version: 66.03
glider: 143
mission: 4
dive: 27
start: 4 9 108 5 11 52
data:
$ID,143
$MISSION,4
$DIVE,27
$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,-4503.0991
$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,18
$R_STBD_OVSHOOT,27
$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
$GPS1,050408,5859.438,-1903.554,30,1.6,30,-13.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-46.6
$GPS2,051133,5859.332,-1903.604,16,2.0,16,-13.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5859.332,-1909.168
$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,283.5,20000,-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,-194.7,0.0,0.0,0,115,0.00,0.00,-87.32,0.000,2,0.000,0.000,1465,2282,3487
$GC,117,-0.82,-194.7,3.1,-5.8,12,142,9.90,2.85,-8.43,0.000,4,0.254,0.074,2613,3665,3866
$GC,253,-0.72,-194.7,30.2,-16.8,36,262,0.12,2.78,0.00,0.000,6,0.137,0.039,2634,2256,3868
$GC,389,-0.67,-194.7,51.1,-14.2,61,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2255,3868
$GC,523,-0.60,-194.7,72.1,-15.5,86,531,0.17,0.00,0.00,0.000,6,0.146,0.000,2663,2253,3868
$GC,662,-0.60,-194.7,89.8,-12.6,111,668,0.00,2.83,0.00,0.000,4,0.000,0.056,2663,3670,3868
$GC,691,-0.60,-194.7,93.5,-12.4,116,699,0.00,2.75,0.00,0.000,6,0.000,0.039,2663,2263,3868
$GC,830,-0.60,-194.7,109.5,-12.1,141,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2261,3868
$GC,967,-0.60,-194.7,125.4,-11.1,166,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2259,3868
$GC,1105,-0.60,-194.7,141.7,-12.2,191,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2260,3868
$GC,1239,-0.60,-194.7,158.7,-12.8,216,1247,0.00,2.83,0.00,0.000,4,0.000,0.056,2663,3665,3868
$GC,1270,-0.60,-194.7,162.6,-13.6,221,1276,0.00,2.70,0.00,0.000,6,0.000,0.039,2662,2259,3868
$GC,1599,-0.60,-194.7,204.4,-13.0,282,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2256,3868
$GC,1931,-0.60,-194.7,248.5,-14.3,343,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2256,3868
$GC,2259,-0.60,-194.7,292.5,-12.6,404,2267,0.00,2.80,0.00,0.000,4,0.000,0.054,2663,3667,3868
$GC,2291,-0.60,-194.7,296.0,-12.3,409,2297,0.00,2.65,0.00,0.000,6,0.000,0.039,2662,2279,3868
$GC,2619,-0.60,-194.7,332.8,-10.7,470,2627,0.00,2.80,0.00,0.000,4,0.000,0.053,2663,850,3868
$GC,2662,-0.67,-194.7,337.1,-10.7,477,2669,0.00,2.72,0.00,0.000,6,0.000,0.043,2663,2274,3868
$GC,3000,-0.67,-194.7,374.1,-11.3,538,3006,0.00,2.72,0.00,0.000,4,0.000,0.052,2662,3673,3868
$GC,3040,-0.72,-194.7,378.8,-11.4,545,3046,0.00,2.67,0.00,0.000,6,0.000,0.039,2663,2268,3868
$GC,3380,-0.72,-194.7,416.6,-11.3,606,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2265,3868
$GC,3721,-0.72,-194.7,455.9,-11.9,667,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2265,3868
$GC,4060,-0.72,-194.7,495.3,-11.7,728,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2264,3868
$GC,4400,-0.72,-194.7,534.3,-12.0,789,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2265,3868
$GC,4741,-0.72,-194.7,573.6,-10.7,850,4748,0.00,2.75,0.00,0.000,4,0.000,0.054,2662,3672,3868
$GC,4781,-0.76,-194.7,578.2,-11.3,857,4787,0.15,2.67,0.00,0.000,6,0.064,0.041,2632,2270,3868
$GC,5113,-0.71,-194.7,626.9,-14.5,901,5117,0.00,2.78,0.00,0.000,4,0.000,0.060,2632,849,3867
$GC,5140,-0.71,-194.7,630.8,-14.6,903,5144,0.00,2.75,0.00,0.000,6,0.000,0.044,2632,2286,3868
$GC,5466,-0.65,-194.7,677.3,-14.7,933,5468,0.15,0.00,0.00,0.000,6,0.135,0.000,2653,2286,3868
