version: 66.03
glider: 143
mission: 4
dive: 24
start: 4 8 108 14 1 9
data:
$ID,143
$MISSION,4
$DIVE,24
$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,-4454.4976
$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,14
$R_STBD_OVSHOOT,23
$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
$GPS1,134938,5906.782,-1910.741,36,1.4,36,-13.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-49.8
$GPS2,140050,5906.618,-1910.845,9,1.9,9,-13.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5906.618,-1905.301
$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,103.6,20000,-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,-94.47,0.000,2,0.000,0.000,1469,2273,3644
$GC,124,-0.82,-194.7,3.4,-5.9,13,148,9.80,2.90,-4.80,0.000,4,0.252,0.067,2614,850,3868
$GC,332,-0.75,-194.7,44.4,-16.0,51,340,0.00,2.80,0.00,0.000,6,0.000,0.048,2614,2252,3869
$GC,466,-0.63,-194.7,66.8,-16.7,76,474,0.25,0.00,0.00,0.000,6,0.150,0.000,2654,2252,3869
$GC,600,-0.63,-194.7,85.6,-13.2,101,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2252,3869
$GC,733,-0.63,-194.7,103.4,-13.5,126,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2252,3869
$GC,867,-0.63,-194.7,121.2,-12.8,151,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2252,3868
$GC,1000,-0.63,-194.7,138.9,-12.6,176,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2252,3869
$GC,1135,-0.63,-194.7,156.7,-13.6,201,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2252,3869
$GC,1463,-0.63,-194.7,198.9,-12.6,262,1471,0.00,2.85,0.00,0.000,4,0.000,0.058,2654,3673,3869
$GC,1484,-0.63,-194.7,201.3,-12.6,265,1491,0.00,2.72,0.00,0.000,6,0.000,0.041,2654,2252,3869
$GC,1813,-0.63,-194.7,243.1,-12.8,326,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2249,3869
$GC,2145,-0.63,-194.7,283.4,-12.0,387,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2249,3869
$GC,2473,-0.63,-194.7,323.7,-12.1,448,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2249,3869
$GC,2810,-0.63,-194.7,364.3,-12.0,509,2816,0.00,2.80,0.00,0.000,4,0.000,0.054,2654,3675,3869
$GC,2827,-0.63,-194.7,366.7,-12.2,512,2835,0.00,2.70,0.00,0.000,6,0.000,0.041,2654,2278,3869
$GC,3172,-0.63,-194.7,408.7,-12.6,573,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2274,3869
$GC,3511,-0.63,-194.7,450.5,-12.1,634,3517,0.00,2.78,0.00,0.000,4,0.000,0.055,2654,845,3869
$GC,3533,-0.63,-194.7,453.2,-12.3,638,3539,0.00,2.72,0.00,0.000,6,0.000,0.042,2654,2277,3869
$GC,3872,-0.63,-194.7,494.5,-12.1,699,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2277,3869
$GC,4210,-0.63,-194.7,536.2,-12.2,760,4219,0.00,2.83,0.00,0.000,4,0.000,0.055,2654,844,3868
$GC,4230,-0.63,-194.7,538.4,-11.8,763,4236,0.00,2.72,0.00,0.000,6,0.000,0.041,2654,2281,3869
