0.72,-194.7,416.4,-14.7,536,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2276,3869
$GC,3582,-0.67,-194.7,463.5,-14.9,566,3584,0.15,0.00,0.00,0.000,6,0.129,0.000,2649,2276,3869
$GC,3900,-0.67,-194.7,505.2,-13.3,596,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2276,3869
$GC,4218,-0.67,-194.7,546.7,-12.5,626,4222,0.00,2.75,0.00,0.000,4,0.000,0.057,2649,887,3868
$GC,4252,-0.67,-194.7,551.2,-12.7,628,4258,0.00,2.67,0.00,0.000,6,0.000,0.044,2649,2278,3869
$GC,4577,-0.67,-194.7,592.1,-12.2,659,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2278,3869
$GC,4897,-0.67,-194.7,629.0,-11.4,678,4902,0.00,2.78,0.00,0.000,4,0.000,0.061,2649,890,3868
$GC,4941,-0.71,-194.7,633.9,-11.0,680,4945,0.00,2.67,0.00,0.000,6,0.000,0.046,2650,2269,3869
$GC,5261,-0.71,-194.7,671.2,-12.0,696,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2269,3869
$GC,5570,-0.71,-194.7,706.4,-10.8,711,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2271,3869
$GC,5880,-0.71,-194.7,730.6,-7.0,726,5884,0.00,2.83,0.00,0.000,4,0.000,0.070,2649,887,3869
$GC,5919,-0.76,-194.7,733.4,-6.9,728,5923,0.00,2.67,0.00,0.000,6,0.000,0.049,2651,2253,3869
$GC,6245,-0.76,-194.7,762.4,-10.7,744,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2253,3868
$GC,6553,-0.76,-194.7,800.5,-13.3,759,6558,0.00,2.80,0.00,0.000,4,0.000,0.069,2649,886,3868
$GC,6587,-0.76,-194.7,804.9,-13.8,760,6593,0.22,2.65,0.00,0.000,6,0.054,0.049,2623,2241,3868
$GC,6902,-0.66,-194.7,858.7,-17.2,776,6908,0.15,3.00,0.00,0.000,4,0.141,0.068,2627,3710,3867
$GC,6957,-0.66,-194.7,867.6,-14.5,778,6965,0.15,2.90,0.00,0.000,6,0.140,0.053,2648,2255,3868
$GC,7273,-0.66,-194.7,899.7,-8.8,794,7278,0.00,2.78,0.00,0.000,4,0.000,0.068,2648,880,3867
$GC,7306,-0.71,-194.7,902.5,-8.4,795,7312,0.00,2.67,0.00,0.000,6,0.000,0.051,2648,2245,3868
$GC,7620,-0.71,-194.7,933.1,-10.6,811,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2244,3867
$GC,7930,-0.71,-194.7,969.9,-12.1,826,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2245,3867
$STATE,8093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8093,begin apogee
$GC,8098,-0.19,0.0,990.4,12.3,834,8302,0.65,0.00,200.65,1.442,6,0.126,0.000,2756,2035,3071
$STATE,8303,end apogee,CONTROL_FINISHED_OK
$STATE,8303,begin climb
$GC,8305,0.82,194.7,1001.7,0.0,844,8523,1.25,3.22,207.07,1.368,4,0.088,0.071,2971,649,2277
$GC,8607,0.70,194.7,979.4,11.5,858,8612,0.00,2.95,0.00,0.000,6,0.000,0.046,2971,2058,2274
$GC,8922,0.57,194.7,938.2,14.1,873,8928,0.28,2.90,0.00,0.000,4,0.136,0.063,2927,3460,2272
$GC,8972,0.57,194.7,931.4,13.0,875,8977,0.00,2.85,0.00,0.000,6,0.000,0.053,2928,2061,2271
$GC,9288,0.52,194.7,893.9,11.8,890,9289,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2060,2271
$GC,9597,0.48,194.7,858.9,10.7,905,9602,0.15,2.85,0.00,0.000,4,0.127,0.060,2901,3462,2271
$GC,9663,0.55,246.1,853.0,8.2,908,9721,0.00,2.78,51.15,1.358,6,0.000,0.051,2901,2068,2067
$GC,10030,0.71,327.9,825.6,7.2,926,10120,0.22,3.00,82.62,1.322,4,0.063,0.059,2951,3457,1734
$GC,10166,0.71,327.9,809.6,12.8,932,10171,0.00,2.83,0.00,0.000,6,0.000,0.051,2952,2095,1729
$GC,10481,0.66,327.9,770.3,12.4,947,10485,0.00,3.00,0.00,0.000,4,0.000,0.071,2951,641,1726
$GC,10513,0.66,327.9,766.2,11.9,948,10519,0.00,2.88,0.00,0.000,6,0.000,0.046,2951,2102,1726
$GC,10828,0.61,327.9,730.5,11.2,964,10833,0.00,2.75,0.00,0.000,4,0.000,0.060,2951,3464,1725
$GC,10861,0.61,327.9,726.8,10.9,965,10867,0.00,2.72,0.00,0.000,6,0.000,0.051,2951,2099,1724
$GC,11176,0.61,327.9,693.3,10.8,981,11178,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2098,1724
$GC,11486,0.57,327.9,657.4,11.6,996,11488,0.15,0.00,0.00,0.000,6,0.127,0.000,2929,2097,1724
