version: 66.03
glider: 143
mission: 4
dive: 212
start: 5 17 108 0 51 16
data:
$ID,143
$MISSION,4
$DIVE,212
$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,135
$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,-9269.1885
$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,32
$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
$GPS1,004401,6135.492,-2629.206,38,1.1,38,-18.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-55.1
$GPS2,005057,6135.483,-2629.282,12,1.4,12,-18.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6127.847,-2625.634
$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,153.8,20000,-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,-194.7,0.0,0.0,0,122,0.00,0.00,-92.78,0.000,2,0.000,0.000,1469,2321,3440
$GC,124,-0.82,-194.7,3.5,-5.7,17,154,10.07,2.92,-10.05,0.000,4,0.253,0.065,2612,888,3867
$GC,234,-0.76,-194.7,24.2,-16.4,36,241,0.12,2.75,0.00,0.000,6,0.157,0.051,2629,2281,3868
$GC,379,-0.69,-194.7,46.6,-15.6,61,384,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2281,3868
$GC,520,-0.63,-194.7,68.8,-15.8,86,526,0.15,0.00,0.00,0.000,6,0.147,0.000,2654,2280,3868
$GC,865,-0.63,-194.7,113.7,-12.3,147,871,0.00,2.78,0.00,0.000,4,0.000,0.054,2655,875,3868
$GC,888,-0.63,-194.7,116.8,-12.7,151,894,0.00,2.78,0.00,0.000,6,0.000,0.046,2655,2301,3868
$GC,1231,-0.63,-194.7,160.8,-13.0,212,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2301,3868
$GC,1575,-0.63,-194.7,204.6,-12.7,273,1581,0.00,2.80,0.00,0.000,4,0.000,0.054,2655,882,3868
$GC,1599,-0.63,-194.7,207.7,-12.8,277,1605,0.00,2.72,0.00,0.000,6,0.000,0.045,2654,2288,3868
$GC,1942,-0.63,-194.7,251.7,-12.9,338,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3868
$GC,2284,-0.63,-194.7,293.5,-11.8,399,2290,0.00,2.78,0.00,0.000,4,0.000,0.055,2656,880,3868
$GC,2312,-0.63,-194.7,296.9,-11.9,404,2319,0.00,2.70,0.00,0.000,6,0.000,0.044,2654,2282,3868
$GC,2657,-0.63,-194.7,336.9,-11.1,465,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2282,3868
$GC,2987,-0.63,-194.7,374.4,-11.5,506,2991,0.00,2.78,0.00,0.000,4,0.000,0.054,2655,873,3868
$GC,3007,-0.63,-194.7,376.9,-11.1,507,3014,0.00,2.70,0.00,0.000,6,0.000,0.044,2654,2273,3868
$GC,3333,-0.63,-194.7,413.0,-11.5,538,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2273,3868
$GC,3651,-0.63,-194.7,449.8,-11.5,568,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2274,3868
$GC,3969,-0.63,-194.7,487.1,-12.1,598,3974,0.00,2.75,0.00,0.000,4,0.000,0.054,2655,879,3868
$GC,3997,-0.63,-194.7,490.4,-12.4,600,4002,0.00,2.67,0.00,0.000,6,0.000,0.044,2654,2269,3868
$GC,4323,-0.63,-194.7,528.3,-11.3,630,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2269,3868
$GC,4640,-0.63,-194.7,564.3,-11.3,660,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2269,3868
$GC,4960,-0.63,-194.7,598.7,-10.4,690,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2269,3867
$GC,5268,-0.63,-194.7,632.3,-11.0,706,5272,0.00,2.78,0.00,0.000,4,0.000,0.062,2655,887,3867
$GC,5300,-0.68,-194.7,635.9,-11.1,707,5307,0.00,2.67,0.00,0.000,6,0.000,0.046,2654,2266,3867
$GC,5615,-0.68,-194.7,670.5,-11.3,723,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2268,3867
