version: 66.03
glider: 143
mission: 4
dive: 30
start: 4 9 108 20 16 10
data:
$ID,143
$MISSION,4
$DIVE,30
$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,105
$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,-4587.6079
$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,25
$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
$GPS1,200108,5854.263,-1933.617,39,2.0,51,-13.7
$_CALLS,2
$_XMS_NAKs,42
$_XMS_TOUTs,2
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-21.8
$GPS2,201553,5854.000,-1933.823,14,2.5,33,-13.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5851.206,-1928.428
$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,118.7,20000,-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,-194.7,0.0,0.0,0,164,0.00,0.00,-132.48,0.000,6,0.000,0.000,1466,2278,3865
$GC,167,-0.82,-194.7,3.4,-6.7,19,183,9.68,2.83,0.00,0.000,4,0.249,0.050,2612,847,3866
$GC,242,-0.77,-194.7,28.5,-29.5,32,250,0.00,2.83,0.00,0.000,6,0.000,0.052,2612,2244,3866
$GC,378,-0.64,-194.7,60.5,-23.2,57,385,0.25,0.00,0.00,0.000,6,0.151,0.000,2651,2245,3866
$GC,514,-0.60,-194.7,83.2,-18.0,82,522,0.00,2.85,0.00,0.000,4,0.000,0.059,2651,846,3867
$GC,527,-0.60,-194.7,85.5,-16.7,84,536,0.00,2.75,0.00,0.000,6,0.000,0.044,2651,2239,3867
$GC,667,-0.60,-194.7,110.9,-18.5,109,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2239,3867
$GC,800,-0.60,-194.7,138.6,-22.5,134,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2239,3867
$GC,939,-0.60,-194.7,170.3,-23.5,159,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2239,3866
$GC,1269,-0.60,-194.7,219.9,-12.7,220,1277,0.00,2.88,0.00,0.000,4,0.000,0.057,2651,3673,3867
$GC,1290,-0.60,-194.7,222.4,-12.9,223,1296,0.00,2.80,0.00,0.000,6,0.000,0.039,2651,2214,3866
$GC,1619,-0.60,-194.7,262.9,-11.9,284,1627,0.00,2.92,0.00,0.000,4,0.000,0.056,2651,3672,3867
$GC,1653,-0.60,-194.7,267.2,-12.6,290,1661,0.00,2.78,0.00,0.000,6,0.000,0.041,2651,2241,3866
$GC,1987,-0.60,-194.7,309.5,-12.6,351,1994,0.00,2.83,0.00,0.000,4,0.000,0.054,2651,3673,3866
$GC,2014,-0.60,-194.7,312.8,-13.0,355,2020,0.00,2.75,0.00,0.000,6,0.000,0.040,2651,2239,3866
$GC,2345,-0.60,-194.7,355.1,-12.7,416,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2237,3867
$GC,2684,-0.60,-194.7,398.4,-13.2,477,2690,0.00,2.80,0.00,0.000,4,0.000,0.053,2651,3673,3866
$GC,2717,-0.60,-194.7,403.0,-13.7,483,2724,0.00,2.75,0.00,0.000,6,0.000,0.041,2651,2225,3866
$GC,3061,-0.60,-194.7,446.3,-12.8,544,3067,0.00,2.85,0.00,0.000,4,0.000,0.053,2651,3676,3866
$GC,3083,-0.60,-194.7,449.4,-13.5,548,3089,0.00,2.70,0.00,0.000,6,0.000,0.041,2651,2261,3866
$GC,3423,-0.60,-194.7,493.0,-13.2,609,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2258,3866
$GC,3765,-0.60,-194.7,538.6,-12.1,670,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2258,3866
$GC,4105,-0.60,-194.7,582.6,-13.1,731,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2258,3867
$GC,4436,-0.60,-194.7,624.1,-12.0,774,4440,0.00,2.80,0.00,0.000,4,0.000,0.058,2651,3676,3867
$GC,4456,-0.60,-194.7,626.8,-12.4,775,4463,0.00,2.72,0.00,0.000,6,0.000,0.044,2651,2279,3866
$GC,4783,-0.60,-194.7,668.2,-13.1,806,4788,0.00,2.85,0.00,0.000,4,0.000,0.070,2651,853,3866
$GC,4799,-0.60,-194.7,670.6,-12.7,807,4804,0.00,2.75,0.00,0.000,6,0.000,0.047,2651,2279,3866
