version: 66.03
glider: 143
mission: 4
dive: 216
start: 5 17 108 20 38 54
data:
$ID,143
$MISSION,4
$DIVE,216
$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,-9343.7969
$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,26
$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
$GPS1,203145,6128.850,-2616.458,38,99.0,57,-18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-51.8
$GPS2,203837,6128.888,-2616.431,13,1.4,29,-18.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6119.535,-2613.840
$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,168.6,20000,-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,26,-0.82,-194.7,0.0,0.0,0,123,0.00,0.00,-93.80,0.000,2,0.000,0.000,1466,2302,3468
$GC,126,-0.82,-194.7,3.6,-6.4,17,151,9.98,2.85,-8.93,0.000,4,0.250,0.066,2622,876,3866
$GC,221,-0.82,-194.7,23.8,-15.3,33,227,0.00,2.80,0.00,0.000,6,0.000,0.053,2613,2291,3867
$GC,363,-0.72,-194.7,48.4,-16.9,58,371,0.15,2.85,0.00,0.000,4,0.148,0.061,2636,3711,3867
$GC,394,-0.66,-194.7,53.4,-15.9,63,400,0.00,2.78,0.00,0.000,6,0.000,0.039,2636,2275,3867
$GC,738,-0.62,-194.7,102.4,-14.1,124,744,0.15,0.00,0.00,0.000,6,0.150,0.000,2661,2271,3867
$GC,1084,-0.62,-194.7,143.0,-12.3,185,1090,0.00,2.88,0.00,0.000,4,0.000,0.058,2661,3711,3867
$GC,1112,-0.62,-194.7,146.9,-12.9,190,1119,0.00,2.75,0.00,0.000,6,0.000,0.041,2661,2282,3867
$GC,1457,-0.62,-194.7,189.0,-12.0,251,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2281,3867
$GC,1799,-0.62,-194.7,230.6,-12.2,312,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2281,3867
$GC,2143,-0.62,-194.7,272.3,-12.2,373,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2281,3867
$GC,2485,-0.62,-194.7,313.3,-11.7,434,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2280,3867
$GC,2825,-0.62,-194.7,354.1,-11.7,492,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2281,3867
$GC,3145,-0.62,-194.7,391.6,-11.7,522,3149,0.00,2.72,0.00,0.000,4,0.000,0.056,2661,888,3867
$GC,3166,-0.62,-194.7,394.3,-11.6,523,3172,0.00,2.70,0.00,0.000,6,0.000,0.042,2661,2296,3867
$GC,3492,-0.62,-194.7,430.8,-11.0,554,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2296,3868
$GC,3809,-0.62,-194.7,465.6,-10.8,584,3814,0.00,2.78,0.00,0.000,4,0.000,0.055,2661,887,3867
$GC,3842,-0.68,-194.7,469.2,-11.0,586,3848,0.00,2.67,0.00,0.000,6,0.000,0.043,2661,2281,3867
$GC,4168,-0.68,-194.7,504.6,-10.8,617,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2281,3867
$GC,4485,-0.68,-194.7,538.2,-10.2,647,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2281,3867
$GC,4805,-0.68,-194.7,570.2,-9.9,677,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2281,3867
$GC,5121,-0.68,-194.7,602.6,-10.3,706,5126,0.00,2.78,0.00,0.000,4,0.000,0.059,2661,887,3867
$GC,5142,-0.72,-194.7,605.0,-10.9,707,5147,0.00,2.67,0.00,0.000,6,0.000,0.044,2661,2281,3867
$GC,5469,-0.72,-194.7,639.1,-10.6,723,5474,0.00,2.80,0.00,0.000,4,0.000,0.062,2661,883,3867
$GC,5490,-0.77,-194.7,641.4,-10.3,724,5495,0.15,2.72,0.00,0.000,6,0.060,0.046,2629,2285,3867
$GC,5811,-0.73,-194.7,685.0,-14.3,740,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2286,3867
