version: 66.03
glider: 143
mission: 4
dive: 190
start: 5 12 108 13 17 49
data:
$ID,143
$MISSION,4
$DIVE,190
$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,-8848.4619
$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,23
$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
$GPS1,131025,6128.112,-2537.881,29,1.3,46,-18.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-50.0
$GPS2,131732,6128.103,-2537.953,16,1.3,33,-18.2
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6128.103,-2532.795
$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,108.2,20000,-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,-93.10,0.000,2,0.000,0.000,1467,2299,3338
$GC,125,-0.82,-194.7,3.0,-4.6,17,155,9.88,2.88,-13.40,0.000,4,0.249,0.074,2614,3701,3864
$GC,281,-0.75,-194.7,31.2,-17.8,44,288,0.12,2.72,0.00,0.000,6,0.139,0.041,2631,2285,3865
$GC,425,-0.69,-194.7,52.4,-14.4,69,430,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2285,3865
$GC,768,-0.63,-194.7,100.1,-13.4,130,774,0.15,0.00,0.00,0.000,6,0.150,0.000,2656,2282,3865
$GC,1113,-0.63,-194.7,139.3,-12.1,191,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2282,3865
$GC,1454,-0.63,-194.7,183.2,-12.1,252,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2282,3865
$GC,1798,-0.63,-194.7,224.4,-11.8,313,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2282,3865
$GC,2140,-0.63,-194.7,266.4,-12.1,374,2147,0.00,2.75,0.00,0.000,4,0.000,0.054,2656,879,3865
$GC,2163,-0.63,-194.7,269.2,-12.8,378,2169,0.00,2.78,0.00,0.000,6,0.000,0.046,2656,2309,3865
$GC,2506,-0.63,-194.7,310.0,-11.4,439,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2309,3865
$GC,2848,-0.63,-194.7,349.8,-11.5,500,2855,0.00,2.80,0.00,0.000,4,0.000,0.055,2656,883,3865
$GC,2883,-0.68,-194.7,353.9,-11.4,504,2888,0.00,2.75,0.00,0.000,6,0.000,0.044,2656,2309,3865
$GC,3209,-0.68,-194.7,391.2,-11.4,534,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2310,3865
$GC,3526,-0.68,-194.7,425.7,-11.0,564,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2309,3865
$GC,3844,-0.68,-194.7,462.1,-11.7,594,3849,0.00,2.83,0.00,0.000,4,0.000,0.056,2656,880,3865
$GC,3865,-0.68,-194.7,464.7,-12.0,595,3872,0.00,2.72,0.00,0.000,6,0.000,0.043,2656,2297,3865
$GC,4191,-0.68,-194.7,502.6,-12.0,626,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2297,3865
$GC,4509,-0.68,-194.7,542.3,-12.4,656,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2297,3865
$GC,4827,-0.68,-194.7,580.9,-11.6,686,4831,0.00,2.80,0.00,0.000,4,0.000,0.057,2656,886,3865
$GC,4847,-0.68,-194.7,583.3,-11.6,687,4854,0.00,2.72,0.00,0.000,6,0.000,0.044,2656,2298,3864
$GC,5177,-0.68,-194.7,622.7,-11.3,710,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2298,3864
$GC,5486,-0.68,-194.7,659.2,-11.7,725,5491,0.00,2.85,0.00,0.000,4,0.000,0.064,2657,882,3864
$GC,5508,-0.68,-194.7,661.7,-11.2,726,5512,0.00,2.75,0.00,0.000,6,0.000,0.047,2655,2294,3864
$GC,5829,-0.68,-194.7,697.2,-10.9,742,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2295,3864
$GC,6138,-0.68,-194.7,732.4,-11.3,757,6142,0.00,2.85,0.00,0.000,4,0.000,0.067,2656,891,3865