$GC,4563,-0.63,-194.7,577.8,-11.8,803,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2281,3869
$GC,4881,-0.63,-194.7,613.5,-10.9,833,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2280,3869
$GC,5200,-0.63,-194.7,649.6,-11.1,863,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2280,3869
$GC,5518,-0.63,-194.7,685.7,-11.4,893,5523,0.00,2.88,0.00,0.000,4,0.000,0.069,2654,853,3868
$GC,5545,-0.63,-194.7,688.8,-11.9,895,5550,0.00,2.72,0.00,0.000,6,0.000,0.048,2654,2269,3869
$GC,5870,-0.63,-194.7,726.8,-12.0,925,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2270,3868
$GC,6188,-0.63,-194.7,764.6,-11.5,955,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2272,3868
$GC,6506,-0.63,-194.7,801.5,-11.1,985,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2273,3868
$GC,6825,-0.63,-194.7,836.7,-10.8,1015,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2273,3868
$GC,7143,-0.63,-194.7,871.7,-11.1,1045,7144,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2273,3868
$GC,7462,-0.63,-194.7,906.8,-11.2,1075,7466,0.00,2.85,0.00,0.000,4,0.000,0.069,2654,855,3868
$GC,7482,-0.63,-194.7,909.1,-11.1,1076,7489,0.00,2.72,0.00,0.000,6,0.000,0.048,2654,2257,3868
$GC,7810,-0.63,-194.7,944.6,-11.0,1107,7814,0.00,2.83,0.00,0.000,4,0.000,0.064,2654,3678,3868
$GC,7830,-0.63,-194.7,947.3,-11.2,1108,7837,0.00,2.75,0.00,0.000,6,0.000,0.048,2654,2271,3867
$GC,8155,-0.63,-194.7,984.3,-11.7,1139,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2271,3867
$STATE,8206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8206,begin apogee
$GC,8211,-0.19,0.0,990.4,11.5,1144,8420,0.57,0.00,202.57,1.622,6,0.121,0.000,2753,2035,3071
$STATE,8420,end apogee,CONTROL_FINISHED_OK
$STATE,8421,begin climb
$GC,8422,0.82,194.7,1000.6,0.0,1165,8630,1.25,3.17,198.15,1.373,4,0.087,0.058,2972,3464,2276
$GC,8691,0.67,194.7,979.7,14.3,1190,8699,0.17,2.97,0.00,0.000,6,0.137,0.048,2949,2058,2273
$GC,9016,0.55,194.7,942.0,12.1,1221,9022,0.15,2.97,0.00,0.000,4,0.137,0.070,2924,640,2271
$GC,9148,0.51,200.3,928.7,9.8,1232,9160,0.00,2.85,5.88,1.057,6,0.000,0.044,2924,2076,2254
$GC,9477,0.46,205.5,895.9,9.8,1263,9490,0.15,2.88,6.88,1.138,4,0.126,0.058,2902,3461,2233
$GC,9550,0.52,260.2,889.5,8.1,1269,9612,0.00,2.78,56.17,1.397,6,0.000,0.048,2902,2079,2010
$GC,9931,0.63,308.1,859.6,8.3,1305,9986,0.15,2.92,48.75,1.364,4,0.068,0.055,2936,3457,1814
$GC,10014,0.63,308.1,850.2,11.8,1313,10018,0.00,2.80,0.00,0.000,6,0.000,0.049,2935,2102,1812
$GC,10337,0.63,308.1,810.5,12.2,1343,10342,0.00,2.78,0.00,0.000,4,0.000,0.055,2935,3461,1809
$GC,10358,0.63,308.1,807.8,13.0,1344,10365,0.00,2.72,0.00,0.000,6,0.000,0.047,2935,2117,1808
