version: 66.03
glider: 143
mission: 4
dive: 17
start: 4 7 108 3 8 39
data:
$ID,143
$MISSION,4
$DIVE,17
$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,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,-4278.2217
$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,2260
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,36
$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
$GPS1,030108,5930.334,-1932.300,29,1.0,29,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-48.2
$GPS2,030820,5930.283,-1932.218,7,1.0,13,-14.0
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5924.883,-1927.459
$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,134.0,20000,-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,25,-0.82,-194.7,0.0,0.0,0,122,0.00,0.00,-94.35,0.000,2,0.000,0.000,1471,2278,3439
$GC,124,-0.82,-194.7,3.2,-6.8,13,154,9.65,2.92,-10.00,0.000,4,0.249,0.068,2612,852,3867
$GC,296,-0.75,-194.7,32.5,-14.5,44,304,0.10,2.78,0.00,0.000,6,0.153,0.048,2629,2241,3867
$GC,431,-0.66,-194.7,51.7,-14.8,69,439,0.15,0.00,0.00,0.000,6,0.155,0.000,2652,2242,3867
$GC,565,-0.66,-194.7,69.9,-13.4,94,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2241,3867
$GC,698,-0.66,-194.7,86.9,-11.0,119,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2241,3867
$GC,832,-0.66,-194.7,103.2,-11.9,144,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2242,3867
$GC,965,-0.66,-194.7,120.9,-14.4,169,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2242,3867
$GC,1099,-0.66,-194.7,139.9,-13.4,194,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2241,3867
$GC,1234,-0.66,-194.7,158.8,-14.2,219,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2242,3867
$GC,1562,-0.66,-194.7,201.7,-12.1,280,1570,0.00,2.88,0.00,0.000,4,0.000,0.060,2652,3674,3867
$GC,1583,-0.66,-194.7,204.0,-13.2,283,1589,0.00,2.72,0.00,0.000,6,0.000,0.041,2653,2251,3868
$GC,1912,-0.66,-194.7,246.8,-12.9,344,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2247,3867
$GC,2244,-0.66,-194.7,290.9,-13.3,405,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2246,3868
$GC,2571,-0.66,-194.7,334.8,-12.9,466,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2247,3868
$GC,2907,-0.66,-194.7,379.0,-13.2,527,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2246,3868
$GC,3245,-0.66,-194.7,422.9,-13.0,588,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2247,3868
$GC,3589,-0.66,-194.7,466.3,-12.8,649,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2247,3868
$GC,3927,-0.66,-194.7,509.4,-12.7,710,3933,0.00,2.80,0.00,0.000,4,0.000,0.054,2652,3676,3868
$GC,3938,-0.66,-194.7,510.8,-12.8,712,3946,0.00,2.75,0.00,0.000,6,0.000,0.041,2652,2252,3868
$GC,4278,-0.66,-194.7,554.4,-12.8,770,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2250,3867
$GC,4596,-0.66,-194.7,594.6,-12.4,800,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2250,3868
$GC,4915,-0.66,-194.7,634.7,-12.7,830,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2249,3867
$GC,5234,-0.66,-194.7,673.6,-12.0,860,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2250,3868
$GC,5552,-0.66,-194.7,712.9,-12.5,890,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2250,3867
$GC,5871,-0.66,-194.7,753.1,-12.6,920,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2249,3868
$GC,6189,-0.66,-194.7,792.6,-12.0,950,6194,0.00,2.85,0.00,0.000,4,0.000,0.066,2652,3678,3867
$GC,6199,-0.66,-194.7,793.9,-11.5,950,6206,0.00,2.78,0.00,0.000,6,0.000,0.050,2652,2270,3867
