version: 66.03
glider: 143
mission: 4
dive: 62
start: 4 16 108 10 49 34
data:
$ID,143
$MISSION,4
$DIVE,62
$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,235
$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,-5197.9854
$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,2295
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$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
$GPS1,103458,5940.517,-2205.428,42,2.3,61,-15.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-35.9
$GPS2,104917,5940.673,-2205.755,14,3.4,33,-15.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5934.479,-2210.235
$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,250.4,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,122,0.00,0.00,-94.10,0.000,2,0.000,0.000,1467,2317,3731
$GC,124,-0.82,-194.7,4.1,-9.3,13,141,9.85,0.00,-2.75,0.000,6,0.252,0.000,2613,2318,3867
$GC,268,-0.67,-194.7,39.4,-19.5,39,275,0.20,0.00,0.00,0.000,6,0.153,0.000,2645,2318,3869
$GC,405,-0.62,-194.7,65.3,-16.6,64,412,0.12,0.00,0.00,0.000,6,0.153,0.000,2661,2318,3869
$GC,608,-0.62,-194.7,94.6,-10.6,101,614,0.00,2.85,0.00,0.000,4,0.000,0.053,2660,875,3869
$GC,656,-0.68,-194.7,98.6,-6.6,109,663,0.00,2.72,0.00,0.000,6,0.000,0.042,2661,2285,3869
$GC,856,-0.68,-194.7,123.9,-12.6,146,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2285,3869
$GC,1060,-0.68,-194.7,145.2,-11.4,183,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2285,3869
$GC,1260,-0.68,-194.7,167.5,-10.7,220,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2285,3869
$GC,1593,-0.68,-194.7,206.5,-11.3,281,1599,0.00,2.75,0.00,0.000,4,0.000,0.053,2660,884,3869
$GC,1629,-0.68,-194.7,210.2,-11.0,287,1635,0.00,2.67,0.00,0.000,6,0.000,0.041,2661,2277,3869
$GC,1959,-0.68,-194.7,250.2,-12.5,348,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2277,3869
$GC,2292,-0.68,-194.7,291.9,-12.5,409,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2277,3869
$GC,2620,-0.68,-194.7,331.2,-11.0,470,2628,0.00,2.75,0.00,0.000,4,0.000,0.053,2660,887,3869
$GC,2652,-0.68,-194.7,334.6,-11.5,475,2658,0.00,2.65,0.00,0.000,6,0.000,0.041,2662,2275,3869
$GC,2988,-0.68,-194.7,372.6,-11.4,536,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2275,3869
$GC,3328,-0.68,-194.7,414.1,-12.9,597,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2275,3869
$GC,3670,-0.68,-194.7,457.2,-12.7,658,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2275,3869
$GC,4009,-0.68,-194.7,498.2,-11.4,719,4015,0.00,2.72,0.00,0.000,4,0.000,0.054,2660,882,3869
$GC,4042,-0.68,-194.7,502.0,-11.7,725,4049,0.00,2.65,0.00,0.000,6,0.000,0.041,2661,2278,3869
$GC,4384,-0.68,-194.7,538.6,-10.4,786,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2278,3869
$GC,4725,-0.68,-194.7,576.7,-11.0,847,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2278,3869
$GC,5059,-0.68,-194.7,615.6,-11.8,896,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2278,3869
$GC,5377,-0.68,-194.7,653.0,-11.7,926,5382,0.00,2.83,0.00,0.000,4,0.000,0.061,2660,3698,3869
$GC,5409,-0.68,-194.7,656.9,-11.6,928,5416,0.00,2.80,0.00,0.000,6,0.000,0.049,2660,2264,3869
