version: 66.03
glider: 143
mission: 4
dive: 243
start: 5 23 108 12 15 27
data:
$ID,143
$MISSION,4
$DIVE,243
$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,70
$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,-9863.8457
$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
$GPS1,120756,6136.583,-2615.062,40,1.0,40,-18.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-53.7
$GPS2,121508,6136.616,-2615.214,9,0.9,14,-18.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6140.309,-2610.398
$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,88.6,20000,-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,26,-0.82,-194.7,0.0,0.0,0,133,0.00,0.00,-103.65,0.000,2,0.000,0.000,1466,2321,3399
$GC,136,-0.82,-194.7,3.4,-5.8,19,166,9.80,2.83,-11.32,0.000,4,0.245,0.069,2614,3695,3867
$GC,206,-0.72,-194.7,17.2,-16.9,31,213,0.17,2.70,0.00,0.000,6,0.140,0.040,2640,2292,3868
$GC,353,-0.67,-194.7,38.8,-15.9,56,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2292,3868
$GC,494,-0.63,-194.7,59.5,-13.8,81,501,0.12,2.78,0.00,0.000,4,0.142,0.054,2657,879,3868
$GC,529,-0.63,-194.7,63.7,-10.7,87,535,0.00,2.72,0.00,0.000,6,0.000,0.044,2657,2279,3868
$GC,872,-0.63,-194.7,98.3,-10.1,148,879,0.00,2.85,0.00,0.000,4,0.000,0.058,2657,3710,3868
$GC,902,-0.63,-194.7,101.4,-10.7,153,908,0.00,2.75,0.00,0.000,6,0.000,0.041,2657,2284,3868
$GC,1245,-0.63,-194.7,138.9,-11.2,214,1252,0.00,2.75,0.00,0.000,4,0.000,0.055,2657,877,3868
$GC,1281,-0.68,-194.7,142.8,-11.2,220,1288,0.00,2.75,0.00,0.000,6,0.000,0.046,2657,2298,3868
$GC,1626,-0.68,-194.7,182.6,-11.3,281,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2299,3868
$GC,1968,-0.68,-194.7,222.1,-11.6,342,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2299,3868
$GC,2311,-0.68,-194.7,262.0,-11.1,403,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2299,3868
$GC,2653,-0.68,-194.7,300.2,-11.4,464,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2299,3868
$GC,2996,-0.68,-194.7,339.4,-12.3,525,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2299,3868
$GC,3327,-0.68,-194.7,377.4,-11.5,564,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2299,3868
$GC,3644,-0.68,-194.7,412.8,-10.7,594,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2299,3868
$GC,3962,-0.68,-194.7,446.4,-10.1,624,3967,0.00,2.80,0.00,0.000,4,0.000,0.056,2657,883,3868
$GC,3990,-0.68,-194.7,449.2,-10.5,626,3994,0.00,2.70,0.00,0.000,6,0.000,0.043,2657,2288,3868
$GC,4316,-0.68,-194.7,482.1,-10.3,656,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2288,3868
$GC,4632,-0.68,-194.7,515.9,-11.1,686,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2288,3868
$GC,4951,-0.68,-194.7,552.1,-11.8,716,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2288,3867
$GC,5269,-0.68,-194.7,592.2,-12.6,746,5274,0.00,2.83,0.00,0.000,4,0.000,0.059,2657,3704,3868
$GC,5302,-0.73,-194.7,596.5,-13.1,748,5309,0.00,2.75,0.00,0.000,6,0.000,0.044,2657,2285,3867
$GC,5629,-0.77,-194.7,637.6,-12.3,766,5631,0.15,0.00,0.00,0.000,6,0.062,0.000,2625,2285,3867
$GC,5938,-0.77,-194.7,674.6,-12.0,781,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2285,3867
$GC,6247,-0.77,-194.7,713.7,-12.9,796,6252,0.00,2.90,0.00,0.000,4,0.000,0.066,2625,3701,3867