$GC,10684,0.63,308.1,769.7,11.4,1375,10688,0.00,3.03,0.00,0.000,4,0.000,0.069,2935,638,1808
$GC,10703,0.63,308.1,767.1,11.5,1376,10711,0.00,2.90,0.00,0.000,6,0.000,0.042,2935,2115,1807
$GC,11029,0.63,308.1,732.2,10.6,1407,11034,0.00,2.67,0.00,0.000,4,0.000,0.056,2935,3458,1807
$GC,11050,0.63,308.1,729.7,11.7,1408,11057,0.00,2.67,0.00,0.000,6,0.000,0.048,2935,2118,1806
$GC,11375,0.63,308.1,693.1,11.6,1439,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2117,1806
$GC,11693,0.63,308.1,657.3,11.0,1469,11695,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2115,1806
$GC,12012,0.63,308.1,622.7,10.5,1499,12016,0.00,2.65,0.00,0.000,4,0.000,0.052,2935,3465,1806
$GC,12032,0.63,308.1,620.5,10.5,1500,12039,0.00,2.62,0.00,0.000,6,0.000,0.043,2935,2124,1806
$GC,12358,0.63,308.1,585.4,11.4,1531,12362,0.00,2.95,0.00,0.000,4,0.000,0.063,2935,639,1806
$GC,12384,0.63,308.1,582.3,11.9,1533,12389,0.00,2.85,0.00,0.000,6,0.000,0.040,2935,2137,1806
$GC,12709,0.63,308.1,546.3,10.7,1566,12715,0.00,2.58,0.00,0.000,4,0.000,0.050,2935,3467,1806
$GC,12736,0.63,308.1,543.2,10.9,1571,12742,0.00,2.60,0.00,0.000,6,0.000,0.043,2935,2118,1805
$GC,13075,0.63,308.1,505.5,10.8,1632,13084,0.00,2.95,0.00,0.000,4,0.000,0.062,2936,643,1805
$GC,13100,0.63,308.1,502.8,11.8,1636,13108,0.00,2.85,0.00,0.000,6,0.000,0.039,2935,2130,1805
$GC,13443,0.63,308.1,466.1,10.7,1697,13449,0.00,2.60,0.00,0.000,4,0.000,0.050,2936,3471,1805
$GC,13470,0.63,308.1,462.9,10.5,1702,13477,0.00,2.60,0.00,0.000,6,0.000,0.043,2935,2120,1805
$GC,13809,0.63,308.1,426.5,11.9,1763,13815,0.00,2.92,0.00,0.000,4,0.000,0.062,2936,637,1805
$GC,13837,0.63,308.1,423.3,11.9,1768,13844,0.00,2.85,0.00,0.000,6,0.000,0.039,2935,2129,1805
$GC,14181,0.63,308.1,385.8,10.8,1829,14187,0.00,2.58,0.00,0.000,4,0.000,0.049,2935,3462,1805
$GC,14205,0.63,308.1,382.9,11.6,1833,14211,0.00,2.58,0.00,0.000,6,0.000,0.043,2936,2123,1805
$GC,14544,0.63,308.1,344.1,11.3,1894,14552,0.00,2.95,0.00,0.000,4,0.000,0.062,2935,641,1805
$GC,14576,0.63,308.1,340.6,12.2,1899,14582,0.00,2.83,0.00,0.000,6,0.000,0.039,2935,2137,1805
$GC,14906,0.63,308.1,302.7,11.2,1960,14914,0.00,2.60,0.00,0.000,4,0.000,0.050,2935,3465,1805
$GC,14940,0.63,308.1,298.6,10.7,1966,14948,0.00,2.62,0.00,0.000,6,0.000,0.043,2935,2116,1805
$GC,15274,0.63,308.1,261.2,10.3,2027,15280,0.00,2.92,0.00,0.000,4,0.000,0.063,2936,634,1805
$GC,15291,0.63,308.1,258.9,11.6,2030,15299,0.00,2.85,0.00,0.000,6,0.000,0.038,2935,2134,1805
$GC,15624,0.63,308.1,221.2,11.2,2091,15630,0.00,2.58,0.00,0.000,4,0.000,0.049,2936,3468,1805
$GC,15648,0.63,308.1,218.5,11.4,2095,15654,0.00,2.58,0.00,0.000,6,0.000,0.041,2936,2120,1805
$GC,15978,0.63,308.1,181.7,11.0,2156,15986,0.00,2.95,0.00,0.000,4,0.000,0.062,2936,634,1805
