version: 66.03
glider: 143
mission: 4
dive: 22
start: 4 8 108 3 56 40
data:
$ID,143
$MISSION,4
$DIVE,22
$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,90
$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,-4426.0503
$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,22
$R_STBD_OVSHOOT,22
$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
$GPS1,034527,5913.482,-1918.511,31,2.0,50,-13.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-41.0
$GPS2,035623,5913.303,-1918.488,13,2.4,32,-13.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5913.303,-1912.962
$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,103.7,20000,-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,-194.7,0.0,0.0,0,151,0.00,0.00,-123.10,0.000,2,0.000,0.000,1467,2248,3668
$GC,153,-0.82,-194.7,3.9,-7.9,17,177,9.95,2.83,-4.05,0.000,4,0.257,0.067,2612,862,3867
$GC,350,-0.74,-194.7,45.4,-16.8,53,359,0.12,2.78,0.00,0.000,6,0.134,0.049,2633,2250,3868
$GC,486,-0.66,-194.7,67.4,-16.5,78,494,0.12,0.00,0.00,0.000,6,0.140,0.000,2650,2250,3868
$GC,620,-0.66,-194.7,87.2,-14.0,103,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2250,3868
$GC,753,-0.66,-194.7,104.8,-12.4,128,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2250,3868
$GC,886,-0.66,-194.7,123.8,-16.4,153,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2250,3868
$GC,1019,-0.66,-194.7,142.2,-13.0,178,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2250,3868
$GC,1156,-0.66,-194.7,160.6,-13.3,203,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2250,3868
$GC,1484,-0.66,-194.7,203.8,-12.8,264,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2250,3868
$GC,1816,-0.66,-194.7,247.3,-13.8,325,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2250,3868
$GC,2144,-0.66,-194.7,291.9,-13.3,386,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2250,3868
$GC,2476,-0.66,-194.7,335.8,-13.3,447,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2250,3868
$GC,2811,-0.66,-194.7,382.0,-13.6,508,2820,0.00,2.83,0.00,0.000,4,0.000,0.054,2650,3676,3868
$GC,2830,-0.66,-194.7,384.6,-13.7,511,2837,0.00,2.75,0.00,0.000,6,0.000,0.041,2650,2243,3868
$GC,3170,-0.66,-194.7,430.8,-13.6,572,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2239,3868
$GC,3514,-0.66,-194.7,476.8,-12.9,633,3520,0.00,2.83,0.00,0.000,4,0.000,0.053,2650,3685,3868
$GC,3539,-0.66,-194.7,480.1,-12.9,637,3545,0.00,2.75,0.00,0.000,6,0.000,0.041,2650,2248,3868
$GC,3878,-0.66,-194.7,525.0,-13.3,698,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2245,3868
$GC,4215,-0.66,-194.7,567.3,-12.0,747,4220,0.00,2.83,0.00,0.000,4,0.000,0.056,2650,3682,3868
$GC,4247,-0.66,-194.7,571.3,-12.2,749,4254,0.00,2.75,0.00,0.000,6,0.000,0.043,2650,2251,3868
$GC,4573,-0.66,-194.7,611.3,-12.5,780,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2250,3868
$GC,4891,-0.66,-194.7,650.0,-11.8,810,4895,0.00,2.85,0.00,0.000,4,0.000,0.060,2650,3681,3868
$GC,4917,-0.66,-194.7,653.3,-12.5,812,4922,0.00,2.75,0.00,0.000,6,0.000,0.048,2650,2267,3868
$GC,5244,-0.66,-194.7,692.3,-12.6,842,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2266,3868
$GC,5559,-0.66,-194.7,732.6,-12.7,872,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2267,3868
$GC,5879,-0.66,-194.7,770.3,-12.1,902,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2267,3868