$GC,6524,-0.66,-194.7,830.5,-10.8,981,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2270,3867
$GC,6842,-0.66,-194.7,866.0,-11.5,1011,6847,0.00,2.85,0.00,0.000,4,0.000,0.071,2652,841,3867
$GC,6851,-0.66,-194.7,867.1,-11.3,1011,6858,0.00,2.72,0.00,0.000,6,0.000,0.046,2652,2262,3867
$GC,7178,-0.66,-194.7,903.0,-11.1,1042,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2263,3867
$GC,7494,-0.66,-194.7,937.2,-10.5,1072,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2263,3866
$GC,7815,-0.66,-194.7,971.5,-10.7,1102,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2264,3867
$STATE,7992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7992,begin apogee
$GC,7996,-0.19,0.0,990.5,10.2,1119,8200,0.60,0.00,199.65,1.547,6,0.122,0.000,2755,2038,3071
$STATE,8201,end apogee,CONTROL_FINISHED_OK
$STATE,8201,begin climb
$GC,8202,0.82,194.7,997.9,0.0,1139,8416,1.23,3.12,199.57,1.401,4,0.087,0.074,2970,651,2276
$GC,8522,0.68,194.7,969.3,13.0,1169,8529,0.00,2.88,0.00,0.000,6,0.000,0.044,2971,2051,2273
$GC,8849,0.52,194.7,927.0,13.1,1200,8855,0.32,2.92,0.00,0.000,4,0.137,0.059,2919,3468,2271
$GC,8915,0.53,202.2,919.7,9.7,1205,8933,0.00,2.83,8.10,1.203,6,0.000,0.049,2919,2074,2246
$GC,9250,0.55,220.4,889.1,9.4,1237,9276,0.00,3.03,20.08,1.449,4,0.000,0.071,2919,641,2171
$GC,9378,0.55,220.7,876.3,10.0,1248,9383,0.00,2.90,0.00,0.000,6,0.000,0.044,2919,2094,2169
$GC,9703,0.59,251.6,845.7,8.9,1278,9745,0.00,2.88,32.35,1.406,4,0.000,0.058,2919,3455,2044
$GC,9805,0.59,257.4,835.7,9.8,1287,9822,0.00,2.78,7.25,1.150,6,0.000,0.048,2919,2096,2021
$GC,10139,0.60,264.0,803.6,9.8,1319,10154,0.00,2.85,8.20,1.212,4,0.000,0.056,2919,3465,1993
$GC,10160,0.31,264.0,801.5,10.4,1321,10166,0.30,2.72,0.00,0.000,6,0.117,0.047,2871,2111,1992
$GC,10485,0.77,357.0,780.3,6.8,1351,10587,0.45,2.90,94.25,1.300,4,0.056,0.054,2965,3472,1614
$GC,10671,0.72,357.0,758.9,14.2,1368,10677,0.00,2.83,0.00,0.000,6,0.000,0.049,2964,2100,1610
$GC,10996,0.61,357.0,707.4,15.9,1399,10998,0.17,0.00,0.00,0.000,6,0.132,0.000,2938,2098,1606
$GC,11314,0.61,357.0,670.8,10.8,1429,11319,0.00,2.75,0.00,0.000,4,0.000,0.054,2939,3465,1606
$GC,11346,0.61,357.0,667.1,10.8,1431,11353,0.00,2.72,0.00,0.000,6,0.000,0.046,2939,2105,1605
$GC,11671,0.61,357.0,632.3,11.0,1462,11676,0.00,2.97,0.00,0.000,4,0.000,0.067,2938,638,1604
$GC,11698,0.61,357.0,629.2,11.7,1464,11703,0.00,2.85,0.00,0.000,6,0.000,0.041,2938,2121,1604
$GC,12023,0.61,357.0,592.9,11.6,1494,12027,0.00,2.65,0.00,0.000,4,0.000,0.051,2938,3468,1604
$GC,12061,0.61,357.0,588.2,11.0,1497,12066,0.00,2.65,0.00,0.000,6,0.000,0.044,2938,2110,1603
$GC,12385,0.61,357.0,550.4,11.8,1527,12389,0.00,2.92,0.00,0.000,4,0.000,0.062,2938,639,1603
$GC,12425,0.61,357.0,546.0,11.3,1533,12432,0.00,2.83,0.00,0.000,6,0.000,0.040,2938,2128,1603
$GC,12762,0.61,357.0,507.4,10.7,1594,12768,0.00,2.62,0.00,0.000,4,0.000,0.050,2938,3472,1603
$GC,12803,0.61,357.0,503.0,11.7,1601,12809,0.00,2.65,0.00,0.000,6,0.000,0.044,2938,2108,1603
$GC,13144,0.61,357.0,465.2,10.4,1662,13150,0.00,2.92,0.00,0.000,4,0.000,0.061,2938,632,1603
$GC,13171,0.61,357.0,462.1,11.4,1667,13177,0.00,2.85,0.00,0.000,6,0.000,0.039,2939,2134,1603
$GC,13510,0.61,357.0,425.3,10.7,1728,13519,0.00,2.62,0.00,0.000,4,0.000,0.050,2938,3470,1603
$GC,13535,0.61,357.0,422.5,10.6,1732,13543,0.00,2.65,0.00,0.000,6,0.000,0.044,2938,2113,1603
$GC,13879,0.61,357.0,385.7,10.4,1793,13886,0.00,2.92,0.00,0.000,4,0.000,0.061,2938,633,1603
