version: 66.03
glider: 143
mission: 4
dive: 49
start: 4 13 108 18 4 58
data:
$ID,143
$MISSION,4
$DIVE,49
$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,-4917.4365
$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,34
$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
$GPS1,175708,5918.422,-2124.673,28,1.0,28,-14.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-44.5
$GPS2,180439,5918.459,-2124.735,12,1.0,12,-14.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5926.095,-2120.852
$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,-194.7,0.0,0.0,0,144,0.00,0.00,-116.03,0.000,2,0.000,0.000,1466,2287,3482
$GC,146,-0.82,-194.7,3.2,-6.3,16,170,9.82,2.88,-8.98,0.000,4,0.253,0.074,2613,3656,3867
$GC,454,-0.73,-194.7,59.1,-16.7,73,461,0.15,2.72,0.00,0.000,6,0.146,0.040,2634,2245,3869
$GC,655,-0.67,-194.7,90.2,-14.8,110,663,0.00,2.85,0.00,0.000,4,0.000,0.057,2634,3653,3869
$GC,701,-0.67,-194.7,97.3,-15.2,118,709,0.00,2.72,0.00,0.000,6,0.000,0.040,2634,2254,3869
$GC,907,-0.61,-194.7,127.3,-15.4,155,912,0.15,0.00,0.00,0.000,6,0.140,0.000,2659,2252,3869
$GC,1107,-0.61,-194.7,153.9,-12.3,192,1115,0.00,2.80,0.00,0.000,4,0.000,0.056,2659,3652,3869
$GC,1141,-0.61,-194.7,158.3,-12.4,198,1149,0.00,2.67,0.00,0.000,6,0.000,0.040,2659,2278,3869
$GC,1476,-0.61,-194.7,198.8,-12.5,259,1482,0.00,2.80,0.00,0.000,4,0.000,0.055,2659,843,3869
$GC,1500,-0.61,-194.7,201.9,-12.3,263,1506,0.00,2.75,0.00,0.000,6,0.000,0.044,2660,2272,3869
$GC,1829,-0.61,-194.7,242.7,-12.0,324,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2272,3869
$GC,2163,-0.61,-194.7,283.1,-12.3,385,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2272,3869
$GC,2491,-0.61,-194.7,322.5,-11.8,446,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2272,3869
$GC,2826,-0.61,-194.7,362.8,-11.9,507,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2272,3869
$GC,3167,-0.61,-194.7,403.1,-11.6,568,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2272,3869
$GC,3506,-0.61,-194.7,442.2,-11.0,629,3512,0.00,2.72,0.00,0.000,4,0.000,0.053,2659,3672,3869
$GC,3528,-0.61,-194.7,444.8,-11.5,633,3536,0.00,2.70,0.00,0.000,6,0.000,0.041,2658,2272,3869
$GC,3873,-0.61,-194.7,483.5,-11.2,694,3879,0.00,2.75,0.00,0.000,4,0.000,0.055,2659,850,3869
$GC,3895,-0.61,-194.7,486.4,-11.0,698,3902,0.00,2.72,0.00,0.000,6,0.000,0.042,2659,2285,3869
$GC,4235,-0.61,-194.7,525.5,-11.6,759,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2285,3869
$GC,4577,-0.61,-194.7,565.7,-11.5,820,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2285,3869
$GC,4915,-0.61,-194.7,605.6,-12.0,877,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2285,3869
$GC,5234,-0.61,-194.7,643.0,-11.6,907,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2285,3869
$GC,5553,-0.61,-194.7,678.7,-10.8,937,5557,0.00,2.90,0.00,0.000,4,0.000,0.071,2659,849,3868
$GC,5584,-0.67,-194.7,682.3,-11.5,939,5591,0.00,2.75,0.00,0.000,6,0.000,0.048,2659,2276,3868
$GC,5910,-0.67,-194.7,718.3,-11.2,970,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2278,3868
$GC,6229,-0.67,-194.7,753.4,-11.1,1000,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2279,3868
$GC,6546,-0.67,-194.7,790.7,-12.0,1030,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2279,3868
