version: 66.03
glider: 143
mission: 4
dive: 18
start: 4 7 108 8 8 22
data:
$ID,143
$MISSION,4
$DIVE,18
$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,270
$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,-4310.0195
$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,16
$R_STBD_OVSHOOT,32
$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
$GPS1,075928,5926.748,-1921.995,37,2.3,56,-13.8
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,2
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-42.6
$GPS2,080805,5926.646,-1921.854,9,2.1,28,-13.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5926.646,-1927.344
$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,283.8,20000,-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,-194.7,0.0,0.0,0,143,0.00,0.00,-115.22,0.000,2,0.000,0.000,1465,2281,3665
$GC,146,-0.82,-194.7,3.9,-7.6,16,169,9.77,2.85,-4.15,0.000,4,0.252,0.068,2613,3659,3868
$GC,420,-0.73,-194.7,61.1,-14.5,67,428,0.12,2.78,0.00,0.000,6,0.140,0.042,2634,2254,3869
$GC,555,-0.66,-194.7,79.4,-13.8,92,563,0.12,0.00,0.00,0.000,6,0.150,0.000,2651,2252,3869
$GC,689,-0.66,-194.7,94.9,-12.0,117,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2251,3869
$GC,822,-0.66,-194.7,112.0,-11.9,142,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2251,3869
$GC,956,-0.66,-194.7,126.5,-10.4,167,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2251,3869
$GC,1089,-0.66,-194.7,142.6,-12.4,192,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2251,3868
$GC,1225,-0.66,-194.7,159.8,-12.3,217,1232,0.00,2.83,0.00,0.000,4,0.000,0.059,2651,3660,3869
$GC,1263,-0.66,-194.7,165.0,-12.9,224,1271,0.00,2.75,0.00,0.000,6,0.000,0.041,2651,2255,3869
$GC,1596,-0.66,-194.7,206.0,-12.0,285,1602,0.00,2.75,0.00,0.000,4,0.000,0.055,2651,847,3869
$GC,1631,-0.66,-194.7,210.1,-12.0,291,1637,0.00,2.67,0.00,0.000,6,0.000,0.044,2651,2239,3869
$GC,1959,-0.66,-194.7,250.5,-12.3,352,1967,0.00,2.85,0.00,0.000,4,0.000,0.057,2651,3672,3869
$GC,2001,-0.66,-194.7,255.5,-12.6,359,2008,0.00,2.75,0.00,0.000,6,0.000,0.041,2651,2241,3869
$GC,2330,-0.66,-194.7,298.3,-13.7,420,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2238,3869
$GC,2662,-0.66,-194.7,341.3,-13.2,481,2668,0.00,2.83,0.00,0.000,4,0.000,0.054,2651,3673,3869
$GC,2697,-0.66,-194.7,345.9,-13.3,487,2703,0.00,2.70,0.00,0.000,6,0.000,0.041,2651,2259,3869
$GC,3037,-0.66,-194.7,390.0,-13.0,548,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2255,3869
$GC,3382,-0.66,-194.7,433.7,-12.6,609,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2255,3869
$GC,3721,-0.66,-194.7,477.5,-12.6,670,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2255,3869
$GC,4060,-0.66,-194.7,520.7,-12.4,731,4066,0.00,2.78,0.00,0.000,4,0.000,0.054,2651,3671,3868
$GC,4096,-0.66,-194.7,524.9,-12.9,737,4102,0.00,2.70,0.00,0.000,6,0.000,0.041,2651,2260,3869
$GC,4430,-0.66,-194.7,565.9,-12.0,786,4435,0.00,2.75,0.00,0.000,4,0.000,0.056,2651,843,3868
$GC,4462,-0.66,-194.7,570.0,-11.8,788,4469,0.00,2.72,0.00,0.000,6,0.000,0.041,2651,2265,3869
$GC,4788,-0.66,-194.7,609.0,-12.4,819,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2265,3869
$GC,5106,-0.66,-194.7,647.6,-11.8,849,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2265,3869
