version: 66.03
glider: 143
mission: 4
dive: 189
start: 5 12 108 8 20 52
data:
$ID,143
$MISSION,4
$DIVE,189
$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,90
$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,-8813.0615
$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,18
$R_STBD_OVSHOOT,22
$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
$GPS1,081408,6129.576,-2543.067,33,1.6,33,-18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-48.3
$GPS2,082035,6129.545,-2543.050,14,1.6,16,-18.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6129.545,-2537.896
$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,108.3,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,122,0.00,0.00,-93.05,0.000,2,0.000,0.000,1467,2302,3427
$GC,125,-0.82,-194.7,3.4,-5.6,17,155,9.88,2.90,-10.45,0.000,4,0.249,0.071,2614,3706,3867
$GC,229,-0.74,-194.7,24.4,-16.9,35,236,0.12,2.72,0.00,0.000,6,0.145,0.040,2631,2292,3868
$GC,375,-0.69,-194.7,46.1,-14.9,60,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2291,3868
$GC,518,-0.63,-194.7,67.5,-15.3,85,524,0.15,0.00,0.00,0.000,6,0.148,0.000,2655,2289,3868
$GC,861,-0.63,-194.7,113.6,-12.4,146,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2289,3868
$GC,1204,-0.63,-194.7,153.0,-11.1,207,1210,0.00,2.75,0.00,0.000,4,0.000,0.054,2655,881,3869
$GC,1244,-0.68,-194.7,157.5,-10.7,214,1250,0.00,2.72,0.00,0.000,6,0.000,0.046,2656,2286,3868
$GC,1588,-0.68,-194.7,196.3,-11.3,275,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2286,3869
$GC,1930,-0.68,-194.7,237.9,-13.3,336,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2286,3869
$GC,2274,-0.68,-194.7,280.7,-12.0,397,2280,0.00,2.75,0.00,0.000,4,0.000,0.055,2656,887,3869
$GC,2298,-0.68,-194.7,283.5,-11.8,401,2304,0.00,2.70,0.00,0.000,6,0.000,0.044,2656,2288,3869
$GC,2641,-0.68,-194.7,323.0,-11.1,462,2646,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2288,3869
$GC,2982,-0.68,-194.7,363.8,-12.6,514,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2288,3869
$GC,3301,-0.68,-194.7,404.7,-13.1,544,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2288,3868
$GC,3621,-0.68,-194.7,445.2,-13.0,574,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2288,3869
$GC,3938,-0.68,-194.7,485.3,-12.0,604,3943,0.00,2.78,0.00,0.000,4,0.000,0.057,2656,882,3869
$GC,3959,-0.68,-194.7,488.1,-12.2,605,3966,0.00,2.70,0.00,0.000,6,0.000,0.043,2656,2291,3869
$GC,4285,-0.68,-194.7,527.4,-12.4,636,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2291,3869
$GC,4603,-0.68,-194.7,565.4,-11.2,666,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2291,3869
$GC,4921,-0.68,-194.7,600.6,-10.6,696,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2291,3869
$GC,5231,-0.68,-194.7,632.8,-10.5,711,5232,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2292,3869
$GC,5540,-0.68,-194.7,666.1,-10.9,726,5544,0.00,2.85,0.00,0.000,4,0.000,0.065,2656,881,3868
$GC,5583,-0.74,-194.7,670.7,-10.3,728,5588,0.00,2.70,0.00,0.000,6,0.000,0.048,2656,2272,3868
