version: 66.03
glider: 143
mission: 4
dive: 47
start: 4 13 108 8 17 33
data:
$ID,143
$MISSION,4
$DIVE,47
$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,-4885.3579
$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,20
$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
$GPS1,080837,5910.348,-2124.757,37,1.4,42,-14.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-59.5
$GPS2,081715,5910.388,-2124.815,13,1.3,13,-14.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5918.024,-2120.917
$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,59.8,20000,-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,-194.7,0.0,0.0,0,129,0.00,0.00,-101.25,0.000,2,0.000,0.000,1463,2276,3577
$GC,131,-0.82,-194.7,3.5,-5.9,14,155,9.73,2.88,-6.20,0.000,4,0.247,0.064,2613,844,3866
$GC,344,-0.77,-194.7,49.8,-18.2,53,352,0.00,2.80,0.00,0.000,6,0.000,0.050,2612,2249,3867
$GC,481,-0.65,-194.7,74.8,-16.6,78,489,0.22,2.90,0.00,0.000,4,0.145,0.059,2649,3676,3867
$GC,524,-0.65,-194.7,80.6,-12.1,85,530,0.00,2.75,0.00,0.000,6,0.000,0.041,2652,2261,3866
$GC,723,-0.65,-194.7,107.3,-14.5,122,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2260,3867
$GC,927,-0.65,-194.7,132.8,-13.5,159,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2259,3867
$GC,1128,-0.65,-194.7,158.7,-12.3,196,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2258,3867
$GC,1461,-0.65,-194.7,199.5,-11.7,257,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2257,3867
$GC,1789,-0.65,-194.7,240.3,-12.1,318,1797,0.00,2.78,0.00,0.000,4,0.000,0.054,2649,853,3867
$GC,1820,-0.65,-194.7,243.8,-12.1,323,1826,0.00,2.78,0.00,0.000,6,0.000,0.045,2651,2287,3867
$GC,2149,-0.65,-194.7,282.9,-12.3,384,2157,0.00,2.75,0.00,0.000,4,0.000,0.055,2649,3670,3867
$GC,2180,-0.65,-194.7,286.6,-12.6,389,2187,0.00,2.70,0.00,0.000,6,0.000,0.041,2650,2264,3867
$GC,2509,-0.65,-194.7,326.7,-12.2,450,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2261,3867
$GC,2844,-0.65,-194.7,367.3,-12.3,511,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2260,3867
$GC,3183,-0.65,-194.7,411.9,-13.4,572,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2260,3867
$GC,3523,-0.65,-194.7,456.9,-12.9,633,3529,0.00,2.75,0.00,0.000,4,0.000,0.053,2650,3676,3867
$GC,3563,-0.65,-194.7,462.0,-12.9,640,3570,0.00,2.67,0.00,0.000,6,0.000,0.041,2649,2275,3867
$GC,3905,-0.65,-194.7,505.6,-12.8,701,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2271,3867
$GC,4245,-0.65,-194.7,547.2,-12.2,762,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2271,3867
$GC,4585,-0.65,-194.7,589.2,-12.7,823,4591,0.00,2.75,0.00,0.000,4,0.000,0.056,2649,3671,3867
$GC,4624,-0.65,-194.7,594.5,-13.4,830,4630,0.00,2.67,0.00,0.000,6,0.000,0.043,2649,2275,3867
$GC,4957,-0.65,-194.7,636.2,-12.6,865,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2275,3867
$GC,5275,-0.65,-194.7,675.6,-12.3,895,5279,0.00,2.80,0.00,0.000,4,0.000,0.062,2649,3672,3867
$GC,5313,-0.65,-194.7,680.5,-12.8,898,5318,0.00,2.70,0.00,0.000,6,0.000,0.051,2649,2293,3867
$GC,5637,-0.65,-194.7,720.0,-11.9,928,5642,0.00,2.90,0.00,0.000,4,0.000,0.071,2649,845,3867
$GC,5658,-0.65,-194.7,722.6,-12.0,929,5665,0.00,2.83,0.00,0.000,6,0.000,0.049,2649,2301,3866
