version: 66.03
glider: 143
mission: 4
dive: 209
start: 5 16 108 10 39 4
data:
$ID,143
$MISSION,4
$DIVE,209
$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,45
$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,-9227.6299
$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,16
$R_STBD_OVSHOOT,28
$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
$GPS1,102937,6132.366,-2637.962,31,1.5,31,-18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-43.3
$GPS2,103845,6132.312,-2637.988,13,1.8,13,-18.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6139.948,-2634.364
$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,63.8,20000,-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,-194.7,0.0,0.0,0,160,0.00,0.00,-131.40,0.000,2,0.000,0.000,1467,2311,3488
$GC,163,-0.82,-194.7,3.5,-5.1,24,188,9.75,2.88,-8.73,0.000,4,0.246,0.067,2614,878,3866
$GC,228,-0.75,-194.7,18.0,-17.0,35,235,0.12,2.78,0.00,0.000,6,0.158,0.049,2630,2286,3866
$GC,373,-0.68,-194.7,39.2,-15.1,60,379,0.12,0.00,0.00,0.000,6,0.150,0.000,2648,2286,3866
$GC,515,-0.68,-194.7,57.9,-12.4,85,521,0.00,2.75,0.00,0.000,4,0.000,0.054,2650,885,3867
$GC,555,-0.68,-194.7,62.7,-11.9,92,561,0.00,2.70,0.00,0.000,6,0.000,0.045,2648,2276,3866
$GC,899,-0.68,-194.7,108.4,-14.0,153,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2276,3866
$GC,1240,-0.68,-194.7,155.4,-13.5,214,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2276,3866
$GC,1582,-0.68,-194.7,199.9,-12.7,275,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2276,3867
$GC,1925,-0.68,-194.7,242.7,-12.3,336,1932,0.00,2.75,0.00,0.000,4,0.000,0.054,2649,880,3866
$GC,1965,-0.68,-194.7,247.7,-11.8,343,1971,0.00,2.70,0.00,0.000,6,0.000,0.046,2650,2272,3866
$GC,2310,-0.68,-194.7,288.3,-12.1,404,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2272,3867
$GC,2653,-0.68,-194.7,329.3,-12.1,465,2659,0.00,2.85,0.00,0.000,4,0.000,0.056,2647,3711,3866
$GC,2682,-0.68,-194.7,332.9,-12.6,470,2688,0.00,2.80,0.00,0.000,6,0.000,0.042,2647,2258,3867
$GC,3020,-0.68,-194.7,373.9,-12.5,514,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2255,3866
$GC,3339,-0.68,-194.7,414.6,-12.7,544,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2255,3867
$GC,3659,-0.68,-194.7,454.3,-12.7,574,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2254,3866
$GC,3976,-0.68,-194.7,495.2,-12.6,604,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2254,3866
$GC,4294,-0.68,-194.7,534.9,-12.0,634,4299,0.00,2.90,0.00,0.000,4,0.000,0.058,2648,3708,3866
$GC,4321,-0.68,-194.7,538.3,-13.0,636,4326,0.00,2.80,0.00,0.000,6,0.000,0.043,2647,2262,3866
$GC,4647,-0.68,-194.7,576.0,-11.0,666,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2259,3866
$GC,4972,-0.68,-194.7,611.5,-11.1,692,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2259,3866
$GC,5282,-0.68,-194.7,646.3,-11.4,707,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2259,3866
$GC,5590,-0.68,-194.7,681.3,-11.2,722,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2259,3866