$GC,5735,-0.68,-194.7,693.8,-11.7,959,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2264,3869
$GC,6054,-0.68,-194.7,730.9,-12.4,989,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2264,3868
$GC,6371,-0.68,-194.7,768.9,-12.0,1019,6376,0.00,2.90,0.00,0.000,4,0.000,0.064,2660,3704,3868
$GC,6414,-0.72,-194.7,774.2,-12.1,1022,6421,0.00,2.80,0.00,0.000,6,0.000,0.052,2660,2276,3868
$GC,6739,-0.72,-194.7,811.0,-11.5,1053,6744,0.00,2.80,0.00,0.000,4,0.000,0.070,2660,876,3868
$GC,6767,-0.77,-194.7,814.1,-11.9,1055,6772,0.15,2.70,0.00,0.000,6,0.059,0.049,2627,2271,3868
$GC,7091,-0.72,-194.7,856.1,-12.8,1085,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2272,3867
$GC,7410,-0.67,-194.7,896.8,-13.0,1115,7415,0.15,2.90,0.00,0.000,4,0.129,0.065,2653,3712,3867
$GC,7442,-0.67,-194.7,900.9,-12.1,1117,7449,0.00,2.85,0.00,0.000,6,0.000,0.051,2653,2261,3867
$GC,7767,-0.67,-194.7,937.3,-10.8,1148,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2260,3867
$GC,8085,-0.67,-194.7,971.6,-10.5,1178,8090,0.00,2.90,0.00,0.000,4,0.000,0.064,2654,3705,3866
$GC,8123,-0.67,-194.7,975.6,-11.1,1181,8128,0.00,2.80,0.00,0.000,6,0.000,0.051,2653,2273,3866
$STATE,8275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8275,begin apogee
$GC,8280,-0.19,0.0,990.8,9.7,1195,8481,0.60,0.00,196.68,1.498,6,0.123,0.000,2755,2035,3071
$STATE,8481,end apogee,CONTROL_FINISHED_OK
$STATE,8481,begin climb
$GC,8483,0.82,194.7,997.2,0.0,1215,8697,1.25,3.20,200.18,1.374,4,0.087,0.071,2974,647,2276
$GC,8788,0.69,194.7,968.5,13.7,1244,8793,0.15,2.92,0.00,0.000,6,0.139,0.044,2954,2053,2272
$GC,9112,0.57,194.7,926.8,12.7,1274,9117,0.17,2.92,0.00,0.000,4,0.137,0.060,2926,3462,2271
$GC,9162,0.57,194.7,921.2,10.7,1278,9166,0.00,2.85,0.00,0.000,6,0.000,0.052,2926,2072,2270
$GC,9487,0.52,195.3,888.6,10.0,1308,9491,0.00,2.85,0.00,0.000,4,0.000,0.058,2926,3464,2269
$GC,9536,0.52,195.3,883.5,10.0,1312,9540,0.00,2.80,0.00,0.000,6,0.000,0.051,2926,2077,2270
$GC,9861,0.51,229.4,854.5,8.8,1342,9902,0.00,0.00,34.45,1.476,6,0.000,0.000,2926,2076,2135
$GC,10220,0.51,229.4,819.7,10.2,1376,10224,0.00,2.85,0.00,0.000,4,0.000,0.058,2926,3469,2132
$GC,10292,0.51,229.4,812.1,10.5,1382,10297,0.00,2.78,0.00,0.000,6,0.000,0.052,2926,2098,2131
$GC,10617,0.55,260.1,781.6,8.9,1412,10651,0.00,0.00,31.30,1.397,6,0.000,0.000,2926,2096,2010
$GC,10964,0.55,260.1,748.1,10.0,1445,10968,0.00,2.80,0.00,0.000,4,0.000,0.058,2926,3470,2006
$GC,11006,0.55,260.1,743.6,10.4,1448,11013,0.00,2.78,0.00,0.000,6,0.000,0.051,2926,2111,2005
$GC,11333,0.59,293.2,712.2,8.9,1479,11372,0.00,0.00,33.90,1.350,6,0.000,0.000,2926,2110,1874
$GC,11690,0.63,324.5,680.7,8.9,1513,11732,0.00,2.88,31.98,1.295,4,0.000,0.056,2926,3462,1746
$GC,11755,0.71,352.1,675.0,9.0,1519,11790,0.15,2.75,29.05,1.169,6,0.067,0.049,2955,2120,1635
$GC,12109,0.65,352.1,629.2,13.2,1552,12114,0.00,3.05,0.00,0.000,4,0.000,0.069,2955,640,1628
$GC,12140,0.65,352.1,624.7,13.1,1554,12147,0.00,2.92,0.00,0.000,6,0.000,0.042,2954,2131,1627
$GC,12476,0.59,352.1,581.3,12.9,1597,12482,0.15,0.00,0.00,0.000,6,0.123,0.000,2929,2131,1627
$GC,12816,0.63,382.5,547.4,8.9,1658,12850,0.00,0.00,30.35,1.284,6,0.000,0.000,2929,2132,1510