$GC,5983,-0.65,-194.7,759.5,-11.5,960,5987,0.00,2.75,0.00,0.000,4,0.000,0.065,2650,3673,3866
$GC,6025,-0.65,-194.7,764.9,-12.2,963,6032,0.00,2.72,0.00,0.000,6,0.000,0.052,2649,2302,3867
$GC,6351,-0.65,-194.7,804.0,-11.9,994,6356,0.00,2.90,0.00,0.000,4,0.000,0.069,2649,850,3866
$GC,6383,-0.65,-194.7,808.0,-12.4,996,6390,0.00,2.83,0.00,0.000,6,0.000,0.050,2649,2290,3866
$GC,6708,-0.65,-194.7,847.1,-11.9,1027,6713,0.00,2.78,0.00,0.000,4,0.000,0.066,2650,3676,3866
$GC,6737,-0.65,-194.7,850.5,-12.8,1029,6741,0.00,2.72,0.00,0.000,6,0.000,0.051,2649,2289,3866
$GC,7061,-0.65,-194.7,889.9,-11.9,1059,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2289,3866
$GC,7379,-0.65,-194.7,927.0,-11.2,1089,7380,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2289,3865
$GC,7697,-0.65,-194.7,962.8,-11.0,1119,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2290,3865
$STATE,7951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7951,begin apogee
$GC,7955,-0.19,0.0,990.4,10.9,1143,8154,0.62,0.00,194.50,1.465,6,0.122,0.000,2756,2040,3071
$STATE,8155,end apogee,CONTROL_FINISHED_OK
$STATE,8155,begin climb
$GC,8157,0.82,194.7,998.5,0.0,1163,8366,1.23,3.15,198.95,1.389,4,0.087,0.071,2972,650,2278
$GC,8445,0.68,194.7,975.9,12.7,1190,8450,0.15,2.92,0.00,0.000,6,0.138,0.044,2952,2055,2275
$GC,8769,0.56,194.7,937.7,11.7,1220,8774,0.15,2.92,0.00,0.000,4,0.140,0.059,2928,3468,2273
$GC,8841,0.50,194.7,930.0,10.2,1226,8846,0.00,2.85,0.00,0.000,6,0.000,0.051,2928,2074,2272
$GC,9168,0.44,198.0,899.0,9.9,1256,9180,0.15,2.85,4.00,0.871,4,0.127,0.058,2902,3462,2263
$GC,9214,0.48,233.4,894.7,8.8,1260,9257,0.00,2.78,36.78,1.409,6,0.000,0.051,2902,2082,2119
$GC,9574,0.56,291.9,866.1,8.0,1294,9639,0.00,2.95,59.42,1.358,4,0.000,0.058,2903,3466,1881
$GC,9685,0.65,313.9,856.7,9.2,1304,9717,0.20,2.80,23.30,1.276,6,0.064,0.050,2940,2104,1790
$GC,10034,0.61,313.9,815.3,11.7,1337,10035,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2103,1785
$GC,10352,0.61,313.9,778.6,11.3,1367,10356,0.00,2.78,0.00,0.000,4,0.000,0.058,2940,3469,1784
$GC,10383,0.61,313.9,774.8,11.1,1369,10390,0.00,2.72,0.00,0.000,6,0.000,0.051,2940,2126,1783
$GC,10709,0.61,313.9,739.2,11.3,1400,10710,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2125,1783
$GC,11027,0.61,313.9,703.6,11.2,1430,11031,0.00,2.70,0.00,0.000,4,0.000,0.056,2941,3472,1782
$GC,11053,0.61,313.9,700.4,11.7,1432,11058,0.00,2.65,0.00,0.000,6,0.000,0.048,2940,2132,1781
$GC,11378,0.61,313.9,663.1,11.6,1462,11383,0.00,3.00,0.00,0.000,4,0.000,0.067,2939,644,1781
$GC,11394,0.61,313.9,661.2,12.0,1463,11398,0.00,2.88,0.00,0.000,6,0.000,0.041,2940,2139,1781
$GC,11718,0.61,313.9,623.4,11.7,1493,11723,0.00,2.60,0.00,0.000,4,0.000,0.052,2940,3469,1781
$GC,11750,0.61,313.9,619.5,11.1,1495,11757,0.00,2.62,0.00,0.000,6,0.000,0.045,2940,2139,1780
$GC,12083,0.61,313.9,582.9,11.0,1540,12090,0.00,3.00,0.00,0.000,4,0.000,0.064,2940,634,1780
$GC,12108,0.61,313.9,580.0,11.3,1544,12114,0.00,2.88,0.00,0.000,6,0.000,0.040,2940,2140,1780
$GC,12449,0.61,313.9,542.1,10.9,1605,12455,0.00,2.58,0.00,0.000,4,0.000,0.051,2940,3470,1780
$GC,12466,0.61,313.9,540.0,12.0,1608,12474,0.00,2.62,0.00,0.000,6,0.000,0.043,2940,2127,1780
