version: 66.03
glider: 143
mission: 4
dive: 19
start: 4 7 108 13 13 43
data:
$ID,143
$MISSION,4
$DIVE,19
$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,-4343.3623
$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,16
$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
$GPS1,130238,5923.691,-1922.184,29,1.3,29,-13.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-40.9
$GPS2,131326,5923.543,-1921.987,14,1.4,31,-13.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5923.543,-1927.485
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.82,-194.7,0.0,0.0,0,150,0.00,0.00,-122.72,0.000,2,0.000,0.000,1464,2263,3589
$GC,153,-0.82,-194.7,3.5,-6.4,17,176,9.70,2.88,-6.05,0.000,4,0.250,0.067,2611,3676,3866
$GC,365,-0.71,-194.7,45.2,-17.0,56,374,0.15,2.80,0.00,0.000,6,0.134,0.042,2637,2257,3867
$GC,501,-0.65,-194.7,67.6,-16.2,81,508,0.12,0.00,0.00,0.000,6,0.152,0.000,2653,2254,3867
$GC,634,-0.65,-194.7,86.9,-14.6,106,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2254,3867
$GC,767,-0.65,-194.7,105.5,-15.1,131,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2254,3867
$GC,901,-0.65,-194.7,123.4,-11.9,156,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2254,3867
$GC,1034,-0.65,-194.7,140.8,-15.8,181,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2254,3867
$GC,1168,-0.65,-194.7,159.8,-14.7,206,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2254,3867
$GC,1500,-0.65,-194.7,204.3,-11.8,267,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2254,3867
$GC,1827,-0.65,-194.7,245.6,-12.5,328,1835,0.00,2.85,0.00,0.000,4,0.000,0.057,2653,3673,3867
$GC,1859,-0.65,-194.7,249.5,-13.7,333,1865,0.00,2.70,0.00,0.000,6,0.000,0.041,2653,2261,3867
$GC,2189,-0.65,-194.7,289.4,-11.3,394,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2258,3867
$GC,2521,-0.65,-194.7,331.2,-12.4,455,2527,0.00,2.75,0.00,0.000,4,0.000,0.054,2653,846,3867
$GC,2549,-0.65,-194.7,334.9,-13.1,460,2557,0.00,2.75,0.00,0.000,6,0.000,0.043,2653,2263,3867
$GC,2889,-0.65,-194.7,377.7,-12.7,521,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2263,3867
$GC,3228,-0.65,-194.7,420.8,-12.4,582,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2263,3867
$GC,3567,-0.65,-194.7,463.3,-12.4,643,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2263,3867
$GC,3907,-0.65,-194.7,504.5,-12.0,704,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2263,3867
$GC,4251,-0.65,-194.7,544.5,-11.8,765,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2263,3867
$GC,4578,-0.65,-194.7,583.1,-11.8,800,4583,0.00,2.78,0.00,0.000,4,0.000,0.058,2653,848,3867
$GC,4611,-0.65,-194.7,587.1,-11.6,802,4618,0.00,2.70,0.00,0.000,6,0.000,0.042,2654,2270,3867
$GC,4935,-0.65,-194.7,625.7,-12.2,833,4940,0.00,2.75,0.00,0.000,4,0.000,0.059,2653,3670,3867
$GC,4967,-0.65,-194.7,629.7,-12.6,835,4974,0.00,2.75,0.00,0.000,6,0.000,0.046,2653,2265,3867
$GC,5292,-0.65,-194.7,668.4,-11.7,866,5297,0.00,2.83,0.00,0.000,4,0.000,0.067,2653,842,3867
$GC,5324,-0.65,-194.7,672.4,-11.6,868,5331,0.00,2.75,0.00,0.000,6,0.000,0.046,2653,2260,3867
$GC,5650,-0.65,-194.7,710.7,-12.0,899,5654,0.00,2.80,0.00,0.000,4,0.000,0.064,2653,3669,3867
$GC,5681,-0.65,-194.7,714.7,-12.2,901,5688,0.00,2.78,0.00,0.000,6,0.000,0.051,2653,2249,3867
$GC,6006,-0.65,-194.7,752.7,-12.0,932,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2249,3867
$GC,6324,-0.65,-194.7,790.1,-11.5,962,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2249,3867