$GC,5924,-0.68,-194.7,705.1,-11.1,738,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2269,3867
$GC,6234,-0.68,-194.7,738.1,-10.5,753,6235,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2271,3867
$GC,6543,-0.68,-194.7,769.9,-10.4,768,6548,0.00,2.83,0.00,0.000,4,0.000,0.068,2654,884,3867
$GC,6563,-0.68,-194.7,772.2,-10.3,769,6568,0.00,2.72,0.00,0.000,6,0.000,0.050,2654,2270,3867
$GC,6891,-0.68,-194.7,807.0,-10.7,785,6892,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2272,3867
$GC,7199,-0.68,-194.7,841.4,-11.4,800,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2273,3866
$GC,7509,-0.68,-194.7,876.3,-10.9,815,7513,0.00,2.83,0.00,0.000,4,0.000,0.068,2654,887,3866
$GC,7548,-0.73,-194.7,880.6,-11.3,817,7552,0.00,2.70,0.00,0.000,6,0.000,0.050,2654,2259,3866
$GC,7874,-0.73,-194.7,915.9,-10.8,833,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2259,3865
$GC,8183,-0.73,-194.7,947.9,-10.3,848,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2260,3865
$GC,8492,-0.73,-194.7,978.5,-10.1,863,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2260,3865
$STATE,8613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8614,begin apogee
$GC,8619,-0.19,0.0,991.0,10.1,869,8824,0.60,0.00,201.48,1.420,6,0.120,0.000,2755,2038,3071
$STATE,8824,end apogee,CONTROL_FINISHED_OK
$STATE,8824,begin climb
$GC,8826,0.82,194.7,999.5,0.0,879,9046,1.27,3.22,207.23,1.349,4,0.090,0.071,2971,649,2276
$GC,9146,0.71,194.7,973.9,12.0,894,9151,0.00,2.92,0.00,0.000,6,0.000,0.048,2971,2052,2273
$GC,9467,0.59,194.7,935.0,12.3,910,9473,0.22,2.90,0.00,0.000,4,0.136,0.063,2935,3469,2271
$GC,9556,0.55,194.7,925.3,10.4,914,9561,0.00,2.83,0.00,0.000,6,0.000,0.053,2935,2071,2271
$GC,9878,0.50,204.1,895.1,9.7,930,9894,0.15,2.85,9.80,1.271,4,0.130,0.061,2909,3464,2239
$GC,9940,0.56,249.0,889.7,8.5,932,9993,0.00,2.75,46.55,1.332,6,0.000,0.052,2909,2096,2056
$GC,10312,0.69,318.4,860.8,7.6,950,10392,0.20,2.95,70.32,1.327,4,0.065,0.061,2948,3461,1772
$GC,10415,0.69,318.4,849.2,11.7,955,10419,0.00,2.83,0.00,0.000,6,0.000,0.053,2948,2101,1770
$GC,10740,0.69,318.4,812.4,10.7,971,10745,0.00,3.00,0.00,0.000,4,0.000,0.071,2950,637,1767
$GC,10767,0.69,318.4,809.4,11.3,972,10771,0.00,2.92,0.00,0.000,6,0.000,0.047,2948,2120,1766
$GC,11082,0.69,318.4,774.9,11.3,987,11086,0.00,2.72,0.00,0.000,4,0.000,0.061,2948,3472,1766
$GC,11115,0.69,318.4,771.2,11.1,988,11121,0.00,2.70,0.00,0.000,6,0.000,0.053,2948,2119,1765
$GC,11430,0.69,318.4,734.0,11.9,1004,11435,0.00,3.00,0.00,0.000,4,0.000,0.070,2952,640,1765
$GC,11457,0.69,318.4,730.6,12.8,1005,11461,0.00,2.90,0.00,0.000,6,0.000,0.047,2949,2127,1764
$GC,11778,0.69,318.4,692.3,11.9,1021,11782,0.00,2.70,0.00,0.000,4,0.000,0.061,2948,3472,1764
$GC,11816,0.69,318.4,687.8,11.3,1023,11821,0.00,2.67,0.00,0.000,6,0.000,0.051,2948,2124,1763
$GC,12142,0.69,318.4,651.4,11.2,1039,12143,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2123,1763
$GC,12451,0.69,318.4,615.5,11.7,1054,12456,0.00,3.00,0.00,0.000,4,0.000,0.067,2951,635,1763
$GC,12477,0.69,318.4,612.3,11.7,1055,12482,0.00,2.90,0.00,0.000,6,0.000,0.044,2949,2135,1763
$GC,12805,0.69,318.4,574.3,12.2,1081,12810,0.00,2.65,0.00,0.000,4,0.000,0.056,2948,3471,1763
