version: 66.03
glider: 143
mission: 4
dive: 53
start: 4 14 108 14 9 21
data:
$ID,143
$MISSION,4
$DIVE,53
$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,-4980.1313
$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,35
$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
$GPS1,140107,5931.440,-2115.832,33,1.1,33,-14.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-55.4
$GPS2,140902,5931.440,-2115.839,10,1.6,15,-14.9
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5939.076,-2111.981
$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,59.9,20000,-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,-101.53,0.000,2,0.000,0.000,1466,2282,3588
$GC,131,-0.82,-194.7,3.0,-4.6,14,155,10.07,0.00,-6.55,0.000,6,0.258,0.000,2612,2282,3866
$GC,281,-0.69,-194.7,33.2,-18.8,41,289,0.17,0.00,0.00,0.000,6,0.146,0.000,2640,2282,3867
$GC,414,-0.64,-194.7,54.3,-15.1,66,422,0.12,0.00,0.00,0.000,6,0.149,0.000,2657,2282,3867
$GC,618,-0.64,-194.7,80.4,-12.1,103,624,0.00,2.85,0.00,0.000,4,0.000,0.054,2657,843,3866
$GC,645,-0.64,-194.7,84.0,-12.4,108,654,0.00,2.75,0.00,0.000,6,0.000,0.043,2661,2243,3866
$GC,849,-0.64,-194.7,109.0,-13.2,145,855,0.00,2.85,0.00,0.000,4,0.000,0.057,2657,3676,3867
$GC,873,-0.64,-194.7,112.1,-12.6,149,879,0.00,2.75,0.00,0.000,6,0.000,0.040,2657,2251,3866
$GC,1072,-0.64,-194.7,136.9,-11.9,186,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2250,3866
$GC,1276,-0.64,-194.7,161.2,-12.5,223,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2250,3867
$GC,1603,-0.64,-194.7,201.9,-12.4,284,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2248,3866
$GC,1936,-0.64,-194.7,242.6,-12.0,345,1943,0.00,2.83,0.00,0.000,4,0.000,0.056,2657,3676,3866
$GC,1961,-0.64,-194.7,245.7,-12.9,349,1967,0.00,2.70,0.00,0.000,6,0.000,0.040,2657,2266,3866
$GC,2291,-0.64,-194.7,286.7,-12.2,410,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2263,3866
$GC,2624,-0.64,-194.7,327.7,-12.6,471,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2263,3866
$GC,2957,-0.64,-194.7,369.0,-12.1,532,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2263,3866
$GC,3296,-0.64,-194.7,409.8,-11.7,593,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2262,3866
$GC,3635,-0.64,-194.7,450.7,-12.3,654,3642,0.00,2.80,0.00,0.000,4,0.000,0.054,2657,3677,3866
$GC,3660,-0.64,-194.7,453.9,-12.9,658,3666,0.00,2.67,0.00,0.000,6,0.000,0.041,2657,2277,3866
$GC,4000,-0.64,-194.7,497.2,-12.6,719,4006,0.00,2.78,0.00,0.000,4,0.000,0.055,2657,844,3866
$GC,4022,-0.64,-194.7,500.1,-12.7,723,4029,0.00,2.75,0.00,0.000,6,0.000,0.041,2657,2302,3866
$GC,4365,-0.64,-194.7,542.9,-12.4,784,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2303,3866
$GC,4704,-0.64,-194.7,584.9,-12.8,845,4711,0.00,2.85,0.00,0.000,4,0.000,0.058,2657,847,3866
$GC,4734,-0.64,-194.7,588.4,-13.1,850,4740,0.00,2.72,0.00,0.000,6,0.000,0.042,2657,2281,3866
$GC,5062,-0.64,-194.7,628.4,-11.9,889,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2281,3866
$GC,5381,-0.64,-194.7,664.9,-11.4,919,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2281,3866
$GC,5700,-0.64,-194.7,703.0,-11.9,949,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2282,3866
