version: 66.03
glider: 143
mission: 4
dive: 214
start: 5 17 108 10 40 51
data:
$ID,143
$MISSION,4
$DIVE,214
$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,150
$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,-9297.6328
$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,38
$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
$GPS1,103408,6132.682,-2621.772,39,1.1,39,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-50.6
$GPS2,104032,6132.731,-2621.734,9,1.3,9,-18.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6123.379,-2619.148
$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,168.7,20000,-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,-82.78,0.000,2,0.000,0.000,1462,2323,3393
$GC,114,-0.82,-194.7,3.3,-5.2,15,144,10.20,2.88,-11.45,0.000,4,0.252,0.065,2623,887,3867
$GC,168,-0.73,-194.7,14.4,-16.7,24,175,0.15,2.72,0.00,0.000,6,0.146,0.051,2635,2269,3868
$GC,314,-0.69,-194.7,35.9,-15.4,49,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2270,3868
$GC,456,-0.69,-194.7,57.3,-15.1,74,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2270,3868
$GC,798,-0.69,-194.7,107.7,-14.7,135,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2270,3869
$GC,1141,-0.65,-194.7,157.6,-14.0,196,1147,0.12,0.00,0.00,0.000,6,0.138,0.000,2654,2270,3869
$GC,1485,-0.65,-194.7,199.6,-12.2,257,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2270,3869
$GC,1827,-0.65,-194.7,240.8,-11.9,318,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2270,3869
$GC,2169,-0.65,-194.7,281.7,-12.0,379,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2270,3868
$GC,2511,-0.65,-194.7,322.6,-11.5,440,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2270,3869
$GC,2854,-0.65,-194.7,362.8,-11.5,492,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2270,3869
$GC,3172,-0.65,-194.7,399.9,-11.8,522,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2270,3869
$GC,3492,-0.65,-194.7,437.0,-11.3,552,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2270,3869
$GC,3811,-0.65,-194.7,473.7,-11.7,582,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2270,3869
$GC,4128,-0.65,-194.7,510.0,-11.3,612,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2270,3869
$GC,4447,-0.65,-194.7,546.6,-12.0,642,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2270,3869
$GC,4765,-0.65,-194.7,583.7,-11.9,672,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2270,3868
$GC,5089,-0.65,-194.7,623.3,-12.0,694,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2270,3868
$GC,5398,-0.65,-194.7,659.4,-11.5,709,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2271,3868
$GC,5707,-0.65,-194.7,694.4,-11.2,724,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2272,3868
$GC,6017,-0.65,-194.7,728.5,-11.0,739,6021,0.00,2.83,0.00,0.000,4,0.000,0.070,2655,889,3868
$GC,6037,-0.65,-194.7,730.9,-11.0,740,6042,0.00,2.78,0.00,0.000,6,0.000,0.050,2654,2305,3868
$GC,6364,-0.65,-194.7,765.0,-10.4,756,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2305,3868
