version: 66.03
glider: 143
mission: 4
dive: 186
start: 5 11 108 17 12 4
data:
$ID,143
$MISSION,4
$DIVE,186
$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,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,90
$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,-8767.0205
$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,18
$R_STBD_OVSHOOT,28
$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
$GPS1,170455,6130.320,-2605.060,37,1.9,37,-18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-52.4
$GPS2,171145,6130.357,-2604.900,11,2.0,11,-18.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6130.357,-2559.748
$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,108.5,20000,-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,-194.7,0.0,0.0,0,116,0.00,0.00,-88.30,0.000,2,0.000,0.000,1466,2323,3422
$GC,119,-0.82,-194.7,3.4,-6.1,16,149,10.23,2.85,-10.55,0.000,4,0.257,0.071,2614,3699,3867
$GC,247,-0.73,-194.7,26.8,-17.0,38,254,0.15,2.72,0.00,0.000,6,0.137,0.040,2636,2288,3868
$GC,391,-0.68,-194.7,47.8,-14.9,63,397,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2288,3868
$GC,532,-0.63,-194.7,69.7,-16.0,88,539,0.15,2.75,0.00,0.000,4,0.151,0.053,2657,882,3868
$GC,569,-0.63,-194.7,75.1,-14.7,94,575,0.00,2.67,0.00,0.000,6,0.000,0.044,2660,2266,3868
$GC,913,-0.63,-194.7,121.8,-11.7,155,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2266,3868
$GC,1255,-0.63,-194.7,157.6,-10.5,216,1261,0.00,2.85,0.00,0.000,4,0.000,0.057,2657,3706,3868
$GC,1301,-0.63,-194.7,162.6,-11.1,224,1307,0.00,2.75,0.00,0.000,6,0.000,0.041,2657,2276,3869
$GC,1644,-0.63,-194.7,204.1,-12.6,285,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2273,3869
$GC,1986,-0.63,-194.7,246.9,-12.1,346,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2274,3869
$GC,2328,-0.63,-194.7,285.6,-10.9,407,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2274,3868
$GC,2672,-0.63,-194.7,324.9,-11.4,468,2678,0.00,2.72,0.00,0.000,4,0.000,0.056,2657,880,3868
$GC,2701,-0.63,-194.7,328.4,-11.6,473,2707,0.00,2.70,0.00,0.000,6,0.000,0.043,2656,2282,3868
$GC,3036,-0.63,-194.7,367.9,-12.0,520,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2282,3869
$GC,3356,-0.63,-194.7,407.3,-12.3,550,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2282,3868
$GC,3673,-0.63,-194.7,443.5,-11.2,580,3678,0.00,2.75,0.00,0.000,4,0.000,0.056,2657,886,3868
$GC,3705,-0.68,-194.7,447.3,-11.8,582,3712,0.00,2.67,0.00,0.000,6,0.000,0.043,2657,2276,3868
$GC,4032,-0.68,-194.7,483.5,-11.2,613,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2276,3868
$GC,4349,-0.68,-194.7,520.5,-11.4,643,4353,0.00,2.75,0.00,0.000,4,0.000,0.057,2657,887,3868
$GC,4376,-0.68,-194.7,523.6,-12.0,645,4381,0.00,2.65,0.00,0.000,6,0.000,0.043,2657,2265,3868
$GC,4702,-0.68,-194.7,559.8,-11.3,675,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2265,3868
$GC,5020,-0.68,-194.7,596.2,-11.4,705,5021,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2265,3868
$GC,5330,-0.68,-194.7,628.4,-9.7,722,5334,0.00,2.78,0.00,0.000,4,0.000,0.061,2657,881,3868
$GC,5357,-0.73,-194.7,631.0,-9.7,723,5361,0.00,2.67,0.00,0.000,6,0.000,0.044,2657,2263,3868