$GC,6864,-0.67,-194.7,829.1,-11.6,1060,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2280,3868
$GC,7183,-0.67,-194.7,864.4,-10.9,1090,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2279,3868
$GC,7503,-0.67,-194.7,897.8,-10.4,1120,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2280,3868
$GC,7820,-0.67,-194.7,930.6,-10.5,1150,7824,0.00,2.88,0.00,0.000,4,0.000,0.070,2659,850,3867
$GC,7847,-0.73,-194.7,933.4,-11.0,1152,7852,0.00,2.75,0.00,0.000,6,0.000,0.049,2659,2270,3866
$GC,8172,-0.73,-194.7,967.0,-10.6,1182,8176,0.00,2.80,0.00,0.000,4,0.000,0.065,2659,3672,3867
$GC,8226,-0.79,-194.7,973.2,-11.5,1186,8233,0.17,2.72,0.00,0.000,6,0.061,0.051,2622,2281,3867
$STATE,8347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8347,begin apogee
$GC,8352,-0.19,0.0,990.2,14.7,1198,8551,0.77,0.00,195.15,1.459,6,0.124,0.000,2754,2042,3071
$STATE,8552,end apogee,CONTROL_FINISHED_OK
$STATE,8552,begin climb
$GC,8554,0.82,194.7,1001.8,0.0,1218,8767,1.23,3.15,199.52,1.382,4,0.086,0.071,2970,651,2275
$GC,8850,0.67,194.7,979.4,12.3,1246,8858,0.15,2.90,0.00,0.000,6,0.140,0.044,2951,2052,2273
$GC,9175,0.55,194.7,941.6,11.7,1277,9181,0.15,2.92,0.00,0.000,4,0.137,0.059,2926,3469,2270
$GC,9248,0.50,194.7,933.8,10.5,1283,9253,0.00,2.85,0.00,0.000,6,0.000,0.052,2925,2074,2270
$GC,9573,0.45,208.7,902.8,9.5,1313,9595,0.15,3.00,13.77,1.363,4,0.128,0.071,2903,643,2220
$GC,9702,0.54,279.7,892.3,7.5,1324,9781,0.00,2.88,72.25,1.344,6,0.000,0.045,2903,2098,1929
$GC,10107,0.63,317.6,860.3,8.7,1363,10152,0.15,2.90,38.22,1.347,4,0.067,0.059,2937,3461,1777
$GC,10204,0.63,317.6,849.0,12.5,1372,10209,0.00,2.80,0.00,0.000,6,0.000,0.051,2938,2104,1773
$GC,10528,0.63,317.6,810.3,11.4,1402,10533,0.00,3.03,0.00,0.000,4,0.000,0.072,2937,641,1771
$GC,10635,0.63,317.6,798.6,10.5,1411,10640,0.00,2.92,0.00,0.000,6,0.000,0.045,2937,2128,1771
$GC,10960,0.63,317.6,760.7,12.0,1441,10964,0.00,2.67,0.00,0.000,4,0.000,0.059,2938,3461,1770
$GC,10998,0.63,317.6,756.1,12.0,1444,11002,0.00,2.67,0.00,0.000,6,0.000,0.051,2939,2119,1769
$GC,11322,0.63,317.6,718.0,11.6,1474,11326,0.00,2.70,0.00,0.000,4,0.000,0.057,2938,3465,1769
$GC,11337,0.63,317.6,716.1,12.0,1475,11342,0.00,2.62,0.00,0.000,6,0.000,0.049,2938,2132,1768
$GC,11662,0.63,317.6,679.2,11.5,1505,11663,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2131,1768
$GC,11982,0.63,317.6,641.8,12.1,1535,11983,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2130,1768
$GC,12299,0.63,317.6,603.6,12.3,1565,12303,0.00,2.62,0.00,0.000,4,0.000,0.051,2938,3465,1768
$GC,12314,0.63,317.6,601.6,12.5,1566,12319,0.00,2.58,0.00,0.000,6,0.000,0.044,2938,2134,1767
$GC,12654,0.63,317.6,560.3,11.7,1625,12660,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2134,1767
$GC,12994,0.63,317.6,519.8,12.0,1686,13001,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2133,1768
$GC,13336,0.63,317.6,481.5,11.1,1747,13342,0.00,2.60,0.00,0.000,4,0.000,0.050,2937,3465,1768
$GC,13364,0.63,317.6,478.2,11.2,1752,13372,0.00,2.58,0.00,0.000,6,0.000,0.043,2937,2144,1767
$GC,13710,0.63,317.6,441.7,10.6,1813,13716,0.00,2.97,0.00,0.000,4,0.000,0.063,2937,637,1768
$GC,13733,0.63,317.6,439.0,11.2,1817,13739,0.00,2.90,0.00,0.000,6,0.000,0.040,2937,2171,1767
