version: 66.03
glider: 143
mission: 4
dive: 12
start: 4 6 108 2 28 39
data:
$ID,143
$MISSION,4
$DIVE,12
$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,0
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,15
$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,-4179.6968
$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,2215
$C_ROLL_CLIMB,2135
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,20
$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
$GPS1,022108,5933.818,-2007.564,36,1.0,36,-14.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-38.9
$GPS2,022821,5933.866,-2007.469,10,1.7,10,-14.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5944.297,-2006.060
$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,29.3,20000,-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,-194.7,0.0,0.0,0,166,0.00,0.00,-137.32,0.000,2,0.000,0.000,1465,2201,3615
$GC,168,-0.82,-194.7,3.4,-5.3,19,192,9.93,2.88,-5.47,0.000,4,0.257,0.067,2612,3628,3866
$GC,251,-0.74,-194.7,22.3,-15.9,33,259,0.10,2.78,0.00,0.000,6,0.134,0.042,2630,2219,3867
$GC,385,-0.67,-194.7,43.5,-15.5,58,394,0.12,0.00,0.00,0.000,6,0.149,0.000,2647,2218,3867
$GC,519,-0.67,-194.7,62.3,-13.8,83,527,0.00,2.88,0.00,0.000,4,0.000,0.059,2647,3629,3867
$GC,550,-0.67,-194.7,66.4,-13.4,88,558,0.00,2.75,0.00,0.000,6,0.000,0.041,2647,2226,3867
$GC,684,-0.67,-194.7,84.2,-13.2,113,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2226,3867
$GC,817,-0.67,-194.7,102.8,-13.3,138,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2225,3867
$GC,950,-0.67,-194.7,120.8,-13.9,163,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2225,3867
$GC,1084,-0.67,-194.7,139.5,-13.6,188,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2225,3867
$GC,1219,-0.67,-194.7,158.3,-14.0,213,1225,0.00,2.83,0.00,0.000,4,0.000,0.061,2647,3633,3867
$GC,1254,-0.67,-194.7,163.0,-13.2,219,1260,0.00,2.72,0.00,0.000,6,0.000,0.041,2647,2221,3867
$GC,1581,-0.67,-194.7,202.9,-11.4,280,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2220,3867
$GC,1914,-0.67,-194.7,244.9,-12.8,341,1920,0.00,2.80,0.00,0.000,4,0.000,0.058,2647,3627,3867
$GC,1949,-0.67,-194.7,249.5,-13.0,347,1955,0.00,2.67,0.00,0.000,6,0.000,0.041,2647,2231,3867
$GC,2277,-0.67,-194.7,292.2,-13.6,408,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2226,3867
$GC,2609,-0.67,-194.7,336.7,-13.4,469,2615,0.00,2.78,0.00,0.000,4,0.000,0.057,2647,3627,3867
$GC,2637,-0.67,-194.7,340.8,-14.3,474,2645,0.00,2.70,0.00,0.000,6,0.000,0.041,2647,2236,3867
$GC,2975,-0.67,-194.7,386.0,-13.5,535,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2234,3867
$GC,3313,-0.67,-194.7,429.9,-12.8,596,3321,0.00,2.78,0.00,0.000,4,0.000,0.056,2647,3627,3867