$GC,6018,-0.64,-194.7,740.6,-11.7,979,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2285,3866
$GC,6337,-0.64,-194.7,776.3,-11.1,1009,6341,0.00,2.90,0.00,0.000,4,0.000,0.072,2657,849,3866
$GC,6357,-0.64,-194.7,778.7,-11.4,1010,6364,0.00,2.75,0.00,0.000,6,0.000,0.048,2657,2259,3866
$GC,6684,-0.64,-194.7,815.7,-11.3,1041,6689,0.00,2.83,0.00,0.000,4,0.000,0.064,2658,3677,3866
$GC,6705,-0.64,-194.7,818.5,-11.4,1042,6712,0.00,2.78,0.00,0.000,6,0.000,0.051,2657,2274,3866
$GC,7031,-0.64,-194.7,856.6,-11.6,1073,7032,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2274,3866
$GC,7348,-0.64,-194.7,893.3,-11.3,1103,7353,0.00,2.85,0.00,0.000,4,0.000,0.070,2657,842,3866
$GC,7376,-0.68,-194.7,896.4,-11.7,1105,7380,0.00,2.80,0.00,0.000,6,0.000,0.048,2657,2290,3865
$GC,7700,-0.68,-194.7,933.3,-11.1,1135,7701,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2291,3865
$GC,8018,-0.68,-194.7,967.9,-10.3,1165,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2291,3865
$STATE,8229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8229,begin apogee
$GC,8233,-0.19,0.0,990.1,10.6,1185,8433,0.57,0.00,194.57,1.451,6,0.116,0.000,2756,2042,3071
$STATE,8433,end apogee,CONTROL_FINISHED_OK
$STATE,8433,begin climb
$GC,8435,0.82,194.7,999.0,0.0,1205,8644,1.23,3.17,198.90,1.373,4,0.089,0.058,2972,3462,2278
$GC,8716,0.69,194.7,977.8,12.8,1231,8724,0.15,3.00,0.00,0.000,6,0.135,0.051,2953,2054,2275
$GC,9041,0.57,194.7,937.6,12.6,1262,9046,0.17,2.97,0.00,0.000,4,0.132,0.071,2923,638,2272
$GC,9159,0.53,194.7,924.8,10.2,1272,9164,0.00,2.85,0.00,0.000,6,0.000,0.045,2924,2070,2272
$GC,9484,0.52,226.5,894.3,8.9,1302,9525,0.00,2.92,32.05,1.404,4,0.000,0.059,2924,3459,2145
$GC,9571,0.52,226.5,885.9,10.4,1310,9575,0.00,2.80,0.00,0.000,6,0.000,0.049,2924,2080,2144
$GC,9895,0.52,226.5,855.9,10.3,1340,9900,0.00,2.80,0.00,0.000,4,0.000,0.055,2977,3462,2143
$GC,9915,0.52,226.5,853.6,10.6,1341,9922,0.00,2.78,0.00,0.000,6,0.000,0.050,2924,2090,2142
$GC,10241,0.56,255.5,822.2,9.0,1372,10276,0.00,2.85,29.38,1.381,4,0.000,0.056,2946,3469,2029
$GC,10314,0.56,255.5,815.1,10.2,1378,10321,0.00,2.78,0.00,0.000,6,0.000,0.049,2924,2114,2026
$GC,10640,0.58,270.8,784.1,9.5,1409,10663,0.00,2.83,16.05,1.368,4,0.000,0.055,2925,3465,1966
$GC,10787,0.58,270.8,769.9,10.2,1422,10793,0.00,2.72,0.00,0.000,6,0.000,0.050,2923,2111,1965
$GC,11112,0.61,298.3,740.6,9.1,1453,11146,0.00,2.80,28.70,1.267,4,0.000,0.055,2924,3465,1854
$GC,11157,0.67,345.7,736.4,8.4,1457,11216,0.12,2.72,49.22,1.228,6,0.071,0.048,2948,2126,1660
$GC,11533,0.62,345.7,691.2,12.0,1493,11537,0.00,2.72,0.00,0.000,4,0.000,0.054,2972,3469,1654
$GC,11632,0.62,345.7,679.3,11.8,1501,11639,0.00,2.70,0.00,0.000,6,0.000,0.048,2948,2131,1653
$GC,11958,0.57,345.7,640.2,12.6,1532,11963,0.15,3.03,0.00,0.000,4,0.124,0.067,2922,642,1652
$GC,11990,0.62,345.7,636.3,10.1,1534,11997,0.00,2.88,0.00,0.000,6,0.000,0.041,2922,2128,1652
$GC,12316,0.72,384.2,607.2,8.7,1565,12357,0.17,0.00,37.53,1.237,6,0.061,0.000,2958,2129,1504
$GC,12688,0.65,384.2,554.9,14.5,1626,12695,0.00,3.03,0.00,0.000,4,0.000,0.064,2958,641,1499
$GC,12718,0.60,384.2,550.6,14.4,1631,12725,0.17,2.88,0.00,0.000,6,0.116,0.040,2931,2128,1498
