version: 66.03
glider: 143
mission: 4
dive: 211
start: 5 16 108 20 20 9
data:
$ID,143
$MISSION,4
$DIVE,211
$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,105
$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,-9254.9512
$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,30
$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
$GPS1,201327,6136.179,-2633.702,25,2.7,44,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-60.3
$GPS2,201950,6136.199,-2633.727,10,1.3,10,-18.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6133.404,-2628.759
$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,123.8,20000,-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,26,-0.82,-194.7,0.0,0.0,0,111,0.00,0.00,-82.72,0.000,2,0.000,0.000,1470,2307,3362
$GC,114,-0.82,-194.7,3.2,-4.3,15,144,10.05,2.85,-12.48,0.000,4,0.252,0.066,2615,889,3864
$GC,224,-0.78,-194.7,22.8,-15.2,34,230,0.00,2.75,0.00,0.000,6,0.000,0.053,2615,2276,3866
$GC,366,-0.68,-194.7,46.1,-15.9,59,373,0.17,0.00,0.00,0.000,6,0.147,0.000,2642,2277,3866
$GC,507,-0.68,-194.7,64.7,-12.9,84,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2277,3866
$GC,853,-0.68,-194.7,109.4,-13.5,145,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2277,3866
$GC,1195,-0.68,-194.7,155.7,-13.3,206,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2277,3866
$GC,1537,-0.68,-194.7,201.2,-13.2,267,1543,0.00,2.75,0.00,0.000,4,0.000,0.054,2645,883,3866
$GC,1567,-0.68,-194.7,205.0,-13.7,272,1573,0.00,2.72,0.00,0.000,6,0.000,0.047,2643,2292,3866
$GC,1911,-0.68,-194.7,248.7,-12.4,333,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2292,3866
$GC,2254,-0.68,-194.7,293.0,-13.1,394,2260,0.00,2.78,0.00,0.000,4,0.000,0.054,2644,884,3866
$GC,2277,-0.68,-194.7,296.0,-13.0,398,2284,0.00,2.72,0.00,0.000,6,0.000,0.045,2643,2291,3866
$GC,2621,-0.68,-194.7,339.9,-12.6,459,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2291,3866
$GC,2951,-0.68,-194.7,380.5,-11.9,497,2955,0.00,2.78,0.00,0.000,4,0.000,0.054,2645,882,3866
$GC,2978,-0.68,-194.7,384.0,-12.1,499,2983,0.00,2.70,0.00,0.000,6,0.000,0.044,2643,2282,3866
$GC,3304,-0.68,-194.7,421.8,-12.1,529,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2282,3866
$GC,3621,-0.68,-194.7,462.1,-12.7,559,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2282,3866
$GC,3940,-0.68,-194.7,502.8,-12.7,589,3945,0.00,2.75,0.00,0.000,4,0.000,0.055,2644,886,3866
$GC,3979,-0.68,-194.7,507.9,-12.5,592,3984,0.00,2.70,0.00,0.000,6,0.000,0.044,2643,2286,3866
$GC,4307,-0.68,-194.7,549.2,-12.6,622,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2286,3866
$GC,4621,-0.68,-194.7,589.1,-12.7,652,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2286,3866
$GC,4944,-0.68,-194.7,629.1,-12.4,672,4948,0.00,2.83,0.00,0.000,4,0.000,0.061,2646,877,3866
$GC,4976,-0.68,-194.7,633.3,-12.7,673,4982,0.00,2.70,0.00,0.000,6,0.000,0.047,2643,2265,3866