$GC,6120,-0.73,-194.7,729.5,-14.3,755,6125,0.00,2.88,0.00,0.000,4,0.000,0.066,2629,3702,3866
$GC,6130,-0.68,-194.7,731.0,-14.2,755,6137,0.12,2.80,0.00,0.000,6,0.143,0.048,2646,2279,3866
$GC,6445,-0.68,-194.7,771.0,-12.4,771,6450,0.00,2.83,0.00,0.000,4,0.000,0.068,2646,882,3866
$GC,6461,-0.68,-194.7,773.0,-12.2,772,6466,0.00,2.72,0.00,0.000,6,0.000,0.048,2646,2275,3866
$GC,6787,-0.68,-194.7,812.1,-11.6,788,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2276,3866
$GC,7096,-0.68,-194.7,846.1,-10.6,803,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2277,3866
$GC,7406,-0.68,-194.7,878.1,-10.8,818,7410,0.00,2.83,0.00,0.000,4,0.000,0.067,2646,888,3865
$GC,7432,-0.68,-194.7,881.0,-11.3,819,7436,0.00,2.70,0.00,0.000,6,0.000,0.049,2646,2267,3865
$GC,7753,-0.68,-194.7,915.8,-11.3,835,7758,0.00,2.92,0.00,0.000,4,0.000,0.067,2646,3705,3864
$GC,7775,-0.68,-194.7,918.4,-11.7,836,7779,0.00,2.83,0.00,0.000,6,0.000,0.050,2646,2272,3864
$GC,8096,-0.68,-194.7,954.0,-11.3,852,8101,0.00,2.80,0.00,0.000,4,0.000,0.068,2646,885,3864
$GC,8117,-0.68,-194.7,956.6,-11.9,853,8122,0.00,2.78,0.00,0.000,6,0.000,0.050,2646,2280,3864
$STATE,8422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8422,begin apogee
$GC,8428,-0.19,0.0,990.3,10.9,868,8632,0.65,0.00,200.68,1.416,6,0.124,0.000,2754,2034,3071
$STATE,8632,end apogee,CONTROL_FINISHED_OK
$STATE,8632,begin climb
$GC,8634,0.82,194.7,998.2,0.0,878,8853,1.27,3.20,206.85,1.347,4,0.091,0.070,2971,652,2277
$GC,8960,0.71,194.7,970.6,12.0,893,8964,0.00,2.90,0.00,0.000,6,0.000,0.046,2972,2053,2273
$GC,9275,0.58,194.7,931.4,12.8,908,9280,0.25,2.90,0.00,0.000,4,0.133,0.061,2931,3468,2272
$GC,9325,0.58,194.7,925.6,10.3,910,9329,0.00,2.85,0.00,0.000,6,0.000,0.051,2931,2055,2271
$GC,9640,0.58,224.8,896.4,9.0,925,9677,0.00,2.92,30.58,1.355,4,0.000,0.060,2931,3464,2154
$GC,9732,0.59,237.5,887.6,9.6,928,9752,0.00,2.80,14.38,1.254,6,0.000,0.051,2931,2081,2102
$GC,10074,0.63,263.6,856.9,9.1,945,10107,0.00,2.90,27.25,1.333,4,0.000,0.060,2931,3459,1996
$GC,10115,0.39,296.8,853.1,8.9,947,10157,0.28,2.78,35.33,1.266,6,0.123,0.051,2888,2094,1861
$GC,10467,0.69,428.8,833.6,5.4,964,10607,0.30,0.00,136.27,1.288,6,0.049,0.000,2951,2094,1323
$GC,10915,0.69,428.8,782.6,11.7,986,10916,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2093,1313
$GC,11224,0.69,428.8,745.5,11.9,1001,11229,0.00,2.97,0.00,0.000,4,0.000,0.071,2950,643,1311
$GC,11250,0.69,428.8,742.2,12.2,1002,11255,0.00,2.85,0.00,0.000,6,0.000,0.045,2951,2107,1310
$GC,11571,0.69,428.8,705.3,11.2,1018,11572,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2107,1310
$GC,11880,0.69,428.8,670.9,11.2,1033,11882,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2107,1309
$GC,12189,0.69,428.8,635.4,11.8,1048,12194,0.00,3.00,0.00,0.000,4,0.000,0.068,2950,638,1309
$GC,12228,0.75,428.8,631.0,11.3,1050,12233,0.00,2.83,0.00,0.000,6,0.000,0.044,2951,2100,1308
$GC,12545,0.75,428.8,595.1,10.9,1067,12546,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2100,1308
