version: 66.03
glider: 143
mission: 4
dive: 217
start: 5 18 108 1 31 34
data:
$ID,143
$MISSION,4
$DIVE,217
$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,120
$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,-9358.6807
$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,13
$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
$GPS1,012438,6126.383,-2612.480,28,1.1,28,-18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-45.2
$GPS2,013115,6126.402,-2612.461,11,1.6,11,-18.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6121.002,-2607.977
$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,138.5,20000,-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,-194.7,0.0,0.0,0,128,0.00,0.00,-99.10,0.000,2,0.000,0.000,1468,2297,3379
$GC,131,-0.82,-194.7,3.2,-7.0,18,155,10.00,0.00,-11.98,0.000,6,0.252,0.000,2614,2296,3867
$GC,294,-0.71,-194.7,33.6,-18.5,46,300,0.15,0.00,0.00,0.000,6,0.153,0.000,2638,2296,3868
$GC,436,-0.67,-194.7,55.4,-14.3,71,442,0.00,2.85,0.00,0.000,4,0.000,0.059,2638,3714,3869
$GC,460,-0.67,-194.7,59.0,-14.9,75,466,0.00,2.75,0.00,0.000,6,0.000,0.040,2638,2289,3869
$GC,803,-0.67,-194.7,108.4,-14.7,136,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2289,3869
$GC,1146,-0.67,-194.7,156.3,-13.4,197,1152,0.00,2.72,0.00,0.000,4,0.000,0.054,2638,889,3868
$GC,1186,-0.67,-194.7,161.7,-12.9,204,1192,0.00,2.72,0.00,0.000,6,0.000,0.048,2638,2293,3869
$GC,1531,-0.67,-194.7,207.6,-12.8,265,1537,0.00,2.78,0.00,0.000,4,0.000,0.053,2638,878,3869
$GC,1554,-0.67,-194.7,210.8,-13.4,269,1560,0.00,2.72,0.00,0.000,6,0.000,0.047,2638,2282,3868
$GC,1897,-0.67,-194.7,256.3,-13.2,330,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2282,3869
$GC,2241,-0.67,-194.7,301.2,-12.5,391,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2282,3869
$GC,2583,-0.67,-194.7,344.7,-12.4,452,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2282,3869
$GC,2917,-0.67,-194.7,387.3,-13.1,487,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2282,3869
$GC,3235,-0.67,-194.7,427.9,-12.7,517,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2282,3869
$GC,3553,-0.67,-194.7,466.7,-11.8,547,3558,0.00,2.75,0.00,0.000,4,0.000,0.055,2638,886,3868
$GC,3573,-0.67,-194.7,469.3,-11.5,548,3581,0.00,2.70,0.00,0.000,6,0.000,0.044,2638,2276,3868
$GC,3899,-0.67,-194.7,506.7,-11.5,579,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2276,3869
$GC,4218,-0.67,-194.7,544.0,-11.9,609,4222,0.00,2.85,0.00,0.000,4,0.000,0.057,2638,3709,3868
$GC,4238,-0.67,-194.7,546.8,-12.4,610,4245,0.00,2.78,0.00,0.000,6,0.000,0.042,2638,2286,3868
$GC,4565,-0.67,-194.7,587.2,-12.7,641,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2284,3868
$GC,4876,-0.67,-194.7,627.8,-13.1,661,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2283,3868
$GC,5185,-0.67,-194.7,668.5,-13.1,676,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2283,3868
$GC,5494,-0.67,-194.7,707.6,-12.1,691,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2283,3868
