version: 66.03
glider: 143
mission: 4
dive: 45
start: 4 12 108 22 19 16
data:
$ID,143
$MISSION,4
$DIVE,45
$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,45
$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,-4855.3901
$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,29
$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
$GPS1,221126,5859.359,-2123.324,37,1.5,37,-14.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-37.3
$GPS2,221857,5859.528,-2123.566,12,1.5,12,-14.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5907.164,-2119.647
$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,59.7,20000,-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,-194.7,0.0,0.0,0,151,0.00,0.00,-122.93,0.000,2,0.000,0.000,1515,2274,3407
$GC,153,-0.82,-194.7,3.1,-5.2,17,184,9.50,2.88,-11.20,0.000,4,0.251,0.058,2592,845,3868
$GC,238,-0.70,-194.7,23.6,-22.8,31,246,0.30,2.80,0.00,0.000,6,0.148,0.049,2642,2240,3869
$GC,373,-0.65,-194.7,46.0,-15.2,56,381,0.00,2.92,0.00,0.000,4,0.000,0.061,2640,3672,3869
$GC,399,-0.61,-194.7,50.0,-15.2,60,407,0.10,2.78,0.00,0.000,6,0.122,0.041,2659,2262,3869
$GC,603,-0.61,-194.7,79.2,-17.5,97,609,0.00,2.80,0.00,0.000,4,0.000,0.056,2660,845,3869
$GC,629,-0.61,-194.7,83.8,-16.1,102,637,0.00,2.78,0.00,0.000,6,0.000,0.043,2660,2259,3869
$GC,832,-0.61,-194.7,108.6,-11.8,139,838,0.00,2.83,0.00,0.000,4,0.000,0.057,2659,3678,3869
$GC,871,-0.61,-194.7,113.5,-12.7,146,879,0.00,2.78,0.00,0.000,6,0.000,0.041,2660,2261,3869
$GC,1076,-0.61,-194.7,139.3,-13.7,183,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2259,3869
$GC,1276,-0.61,-194.7,165.1,-12.6,220,1284,0.00,2.80,0.00,0.000,4,0.000,0.056,2667,849,3869
$GC,1307,-0.61,-194.7,169.1,-12.6,225,1314,0.00,2.75,0.00,0.000,6,0.000,0.044,2662,2272,3869
$GC,1637,-0.61,-194.7,209.4,-12.0,286,1645,0.00,2.80,0.00,0.000,4,0.000,0.056,2659,3674,3869
$GC,1681,-0.61,-194.7,214.3,-11.6,293,1687,0.00,2.72,0.00,0.000,6,0.000,0.041,2660,2259,3869
$GC,2008,-0.61,-194.7,253.8,-12.4,354,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2257,3869
$GC,2341,-0.61,-194.7,294.7,-12.1,415,2348,0.00,2.78,0.00,0.000,4,0.000,0.054,2659,3672,3869
$GC,2376,-0.61,-194.7,299.1,-12.1,421,2382,0.00,2.70,0.00,0.000,6,0.000,0.041,2659,2265,3869
$GC,2706,-0.61,-194.7,339.6,-12.3,482,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2262,3869
$GC,3044,-0.61,-194.7,379.3,-11.5,543,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2262,3869
$GC,3386,-0.61,-194.7,417.7,-11.0,604,3392,0.00,2.75,0.00,0.000,4,0.000,0.054,2659,3675,3869
$GC,3426,-0.61,-194.7,422.3,-11.1,611,3432,0.00,2.70,0.00,0.000,6,0.000,0.041,2659,2266,3869
$GC,3765,-0.61,-194.7,460.9,-11.6,672,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2263,3869
$GC,4109,-0.61,-194.7,500.2,-11.7,733,4115,0.00,2.78,0.00,0.000,4,0.000,0.054,2659,3679,3869
$GC,4143,-0.61,-194.7,504.4,-11.8,739,4149,0.00,2.70,0.00,0.000,6,0.000,0.041,2659,2272,3869
$GC,4482,-0.61,-194.7,541.7,-10.3,800,4489,0.00,2.75,0.00,0.000,4,0.000,0.057,2659,852,3869
$GC,4514,-0.65,-194.7,544.8,-11.0,805,4520,0.00,2.72,0.00,0.000,6,0.000,0.043,2659,2281,3869
$GC,4856,-0.65,-194.7,583.3,-11.0,866,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2281,3869