$GC,12863,0.75,428.8,560.0,11.0,1097,12868,0.00,2.97,0.00,0.000,4,0.000,0.065,2950,633,1308
$GC,12891,0.80,428.8,556.9,11.3,1099,12897,0.12,2.80,0.00,0.000,6,0.062,0.043,2980,2089,1307
$GC,13216,0.70,428.8,504.3,17.1,1129,13221,0.15,2.70,0.00,0.000,4,0.135,0.051,2954,3466,1307
$GC,13244,0.70,428.8,499.9,15.3,1131,13249,0.00,2.75,0.00,0.000,6,0.000,0.047,2955,2058,1307
$GC,13569,0.70,428.8,464.3,11.1,1161,13573,0.00,2.83,0.00,0.000,4,0.000,0.064,2954,643,1307
$GC,13608,0.76,428.8,459.9,10.7,1164,13612,0.00,2.75,0.00,0.000,6,0.000,0.041,2954,2081,1306
$GC,13932,0.76,428.8,424.5,10.9,1194,13936,0.00,2.72,0.00,0.000,4,0.000,0.052,2954,3471,1306
$GC,13964,0.82,428.8,420.8,11.2,1196,13971,0.12,2.75,0.00,0.000,6,0.071,0.046,2980,2056,1306
$GC,14289,0.73,428.8,369.7,16.2,1227,14293,0.00,2.83,0.00,0.000,4,0.000,0.064,2980,638,1306
$GC,14332,0.73,428.8,362.8,14.2,1230,14338,0.00,2.72,0.00,0.000,6,0.000,0.040,2980,2069,1305
$GC,14670,0.65,428.8,307.2,16.6,1283,14677,0.20,2.72,0.00,0.000,4,0.129,0.050,2946,3465,1306
$GC,14699,0.65,428.8,303.0,13.5,1288,14706,0.00,2.72,0.00,0.000,6,0.000,0.045,2948,2061,1306
$GC,15044,0.72,435.7,268.9,9.8,1349,15055,0.00,2.85,5.20,0.766,4,0.000,0.062,2947,634,1294
$GC,15079,0.81,436.6,265.4,10.0,1355,15086,0.15,2.75,0.00,0.000,6,0.058,0.039,2980,2076,1294
$GC,15424,0.73,436.6,208.0,18.3,1416,15431,0.00,2.70,0.00,0.000,4,0.000,0.051,2980,3456,1294
$GC,15448,0.67,436.6,203.7,18.1,1420,15455,0.20,2.75,0.00,0.000,6,0.123,0.045,2950,2043,1294
$GC,15794,0.73,440.5,166.7,9.9,1481,15805,0.00,0.00,6.82,0.801,6,0.000,0.000,2950,2043,1275
$GC,16144,0.79,440.7,131.1,10.0,1543,16150,0.12,0.00,0.00,0.000,6,0.071,0.000,2975,2043,1275
$GC,16487,0.74,440.7,78.2,17.0,1604,16493,0.00,2.78,0.00,0.000,4,0.000,0.050,2976,3466,1275
$GC,16516,0.74,440.7,73.4,14.5,1609,16522,0.00,2.72,0.00,0.000,6,0.000,0.044,2975,2065,1275
$GC,16859,0.74,440.7,20.5,14.9,1670,16866,0.00,2.85,0.00,0.000,4,0.000,0.067,2976,637,1274
$GC,16900,0.74,440.7,14.6,13.4,1677,16907,0.00,2.72,0.00,0.000,6,0.000,0.040,2976,2074,1274
$STATE,16990,end climb,SURFACE_DEPTH_REACHED
$STATE,16990,begin surface coast
$FINISH,0.2,1.002093
$STATE,17004,end surface coast,CONTROL_FINISHED_OK
$STATE,17004,begin surface
$SM_CCo,17081,0.00,0.000,0,0,1271,441.29
$SM_GC,0.74,7.35,0.00,0.00,0.045,0.000,0.000,1468,2296,1271,-6.09,0.03,441.29
$IRIDIUM_FIX,6108.28,-2609.69,110897,151503
$TT8_MAMPS,0.021476
$HUMID,1732
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,16.70
$XPDR_PINGS,22
$24V_AH,19.2,70.055
$10V_AH,9.9,48.309
$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,21.725,158.075,663.350,0.000,0.000,29.141,33.511,213.427,5.500,0.000,0.000,31.158,2700.399,10489.819,758.005,2975.437,553.722,0.000,2200.650,0.000,2943.840,0.000,0.467
$DEVICE_MAMPS,250.042,71.331,1415.882,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1274.995,1198.865,594.864,844.834,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120260,1695
$CAP_FILE_SIZE,161582,0
$CFSIZE,260165632,236212224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,180508,012438,6126.383,-2612.480,28,1.1,28,-18.5