$GC,5124,-0.60,-194.7,711.3,-12.6,837,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2281,3866
$GC,5442,-0.60,-194.7,750.9,-12.5,867,5443,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2283,3866
$GC,5760,-0.60,-194.7,790.0,-11.8,897,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2284,3866
$GC,6079,-0.60,-194.7,827.0,-11.8,927,6084,0.00,2.90,0.00,0.000,4,0.000,0.072,2651,847,3865
$GC,6095,-0.60,-194.7,828.9,-11.8,928,6099,0.00,2.75,0.00,0.000,6,0.000,0.049,2651,2271,3865
$GC,6419,-0.60,-194.7,868.0,-12.0,958,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2271,3865
$GC,6739,-0.60,-194.7,905.9,-12.3,988,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2272,3865
$GC,7056,-0.60,-194.7,943.7,-11.9,1018,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2272,3865
$GC,7374,-0.60,-194.7,981.6,-11.7,1048,7379,0.00,2.85,0.00,0.000,4,0.000,0.069,2652,853,3865
$GC,7395,-0.60,-194.7,984.2,-11.9,1049,7402,0.00,2.75,0.00,0.000,6,0.000,0.049,2651,2263,3865
$STATE,7454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7455,begin apogee
$GC,7459,-0.19,0.0,991.0,11.7,1055,7659,0.57,0.00,195.80,1.488,6,0.120,0.000,2754,2038,3071
$STATE,7660,end apogee,CONTROL_FINISHED_OK
$STATE,7660,begin climb
$GC,7661,0.82,194.7,1001.6,0.0,1075,7870,1.25,3.17,197.98,1.385,4,0.085,0.058,2973,3464,2276
$GC,7948,0.69,194.7,980.0,13.3,1102,7954,0.15,2.97,0.00,0.000,6,0.140,0.047,2954,2048,2274
$GC,8272,0.56,194.7,941.5,12.5,1132,8278,0.17,2.95,0.00,0.000,4,0.133,0.070,2926,640,2271
$GC,8390,0.51,194.7,928.9,10.7,1142,8395,0.00,2.85,0.00,0.000,6,0.000,0.044,2926,2075,2270
$GC,8715,0.45,194.7,896.0,10.5,1172,8720,0.15,2.80,0.00,0.000,4,0.127,0.057,2900,3461,2270
$GC,8776,0.49,225.3,890.3,8.9,1177,8813,0.00,2.78,30.75,1.480,6,0.000,0.048,2900,2071,2152
$GC,9130,0.56,282.6,862.0,8.0,1210,9196,0.12,2.97,57.83,1.358,4,0.074,0.055,2924,3457,1918
$GC,9239,0.56,282.6,850.8,11.5,1220,9246,0.00,2.83,0.00,0.000,6,0.000,0.048,2924,2102,1915
$GC,9565,0.59,304.3,818.8,9.3,1251,9590,0.00,0.00,22.52,1.391,6,0.000,0.000,2924,2100,1829
$GC,9909,0.61,318.5,786.2,9.5,1283,9931,0.00,3.08,15.60,1.379,4,0.000,0.071,2924,635,1771
$GC,10037,0.61,318.5,773.2,10.0,1294,10043,0.00,2.92,0.00,0.000,6,0.000,0.043,2924,2115,1770
$GC,10364,0.63,341.1,743.0,9.2,1325,10396,0.00,3.15,24.55,1.338,4,0.000,0.072,2924,640,1679
$GC,10490,0.66,365.2,730.6,9.2,1336,10520,0.00,2.92,24.95,1.252,6,0.000,0.043,2923,2117,1582
$GC,10846,0.69,391.1,698.7,9.1,1370,10881,0.15,2.83,27.58,1.289,4,0.062,0.056,2955,3464,1476
$GC,10909,0.69,391.1,690.7,14.3,1376,10913,0.00,2.78,0.00,0.000,6,0.000,0.050,2955,2113,1475
$GC,11233,0.63,391.1,644.4,13.9,1406,11237,0.00,3.03,0.00,0.000,4,0.000,0.067,2955,635,1472
$GC,11271,0.63,391.1,639.1,14.0,1409,11275,0.00,2.90,0.00,0.000,6,0.000,0.041,2955,2118,1471
$GC,11597,0.56,391.1,593.1,15.0,1443,11604,0.17,2.65,0.00,0.000,4,0.124,0.051,2924,3465,1471
$GC,11626,0.56,391.1,589.4,11.8,1448,11632,0.00,2.67,0.00,0.000,6,0.000,0.044,2925,2104,1470
$GC,11966,0.68,434.4,559.6,8.5,1509,12019,0.12,3.08,44.10,1.223,4,0.068,0.064,2951,640,1299
$GC,12047,0.68,434.4,549.9,11.8,1523,12053,0.00,2.92,0.00,0.000,6,0.000,0.040,2951,2120,1297
$GC,12387,0.68,434.4,504.7,13.0,1584,12395,0.00,3.05,0.00,0.000,4,0.000,0.063,2951,641,1294
$GC,12406,0.68,434.4,502.1,13.8,1587,12413,0.00,2.88,0.00,0.000,6,0.000,0.040,2950,2104,1294
