version: 66.03
glider: 143
mission: 4
dive: 188
start: 5 12 108 3 18 23
data:
$ID,143
$MISSION,4
$DIVE,188
$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,-8794.4434
$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,23
$R_STBD_OVSHOOT,20
$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
$GPS1,031137,6130.712,-2550.425,36,1.7,41,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-51.0
$GPS2,031803,6130.711,-2550.395,11,1.6,11,-18.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6130.711,-2545.244
$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,25,-0.82,-194.7,0.0,0.0,0,116,0.00,0.00,-88.18,0.000,2,0.000,0.000,1468,2299,3394
$GC,119,-0.82,-194.7,3.2,-5.2,16,149,10.00,2.95,-11.45,0.000,4,0.249,0.076,2607,3704,3867
$GC,212,-0.72,-194.7,21.5,-17.8,32,219,0.20,2.72,0.00,0.000,6,0.144,0.040,2636,2292,3868
$GC,356,-0.67,-194.7,41.5,-13.7,57,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2289,3868
$GC,497,-0.63,-194.7,61.5,-13.1,82,504,0.15,0.00,0.00,0.000,6,0.149,0.000,2661,2289,3868
$GC,840,-0.63,-194.7,98.7,-11.6,143,846,0.00,2.75,0.00,0.000,4,0.000,0.054,2661,884,3868
$GC,863,-0.63,-194.7,101.5,-12.1,147,869,0.00,2.72,0.00,0.000,6,0.000,0.044,2661,2291,3868
$GC,1206,-0.63,-194.7,141.9,-11.3,208,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2291,3868
$GC,1550,-0.63,-194.7,180.9,-10.8,269,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2291,3868
$GC,1892,-0.63,-194.7,219.2,-11.1,330,1898,0.00,2.78,0.00,0.000,4,0.000,0.054,2661,884,3868
$GC,1927,-0.69,-194.7,223.1,-11.3,336,1933,0.00,2.70,0.00,0.000,6,0.000,0.044,2661,2284,3868
$GC,2272,-0.69,-194.7,262.8,-11.6,397,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2284,3868
$GC,2614,-0.69,-194.7,301.9,-11.4,458,2620,0.00,2.75,0.00,0.000,4,0.000,0.054,2662,890,3867
$GC,2638,-0.73,-194.7,304.4,-11.3,462,2644,0.00,2.67,0.00,0.000,6,0.000,0.044,2661,2275,3868
$GC,2981,-0.73,-194.7,341.6,-10.3,523,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2275,3868
$GC,3311,-0.73,-194.7,377.7,-11.7,561,3315,0.00,2.75,0.00,0.000,4,0.000,0.055,2662,882,3868
$GC,3343,-0.78,-194.7,381.8,-11.5,563,3350,0.17,2.67,0.00,0.000,6,0.056,0.043,2624,2271,3868
$GC,3668,-0.71,-194.7,431.7,-15.7,594,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2271,3868
$GC,3988,-0.65,-194.7,480.4,-14.8,624,3990,0.20,0.00,0.00,0.000,6,0.140,0.000,2653,2271,3868
$GC,4305,-0.65,-194.7,519.3,-12.3,654,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2271,3868
$GC,4623,-0.65,-194.7,558.4,-12.3,684,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2271,3868
$GC,4943,-0.65,-194.7,597.8,-12.6,714,4948,0.00,2.78,0.00,0.000,4,0.000,0.060,2655,880,3868
$GC,4969,-0.65,-194.7,601.4,-12.6,715,4974,0.00,2.70,0.00,0.000,6,0.000,0.044,2654,2263,3868
$GC,5291,-0.65,-194.7,639.3,-11.4,731,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2264,3868
$GC,5600,-0.65,-194.7,674.8,-11.5,746,5604,0.00,2.92,0.00,0.000,4,0.000,0.065,2653,3705,3867
$GC,5631,-0.65,-194.7,678.8,-12.1,747,5638,0.00,2.83,0.00,0.000,6,0.000,0.050,2653,2275,3867
$GC,5947,-0.65,-194.7,715.0,-11.2,763,5952,0.00,2.83,0.00,0.000,4,0.000,0.068,2652,878,3867
