version: 66.03
glider: 143
mission: 4
dive: 200
start: 5 14 108 14 1 40
data:
$ID,143
$MISSION,4
$DIVE,200
$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,-9057.7734
$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
$GPS1,135107,6103.028,-2618.462,35,1.0,40,-18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-47.1
$GPS2,140121,6103.003,-2618.603,15,1.6,15,-18.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6113.151,-2620.381
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.82,-194.7,0.0,0.0,0,134,0.00,0.00,-104.28,0.000,2,0.000,0.000,1467,2311,3346
$GC,136,-0.82,-194.7,3.2,-6.4,19,167,9.82,2.85,-12.90,0.000,4,0.247,0.071,2615,3715,3865
$GC,293,-0.74,-194.7,31.3,-16.6,46,300,0.15,2.75,0.00,0.000,6,0.141,0.040,2636,2284,3866
$GC,437,-0.68,-194.7,52.1,-14.1,71,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2282,3867
$GC,779,-0.63,-194.7,102.2,-14.4,132,785,0.15,0.00,0.00,0.000,6,0.140,0.000,2661,2281,3866
$GC,1124,-0.63,-194.7,145.4,-12.7,193,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2281,3866
$GC,1466,-0.63,-194.7,186.6,-11.5,254,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2281,3867
$GC,1808,-0.63,-194.7,227.3,-11.8,315,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2281,3866
$GC,2151,-0.63,-194.7,267.8,-12.2,376,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2281,3866
$GC,2494,-0.63,-194.7,309.8,-12.9,437,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2281,3866
$GC,2836,-0.63,-194.7,348.4,-10.7,498,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2281,3866
$GC,3161,-0.63,-194.7,383.0,-11.5,530,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2281,3867
$GC,3479,-0.63,-194.7,421.3,-11.9,560,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2281,3867
$GC,3799,-0.63,-194.7,459.6,-11.7,590,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2281,3866
$GC,4116,-0.63,-194.7,496.0,-11.0,620,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2281,3866
$GC,4435,-0.63,-194.7,532.1,-11.5,650,4439,0.00,2.75,0.00,0.000,4,0.000,0.057,2661,883,3866
$GC,4478,-0.70,-194.7,537.1,-10.9,653,4485,0.00,2.70,0.00,0.000,6,0.000,0.043,2661,2292,3866
$GC,4804,-0.70,-194.7,574.0,-11.5,684,4809,0.00,2.83,0.00,0.000,4,0.000,0.061,2661,3711,3866
$GC,4848,-0.76,-194.7,579.5,-11.6,687,4855,0.15,2.75,0.00,0.000,6,0.064,0.043,2630,2287,3866
$GC,5168,-0.71,-194.7,624.9,-14.3,710,5173,0.00,2.78,0.00,0.000,4,0.000,0.061,2630,878,3865
$GC,5218,-0.71,-194.7,632.0,-13.2,712,5222,0.00,2.72,0.00,0.000,6,0.000,0.044,2630,2286,3865
$GC,5533,-0.67,-194.7,673.4,-13.1,727,5535,0.12,0.00,0.00,0.000,6,0.136,0.000,2648,2288,3865
$GC,5842,-0.67,-194.7,708.1,-10.5,742,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2290,3865
$GC,6151,-0.67,-194.7,740.8,-10.6,757,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2291,3865