$GC,11795,0.62,366.5,630.1,8.7,1011,11840,0.00,2.83,38.20,1.242,4,0.000,0.056,2928,3459,1576
$GC,11858,0.72,401.5,624.7,8.8,1014,11904,0.15,2.75,37.72,1.173,6,0.063,0.048,2960,2091,1433
$GC,12226,0.72,401.5,576.8,13.6,1039,12231,0.00,2.95,0.00,0.000,4,0.000,0.066,2960,641,1425
$GC,12255,0.72,401.5,572.7,14.4,1041,12260,0.00,2.85,0.00,0.000,6,0.000,0.043,2960,2102,1425
$GC,12582,0.72,401.5,528.5,13.7,1071,12587,0.00,2.70,0.00,0.000,4,0.000,0.054,2960,3462,1424
$GC,12603,0.72,401.5,525.0,13.9,1072,12613,0.00,2.72,0.00,0.000,6,0.000,0.046,2966,2094,1423
$GC,12930,0.72,401.5,481.7,13.5,1103,12931,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2094,1423
$GC,13248,0.72,401.5,440.0,13.1,1133,13253,0.00,2.92,0.00,0.000,4,0.000,0.064,2960,634,1423
$GC,13275,0.72,401.5,436.3,13.6,1135,13280,0.00,2.80,0.00,0.000,6,0.000,0.041,2960,2095,1422
$GC,13599,0.72,401.5,396.8,12.8,1165,13603,0.00,2.67,0.00,0.000,4,0.000,0.051,2960,3458,1422
$GC,13626,0.72,401.5,393.2,13.0,1167,13631,0.00,2.70,0.00,0.000,6,0.000,0.046,2961,2080,1422
$GC,13950,0.72,401.5,351.8,12.9,1197,13955,0.00,2.88,0.00,0.000,4,0.000,0.063,2961,641,1422
$GC,13977,0.72,401.5,348.2,13.0,1200,13986,0.00,2.80,0.00,0.000,6,0.000,0.041,2961,2091,1422
$GC,14323,0.72,401.5,303.7,12.6,1261,14329,0.00,2.70,0.00,0.000,4,0.000,0.051,2960,3468,1422
$GC,14351,0.72,401.5,299.7,12.4,1266,14358,0.00,2.70,0.00,0.000,6,0.000,0.045,2960,2083,1422
$GC,14692,0.72,401.5,255.7,13.2,1327,14698,0.00,2.88,0.00,0.000,4,0.000,0.064,2960,641,1422
$GC,14716,0.72,401.5,252.7,12.9,1331,14722,0.00,2.78,0.00,0.000,6,0.000,0.041,2960,2093,1421
$GC,15055,0.72,401.5,208.9,12.7,1392,15063,0.00,2.70,0.00,0.000,4,0.000,0.052,2960,3453,1422
$GC,15080,0.72,401.5,205.8,12.4,1396,15088,0.00,2.70,0.00,0.000,6,0.000,0.046,2960,2086,1422
$GC,15424,0.72,401.5,162.9,13.1,1457,15430,0.00,2.90,0.00,0.000,4,0.000,0.064,2960,638,1422
$GC,15449,0.72,401.5,159.5,13.3,1461,15456,0.00,2.78,0.00,0.000,6,0.000,0.041,2961,2093,1422
$GC,15783,0.72,401.5,118.9,11.5,1522,15790,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2093,1422
$GC,16116,0.72,401.5,76.6,11.8,1583,16121,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2093,1422
$GC,16442,0.72,401.5,38.3,13.0,1644,16449,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2093,1422
$GC,16577,0.72,401.5,22.3,11.5,1669,16585,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2093,1422
$GC,16711,0.72,401.5,5.6,10.2,1694,16719,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2093,1422
$STATE,16735,end climb,SURFACE_DEPTH_REACHED
$STATE,16735,begin surface coast
$FINISH,0.5,1.027308
$STATE,16747,end surface coast,CONTROL_FINISHED_OK
$STATE,16747,begin surface
$SM_CCo,16823,0.00,0.000,0,0,1420,404.99
$SM_GC,0.84,7.30,0.00,0.00,0.047,0.000,0.000,1470,2297,1420,-6.08,0.06,404.99
$IRIDIUM_FIX,6103.81,-2631.89,040897,222202
$TT8_MAMPS,0.022243
$HUMID,1717
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,11.70
$XPDR_PINGS,101
$24V_AH,19.2,61.507
$10V_AH,9.8,43.945
$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,20.975,146.450,617.425,0.000,0.000,22.911,33.083,202.635,25.250,0.000,0.000,15.999,2715.259,9349.485,717.552,3871.708,534.955,0.000,2212.416,0.000,3865.636,0.000,0.466
$DEVICE_MAMPS,246.207,71.331,1441.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1262.368,1193.087,628.510,850.418,1568.578,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126666,1700
$CAP_FILE_SIZE,157002,0
$CFSIZE,260165632,239116288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110508,071525,6129.537,-2622.125,24,1.3,41,-18.6