$GC,12844,0.69,318.4,569.5,12.7,1084,12849,0.00,2.65,0.00,0.000,6,0.000,0.048,2948,2118,1762
$GC,13168,0.69,318.4,533.1,10.7,1114,13173,0.00,2.97,0.00,0.000,4,0.000,0.064,2949,633,1762
$GC,13200,0.69,318.4,529.6,10.5,1116,13207,0.00,2.88,0.00,0.000,6,0.000,0.043,2948,2134,1762
$GC,13526,0.69,318.4,494.8,11.1,1147,13531,0.00,2.62,0.00,0.000,4,0.000,0.054,2948,3465,1762
$GC,13554,0.69,318.4,491.3,12.2,1149,13560,0.32,2.62,0.00,0.000,6,0.122,0.046,2912,2118,1762
$GC,13879,0.98,431.0,470.5,6.1,1179,13998,0.52,3.10,111.60,1.084,4,0.040,0.064,3017,640,1313
$GC,14023,0.82,431.0,442.1,24.2,1192,14028,0.22,3.00,0.00,0.000,6,0.137,0.041,2984,2139,1309
$GC,14347,0.73,431.0,381.8,18.4,1222,14349,0.15,0.00,0.00,0.000,6,0.139,0.000,2962,2139,1304
$GC,14671,0.73,431.0,336.2,13.3,1261,14677,0.00,3.05,0.00,0.000,4,0.000,0.063,2975,637,1302
$GC,14712,0.78,431.0,331.0,12.3,1268,14719,0.00,2.85,0.00,0.000,6,0.000,0.041,2962,2121,1301
$GC,15057,0.78,431.0,285.2,13.3,1329,15062,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2121,1301
$GC,15399,0.78,431.0,240.9,12.2,1390,15405,0.00,3.00,0.00,0.000,4,0.000,0.063,2963,638,1300
$GC,15434,0.82,431.0,236.7,12.2,1396,15441,0.00,2.83,0.00,0.000,6,0.000,0.041,2961,2114,1300
$GC,15779,0.82,431.0,196.1,11.5,1457,15784,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2114,1300
$GC,16121,0.82,431.0,155.4,11.9,1518,16128,0.00,2.97,0.00,0.000,4,0.000,0.063,2963,638,1299
$GC,16156,0.87,431.0,151.1,11.8,1524,16163,0.15,2.80,0.00,0.000,6,0.056,0.041,2994,2104,1299
$GC,16502,0.76,431.0,85.1,20.3,1585,16508,0.15,2.67,0.00,0.000,4,0.137,0.053,2970,3464,1299
$GC,16537,0.76,431.0,79.0,17.8,1591,16543,0.00,2.70,0.00,0.000,6,0.000,0.046,2972,2078,1298
$GC,16881,0.76,431.0,33.7,13.0,1652,16887,0.00,2.88,0.00,0.000,4,0.000,0.064,2970,637,1298
$GC,16910,0.76,431.0,29.9,13.1,1657,16917,0.00,2.78,0.00,0.000,6,0.000,0.039,2969,2096,1298
$GC,17053,0.76,431.0,12.0,12.6,1682,17059,0.00,2.67,0.00,0.000,4,0.000,0.052,2969,3466,1298
$GC,17088,0.81,431.0,7.6,11.0,1688,17095,0.00,2.67,0.00,0.000,6,0.000,0.044,2970,2085,1298
$STATE,17140,end climb,SURFACE_DEPTH_REACHED
$STATE,17140,begin surface coast
$FINISH,0.2,1.010323
$STATE,17157,end surface coast,CONTROL_FINISHED_OK
$STATE,17157,begin surface
$SM_CCo,17234,0.00,0.000,0,0,1297,435.41
$SM_GC,0.96,7.28,0.00,0.00,0.042,0.000,0.000,1466,2316,1297,-6.09,0.57,435.41
$IRIDIUM_FIX,6117.23,-2642.01,100897,202004
$TT8_MAMPS,0.021476
$HUMID,1740
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,15.30
$XPDR_PINGS,24
$24V_AH,19.1,69.052
$10V_AH,9.9,47.800
$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,21.600,158.675,646.975,0.000,0.000,23.834,40.516,235.126,6.000,0.000,0.000,13.607,2697.025,10641.981,752.963,2976.318,569.436,0.000,2205.122,0.000,2951.149,0.000,0.465
$DEVICE_MAMPS,253.110,70.564,1419.717,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1283.767,1191.938,586.269,848.862,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120062,1700
$CAP_FILE_SIZE,160298,0
$CFSIZE,260165632,236556288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170508,053957,6134.062,-2626.115,32,1.4,51,-18.7