$GC,3345,-0.67,-194.7,433.8,-13.4,601,3351,0.00,2.65,0.00,0.000,6,0.000,0.041,2647,2245,3867
$GC,3684,-0.67,-194.7,476.5,-12.3,662,3690,0.00,2.80,0.00,0.000,4,0.000,0.055,2647,802,3867
$GC,3711,-0.67,-194.7,479.9,-12.4,667,3717,0.00,2.75,0.00,0.000,6,0.000,0.042,2647,2248,3867
$GC,4049,-0.67,-194.7,522.9,-13.0,728,4057,0.00,2.72,0.00,0.000,4,0.000,0.055,2647,3630,3866
$GC,4103,-0.67,-194.7,529.7,-12.7,737,4110,0.00,2.65,0.00,0.000,6,0.000,0.042,2647,2248,3867
$GC,4434,-0.67,-194.7,572.2,-12.7,782,4438,0.00,2.80,0.00,0.000,4,0.000,0.058,2647,807,3867
$GC,4472,-0.67,-194.7,577.0,-12.3,785,4476,0.00,2.75,0.00,0.000,6,0.000,0.043,2647,2253,3867
$GC,4796,-0.67,-194.7,617.5,-13.0,815,4801,0.00,2.70,0.00,0.000,4,0.000,0.058,2647,3627,3867
$GC,4835,-0.67,-194.7,622.6,-13.0,818,4839,0.00,2.67,0.00,0.000,6,0.000,0.046,2647,2246,3867
$GC,5159,-0.67,-194.7,665.9,-13.4,848,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2246,3867
$GC,5477,-0.67,-194.7,707.7,-12.8,878,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2246,3867
$GC,5796,-0.67,-194.7,747.4,-12.3,908,5800,0.00,2.78,0.00,0.000,4,0.000,0.064,2647,3627,3867
$GC,5838,-0.67,-194.7,752.8,-12.1,911,5845,0.00,2.72,0.00,0.000,6,0.000,0.051,2647,2249,3867
$GC,6164,-0.67,-194.7,789.2,-10.8,942,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2249,3867
$GC,6482,-0.67,-194.7,825.9,-12.3,972,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2249,3867
$GC,6802,-0.67,-194.7,866.7,-12.5,1002,6803,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2250,3867
$GC,7119,-0.67,-194.7,904.2,-12.0,1032,7123,0.00,2.75,0.00,0.000,4,0.000,0.064,2647,3623,3866
$GC,7168,-0.67,-194.7,910.4,-12.2,1036,7172,0.00,2.67,0.00,0.000,6,0.000,0.050,2647,2252,3866
$GC,7493,-0.67,-194.7,951.3,-12.8,1066,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2252,3866
$GC,7810,-0.67,-194.7,989.2,-10.6,1096,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2251,3866
$STATE,7819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7819,begin apogee
$GC,7824,-0.19,0.0,990.3,10.7,1097,8033,0.62,0.00,202.60,1.624,6,0.117,0.000,2755,2116,3070
$STATE,8034,end apogee,CONTROL_FINISHED_OK
$STATE,8034,begin climb
$GC,8035,0.82,194.7,996.4,0.0,1118,8249,1.25,3.25,199.82,1.401,4,0.086,0.059,2973,3549,2275
$GC,8317,0.69,194.7,968.9,15.0,1145,8322,0.15,3.00,0.00,0.000,6,0.137,0.052,2953,2139,2273
$GC,8641,0.56,194.7,925.0,13.6,1175,8646,0.17,2.95,0.00,0.000,4,0.133,0.059,2925,3553,2271
$GC,8797,0.51,194.7,907.2,11.1,1188,8804,0.00,2.88,0.00,0.000,6,0.000,0.050,2925,2136,2270
$GC,9122,0.49,217.8,875.6,9.2,1219,9154,0.00,2.97,22.80,1.403,4,0.000,0.059,2925,3541,2182