$GC,5803,-0.67,-194.7,744.8,-12.0,706,5807,0.00,2.83,0.00,0.000,4,0.000,0.070,2638,891,3868
$GC,5829,-0.67,-194.7,748.0,-12.2,707,5834,0.00,2.72,0.00,0.000,6,0.000,0.049,2638,2281,3868
$GC,6151,-0.67,-194.7,786.5,-12.2,723,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2282,3868
$GC,6459,-0.67,-194.7,822.8,-11.5,738,6461,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2282,3867
$GC,6770,-0.67,-194.7,857.8,-11.6,753,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2283,3867
$GC,7078,-0.67,-194.7,894.9,-12.2,768,7080,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2285,3867
$GC,7387,-0.67,-194.7,933.1,-12.5,783,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2285,3867
$GC,7697,-0.67,-194.7,972.4,-13.1,798,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2285,3866
$STATE,7839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7839,begin apogee
$GC,7845,-0.19,0.0,991.5,13.3,805,8049,0.70,0.00,201.27,1.415,6,0.120,0.000,2756,2049,3071
$STATE,8050,end apogee,CONTROL_FINISHED_OK
$STATE,8050,begin climb
$GC,8052,0.82,194.7,1003.7,0.0,815,8271,1.25,3.25,206.68,1.349,4,0.084,0.071,2973,647,2277
$GC,8355,0.71,194.7,983.7,11.6,829,8360,0.00,2.95,0.00,0.000,6,0.000,0.047,2973,2058,2274
$GC,8670,0.58,194.7,946.6,11.9,844,8676,0.25,2.90,0.00,0.000,4,0.133,0.064,2932,3465,2272
$GC,8750,0.54,194.7,938.5,10.3,847,8757,0.00,2.80,0.00,0.000,6,0.000,0.053,2932,2076,2272
$GC,9066,0.51,206.7,908.9,9.6,863,9087,0.00,3.00,12.52,1.328,4,0.000,0.071,2932,638,2228
$GC,9216,0.51,206.7,893.2,11.2,869,9222,0.00,2.88,0.00,0.000,6,0.000,0.047,2932,2100,2227
$GC,9532,0.52,216.0,861.6,9.7,885,9552,0.00,2.78,11.10,1.290,4,0.000,0.061,2932,3468,2189
$GC,9590,0.52,216.0,855.3,10.6,887,9597,0.00,2.75,0.00,0.000,6,0.000,0.052,2932,2096,2188
$GC,9907,0.55,241.0,825.6,9.1,903,9941,0.00,2.88,26.52,1.322,4,0.000,0.060,2932,3462,2087
$GC,10083,0.56,247.1,809.0,9.8,911,10097,0.00,2.75,7.82,1.184,6,0.000,0.052,2931,2097,2063
$GC,10414,0.60,282.2,780.3,8.8,927,10457,0.00,2.85,36.47,1.289,4,0.000,0.059,2932,3468,1919
$GC,10484,0.63,309.4,773.8,9.1,930,10522,0.00,2.75,28.88,1.223,6,0.000,0.051,2932,2115,1808
$GC,10831,0.68,348.7,743.2,8.6,947,10878,0.00,2.80,40.80,1.252,4,0.000,0.058,2932,3467,1648
$GC,10968,0.75,370.3,730.8,9.3,953,11001,0.17,2.70,22.88,1.230,6,0.065,0.051,2967,2124,1560
$GC,11310,0.69,370.3,683.8,15.1,970,11315,0.00,2.72,0.00,0.000,4,0.000,0.058,2967,3471,1555
$GC,11399,0.69,370.3,669.8,15.5,974,11403,0.00,2.72,0.00,0.000,6,0.000,0.051,2967,2109,1554
$GC,11727,0.63,370.3,619.7,15.2,990,11732,0.15,2.97,0.00,0.000,4,0.130,0.067,2941,638,1553
$GC,11771,0.69,370.3,614.2,10.2,992,11775,0.00,2.85,0.00,0.000,6,0.000,0.044,2941,2114,1553
$GC,12098,0.69,374.7,580.7,9.8,1016,12110,0.00,2.67,4.28,0.806,4,0.000,0.055,2941,3465,1543
$GC,12126,0.74,374.7,577.4,10.7,1018,12132,0.00,2.67,0.00,0.000,6,0.000,0.047,2941,2100,1543
$GC,12452,0.74,374.7,545.0,10.0,1049,12456,0.00,2.92,0.00,0.000,4,0.000,0.065,2941,640,1543
$GC,12484,0.80,374.7,541.4,10.1,1051,12491,0.17,2.83,0.00,0.000,6,0.058,0.042,2980,2109,1543