$GC,6197,-0.66,-194.7,810.4,-12.9,932,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2267,3868
$GC,6515,-0.66,-194.7,849.0,-12.3,962,6519,0.00,2.85,0.00,0.000,4,0.000,0.071,2650,844,3868
$GC,6535,-0.66,-194.7,851.5,-12.1,963,6542,0.00,2.78,0.00,0.000,6,0.000,0.048,2650,2269,3867
$GC,6860,-0.66,-194.7,888.7,-11.2,994,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2270,3867
$GC,7178,-0.66,-194.7,925.6,-11.7,1024,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2270,3867
$GC,7497,-0.66,-194.7,962.0,-11.4,1054,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2272,3867
$STATE,7739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7739,begin apogee
$GC,7744,-0.19,0.0,990.2,11.9,1077,7946,0.60,0.00,198.25,1.515,6,0.117,0.000,2754,2042,3071
$STATE,7947,end apogee,CONTROL_FINISHED_OK
$STATE,7947,begin climb
$GC,7949,0.82,194.7,999.1,0.0,1097,8157,1.25,3.15,197.73,1.378,4,0.087,0.058,2974,3464,2277
$GC,8274,0.66,194.7,967.7,15.1,1127,8281,0.20,2.95,0.00,0.000,6,0.146,0.051,2947,2055,2273
$GC,8599,0.55,194.7,927.9,12.0,1158,8604,0.17,2.97,0.00,0.000,4,0.137,0.070,2919,632,2272
$GC,8710,0.57,214.4,916.7,9.3,1167,8737,0.00,2.85,20.20,1.426,6,0.000,0.044,2919,2073,2196
$GC,9054,0.60,239.9,885.0,9.1,1200,9087,0.00,2.95,26.73,1.382,4,0.000,0.058,2919,3467,2092
$GC,9147,0.61,250.8,875.9,9.6,1208,9165,0.00,2.83,12.40,1.223,6,0.000,0.048,2919,2081,2048
$GC,9482,0.65,280.4,845.2,9.0,1240,9519,0.12,2.85,30.52,1.359,4,0.075,0.054,2942,3456,1928
$GC,9541,0.59,280.4,838.7,11.9,1245,9546,0.00,2.80,0.00,0.000,6,0.000,0.048,2943,2093,1926
$GC,9866,0.52,280.4,800.4,12.3,1275,9868,0.17,0.00,0.00,0.000,6,0.127,0.000,2916,2092,1924
$GC,10185,0.55,300.3,770.1,9.3,1305,10215,0.00,2.80,21.00,1.384,4,0.000,0.056,2916,3461,1845
$GC,10242,0.60,303.9,764.5,9.9,1310,10252,0.00,2.72,5.12,0.887,6,0.000,0.048,2917,2112,1832
$GC,10572,0.65,350.8,734.8,8.4,1341,10627,0.12,2.83,48.53,1.282,4,0.071,0.054,2941,3457,1640
$GC,10722,0.65,350.8,718.0,11.9,1355,10726,0.00,2.72,0.00,0.000,6,0.000,0.049,2941,2114,1636
$GC,11045,0.65,350.8,680.1,11.9,1385,11050,0.00,2.72,0.00,0.000,4,0.000,0.053,2941,3465,1634
$GC,11153,0.65,350.8,667.4,11.8,1394,11157,0.00,2.70,0.00,0.000,6,0.000,0.046,2941,2107,1633
$GC,11476,0.65,350.8,628.8,12.1,1424,11481,0.00,2.97,0.00,0.000,4,0.000,0.066,2941,634,1633
$GC,11492,0.65,350.8,626.8,12.3,1425,11496,0.00,2.90,0.00,0.000,6,0.000,0.040,2941,2137,1633
$GC,11816,0.65,350.8,588.8,11.6,1455,11817,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2137,1632
$GC,12134,0.65,350.8,551.0,12.0,1485,12135,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2137,1632
$GC,12464,0.65,350.8,510.8,11.7,1544,12471,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2137,1632
$GC,12807,0.65,350.8,470.1,11.7,1605,12813,0.00,3.00,0.00,0.000,4,0.000,0.061,2941,632,1632
$GC,12831,0.65,350.8,467.0,11.9,1609,12837,0.00,2.85,0.00,0.000,6,0.000,0.039,2941,2136,1632
$GC,13170,0.65,350.8,426.0,12.2,1670,13175,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2136,1632
$GC,13508,0.65,350.8,385.8,10.8,1731,13513,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2136,1632
$GC,13845,0.65,350.8,346.2,10.7,1792,13853,0.00,3.00,0.00,0.000,4,0.000,0.061,2941,638,1632
$GC,13866,0.65,350.8,343.9,11.7,1795,13872,0.00,2.80,0.00,0.000,6,0.000,0.039,2941,2127,1632
$GC,14195,0.65,350.8,306.0,11.7,1856,14203,0.00,2.60,0.00,0.000,4,0.000,0.051,2941,3458,1632