$GC,6460,-0.67,-194.7,775.0,-11.2,772,6461,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2291,3865
$GC,6770,-0.67,-194.7,812.7,-12.8,787,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2291,3865
$GC,7079,-0.67,-194.7,850.4,-11.9,802,7084,0.00,2.85,0.00,0.000,4,0.000,0.069,2649,884,3864
$GC,7119,-0.72,-194.7,855.0,-12.0,804,7123,0.00,2.75,0.00,0.000,6,0.000,0.048,2649,2295,3864
$GC,7444,-0.72,-194.7,892.0,-11.4,820,7445,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2295,3864
$GC,7754,-0.72,-194.7,925.3,-10.6,835,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2296,3864
$GC,8063,-0.72,-194.7,959.7,-11.4,850,8064,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2297,3863
$STATE,8349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8349,begin apogee
$GC,8355,-0.19,0.0,992.2,11.0,864,8558,0.62,0.00,199.82,1.432,6,0.118,0.000,2755,2036,3071
$STATE,8559,end apogee,CONTROL_FINISHED_OK
$STATE,8559,begin climb
$GC,8561,0.82,194.7,1002.0,0.0,874,8779,1.25,3.20,206.82,1.361,4,0.087,0.071,2969,650,2277
$GC,8857,0.70,194.7,979.9,11.6,888,8862,0.00,2.92,0.00,0.000,6,0.000,0.045,2971,2053,2273
$GC,9178,0.58,194.7,940.5,12.1,904,9183,0.25,2.90,0.00,0.000,4,0.133,0.062,2929,3464,2271
$GC,9222,0.58,198.6,935.9,9.9,906,9231,0.00,2.85,4.38,0.912,6,0.000,0.052,2929,2058,2261
$GC,9549,0.59,234.2,907.1,8.8,922,9593,0.00,3.00,37.00,1.371,4,0.000,0.060,2929,3467,2115
$GC,9634,0.60,243.0,899.1,9.7,926,9650,0.00,2.85,10.68,1.223,6,0.000,0.052,2929,2071,2080
$GC,9959,0.60,243.0,866.7,10.6,941,9960,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2069,2077
$GC,10268,0.60,243.0,836.4,10.2,956,10273,0.00,2.83,0.00,0.000,4,0.000,0.059,2929,3469,2076
$GC,10317,0.60,243.0,831.2,10.6,958,10321,0.00,2.78,0.00,0.000,6,0.000,0.051,2929,2080,2075
$GC,10638,0.62,258.2,800.4,9.5,974,10660,0.00,2.83,16.23,1.354,4,0.000,0.058,2929,3465,2018
$GC,10677,0.30,258.2,796.6,10.1,975,10684,0.38,2.75,0.00,0.000,6,0.116,0.051,2868,2100,2017
$GC,10992,0.74,320.6,774.7,7.8,991,11059,0.45,0.00,63.72,1.297,6,0.080,0.000,2954,2099,1763
$GC,11365,0.95,369.7,743.7,8.3,1009,11422,0.22,3.08,50.38,1.268,4,0.052,0.069,3009,643,1562
$GC,11462,0.84,369.7,732.0,15.5,1012,11469,0.17,3.15,0.00,0.000,6,0.142,0.047,2986,2214,1558
$GC,11777,0.69,369.7,675.0,18.6,1028,11783,0.17,3.25,0.00,0.000,4,0.143,0.068,2956,640,1555
$GC,11827,0.69,369.7,667.3,13.1,1030,11832,0.00,3.00,0.00,0.000,6,0.000,0.045,2957,2173,1555
$GC,12143,0.69,369.7,624.2,14.1,1045,12148,0.00,3.15,0.00,0.000,4,0.000,0.067,2956,634,1554
$GC,12175,0.69,369.7,619.5,13.1,1046,12182,0.00,2.95,0.00,0.000,6,0.000,0.044,2956,2153,1554
$GC,12497,0.69,369.7,576.4,12.3,1070,12502,0.00,3.08,0.00,0.000,4,0.000,0.065,2955,641,1554
$GC,12518,0.69,369.7,573.3,13.4,1071,12525,0.00,2.90,0.00,0.000,6,0.000,0.044,2957,2148,1553
$GC,12844,0.69,369.7,531.0,13.5,1102,12849,0.00,3.05,0.00,0.000,4,0.000,0.064,2955,641,1553
