version: 66.03
glider: 143
mission: 4
dive: 43
start: 4 12 108 12 57 58
data:
$ID,143
$MISSION,4
$DIVE,43
$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,260
$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,-4826.7812
$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,16
$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
$GPS1,124152,5850.710,-2119.278,38,99.0,57,-14.6
$_CALLS,3
$_XMS_NAKs,19
$_XMS_TOUTs,3
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-45.2
$GPS2,125739,5851.001,-2119.533,11,1.7,11,-14.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5849.126,-2125.039
$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,274.6,20000,-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,-194.7,0.0,0.0,0,136,0.00,0.00,-108.55,0.000,2,0.000,0.000,1469,2279,3486
$GC,139,-0.82,-194.7,3.3,-6.9,15,163,9.88,2.88,-8.80,0.000,4,0.252,0.066,2604,3666,3867
$GC,423,-0.74,-194.7,57.3,-18.3,68,431,0.15,2.80,0.00,0.000,6,0.126,0.044,2630,2254,3869
$GC,628,-0.67,-194.7,86.7,-12.4,105,634,0.12,0.00,0.00,0.000,6,0.146,0.000,2648,2251,3868
$GC,830,-0.67,-194.7,113.0,-13.4,142,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2251,3868
$GC,1033,-0.67,-194.7,140.3,-13.6,179,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2251,3868
$GC,1232,-0.67,-194.7,167.8,-13.8,216,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2251,3868
$GC,1564,-0.67,-194.7,211.8,-13.6,277,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2251,3868
$GC,1893,-0.67,-194.7,255.2,-13.3,338,1900,0.00,2.83,0.00,0.000,4,0.000,0.055,2648,3663,3868
$GC,1924,-0.67,-194.7,259.4,-15.1,343,1930,0.00,2.70,0.00,0.000,6,0.000,0.041,2648,2260,3868
$GC,2252,-0.67,-194.7,304.7,-14.4,404,2260,0.00,2.78,0.00,0.000,4,0.000,0.055,2648,849,3868
$GC,2284,-0.67,-194.7,308.7,-14.2,409,2290,0.00,2.72,0.00,0.000,6,0.000,0.044,2649,2259,3868
$GC,2613,-0.67,-194.7,351.0,-12.0,470,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2259,3868
$GC,2952,-0.67,-194.7,394.0,-12.1,531,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2259,3868
$GC,3293,-0.67,-194.7,436.6,-12.5,592,3299,0.00,2.78,0.00,0.000,4,0.000,0.056,2648,848,3868
$GC,3338,-0.67,-194.7,442.4,-12.2,600,3345,0.00,2.72,0.00,0.000,6,0.000,0.042,2649,2259,3868
$GC,3683,-0.67,-194.7,489.5,-14.1,661,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2259,3868
$GC,4023,-0.67,-194.7,537.5,-13.3,722,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2259,3868
$GC,4362,-0.67,-194.7,580.2,-12.1,783,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2259,3868
$GC,4700,-0.67,-194.7,621.2,-12.1,829,4704,0.00,2.80,0.00,0.000,4,0.000,0.063,2648,852,3868
$GC,4749,-0.67,-194.7,626.8,-10.8,833,4754,0.00,2.70,0.00,0.000,6,0.000,0.045,2649,2253,3868
$GC,5074,-0.67,-194.7,662.7,-11.3,863,5078,0.00,2.83,0.00,0.000,4,0.000,0.064,2648,3670,3868
$GC,5105,-0.67,-194.7,666.6,-11.8,865,5112,0.00,2.80,0.00,0.000,6,0.000,0.049,2648,2253,3867
$GC,5433,-0.67,-194.7,704.9,-11.8,896,5437,0.00,2.83,0.00,0.000,4,0.000,0.073,2648,849,3868
$GC,5464,-0.67,-194.7,709.0,-12.3,898,5471,0.00,2.72,0.00,0.000,6,0.000,0.049,2648,2256,3867