$GC,5672,-0.73,-194.7,660.7,-9.7,738,5676,0.00,2.90,0.00,0.000,4,0.000,0.062,2657,3702,3868
$GC,5704,-0.73,-194.7,663.9,-10.0,739,5710,0.00,2.83,0.00,0.000,6,0.000,0.048,2656,2266,3868
$GC,6019,-0.73,-194.7,697.6,-10.2,755,6021,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2266,3868
$GC,6328,-0.73,-194.7,727.4,-9.8,770,6333,0.00,2.80,0.00,0.000,4,0.000,0.071,2657,886,3868
$GC,6372,-0.79,-194.7,732.0,-10.5,772,6377,0.15,2.67,0.00,0.000,6,0.059,0.048,2625,2256,3867
$GC,6693,-0.74,-194.7,773.9,-12.8,788,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2257,3867
$GC,7002,-0.70,-194.7,813.2,-12.8,803,7007,0.12,2.95,0.00,0.000,4,0.132,0.065,2643,3704,3867
$GC,7046,-0.70,-194.7,818.4,-11.0,805,7050,0.00,2.85,0.00,0.000,6,0.000,0.051,2643,2273,3867
$GC,7366,-0.70,-194.7,851.3,-10.3,821,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2272,3867
$GC,7676,-0.70,-194.7,884.1,-10.5,836,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2272,3866
$GC,7985,-0.70,-194.7,917.3,-10.8,851,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2272,3866
$GC,8294,-0.70,-194.7,953.9,-12.2,866,8299,0.00,2.83,0.00,0.000,4,0.000,0.069,2643,877,3866
$GC,8326,-0.70,-194.7,957.8,-12.5,867,8333,0.00,2.72,0.00,0.000,6,0.000,0.049,2643,2269,3866
$STATE,8619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8619,begin apogee
$GC,8625,-0.19,0.0,991.1,11.3,882,8829,0.68,0.00,200.70,1.437,6,0.132,0.000,2753,2036,3071
$STATE,8829,end apogee,CONTROL_FINISHED_OK
$STATE,8830,begin climb
$GC,8832,0.82,194.7,999.3,0.0,892,9049,1.27,3.17,207.25,1.361,4,0.088,0.070,2971,650,2276
$GC,9139,0.70,194.7,975.2,12.3,906,9145,0.00,2.92,0.00,0.000,6,0.000,0.045,2972,2055,2273
$GC,9454,0.57,194.7,937.8,11.9,922,9460,0.28,2.90,0.00,0.000,4,0.135,0.061,2927,3465,2271
$GC,9498,0.57,194.7,932.7,10.2,924,9503,0.00,2.85,0.00,0.000,6,0.000,0.051,2927,2058,2271
$GC,9819,0.62,235.9,903.5,8.6,940,9868,0.00,2.95,41.60,1.377,4,0.000,0.060,2927,3467,2108
$GC,9908,0.63,247.5,895.3,9.6,944,9928,0.00,2.85,13.52,1.257,6,0.000,0.051,2927,2069,2060
$GC,10256,0.68,285.0,866.0,8.7,961,10300,0.00,2.92,38.72,1.350,4,0.000,0.060,2927,3461,1909
$GC,10334,0.72,322.3,859.0,8.7,964,10382,0.15,2.80,39.10,1.294,6,0.071,0.051,2955,2092,1757
$GC,10692,0.66,322.3,817.0,12.5,982,10697,0.00,2.83,0.00,0.000,4,0.000,0.060,2955,3471,1751
$GC,10724,0.66,322.3,812.3,12.7,983,10730,0.00,2.75,0.00,0.000,6,0.000,0.051,2956,2105,1750
$GC,11040,0.60,322.3,772.7,12.1,999,11042,0.15,0.00,0.00,0.000,6,0.135,0.000,2934,2104,1750
$GC,11349,0.62,333.5,742.3,9.6,1014,11370,0.00,2.83,11.98,1.262,4,0.000,0.058,2933,3468,1710
$GC,11393,0.63,347.1,737.9,9.5,1016,11415,0.00,2.67,15.68,1.187,6,0.000,0.050,2933,2130,1656
$GC,11724,0.66,368.7,706.7,9.3,1032,11753,0.00,3.12,23.02,1.278,4,0.000,0.070,2933,643,1567
$GC,11799,0.74,378.8,699.7,9.7,1035,11818,0.15,2.92,12.20,1.146,6,0.063,0.044,2964,2125,1525
$GC,12141,0.68,378.8,654.4,13.6,1052,12145,0.00,2.70,0.00,0.000,4,0.000,0.058,2963,3473,1522
$GC,12167,0.68,378.8,650.4,13.0,1053,12171,0.00,2.70,0.00,0.000,6,0.000,0.048,2964,2111,1521
$GC,12488,0.62,378.8,606.7,14.2,1069,12494,0.15,2.97,0.00,0.000,4,0.129,0.065,2938,640,1521