$GC,14216,0.65,350.8,303.8,11.8,1859,14222,0.00,2.60,0.00,0.000,6,0.000,0.044,2941,2105,1631
$GC,14545,0.65,350.8,266.6,10.6,1920,14553,0.00,2.92,0.00,0.000,4,0.000,0.061,2941,635,1631
$GC,14577,0.65,350.8,263.2,11.7,1925,14583,0.00,2.80,0.00,0.000,6,0.000,0.038,2941,2121,1631
$GC,14906,0.65,350.8,226.8,10.5,1986,14914,0.00,2.62,0.00,0.000,4,0.000,0.050,2941,3464,1631
$GC,14938,0.65,350.8,223.3,11.6,1991,14944,0.00,2.62,0.00,0.000,6,0.000,0.043,2941,2099,1631
$GC,15268,0.65,350.8,188.2,10.8,2052,15276,0.00,2.90,0.00,0.000,4,0.000,0.061,2941,641,1631
$GC,15294,0.65,350.8,185.4,10.7,2056,15302,0.00,2.83,0.00,0.000,6,0.000,0.040,2941,2117,1631
$GC,15627,0.65,350.8,149.3,11.7,2117,15635,0.00,2.62,0.00,0.000,4,0.000,0.050,2941,3459,1631
$GC,15652,0.65,350.8,146.4,11.0,2121,15660,0.00,2.62,0.00,0.000,6,0.000,0.044,2940,2111,1631
$GC,15787,0.65,350.8,132.4,10.2,2146,15795,0.00,2.92,0.00,0.000,4,0.000,0.062,2941,644,1631
$GC,15817,0.65,350.8,129.1,10.1,2151,15825,0.00,2.83,0.00,0.000,6,0.000,0.039,2941,2121,1631
$GC,15951,0.67,360.4,115.8,9.7,2176,15967,0.00,2.62,9.00,0.819,4,0.000,0.050,2941,3472,1600
$GC,15990,0.67,360.4,111.9,10.2,2182,15998,0.00,2.65,0.00,0.000,6,0.000,0.042,2941,2112,1599
$GC,16125,0.67,367.6,98.9,9.8,2207,16140,0.00,2.92,8.35,0.806,4,0.000,0.062,2941,638,1571
$GC,16158,0.67,367.6,95.4,10.4,2212,16166,0.00,2.85,0.00,0.000,6,0.000,0.038,2941,2119,1571
$GC,16292,0.68,367.8,81.7,10.0,2237,16300,0.00,2.65,0.00,0.000,4,0.000,0.051,2941,3461,1570
$GC,16318,0.68,367.8,78.8,10.7,2241,16326,0.00,2.67,0.00,0.000,6,0.000,0.044,2941,2100,1570
$GC,16452,0.68,367.8,65.0,11.4,2266,16460,0.00,2.92,0.00,0.000,4,0.000,0.063,2941,640,1570
$GC,16478,0.68,367.8,62.1,10.1,2270,16486,0.00,2.85,0.00,0.000,6,0.000,0.039,2940,2118,1569
$GC,16612,0.68,371.6,47.9,9.9,2295,16628,0.00,2.65,5.25,0.698,4,0.000,0.049,2941,3459,1555
$GC,16645,0.68,371.6,43.9,12.1,2300,16652,0.00,2.62,0.00,0.000,6,0.000,0.043,2941,2123,1555
$GC,16779,0.68,371.6,31.7,10.6,2325,16787,0.00,2.97,0.00,0.000,4,0.000,0.064,2940,645,1555
$GC,16810,0.68,371.6,27.8,11.8,2330,16817,0.00,2.85,0.00,0.000,6,0.000,0.039,2941,2124,1554
$GC,16943,0.68,371.6,11.5,10.6,2355,16951,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2124,1554
$STATE,17039,end climb,SURFACE_DEPTH_REACHED
$STATE,17039,begin surface coast
$FINISH,-0.1,1.024605
$STATE,17062,end surface coast,CONTROL_FINISHED_OK
$STATE,17062,begin surface
$SM_CCo,17136,0.00,0.000,0,0,1551,372.86
$SM_GC,0.70,7.18,0.00,0.00,0.046,0.000,0.000,1471,2285,1551,-6.08,0.68,372.86
$IRIDIUM_FIX,5850.29,-1916.61,030797,030358
$TT8_MAMPS,0.022243
$HUMID,1645
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,13.10
$XPDR_PINGS,431
$24V_AH,19.9,17.231
$10V_AH,9.7,9.263
$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,20.025,157.800,583.075,0.000,0.000,47.466,64.789,342.273,107.750,0.000,0.000,34.794,3630.145,7143.934,730.122,5553.010,708.733,0.000,2659.130,0.000,5542.901,0.000,0.468
$DEVICE_MAMPS,256.945,70.564,1514.825,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1722.064,1698.610,1096.722,1541.941,3016.914,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,177183,2377
$CAP_FILE_SIZE,194478,0
$CFSIZE,260165632,255320064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080408,084346,5910.153,-1913.954,36,2.3,55,-13.7