$GC,5789,-0.67,-194.7,746.2,-11.6,929,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2257,3867
$GC,6107,-0.67,-194.7,784.7,-12.1,959,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2259,3867
$GC,6427,-0.67,-194.7,822.5,-11.6,989,6432,0.00,2.85,0.00,0.000,4,0.000,0.071,2648,847,3866
$GC,6466,-0.71,-194.7,827.0,-11.1,992,6471,0.00,2.72,0.00,0.000,6,0.000,0.049,2653,2251,3866
$GC,6790,-0.71,-194.7,864.1,-11.7,1022,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2252,3866
$GC,7108,-0.71,-194.7,901.2,-11.8,1052,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2253,3865
$GC,7427,-0.71,-194.7,939.4,-12.4,1082,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2253,3865
$GC,7745,-0.71,-194.7,979.5,-12.3,1112,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2255,3864
$STATE,7839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7839,begin apogee
$GC,7844,-0.19,0.0,991.1,12.2,1121,8045,0.57,0.00,197.62,1.538,6,0.117,0.000,2754,2040,3071
$STATE,8046,end apogee,CONTROL_FINISHED_OK
$STATE,8046,begin climb
$GC,8048,0.82,194.7,1001.2,0.0,1141,8262,1.25,3.22,200.82,1.401,4,0.091,0.073,2965,650,2277
$GC,8345,0.70,194.7,980.4,12.1,1169,8352,0.00,2.92,0.00,0.000,6,0.000,0.044,2965,2051,2273
$GC,8671,0.56,194.7,941.6,12.4,1200,8676,0.25,2.92,0.00,0.000,4,0.132,0.059,2924,3461,2271
$GC,8733,0.51,198.8,935.0,9.9,1205,8745,0.00,2.85,4.62,0.962,6,0.000,0.051,2925,2069,2260
$GC,9062,0.50,227.9,905.5,9.0,1236,9103,0.00,3.05,31.02,1.444,4,0.000,0.071,2924,638,2140
$GC,9193,0.50,227.9,892.9,10.1,1248,9198,0.00,2.92,0.00,0.000,6,0.000,0.045,2924,2095,2138
$GC,9518,0.51,238.9,862.6,9.6,1278,9539,0.00,3.12,12.15,1.384,4,0.000,0.072,2924,640,2096
$GC,9618,0.51,241.0,852.5,9.9,1287,9622,0.00,2.95,0.00,0.000,6,0.000,0.046,2930,2120,2095
$GC,9942,0.51,241.0,820.5,10.1,1317,9946,0.00,2.72,0.00,0.000,4,0.000,0.059,2923,3469,2094
$GC,9980,0.51,241.0,816.3,10.9,1320,9984,0.00,2.70,0.00,0.000,6,0.000,0.050,2924,2118,2092
$GC,10305,0.53,252.7,785.0,9.6,1350,10327,0.00,3.08,15.27,1.404,4,0.000,0.071,2924,637,2039
$GC,10433,0.53,252.7,772.1,10.3,1361,10440,0.00,3.00,0.00,0.000,6,0.000,0.046,2925,2150,2038
$GC,10760,0.54,265.1,740.4,9.6,1392,10782,0.00,3.20,13.10,1.363,4,0.000,0.071,2926,643,1990
$GC,10872,0.55,268.5,728.9,9.9,1402,10883,0.00,3.00,5.07,0.957,6,0.000,0.047,2924,2154,1976
$GC,11201,0.60,312.4,698.8,8.5,1433,11253,0.00,2.75,45.10,1.305,4,0.000,0.059,2924,3465,1796
$GC,11280,0.63,331.6,691.7,9.3,1440,11308,0.00,2.70,20.73,1.205,6,0.000,0.048,2924,2145,1719
$GC,11625,0.65,352.8,661.3,9.3,1473,11656,0.00,3.20,22.27,1.295,4,0.000,0.068,2924,643,1631
$GC,11680,0.74,376.9,656.1,9.2,1478,11712,0.17,3.03,25.40,1.176,6,0.059,0.044,2961,2149,1534
$GC,12029,0.67,376.9,607.2,14.6,1511,12030,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2149,1528
$GC,12361,0.61,376.9,559.1,13.7,1566,12369,0.17,3.08,0.00,0.000,4,0.123,0.064,2931,642,1526
$GC,12386,0.61,376.9,556.0,12.2,1570,12393,0.00,2.95,0.00,0.000,6,0.000,0.041,2932,2156,1526
$GC,12729,0.61,376.9,522.1,10.5,1631,12735,0.00,3.10,0.00,0.000,4,0.000,0.063,2931,634,1526
$GC,12746,0.61,376.9,520.0,10.7,1634,12752,0.00,2.90,0.00,0.000,6,0.000,0.040,2931,2137,1525