$GC,5187,-0.65,-194.7,620.7,-11.6,910,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2281,3868
$GC,5506,-0.65,-194.7,656.0,-10.9,940,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2281,3869
$GC,5824,-0.65,-194.7,690.3,-10.7,970,5829,0.00,2.90,0.00,0.000,4,0.000,0.073,2661,857,3869
$GC,5856,-0.70,-194.7,693.8,-10.7,972,5863,0.00,2.75,0.00,0.000,6,0.000,0.051,2659,2267,3869
$GC,6181,-0.70,-194.7,729.8,-11.6,1003,6186,0.00,2.83,0.00,0.000,4,0.000,0.066,2659,3676,3869
$GC,6208,-0.75,-194.7,733.0,-12.0,1005,6213,0.00,2.78,0.00,0.000,6,0.000,0.051,2659,2264,3868
$GC,6534,-0.75,-194.7,769.1,-10.7,1035,6539,0.00,2.85,0.00,0.000,4,0.000,0.071,2660,846,3868
$GC,6566,-0.81,-194.7,772.6,-10.3,1037,6573,0.17,2.78,0.00,0.000,6,0.054,0.050,2619,2275,3868
$GC,6891,-0.74,-194.7,817.7,-14.3,1068,6892,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2276,3867
$GC,7210,-0.67,-194.7,864.9,-15.2,1098,7212,0.20,0.00,0.00,0.000,6,0.134,0.000,2649,2278,3867
$GC,7528,-0.67,-194.7,902.2,-11.7,1128,7530,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2278,3867
$GC,7846,-0.67,-194.7,938.8,-11.5,1158,7851,0.00,2.88,0.00,0.000,4,0.000,0.071,2651,848,3866
$GC,7886,-0.73,-194.7,943.1,-11.0,1161,7891,0.00,2.75,0.00,0.000,6,0.000,0.050,2649,2263,3866
$GC,8212,-0.73,-194.7,979.2,-11.3,1191,8217,0.00,2.83,0.00,0.000,4,0.000,0.067,2650,3672,3866
$GC,8239,-0.73,-194.7,982.6,-12.5,1193,8244,0.00,2.78,0.00,0.000,6,0.000,0.052,2649,2253,3866
$STATE,8306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8307,begin apogee
$GC,8311,-0.19,0.0,990.3,11.1,1199,8511,0.62,0.00,195.73,1.490,6,0.118,0.000,2757,2041,3071
$STATE,8512,end apogee,CONTROL_FINISHED_OK
$STATE,8512,begin climb
$GC,8513,0.82,194.7,999.7,0.0,1219,8728,1.20,3.20,200.20,1.393,4,0.082,0.071,2969,654,2276
$GC,8811,0.67,194.7,975.6,13.0,1247,8818,0.15,2.92,0.00,0.000,6,0.146,0.045,2950,2056,2273
$GC,9136,0.55,194.7,937.7,11.4,1278,9141,0.15,2.92,0.00,0.000,4,0.138,0.060,2926,3464,2271
$GC,9220,0.49,194.7,929.2,10.0,1285,9224,0.00,2.83,0.00,0.000,6,0.000,0.051,2926,2082,2270
$GC,9545,0.46,217.3,899.4,9.2,1315,9577,0.15,2.92,22.55,1.458,4,0.128,0.059,2900,3461,2184
$GC,9622,0.55,291.8,893.3,7.4,1322,9704,0.00,2.78,76.32,1.339,6,0.000,0.050,2900,2103,1881
$GC,10021,0.70,355.2,862.8,7.8,1360,10094,0.22,2.92,64.32,1.350,4,0.061,0.058,2948,3462,1621
$GC,10128,0.70,355.2,849.6,12.7,1370,10132,0.00,2.80,0.00,0.000,6,0.000,0.051,2948,2121,1618
$GC,10452,0.64,355.2,806.0,13.2,1400,10453,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2120,1614
$GC,10771,0.59,355.2,762.9,13.7,1430,10775,0.00,2.75,0.00,0.000,4,0.000,0.058,2948,3468,1613
$GC,10791,0.59,355.2,759.8,14.1,1431,10798,0.00,2.72,0.00,0.000,6,0.000,0.051,2948,2129,1612
$GC,11117,0.55,355.2,717.5,13.1,1462,11119,0.17,0.00,0.00,0.000,6,0.126,0.000,2921,2127,1611
$GC,11435,0.57,372.6,686.3,9.4,1492,11459,0.00,2.75,16.73,1.318,4,0.000,0.056,2921,3460,1552
$GC,11559,0.63,372.6,673.6,10.3,1503,11566,0.00,2.65,0.00,0.000,6,0.000,0.048,2921,2137,1549
$GC,11885,0.69,385.5,644.0,9.6,1534,11907,0.15,2.72,14.95,1.318,4,0.065,0.055,2955,3474,1498
$GC,11979,0.69,385.5,631.9,12.9,1542,11986,0.00,2.70,0.00,0.000,6,0.000,0.049,2952,2129,1497
$GC,12309,0.64,385.5,587.8,13.9,1581,12316,0.00,3.03,0.00,0.000,4,0.000,0.067,2952,637,1496