$GC,13907,0.61,357.0,382.4,12.0,1798,13913,0.00,2.83,0.00,0.000,6,0.000,0.039,2938,2129,1603
$GC,14247,0.61,357.0,345.3,10.5,1859,14253,0.00,2.60,0.00,0.000,4,0.000,0.051,2938,3468,1603
$GC,14274,0.61,357.0,341.9,11.8,1864,14283,0.00,2.62,0.00,0.000,6,0.000,0.044,2938,2121,1603
$GC,14608,0.61,357.0,305.4,11.2,1925,14614,0.00,2.92,0.00,0.000,4,0.000,0.061,2938,636,1603
$GC,14643,0.61,357.0,301.5,10.6,1931,14649,0.00,2.83,0.00,0.000,6,0.000,0.038,2938,2133,1603
$GC,14973,0.61,357.0,265.3,10.2,1992,14981,0.00,2.60,0.00,0.000,4,0.000,0.049,2938,3466,1603
$GC,15005,0.61,357.0,261.9,11.3,1997,15011,0.00,2.60,0.00,0.000,6,0.000,0.043,2938,2114,1603
$GC,15334,0.61,357.0,226.9,11.4,2058,15343,0.00,2.92,0.00,0.000,4,0.000,0.063,2938,644,1603
$GC,15360,0.61,357.0,224.2,11.8,2062,15368,0.00,2.83,0.00,0.000,6,0.000,0.039,2938,2124,1603
$GC,15695,0.61,357.0,187.3,10.9,2123,15701,0.00,2.60,0.00,0.000,4,0.000,0.051,2938,3465,1603
$GC,15730,0.61,357.0,183.2,10.2,2129,15736,0.00,2.60,0.00,0.000,6,0.000,0.043,2938,2112,1603
$GC,16062,0.61,357.0,147.8,11.9,2190,16069,0.00,2.92,0.00,0.000,4,0.000,0.062,2938,642,1603
$GC,16093,0.66,357.0,144.6,10.4,2195,16100,0.00,2.83,0.00,0.000,6,0.000,0.039,2938,2121,1603
$GC,16228,0.68,378.6,130.7,9.3,2220,16258,0.00,2.67,19.55,0.944,4,0.000,0.051,2938,3466,1527
$GC,16281,0.74,378.6,125.3,10.1,2228,16290,0.08,2.65,0.00,0.000,6,0.062,0.044,2959,2121,1526
$GC,16417,0.67,378.6,108.8,14.9,2253,16425,0.00,2.97,0.00,0.000,4,0.000,0.063,2959,644,1525
$GC,16453,0.67,378.6,103.9,13.4,2259,16462,0.00,2.90,0.00,0.000,6,0.000,0.039,2959,2143,1525
$GC,16589,0.60,378.6,87.0,12.5,2284,16597,0.15,2.60,0.00,0.000,4,0.128,0.049,2933,3464,1525
$GC,16607,0.56,378.6,84.8,13.0,2286,16615,0.00,2.65,0.00,0.000,6,0.000,0.044,2933,2116,1524
$GC,16743,0.77,497.8,74.4,5.9,2311,16867,0.15,3.12,117.35,0.945,4,0.064,0.065,2969,634,1040
$GC,16896,0.77,497.8,57.4,11.3,2333,16904,0.00,2.97,0.00,0.000,6,0.000,0.038,2968,2112,1037
$GC,17032,0.71,497.8,39.3,13.5,2358,17040,0.00,2.75,0.00,0.000,4,0.000,0.051,2969,3465,1035
$GC,17052,0.71,497.8,35.8,15.9,2361,17060,0.00,2.80,0.00,0.000,6,0.000,0.046,2969,2090,1035
$GC,17187,0.67,497.8,14.0,17.4,2386,17197,0.15,3.00,0.00,0.000,4,0.128,0.065,2943,639,1032
$GC,17225,0.76,497.8,8.3,14.3,2392,17234,0.08,2.85,0.00,0.000,6,0.045,0.038,2971,2092,1031
$STATE,17270,end climb,SURFACE_DEPTH_REACHED
$STATE,17270,begin surface coast
$FINISH,0.0,1.027345
$STATE,17283,end surface coast,CONTROL_FINISHED_OK
$STATE,17283,begin surface
$SM_CCo,17358,0.00,0.000,0,0,1030,500.66
$SM_GC,0.67,7.47,0.00,0.00,0.044,0.000,0.000,1465,2280,1030,-6.10,0.57,500.66
$IRIDIUM_FIX,5911.23,-1945.22,010797,222249
$TT8_MAMPS,0.021476
$HUMID,1638
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,13.00
$XPDR_PINGS,399
$24V_AH,19.9,15.735
$10V_AH,9.7,7.881
$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,21.050,174.700,706.350,0.000,0.000,25.866,35.486,253.809,99.750,0.000,0.000,14.952,3659.073,7195.396,801.330,5527.554,582.763,0.000,2793.094,0.000,5546.354,0.000,0.469
$DEVICE_MAMPS,249.275,73.632,1547.039,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1733.589,1726.728,1085.149,1518.325,2968.137,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,180009,2402
$CAP_FILE_SIZE,196840,0
$CFSIZE,260165632,255868928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070408,075928,5926.748,-1921.995,37,2.3,56,-13.8