$GC,5782,-0.65,-194.7,717.4,-12.1,963,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3868
$GC,6100,-0.65,-194.7,756.2,-12.3,993,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2289,3867
$GC,6419,-0.65,-194.7,794.7,-11.9,1023,6423,0.00,2.90,0.00,0.000,4,0.000,0.071,2654,852,3868
$GC,6450,-0.65,-194.7,798.6,-12.1,1025,6457,0.00,2.78,0.00,0.000,6,0.000,0.049,2654,2276,3867
$GC,6775,-0.65,-194.7,836.4,-10.9,1056,6779,0.00,2.78,0.00,0.000,4,0.000,0.064,2654,3667,3867
$GC,6813,-0.65,-194.7,840.8,-12.0,1059,6818,0.00,2.70,0.00,0.000,6,0.000,0.048,2654,2277,3867
$GC,7138,-0.65,-194.7,878.0,-11.4,1089,7139,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2277,3867
$GC,7455,-0.65,-194.7,912.6,-10.4,1119,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2277,3867
$GC,7774,-0.65,-194.7,945.2,-10.6,1149,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2277,3867
$GC,8093,-0.65,-194.7,979.8,-10.8,1179,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2277,3866
$STATE,8187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8187,begin apogee
$GC,8191,-0.19,0.0,990.1,10.9,1188,8394,0.60,0.00,198.77,1.546,6,0.118,0.000,2757,2040,3071
$STATE,8394,end apogee,CONTROL_FINISHED_OK
$STATE,8395,begin climb
$GC,8396,0.82,194.7,999.0,0.0,1208,8604,1.23,3.15,198.10,1.378,4,0.085,0.072,2974,644,2277
$GC,8717,0.68,194.7,970.8,13.1,1238,8722,0.15,2.90,0.00,0.000,6,0.138,0.044,2953,2054,2274
$GC,9041,0.55,194.7,931.6,12.2,1268,9046,0.17,2.90,0.00,0.000,4,0.137,0.058,2926,3464,2272
$GC,9107,0.51,194.7,924.0,11.0,1273,9114,0.00,2.83,0.00,0.000,6,0.000,0.050,2925,2074,2271
$GC,9433,0.46,203.2,891.9,9.7,1304,9448,0.15,3.00,8.88,1.231,4,0.128,0.071,2903,634,2242
$GC,9578,0.54,266.8,879.5,7.8,1317,9650,0.00,2.88,64.53,1.374,6,0.000,0.043,2903,2096,1983
$GC,9967,0.68,340.5,849.5,7.5,1354,10050,0.20,3.25,76.10,1.329,4,0.061,0.070,2945,639,1681
$GC,10133,0.68,340.5,829.4,11.9,1369,10140,0.00,2.97,0.00,0.000,6,0.000,0.044,2945,2111,1675
$GC,10459,0.62,340.5,786.4,13.5,1400,10464,0.00,2.75,0.00,0.000,4,0.000,0.057,2945,3466,1673
$GC,10487,0.62,340.5,782.5,13.2,1402,10491,0.00,2.78,0.00,0.000,6,0.000,0.051,2945,2093,1672
$GC,10811,0.57,340.5,738.8,13.8,1432,10812,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2091,1672
$GC,11130,0.52,340.5,696.6,13.4,1462,11135,0.17,2.75,0.00,0.000,4,0.120,0.054,2916,3465,1671
$GC,11151,0.52,340.5,693.8,12.1,1463,11158,0.00,2.72,0.00,0.000,6,0.000,0.048,2916,2104,1670
$GC,11479,0.64,389.0,666.0,8.3,1494,11534,0.12,3.12,48.03,1.388,4,0.070,0.069,2941,643,1485
$GC,11555,0.64,389.0,657.4,10.7,1501,11562,0.00,2.92,0.00,0.000,6,0.000,0.041,2941,2109,1482
$GC,11881,0.64,389.0,621.4,11.0,1532,11885,0.00,2.70,0.00,0.000,4,0.000,0.052,2941,3462,1480
$GC,11901,0.64,389.0,619.0,11.1,1533,11908,0.00,2.72,0.00,0.000,6,0.000,0.044,2941,2104,1479
$GC,12233,0.64,389.0,582.3,11.6,1578,12240,0.00,2.92,0.00,0.000,4,0.000,0.064,2941,641,1479
$GC,12262,0.64,389.0,579.0,11.9,1583,12268,0.00,2.83,0.00,0.000,6,0.000,0.039,2941,2114,1478
$GC,12602,0.64,389.0,539.4,11.9,1644,12609,0.00,2.67,0.00,0.000,4,0.000,0.051,2941,3465,1478
$GC,12615,0.64,389.0,537.6,12.6,1646,12621,0.00,2.67,0.00,0.000,6,0.000,0.042,2941,2093,1478
$GC,12955,0.64,389.0,496.0,11.9,1707,12961,0.00,2.88,0.00,0.000,4,0.000,0.063,2941,641,1477
$GC,12979,0.64,389.0,493.1,12.5,1711,12985,0.00,2.80,0.00,0.000,6,0.000,0.039,2941,2108,1477