$GC,12335,0.64,385.5,584.3,14.9,1585,12342,0.00,2.92,0.00,0.000,6,0.000,0.041,2952,2149,1495
$GC,12677,0.60,385.5,538.0,14.6,1646,12684,0.12,2.60,0.00,0.000,4,0.131,0.051,2934,3469,1495
$GC,12701,0.60,385.5,534.9,13.0,1650,12707,0.00,2.62,0.00,0.000,6,0.000,0.044,2940,2123,1495
$GC,13043,0.60,385.5,499.7,10.4,1711,13049,0.00,2.97,0.00,0.000,4,0.000,0.065,2934,638,1495
$GC,13079,0.65,385.5,496.1,10.1,1717,13086,0.00,2.88,0.00,0.000,6,0.000,0.041,2934,2136,1494
$GC,13420,0.65,385.5,463.0,10.1,1778,13425,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2136,1494
$GC,13759,0.67,394.1,429.6,9.7,1839,13778,0.00,3.08,9.52,1.022,4,0.000,0.064,2936,636,1463
$GC,13802,0.73,401.4,425.5,9.7,1846,13821,0.12,2.88,9.52,1.062,6,0.063,0.039,2962,2136,1433
$GC,14160,0.66,401.4,373.2,15.2,1909,14165,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2136,1431
$GC,14494,0.60,401.4,322.0,14.4,1970,14503,0.15,3.05,0.00,0.000,4,0.130,0.062,2937,635,1431
$GC,14516,0.60,401.4,319.3,13.1,1973,14522,0.00,2.83,0.00,0.000,6,0.000,0.038,2936,2117,1430
$GC,14846,0.67,460.9,289.1,7.9,2034,14909,0.00,0.00,59.55,1.005,6,0.000,0.000,2936,2118,1192
$GC,15233,0.80,497.8,256.4,8.7,2104,15279,0.17,3.08,37.67,0.969,4,0.058,0.062,2979,639,1040
$GC,15314,0.80,497.8,244.7,15.1,2117,15320,0.00,2.90,0.00,0.000,6,0.000,0.038,2978,2114,1037
$GC,15644,0.70,497.8,185.8,18.4,2178,15652,0.15,0.00,0.00,0.000,6,0.135,0.000,2953,2115,1035
$GC,15978,0.70,497.8,144.8,14.9,2239,15984,0.00,2.97,0.00,0.000,4,0.000,0.060,2954,638,1034
$GC,16024,0.79,497.8,138.2,12.1,2247,16031,0.00,2.78,0.00,0.000,6,0.000,0.038,2953,2095,1033
$GC,16227,0.79,497.8,109.8,13.4,2284,16234,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2096,1033
$GC,16430,0.79,497.8,87.4,13.0,2321,16436,0.00,2.95,0.00,0.000,4,0.000,0.062,2954,635,1033
$GC,16465,0.86,497.8,83.0,11.5,2327,16472,0.17,2.75,0.00,0.000,6,0.048,0.038,2996,2072,1032
$GC,16667,0.72,497.8,40.9,26.2,2364,16675,0.22,0.00,0.00,0.000,6,0.142,0.000,2960,2073,1032
$GC,16801,0.72,497.8,17.5,15.1,2389,16808,0.00,2.92,0.00,0.000,4,0.000,0.064,2960,642,1032
$GC,16816,0.72,497.8,15.2,13.9,2391,16824,0.00,2.72,0.00,0.000,6,0.000,0.038,2960,2057,1032
$STATE,16907,end climb,SURFACE_DEPTH_REACHED
$STATE,16907,begin surface coast
$FINISH,0.2,1.027304
$STATE,16919,end surface coast,CONTROL_FINISHED_OK
$STATE,16920,begin surface
$SM_CCo,16994,0.00,0.000,0,0,1032,500.17
$SM_GC,0.73,7.20,0.00,0.00,0.040,0.000,0.000,1466,2263,1032,-6.08,0.08,500.17
$IRIDIUM_FIX,5829.55,-2122.57,070797,171711
$TT8_MAMPS,0.021476
$HUMID,1653
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,13.00
$XPDR_PINGS,287
$24V_AH,19.7,23.898
$10V_AH,9.7,15.181
$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,21.425,175.925,707.075,0.000,0.000,29.551,40.252,265.218,71.750,0.000,0.000,14.350,3653.456,7082.557,819.269,5255.279,614.402,0.000,2784.702,0.000,5268.899,0.000,0.469
$DEVICE_MAMPS,250.809,72.865,1490.281,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1756.810,1745.940,1046.545,953.910,2476.196,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,183622,2410
$CAP_FILE_SIZE,195727,0
$CFSIZE,260165632,252665856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130408,030338,5905.275,-2124.010,34,1.0,34,-14.7