$GC,5905,-0.74,-194.7,703.6,-10.0,744,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2273,3868
$GC,6213,-0.74,-194.7,735.0,-10.5,759,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2274,3868
$GC,6523,-0.74,-194.7,765.8,-9.9,774,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2276,3868
$GC,6832,-0.74,-194.7,799.1,-11.1,789,6833,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2276,3867
$GC,7141,-0.74,-194.7,833.2,-11.0,804,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2276,3868
$GC,7450,-0.74,-194.7,865.8,-10.5,819,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2276,3867
$GC,7760,-0.74,-194.7,897.6,-10.1,834,7764,0.00,2.92,0.00,0.000,4,0.000,0.068,2655,3702,3867
$GC,7780,-0.74,-194.7,899.8,-10.2,835,7785,0.00,2.88,0.00,0.000,6,0.000,0.052,2655,2247,3867
$GC,8108,-0.74,-194.7,933.0,-10.5,851,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2247,3867
$GC,8416,-0.74,-194.7,962.4,-9.3,866,8418,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2247,3866
$GC,8725,-0.74,-194.7,989.7,-8.9,881,8729,0.00,2.17,0.00,0.000,3,0.000,0.064,2656,3318,3866
$STATE,8730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8730,begin apogee
$GC,8737,-0.19,0.0,990.1,8.8,881,8942,0.55,0.00,201.15,1.434,6,0.119,0.000,2751,2041,3071
$STATE,8943,end apogee,CONTROL_FINISHED_OK
$STATE,8943,begin climb
$GC,8945,0.82,194.7,996.3,0.0,891,9163,1.30,3.25,207.38,1.359,4,0.087,0.071,2973,640,2277
$GC,9287,0.70,194.7,964.6,13.2,907,9291,0.00,2.90,0.00,0.000,6,0.000,0.045,2973,2051,2273
$GC,9607,0.57,194.7,924.6,12.0,923,9612,0.28,2.90,0.00,0.000,4,0.133,0.062,2929,3464,2271
$GC,9669,0.57,194.7,918.0,10.0,926,9673,0.00,2.83,0.00,0.000,6,0.000,0.052,2930,2064,2271
$GC,9995,0.60,255.3,890.7,7.9,942,10063,0.00,3.00,60.67,1.364,4,0.000,0.061,2929,3461,2029
$GC,10085,0.66,304.1,883.0,8.3,946,10142,0.00,2.90,50.83,1.309,6,0.000,0.051,2930,2058,1831
$GC,10463,0.66,304.1,846.9,10.3,965,10467,0.00,2.88,0.00,0.000,4,0.000,0.059,2929,3461,1825
$GC,10505,0.66,304.1,842.1,10.6,967,10510,0.00,2.78,0.00,0.000,6,0.000,0.051,2930,2084,1823
$GC,10833,0.66,305.3,808.9,10.0,983,10834,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2083,1823
$GC,11142,0.67,311.7,780.3,9.8,998,11156,0.00,2.83,7.62,1.161,4,0.000,0.059,2929,3458,1800
$GC,11178,0.70,336.0,776.6,9.2,999,11213,0.12,2.72,26.98,1.315,6,0.074,0.051,2954,2092,1701
$GC,11536,0.64,336.0,732.0,12.8,1017,11537,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2090,1698
$GC,11844,0.59,336.0,695.6,11.3,1032,11849,0.15,2.75,0.00,0.000,4,0.129,0.057,2928,3464,1697
$GC,11865,0.59,336.0,693.3,10.6,1033,11870,0.00,2.70,0.00,0.000,6,0.000,0.050,2929,2101,1696
$GC,12187,0.64,374.7,666.3,8.7,1049,12228,0.00,0.00,39.50,1.251,6,0.000,0.000,2928,2100,1543
$GC,12536,0.72,398.2,633.5,9.2,1066,12570,0.15,3.03,25.77,1.227,4,0.070,0.067,2962,638,1446
$GC,12599,0.72,398.2,625.6,13.0,1069,12603,0.00,2.92,0.00,0.000,6,0.000,0.043,2962,2123,1444
$GC,12919,0.66,398.2,579.5,14.6,1091,12921,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2123,1442