$GC,5291,-0.68,-194.7,670.1,-11.4,689,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2266,3866
$GC,5600,-0.68,-194.7,706.7,-11.8,704,5605,0.00,2.92,0.00,0.000,4,0.000,0.067,2642,3706,3866
$GC,5621,-0.68,-194.7,709.3,-11.8,705,5625,0.00,2.85,0.00,0.000,6,0.000,0.049,2642,2259,3865
$GC,5948,-0.68,-194.7,748.6,-12.5,721,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2259,3865
$GC,6257,-0.68,-194.7,786.9,-12.0,736,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2259,3865
$GC,6567,-0.68,-194.7,822.6,-11.6,751,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2259,3865
$GC,6875,-0.68,-194.7,858.8,-11.2,766,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2259,3865
$GC,7185,-0.68,-194.7,896.1,-12.8,781,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2259,3864
$STATE,7410,end dive,NO_VERTICAL_VELOCITY
$STATE,7410,begin apogee
$GC,7416,-0.19,0.0,898.6,0.0,792,7616,0.57,0.00,197.60,1.351,6,0.044,0.000,2766,2039,3071
$STATE,7617,end apogee,CONTROL_FINISHED_OK
$STATE,7617,begin climb
$GC,7619,0.82,194.7,898.5,0.0,802,7832,1.10,3.20,204.52,1.281,4,0.051,0.059,2976,3462,2276
$GC,8030,0.70,194.7,864.8,12.5,821,8035,0.15,2.92,0.00,0.000,6,0.137,0.052,2955,2050,2272
$GC,8345,0.60,194.7,830.5,10.8,836,8350,0.15,2.92,0.00,0.000,4,0.134,0.071,2931,633,2271
$GC,8481,0.64,226.0,818.0,8.9,842,8518,0.00,2.83,31.33,1.292,6,0.000,0.047,2930,2071,2149
$GC,8826,0.67,250.0,786.0,9.2,859,8857,0.00,2.88,25.10,1.282,4,0.000,0.062,2930,3461,2051
$GC,8914,0.67,250.0,777.4,10.4,863,8919,0.00,2.83,0.00,0.000,6,0.000,0.052,2930,2071,2049
$GC,9234,0.68,252.5,746.0,9.9,879,9239,0.00,2.85,0.00,0.000,4,0.000,0.061,2930,3470,2047
$GC,9278,0.68,252.5,741.4,10.2,881,9283,0.00,2.75,0.00,0.000,6,0.000,0.052,2929,2096,2047
$GC,9599,0.75,309.2,714.2,8.0,897,9665,0.17,2.88,59.28,1.243,4,0.069,0.059,2964,3467,1809
$GC,9681,0.64,309.2,705.0,11.1,901,9687,0.15,2.78,0.00,0.000,6,0.132,0.052,2943,2115,1807
$GC,10002,0.64,309.2,673.8,10.4,917,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2114,1804
$GC,10311,0.64,309.2,641.2,10.1,932,10315,0.00,2.72,0.00,0.000,4,0.000,0.058,2943,3469,1803
$GC,10337,0.64,309.2,638.2,11.2,933,10341,0.00,2.65,0.00,0.000,6,0.000,0.048,2943,2124,1802
$GC,10659,0.64,309.2,604.3,10.2,949,10660,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2124,1802
$GC,10975,0.64,309.2,572.2,10.7,976,10976,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2123,1801
$GC,11295,0.65,313.6,539.0,9.8,1006,11307,0.00,2.67,4.38,0.812,4,0.000,0.054,2943,3464,1791
$GC,11330,0.65,313.6,535.3,10.2,1009,11334,0.00,2.62,0.00,0.000,6,0.000,0.047,2943,2124,1791
$GC,11654,0.65,313.6,503.3,10.0,1039,11658,0.00,2.97,0.00,0.000,4,0.000,0.064,2944,632,1791
$GC,11674,0.65,313.6,501.0,10.6,1040,11681,0.00,2.90,0.00,0.000,6,0.000,0.043,2943,2147,1790
$GC,12001,0.67,329.5,469.4,9.5,1071,12024,0.00,2.62,17.95,1.152,4,0.000,0.054,2943,3462,1727
$GC,12036,0.69,348.3,465.9,9.3,1074,12061,0.00,2.62,20.38,1.011,6,0.000,0.045,2943,2128,1650
