version: 66.03
glider: 143
mission: 4
dive: 187
start: 5 11 108 22 12 22
data:
$ID,143
$MISSION,4
$DIVE,187
$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,-8780.4688
$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,25
$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
$GPS1,220456,6130.506,-2556.727,40,1.1,40,-18.4
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-52.6
$GPS2,221203,6130.522,-2556.726,11,1.1,11,-18.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6130.522,-2551.574
$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,108.4,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.82,-194.7,0.0,0.0,0,128,0.00,0.00,-98.18,0.000,2,0.000,0.000,1467,2308,3501
$GC,130,-0.82,-194.7,3.6,-6.1,18,155,9.77,2.85,-8.38,0.000,4,0.247,0.074,2614,3696,3866
$GC,242,-0.75,-194.7,25.4,-15.3,37,249,0.12,2.72,0.00,0.000,6,0.140,0.040,2631,2282,3867
$GC,386,-0.70,-194.7,45.0,-13.6,62,393,0.00,2.72,0.00,0.000,4,0.000,0.054,2631,888,3868
$GC,410,-0.66,-194.7,48.6,-14.5,66,417,0.15,2.70,0.00,0.000,6,0.140,0.048,2653,2268,3867
$GC,553,-0.66,-194.7,66.6,-12.5,91,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2267,3868
$GC,895,-0.66,-194.7,108.2,-11.9,152,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2267,3867
$GC,1239,-0.66,-194.7,152.0,-12.5,213,1245,0.00,2.83,0.00,0.000,4,0.000,0.058,2653,3707,3867
$GC,1273,-0.66,-194.7,156.6,-13.0,219,1279,0.00,2.78,0.00,0.000,6,0.000,0.041,2653,2270,3868
$GC,1618,-0.66,-194.7,197.5,-12.0,280,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2269,3868
$GC,1960,-0.66,-194.7,239.1,-11.5,341,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2268,3868
$GC,2302,-0.66,-194.7,279.3,-11.8,402,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2268,3868
$GC,2644,-0.66,-194.7,321.0,-11.9,463,2650,0.00,2.88,0.00,0.000,4,0.000,0.057,2653,3708,3868
$GC,2673,-0.66,-194.7,324.4,-12.2,468,2680,0.00,2.75,0.00,0.000,6,0.000,0.042,2653,2284,3868
$GC,3016,-0.66,-194.7,363.2,-11.2,519,3020,0.00,2.72,0.00,0.000,4,0.000,0.055,2653,889,3868
$GC,3043,-0.66,-194.7,366.4,-12.1,521,3048,0.00,2.72,0.00,0.000,6,0.000,0.045,2653,2299,3868
$GC,3368,-0.66,-194.7,402.4,-11.0,551,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2299,3867
$GC,3687,-0.66,-194.7,438.8,-11.4,581,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2299,3868
$GC,4004,-0.66,-194.7,474.6,-11.1,611,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2299,3868
$GC,4324,-0.66,-194.7,511.5,-11.4,641,4328,0.00,2.80,0.00,0.000,4,0.000,0.056,2653,881,3867
$GC,4351,-0.66,-194.7,514.7,-11.7,643,4355,0.00,2.70,0.00,0.000,6,0.000,0.044,2653,2284,3868
$GC,4677,-0.66,-194.7,551.3,-11.2,673,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2284,3868
$GC,4993,-0.66,-194.7,586.8,-11.4,703,4998,0.00,2.78,0.00,0.000,4,0.000,0.058,2653,888,3868
$GC,5022,-0.66,-194.7,590.1,-12.4,705,5026,0.00,2.67,0.00,0.000,6,0.000,0.044,2653,2273,3867
$GC,5339,-0.66,-194.7,625.0,-10.8,724,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2273,3868
$GC,5648,-0.66,-194.7,658.6,-11.1,739,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2274,3867
$GC,5957,-0.66,-194.7,690.7,-10.2,754,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2275,3867