$GC,6674,-0.65,-194.7,799.4,-11.5,771,6678,0.00,2.90,0.00,0.000,4,0.000,0.068,2653,884,3867
$GC,6690,-0.65,-194.7,801.3,-11.7,772,6694,0.00,2.78,0.00,0.000,6,0.000,0.050,2654,2296,3868
$GC,7015,-0.65,-194.7,839.8,-11.5,788,7020,0.00,2.88,0.00,0.000,4,0.000,0.067,2654,884,3868
$GC,7036,-0.65,-194.7,842.3,-11.8,789,7040,0.00,2.75,0.00,0.000,6,0.000,0.050,2654,2286,3867
$GC,7362,-0.65,-194.7,880.8,-11.5,805,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2286,3867
$GC,7672,-0.65,-194.7,914.7,-10.5,820,7673,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3867
$GC,7981,-0.65,-194.7,947.1,-10.3,835,7986,0.00,2.88,0.00,0.000,4,0.000,0.068,2654,883,3866
$GC,8008,-0.70,-194.7,950.0,-11.2,836,8012,0.00,2.75,0.00,0.000,6,0.000,0.051,2654,2282,3866
$GC,8329,-0.70,-194.7,983.7,-10.8,852,8330,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2283,3866
$STATE,8389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8389,begin apogee
$GC,8394,-0.19,0.0,990.5,11.1,855,8599,0.60,0.00,201.48,1.420,6,0.122,0.000,2754,2036,3071
$STATE,8599,end apogee,CONTROL_FINISHED_OK
$STATE,8600,begin climb
$GC,8602,0.82,194.7,1000.2,0.0,865,8820,1.27,3.17,207.52,1.353,4,0.089,0.071,2973,651,2277
$GC,8921,0.70,194.7,975.9,12.4,880,8926,0.00,2.92,0.00,0.000,6,0.000,0.048,2973,2053,2273
$GC,9241,0.57,194.7,936.5,12.1,896,9247,0.28,2.92,0.00,0.000,4,0.133,0.063,2929,3473,2271
$GC,9319,0.59,206.9,928.8,9.6,899,9339,0.00,2.83,13.07,1.327,6,0.000,0.052,2929,2072,2226
$GC,9655,0.66,268.4,901.3,7.9,916,9725,0.00,2.97,62.40,1.340,4,0.000,0.061,2929,3461,1976
$GC,9754,0.70,301.1,893.1,8.9,920,9795,0.12,2.85,35.05,1.286,6,0.077,0.053,2952,2081,1843
$GC,10106,0.65,301.1,854.1,11.4,937,10107,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2080,1837
$GC,10414,0.61,301.1,818.2,12.0,952,10418,0.00,2.83,0.00,0.000,4,0.000,0.060,2952,3474,1836
$GC,10447,0.61,301.1,814.1,12.4,953,10454,0.00,2.78,0.00,0.000,6,0.000,0.054,2952,2089,1835
$GC,10763,0.56,301.1,776.9,11.7,969,10765,0.17,0.00,0.00,0.000,6,0.127,0.000,2925,2089,1835
$GC,11072,0.62,345.8,750.2,8.5,984,11123,0.00,2.88,45.45,1.288,4,0.000,0.058,2925,3474,1660
$GC,11168,0.73,378.2,741.8,8.9,988,11208,0.17,2.78,34.05,1.229,6,0.064,0.051,2960,2104,1529
$GC,11525,0.73,378.2,695.8,13.3,1006,11529,0.00,3.00,0.00,0.000,4,0.000,0.070,2959,635,1522
$GC,11568,0.73,378.2,690.0,12.1,1008,11572,0.00,2.90,0.00,0.000,6,0.000,0.046,2960,2112,1521
$GC,11889,0.73,378.2,647.1,13.8,1024,11890,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2112,1521
$GC,12198,0.73,378.2,605.0,13.5,1039,12200,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2113,1520
$GC,12515,0.73,378.2,562.9,13.5,1067,12520,0.00,3.00,0.00,0.000,4,0.000,0.066,2960,638,1520
$GC,12543,0.73,378.2,559.1,13.8,1069,12548,0.00,2.83,0.00,0.000,6,0.000,0.043,2960,2102,1519
$GC,12867,0.73,378.2,516.5,13.5,1099,12872,0.00,2.70,0.00,0.000,4,0.000,0.054,2960,3469,1519
$GC,12895,0.73,378.2,512.8,14.0,1101,12900,0.00,2.70,0.00,0.000,6,0.000,0.048,2960,2090,1519
