version: 66.03
glider: 143
mission: 4
dive: 191
start: 5 12 108 18 25 34
data:
$ID,143
$MISSION,4
$DIVE,191
$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,230
$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,-8861.0986
$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,29
$R_STBD_OVSHOOT,17
$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
$GPS1,181831,6126.982,-2533.243,39,1.0,39,-18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-52.9
$GPS2,182515,6127.007,-2533.229,10,1.1,10,-18.2
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6120.066,-2537.197
$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,248.2,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.82,-194.7,0.0,0.0,0,117,0.00,0.00,-88.40,0.000,2,0.000,0.000,1463,2268,3395
$GC,119,-0.82,-194.7,3.1,-4.5,16,149,10.15,2.78,-11.65,0.000,4,0.254,0.067,2611,887,3868
$GC,247,-0.77,-194.7,25.3,-16.5,38,254,0.00,2.80,0.00,0.000,6,0.000,0.052,2612,2295,3868
$GC,390,-0.67,-194.7,49.6,-17.4,63,396,0.22,0.00,0.00,0.000,6,0.150,0.000,2647,2295,3868
$GC,532,-0.67,-194.7,68.5,-12.2,88,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2295,3868
$GC,874,-0.67,-194.7,111.1,-12.3,149,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2295,3869
$GC,1217,-0.67,-194.7,154.9,-12.2,210,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2296,3869
$GC,1559,-0.67,-194.7,196.4,-11.9,271,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2295,3869
$GC,1902,-0.67,-194.7,237.1,-12.6,332,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2295,3869
$GC,2246,-0.67,-194.7,279.2,-12.8,393,2252,0.00,2.72,0.00,0.000,4,0.000,0.054,2647,895,3869
$GC,2286,-0.67,-194.7,284.1,-11.7,400,2292,0.00,2.70,0.00,0.000,6,0.000,0.047,2647,2292,3869
$GC,2629,-0.67,-194.7,326.9,-12.8,461,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2293,3869
$GC,2968,-0.67,-194.7,372.8,-14.3,508,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2293,3869
$GC,3287,-0.67,-194.7,415.1,-12.5,538,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2292,3869
$GC,3605,-0.67,-194.7,455.1,-13.1,568,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2292,3869
$GC,3924,-0.67,-194.7,494.1,-11.6,598,3925,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2292,3868
$GC,4243,-0.67,-194.7,530.3,-11.3,628,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2292,3868
$GC,4561,-0.67,-194.7,566.0,-11.1,658,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2292,3868
$GC,4890,-0.67,-194.7,602.5,-11.0,688,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2292,3868
$GC,5199,-0.67,-194.7,637.6,-11.8,703,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2292,3868
$GC,5508,-0.67,-194.7,676.6,-12.9,718,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2294,3868
$GC,5818,-0.67,-194.7,714.7,-12.2,733,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2295,3868
$GC,6126,-0.67,-194.7,752.2,-12.1,748,6131,0.00,2.85,0.00,0.000,4,0.000,0.069,2647,899,3868
$GC,6158,-0.67,-194.7,756.2,-12.3,749,6165,0.00,2.72,0.00,0.000,6,0.000,0.050,2647,2289,3868
$GC,6474,-0.67,-194.7,794.8,-11.8,765,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2290,3868