$GC,13318,0.64,389.0,453.1,11.5,1772,13324,0.00,2.62,0.00,0.000,4,0.000,0.050,2941,3466,1477
$GC,13341,0.64,389.0,450.4,12.0,1776,13348,0.00,2.67,0.00,0.000,6,0.000,0.044,2941,2102,1477
$GC,13686,0.64,389.0,413.3,10.6,1837,13692,0.00,2.90,0.00,0.000,4,0.000,0.063,2941,641,1477
$GC,13721,0.64,389.0,409.1,10.7,1843,13727,0.00,2.78,0.00,0.000,6,0.000,0.039,2941,2105,1477
$GC,14061,0.64,389.0,373.7,10.1,1904,14066,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2104,1477
$GC,14398,0.64,389.0,339.1,10.5,1965,14404,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2105,1477
$GC,14726,0.64,389.0,304.1,10.9,2026,14734,0.00,2.92,0.00,0.000,4,0.000,0.061,2941,645,1477
$GC,14746,0.64,389.0,301.9,11.4,2029,14753,0.00,2.75,0.00,0.000,6,0.000,0.038,2941,2100,1477
$GC,15075,0.64,389.0,266.3,10.8,2090,15083,0.00,2.65,0.00,0.000,4,0.000,0.049,2941,3459,1477
$GC,15096,0.64,389.0,264.2,11.3,2093,15102,0.00,2.65,0.00,0.000,6,0.000,0.042,2941,2083,1476
$GC,15426,0.65,401.7,229.4,9.6,2154,15446,0.00,0.00,12.52,0.923,6,0.000,0.000,2941,2082,1432
$GC,15771,0.65,401.7,193.1,10.8,2217,15777,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2081,1430
$GC,16100,0.65,401.7,158.4,10.5,2278,16107,0.00,2.70,0.00,0.000,4,0.000,0.048,2941,3453,1430
$GC,16120,0.65,401.7,156.4,10.8,2281,16126,0.00,2.62,0.00,0.000,6,0.000,0.042,2941,2087,1430
$GC,16448,0.65,401.7,125.6,10.7,2342,16457,0.00,2.88,0.00,0.000,4,0.000,0.063,2941,645,1430
$GC,16483,0.71,401.7,122.3,10.5,2347,16489,0.00,2.75,0.00,0.000,6,0.000,0.038,2941,2099,1430
$GC,16618,0.77,450.1,107.0,8.3,2372,16677,0.12,2.75,48.15,1.022,4,0.067,0.049,2968,3455,1236
$GC,16693,0.77,450.1,97.7,13.3,2384,16701,0.00,2.72,0.00,0.000,6,0.000,0.041,2967,2094,1234
$GC,16834,0.69,450.1,79.1,13.1,2409,16841,0.00,2.95,0.00,0.000,4,0.000,0.064,2968,634,1231
$GC,16869,0.69,450.1,73.1,14.4,2415,16876,0.00,2.78,0.00,0.000,6,0.000,0.038,2968,2065,1230
$GC,17008,0.63,450.1,50.5,18.4,2440,17016,0.15,0.00,0.00,0.000,6,0.133,0.000,2943,2066,1230
$GC,17142,0.63,450.1,31.3,15.0,2465,17150,0.00,2.78,0.00,0.000,4,0.000,0.050,2943,3459,1229
$GC,17163,0.70,450.1,28.6,12.7,2468,17171,0.00,2.83,0.00,0.000,6,0.000,0.044,2943,2041,1229
$GC,17298,0.73,479.3,14.5,9.0,2493,17335,0.00,2.85,29.60,0.956,4,0.000,0.061,2943,643,1117
$GC,17363,0.82,479.3,6.8,13.0,2503,17372,0.12,2.70,0.00,0.000,6,0.045,0.038,2975,2014,1114
$STATE,17409,end climb,SURFACE_DEPTH_REACHED
$STATE,17409,begin surface coast
$FINISH,-0.2,1.027339
$STATE,17421,end surface coast,CONTROL_FINISHED_OK
$STATE,17421,begin surface
$SM_CCo,17496,0.00,0.000,0,0,1112,480.30
$SM_GC,0.24,7.50,0.00,0.00,0.045,0.000,0.000,1471,2269,1112,-6.08,0.25,480.30
$IRIDIUM_FIX,5841.97,-1905.76,040797,000045
$TT8_MAMPS,0.021476
$HUMID,1620
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,12.90
$XPDR_PINGS,356
$24V_AH,19.9,18.541
$10V_AH,9.7,10.667
$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,21.200,174.525,684.675,0.000,0.000,31.489,30.626,261.748,89.000,0.000,0.000,17.688,3826.037,7171.768,792.933,5532.624,593.130,0.000,2815.741,0.000,5541.001,0.000,0.468
$DEVICE_MAMPS,253.877,73.632,1546.272,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1824.757,1819.102,1121.066,1034.689,2676.640,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,190165,2513
$CAP_FILE_SIZE,203327,0
$CFSIZE,260165632,254738432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090408,100438,5857.969,-1912.067,36,1.6,36,-13.6