$GC,6177,-0.75,-194.7,736.8,-11.8,759,6182,0.00,2.72,0.00,0.000,6,0.000,0.048,2656,2285,3864
$GC,6502,-0.75,-194.7,773.4,-11.5,775,6507,0.00,2.90,0.00,0.000,4,0.000,0.068,2656,3705,3864
$GC,6535,-0.79,-194.7,777.2,-11.6,776,6542,0.15,2.80,0.00,0.000,6,0.064,0.050,2625,2285,3864
$GC,6850,-0.79,-194.7,817.2,-12.3,792,6855,0.00,2.83,0.00,0.000,4,0.000,0.067,2625,880,3864
$GC,6889,-0.79,-194.7,822.0,-12.4,794,6894,0.00,2.75,0.00,0.000,6,0.000,0.050,2624,2282,3864
$GC,7216,-0.75,-194.7,865.1,-13.9,810,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2282,3863
$GC,7525,-0.75,-194.7,905.9,-12.5,825,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2283,3863
$GC,7834,-0.75,-194.7,946.4,-12.7,840,7838,0.00,2.85,0.00,0.000,4,0.000,0.066,2625,880,3863
$GC,7860,-0.75,-194.7,949.8,-13.1,841,7864,0.00,2.75,0.00,0.000,6,0.000,0.049,2625,2281,3863
$STATE,8158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8158,begin apogee
$GC,8164,-0.19,0.0,990.3,13.6,856,8368,0.80,0.00,200.25,1.433,6,0.128,0.000,2756,2033,3071
$STATE,8368,end apogee,CONTROL_FINISHED_OK
$STATE,8369,begin climb
$GC,8370,0.82,194.7,999.1,0.0,866,8589,1.25,3.17,207.32,1.361,4,0.087,0.071,2972,647,2277
$GC,8707,0.69,194.7,971.1,12.2,882,8713,0.12,2.92,0.00,0.000,6,0.143,0.046,2956,2059,2273
$GC,9034,0.58,194.7,935.1,10.9,898,9039,0.15,2.90,0.00,0.000,4,0.140,0.061,2931,3471,2271
$GC,9084,0.55,203.4,930.1,9.7,900,9099,0.00,2.83,9.62,1.251,6,0.000,0.052,2934,2072,2241
$GC,9421,0.51,210.2,899.9,9.8,917,9436,0.15,3.00,8.18,1.217,4,0.131,0.071,2910,637,2214
$GC,9549,0.57,261.2,888.7,8.2,922,9609,0.00,2.85,52.60,1.359,6,0.000,0.046,2911,2089,2006
$GC,9926,0.65,328.3,860.0,7.7,941,10001,0.15,2.90,68.82,1.340,4,0.068,0.061,2942,3461,1731
$GC,10040,0.65,328.3,848.0,10.9,946,10045,0.00,2.83,0.00,0.000,6,0.000,0.051,2946,2092,1728
$GC,10355,0.65,328.3,811.7,12.3,961,10360,0.00,2.80,0.00,0.000,4,0.000,0.059,2942,3466,1725
$GC,10455,0.65,328.3,799.4,12.4,965,10462,0.00,2.78,0.00,0.000,6,0.000,0.053,2944,2087,1724
$GC,10771,0.65,328.3,763.4,11.2,981,10775,0.00,2.95,0.00,0.000,4,0.000,0.071,2942,641,1724
$GC,10802,0.65,328.3,759.8,11.2,982,10809,0.00,2.85,0.00,0.000,6,0.000,0.046,2943,2101,1724
$GC,11118,0.65,328.3,726.1,11.0,998,11123,0.00,2.72,0.00,0.000,4,0.000,0.059,2942,3461,1723
$GC,11150,0.65,328.3,722.1,11.1,999,11157,0.00,2.75,0.00,0.000,6,0.000,0.051,2942,2080,1722
$GC,11466,0.65,328.3,685.0,12.5,1015,11471,0.00,2.92,0.00,0.000,4,0.000,0.068,2942,632,1722
$GC,11487,0.65,328.3,682.2,12.3,1016,11491,0.00,2.83,0.00,0.000,6,0.000,0.044,2942,2105,1722
$GC,11814,0.65,328.3,644.2,11.3,1032,11818,0.00,2.67,0.00,0.000,4,0.000,0.057,2942,3462,1722
$GC,11845,0.65,328.3,640.4,11.1,1033,11852,0.00,2.67,0.00,0.000,6,0.000,0.048,2943,2100,1721
$GC,12161,0.65,328.3,606.9,10.2,1049,12162,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2100,1721
$GC,12477,0.65,328.3,572.7,11.2,1075,12478,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2099,1721
$GC,12796,0.65,328.3,534.7,12.2,1105,12797,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2099,1721
