version: 66.03
glider: 143
mission: 4
dive: 25
start: 4 8 108 19 6 21
data:
$ID,143
$MISSION,4
$DIVE,25
$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,150
$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,-4468.207
$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,37
$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
$GPS1,185838,5903.999,-1907.676,38,2.0,38,-13.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-51.8
$GPS2,190602,5903.887,-1907.803,11,1.0,11,-13.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,5903.887,-1902.251
$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,-18.2,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.86,-146.0,0.0,0.0,0,120,0.00,0.00,-92.30,0.000,6,0.000,0.000,1470,2284,3667
$GC,123,-0.86,-146.0,3.9,-7.2,13,139,9.90,2.85,0.00,0.000,4,0.257,0.051,2605,841,3669
$GC,348,-0.77,-146.0,50.3,-17.5,55,356,0.12,2.78,0.00,0.000,6,0.194,0.048,2626,2240,3669
$GC,483,-0.70,-146.0,72.1,-15.5,80,491,0.12,0.00,0.00,0.000,6,0.146,0.000,2642,2240,3669
$GC,617,-0.70,-146.0,90.6,-13.4,105,625,0.00,2.90,0.00,0.000,4,0.000,0.059,2642,3673,3669
$GC,632,-0.70,-146.0,92.6,-13.8,107,640,0.00,2.78,0.00,0.000,6,0.000,0.041,2642,2260,3669
$GC,766,-0.70,-146.0,110.5,-13.1,132,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2258,3669
$GC,899,-0.70,-146.0,128.7,-13.7,157,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2258,3669
$GC,1033,-0.70,-146.0,146.9,-13.4,182,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2258,3669
$GC,1171,-0.70,-146.0,165.0,-13.2,207,1177,0.00,2.78,0.00,0.000,4,0.000,0.055,2643,845,3669
$GC,1187,-0.70,-146.0,167.5,-13.0,210,1195,0.00,2.78,0.00,0.000,6,0.000,0.044,2642,2262,3669
$GC,1520,-0.70,-146.0,210.8,-13.2,271,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2262,3669
$GC,1848,-0.70,-146.0,254.8,-13.4,332,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2262,3669
$GC,2181,-0.70,-146.0,300.2,-13.9,393,2187,0.00,2.78,0.00,0.000,4,0.000,0.054,2642,848,3669
$GC,2205,-0.70,-146.0,303.5,-14.0,397,2211,0.00,2.72,0.00,0.000,6,0.000,0.044,2642,2263,3669
$GC,2534,-0.70,-146.0,348.6,-14.1,458,2542,0.00,2.80,0.00,0.000,4,0.000,0.055,2642,849,3669
$GC,2547,-0.70,-146.0,350.4,-13.8,460,2555,0.00,2.72,0.00,0.000,6,0.000,0.043,2642,2255,3669
$GC,2891,-0.70,-146.0,397.1,-13.0,521,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2254,3669
$GC,3228,-0.70,-146.0,442.8,-13.7,582,3234,0.00,2.75,0.00,0.000,4,0.000,0.054,2642,848,3669
$GC,3250,-0.70,-146.0,445.7,-13.4,586,3257,0.00,2.67,0.00,0.000,6,0.000,0.042,2642,2252,3669
$GC,3589,-0.70,-146.0,489.6,-13.1,647,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2252,3669
$GC,3929,-0.70,-146.0,533.3,-12.9,708,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2252,3669
$GC,4266,-0.70,-146.0,576.0,-12.5,751,4270,0.00,2.75,0.00,0.000,4,0.000,0.057,2643,850,3669
$GC,4282,-0.70,-146.0,578.1,-12.5,752,4286,0.00,2.65,0.00,0.000,6,0.000,0.041,2642,2247,3669
$GC,4612,-0.70,-146.0,618.3,-12.1,783,4617,0.00,2.80,0.00,0.000,4,0.000,0.057,2642,3676,3669
$GC,4633,-0.70,-146.0,621.1,-12.7,784,4640,0.00,2.78,0.00,0.000,6,0.000,0.046,2642,2239,3669
$GC,4958,-0.70,-146.0,661.0,-11.9,815,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2239,3669
$GC,5277,-0.70,-146.0,699.4,-12.2,845,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2239,3669
$GC,5595,-0.70,-146.0,740.3,-13.1,875,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2239,3669