$GC,13085,0.64,397.5,486.2,9.3,1695,13114,0.00,3.10,20.90,1.249,4,0.000,0.064,2931,634,1450
$GC,13120,0.66,411.8,482.9,9.5,1701,13145,0.00,2.90,16.05,1.034,6,0.000,0.040,2931,2128,1391
$GC,13484,0.75,440.0,449.8,9.0,1765,13519,0.15,0.00,29.02,1.151,6,0.064,0.000,2966,2128,1276
$GC,13855,0.70,440.0,396.8,15.0,1831,13861,0.00,3.05,0.00,0.000,4,0.000,0.063,2967,637,1271
$GC,13877,0.70,440.0,393.0,15.1,1835,13884,0.00,2.88,0.00,0.000,6,0.000,0.040,2966,2116,1271
$GC,14216,0.65,440.0,343.2,14.0,1896,14225,0.15,2.67,0.00,0.000,4,0.125,0.049,2940,3459,1270
$GC,14238,0.65,440.0,340.5,14.2,1899,14245,0.00,2.67,0.00,0.000,6,0.000,0.044,2941,2094,1270
$GC,14569,0.72,457.3,307.7,9.4,1960,14595,0.00,2.97,18.30,1.122,4,0.000,0.064,2940,638,1205
$GC,14614,0.79,457.3,303.3,10.4,1967,14620,0.00,2.88,0.00,0.000,6,0.000,0.039,2971,2120,1204
$GC,14945,0.85,457.3,270.4,10.6,2028,14953,0.15,0.00,0.00,0.000,6,0.063,0.000,2985,2120,1203
$GC,15279,0.78,457.3,217.5,15.7,2089,15285,0.00,2.97,0.00,0.000,4,0.000,0.063,2975,644,1203
$GC,15296,0.72,457.3,214.5,15.6,2092,15305,0.10,2.85,0.00,0.000,6,0.121,0.039,2961,2111,1202
$GC,15631,0.72,457.3,170.7,13.2,2153,15636,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2112,1202
$GC,15958,0.72,457.3,126.2,13.3,2214,15966,0.00,2.97,0.00,0.000,4,0.000,0.063,2957,644,1202
$GC,15979,0.72,457.3,123.7,13.3,2217,15985,0.00,2.78,0.00,0.000,6,0.000,0.039,2964,2104,1202
$GC,16181,0.72,457.3,97.3,14.1,2254,16188,0.00,2.67,0.00,0.000,4,0.000,0.052,2957,3459,1201
$GC,16201,0.72,457.3,94.7,12.7,2257,16208,0.17,2.65,0.00,0.000,6,0.120,0.044,2958,2094,1201
$GC,16401,0.89,508.4,77.1,8.2,2294,16461,0.25,3.00,51.95,0.906,4,0.051,0.066,2990,640,996
$GC,16491,0.84,508.4,63.3,17.8,2308,16499,0.00,2.88,0.00,0.000,6,0.000,0.039,2990,2089,994
$GC,16691,0.74,508.4,25.4,18.5,2345,16700,0.15,2.75,0.00,0.000,4,0.134,0.050,2966,3459,993
$GC,16723,0.74,508.4,19.7,17.4,2350,16730,0.00,2.72,0.00,0.000,6,0.000,0.046,2966,2101,992
$GC,16857,0.74,508.4,2.0,17.2,2375,16865,0.00,2.95,0.00,0.000,4,0.000,0.061,2966,645,990
$STATE,16871,end climb,SURFACE_DEPTH_REACHED
$STATE,16871,begin surface coast
$FINISH,0.1,1.014589
$STATE,16883,end surface coast,CONTROL_FINISHED_OK
$STATE,16883,begin surface
$SM_CCo,16961,0.00,0.000,0,0,989,510.71
$SM_GC,0.68,7.32,0.00,0.00,0.039,0.000,0.000,1465,2261,989,-6.09,0.03,510.71
$IRIDIUM_FIX,5829.55,-2124.93,070797,121203
$TT8_MAMPS,0.021476
$HUMID,1636
$INTERNAL_PRESSURE,8.11555
$TCM_TEMP,12.10
$XPDR_PINGS,275
$24V_AH,19.6,23.283
$10V_AH,9.7,14.706
$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,21.025,167.800,729.425,0.000,0.000,80.850,200.062,424.014,68.750,0.000,0.000,13.362,3616.546,7271.701,821.480,5187.152,987.727,0.000,2756.772,0.000,5205.416,0.000,0.467
$DEVICE_MAMPS,252.343,72.865,1537.835,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1747.824,1722.030,1042.425,931.291,2414.012,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,180358,2379
$CAP_FILE_SIZE,197610,0
$CFSIZE,260165632,252895232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120408,174138,5853.907,-2125.267,25,1.2,25,-14.7