$GC,9170,0.23,236.5,870.9,9.4,1223,9198,0.45,2.85,20.30,1.253,6,0.121,0.050,2852,2150,2107
$GC,9515,0.65,301.0,848.5,7.8,1256,9586,0.45,0.00,65.88,1.347,6,0.070,0.000,2938,2149,1842
$GC,9905,0.84,325.3,815.5,9.2,1293,9937,0.17,3.05,25.12,1.364,4,0.054,0.072,2984,718,1743
$GC,9975,0.72,325.3,806.4,16.2,1299,9983,0.17,3.08,0.00,0.000,6,0.137,0.046,2959,2238,1741
$GC,10300,0.63,325.3,755.3,15.7,1330,10306,0.15,3.15,0.00,0.000,4,0.138,0.069,2938,725,1739
$GC,10339,0.63,325.3,749.9,12.4,1333,10344,0.00,2.95,0.00,0.000,6,0.000,0.044,2938,2219,1738
$GC,10664,0.63,325.3,713.1,11.1,1363,10668,0.00,3.08,0.00,0.000,4,0.000,0.068,2938,723,1738
$GC,10695,0.63,325.3,709.5,10.5,1365,10702,0.00,2.90,0.00,0.000,6,0.000,0.044,2938,2206,1737
$GC,11022,0.63,325.3,674.4,11.3,1396,11027,0.00,3.03,0.00,0.000,4,0.000,0.067,2938,722,1737
$GC,11060,0.63,325.3,669.7,11.3,1399,11065,0.00,2.83,0.00,0.000,6,0.000,0.043,2938,2182,1737
$GC,11386,0.63,325.3,630.4,12.6,1429,11391,0.00,2.95,0.00,0.000,4,0.000,0.064,2938,723,1737
$GC,11419,0.63,325.3,626.1,12.2,1431,11425,0.00,2.78,0.00,0.000,6,0.000,0.041,2938,2164,1737
$GC,11743,0.63,325.3,586.4,12.4,1462,11748,0.00,2.90,0.00,0.000,4,0.000,0.063,2938,716,1737
$GC,11759,0.63,325.3,584.4,12.6,1463,11764,0.00,2.75,0.00,0.000,6,0.000,0.041,2938,2153,1736
$GC,12084,0.63,325.3,545.4,12.4,1496,12092,0.00,2.90,0.00,0.000,4,0.000,0.061,2938,721,1737
$GC,12103,0.63,325.3,543.1,11.6,1499,12109,0.00,2.70,0.00,0.000,6,0.000,0.040,2938,2140,1736
$GC,12442,0.63,325.3,502.6,12.0,1560,12450,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2140,1737
$GC,12786,0.63,325.3,462.7,11.1,1621,12792,0.00,2.83,0.00,0.000,4,0.000,0.060,2938,721,1737
$GC,12810,0.63,325.3,459.8,11.8,1625,12816,0.00,2.70,0.00,0.000,6,0.000,0.039,2938,2142,1737
$GC,13150,0.63,325.3,422.0,11.0,1686,13156,0.00,2.83,0.00,0.000,4,0.000,0.061,2938,716,1736
$GC,13172,0.63,325.3,419.4,11.3,1690,13178,0.00,2.67,0.00,0.000,6,0.000,0.039,2938,2128,1736
$GC,13511,0.63,325.3,382.6,11.2,1751,13516,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2128,1737
$GC,13847,0.63,325.3,345.0,10.1,1812,13855,0.00,2.80,0.00,0.000,4,0.000,0.060,2938,722,1736
$GC,13868,0.63,325.3,342.9,10.8,1815,13874,0.00,2.62,0.00,0.000,6,0.000,0.039,2938,2117,1736
$GC,14196,0.63,325.3,306.6,10.8,1876,14204,0.00,2.80,0.00,0.000,4,0.000,0.052,2938,3546,1736
$GC,14209,0.63,325.3,305.1,10.4,1878,14217,0.00,2.80,0.00,0.000,6,0.000,0.042,2938,2100,1736
$GC,14545,0.63,325.3,268.6,10.3,1939,14550,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2100,1736
$GC,14873,0.63,325.3,233.4,10.7,2000,14880,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2100,1736
$GC,15206,0.63,325.3,198.6,10.6,2061,15212,0.00,2.83,0.00,0.000,4,0.000,0.051,2938,3549,1736