$GC,6267,-0.66,-194.7,725.0,-11.7,769,6271,0.00,2.83,0.00,0.000,4,0.000,0.069,2653,894,3866
$GC,6293,-0.66,-194.7,728.2,-11.8,770,6297,0.00,2.70,0.00,0.000,6,0.000,0.049,2653,2270,3866
$GC,6614,-0.66,-194.7,766.3,-12.0,786,6619,0.00,2.83,0.00,0.000,4,0.000,0.067,2653,886,3867
$GC,6637,-0.66,-194.7,769.0,-11.9,787,6642,0.00,2.70,0.00,0.000,6,0.000,0.048,2653,2266,3866
$GC,6958,-0.66,-194.7,808.9,-12.5,803,6962,0.00,2.95,0.00,0.000,4,0.000,0.067,2653,3711,3867
$GC,6978,-0.66,-194.7,811.7,-13.3,804,6983,0.00,2.88,0.00,0.000,6,0.000,0.050,2653,2275,3866
$GC,7305,-0.66,-194.7,851.2,-12.1,820,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2275,3866
$GC,7614,-0.66,-194.7,887.0,-11.2,835,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2275,3866
$GC,7923,-0.66,-194.7,920.4,-10.8,850,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2275,3865
$GC,8233,-0.66,-194.7,952.8,-10.3,865,8237,0.00,2.95,0.00,0.000,4,0.000,0.066,2653,3711,3865
$GC,8253,-0.66,-194.7,955.2,-11.2,866,8258,0.00,2.85,0.00,0.000,6,0.000,0.050,2653,2275,3865
$GC,8580,-0.66,-194.7,989.8,-11.1,882,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2275,3865
$STATE,8599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8599,begin apogee
$GC,8604,-0.19,0.0,992.1,11.3,883,8808,0.60,0.00,200.15,1.432,6,0.121,0.000,2754,2041,3071
$STATE,8808,end apogee,CONTROL_FINISHED_OK
$STATE,8809,begin climb
$GC,8810,0.82,194.7,1001.8,0.0,893,9028,1.27,3.22,206.90,1.361,4,0.090,0.070,2972,648,2277
$GC,9140,0.70,194.7,973.6,13.2,908,9147,0.00,2.92,0.00,0.000,6,0.000,0.046,2972,2058,2273
$GC,9456,0.57,194.7,932.1,13.1,924,9461,0.28,2.90,0.00,0.000,4,0.138,0.062,2928,3466,2271
$GC,9505,0.57,194.7,926.3,10.8,926,9510,0.00,2.85,0.00,0.000,6,0.000,0.051,2928,2060,2271
$GC,9821,0.53,196.9,895.1,9.9,941,9826,0.00,2.85,0.00,0.000,4,0.000,0.060,2928,3461,2271
$GC,9876,0.53,196.9,889.2,11.1,943,9883,0.00,2.78,0.00,0.000,6,0.000,0.051,2928,2074,2270
$GC,10192,0.53,196.9,858.6,10.0,959,10197,0.00,2.80,0.00,0.000,4,0.000,0.059,2928,3461,2270
$GC,10235,0.53,196.9,853.9,11.7,961,10239,0.00,2.70,0.00,0.000,6,0.000,0.050,2928,2100,2270
$GC,10562,0.53,196.9,821.9,10.7,977,10566,0.00,2.75,0.00,0.000,4,0.000,0.059,2928,3461,2269
$GC,10611,0.53,196.9,816.2,11.2,979,10615,0.00,2.65,0.00,0.000,6,0.000,0.049,2928,2123,2269
$GC,10926,0.57,229.1,785.8,8.9,994,10967,0.00,2.78,33.78,1.351,4,0.000,0.059,2928,3459,2136
$GC,11112,0.57,233.7,768.2,9.8,1002,11124,0.00,2.67,6.03,1.088,6,0.000,0.050,2928,2128,2118
$GC,11434,0.61,263.0,738.8,9.0,1018,11470,0.00,2.78,30.67,1.295,4,0.000,0.058,2928,3466,1997
$GC,11480,0.64,292.0,734.3,9.0,1019,11516,0.00,2.70,30.73,1.220,6,0.000,0.048,2928,2133,1880
$GC,11838,0.68,321.5,701.5,9.0,1037,11874,0.00,2.75,29.90,1.258,4,0.000,0.057,2928,3461,1760
$GC,11988,0.70,339.0,687.3,9.4,1043,12013,0.12,2.65,19.58,1.239,6,0.074,0.049,2951,2139,1689
$GC,12335,0.70,339.0,645.6,12.3,1060,12340,0.00,3.08,0.00,0.000,4,0.000,0.067,2952,633,1685
$GC,12384,0.70,339.0,639.2,11.6,1062,12388,0.00,2.95,0.00,0.000,6,0.000,0.044,2951,2145,1684
$GC,12705,0.70,339.0,598.3,13.1,1078,12706,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2145,1684
$GC,13023,0.70,339.0,556.2,12.9,1108,13028,0.00,3.05,0.00,0.000,4,0.000,0.064,2952,635,1683