$GC,5913,-0.70,-146.0,781.2,-12.8,905,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2238,3669
$GC,6232,-0.70,-146.0,823.1,-13.2,935,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2239,3669
$GC,6550,-0.70,-146.0,863.2,-12.5,965,6555,0.00,2.78,0.00,0.000,4,0.000,0.071,2642,851,3669
$GC,6582,-0.70,-146.0,867.2,-13.0,967,6589,0.00,2.70,0.00,0.000,6,0.000,0.048,2642,2235,3669
$GC,6907,-0.70,-146.0,905.4,-12.1,998,6912,0.00,2.88,0.00,0.000,4,0.000,0.064,2642,3678,3669
$GC,6973,-0.70,-146.0,913.5,-12.3,1003,6979,0.00,2.80,0.00,0.000,6,0.000,0.050,2642,2239,3669
$GC,7298,-0.70,-146.0,951.0,-11.3,1034,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2239,3669
$GC,7616,-0.70,-146.0,987.4,-11.6,1064,7620,0.00,2.88,0.00,0.000,4,0.000,0.062,2643,3676,3669
$STATE,7641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7641,begin apogee
$GC,7648,-0.19,0.0,990.6,12.5,1066,7805,0.62,0.00,151.50,1.622,6,0.130,0.000,2750,2054,3071
$STATE,7806,end apogee,CONTROL_FINISHED_OK
$STATE,7806,begin climb
$GC,7808,0.86,146.0,997.1,0.0,1082,7968,1.33,3.17,147.23,1.376,4,0.087,0.071,2980,638,2475
$GC,8001,0.71,146.0,983.5,12.8,1101,8007,0.17,2.92,0.00,0.000,6,0.146,0.044,2957,2052,2472
$GC,8325,0.61,146.0,948.7,11.1,1131,8331,0.15,2.90,0.00,0.000,4,0.143,0.058,2933,3461,2470
$GC,8389,0.57,158.7,942.6,9.4,1136,8410,0.00,2.85,13.32,1.362,6,0.000,0.049,2932,2056,2425
$GC,8728,0.61,192.4,913.2,8.5,1168,8770,0.00,2.95,35.90,1.407,4,0.000,0.056,2933,3459,2285
$GC,8825,0.61,192.4,904.2,10.6,1177,8830,0.00,2.83,0.00,0.000,6,0.000,0.048,2933,2081,2283
$GC,9152,0.62,198.3,873.9,9.7,1207,9164,0.00,2.90,6.97,1.158,4,0.000,0.055,2933,3471,2261
$GC,9202,0.62,198.3,868.4,10.7,1211,9209,0.00,2.78,0.00,0.000,6,0.000,0.048,2933,2106,2261
$GC,9527,0.62,198.3,834.8,10.0,1242,9529,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2105,2260
$GC,9845,0.62,198.3,802.7,10.1,1272,9850,0.00,2.72,0.00,0.000,4,0.000,0.054,2933,3463,2260
$GC,9895,0.62,198.3,797.3,11.1,1276,9900,0.00,2.65,0.00,0.000,6,0.000,0.048,2933,2123,2259
$GC,10220,0.62,198.3,764.0,10.4,1306,10224,0.00,2.67,0.00,0.000,4,0.000,0.055,2932,3461,2259
$GC,10240,0.62,198.3,761.5,11.3,1307,10247,0.00,2.62,0.00,0.000,6,0.000,0.047,2932,2142,2259
$GC,10565,0.62,198.3,727.5,10.4,1338,10567,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2142,2259
$GC,10883,0.62,198.3,693.7,10.5,1368,10888,0.00,2.62,0.00,0.000,4,0.000,0.054,2933,3462,2259
$GC,10911,0.62,198.3,690.6,11.1,1370,10915,0.00,2.58,0.00,0.000,6,0.000,0.046,2933,2144,2258
$GC,11234,0.62,198.3,657.0,10.1,1400,11236,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2144,2258
$GC,11554,0.63,209.9,626.2,9.5,1430,11575,0.00,2.70,12.00,1.164,4,0.000,0.053,2933,3473,2214
$GC,11608,0.63,209.9,620.7,10.1,1435,11613,0.00,2.58,0.00,0.000,6,0.000,0.043,2933,2149,2213
$GC,11932,0.65,222.0,590.3,9.4,1465,11948,0.00,0.00,13.55,1.182,6,0.000,0.000,2932,2149,2165
$GC,12261,0.65,222.0,558.1,10.0,1496,12265,0.00,2.60,0.00,0.000,4,0.000,0.050,2933,3464,2163
$GC,12288,0.65,222.0,555.3,10.2,1498,12292,0.00,2.53,0.00,0.000,6,0.000,0.041,2933,2162,2162
$GC,12627,0.66,233.4,522.3,9.5,1553,12650,0.00,3.10,12.18,1.129,4,0.000,0.061,2933,637,2118
$GC,12661,0.66,234.9,518.4,9.9,1559,12668,0.00,2.97,0.00,0.000,6,0.000,0.040,2932,2177,2119
$GC,13001,0.66,234.9,483.9,10.2,1620,13009,0.00,2.55,0.00,0.000,4,0.000,0.051,2933,3465,2117
$GC,13025,0.66,234.9,481.3,10.5,1624,13033,0.00,2.55,0.00,0.000,6,0.000,0.042,2932,2165,2117