$GC,12380,0.72,369.1,433.4,9.3,1106,12412,0.00,3.03,21.10,1.084,4,0.000,0.062,2943,640,1565
$GC,12435,0.81,398.1,428.3,9.0,1111,12477,0.17,2.92,31.30,1.006,6,0.057,0.041,2981,2137,1446
$GC,12796,0.72,398.1,371.7,16.6,1145,12801,0.15,2.65,0.00,0.000,4,0.135,0.052,2956,3470,1441
$GC,12817,0.67,398.1,367.9,15.5,1146,12823,0.00,2.65,0.00,0.000,6,0.000,0.044,2956,2123,1440
$GC,13152,0.67,398.1,325.6,12.3,1194,13158,0.00,2.97,0.00,0.000,4,0.000,0.063,2956,640,1439
$GC,13187,0.71,398.1,321.2,12.4,1200,13193,0.00,2.85,0.00,0.000,6,0.000,0.041,2956,2128,1439
$GC,13532,0.71,398.1,277.2,12.9,1261,13538,0.00,2.62,0.00,0.000,4,0.000,0.053,2956,3461,1439
$GC,13566,0.76,398.1,272.5,12.6,1267,13572,0.00,2.62,0.00,0.000,6,0.000,0.045,2956,2115,1439
$GC,13909,0.76,398.1,229.7,12.3,1328,13915,0.00,2.95,0.00,0.000,4,0.000,0.063,2956,634,1438
$GC,13950,0.82,398.1,224.8,11.4,1335,13956,0.00,2.85,0.00,0.000,6,0.000,0.040,2956,2127,1438
$GC,14295,0.82,398.1,183.8,11.4,1396,14301,0.00,2.62,0.00,0.000,4,0.000,0.053,2956,3465,1438
$GC,14325,0.86,398.1,180.1,12.2,1401,14332,0.10,2.60,0.00,0.000,6,0.055,0.044,2983,2115,1437
$GC,14669,0.77,398.1,126.1,15.3,1462,14676,0.00,2.95,0.00,0.000,4,0.000,0.064,2983,638,1437
$GC,14711,0.77,398.1,119.8,14.1,1469,14717,0.00,2.83,0.00,0.000,6,0.000,0.042,2983,2111,1437
$GC,15054,0.69,398.1,67.3,14.9,1530,15061,0.17,2.65,0.00,0.000,4,0.130,0.054,2953,3461,1437
$GC,15078,0.69,398.1,63.9,14.8,1534,15085,0.00,2.65,0.00,0.000,6,0.000,0.044,2953,2099,1437
$GC,15422,0.69,398.1,28.1,10.6,1595,15429,0.00,2.90,0.00,0.000,4,0.000,0.064,2953,643,1437
$GC,15458,0.76,398.1,24.3,11.4,1601,15465,0.00,2.80,0.00,0.000,6,0.000,0.040,2953,2114,1437
$GC,15600,0.76,398.1,9.2,11.9,1626,15606,0.00,2.65,0.00,0.000,4,0.000,0.053,2953,3469,1437
$GC,15636,0.82,398.1,5.3,11.1,1632,15643,0.12,2.67,0.00,0.000,6,0.068,0.044,2980,2093,1437
$STATE,15664,end climb,SURFACE_DEPTH_REACHED
$STATE,15664,begin surface coast
$FINISH,0.2,1.015954
$STATE,15683,end surface coast,CONTROL_FINISHED_OK
$STATE,15683,begin surface
$SM_CCo,15759,0.00,0.000,0,0,1435,401.07
$SM_GC,0.88,7.32,0.00,0.00,0.043,0.000,0.000,1469,2322,1435,-6.08,0.76,401.07
$IRIDIUM_FIX,6108.28,-2726.38,100897,151539
$TT8_MAMPS,0.021476
$HUMID,1727
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,16.70
$XPDR_PINGS,13
$24V_AH,19.2,68.794
$10V_AH,9.9,47.674
$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,20.575,145.725,612.925,0.000,0.000,28.390,33.507,203.930,3.250,0.000,0.000,11.936,2598.280,9403.721,739.801,2859.448,526.755,0.000,2103.706,0.000,2842.492,0.000,0.465
$DEVICE_MAMPS,252.343,70.564,1351.454,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1237.927,1145.506,605.047,883.529,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116950,1640
$CAP_FILE_SIZE,151393,0
$CFSIZE,260165632,236658688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170508,004401,6135.492,-2629.206,38,1.1,38,-18.8