$GC,15999,0.63,308.1,179.5,11.3,2159,16006,0.00,2.83,0.00,0.000,6,0.000,0.039,2935,2134,1805
$GC,16329,0.64,313.8,143.4,9.8,2220,16345,0.00,2.62,5.32,0.726,4,0.000,0.050,2935,3462,1791
$GC,16363,0.64,313.8,139.9,11.0,2225,16371,0.00,2.60,0.00,0.000,6,0.000,0.042,2935,2126,1790
$GC,16497,0.64,313.8,126.1,10.0,2250,16505,0.00,2.95,0.00,0.000,4,0.000,0.062,2935,642,1790
$GC,16527,0.64,313.8,122.8,10.3,2255,16535,0.00,2.85,0.00,0.000,6,0.000,0.039,2935,2131,1790
$GC,16661,0.64,313.8,109.6,10.7,2280,16669,0.00,2.60,0.00,0.000,4,0.000,0.051,2936,3459,1790
$GC,16687,0.64,313.8,106.8,11.1,2284,16694,0.00,2.60,0.00,0.000,6,0.000,0.043,2936,2123,1790
$GC,16820,0.64,313.8,93.4,11.0,2309,16828,0.00,2.95,0.00,0.000,4,0.000,0.062,2935,643,1790
$GC,16851,0.64,313.8,90.1,10.8,2314,16859,0.00,2.85,0.00,0.000,6,0.000,0.038,2935,2131,1790
$GC,16985,0.64,313.8,76.7,10.9,2339,16992,0.00,2.60,0.00,0.000,4,0.000,0.051,2936,3461,1790
$GC,17010,0.66,332.6,74.3,9.4,2343,17040,0.00,2.60,19.35,0.851,6,0.000,0.042,2935,2125,1714
$GC,17167,0.66,334.9,58.6,9.9,2371,17175,0.00,2.97,0.00,0.000,4,0.000,0.062,2936,644,1712
$GC,17193,0.68,351.0,56.0,9.4,2375,17223,0.00,2.88,18.35,0.911,6,0.000,0.039,2935,2133,1640
$GC,17351,0.68,353.6,40.9,9.9,2403,17360,0.00,2.67,3.80,0.588,4,0.000,0.050,2935,3460,1629
$GC,17378,0.68,353.6,38.0,10.4,2407,17386,0.00,2.65,0.00,0.000,6,0.000,0.043,2936,2125,1628
$GC,17512,0.69,359.5,24.6,9.8,2432,17528,0.00,3.03,7.20,0.782,4,0.000,0.064,2935,642,1604
$GC,17556,0.75,359.5,19.8,11.3,2439,17564,0.10,2.90,0.00,0.000,6,0.049,0.038,2964,2133,1603
$STATE,17690,end climb,SURFACE_DEPTH_REACHED
$STATE,17690,begin surface coast
$FINISH,-0.1,1.027385
$STATE,17702,end surface coast,CONTROL_FINISHED_OK
$STATE,17702,begin surface
$SM_CCo,17777,0.00,0.000,0,0,1600,360.84
$SM_GC,0.55,7.40,0.00,0.00,0.048,0.000,0.000,1469,2283,1600,-6.08,0.65,360.84
$IRIDIUM_FIX,5846.12,-1909.88,030797,141415
$TT8_MAMPS,0.021476
$HUMID,1624
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,13.00
$XPDR_PINGS,462
$24V_AH,19.8,17.806
$10V_AH,9.7,9.837
$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,20.000,195.600,572.425,0.000,0.000,55.924,62.265,373.464,115.500,0.000,0.000,11.085,3769.053,7478.783,738.809,5659.923,778.264,0.000,2728.226,0.000,5690.479,0.000,0.468
$DEVICE_MAMPS,252.343,69.797,1622.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1787.080,1769.079,1122.466,1574.439,3078.634,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,183555,2466
$CAP_FILE_SIZE,205860,0
$CFSIZE,260165632,255078400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080408,185838,5903.999,-1907.676,38,2.0,38,-13.6