$GC,12812,0.61,313.9,501.7,11.2,1669,12818,0.00,2.95,0.00,0.000,4,0.000,0.062,2940,638,1780
$GC,12834,0.61,313.9,498.9,11.2,1673,12841,0.00,2.85,0.00,0.000,6,0.000,0.039,2940,2143,1780
$GC,13176,0.61,313.9,461.0,10.6,1734,13182,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2143,1780
$GC,13517,0.61,313.9,424.3,10.9,1795,13523,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2143,1780
$GC,13859,0.61,313.9,388.0,10.7,1856,13865,0.00,3.00,0.00,0.000,4,0.000,0.062,2940,637,1780
$GC,13891,0.61,313.9,384.6,11.3,1861,13897,0.00,2.85,0.00,0.000,6,0.000,0.038,2940,2145,1780
$GC,14232,0.61,313.9,347.0,10.4,1922,14239,0.00,2.60,0.00,0.000,4,0.000,0.051,2940,3472,1780
$GC,14245,0.61,313.9,345.5,10.9,1924,14253,0.10,2.62,0.00,0.000,6,0.117,0.042,2937,2119,1780
$GC,14581,0.65,349.5,315.2,8.8,1985,14618,0.00,0.00,33.95,1.098,6,0.000,0.000,2930,2119,1646
$GC,14945,0.77,391.4,282.7,8.6,2051,14990,0.15,0.00,40.60,0.988,6,0.064,0.000,2965,2119,1475
$GC,15315,0.72,391.4,229.3,14.5,2118,15323,0.00,3.03,0.00,0.000,4,0.000,0.064,2956,640,1469
$GC,15347,0.72,391.4,224.7,15.4,2123,15353,0.00,2.90,0.00,0.000,6,0.000,0.038,2957,2141,1468
$GC,15678,0.67,391.4,177.1,14.8,2184,15686,0.00,3.05,0.00,0.000,4,0.000,0.061,2957,643,1468
$GC,15699,0.67,391.4,174.2,15.6,2187,15705,0.00,2.85,0.00,0.000,6,0.000,0.038,2956,2131,1467
$GC,16031,0.63,391.4,128.1,13.5,2248,16039,0.00,3.03,0.00,0.000,4,0.000,0.061,2956,642,1467
$GC,16052,0.63,391.4,125.4,13.5,2251,16058,0.00,2.80,0.00,0.000,6,0.000,0.038,2956,2112,1467
$GC,16253,0.58,391.4,96.3,14.8,2288,16261,0.15,0.00,0.00,0.000,6,0.123,0.000,2931,2113,1467
$GC,16459,0.65,391.4,74.4,11.3,2325,16465,0.00,2.95,0.00,0.000,4,0.000,0.060,2930,640,1467
$GC,16484,0.72,391.4,71.6,10.7,2329,16490,0.12,2.78,0.00,0.000,6,0.061,0.038,2958,2101,1467
$GC,16686,0.72,391.4,43.3,14.3,2366,16694,0.00,2.67,0.00,0.000,4,0.000,0.050,2961,3462,1467
$GC,16721,0.72,391.4,38.2,13.1,2372,16730,0.00,2.70,0.00,0.000,6,0.000,0.043,2958,2085,1467
$GC,16855,0.72,391.4,20.6,13.5,2397,16864,0.00,2.90,0.00,0.000,4,0.000,0.063,2959,645,1467
$GC,16887,0.72,391.4,16.4,13.7,2402,16895,0.00,2.78,0.00,0.000,6,0.000,0.039,2959,2087,1467
$STATE,16999,end climb,SURFACE_DEPTH_REACHED
$STATE,16999,begin surface coast
$FINISH,0.0,1.027235
$STATE,17012,end surface coast,CONTROL_FINISHED_OK
$STATE,17012,begin surface
$SM_CCo,17087,0.00,0.000,0,0,1465,393.71
$SM_GC,0.70,7.25,0.00,0.00,0.043,0.000,0.000,1464,2275,1465,-6.10,0.42,393.71
$IRIDIUM_FIX,5841.97,-2124.78,080797,030322
$TT8_MAMPS,0.021476
$HUMID,1667
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,12.90
$XPDR_PINGS,325
$24V_AH,19.7,24.442
$10V_AH,9.8,15.693
$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,20.225,169.475,591.500,0.000,0.000,25.908,34.068,335.884,81.250,0.000,0.000,14.908,3687.309,7223.647,714.286,5272.374,680.595,0.000,2642.140,0.000,5295.693,0.000,0.468
$DEVICE_MAMPS,246.974,71.331,1464.970,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1770.108,1758.698,1062.303,967.559,2518.210,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,183491,2425
$CAP_FILE_SIZE,192085,0
$CFSIZE,260165632,252436480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130408,130332,5914.682,-2124.907,38,1.8,38,-14.8