version: 66.03
glider: 143
mission: 4
dive: 13
start: 4 6 108 7 25 51
data:
$ID,143
$MISSION,4
$DIVE,13
$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,165
$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,-4194.7153
$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,2215
$C_ROLL_CLIMB,2135
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,35
$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
$GPS1,071408,5937.864,-2002.936,35,0.9,35,-14.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-53.6
$GPS2,072533,5937.889,-2002.904,12,1.2,12,-14.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5927.458,-2001.483
$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,179.3,20000,-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,-194.7,0.0,0.0,0,116,0.00,0.00,-87.40,0.000,2,0.000,0.000,1469,2246,3569
$GC,118,-0.82,-194.7,3.7,-7.4,12,142,10.10,2.80,-6.32,0.000,4,0.260,0.077,2612,3611,3867
$GC,418,-0.74,-194.7,60.6,-20.1,68,427,0.10,2.75,0.00,0.000,6,0.137,0.042,2630,2214,3867
$GC,554,-0.68,-194.7,81.9,-13.4,93,563,0.12,0.00,0.00,0.000,6,0.147,0.000,2647,2213,3867
$GC,688,-0.68,-194.7,99.0,-13.2,118,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2212,3868
$GC,822,-0.68,-194.7,116.9,-12.6,143,829,0.00,2.83,0.00,0.000,4,0.000,0.059,2647,3606,3868
$GC,838,-0.68,-194.7,118.9,-12.9,145,846,0.00,2.70,0.00,0.000,6,0.000,0.041,2647,2225,3868
$GC,972,-0.68,-194.7,136.3,-12.7,170,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2224,3867
$GC,1106,-0.68,-194.7,153.0,-12.4,195,1112,0.00,2.78,0.00,0.000,4,0.000,0.058,2647,3611,3867
$GC,1120,-0.68,-194.7,154.7,-12.5,197,1126,0.00,2.67,0.00,0.000,6,0.000,0.040,2647,2223,3868
$GC,1448,-0.68,-194.7,195.8,-12.6,258,1457,0.00,2.80,0.00,0.000,4,0.000,0.058,2647,3608,3867
$GC,1470,-0.68,-194.7,198.3,-12.4,261,1476,0.00,2.65,0.00,0.000,6,0.000,0.041,2647,2232,3867
$GC,1799,-0.68,-194.7,239.8,-12.6,322,1807,0.00,2.78,0.00,0.000,4,0.000,0.058,2647,3610,3867
$GC,1831,-0.68,-194.7,243.6,-13.0,327,1837,0.00,2.62,0.00,0.000,6,0.000,0.041,2647,2245,3867
$GC,2160,-0.68,-194.7,284.6,-12.6,388,2167,0.00,2.72,0.00,0.000,4,0.000,0.057,2647,3605,3867
$GC,2180,-0.68,-194.7,287.0,-12.6,391,2186,0.00,2.58,0.00,0.000,6,0.000,0.041,2646,2252,3867
$GC,2509,-0.68,-194.7,328.3,-12.4,452,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2250,3867
$GC,2846,-0.68,-194.7,369.5,-12.1,513,2852,0.00,2.70,0.00,0.000,4,0.000,0.057,2647,3616,3867
$GC,2863,-0.68,-194.7,371.8,-12.2,516,2870,0.00,2.62,0.00,0.000,6,0.000,0.041,2647,2259,3867
$GC,3205,-0.68,-194.7,413.4,-12.5,577,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2255,3867
$GC,3543,-0.68,-194.7,454.9,-11.8,638,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2255,3867
$GC,3881,-0.68,-194.7,495.5,-12.0,699,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2255,3867
$GC,4220,-0.68,-194.7,535.4,-11.9,760,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2255,3867
$GC,4556,-0.68,-194.7,576.5,-12.5,802,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2255,3867
$GC,4875,-0.68,-194.7,616.2,-12.4,832,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2255,3867
$GC,5193,-0.68,-194.7,656.4,-12.3,862,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2255,3867