$GC,12510,0.62,378.8,603.6,13.5,1070,12515,0.00,2.88,0.00,0.000,6,0.000,0.043,2938,2127,1520
$GC,12839,0.62,378.8,568.3,10.7,1099,12841,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2127,1520
$GC,13159,0.63,387.3,536.2,9.7,1129,13170,0.00,0.00,9.57,1.097,6,0.000,0.000,2938,2127,1491
$GC,13489,0.63,387.3,501.3,10.8,1160,13494,0.00,3.03,0.00,0.000,4,0.000,0.064,2939,631,1490
$GC,13539,0.71,387.3,495.8,10.6,1164,13544,0.00,2.85,0.00,0.000,6,0.000,0.041,2938,2112,1489
$GC,13864,0.71,387.3,460.9,10.5,1194,13869,0.00,2.65,0.00,0.000,4,0.000,0.052,2938,3464,1489
$GC,13893,0.77,387.3,457.8,10.8,1196,13898,0.15,2.67,0.00,0.000,6,0.065,0.045,2971,2097,1489
$GC,14217,0.70,387.3,410.3,14.8,1226,14222,0.00,2.90,0.00,0.000,4,0.000,0.063,2971,643,1489
$GC,14256,0.70,387.3,404.8,14.0,1229,14260,0.00,2.80,0.00,0.000,6,0.000,0.042,2972,2103,1488
$GC,14582,0.63,387.3,359.4,14.3,1259,14587,0.17,2.67,0.00,0.000,4,0.129,0.051,2940,3465,1488
$GC,14614,0.67,387.3,355.2,10.5,1261,14620,0.00,2.67,0.00,0.000,6,0.000,0.044,2940,2092,1489
$GC,14955,0.72,393.1,323.4,9.8,1317,14971,0.00,2.95,7.22,0.913,4,0.000,0.063,2940,641,1468
$GC,14994,0.82,416.3,319.6,9.2,1324,15028,0.20,2.80,25.25,1.031,6,0.052,0.041,2986,2107,1373
$GC,15366,0.71,416.3,254.1,19.7,1390,15372,0.17,0.00,0.00,0.000,6,0.138,0.000,2958,2107,1369
$GC,15710,0.71,416.3,207.2,11.7,1451,15715,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2107,1368
$GC,16051,0.71,416.3,165.5,10.7,1512,16058,0.00,2.92,0.00,0.000,4,0.000,0.062,2957,644,1367
$GC,16094,0.77,416.3,161.3,10.3,1519,16100,0.00,2.80,0.00,0.000,6,0.000,0.041,2957,2105,1367
$GC,16437,0.77,416.3,120.7,11.4,1580,16443,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2105,1367
$GC,16781,0.77,416.3,77.6,12.3,1641,16787,0.00,2.95,0.00,0.000,4,0.000,0.063,2958,638,1367
$GC,16810,0.77,416.3,73.6,13.6,1646,16817,0.00,2.78,0.00,0.000,6,0.000,0.041,2957,2090,1367
$GC,17155,0.77,416.3,32.2,12.8,1707,17161,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2090,1367
$GC,17297,0.77,416.3,14.5,11.4,1732,17302,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2090,1367
$STATE,17402,end climb,SURFACE_DEPTH_REACHED
$STATE,17402,begin surface coast
$FINISH,0.4,1.027287
$STATE,17420,end surface coast,CONTROL_FINISHED_OK
$STATE,17420,begin surface
$SM_CCo,17497,0.00,0.000,0,0,1365,418.48
$SM_GC,0.92,7.22,0.00,0.00,0.044,0.000,0.000,1468,2304,1365,-6.08,0.25,418.48
$IRIDIUM_FIX,6108.28,-2609.69,050897,121213
$TT8_MAMPS,0.021476
$HUMID,1709
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,16.80
$XPDR_PINGS,121
$24V_AH,19.2,62.281
$10V_AH,9.9,44.447
$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,21.550,152.925,645.825,0.000,0.000,28.751,33.983,228.337,30.250,0.000,0.000,13.190,2784.115,10710.470,757.363,3082.021,557.562,0.000,2245.523,0.000,3061.586,0.000,0.467
$DEVICE_MAMPS,256.945,70.564,1436.591,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1326.464,1223.697,635.846,901.091,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123776,1754
$CAP_FILE_SIZE,164694,0
$CFSIZE,260165632,238833664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,110508,220456,6130.506,-2556.727,40,1.1,40,-18.4