version: 66.03
glider: 143
mission: 4
dive: 21
start: 4 7 108 22 59 4
data:
$ID,143
$MISSION,4
$DIVE,21
$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,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,-4390.6289
$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,2260
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$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
$GPS1,224558,5917.403,-1925.053,38,4.2,57,-13.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-43.5
$GPS2,225847,5917.206,-1924.969,10,3.0,29,-13.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5917.206,-1919.453
$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,103.8,20000,-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,-194.7,0.0,0.0,0,151,0.00,0.00,-122.62,0.000,2,0.000,0.000,1469,2278,3601
$GC,153,-0.82,-194.7,3.6,-6.8,17,177,9.85,2.90,-5.62,0.000,4,0.256,0.070,2611,845,3864
$GC,220,-0.74,-194.7,20.0,-16.1,28,229,0.12,2.83,0.00,0.000,6,0.136,0.049,2632,2253,3865
$GC,356,-0.68,-194.7,40.2,-14.2,53,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2253,3865
$GC,490,-0.61,-194.7,60.5,-13.9,78,499,0.15,2.90,0.00,0.000,4,0.135,0.059,2657,3676,3865
$GC,516,-0.61,-194.7,63.9,-12.9,82,524,0.00,2.83,0.00,0.000,6,0.000,0.041,2657,2241,3865
$GC,650,-0.61,-194.7,79.7,-11.9,107,658,0.00,2.92,0.00,0.000,4,0.000,0.058,2657,3681,3865
$GC,666,-0.61,-194.7,81.7,-11.8,109,673,0.00,2.80,0.00,0.000,6,0.000,0.041,2657,2255,3865
$GC,800,-0.61,-194.7,97.2,-11.4,134,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2253,3865
$GC,933,-0.61,-194.7,112.1,-11.8,159,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2252,3865
$GC,1067,-0.61,-194.7,128.6,-12.1,184,1075,0.00,2.88,0.00,0.000,4,0.000,0.058,2658,3676,3865
$GC,1087,-0.61,-194.7,131.3,-12.8,187,1095,0.00,2.75,0.00,0.000,6,0.000,0.041,2657,2269,3865
$GC,1221,-0.61,-194.7,148.4,-13.1,212,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2265,3865
$GC,1359,-0.61,-194.7,165.7,-11.9,237,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2265,3865
$GC,1688,-0.61,-194.7,205.4,-12.2,298,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2265,3865
$GC,2020,-0.61,-194.7,245.8,-12.4,359,2026,0.00,2.80,0.00,0.000,4,0.000,0.055,2657,3685,3865
$GC,2036,-0.61,-194.7,248.1,-11.7,362,2044,0.00,2.75,0.00,0.000,6,0.000,0.041,2658,2266,3865
$GC,2370,-0.61,-194.7,288.7,-11.9,423,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2263,3865
$GC,2698,-0.61,-194.7,328.4,-12.0,484,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2263,3865
$GC,3034,-0.61,-194.7,368.3,-11.9,545,3040,0.00,2.78,0.00,0.000,4,0.000,0.054,2658,3679,3865
$GC,3059,-0.61,-194.7,371.3,-11.9,549,3065,0.00,2.70,0.00,0.000,6,0.000,0.041,2657,2267,3865
$GC,3397,-0.61,-194.7,410.9,-11.6,610,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2263,3865
$GC,3735,-0.61,-194.7,449.7,-11.5,671,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2263,3865