$GC,5424,-0.66,-194.7,685.2,-12.2,879,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2265,3869
$GC,5743,-0.66,-194.7,723.2,-12.2,909,5747,0.00,2.80,0.00,0.000,4,0.000,0.066,2651,3666,3868
$GC,5785,-0.66,-194.7,728.5,-11.5,912,5792,0.00,2.80,0.00,0.000,6,0.000,0.054,2651,2260,3868
$GC,6111,-0.66,-194.7,767.3,-12.0,943,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2260,3868
$GC,6429,-0.66,-194.7,804.2,-11.5,973,6433,0.00,2.83,0.00,0.000,4,0.000,0.064,2651,3673,3868
$GC,6460,-0.66,-194.7,807.9,-11.8,975,6467,0.00,2.78,0.00,0.000,6,0.000,0.051,2651,2265,3868
$GC,6786,-0.66,-194.7,846.5,-12.3,1006,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2265,3868
$GC,7103,-0.66,-194.7,884.8,-12.0,1036,7108,0.00,2.83,0.00,0.000,4,0.000,0.063,2651,3676,3868
$GC,7135,-0.66,-194.7,888.8,-12.4,1038,7142,0.00,2.75,0.00,0.000,6,0.000,0.051,2651,2268,3868
$GC,7460,-0.66,-194.7,926.7,-11.3,1069,7461,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2268,3868
$GC,7778,-0.66,-194.7,962.9,-11.5,1099,7783,0.00,2.80,0.00,0.000,4,0.000,0.063,2651,3667,3867
$GC,7806,-0.66,-194.7,966.0,-12.0,1101,7810,0.00,2.72,0.00,0.000,6,0.000,0.051,2651,2270,3867
$STATE,8022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8022,begin apogee
$GC,8026,-0.19,0.0,990.4,11.2,1121,8228,0.60,0.00,198.48,1.523,6,0.122,0.000,2754,2035,3071
$STATE,8229,end apogee,CONTROL_FINISHED_OK
$STATE,8229,begin climb
$GC,8231,0.82,194.7,999.3,0.0,1141,8444,1.25,3.12,199.30,1.399,4,0.087,0.073,2973,648,2276
$GC,8523,0.68,194.7,975.4,13.4,1169,8529,0.17,2.90,0.00,0.000,6,0.137,0.044,2950,2053,2273
$GC,8847,0.55,194.7,936.3,12.5,1199,8852,0.15,2.90,0.00,0.000,4,0.140,0.059,2926,3459,2271
$GC,8920,0.49,194.7,928.2,11.3,1205,8925,0.00,2.83,0.00,0.000,6,0.000,0.052,2925,2077,2270
$GC,9245,0.43,194.7,895.4,10.6,1235,9250,0.17,2.83,0.00,0.000,4,0.127,0.057,2897,3466,2269
$GC,9299,0.47,226.7,890.0,8.9,1239,9337,0.00,2.78,32.08,1.462,6,0.000,0.051,2897,2086,2146
$GC,9655,0.61,303.9,863.8,7.3,1273,9740,0.17,3.17,77.97,1.355,4,0.064,0.072,2933,645,1830
$GC,9824,0.61,303.9,845.3,11.0,1289,9829,0.00,2.97,0.00,0.000,6,0.000,0.044,2933,2118,1827
$GC,10149,0.61,303.9,810.0,10.8,1319,10154,0.00,3.10,0.00,0.000,4,0.000,0.071,2933,635,1824
$GC,10254,0.61,303.9,798.5,10.6,1328,10259,0.00,2.92,0.00,0.000,6,0.000,0.044,2933,2122,1824
$GC,10578,0.61,303.9,765.0,10.5,1358,10583,0.00,2.70,0.00,0.000,4,0.000,0.058,2933,3468,1822
$GC,10621,0.61,303.9,760.4,11.0,1361,10628,0.00,2.72,0.00,0.000,6,0.000,0.051,2933,2121,1821
$GC,10946,0.61,303.9,727.0,10.2,1392,10947,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2120,1821
$GC,11266,0.61,303.9,693.9,10.6,1422,11267,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2119,1821
$GC,11583,0.61,303.9,660.9,10.6,1452,11584,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2118,1821
$GC,11903,0.61,303.9,627.4,10.4,1482,11907,0.00,2.67,0.00,0.000,4,0.000,0.053,2933,3471,1821
$GC,11923,0.61,303.9,624.9,11.0,1483,11930,0.00,2.65,0.00,0.000,6,0.000,0.045,2933,2124,1820
$GC,12249,0.62,311.1,591.4,9.8,1514,12261,0.00,3.03,6.53,1.018,4,0.000,0.063,2933,636,1802
$GC,12276,0.62,311.1,588.5,10.1,1516,12283,0.00,2.88,0.00,0.000,6,0.000,0.040,2933,2142,1802
$GC,12603,0.62,315.1,556.4,9.9,1547,12615,0.00,3.05,5.72,0.957,4,0.000,0.062,2933,641,1786