$GC,6342,-0.77,-194.7,727.7,-14.6,800,6346,0.00,2.78,0.00,0.000,6,0.000,0.052,2625,2293,3867
$GC,6663,-0.77,-194.7,773.2,-13.2,816,6668,0.00,2.90,0.00,0.000,4,0.000,0.065,2625,3709,3867
$GC,6695,-0.77,-194.7,777.7,-13.9,817,6702,0.00,2.80,0.00,0.000,6,0.000,0.052,2624,2298,3867
$GC,7011,-0.77,-194.7,818.7,-12.9,833,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2298,3867
$GC,7320,-0.77,-194.7,858.7,-13.0,848,7325,0.00,2.90,0.00,0.000,4,0.000,0.066,2625,3708,3866
$GC,7363,-0.77,-194.7,864.5,-13.4,850,7368,0.00,2.80,0.00,0.000,6,0.000,0.051,2625,2301,3866
$GC,7684,-0.77,-194.7,905.1,-12.8,866,7688,0.00,2.85,0.00,0.000,4,0.000,0.067,2625,880,3866
$GC,7704,-0.77,-194.7,907.8,-12.8,867,7709,0.00,2.80,0.00,0.000,6,0.000,0.049,2624,2309,3865
$GC,8025,-0.77,-194.7,947.1,-12.3,883,8030,0.00,2.85,0.00,0.000,4,0.000,0.067,2625,3705,3865
$GC,8057,-0.77,-194.7,951.4,-13.3,884,8064,0.00,2.78,0.00,0.000,6,0.000,0.051,2625,2305,3865
$STATE,8372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8372,begin apogee
$GC,8377,-0.19,0.0,990.9,12.3,900,8583,0.80,0.00,202.25,1.418,6,0.127,0.000,2757,2033,3071
$STATE,8584,end apogee,CONTROL_FINISHED_OK
$STATE,8584,begin climb
$GC,8587,0.82,194.7,1000.7,0.0,910,8805,1.25,3.17,207.75,1.351,4,0.085,0.071,2973,644,2277
$GC,8878,0.70,194.7,979.3,12.4,923,8883,0.00,2.95,0.00,0.000,6,0.000,0.047,2972,2057,2274
$GC,9198,0.57,194.7,941.8,11.7,939,9204,0.28,2.90,0.00,0.000,4,0.137,0.062,2928,3471,2271
$GC,9253,0.57,194.7,936.0,10.1,941,9260,0.00,2.83,0.00,0.000,6,0.000,0.052,2928,2068,2271
$GC,9570,0.62,238.3,908.7,8.5,957,9619,0.00,2.92,44.05,1.356,4,0.000,0.061,2928,3462,2098
$GC,9630,0.26,284.0,903.2,8.4,960,9687,0.43,2.85,47.22,1.300,6,0.114,0.051,2858,2069,1914
$GC,9998,0.63,297.3,871.6,9.5,978,10020,0.43,2.90,14.82,1.337,4,0.076,0.060,2936,3460,1858
$GC,10031,0.60,320.1,868.2,9.2,979,10062,0.00,2.80,24.77,1.247,6,0.000,0.051,2936,2071,1765
$GC,10386,0.84,371.6,839.9,8.2,997,10449,0.20,2.95,53.42,1.312,4,0.061,0.059,2982,3456,1555
$GC,10495,0.78,371.6,827.6,13.8,1002,10500,0.00,2.60,0.00,0.000,6,0.000,0.052,2982,2179,1552
$GC,10822,0.70,371.6,775.7,16.4,1018,10828,0.17,2.62,0.00,0.000,4,0.132,0.057,2953,3475,1549
$GC,10906,0.70,371.6,763.7,13.7,1022,10911,0.00,2.60,0.00,0.000,6,0.000,0.052,2954,2173,1548
$GC,11233,0.70,371.6,721.9,12.8,1038,11238,0.00,3.12,0.00,0.000,4,0.000,0.070,2953,638,1547
$GC,11277,0.70,371.6,716.1,12.4,1040,11281,0.00,2.97,0.00,0.000,6,0.000,0.046,2953,2169,1546
$GC,11604,0.70,371.6,676.0,11.9,1056,11605,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2169,1546
$GC,11914,0.70,371.6,642.6,10.5,1071,11915,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2169,1546
$GC,12222,0.70,371.6,609.4,10.6,1086,12227,0.00,3.10,0.00,0.000,4,0.000,0.067,2953,641,1545
$GC,12243,0.70,371.6,607.0,10.9,1087,12247,0.00,2.92,0.00,0.000,6,0.000,0.044,2953,2156,1545
$GC,12575,0.70,371.6,573.3,11.1,1115,12580,0.00,2.60,0.00,0.000,4,0.000,0.055,2953,3471,1545
$GC,12596,0.70,371.6,570.4,11.1,1116,12604,0.00,2.62,0.00,0.000,6,0.000,0.047,2953,2142,1544
$GC,12923,0.70,371.6,533.1,12.4,1147,12928,0.00,3.03,0.00,0.000,4,0.000,0.066,2953,637,1545