$GC,5512,-0.68,-194.7,695.4,-12.2,892,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2255,3867
$GC,5830,-0.68,-194.7,734.4,-12.1,922,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2255,3867
$GC,6149,-0.68,-194.7,773.1,-12.5,952,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2255,3867
$GC,6467,-0.68,-194.7,811.8,-11.9,982,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2255,3867
$GC,6786,-0.68,-194.7,849.4,-11.9,1012,6790,0.00,2.70,0.00,0.000,4,0.000,0.064,2647,3609,3867
$GC,6802,-0.68,-194.7,851.3,-12.2,1013,6806,0.00,2.65,0.00,0.000,6,0.000,0.051,2647,2248,3867
$GC,7126,-0.68,-194.7,888.7,-11.4,1043,7131,0.00,2.70,0.00,0.000,4,0.000,0.064,2647,3605,3867
$GC,7147,-0.68,-194.7,891.4,-12.4,1044,7154,0.00,2.65,0.00,0.000,6,0.000,0.051,2647,2262,3866
$GC,7472,-0.68,-194.7,930.2,-12.3,1075,7477,0.00,2.70,0.00,0.000,4,0.000,0.063,2647,3613,3866
$GC,7481,-0.68,-194.7,931.4,-11.7,1075,7488,0.00,2.67,0.00,0.000,6,0.000,0.049,2647,2251,3866
$GC,7807,-0.68,-194.7,969.6,-11.3,1106,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2251,3866
$STATE,7996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7996,begin apogee
$GC,8000,-0.19,0.0,990.7,10.9,1124,8209,0.62,0.00,203.18,1.625,6,0.117,0.000,2756,2128,3071
$STATE,8210,end apogee,CONTROL_FINISHED_OK
$STATE,8210,begin climb
$GC,8212,0.82,194.7,999.1,0.0,1145,8425,1.23,3.12,199.18,1.384,4,0.084,0.071,2972,734,2275
$GC,8519,0.68,194.7,972.3,12.9,1174,8527,0.15,2.85,0.00,0.000,6,0.140,0.045,2952,2124,2272
$GC,8844,0.55,194.7,933.5,12.1,1205,8850,0.17,2.95,0.00,0.000,4,0.139,0.061,2925,3547,2271
$GC,8883,0.50,194.7,929.3,10.3,1208,8888,0.00,2.88,0.00,0.000,6,0.000,0.051,2925,2141,2270
$GC,9208,0.48,216.9,899.3,9.2,1238,9240,0.00,3.03,22.30,1.440,4,0.000,0.071,2925,727,2186
$GC,9364,0.48,217.2,883.9,10.0,1252,9369,0.00,2.85,0.00,0.000,6,0.000,0.046,2925,2153,2184
$GC,9689,0.43,217.2,850.5,10.7,1282,9694,0.15,2.95,0.00,0.000,4,0.127,0.067,2899,726,2183
$GC,9834,0.46,240.8,837.0,9.2,1294,9864,0.00,2.80,25.02,1.439,6,0.000,0.045,2899,2153,2089
$GC,10184,0.58,303.5,808.0,7.8,1327,10256,0.15,2.97,63.50,1.335,4,0.067,0.058,2928,3555,1832
$GC,10283,0.58,303.5,797.6,11.1,1336,10290,0.00,2.92,0.00,0.000,6,0.000,0.051,2928,2152,1829
$GC,10608,0.58,303.5,763.3,10.7,1367,10613,0.00,2.95,0.00,0.000,4,0.000,0.071,2928,727,1827
$GC,10658,0.58,303.5,758.0,10.4,1371,10662,0.00,2.83,0.00,0.000,6,0.000,0.044,2928,2157,1826
$GC,10981,0.58,303.5,725.8,10.0,1401,10982,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2157,1826
$GC,11300,0.58,303.5,693.8,10.1,1431,11301,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2156,1825
$GC,11619,0.60,318.1,663.0,9.5,1461,11641,0.00,2.95,14.12,1.227,4,0.000,0.067,2928,726,1774
$GC,11668,0.63,343.7,658.2,9.1,1465,11706,0.00,2.78,28.12,1.317,6,0.000,0.043,2928,2146,1668
$GC,12023,0.65,357.2,625.1,9.5,1499,12044,0.00,2.85,14.23,1.269,4,0.000,0.054,2929,3552,1613
$GC,12139,0.72,375.8,614.0,9.4,1509,12167,0.15,2.85,20.05,1.134,6,0.067,0.045,2958,2125,1537
$GC,12484,0.64,375.8,565.8,14.3,1542,12488,0.00,2.88,0.00,0.000,4,0.000,0.051,2958,3557,1533
$GC,12583,0.64,375.8,552.8,12.5,1550,12590,0.00,2.85,0.00,0.000,6,0.000,0.046,2958,2118,1532
$GC,12924,0.56,375.8,503.6,14.2,1609,12931,0.17,2.80,0.00,0.000,4,0.129,0.061,2928,716,1532