$GC,13239,0.61,398.2,533.8,14.2,1121,13244,0.15,3.03,0.00,0.000,4,0.129,0.064,2936,632,1441
$GC,13267,0.61,398.2,529.9,12.3,1123,13271,0.00,2.83,0.00,0.000,6,0.000,0.041,2936,2100,1441
$GC,13591,0.66,398.2,497.8,10.1,1153,13596,0.00,2.67,0.00,0.000,4,0.000,0.054,2936,3461,1441
$GC,13621,0.76,422.6,495.2,9.2,1155,13654,0.12,2.70,25.15,1.148,6,0.070,0.045,2963,2079,1348
$GC,13971,0.76,422.6,444.8,13.9,1188,13975,0.00,2.90,0.00,0.000,4,0.000,0.064,2963,638,1344
$GC,14014,0.76,422.6,438.8,12.1,1191,14020,0.00,2.80,0.00,0.000,6,0.000,0.040,2963,2090,1343
$GC,14340,0.76,422.6,393.0,14.2,1222,14341,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2091,1343
$GC,14660,0.76,422.6,348.1,13.8,1253,14666,0.00,2.92,0.00,0.000,4,0.000,0.062,2963,634,1342
$GC,14688,0.76,422.6,343.9,13.9,1258,14694,0.00,2.75,0.00,0.000,6,0.000,0.040,2963,2074,1342
$GC,15031,0.76,422.6,297.4,12.9,1319,15036,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2074,1341
$GC,15373,0.76,422.6,254.0,12.8,1380,15379,0.00,2.88,0.00,0.000,4,0.000,0.062,2963,635,1342
$GC,15396,0.76,422.6,250.8,13.6,1384,15402,0.00,2.72,0.00,0.000,6,0.000,0.041,2963,2069,1342
$GC,15740,0.76,422.6,203.6,15.0,1445,15746,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2069,1342
$GC,16082,0.76,422.6,153.2,15.3,1506,16087,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2069,1342
$GC,16426,0.76,422.6,104.2,14.3,1567,16432,0.00,2.88,0.00,0.000,4,0.000,0.064,2964,640,1342
$GC,16462,0.76,422.6,99.4,13.2,1573,16468,0.00,2.72,0.00,0.000,6,0.000,0.041,2963,2067,1341
$GC,16805,0.76,422.6,52.4,12.6,1634,16812,0.00,2.72,0.00,0.000,4,0.000,0.052,2963,3459,1342
$GC,16829,0.76,422.6,49.3,13.4,1638,16836,0.00,2.72,0.00,0.000,6,0.000,0.044,2963,2050,1341
$GC,16971,0.76,422.6,31.1,13.8,1663,16978,0.00,2.80,0.00,0.000,4,0.000,0.064,2963,643,1342
$GC,17001,0.76,422.6,26.9,14.6,1668,17008,0.00,2.70,0.00,0.000,6,0.000,0.041,2963,2060,1341
$GC,17143,0.76,422.6,9.1,13.1,1693,17149,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2060,1341
$STATE,17198,end climb,SURFACE_DEPTH_REACHED
$STATE,17198,begin surface coast
$FINISH,0.4,1.027282
$STATE,17216,end surface coast,CONTROL_FINISHED_OK
$STATE,17216,begin surface
$SM_CCo,17292,0.00,0.000,0,0,1340,424.61
$SM_GC,0.96,7.25,0.00,0.00,0.044,0.000,0.000,1467,2296,1340,-6.08,0.03,424.61
$IRIDIUM_FIX,6103.81,-2551.61,060897,030307
$TT8_MAMPS,0.021476
$HUMID,1728
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,16.60
$XPDR_PINGS,19
$24V_AH,19.2,63.042
$10V_AH,9.9,44.840
$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,20.225,123.700,645.050,0.000,0.000,25.261,32.426,206.603,4.750,0.000,0.000,17.989,2691.838,10755.748,737.752,2955.613,521.404,0.000,2163.411,0.000,2935.995,0.000,0.466
$DEVICE_MAMPS,248.508,71.331,1434.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1296.293,1191.095,611.092,859.485,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120450,1706
$CAP_FILE_SIZE,153580,0
$CFSIZE,260165632,238579712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,120508,131025,6128.112,-2537.881,29,1.3,46,-18.2