$GC,6643,-0.65,-194.7,826.6,-11.6,992,6648,0.00,2.85,0.00,0.000,4,0.000,0.063,2653,3672,3866
$GC,6681,-0.65,-194.7,831.1,-12.3,995,6686,0.00,2.75,0.00,0.000,6,0.000,0.049,2653,2259,3867
$GC,7005,-0.65,-194.7,869.7,-12.4,1025,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2259,3866
$GC,7323,-0.65,-194.7,906.8,-11.2,1055,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2259,3866
$GC,7642,-0.65,-194.7,943.5,-11.5,1085,7646,0.00,2.83,0.00,0.000,4,0.000,0.063,2654,3672,3866
$GC,7673,-0.65,-194.7,947.4,-12.1,1087,7680,0.00,2.72,0.00,0.000,6,0.000,0.049,2653,2272,3866
$GC,7999,-0.65,-194.7,983.5,-10.8,1118,8003,0.00,2.83,0.00,0.000,4,0.000,0.069,2654,852,3866
$GC,8030,-0.71,-194.7,987.1,-11.3,1120,8037,0.00,2.75,0.00,0.000,6,0.000,0.049,2653,2275,3866
$STATE,8066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8066,begin apogee
$GC,8071,-0.19,0.0,990.9,10.5,1124,8280,0.57,0.00,201.80,1.615,6,0.116,0.000,2753,2035,3071
$STATE,8281,end apogee,CONTROL_FINISHED_OK
$STATE,8281,begin climb
$GC,8282,0.82,194.7,999.5,0.0,1145,8491,1.25,3.12,198.45,1.389,4,0.087,0.073,2972,650,2276
$GC,8619,0.68,194.7,968.9,13.4,1176,8626,0.15,2.88,0.00,0.000,6,0.140,0.044,2953,2051,2272
$GC,8944,0.54,194.7,929.9,12.0,1207,8949,0.20,2.90,0.00,0.000,4,0.137,0.058,2921,3462,2270
$GC,9022,0.52,210.6,922.1,9.5,1213,9043,0.00,2.83,16.05,1.408,6,0.000,0.051,2921,2074,2213
$GC,9361,0.53,218.7,890.3,9.7,1245,9372,0.00,0.00,9.65,1.292,6,0.000,0.000,2921,2073,2179
$GC,9690,0.53,218.7,856.3,10.2,1276,9695,0.00,2.80,0.00,0.000,4,0.000,0.057,2921,3461,2178
$GC,9762,0.53,218.7,848.6,10.8,1282,9767,0.00,2.78,0.00,0.000,6,0.000,0.051,2921,2079,2177
$GC,10087,0.53,219.6,817.2,10.0,1312,10092,0.00,2.78,0.00,0.000,4,0.000,0.056,2921,3461,2177
$GC,10114,0.53,219.6,814.3,10.1,1314,10119,0.00,2.72,0.00,0.000,6,0.000,0.050,2921,2089,2176
$GC,10438,0.56,245.6,783.3,9.1,1344,10472,0.00,2.88,28.20,1.408,4,0.000,0.056,2921,3465,2068
$GC,10506,0.57,252.0,776.8,9.8,1350,10523,0.00,2.75,7.85,1.113,6,0.000,0.049,2921,2110,2043
$GC,10841,0.57,257.5,744.2,9.8,1382,10855,0.00,3.10,6.72,1.111,4,0.000,0.071,2921,640,2021
$GC,10973,0.57,257.5,731.0,10.4,1394,10978,0.00,2.92,0.00,0.000,6,0.000,0.044,2921,2130,2020
$GC,11299,0.58,261.9,699.7,9.8,1424,11311,0.00,3.05,5.90,1.022,4,0.000,0.068,2921,641,2003
$GC,11414,0.58,263.7,688.3,9.9,1434,11418,0.00,2.88,0.00,0.000,6,0.000,0.042,2921,2120,2003
$GC,11737,0.62,298.7,658.3,8.8,1464,11782,0.00,2.78,37.65,1.272,4,0.000,0.054,2921,3460,1852
$GC,11804,0.67,338.0,652.1,8.6,1470,11852,0.12,2.72,40.22,1.165,6,0.072,0.045,2946,2108,1693
$GC,12169,0.63,338.0,607.5,12.4,1505,12170,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2107,1687
$GC,12488,0.58,338.0,567.7,12.2,1535,12493,0.00,2.95,0.00,0.000,4,0.000,0.062,2945,640,1686
$GC,12504,0.53,338.0,565.6,12.6,1536,12510,0.17,2.88,0.00,0.000,6,0.114,0.038,2918,2129,1686
$GC,12835,0.64,387.8,536.5,8.3,1580,12891,0.12,3.17,48.72,1.194,4,0.070,0.061,2944,637,1489
$GC,12902,0.64,387.8,529.0,11.7,1591,12908,0.00,2.95,0.00,0.000,6,0.000,0.038,2944,2126,1488
$GC,13241,0.64,387.8,488.8,12.1,1652,13249,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2126,1484
$GC,13585,0.64,387.8,446.6,13.2,1713,13591,0.00,3.00,0.00,0.000,4,0.000,0.061,2943,638,1483
$GC,13618,0.64,387.8,442.2,11.7,1719,13624,0.00,2.83,0.00,0.000,6,0.000,0.039,2943,2109,1482