$GC,12956,0.70,371.6,528.8,12.2,1149,12962,0.00,2.92,0.00,0.000,6,0.000,0.043,2953,2158,1544
$GC,13281,0.70,371.6,491.2,10.6,1180,13283,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2158,1544
$GC,13599,0.70,371.6,456.9,10.6,1210,13600,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2158,1545
$GC,13917,0.70,371.6,422.5,10.3,1240,13922,0.00,3.08,0.00,0.000,4,0.000,0.063,2953,634,1544
$GC,13944,0.70,371.6,419.5,10.3,1242,13949,0.00,2.90,0.00,0.000,6,0.000,0.041,2953,2148,1544
$GC,14271,0.70,371.6,386.8,10.5,1272,14272,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2148,1544
$GC,14588,0.70,371.6,352.4,10.8,1302,14589,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2148,1545
$GC,14923,0.70,371.6,315.2,10.6,1360,14929,0.00,3.03,0.00,0.000,4,0.000,0.063,2953,640,1544
$GC,14953,0.70,371.6,312.0,10.7,1365,14959,0.00,2.88,0.00,0.000,6,0.000,0.041,2953,2143,1544
$GC,15296,0.70,371.6,274.4,10.7,1426,15302,0.00,2.60,0.00,0.000,4,0.000,0.052,2953,3471,1544
$GC,15315,0.70,371.6,272.3,11.1,1429,15321,0.00,2.62,0.00,0.000,6,0.000,0.044,2953,2120,1545
$GC,15658,0.70,371.6,232.3,11.8,1490,15665,0.00,2.95,0.00,0.000,4,0.000,0.064,2953,637,1544
$GC,15682,0.70,371.6,229.2,12.3,1494,15688,0.00,2.85,0.00,0.000,6,0.000,0.040,2953,2137,1544
$GC,16026,0.70,371.6,187.2,11.6,1555,16031,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2137,1545
$GC,16370,0.70,371.6,146.7,10.5,1616,16376,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2137,1544
$GC,16713,0.70,371.6,111.3,10.5,1677,16718,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2137,1544
$GC,17055,0.70,371.6,77.4,10.2,1738,17061,0.00,3.03,0.00,0.000,4,0.000,0.063,2953,633,1544
$GC,17078,0.70,371.6,74.9,11.8,1742,17085,0.00,2.85,0.00,0.000,6,0.000,0.040,2953,2130,1544
$GC,17423,0.70,371.6,40.8,10.6,1803,17429,0.00,2.62,0.00,0.000,4,0.000,0.053,2953,3471,1544
$GC,17454,0.75,371.6,37.5,11.3,1808,17460,0.00,2.65,0.00,0.000,6,0.000,0.044,2953,2099,1545
$GC,17598,0.78,399.9,23.2,9.0,1833,17632,0.00,2.95,28.10,0.838,4,0.000,0.064,2953,637,1438
$GC,17670,0.91,432.9,16.7,8.9,1845,17710,0.22,2.80,32.92,0.760,6,0.053,0.038,3001,2103,1306
$STATE,17771,end climb,SURFACE_DEPTH_REACHED
$STATE,17771,begin surface coast
$FINISH,0.3,1.012641
$STATE,17785,end surface coast,CONTROL_FINISHED_OK
$STATE,17785,begin surface
$SM_CCo,17862,0.00,0.000,0,0,1300,434.43
$SM_GC,0.88,7.50,0.00,0.00,0.039,0.000,0.000,1466,2300,1300,-6.09,0.17,434.43
$IRIDIUM_FIX,6112.75,-2617.74,170897,070739
$TT8_MAMPS,0.021476
$HUMID,1740
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,16.70
$XPDR_PINGS,48
$24V_AH,19.1,77.216
$10V_AH,9.8,52.439
$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,21.525,159.675,655.325,0.000,0.000,30.210,34.701,240.482,12.000,0.000,0.000,16.139,2928.567,10528.475,777.741,3411.619,631.219,0.000,2340.127,0.000,3404.561,0.000,0.467
$DEVICE_MAMPS,245.440,71.331,1418.183,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1403.200,1305.816,719.533,1648.384,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139162,1865
$CAP_FILE_SIZE,167601,0
$CFSIZE,260165632,233676800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230508,171437,6137.360,-2614.493,40,1.1,52,-18.6