$GC,4074,-0.61,-194.7,489.4,-12.0,732,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2263,3865
$GC,4418,-0.61,-194.7,529.8,-11.6,793,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2263,3865
$GC,4754,-0.61,-194.7,568.7,-11.3,840,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2263,3865
$GC,5073,-0.61,-194.7,604.3,-10.9,870,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2263,3865
$GC,5391,-0.61,-194.7,639.5,-11.1,900,5396,0.00,2.80,0.00,0.000,4,0.000,0.061,2658,3679,3865
$GC,5418,-0.61,-194.7,642.6,-12.0,902,5423,0.00,2.70,0.00,0.000,6,0.000,0.046,2657,2278,3865
$GC,5744,-0.61,-194.7,678.7,-11.1,932,5749,0.00,2.85,0.00,0.000,4,0.000,0.071,2657,849,3865
$GC,5760,-0.61,-194.7,680.7,-10.7,933,5765,0.00,2.78,0.00,0.000,6,0.000,0.048,2657,2291,3865
$GC,6085,-0.61,-194.7,716.3,-11.5,963,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2292,3865
$GC,6402,-0.61,-194.7,752.6,-11.6,993,6407,0.00,2.90,0.00,0.000,4,0.000,0.071,2657,848,3865
$GC,6423,-0.61,-194.7,755.2,-12.0,994,6430,0.00,2.75,0.00,0.000,6,0.000,0.048,2657,2262,3864
$GC,6749,-0.61,-194.7,791.9,-11.4,1025,6753,0.00,2.80,0.00,0.000,4,0.000,0.064,2657,3670,3864
$GC,6766,-0.61,-194.7,793.8,-11.3,1026,6770,0.00,2.72,0.00,0.000,6,0.000,0.049,2657,2268,3864
$GC,7090,-0.61,-194.7,830.1,-10.9,1056,7091,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2268,3864
$GC,7408,-0.61,-194.7,864.3,-10.8,1086,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2268,3865
$GC,7727,-0.61,-194.7,898.5,-11.1,1116,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2268,3864
$GC,8045,-0.61,-194.7,933.9,-11.0,1146,8046,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2268,3864
$GC,8364,-0.61,-194.7,968.4,-10.7,1176,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2268,3864
$STATE,8564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8564,begin apogee
$GC,8568,-0.19,0.0,990.3,10.5,1195,8771,0.57,0.00,198.50,1.534,6,0.115,0.000,2757,2046,3071
$STATE,8771,end apogee,CONTROL_FINISHED_OK
$STATE,8772,begin climb
$GC,8773,0.82,194.7,998.7,0.0,1215,8982,1.23,3.12,198.38,1.381,4,0.083,0.057,2974,3464,2276
$GC,9085,0.67,194.7,972.2,14.1,1244,9090,0.17,2.97,0.00,0.000,6,0.146,0.051,2951,2052,2273
$GC,9409,0.54,194.7,932.4,12.4,1274,9414,0.17,2.97,0.00,0.000,4,0.134,0.072,2923,631,2271
$GC,9520,0.50,194.7,920.7,10.1,1283,9527,0.00,2.88,0.00,0.000,6,0.000,0.044,2923,2087,2270
$GC,9845,0.45,194.7,888.8,10.3,1314,9851,0.15,2.78,0.00,0.000,4,0.126,0.057,2900,3464,2269
$GC,9884,0.47,210.5,885.0,9.5,1317,9906,0.00,2.78,15.88,1.364,6,0.000,0.050,2900,2076,2212
$GC,10223,0.57,295.4,859.5,7.1,1349,10316,0.12,2.95,85.53,1.341,4,0.075,0.055,2924,3459,1865
$GC,10344,0.58,300.3,848.3,9.8,1360,10355,0.00,2.85,5.97,1.021,6,0.000,0.050,2924,2091,1846
$GC,10673,0.60,315.2,816.3,9.5,1391,10695,0.00,2.90,16.23,1.365,4,0.000,0.055,2924,3464,1784
$GC,10700,-0.20,320.2,813.5,9.8,1393,10718,0.98,2.75,6.57,0.972,6,0.106,0.048,2757,2111,1765