$GC,13114,0.65,328.3,499.2,10.9,1135,13115,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2099,1721
$GC,13435,0.65,328.3,464.3,11.1,1165,13439,0.00,2.70,0.00,0.000,4,0.000,0.053,2942,3462,1722
$GC,13462,0.65,328.3,461.0,11.2,1167,13466,0.00,2.65,0.00,0.000,6,0.000,0.046,2943,2105,1721
$GC,13786,0.65,328.3,427.4,10.3,1197,13791,0.00,2.92,0.00,0.000,4,0.000,0.063,2942,637,1721
$GC,13813,0.65,328.3,424.5,10.3,1199,13818,0.00,2.83,0.00,0.000,6,0.000,0.041,2943,2117,1721
$GC,14139,0.65,328.3,389.5,10.9,1229,14143,0.00,2.65,0.00,0.000,4,0.000,0.051,2942,3471,1721
$GC,14166,0.65,328.3,386.3,10.9,1231,14171,0.00,2.67,0.00,0.000,6,0.000,0.045,2944,2096,1721
$GC,14490,0.65,328.3,352.2,10.1,1261,14495,0.00,2.90,0.00,0.000,4,0.000,0.062,2942,643,1720
$GC,14511,0.66,334.2,349.9,9.8,1262,14523,0.00,2.83,5.65,0.854,6,0.000,0.041,2943,2126,1708
$GC,14860,0.66,334.2,314.9,10.0,1324,14866,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2126,1708
$GC,15203,0.66,334.2,280.1,10.2,1385,15209,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2125,1707
$GC,15546,0.66,334.2,243.4,10.6,1446,15551,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2126,1708
$GC,15888,0.66,334.2,207.2,10.5,1507,15894,0.00,2.97,0.00,0.000,4,0.000,0.062,2942,641,1708
$GC,15923,0.71,334.2,203.5,10.5,1513,15929,0.00,2.83,0.00,0.000,6,0.000,0.041,2942,2120,1708
$GC,16266,0.71,334.2,168.4,10.1,1574,16272,0.00,2.65,0.00,0.000,4,0.000,0.052,2942,3472,1708
$GC,16294,0.71,334.2,165.3,11.3,1579,16300,0.00,2.67,0.00,0.000,6,0.000,0.044,2945,2094,1707
$GC,16637,0.71,334.2,127.8,10.2,1640,16642,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2094,1707
$GC,16979,0.71,334.2,90.7,11.6,1701,16985,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2094,1707
$GC,17321,0.71,336.3,56.7,9.9,1762,17327,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2095,1707
$GC,17665,0.73,356.2,22.4,9.3,1823,17694,0.00,0.00,22.77,0.875,6,0.000,0.000,2944,2094,1617
$GC,17831,0.82,390.5,6.7,8.8,1852,17872,0.15,2.75,33.47,0.806,4,0.062,0.052,2978,3461,1478
$STATE,17876,end climb,SURFACE_DEPTH_REACHED
$STATE,17876,begin surface coast
$FINISH,0.3,1.018875
$STATE,17890,end surface coast,CONTROL_FINISHED_OK
$STATE,17890,begin surface
$SM_CCo,17968,0.00,0.000,0,0,1475,391.50
$SM_GC,0.99,7.40,0.00,0.00,0.037,0.000,0.000,1464,2270,1475,-6.10,-0.71,391.50
$IRIDIUM_FIX,6108.28,-2547.56,060897,080841
$TT8_MAMPS,0.021476
$HUMID,1706
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,16.70
$XPDR_PINGS,20
$24V_AH,19.2,63.286
$10V_AH,9.8,44.978
$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,20.475,146.025,608.700,0.000,0.000,30.511,33.624,225.451,5.000,0.000,0.000,34.772,2929.040,10876.803,718.946,3299.608,556.249,0.000,2273.992,0.000,3253.697,0.000,0.465
$DEVICE_MAMPS,248.508,74.399,1432.756,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1405.990,1303.079,699.599,983.950,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132845,1862
$CAP_FILE_SIZE,166054,0
$CFSIZE,260165632,238469120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120508,181831,6126.982,-2533.243,39,1.0,39,-18.2