$GC,13184,0.71,401.4,512.7,9.3,1724,13215,0.12,3.15,20.33,1.217,4,0.067,0.065,2955,634,1433
$GC,13232,0.71,401.4,506.8,12.9,1732,13238,0.00,2.92,0.00,0.000,6,0.000,0.039,2955,2130,1433
$GC,13573,0.66,401.4,460.0,14.7,1793,13578,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2130,1431
$GC,13911,0.66,401.4,411.3,13.8,1854,13918,0.00,3.00,0.00,0.000,4,0.000,0.062,2955,638,1430
$GC,13946,0.66,401.4,406.4,13.3,1860,13954,0.00,2.88,0.00,0.000,6,0.000,0.038,2955,2120,1430
$GC,14291,0.66,401.4,358.3,13.9,1921,14296,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2120,1430
$GC,14621,0.66,401.4,312.0,12.8,1982,14629,0.00,3.00,0.00,0.000,4,0.000,0.062,2955,639,1430
$GC,14653,0.66,401.4,307.8,13.5,1987,14659,0.00,2.80,0.00,0.000,6,0.000,0.038,2955,2110,1429
$GC,14984,0.66,401.4,262.8,12.9,2048,14991,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2110,1429
$GC,15317,0.66,401.4,218.0,12.9,2109,15324,0.00,2.92,0.00,0.000,4,0.000,0.061,2955,635,1429
$GC,15342,0.66,401.4,214.6,14.6,2113,15348,0.00,2.78,0.00,0.000,6,0.000,0.038,2955,2099,1429
$GC,15671,0.74,464.1,176.7,7.8,2174,15742,0.00,3.08,61.85,0.986,4,0.000,0.062,2955,637,1178
$GC,15756,0.74,464.1,169.0,10.5,2187,15763,0.00,2.80,0.00,0.000,6,0.000,0.037,2955,2069,1177
$GC,16086,0.74,464.1,122.6,12.7,2248,16093,0.00,2.78,0.00,0.000,4,0.000,0.050,2955,3458,1173
$GC,16110,0.74,464.1,119.2,14.2,2252,16118,0.00,2.80,0.00,0.000,6,0.000,0.044,2955,2055,1173
$GC,16314,0.74,464.1,93.1,14.6,2289,16321,0.00,2.85,0.00,0.000,4,0.000,0.063,2955,637,1172
$GC,16350,0.80,464.1,88.2,14.3,2295,16357,0.00,2.75,0.00,0.000,6,0.000,0.038,2955,2072,1171
$GC,16553,0.84,464.1,67.7,12.5,2332,16561,0.12,0.00,0.00,0.000,6,0.067,0.000,2983,2071,1171
$GC,16755,0.73,464.1,33.2,15.1,2369,16764,0.15,2.90,0.00,0.000,4,0.135,0.060,2957,644,1171
$GC,16782,0.66,464.1,29.4,14.5,2373,16790,0.00,2.72,0.00,0.000,6,0.000,0.038,2958,2053,1170
$GC,16916,0.66,464.1,16.5,12.1,2398,16924,0.00,2.78,0.00,0.000,4,0.000,0.048,2957,3466,1170
$GC,16942,0.66,464.1,13.0,13.4,2402,16950,0.00,2.83,0.00,0.000,6,0.000,0.046,2959,2044,1170
$STATE,17033,end climb,SURFACE_DEPTH_REACHED
$STATE,17033,begin surface coast
$FINISH,0.6,1.027326
$STATE,17062,end surface coast,CONTROL_FINISHED_OK
$STATE,17062,begin surface
$SM_CCo,17137,0.00,0.000,0,0,1168,466.56
$SM_GC,0.38,7.35,0.00,0.00,0.049,0.000,0.000,1471,2316,1168,-6.08,0.59,466.56
$IRIDIUM_FIX,5919.67,-2204.71,110797,101017
$TT8_MAMPS,0.021476
$HUMID,1635
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,12.90
$XPDR_PINGS,342
$24V_AH,19.6,28.769
$10V_AH,9.8,19.476
$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,20.700,143.075,670.050,0.000,0.000,84.020,117.463,387.477,85.500,0.000,0.000,35.742,3685.589,7354.677,763.043,5305.604,861.486,0.000,2692.104,0.000,5287.085,0.000,0.468
$DEVICE_MAMPS,251.576,70.564,1497.951,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1762.332,1754.938,1066.341,962.423,2501.207,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,183410,2424
$CAP_FILE_SIZE,197327,0
$CFSIZE,260165632,250728448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160408,153631,5939.111,-2211.526,41,1.0,46,-15.4