$GC,5986,-0.70,-194.7,719.4,-11.4,765,5991,0.00,2.72,0.00,0.000,6,0.000,0.048,2653,2272,3867
$GC,6311,-0.70,-194.7,755.8,-10.9,781,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2273,3867
$GC,6621,-0.70,-194.7,790.2,-10.7,796,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2275,3867
$GC,6930,-0.70,-194.7,822.1,-10.2,811,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2275,3867
$GC,7239,-0.70,-194.7,855.0,-10.8,826,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2276,3867
$GC,7548,-0.70,-194.7,889.3,-11.2,841,7553,0.00,2.83,0.00,0.000,4,0.000,0.067,2653,877,3866
$GC,7588,-0.76,-194.7,893.5,-11.2,843,7592,0.00,2.75,0.00,0.000,6,0.000,0.049,2653,2281,3866
$GC,7913,-0.76,-194.7,929.0,-10.9,859,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2281,3866
$GC,8222,-0.76,-194.7,961.4,-10.3,874,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2281,3865
$STATE,8509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8509,begin apogee
$GC,8515,-0.19,0.0,991.2,10.0,888,8718,0.62,0.00,200.43,1.434,6,0.128,0.000,2756,2033,3071
$STATE,8719,end apogee,CONTROL_FINISHED_OK
$STATE,8719,begin climb
$GC,8721,0.82,194.7,999.0,0.0,898,8939,1.25,3.20,206.95,1.362,4,0.087,0.071,2972,653,2277
$GC,9023,0.70,194.7,973.2,13.4,912,9028,0.00,2.92,0.00,0.000,6,0.000,0.046,2972,2050,2273
$GC,9339,0.56,194.7,933.9,12.4,927,9344,0.28,2.92,0.00,0.000,4,0.137,0.064,2927,3464,2271
$GC,9394,0.58,215.0,928.1,9.3,929,9422,0.00,2.83,20.90,1.375,6,0.000,0.053,2927,2071,2194
$GC,9730,0.63,251.5,899.2,8.7,946,9775,0.00,2.97,38.12,1.361,4,0.000,0.061,2927,3465,2045
$GC,9798,0.65,270.6,892.8,9.3,949,9823,0.00,2.85,20.15,1.273,6,0.000,0.051,2927,2076,1968
$GC,10138,0.69,303.0,862.6,8.9,966,10181,0.12,2.92,34.35,1.345,4,0.078,0.060,2950,3467,1835
$GC,10219,0.69,303.0,853.2,12.6,969,10226,0.00,2.83,0.00,0.000,6,0.000,0.052,2952,2086,1833
$GC,10535,0.63,303.0,815.6,12.6,985,10536,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2086,1831
$GC,10844,0.58,303.0,777.3,12.8,1000,10846,0.15,0.00,0.00,0.000,6,0.128,0.000,2928,2085,1830
$GC,11154,0.60,323.4,746.7,9.3,1015,11182,0.00,2.88,21.42,1.318,4,0.000,0.059,2928,3462,1751
$GC,11211,0.70,365.7,741.4,8.5,1017,11262,0.08,2.70,44.05,1.240,6,0.066,0.051,2948,2110,1580
$GC,11588,0.70,365.7,702.2,10.6,1036,11593,0.00,3.00,0.00,0.000,4,0.000,0.069,2947,641,1574
$GC,11620,0.70,365.7,698.6,10.4,1037,11626,0.00,2.88,0.00,0.000,6,0.000,0.044,2947,2108,1573
$GC,11935,0.70,365.7,664.2,11.4,1053,11940,0.00,2.70,0.00,0.000,4,0.000,0.058,2947,3461,1572
$GC,11975,0.70,365.7,659.8,11.0,1055,11979,0.00,2.70,0.00,0.000,6,0.000,0.049,2949,2099,1572
$GC,12300,0.70,365.7,624.4,11.0,1071,12305,0.00,2.95,0.00,0.000,4,0.000,0.068,2947,638,1571
$GC,12332,0.70,365.7,620.9,10.4,1072,12338,0.00,2.88,0.00,0.000,6,0.000,0.044,2948,2121,1571
$GC,12651,0.70,365.7,584.5,11.9,1094,12656,0.00,2.67,0.00,0.000,4,0.000,0.054,2947,3471,1571
$GC,12678,0.70,365.7,581.1,12.5,1096,12683,0.00,2.70,0.00,0.000,6,0.000,0.047,2969,2096,1570
$GC,13002,0.70,365.7,543.7,11.2,1126,13007,0.00,2.92,0.00,0.000,4,0.000,0.066,2947,640,1570
$GC,13034,0.70,365.7,539.9,11.4,1128,13041,0.00,2.85,0.00,0.000,6,0.000,0.043,2948,2104,1570