$GC,14074,0.63,317.6,404.1,10.2,1878,14080,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2171,1767
$GC,14414,0.63,317.6,369.3,10.3,1939,14421,0.00,3.05,0.00,0.000,4,0.000,0.061,2937,640,1767
$GC,14432,0.63,317.6,367.3,10.2,1942,14439,0.00,2.85,0.00,0.000,6,0.000,0.038,2937,2158,1767
$GC,14769,0.63,317.6,331.7,11.1,2003,14774,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2159,1767
$GC,15098,0.63,317.6,296.5,10.2,2064,15106,0.00,3.05,0.00,0.000,4,0.000,0.061,2937,632,1767
$GC,15111,0.63,317.6,295.0,11.2,2066,15119,0.00,2.88,0.00,0.000,6,0.000,0.038,2937,2146,1767
$GC,15444,0.64,323.3,259.9,9.8,2127,15458,0.00,2.58,5.80,0.804,4,0.000,0.049,2937,3464,1752
$GC,15463,0.64,323.3,257.5,10.4,2130,15470,0.00,2.55,0.00,0.000,6,0.000,0.041,2940,2141,1752
$GC,15797,0.64,324.0,222.1,10.0,2191,15803,0.00,2.97,0.00,0.000,4,0.000,0.062,2938,631,1752
$GC,15813,0.64,324.0,219.9,10.9,2194,15821,0.00,2.90,0.00,0.000,6,0.000,0.038,2937,2152,1752
$GC,16146,0.64,324.0,184.4,10.6,2255,16153,0.00,2.53,0.00,0.000,4,0.000,0.050,2938,3467,1752
$GC,16163,0.64,324.0,182.3,10.6,2258,16171,0.00,2.58,0.00,0.000,6,0.000,0.041,2939,2135,1752
$GC,16495,0.64,324.0,147.4,11.3,2319,16502,0.00,2.95,0.00,0.000,4,0.000,0.063,2937,640,1752
$GC,16520,0.64,324.0,144.7,10.0,2323,16526,0.00,2.85,0.00,0.000,6,0.000,0.038,2937,2150,1752
$GC,16720,0.64,324.0,123.3,11.2,2360,16728,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2150,1752
$GC,16923,0.64,325.7,101.7,9.9,2397,16936,0.00,3.03,4.28,0.637,4,0.000,0.061,2937,643,1743
$GC,16959,0.64,325.7,97.7,11.4,2403,16966,0.00,2.83,0.00,0.000,6,0.000,0.039,2937,2143,1743
$GC,17160,0.64,325.7,76.5,11.0,2440,17168,0.00,2.60,0.00,0.000,4,0.000,0.050,2938,3469,1743
$GC,17181,0.64,325.7,74.4,10.9,2443,17187,0.00,2.60,0.00,0.000,6,0.000,0.041,2940,2116,1743
$GC,17381,0.66,335.7,53.9,9.7,2480,17395,0.00,0.00,11.52,0.815,6,0.000,0.000,2939,2116,1702
$GC,17585,0.68,356.4,34.5,9.3,2518,17608,0.00,0.00,20.45,0.913,6,0.000,0.000,2939,2116,1617
$GC,17735,0.68,356.4,20.6,10.5,2545,17743,0.00,3.00,0.00,0.000,4,0.000,0.064,2938,639,1615
$GC,17761,0.74,356.4,18.1,10.1,2549,17769,0.08,2.90,0.00,0.000,6,0.048,0.038,2963,2137,1615
$STATE,17883,end climb,SURFACE_DEPTH_REACHED
$STATE,17883,begin surface coast
$FINISH,-0.0,1.027281
$STATE,17902,end surface coast,CONTROL_FINISHED_OK
$STATE,17902,begin surface
$SM_CCo,17977,0.00,0.000,0,0,1612,357.89
$SM_GC,0.71,7.30,0.00,0.00,0.042,0.000,0.000,1465,2281,1612,-6.10,0.59,357.89
$IRIDIUM_FIX,5850.29,-2127.00,080797,131326
$TT8_MAMPS,0.021476
$HUMID,1649
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,12.90
$XPDR_PINGS,354
$24V_AH,19.7,24.993
$10V_AH,9.7,16.204
$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,20.275,157.550,560.975,0.000,0.000,30.769,33.059,270.827,88.500,0.000,0.000,14.350,3916.132,7508.788,698.702,5654.847,627.918,0.000,2712.107,0.000,5681.686,0.000,0.469
$DEVICE_MAMPS,253.110,74.399,1458.834,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1874.321,1868.094,1154.736,1070.974,2755.452,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,193366,2575
$CAP_FILE_SIZE,197710,0
$CFSIZE,260165632,252186624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130408,230558,5921.872,-2122.625,29,99.0,48,-14.9