$GC,12958,0.56,375.8,498.9,11.2,1615,12964,0.00,2.72,0.00,0.000,6,0.000,0.040,2928,2134,1531
$GC,13297,0.58,391.4,465.2,9.5,1676,13321,0.00,2.83,15.98,1.124,4,0.000,0.051,2928,3540,1474
$GC,13331,0.61,415.1,461.8,9.2,1682,13365,0.00,2.83,25.77,1.091,6,0.000,0.044,2928,2108,1376
$GC,13699,0.71,448.5,428.4,8.8,1748,13741,0.15,2.88,34.00,1.119,4,0.065,0.061,2958,721,1242
$GC,13779,0.71,448.5,418.2,12.7,1762,13785,0.00,2.75,0.00,0.000,6,0.000,0.039,2958,2117,1239
$GC,14119,0.66,448.5,368.4,14.8,1823,14124,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2117,1236
$GC,14450,0.62,448.5,319.7,13.6,1884,14459,0.15,2.83,0.00,0.000,4,0.125,0.060,2933,729,1235
$GC,14472,0.62,448.5,317.0,13.4,1887,14478,0.00,2.65,0.00,0.000,6,0.000,0.038,2932,2108,1235
$GC,14802,0.75,490.5,288.1,8.6,1948,14849,0.15,0.00,43.33,1.129,6,0.061,0.000,2970,2108,1070
$GC,15175,0.67,490.5,227.1,17.5,2015,15181,0.15,2.83,0.00,0.000,4,0.133,0.061,2945,720,1065
$GC,15211,0.67,490.5,221.6,13.1,2021,15217,0.00,2.67,0.00,0.000,6,0.000,0.038,2945,2102,1064
$GC,15540,0.72,490.5,186.1,10.9,2082,15548,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2103,1064
$GC,15875,0.78,495.2,150.9,9.8,2143,15889,0.12,2.80,4.88,0.703,4,0.069,0.061,2971,731,1051
$GC,15922,0.78,495.2,144.5,13.7,2151,15930,0.00,2.62,0.00,0.000,6,0.000,0.038,2972,2084,1050
$GC,16058,0.70,495.2,122.9,18.1,2176,16065,0.00,2.90,0.00,0.000,4,0.000,0.051,2972,3545,1050
$GC,16089,0.70,495.2,117.5,16.7,2181,16096,0.00,2.90,0.00,0.000,6,0.000,0.046,2972,2083,1050
$GC,16223,0.63,495.2,95.7,17.6,2206,16232,0.17,2.72,0.00,0.000,4,0.129,0.061,2942,728,1051
$GC,16265,0.70,495.2,89.8,11.4,2213,16273,0.00,2.58,0.00,0.000,6,0.000,0.037,2941,2067,1050
$GC,16401,0.79,505.7,78.4,9.6,2238,16424,0.15,2.95,12.50,0.837,4,0.060,0.051,2980,3541,1009
$GC,16447,0.79,505.7,72.4,14.1,2245,16455,0.00,2.95,0.00,0.000,6,0.000,0.045,2979,2059,1008
$GC,16583,0.69,505.7,47.8,18.6,2270,16591,0.15,2.70,0.00,0.000,4,0.138,0.062,2954,724,1007
$GC,16625,0.74,505.7,41.0,13.2,2277,16633,0.00,2.60,0.00,0.000,6,0.000,0.038,2955,2065,1007
$GC,16759,0.74,505.7,24.6,12.6,2302,16767,0.00,2.92,0.00,0.000,4,0.000,0.051,2955,3538,1006
$GC,16790,0.82,505.7,20.6,12.5,2307,16798,0.08,2.92,0.00,0.000,6,0.060,0.044,2976,2059,1006
$STATE,16907,end climb,SURFACE_DEPTH_REACHED
$STATE,16908,begin surface coast
$FINISH,0.3,1.027306
$STATE,16920,end surface coast,CONTROL_FINISHED_OK
$STATE,16921,begin surface
$SM_CCo,16995,0.00,0.000,0,0,1005,506.79
$SM_GC,0.72,7.38,0.00,0.00,0.044,0.000,0.000,1471,2222,1005,-6.08,0.20,506.79
$IRIDIUM_FIX,5915.45,-1950.98,010797,070752
$TT8_MAMPS,0.02301
$HUMID,1626
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,13.00
$XPDR_PINGS,373
$24V_AH,19.9,14.555
$10V_AH,9.7,6.765
$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,21.775,168.225,726.150,0.000,0.000,58.214,76.916,366.383,93.250,0.000,0.000,14.389,3552.855,7205.990,814.461,5333.512,748.290,0.000,2730.703,0.000,5335.129,0.000,0.470
$DEVICE_MAMPS,260.013,77.467,1625.273,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1691.920,1665.622,1022.740,1414.936,2762.105,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,174235,2331
$CAP_FILE_SIZE,198796,0
$CFSIZE,260165632,256319488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060408,121008,5936.244,-1958.981,28,1.2,28,-14.2