$GC,6783,-0.67,-194.7,832.0,-12.2,780,6787,0.00,2.90,0.00,0.000,4,0.000,0.067,2647,3713,3867
$GC,6821,-0.67,-194.7,836.8,-12.7,782,6826,0.00,2.83,0.00,0.000,6,0.000,0.051,2647,2290,3867
$GC,7147,-0.67,-194.7,875.0,-11.6,798,7152,0.00,2.83,0.00,0.000,4,0.000,0.067,2647,886,3867
$GC,7186,-0.72,-194.7,879.5,-11.4,800,7190,0.00,2.75,0.00,0.000,6,0.000,0.049,2647,2288,3867
$GC,7511,-0.72,-194.7,916.6,-11.3,816,7512,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2288,3867
$GC,7821,-0.72,-194.7,950.6,-11.1,831,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2289,3866
$GC,8130,-0.72,-194.7,984.2,-10.6,846,8134,0.00,2.90,0.00,0.000,4,0.000,0.067,2647,3705,3866
$GC,8172,-0.72,-194.7,988.8,-10.3,848,8177,0.00,2.85,0.00,0.000,6,0.000,0.052,2647,2273,3866
$STATE,8188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8188,begin apogee
$GC,8194,-0.19,0.0,990.4,10.4,849,8398,0.65,0.00,201.30,1.437,6,0.120,0.000,2756,2035,3072
$STATE,8399,end apogee,CONTROL_FINISHED_OK
$STATE,8399,begin climb
$GC,8401,0.82,194.7,997.3,0.0,859,8619,1.25,3.17,207.70,1.360,4,0.086,0.071,2971,653,2277
$GC,8715,0.71,194.7,969.8,13.1,874,8720,0.00,2.92,0.00,0.000,6,0.000,0.045,2971,2058,2274
$GC,9041,0.58,194.7,929.4,12.4,890,9047,0.25,2.90,0.00,0.000,4,0.137,0.063,2931,3465,2272
$GC,9120,0.54,205.0,921.1,9.6,893,9136,0.00,2.83,11.05,1.285,6,0.000,0.053,2931,2067,2235
$GC,9452,0.50,207.3,889.0,9.9,910,9454,0.12,0.00,0.00,0.000,6,0.132,0.000,2912,2067,2233
$GC,9761,0.56,258.8,863.3,8.2,925,9823,0.00,3.03,55.12,1.356,4,0.000,0.070,2912,637,2014
$GC,9908,0.65,285.8,850.8,9.1,931,9943,0.15,2.90,28.77,1.331,6,0.064,0.046,2942,2089,1905
$GC,10265,0.65,285.8,810.3,11.3,949,10270,0.00,3.00,0.00,0.000,4,0.000,0.070,2942,641,1901
$GC,10388,0.65,285.8,796.3,10.6,954,10394,0.00,2.85,0.00,0.000,6,0.000,0.048,2943,2092,1900
$GC,10703,0.65,285.8,762.3,11.0,970,10708,0.00,2.75,0.00,0.000,4,0.000,0.061,2942,3465,1899
$GC,10735,0.65,285.8,758.6,11.4,971,10742,0.00,2.78,0.00,0.000,6,0.000,0.051,2942,2074,1898
$GC,11051,0.65,285.8,723.4,11.8,987,11052,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2073,1898
$GC,11360,0.65,285.8,689.3,10.8,1002,11361,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2072,1898
$GC,11670,0.65,285.8,656.2,10.9,1017,11674,0.00,2.78,0.00,0.000,4,0.000,0.058,2942,3462,1898
$GC,11724,0.65,285.8,649.8,11.0,1019,11731,0.00,2.70,0.00,0.000,6,0.000,0.048,2942,2091,1896
$GC,12040,0.65,290.1,617.5,9.8,1035,12044,0.00,2.72,0.00,0.000,4,0.000,0.054,2942,3464,1896
$GC,12072,0.67,301.0,614.1,9.6,1036,12092,0.00,2.65,15.23,1.237,6,0.000,0.047,2942,2110,1843
$GC,12409,0.67,301.0,579.2,10.4,1061,12413,0.00,2.95,0.00,0.000,4,0.000,0.065,2942,641,1842
$GC,12441,0.67,301.0,575.6,10.4,1063,12447,0.00,2.85,0.00,0.000,6,0.000,0.043,2943,2115,1841
$GC,12766,0.67,301.0,541.3,10.6,1094,12767,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2115,1841
$GC,13084,0.67,301.0,507.2,10.9,1124,13085,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2115,1841
$GC,13404,0.67,301.0,471.4,11.2,1154,13405,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2114,1841