$GC,13219,0.73,378.2,471.1,12.8,1131,13224,0.00,2.90,0.00,0.000,4,0.000,0.064,2960,638,1519
$GC,13251,0.73,378.2,466.9,12.7,1133,13258,0.00,2.83,0.00,0.000,6,0.000,0.042,2960,2110,1519
$GC,13577,0.73,378.2,425.1,12.7,1164,13578,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2109,1519
$GC,13895,0.73,378.2,382.5,13.7,1194,13896,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2110,1519
$GC,14218,0.73,378.2,339.9,12.6,1231,14223,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2110,1519
$GC,14560,0.73,378.2,297.2,11.5,1292,14567,0.00,2.95,0.00,0.000,4,0.000,0.063,2960,640,1519
$GC,14595,0.73,378.2,293.0,10.9,1298,14601,0.00,2.80,0.00,0.000,6,0.000,0.041,2960,2104,1519
$GC,14939,0.73,378.2,252.3,11.9,1359,14945,0.00,2.70,0.00,0.000,4,0.000,0.053,2960,3476,1519
$GC,14967,0.73,378.2,248.9,12.0,1364,14974,0.00,2.70,0.00,0.000,6,0.000,0.046,2960,2087,1519
$GC,15312,0.73,378.2,208.6,11.8,1425,15318,0.00,2.88,0.00,0.000,4,0.000,0.064,2961,643,1519
$GC,15352,0.73,378.2,203.8,10.9,1432,15359,0.00,2.78,0.00,0.000,6,0.000,0.041,2960,2099,1519
$GC,15697,0.73,378.2,163.2,11.2,1493,15703,0.00,2.67,0.00,0.000,4,0.000,0.053,2960,3460,1519
$GC,15725,0.73,378.2,159.7,11.5,1498,15731,0.00,2.67,0.00,0.000,6,0.000,0.044,2963,2082,1519
$GC,16071,0.73,378.2,120.5,11.4,1559,16077,0.00,2.88,0.00,0.000,4,0.000,0.064,2960,637,1519
$GC,16107,0.73,378.2,116.3,11.5,1565,16113,0.00,2.78,0.00,0.000,6,0.000,0.040,2960,2092,1519
$GC,16450,0.73,378.2,76.8,12.0,1626,16456,0.00,2.70,0.00,0.000,4,0.000,0.053,2960,3469,1519
$GC,16485,0.73,378.2,72.7,10.6,1632,16491,0.00,2.67,0.00,0.000,6,0.000,0.044,2960,2082,1519
$GC,16828,0.73,378.2,33.1,11.2,1693,16834,0.00,2.85,0.00,0.000,4,0.000,0.064,2969,643,1518
$GC,16858,0.73,378.2,29.5,12.0,1698,16864,0.00,2.75,0.00,0.000,6,0.000,0.039,2960,2094,1518
$GC,17000,0.73,378.2,12.6,13.1,1723,17007,0.00,2.67,0.00,0.000,4,0.000,0.051,2959,3459,1518
$GC,17046,0.73,378.2,6.6,12.1,1731,17053,0.00,2.60,0.00,0.000,6,0.000,0.043,2960,2114,1519
$STATE,17085,end climb,SURFACE_DEPTH_REACHED
$STATE,17085,begin surface coast
$FINISH,0.2,1.027232
$STATE,17104,end surface coast,CONTROL_FINISHED_OK
$STATE,17104,begin surface
$SM_CCo,17180,0.00,0.000,0,0,1517,381.20
$SM_GC,0.89,7.25,0.00,0.00,0.044,0.000,0.000,1468,2312,1517,-6.08,0.48,381.20
$IRIDIUM_FIX,6112.75,-2621.78,110897,050551
$TT8_MAMPS,0.021476
$HUMID,1719
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,16.80
$XPDR_PINGS,33
$24V_AH,19.1,69.541
$10V_AH,9.9,48.054
$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,20.350,124.825,599.025,0.000,0.000,25.110,38.838,204.085,8.250,0.000,0.000,12.060,2746.144,10579.891,687.896,3009.836,527.200,0.000,2122.243,0.000,2988.875,0.000,0.465
$DEVICE_MAMPS,252.343,70.564,1419.717,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1306.511,1227.321,633.381,896.566,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123118,1741
$CAP_FILE_SIZE,153271,0
$CFSIZE,260165632,236388352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,170508,152825,6130.491,-2618.748,39,1.5,39,-18.6