$GC,13062,0.70,339.0,551.0,12.9,1111,13067,0.00,2.90,0.00,0.000,6,0.000,0.043,2952,2138,1683
$GC,13388,0.70,339.0,508.8,12.9,1141,13389,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2138,1683
$GC,13705,0.70,339.0,466.9,13.0,1171,13710,0.00,3.03,0.00,0.000,4,0.000,0.062,2951,635,1683
$GC,13743,0.70,339.0,462.0,12.6,1174,13748,0.00,2.85,0.00,0.000,6,0.000,0.041,2952,2118,1683
$GC,14068,0.70,339.0,422.2,12.1,1204,14073,0.00,2.65,0.00,0.000,4,0.000,0.053,2951,3471,1683
$GC,14096,0.70,339.0,418.7,11.9,1206,14101,0.00,2.65,0.00,0.000,6,0.000,0.045,2951,2110,1682
$GC,14420,0.70,339.0,381.6,11.1,1236,14425,0.00,2.92,0.00,0.000,4,0.000,0.062,2951,637,1682
$GC,14447,0.70,339.0,378.5,10.8,1238,14452,0.00,2.85,0.00,0.000,6,0.000,0.041,2952,2126,1682
$GC,14775,0.70,339.0,341.4,11.7,1274,14780,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2126,1682
$GC,15116,0.70,339.0,302.1,11.9,1335,15122,0.00,3.00,0.00,0.000,4,0.000,0.062,2951,634,1682
$GC,15145,0.70,339.0,298.8,11.6,1340,15151,0.00,2.83,0.00,0.000,6,0.000,0.041,2952,2113,1681
$GC,15488,0.70,339.0,258.4,11.5,1401,15494,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2113,1682
$GC,15831,0.70,339.0,216.7,12.0,1462,15836,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2113,1682
$GC,16173,0.70,339.0,175.9,11.5,1523,16178,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2113,1682
$GC,16515,0.70,339.0,139.5,11.2,1584,16522,0.00,2.95,0.00,0.000,4,0.000,0.062,2951,641,1682
$GC,16547,0.70,339.0,136.1,11.4,1589,16553,0.00,2.80,0.00,0.000,6,0.000,0.041,2952,2103,1682
$GC,16890,0.70,339.0,99.5,10.4,1650,16897,0.00,2.67,0.00,0.000,4,0.000,0.054,2951,3469,1682
$GC,16915,0.70,339.0,96.9,10.5,1654,16922,0.00,2.70,0.00,0.000,6,0.000,0.044,2952,2074,1682
$GC,17260,0.72,354.8,58.7,9.5,1715,17282,0.00,2.85,15.60,0.858,4,0.000,0.063,2952,644,1623
$GC,17299,0.76,386.1,55.2,8.9,1722,17338,0.00,2.78,30.75,0.813,6,0.000,0.041,2952,2094,1497
$GC,17675,0.76,386.1,14.6,11.3,1789,17682,0.00,2.70,0.00,0.000,4,0.000,0.053,2951,3462,1492
$GC,17706,0.80,386.1,11.2,12.1,1794,17713,0.00,2.67,0.00,0.000,6,0.000,0.040,2958,2076,1492
$STATE,17784,end climb,SURFACE_DEPTH_REACHED
$STATE,17784,begin surface coast
$FINISH,0.3,1.027208
$STATE,17803,end surface coast,CONTROL_FINISHED_OK
$STATE,17803,begin surface
$SM_CCo,17879,0.00,0.000,0,0,1490,387.82
$SM_GC,0.87,7.35,0.00,0.00,0.045,0.000,0.000,1469,2295,1490,-6.08,0.00,387.82
$IRIDIUM_FIX,6103.81,-2601.68,050897,171733
$TT8_MAMPS,0.021476
$HUMID,1734
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,16.70
$XPDR_PINGS,153
$24V_AH,19.2,62.528
$10V_AH,9.8,44.582
$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,19.675,163.825,604.075,0.000,0.000,26.020,36.226,249.639,38.250,0.000,0.000,12.819,2874.136,10897.429,724.318,3211.272,584.464,0.000,2259.174,0.000,3191.790,0.000,0.467
$DEVICE_MAMPS,246.974,74.399,1431.989,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1357.707,1273.766,679.951,947.016,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129575,1811
$CAP_FILE_SIZE,167137,0
$CFSIZE,260165632,238735360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120508,031137,6130.712,-2550.425,36,1.7,41,-18.4