$GC,13721,0.67,301.0,436.0,10.9,1184,13722,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2114,1841
$GC,14039,0.67,301.0,402.3,10.9,1214,14044,0.00,2.95,0.00,0.000,4,0.000,0.062,2943,643,1841
$GC,14066,0.67,301.0,399.3,11.0,1216,14071,0.00,2.80,0.00,0.000,6,0.000,0.041,2942,2107,1841
$GC,14390,0.67,301.0,364.4,10.9,1246,14394,0.00,2.67,0.00,0.000,4,0.000,0.053,2942,3472,1841
$GC,14422,0.67,301.0,360.7,11.3,1248,14429,0.00,2.70,0.00,0.000,6,0.000,0.044,2943,2098,1840
$GC,14759,0.67,302.9,325.3,9.9,1300,14765,0.00,2.90,0.00,0.000,4,0.000,0.062,2942,632,1840
$GC,14788,0.67,302.9,322.3,10.5,1305,14794,0.00,2.83,0.00,0.000,6,0.000,0.040,2944,2111,1840
$GC,15131,0.69,323.0,289.0,9.3,1366,15159,0.00,2.72,22.67,1.042,4,0.000,0.051,2942,3461,1754
$GC,15187,0.72,345.3,283.5,9.2,1376,15220,0.00,2.67,23.77,0.931,6,0.000,0.044,2942,2095,1662
$GC,15558,0.72,345.3,246.9,10.9,1442,15565,0.00,2.92,0.00,0.000,4,0.000,0.062,2942,637,1658
$GC,15587,0.72,345.3,243.6,10.9,1447,15593,0.00,2.83,0.00,0.000,6,0.000,0.040,2942,2104,1658
$GC,15931,0.73,351.0,209.0,9.8,1508,15943,0.00,2.70,6.07,0.808,4,0.000,0.051,2942,3472,1639
$GC,15966,0.78,362.8,205.5,9.6,1514,15989,0.12,2.70,13.27,0.986,6,0.069,0.044,2970,2093,1591
$GC,16327,0.73,362.8,154.7,14.5,1578,16333,0.00,2.92,0.00,0.000,4,0.000,0.064,2969,635,1589
$GC,16361,0.73,362.8,149.5,13.8,1584,16368,0.00,2.83,0.00,0.000,6,0.000,0.041,2968,2108,1589
$GC,16706,0.67,362.8,101.4,14.5,1645,16712,0.12,0.00,0.00,0.000,6,0.131,0.000,2950,2108,1589
$GC,17048,0.67,362.8,62.8,12.8,1706,17056,0.00,2.95,0.00,0.000,4,0.000,0.062,2950,641,1589
$GC,17072,0.67,362.8,60.1,11.7,1710,17079,0.00,2.75,0.00,0.000,6,0.000,0.041,2950,2086,1588
$GC,17416,0.67,362.8,26.7,11.6,1771,17422,0.00,2.70,0.00,0.000,4,0.000,0.053,2950,3469,1588
$GC,17442,0.68,373.4,24.4,9.6,1775,17461,0.30,2.67,11.27,0.825,6,0.108,0.044,2913,2088,1548
$GC,17596,0.96,373.4,12.7,10.0,1802,17603,0.47,2.88,0.00,0.000,4,0.083,0.061,2990,642,1546
$GC,17678,0.96,373.4,4.4,10.9,1816,17684,0.00,2.72,0.00,0.000,6,0.000,0.041,2990,2069,1546
$STATE,17694,end climb,SURFACE_DEPTH_REACHED
$STATE,17694,begin surface coast
$FINISH,0.3,1.027119
$STATE,17707,end surface coast,CONTROL_FINISHED_OK
$STATE,17707,begin surface
$SM_CCo,17783,0.00,0.000,0,0,1545,374.33
$SM_GC,0.97,7.50,0.00,0.00,0.048,0.000,0.000,1466,2312,1545,-6.10,0.48,374.33
$IRIDIUM_FIX,6103.81,-2535.54,060897,131300
$TT8_MAMPS,0.021476
$HUMID,1703
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,15.10
$XPDR_PINGS,20
$24V_AH,19.2,63.525
$10V_AH,9.8,45.112
$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,21.325,136.125,596.250,0.000,0.000,30.522,36.409,218.485,5.000,0.000,0.000,12.010,2861.438,10881.898,706.203,3173.742,548.032,0.000,2208.273,0.000,3153.060,0.000,0.466
$DEVICE_MAMPS,253.877,70.564,1436.591,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1369.468,1274.971,671.141,958.259,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129532,1821
$CAP_FILE_SIZE,162655,0
$CFSIZE,260165632,238383104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120508,232307,6124.205,-2538.671,35,0.9,35,-18.2