$GC,12809,0.70,374.7,489.7,16.2,1082,12811,0.17,0.00,0.00,0.000,6,0.137,0.000,2954,2109,1542
$GC,13129,0.70,374.7,450.7,12.0,1112,13130,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2109,1543
$GC,13445,0.70,374.7,413.3,11.6,1142,13450,0.00,2.95,0.00,0.000,4,0.000,0.063,2954,638,1542
$GC,13473,0.70,374.7,410.1,11.8,1144,13478,0.00,2.80,0.00,0.000,6,0.000,0.040,2953,2106,1542
$GC,13797,0.70,374.7,372.3,11.5,1174,13798,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2106,1543
$GC,14122,0.70,374.7,333.9,11.9,1216,14128,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2107,1543
$GC,14466,0.70,374.7,293.6,11.3,1277,14472,0.00,2.92,0.00,0.000,4,0.000,0.061,2954,641,1542
$GC,14490,0.70,374.7,290.8,12.4,1281,14496,0.00,2.78,0.00,0.000,6,0.000,0.040,2953,2097,1542
$GC,14833,0.70,374.7,250.5,11.2,1342,14840,0.00,2.65,0.00,0.000,4,0.000,0.052,2953,3459,1542
$GC,14863,0.70,374.7,247.1,12.5,1347,14869,0.00,2.67,0.00,0.000,6,0.000,0.044,2954,2081,1542
$GC,15205,0.70,374.7,207.3,10.9,1408,15212,0.00,2.85,0.00,0.000,4,0.000,0.063,2954,644,1542
$GC,15240,0.70,374.7,203.3,11.0,1414,15246,0.00,2.78,0.00,0.000,6,0.000,0.041,2954,2100,1542
$GC,15583,0.70,374.7,164.3,11.8,1475,15589,0.00,2.67,0.00,0.000,4,0.000,0.053,2953,3470,1542
$GC,15612,0.70,374.7,160.8,12.8,1480,15618,0.00,2.67,0.00,0.000,6,0.000,0.044,2953,2090,1542
$GC,15955,0.70,374.7,119.9,11.3,1541,15961,0.00,2.88,0.00,0.000,4,0.000,0.063,2953,642,1542
$GC,15996,0.76,374.7,115.0,11.6,1548,16003,0.00,2.78,0.00,0.000,6,0.000,0.041,2954,2100,1542
$GC,16341,0.76,374.7,72.9,11.7,1609,16347,0.00,2.65,0.00,0.000,4,0.000,0.054,2953,3459,1542
$GC,16371,0.80,374.7,69.2,12.2,1614,16377,0.00,2.67,0.00,0.000,6,0.000,0.044,2954,2077,1542
$GC,16715,0.80,374.7,30.2,10.1,1675,16721,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2077,1542
$GC,16857,0.80,374.7,14.8,11.8,1700,16862,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2077,1542
$STATE,16986,end climb,SURFACE_DEPTH_REACHED
$STATE,16986,begin surface coast
$FINISH,0.3,1.027268
$STATE,16997,end surface coast,CONTROL_FINISHED_OK
$STATE,16997,begin surface
$SM_CCo,17074,0.00,0.000,0,0,1541,375.31
$SM_GC,0.97,7.18,0.00,0.00,0.041,0.000,0.000,1463,2309,1541,-6.10,0.40,375.31
$IRIDIUM_FIX,6103.81,-2613.74,110897,202023
$TT8_MAMPS,0.022243
$HUMID,1721
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,16.80
$XPDR_PINGS,23
$24V_AH,19.2,70.297
$10V_AH,9.9,48.458
$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,20.200,135.225,599.225,0.000,0.000,30.572,36.224,209.961,5.750,0.000,0.000,14.255,2735.452,10232.025,729.163,3209.438,551.257,0.000,2191.937,0.000,3190.103,0.000,0.467
$DEVICE_MAMPS,251.576,70.564,1415.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1293.858,1214.790,631.182,1528.094,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126680,1725
$CAP_FILE_SIZE,156896,0
$CFSIZE,260165632,236122112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,180508,061727,6125.068,-2607.575,24,3.5,43,-18.5