$GC,5899,-0.68,-194.7,715.9,-11.6,737,5904,0.00,2.78,0.00,0.000,4,0.000,0.071,2647,893,3865
$GC,5932,-0.68,-194.7,719.8,-11.6,738,5938,0.00,2.72,0.00,0.000,6,0.000,0.050,2648,2282,3865
$GC,6247,-0.68,-194.7,756.5,-12.0,754,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2284,3865
$GC,6556,-0.68,-194.7,794.2,-12.2,769,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2285,3865
$GC,6866,-0.68,-194.7,832.5,-12.6,784,6871,0.00,2.90,0.00,0.000,4,0.000,0.067,2647,3705,3864
$GC,6898,-0.68,-194.7,836.7,-12.9,785,6905,0.00,2.85,0.00,0.000,6,0.000,0.052,2647,2268,3864
$GC,7214,-0.68,-194.7,876.2,-12.6,801,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2267,3864
$GC,7523,-0.68,-194.7,913.5,-11.7,816,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2267,3864
$GC,7832,-0.68,-194.7,947.6,-10.8,831,7836,0.00,2.80,0.00,0.000,4,0.000,0.068,2647,882,3863
$GC,7893,-0.74,-194.7,954.1,-10.4,834,7898,0.00,2.72,0.00,0.000,6,0.000,0.051,2647,2273,3864
$GC,8220,-0.74,-194.7,988.1,-10.6,850,8224,0.00,2.92,0.00,0.000,4,0.000,0.067,2647,3705,3863
$STATE,8234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8234,begin apogee
$GC,8242,-0.19,0.0,990.0,11.0,851,8446,0.65,0.00,200.40,1.425,6,0.123,0.000,2756,2051,3071
$STATE,8446,end apogee,CONTROL_FINISHED_OK
$STATE,8447,begin climb
$GC,8448,0.82,194.7,1000.9,0.0,861,8667,1.23,3.22,207.62,1.355,4,0.083,0.071,2969,644,2277
$GC,8809,0.70,194.7,968.4,14.1,878,8814,0.00,2.92,0.00,0.000,6,0.000,0.048,2969,2058,2273
$GC,9135,0.57,194.7,927.0,12.8,894,9141,0.25,2.90,0.00,0.000,4,0.136,0.064,2929,3468,2270
$GC,9184,0.57,194.7,921.4,10.2,896,9189,0.00,2.88,0.00,0.000,6,0.000,0.053,2929,2048,2271
$GC,9507,0.56,224.0,892.0,9.0,912,9546,0.00,3.00,29.88,1.364,4,0.000,0.061,2929,3462,2155
$GC,9557,0.30,255.4,887.3,8.9,914,9597,0.38,2.85,33.00,1.289,6,0.120,0.052,2869,2065,2028
$GC,9920,0.74,353.5,865.1,6.6,932,10027,0.43,3.00,99.93,1.318,4,0.068,0.059,2954,3463,1628
$GC,10088,0.74,353.5,851.0,10.6,940,10093,0.00,2.83,0.00,0.000,6,0.000,0.052,2954,2105,1623
$GC,10409,0.74,353.5,813.6,12.6,956,10410,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2104,1619
$GC,10719,0.74,353.5,775.6,11.9,971,10723,0.00,2.78,0.00,0.000,4,0.000,0.059,2954,3472,1618
$GC,10739,0.74,353.5,772.9,12.6,972,10744,0.00,2.72,0.00,0.000,6,0.000,0.051,2954,2111,1617
$GC,11066,0.74,353.5,732.2,12.6,988,11071,0.00,3.00,0.00,0.000,4,0.000,0.070,2954,636,1617
$GC,11092,0.74,353.5,728.6,13.2,989,11097,0.00,2.88,0.00,0.000,6,0.000,0.046,2954,2114,1616
$GC,11408,0.74,353.5,689.1,12.7,1004,11412,0.00,2.70,0.00,0.000,4,0.000,0.059,2954,3465,1616
$GC,11428,0.74,353.5,686.3,13.4,1005,11433,0.00,2.67,0.00,0.000,6,0.000,0.050,2954,2109,1615
$GC,11755,0.74,353.5,645.9,12.3,1021,11756,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2108,1615
$GC,12064,0.74,353.5,608.0,12.2,1036,12068,0.00,2.97,0.00,0.000,4,0.000,0.067,2954,633,1615
$GC,12090,0.74,353.5,604.7,11.9,1037,12094,0.00,2.88,0.00,0.000,6,0.000,0.044,2954,2120,1615
