version: 66.03
glider: 143
mission: 4
dive: 199
start: 5 14 108 8 59 4
data:
$ID,143
$MISSION,4
$DIVE,199
$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,340
$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,-9039.8955
$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,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
$GPS1,085207,6101.340,-2615.666,32,1.4,32,-18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-49.7
$GPS2,085845,6101.288,-2615.752,11,1.4,11,-18.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6111.436,-2617.532
$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,358.3,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.82,-194.7,0.0,0.0,0,127,0.00,0.00,-99.15,0.000,2,0.000,0.000,1471,2304,3321
$GC,130,-0.82,-194.7,3.1,-6.2,18,161,10.05,2.88,-13.75,0.000,4,0.252,0.074,2610,3707,3866
$GC,275,-0.72,-194.7,28.3,-17.3,43,282,0.20,2.75,0.00,0.000,6,0.143,0.041,2639,2285,3868
$GC,420,-0.68,-194.7,47.9,-13.2,68,426,0.00,2.75,0.00,0.000,4,0.000,0.054,2639,880,3867
$GC,465,-0.68,-194.7,54.4,-13.3,76,472,0.00,2.75,0.00,0.000,6,0.000,0.047,2639,2289,3868
$GC,809,-0.64,-194.7,100.7,-13.4,137,815,0.12,0.00,0.00,0.000,6,0.146,0.000,2657,2289,3868
$GC,1153,-0.64,-194.7,141.7,-11.6,198,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2289,3868
$GC,1496,-0.64,-194.7,181.9,-11.6,259,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2289,3868
$GC,1839,-0.64,-194.7,222.0,-12.1,320,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2289,3868
$GC,2183,-0.64,-194.7,263.7,-12.4,381,2189,0.00,2.78,0.00,0.000,4,0.000,0.055,2657,883,3868
$GC,2223,-0.69,-194.7,268.4,-11.6,388,2229,0.00,2.70,0.00,0.000,6,0.000,0.044,2657,2282,3868
$GC,2567,-0.69,-194.7,308.0,-11.3,449,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2282,3868
$GC,2909,-0.69,-194.7,347.2,-12.1,510,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2282,3868
$GC,3234,-0.69,-194.7,387.6,-13.1,543,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2282,3868
$GC,3552,-0.69,-194.7,426.7,-11.8,573,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2282,3867
$GC,3871,-0.69,-194.7,463.8,-11.8,603,3875,0.00,2.78,0.00,0.000,4,0.000,0.056,2657,878,3868
$GC,3914,-0.75,-194.7,468.8,-11.3,606,3921,0.00,2.70,0.00,0.000,6,0.000,0.044,2657,2279,3868
$GC,4240,-0.75,-194.7,505.0,-11.3,637,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2279,3867
$GC,4558,-0.75,-194.7,541.2,-11.0,667,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2279,3867
$GC,4876,-0.75,-194.7,574.6,-10.3,697,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2279,3868
$GC,5204,-0.75,-194.7,607.0,-9.6,725,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2279,3868
$GC,5512,-0.75,-194.7,638.7,-11.1,740,5517,0.00,2.80,0.00,0.000,4,0.000,0.061,2657,885,3868
$GC,5545,-0.81,-194.7,642.4,-11.0,741,5552,0.20,2.67,0.00,0.000,6,0.053,0.045,2615,2265,3867
$GC,5861,-0.73,-194.7,687.6,-14.7,757,5866,0.15,2.92,0.00,0.000,4,0.143,0.064,2635,3705,3867
$GC,5900,-0.73,-194.7,692.9,-12.9,759,5905,0.00,2.85,0.00,0.000,6,0.000,0.050,2635,2265,3867
$GC,6226,-0.73,-194.7,733.7,-12.6,775,6230,0.00,2.80,0.00,0.000,4,0.000,0.068,2635,877,3867
$GC,6264,-0.73,-194.7,738.5,-12.8,777,6269,0.00,2.72,0.00,0.000,6,0.000,0.048,2635,2272,3867
$GC,6589,-0.73,-194.7,781.8,-13.4,793,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2274,3866
$GC,6899,-0.73,-194.7,822.9,-12.6,808,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2275,3866
$GC,7208,-0.73,-194.7,862.6,-12.8,823,7209,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2276,3866
$GC,7517,-0.73,-194.7,901.4,-12.8,838,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2276,3866
$GC,7826,-0.73,-194.7,941.6,-13.1,853,7831,0.00,2.85,0.00,0.000,4,0.000,0.067,2635,876,3866
$GC,7875,-0.73,-194.7,948.0,-13.5,855,7880,0.00,2.72,0.00,0.000,6,0.000,0.049,2635,2268,3865
$GC,8191,-0.73,-194.7,987.1,-12.4,870,8195,0.00,2.95,0.00,0.000,4,0.000,0.067,2635,3709,3865
$STATE,8215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8215,begin apogee
$GC,8223,-0.19,0.0,990.5,13.5,871,8427,0.70,0.00,200.77,1.426,6,0.127,0.000,2753,2049,3071
$STATE,8428,end apogee,CONTROL_FINISHED_OK
$STATE,8428,begin climb
$GC,8430,0.82,194.7,999.0,0.0,881,8648,1.25,3.25,207.15,1.358,4,0.087,0.069,2968,643,2277
$GC,8745,0.72,194.7,973.5,12.0,896,8749,0.00,2.95,0.00,0.000,6,0.000,0.047,2968,2058,2273