$GC,12872,0.69,369.7,527.0,13.8,1104,12876,0.00,2.88,0.00,0.000,6,0.000,0.042,2956,2134,1553
$GC,13197,0.69,369.7,484.7,12.8,1134,13199,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2134,1553
$GC,13515,0.69,369.7,443.1,13.0,1164,13520,0.00,3.03,0.00,0.000,4,0.000,0.063,2955,634,1553
$GC,13553,0.69,369.7,438.0,12.9,1167,13558,0.00,2.83,0.00,0.000,6,0.000,0.040,2956,2113,1552
$GC,13879,0.69,369.7,397.4,12.4,1197,13880,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2113,1552
$GC,14196,0.69,369.7,360.0,11.2,1227,14201,0.00,2.97,0.00,0.000,4,0.000,0.061,2956,632,1552
$GC,14224,0.69,369.7,356.7,11.3,1229,14229,0.00,2.83,0.00,0.000,6,0.000,0.041,2958,2111,1552
$GC,14563,0.69,369.7,318.3,12.1,1283,14568,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2111,1552
$GC,14905,0.69,369.7,276.7,11.9,1344,14911,0.00,2.95,0.00,0.000,4,0.000,0.061,2955,637,1552
$GC,14935,0.69,369.7,273.0,12.4,1349,14941,0.00,2.80,0.00,0.000,6,0.000,0.040,2957,2105,1552
$GC,15277,0.69,369.7,231.7,12.0,1410,15283,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2106,1552
$GC,15620,0.69,369.7,189.8,12.2,1471,15626,0.00,2.95,0.00,0.000,4,0.000,0.061,2956,637,1552
$GC,15643,0.69,369.7,186.9,12.7,1475,15649,0.00,2.78,0.00,0.000,6,0.000,0.040,2959,2092,1552
$GC,15988,0.69,369.7,146.2,12.3,1536,15994,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2092,1552
$GC,16332,0.69,369.7,102.0,12.4,1597,16337,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2092,1552
$GC,16675,0.69,369.7,59.0,12.0,1658,16681,0.00,2.92,0.00,0.000,4,0.000,0.062,2955,634,1552
$GC,16706,0.69,369.7,55.3,12.9,1663,16712,0.00,2.75,0.00,0.000,6,0.000,0.039,2957,2078,1552
$GC,17050,0.69,369.7,15.4,12.2,1724,17056,0.00,2.70,0.00,0.000,4,0.000,0.053,2955,3459,1552
$GC,17068,0.69,369.7,13.1,12.7,1727,17074,0.00,2.65,0.00,0.000,6,0.000,0.042,2955,2076,1552
$STATE,17168,end climb,SURFACE_DEPTH_REACHED
$STATE,17168,begin surface coast
$FINISH,0.3,1.027284
$STATE,17188,end surface coast,CONTROL_FINISHED_OK
$STATE,17188,begin surface
$SM_CCo,17264,0.00,0.000,0,0,1551,372.86
$SM_GC,0.90,7.25,0.00,0.00,0.045,0.000,0.000,1469,2317,1551,-6.08,0.65,372.86
$IRIDIUM_FIX,6041.65,-2619.99,080897,141444
$TT8_MAMPS,0.021476
$HUMID,1748
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,16.80
$XPDR_PINGS,244
$24V_AH,19.2,65.952
$10V_AH,9.9,46.249
$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,21.175,122.250,589.025,0.000,0.000,61.358,69.734,293.587,61.000,0.000,0.000,17.251,2751.101,10671.879,698.489,3049.177,694.154,0.000,2142.200,0.000,3025.565,0.000,0.467
$DEVICE_MAMPS,246.974,70.564,1431.989,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1305.823,1232.121,640.353,907.045,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123311,1748
$CAP_FILE_SIZE,156749,0
$CFSIZE,260165632,237608960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140508,185057,6105.576,-2621.065,38,99.0,57,-18.4