$GC,13369,0.66,234.9,446.8,10.5,1685,13375,0.00,3.03,0.00,0.000,4,0.000,0.061,2933,639,2117
$GC,13394,0.66,234.9,444.2,10.3,1689,13400,0.00,2.95,0.00,0.000,6,0.000,0.039,2932,2182,2116
$GC,13734,0.68,245.0,410.5,9.5,1750,13752,0.00,2.53,12.32,1.067,4,0.000,0.048,2932,3474,2072
$GC,13776,0.68,245.0,406.3,10.2,1757,13782,0.00,2.55,0.00,0.000,6,0.000,0.042,2932,2163,2071
$GC,14113,0.68,246.2,373.6,9.9,1818,14119,0.00,3.05,0.00,0.000,4,0.000,0.062,2933,633,2071
$GC,14146,0.68,246.2,370.2,10.3,1824,14154,0.00,3.00,0.00,0.000,6,0.000,0.039,2932,2185,2071
$GC,14486,0.68,246.2,336.7,10.1,1885,14491,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2185,2071
$GC,14814,0.69,258.9,303.4,9.4,1946,14835,0.00,3.12,14.93,1.031,4,0.000,0.060,2933,632,2014
$GC,14859,0.74,258.9,299.0,10.3,1953,14866,0.15,2.95,0.00,0.000,6,0.063,0.038,2963,2171,2014
$GC,15190,0.67,258.9,255.1,12.9,2014,15198,0.00,2.55,0.00,0.000,4,0.000,0.049,2964,3464,2012
$GC,15225,0.63,258.9,250.1,14.4,2020,15233,0.12,2.58,0.00,0.000,6,0.229,0.042,2943,2153,2012
$GC,15559,0.63,258.9,212.3,10.5,2081,15565,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2153,2012
$GC,15888,0.64,262.7,176.4,9.8,2142,15896,0.00,0.00,4.55,0.712,6,0.000,0.000,2942,2153,2000
$GC,16218,0.64,262.7,140.5,10.5,2203,16225,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2154,2000
$GC,16351,0.64,262.7,125.3,11.7,2228,16359,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2153,2000
$GC,16485,0.65,270.9,110.2,9.6,2253,16501,0.00,3.03,9.07,0.858,4,0.000,0.062,2943,638,1967
$GC,16514,0.65,270.9,106.9,11.4,2257,16522,0.00,2.97,0.00,0.000,6,0.000,0.039,2943,2177,1967
$GC,16648,0.65,270.9,92.0,10.0,2282,16655,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2178,1967
$GC,16781,0.65,270.9,77.2,10.6,2307,16788,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2178,1967
$GC,16915,0.68,301.2,62.7,8.6,2332,16953,0.00,3.12,30.48,1.004,4,0.000,0.060,2943,636,1842
$GC,16965,0.68,301.2,57.2,11.1,2339,16973,0.00,3.00,0.00,0.000,6,0.000,0.039,2943,2165,1841
$GC,17099,0.68,301.2,42.5,13.0,2364,17107,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2165,1839
$GC,17232,0.68,301.2,27.4,11.2,2389,17240,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2165,1838
$GC,17366,0.68,301.2,12.3,10.1,2414,17374,0.00,3.10,0.00,0.000,4,0.000,0.061,2943,641,1838
$GC,17398,0.73,301.2,9.2,10.1,2419,17406,0.00,2.95,0.00,0.000,6,0.000,0.040,2943,2153,1838
$STATE,17463,end climb,SURFACE_DEPTH_REACHED
$STATE,17463,begin surface coast
$FINISH,-0.0,1.027336
$STATE,17480,end surface coast,CONTROL_FINISHED_OK
$STATE,17481,begin surface
$SM_CCo,17555,0.00,0.000,0,0,1836,303.19
$SM_GC,0.65,7.20,0.00,0.00,0.041,0.000,0.000,1467,2289,1836,-6.09,0.82,303.19
$IRIDIUM_FIX,5841.97,-1916.41,030797,141406
$TT8_MAMPS,0.021476
$HUMID,1625
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,13.00
$XPDR_PINGS,426
$24V_AH,20.1,18.018
$10V_AH,9.7,10.121
$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,19.900,168.975,464.000,0.000,0.000,29.699,37.287,260.189,106.500,0.000,0.000,13.083,3734.850,7454.168,629.823,5570.445,583.486,0.000,2560.287,0.000,5585.812,0.000,0.469
$DEVICE_MAMPS,256.945,71.331,1622.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1759.336,1744.480,1097.703,1532.885,2997.938,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,180738,2434
$CAP_FILE_SIZE,195682,0
$CFSIZE,260165632,254976000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090408,000008,5901.603,-1905.473,38,1.8,38,-13.5