$GC,13957,0.64,387.8,400.2,12.7,1780,13964,0.00,2.67,0.00,0.000,4,0.000,0.050,2943,3462,1482
$GC,13975,0.64,387.8,398.0,11.6,1783,13981,0.00,2.67,0.00,0.000,6,0.000,0.043,2944,2089,1482
$GC,14314,0.64,387.8,357.4,12.5,1844,14322,0.00,2.90,0.00,0.000,4,0.000,0.061,2944,644,1482
$GC,14338,0.64,387.8,354.2,12.6,1848,14346,0.00,2.83,0.00,0.000,6,0.000,0.039,2944,2104,1481
$GC,14672,0.64,387.8,314.5,12.4,1909,14679,0.00,2.67,0.00,0.000,4,0.000,0.051,2943,3474,1481
$GC,14696,0.64,387.8,311.4,13.6,1913,14703,0.00,2.67,0.00,0.000,6,0.000,0.044,2944,2090,1481
$GC,15027,0.64,387.8,270.7,12.3,1974,15035,0.00,2.90,0.00,0.000,4,0.000,0.062,2944,641,1481
$GC,15048,0.64,387.8,268.3,12.7,1977,15054,0.00,2.80,0.00,0.000,6,0.000,0.038,2943,2118,1481
$GC,15378,0.64,387.8,227.9,11.9,2038,15386,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2118,1481
$GC,15711,0.64,387.8,187.8,11.6,2099,15717,0.00,2.95,0.00,0.000,4,0.000,0.061,2943,639,1481
$GC,15728,0.64,387.8,185.4,12.0,2102,15736,0.00,2.80,0.00,0.000,6,0.000,0.038,2943,2104,1481
$GC,16060,0.64,387.8,146.2,11.4,2163,16068,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2104,1481
$GC,16194,0.64,387.8,130.4,11.9,2188,16201,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2104,1481
$GC,16327,0.64,387.8,114.9,11.7,2213,16334,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2104,1481
$GC,16461,0.64,387.8,100.1,11.6,2238,16468,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2104,1481
$GC,16594,0.64,387.8,85.5,10.9,2263,16602,0.00,2.95,0.00,0.000,4,0.000,0.061,2943,641,1481
$GC,16615,0.65,391.2,83.4,9.9,2266,16623,0.00,2.80,0.00,0.000,6,0.000,0.039,2943,2101,1481
$GC,16749,0.65,391.2,67.5,11.8,2291,16757,0.00,2.67,0.00,0.000,4,0.000,0.051,2944,3465,1481
$GC,16766,0.65,391.2,65.6,12.4,2293,16774,0.00,2.70,0.00,0.000,6,0.000,0.043,2944,2080,1481
$GC,16900,0.65,391.2,49.3,12.7,2318,16908,0.00,2.88,0.00,0.000,4,0.000,0.064,2943,644,1481
$GC,16921,0.65,391.2,46.7,12.5,2321,16928,0.00,2.78,0.00,0.000,6,0.000,0.039,2944,2091,1480
$GC,17054,0.65,391.2,31.6,12.5,2346,17063,0.00,2.67,0.00,0.000,4,0.000,0.051,2943,3455,1481
$GC,17071,0.65,391.2,29.5,12.1,2348,17079,0.00,2.70,0.00,0.000,6,0.000,0.044,2944,2075,1480
$GC,17206,0.69,428.2,13.4,8.7,2373,17251,0.00,2.90,38.35,0.937,4,0.000,0.064,2943,644,1324
$GC,17264,0.75,428.2,6.3,12.2,2381,17272,0.00,2.78,0.00,0.000,6,0.000,0.038,2944,2063,1322
$STATE,17309,end climb,SURFACE_DEPTH_REACHED
$STATE,17309,begin surface coast
$FINISH,-0.0,1.027688
$STATE,17332,end surface coast,CONTROL_FINISHED_OK
$STATE,17332,begin surface
$SM_CCo,17406,0.00,0.000,0,0,1320,429.52
$SM_GC,0.64,7.20,0.00,0.00,0.037,0.000,0.000,1464,2260,1320,-6.10,0.00,429.52
$IRIDIUM_FIX,5858.64,-1920.79,020797,131320
$TT8_MAMPS,0.021476
$HUMID,1617
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,12.90
$XPDR_PINGS,403
$24V_AH,19.9,16.327
$10V_AH,9.7,8.446
$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,19.775,175.800,639.575,0.000,0.000,60.996,68.082,310.589,100.750,0.000,0.000,32.715,3662.188,7305.650,784.416,5561.595,713.210,0.000,2771.200,0.000,5558.500,0.000,0.469
$DEVICE_MAMPS,250.042,72.865,1614.535,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1733.666,1710.295,1078.047,1501.757,2938.005,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,177280,2393
$CAP_FILE_SIZE,200319,0
$CFSIZE,260165632,255647744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070408,180502,5920.585,-1923.122,39,1.6,39,-13.8