$GC,15222,0.63,325.3,196.5,11.0,2064,15231,0.00,2.78,0.00,0.000,6,0.000,0.042,2938,2113,1736
$GC,15556,0.63,325.3,160.2,10.8,2125,15562,0.00,2.72,0.00,0.000,4,0.000,0.061,2938,724,1736
$GC,15580,0.63,325.3,157.4,11.1,2129,15586,0.00,2.62,0.00,0.000,6,0.000,0.038,2938,2118,1736
$GC,15901,0.63,325.3,122.1,12.7,2190,15909,0.00,2.80,0.00,0.000,4,0.000,0.052,2938,3544,1736
$GC,15917,0.63,325.3,120.3,11.6,2192,15924,0.00,2.78,0.00,0.000,6,0.000,0.042,2938,2113,1736
$GC,16051,0.63,325.3,105.7,12.0,2217,16059,0.00,2.75,0.00,0.000,4,0.000,0.061,2938,727,1736
$GC,16071,0.63,325.3,103.1,12.5,2220,16079,0.00,2.65,0.00,0.000,6,0.000,0.038,2938,2118,1736
$GC,16205,0.63,325.3,89.1,10.6,2245,16213,0.00,2.80,0.00,0.000,4,0.000,0.052,2938,3544,1736
$GC,16222,0.63,325.3,87.4,10.7,2247,16229,0.00,2.75,0.00,0.000,6,0.000,0.043,2938,2126,1736
$GC,16356,0.63,325.3,72.5,10.8,2272,16364,0.00,2.78,0.00,0.000,4,0.000,0.061,2938,730,1736
$GC,16381,0.63,325.3,69.5,11.8,2276,16389,0.00,2.65,0.00,0.000,6,0.000,0.039,2938,2118,1736
$GC,16515,0.66,348.7,56.6,9.2,2301,16546,0.00,2.83,22.08,0.871,4,0.000,0.052,2938,3539,1648
$GC,16564,0.69,373.1,52.2,9.2,2308,16594,0.00,2.80,23.60,0.927,6,0.000,0.042,2938,2115,1550
$GC,16721,0.69,373.1,37.4,10.4,2336,16728,0.00,2.80,0.00,0.000,4,0.000,0.061,2938,732,1546
$GC,16752,0.75,373.1,33.6,11.7,2341,16760,0.08,2.65,0.00,0.000,6,0.055,0.038,2960,2091,1545
$GC,16887,0.69,373.1,14.2,14.7,2366,16895,0.00,2.90,0.00,0.000,4,0.000,0.051,2960,3544,1545
$GC,16913,0.69,373.1,10.2,15.5,2370,16921,0.00,2.88,0.00,0.000,6,0.000,0.043,2960,2096,1544
$STATE,16973,end climb,SURFACE_DEPTH_REACHED
$STATE,16973,begin surface coast
$FINISH,0.1,1.027259
$STATE,16986,end surface coast,CONTROL_FINISHED_OK
$STATE,16986,begin surface
$SM_CCo,17060,0.00,0.000,0,0,1543,374.57
$SM_GC,0.80,7.38,0.00,0.00,0.047,0.000,0.000,1468,2245,1543,-6.08,0.85,374.57
$IRIDIUM_FIX,5902.83,-2014.54,300697,212143
$TT8_MAMPS,0.021476
$HUMID,1619
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,12.40
$XPDR_PINGS,402
$24V_AH,19.9,14.235
$10V_AH,9.7,6.494
$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,21.200,197.225,582.200,0.000,0.000,30.471,38.484,249.410,100.500,0.000,0.000,11.976,3642.563,6933.101,774.285,5544.128,572.420,0.000,2730.109,0.000,5559.132,0.000,0.468
$DEVICE_MAMPS,256.945,72.098,1623.739,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1724.250,1710.817,1097.031,1554.358,3040.649,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,177115,2383
$CAP_FILE_SIZE,196126,0
$CFSIZE,260165632,256430080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060408,071408,5937.864,-2002.936,35,0.9,35,-14.3