$GC,12622,0.62,315.1,554.2,10.2,1549,12626,0.00,2.85,0.00,0.000,6,0.000,0.039,2933,2132,1786
$GC,12962,0.63,320.0,520.1,9.8,1605,12973,0.00,0.00,6.70,1.009,6,0.000,0.000,2933,2133,1766
$GC,13308,0.64,328.3,485.3,9.7,1667,13321,0.00,0.00,10.12,1.124,6,0.000,0.000,2933,2133,1732
$GC,13657,0.64,328.3,450.3,10.7,1729,13663,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2133,1731
$GC,13996,0.64,328.3,415.2,10.8,1790,14002,0.00,2.97,0.00,0.000,4,0.000,0.061,2933,639,1731
$GC,14015,0.64,328.3,413.4,11.0,1793,14021,0.00,2.83,0.00,0.000,6,0.000,0.039,2933,2122,1731
$GC,14355,0.64,328.3,378.2,10.6,1854,14361,0.00,2.62,0.00,0.000,4,0.000,0.051,2933,3472,1730
$GC,14374,0.64,328.3,376.4,10.2,1857,14380,0.00,2.62,0.00,0.000,6,0.000,0.042,2933,2113,1730
$GC,14712,0.65,336.1,342.3,9.7,1918,14732,0.00,2.95,9.48,0.981,4,0.000,0.060,2933,641,1700
$GC,14746,0.66,346.1,339.1,9.7,1923,14764,0.00,2.85,11.20,1.060,6,0.000,0.039,2933,2132,1660
$GC,15090,0.66,351.1,305.1,9.8,1986,15098,0.00,0.00,6.32,0.890,6,0.000,0.000,2933,2132,1639
$GC,15424,0.66,351.1,269.2,11.5,2047,15431,0.00,3.00,0.00,0.000,4,0.000,0.061,2933,634,1638
$GC,15438,0.66,351.1,267.5,12.3,2049,15444,0.00,2.83,0.00,0.000,6,0.000,0.038,2933,2114,1638
$GC,15769,0.67,357.1,230.3,9.8,2110,15777,0.00,0.00,7.03,0.863,6,0.000,0.000,2933,2115,1615
$GC,16103,0.79,454.1,200.9,6.7,2171,16202,0.15,0.00,94.93,0.964,6,0.061,0.000,2970,2114,1219
$GC,16526,0.73,454.1,138.7,13.2,2247,16534,0.00,3.05,0.00,0.000,4,0.000,0.061,2971,641,1210
$GC,16563,0.77,488.0,134.5,8.8,2253,16607,0.00,2.90,33.45,0.923,6,0.000,0.040,2970,2114,1080
$GC,16735,0.69,488.0,108.6,16.3,2283,16743,0.12,0.00,0.00,0.000,6,0.134,0.000,2954,2114,1076
$GC,16869,0.69,488.0,89.5,11.4,2308,16877,0.00,3.05,0.00,0.000,4,0.000,0.063,2954,640,1075
$GC,16884,0.69,488.0,87.1,13.2,2310,16893,0.00,2.85,0.00,0.000,6,0.000,0.038,2953,2091,1074
$GC,17018,0.69,488.0,68.9,11.4,2335,17026,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2091,1074
$GC,17152,0.76,550.6,53.5,7.8,2360,17220,0.00,3.10,61.33,0.844,4,0.000,0.061,2953,635,826
$GC,17232,0.82,550.6,45.7,10.9,2371,17241,0.08,2.88,0.00,0.000,6,0.050,0.038,2981,2073,824
$GC,17368,0.72,550.6,22.0,20.8,2396,17376,0.15,0.00,0.00,0.000,6,0.132,0.000,2957,2074,822
$STATE,17500,end climb,SURFACE_DEPTH_REACHED
$STATE,17500,begin surface coast
$FINISH,0.0,1.014504
$STATE,17518,end surface coast,CONTROL_FINISHED_OK
$STATE,17518,begin surface
$SM_CCo,17593,0.00,0.000,0,0,819,552.42
$SM_GC,0.41,7.35,0.00,0.00,0.041,0.000,0.000,1464,2257,819,-6.09,-0.08,552.42
$IRIDIUM_FIX,5911.23,-1922.40,020797,030345
$TT8_MAMPS,0.021476
$HUMID,1628
$INTERNAL_PRESSURE,8.11555
$TCM_TEMP,12.90
$XPDR_PINGS,398
$24V_AH,19.9,16.041
$10V_AH,9.7,8.163
$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,20.400,154.400,760.625,0.000,0.000,32.997,31.663,318.917,99.500,0.000,0.000,31.169,3668.246,7410.343,808.189,5546.242,650.126,0.000,2806.247,0.000,5552.649,0.000,0.468
$DEVICE_MAMPS,251.576,72.865,1523.262,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1753.775,1737.980,1069.036,1483.556,2898.695,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,180373,2424
$CAP_FILE_SIZE,196254,0
$CFSIZE,260165632,255758336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070408,130238,5923.691,-1922.184,29,1.3,29,-13.8