$GC,13060,0.64,417.7,519.1,8.8,1692,13100,0.00,0.00,33.72,1.166,6,0.000,0.000,2931,2128,1368
$GC,13436,0.74,448.7,485.1,8.9,1759,13478,0.15,3.15,32.33,1.098,4,0.063,0.064,2966,636,1240
$GC,13501,0.74,448.7,476.4,14.8,1770,13507,0.00,2.90,0.00,0.000,6,0.000,0.038,2966,2121,1238
$GC,13843,0.66,448.7,420.4,15.8,1831,13850,0.15,3.03,0.00,0.000,4,0.130,0.061,2941,635,1236
$GC,13872,0.66,448.7,416.2,13.4,1836,13881,0.00,2.85,0.00,0.000,6,0.000,0.038,2941,2099,1235
$GC,14219,0.71,448.7,381.0,10.0,1897,14224,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2100,1235
$GC,14559,0.75,448.7,344.3,10.9,1958,14568,0.12,2.97,0.00,0.000,4,0.068,0.062,2968,635,1234
$GC,14573,0.75,448.7,342.6,11.5,1960,14581,0.00,2.78,0.00,0.000,6,0.000,0.037,2968,2081,1233
$GC,14907,0.66,448.7,286.0,17.7,2021,14913,0.15,2.70,0.00,0.000,4,0.131,0.054,2946,3469,1233
$GC,14922,0.58,448.7,283.3,17.7,2023,14928,0.12,2.70,0.00,0.000,6,0.124,0.042,2930,2076,1233
$GC,15251,0.75,492.7,253.2,8.5,2084,15304,0.17,2.95,44.15,1.002,4,0.058,0.064,2969,635,1062
$GC,15322,0.75,492.7,244.0,15.4,2095,15328,0.00,2.83,0.00,0.000,6,0.000,0.037,2969,2090,1060
$GC,15654,0.68,492.7,186.3,17.9,2156,15662,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2090,1057
$GC,15987,0.61,492.7,127.6,16.9,2217,15994,0.17,2.90,0.00,0.000,4,0.125,0.061,2938,645,1056
$GC,16014,0.61,492.7,123.5,14.9,2221,16021,0.00,2.75,0.00,0.000,6,0.000,0.038,2939,2084,1055
$GC,16215,0.76,522.2,105.8,9.0,2258,16254,0.12,2.78,30.52,0.919,4,0.062,0.049,2966,3461,941
$GC,16265,0.80,522.2,99.9,12.6,2266,16273,0.00,2.80,0.00,0.000,6,0.000,0.044,2967,2063,941
$GC,16470,0.80,522.2,70.5,13.5,2303,16476,0.00,2.88,0.00,0.000,4,0.000,0.066,2966,644,938
$GC,16508,0.85,522.2,64.7,13.6,2310,16516,0.00,2.75,0.00,0.000,6,0.000,0.038,2968,2058,937
$GC,16710,0.85,522.2,36.3,15.4,2347,16718,0.00,2.78,0.00,0.000,4,0.000,0.051,2966,3453,937
$GC,16725,0.85,522.2,34.0,14.0,2349,16733,0.00,2.80,0.00,0.000,6,0.000,0.044,2970,2042,936
$GC,16860,0.85,522.2,15.5,12.9,2374,16868,0.00,2.85,0.00,0.000,4,0.000,0.066,2967,642,936
$GC,16886,0.85,522.2,11.8,13.7,2378,16894,0.00,2.67,0.00,0.000,6,0.000,0.037,2968,2028,936
$STATE,16972,end climb,SURFACE_DEPTH_REACHED
$STATE,16972,begin surface coast
$FINISH,0.0,1.025151
$STATE,16995,end surface coast,CONTROL_FINISHED_OK
$STATE,16995,begin surface
$SM_CCo,17070,0.00,0.000,0,0,934,523.96
$SM_GC,0.66,7.25,0.00,0.00,0.037,0.000,0.000,1464,2261,934,-6.09,0.03,523.96
$IRIDIUM_FIX,5902.83,-2117.44,090797,080814
$TT8_MAMPS,0.020709
$HUMID,1661
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,12.30
$XPDR_PINGS,304
$24V_AH,19.7,26.114
$10V_AH,9.8,17.214
$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,21.550,165.175,727.125,0.000,0.000,23.709,47.987,277.318,76.000,0.000,0.000,17.287,3625.595,7232.864,818.754,5216.930,623.548,0.000,2768.998,0.000,5229.468,0.000,0.468
$DEVICE_MAMPS,258.479,72.098,1451.164,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1740.024,1740.402,1055.878,948.658,2445.528,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,180554,2398
$CAP_FILE_SIZE,193485,0
$CFSIZE,260165632,251744256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140408,185502,5933.368,-2111.771,37,1.4,37,-14.8