$GC,12421,0.74,353.5,566.1,11.8,1066,12422,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2120,1615
$GC,12737,0.74,353.5,526.7,13.1,1096,12739,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2120,1615
$GC,13056,0.74,353.5,485.7,12.8,1126,13057,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2120,1615
$GC,13374,0.74,353.5,445.1,12.8,1156,13379,0.00,3.00,0.00,0.000,4,0.000,0.064,2954,634,1615
$GC,13395,0.74,353.5,442.3,13.3,1157,13402,0.00,2.83,0.00,0.000,6,0.000,0.041,2954,2111,1615
$GC,13721,0.74,353.5,402.2,12.1,1188,13725,0.00,2.67,0.00,0.000,4,0.000,0.053,2954,3471,1615
$GC,13748,0.74,353.5,398.7,12.6,1190,13753,0.00,2.67,0.00,0.000,6,0.000,0.045,2954,2098,1614
$GC,14072,0.74,353.5,359.7,11.8,1220,14077,0.00,2.90,0.00,0.000,4,0.000,0.063,2954,641,1614
$GC,14099,0.74,353.5,356.4,12.2,1222,14104,0.00,2.83,0.00,0.000,6,0.000,0.041,2955,2120,1614
$GC,14440,0.74,353.5,313.7,12.5,1277,14445,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2120,1614
$GC,14782,0.74,353.5,272.0,11.9,1338,14787,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2120,1614
$GC,15124,0.74,353.5,228.8,12.7,1399,15130,0.00,2.97,0.00,0.000,4,0.000,0.061,2955,640,1614
$GC,15149,0.74,353.5,225.7,13.3,1403,15155,0.00,2.80,0.00,0.000,6,0.000,0.040,2954,2106,1614
$GC,15493,0.74,353.5,184.6,12.2,1464,15499,0.00,2.67,0.00,0.000,4,0.000,0.053,2954,3474,1614
$GC,15516,0.74,353.5,181.7,11.8,1468,15523,0.00,2.67,0.00,0.000,6,0.000,0.044,2955,2091,1614
$GC,15861,0.74,353.5,140.1,13.1,1529,15866,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2091,1615
$GC,16203,0.74,353.5,96.4,12.5,1590,16209,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2092,1614
$GC,16547,0.76,368.1,59.3,9.5,1651,16563,0.00,0.00,12.88,0.823,6,0.000,0.000,2954,2091,1570
$GC,16900,0.76,368.1,18.6,11.7,1714,16907,0.00,2.90,0.00,0.000,4,0.000,0.064,2954,637,1569
$GC,16925,0.76,368.1,15.8,10.7,1718,16931,0.00,2.78,0.00,0.000,6,0.000,0.039,2954,2099,1568
$STATE,17053,end climb,SURFACE_DEPTH_REACHED
$STATE,17054,begin surface coast
$FINISH,0.3,1.001163
$STATE,17073,end surface coast,CONTROL_FINISHED_OK
$STATE,17073,begin surface
$SM_CCo,17149,0.00,0.000,0,0,1567,368.93
$SM_GC,0.97,7.22,0.00,0.00,0.043,0.000,0.000,1466,2293,1567,-6.09,-0.06,368.93
$IRIDIUM_FIX,6112.75,-2629.86,100897,101016
$TT8_MAMPS,0.021476
$HUMID,1723
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,16.60
$XPDR_PINGS,20
$24V_AH,19.2,68.332
$10V_AH,9.8,47.420
$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,20.150,131.225,583.700,0.000,0.000,59.013,118.055,194.755,5.000,0.000,0.000,14.540,2730.130,10571.163,712.246,3040.789,631.556,0.000,2158.822,0.000,3018.103,0.000,0.468
$DEVICE_MAMPS,246.207,71.331,1425.086,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1312.247,1223.857,651.898,919.677,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123419,1744
$CAP_FILE_SIZE,151842,0
$CFSIZE,260165632,236818432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160508,152608,6134.051,-2635.530,39,1.0,39,-18.8