$GC,9071,0.60,194.7,936.4,11.2,912,9076,0.20,2.90,0.00,0.000,4,0.133,0.062,2937,3469,2271
$GC,9126,0.55,194.7,930.5,10.7,914,9132,0.00,2.88,0.00,0.000,6,0.000,0.053,2937,2049,2271
$GC,9442,0.52,228.4,901.9,8.8,930,9484,0.15,2.97,33.75,1.372,4,0.127,0.061,2911,3471,2139
$GC,9522,0.57,268.2,895.2,8.6,933,9570,0.00,2.85,41.28,1.316,6,0.000,0.051,2911,2072,1977
$GC,9880,0.63,315.4,866.6,8.4,951,9935,0.12,2.95,48.38,1.336,4,0.072,0.060,2935,3465,1785
$GC,9967,0.63,315.4,856.8,11.1,955,9972,0.00,2.83,0.00,0.000,6,0.000,0.051,2936,2092,1782
$GC,10295,0.63,315.4,822.6,10.4,971,10296,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2090,1780
$GC,10604,0.63,315.4,790.7,10.6,986,10608,0.00,2.78,0.00,0.000,4,0.000,0.059,2935,3464,1779
$GC,10646,0.63,315.4,785.6,11.4,988,10651,0.00,2.72,0.00,0.000,6,0.000,0.051,2937,2098,1777
$GC,10974,0.63,315.9,751.1,10.0,1004,10975,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2098,1777
$GC,11282,0.63,315.9,720.0,10.4,1019,11284,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2096,1777
$GC,11592,0.63,315.9,688.1,10.5,1034,11596,0.00,2.75,0.00,0.000,4,0.000,0.058,2936,3471,1777
$GC,11624,0.63,315.9,684.5,10.4,1035,11630,0.00,2.70,0.00,0.000,6,0.000,0.049,2936,2102,1777
$GC,11939,0.63,316.8,651.8,10.0,1051,11944,0.00,2.95,0.00,0.000,4,0.000,0.067,2935,634,1776
$GC,11956,0.66,340.3,650.2,9.2,1052,11987,0.00,2.85,25.75,1.260,6,0.000,0.043,2936,2115,1683
$GC,12304,0.66,340.9,617.1,10.0,1069,12305,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2115,1680
$GC,12615,0.66,340.9,585.2,10.3,1090,12616,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2115,1680
$GC,12934,0.66,340.9,552.5,10.2,1120,12935,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2114,1680
$GC,13254,0.66,340.9,520.0,10.0,1150,13255,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2114,1680
$GC,13572,0.66,343.7,487.5,9.9,1180,13584,0.00,2.97,4.57,0.824,4,0.000,0.063,2936,641,1669
$GC,13607,0.72,343.7,483.8,10.6,1183,13612,0.00,2.83,0.00,0.000,6,0.000,0.041,2936,2114,1669
$GC,13932,0.74,363.8,452.9,9.3,1213,13956,0.12,0.00,21.35,1.135,6,0.071,0.000,2961,2114,1588
$GC,14270,0.69,363.8,407.2,13.9,1245,14271,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2114,1585
$GC,14590,0.65,363.8,363.8,13.4,1275,14594,0.00,2.65,0.00,0.000,4,0.000,0.051,2961,3466,1585
$GC,14610,0.65,363.8,360.5,14.1,1276,14617,0.00,2.70,0.00,0.000,6,0.000,0.044,2961,2098,1584
$GC,14949,0.60,363.8,316.2,13.6,1329,14955,0.15,0.00,0.00,0.000,6,0.130,0.000,2936,2097,1584
$GC,15293,0.69,395.2,284.3,8.9,1390,15331,0.00,0.00,32.35,1.004,6,0.000,0.000,2936,2097,1458
$GC,15670,0.83,449.3,252.7,8.1,1457,15728,0.20,0.00,53.92,0.943,6,0.059,0.000,2981,2096,1239
$GC,16067,0.74,449.3,191.5,15.6,1528,16073,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2097,1232
$GC,16411,0.66,449.3,133.5,18.9,1589,16417,0.20,0.00,0.00,0.000,6,0.128,0.000,2948,2097,1232
$GC,16754,0.75,467.1,98.5,9.4,1650,16778,0.00,2.97,18.15,0.873,4,0.000,0.063,2947,644,1166
$GC,16790,0.84,478.9,95.2,9.6,1656,16813,0.17,2.83,13.10,0.773,6,0.048,0.038,2990,2120,1119
$GC,17151,0.75,478.9,29.9,18.9,1720,17157,0.15,0.00,0.00,0.000,6,0.133,0.000,2968,2120,1116
$GC,17293,0.75,478.9,9.4,13.5,1745,17299,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2120,1115
$STATE,17353,end climb,SURFACE_DEPTH_REACHED
$STATE,17353,begin surface coast
$FINISH,0.4,1.027251
$STATE,17371,end surface coast,CONTROL_FINISHED_OK
$STATE,17372,begin surface
$SM_CCo,17448,0.00,0.000,0,0,1114,480.30
$SM_GC,0.84,7.30,0.00,0.00,0.043,0.000,0.000,1467,2308,1114,-6.08,0.34,480.30
$IRIDIUM_FIX,6037.25,-2618.02,080897,040410
$TT8_MAMPS,0.022243
$HUMID,1717
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,16.60
$XPDR_PINGS,47
$24V_AH,19.2,65.695
$10V_AH,9.8,46.118
$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,21.450,108.375,700.525,0.000,0.000,23.724,38.935,216.902,11.750,0.000,0.000,13.237,2731.366,10758.811,763.869,3042.152,537.461,0.000,2228.431,0.000,3025.404,0.000,0.468
$DEVICE_MAMPS,252.343,73.632,1425.853,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1319.699,1236.325,621.557,886.318,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126470,1759
$CAP_FILE_SIZE,154651,0
$CFSIZE,260165632,237699072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,140508,135107,6103.028,-2618.462,35,1.0,40,-18.3