$GC,12748,0.68,434.4,457.5,13.6,1648,12754,0.00,2.97,0.00,0.000,4,0.000,0.063,2950,635,1294
$GC,12770,0.68,434.4,454.4,13.0,1652,12776,0.00,2.80,0.00,0.000,6,0.000,0.038,2950,2094,1293
$GC,13111,0.68,434.4,409.9,12.6,1713,13117,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2094,1293
$GC,13454,0.68,434.4,366.6,12.2,1774,13460,0.00,2.92,0.00,0.000,4,0.000,0.062,2951,635,1293
$GC,13489,0.68,434.4,362.4,10.9,1780,13495,0.00,2.75,0.00,0.000,6,0.000,0.038,2950,2080,1292
$GC,13826,0.68,434.4,321.3,13.3,1841,13831,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2081,1292
$GC,14153,0.68,434.4,280.5,13.1,1902,14161,0.00,2.90,0.00,0.000,4,0.000,0.062,2950,642,1292
$GC,14174,0.68,434.4,278.0,13.2,1905,14180,0.00,2.67,0.00,0.000,6,0.000,0.038,2950,2059,1292
$GC,14504,0.68,434.4,236.5,11.3,1966,14512,0.00,2.75,0.00,0.000,4,0.000,0.050,2950,3462,1292
$GC,14535,0.68,434.4,232.9,12.3,1971,14542,0.00,2.72,0.00,0.000,6,0.000,0.044,2951,2052,1291
$GC,14866,0.68,434.4,192.0,13.2,2032,14874,0.00,2.83,0.00,0.000,4,0.000,0.062,2951,640,1291
$GC,14891,0.68,434.4,188.9,12.8,2036,14899,0.00,2.72,0.00,0.000,6,0.000,0.038,2950,2066,1291
$GC,15225,0.68,434.4,145.5,14.4,2097,15231,0.00,2.70,0.00,0.000,4,0.000,0.049,2950,3465,1291
$GC,15249,0.68,434.4,141.7,14.9,2101,15256,0.00,2.72,0.00,0.000,6,0.000,0.044,2951,2056,1291
$GC,15385,0.68,434.4,121.6,14.2,2126,15392,0.00,2.83,0.00,0.000,4,0.000,0.061,2950,640,1290
$GC,15421,0.74,434.4,117.0,13.4,2132,15428,0.00,2.67,0.00,0.000,6,0.000,0.038,2951,2043,1290
$GC,15560,0.74,434.4,104.3,13.3,2157,15566,0.00,2.72,0.00,0.000,4,0.000,0.050,2950,3457,1290
$GC,15596,0.79,434.4,100.0,13.3,2163,15602,0.00,2.70,0.00,0.000,6,0.000,0.044,2950,2058,1290
$GC,15733,0.88,507.5,83.6,7.5,2188,15816,0.17,2.97,72.45,0.907,4,0.069,0.066,2989,640,999
$GC,15845,0.80,507.5,60.3,21.0,2206,15853,0.00,2.80,0.00,0.000,6,0.000,0.037,2989,2055,996
$GC,15983,0.66,507.5,31.1,25.1,2231,15991,0.25,2.83,0.00,0.000,4,0.136,0.049,2949,3458,995
$GC,16009,0.61,507.5,24.5,24.2,2235,16018,0.00,2.85,0.00,0.000,6,0.000,0.044,2949,2043,995
$GC,16145,0.74,507.5,4.5,10.9,2260,16152,0.00,2.88,0.00,0.000,4,0.000,0.066,2949,642,993
$GC,16181,1.07,652.2,3.2,5.0,2266,16213,0.38,2.78,25.33,0.882,2,0.051,0.040,3031,2055,896
$STATE,16213,end climb,SURFACE_DEPTH_REACHED
$STATE,16213,begin surface coast
$FINISH,-0.4,1.027321
$STATE,16225,end surface coast,CONTROL_FINISHED_OK
$STATE,16225,begin surface
$SM_CCo,16301,0.00,0.000,0,0,893,534.26
$SM_GC,0.14,7.85,0.00,0.00,0.047,0.000,0.000,1470,2278,893,-6.08,0.51,534.26
$IRIDIUM_FIX,5833.68,-1935.87,040797,202058
$TT8_MAMPS,0.021476
$HUMID,1625
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,12.90
$XPDR_PINGS,291
$24V_AH,19.9,19.446
$10V_AH,9.7,11.414
$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,21.450,188.200,739.425,0.000,0.000,62.174,86.790,520.889,72.750,0.000,0.000,35.524,3455.517,6976.090,835.778,4945.276,944.951,0.000,2746.972,0.000,4939.339,0.000,0.468
$DEVICE_MAMPS,248.508,72.098,1487.980,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1660.589,1633.887,958.935,874.686,2259.079,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,170780,2272
$CAP_FILE_SIZE,197936,0
$CFSIZE,260165632,254414848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100408,004907,5851.734,-1935.945,37,1.4,42,-13.7