$GC,13360,0.70,365.7,503.1,11.7,1159,13364,0.00,2.67,0.00,0.000,4,0.000,0.053,2947,3464,1570
$GC,13388,0.70,365.7,499.8,11.4,1161,13392,0.00,2.67,0.00,0.000,6,0.000,0.046,2959,2094,1570
$GC,13712,0.70,365.7,462.7,11.2,1191,13716,0.00,2.90,0.00,0.000,4,0.000,0.064,2947,642,1569
$GC,13740,0.70,365.7,459.5,11.7,1193,13744,0.00,2.83,0.00,0.000,6,0.000,0.042,2948,2117,1570
$GC,14065,0.70,365.7,420.2,11.9,1223,14066,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2117,1570
$GC,14383,0.70,365.7,382.2,12.1,1253,14384,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2117,1570
$GC,14704,0.70,365.7,343.6,12.9,1287,14710,0.00,2.97,0.00,0.000,4,0.000,0.062,2948,635,1570
$GC,14739,0.70,365.7,339.2,12.4,1293,14745,0.00,2.80,0.00,0.000,6,0.000,0.040,2948,2104,1570
$GC,15081,0.70,365.7,295.8,11.9,1354,15087,0.00,2.67,0.00,0.000,4,0.000,0.052,2947,3468,1570
$GC,15110,0.70,365.7,292.2,12.5,1359,15116,0.00,2.67,0.00,0.000,6,0.000,0.045,2947,2092,1570
$GC,15453,0.70,365.7,250.5,11.6,1420,15460,0.00,2.90,0.00,0.000,4,0.000,0.063,2947,634,1570
$GC,15483,0.70,365.7,247.0,11.7,1425,15489,0.00,2.80,0.00,0.000,6,0.000,0.040,2947,2106,1570
$GC,15826,0.70,365.7,207.1,10.8,1486,15832,0.00,2.67,0.00,0.000,4,0.000,0.053,2947,3471,1570
$GC,15849,0.70,365.7,204.5,11.1,1490,15855,0.00,2.70,0.00,0.000,6,0.000,0.044,2948,2081,1570
$GC,16193,0.70,365.7,168.2,10.5,1551,16199,0.00,2.88,0.00,0.000,4,0.000,0.064,2950,638,1570
$GC,16215,0.70,365.7,165.7,10.3,1555,16222,0.00,2.78,0.00,0.000,6,0.000,0.041,2948,2096,1570
$GC,16559,0.70,365.7,129.0,10.9,1616,16565,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2096,1570
$GC,16902,0.73,388.9,94.0,9.2,1677,16930,0.00,3.00,22.73,0.930,4,0.000,0.062,2948,637,1485
$GC,16955,0.80,406.1,89.0,9.4,1686,16984,0.15,2.78,18.45,0.793,6,0.056,0.040,2985,2088,1414
$GC,17323,0.71,406.1,33.8,16.7,1751,17330,0.15,2.70,0.00,0.000,4,0.133,0.052,2959,3459,1410
$GC,17349,0.67,406.1,29.8,15.2,1755,17356,0.00,2.72,0.00,0.000,6,0.000,0.044,2960,2062,1409
$GC,17491,0.67,406.1,12.9,12.9,1780,17498,0.00,2.85,0.00,0.000,4,0.000,0.064,2960,640,1409
$GC,17515,0.67,406.1,9.4,14.1,1784,17522,0.00,2.72,0.00,0.000,6,0.000,0.039,2960,2074,1408
$STATE,17583,end climb,SURFACE_DEPTH_REACHED
$STATE,17583,begin surface coast
$FINISH,0.4,1.027290
$STATE,17600,end surface coast,CONTROL_FINISHED_OK
$STATE,17601,begin surface
$SM_CCo,17677,0.00,0.000,0,0,1407,408.18
$SM_GC,0.90,7.22,0.00,0.00,0.039,0.000,0.000,1466,2297,1407,-6.09,0.08,408.18
$IRIDIUM_FIX,6108.28,-2555.55,050897,222231
$TT8_MAMPS,0.021476
$HUMID,1724
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,16.70
$XPDR_PINGS,26
$24V_AH,19.2,62.781
$10V_AH,9.8,44.715
$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,20.750,163.725,627.550,0.000,0.000,22.616,36.233,211.612,6.500,0.000,0.000,13.347,2834.030,10797.618,747.642,3129.102,541.002,0.000,2256.656,0.000,3107.509,0.000,0.467
$DEVICE_MAMPS,248.508,75.933,1434.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1352.001,1262.115,667.132,922.953,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129697,1799
$CAP_FILE_SIZE,165145,0
$CFSIZE,260165632,238645248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120508,081408,6129.576,-2543.067,33,1.6,33,-18.3