$GC,11035,0.19,364.6,787.1,8.5,1425,11088,0.40,2.83,45.85,1.305,4,0.062,0.055,2839,3464,1583
$GC,11392,0.50,364.6,746.6,12.1,1457,11398,0.35,2.83,0.00,0.000,6,0.058,0.048,2908,2056,1578
$GC,11717,0.85,373.5,714.7,9.7,1487,11732,0.35,2.88,9.20,1.156,4,0.057,0.054,2983,3469,1548
$GC,11804,0.79,373.5,703.5,14.7,1494,11811,0.00,2.85,0.00,0.000,6,0.000,0.052,2983,2059,1547
$GC,12130,0.64,373.5,643.2,19.2,1525,12135,0.22,2.90,0.00,0.000,4,0.139,0.067,2946,632,1546
$GC,12151,0.53,373.5,639.1,17.8,1526,12159,0.17,2.78,0.00,0.000,6,0.118,0.040,2918,2069,1545
$GC,12476,0.67,430.0,611.7,8.0,1557,12541,0.15,2.88,58.50,1.214,4,0.064,0.051,2953,3466,1316
$GC,12569,0.67,430.0,600.1,13.0,1566,12574,0.00,2.85,0.00,0.000,6,0.000,0.046,2953,2067,1315
$GC,12893,0.62,430.0,555.1,14.5,1596,12898,0.00,2.90,0.00,0.000,4,0.000,0.064,2953,638,1310
$GC,12925,0.62,430.0,550.5,13.3,1598,12932,0.00,2.83,0.00,0.000,6,0.000,0.038,2953,2078,1308
$GC,13266,0.58,430.0,502.5,14.3,1659,13272,0.15,0.00,0.00,0.000,6,0.125,0.000,2928,2078,1308
$GC,13606,0.70,466.0,469.9,8.8,1720,13648,0.12,0.00,36.78,1.154,6,0.069,0.000,2954,2078,1171
$GC,13982,0.70,466.0,417.4,14.4,1787,13988,0.00,2.92,0.00,0.000,4,0.000,0.061,2954,638,1167
$GC,14018,0.70,466.0,412.4,13.2,1793,14024,0.00,2.75,0.00,0.000,6,0.000,0.038,2954,2062,1165
$GC,14358,0.70,466.0,364.0,13.5,1854,14364,0.00,2.75,0.00,0.000,4,0.000,0.049,2954,3466,1165
$GC,14379,0.70,466.0,360.9,14.7,1858,14386,0.00,2.78,0.00,0.000,6,0.000,0.044,2954,2052,1165
$GC,14713,0.70,466.0,316.6,13.9,1919,14719,0.00,2.83,0.00,0.000,4,0.000,0.064,2954,639,1165
$GC,14737,0.70,466.0,313.2,13.7,1923,14743,0.00,2.70,0.00,0.000,6,0.000,0.037,2954,2058,1164
$GC,15066,0.70,466.0,267.4,13.5,1984,15074,0.00,2.75,0.00,0.000,4,0.000,0.049,2954,3455,1164
$GC,15087,0.70,466.0,264.8,13.3,1987,15093,0.00,2.72,0.00,0.000,6,0.000,0.044,2954,2053,1164
$GC,15417,0.70,466.0,219.5,13.7,2048,15425,0.00,2.83,0.00,0.000,4,0.000,0.064,2954,644,1164
$GC,15449,0.70,466.0,215.5,13.8,2053,15455,0.00,2.67,0.00,0.000,6,0.000,0.039,2954,2050,1163
$GC,15780,0.70,466.0,169.7,14.3,2114,15788,0.00,2.75,0.00,0.000,4,0.000,0.049,2954,3453,1163
$GC,15805,0.70,466.0,165.8,15.7,2118,15813,0.00,2.78,0.00,0.000,6,0.000,0.045,2954,2044,1163
$GC,16131,0.70,466.0,122.1,12.7,2179,16139,0.00,2.83,0.00,0.000,4,0.000,0.065,2954,643,1163
$GC,16162,0.70,466.0,118.4,12.6,2184,16170,0.00,2.70,0.00,0.000,6,0.000,0.039,2954,2050,1163
$GC,16296,0.70,466.0,101.9,13.8,2209,16304,0.00,2.78,0.00,0.000,4,0.000,0.051,2954,3463,1163
$GC,16322,0.70,466.0,98.1,14.7,2213,16329,0.00,2.75,0.00,0.000,6,0.000,0.044,2954,2060,1163
$GC,16455,0.70,466.0,79.0,16.4,2238,16463,0.00,2.85,0.00,0.000,4,0.000,0.065,2954,644,1163
$GC,16486,0.70,466.0,74.7,14.4,2243,16494,0.00,2.70,0.00,0.000,6,0.000,0.038,2954,2054,1162
$GC,16620,0.72,476.0,58.2,9.7,2268,16636,0.00,2.72,9.85,0.801,4,0.000,0.048,2954,3462,1130
$GC,16649,0.77,523.4,55.9,8.4,2272,16708,0.00,2.80,49.22,0.913,6,0.000,0.044,2954,2041,936
$GC,16835,0.77,523.4,35.0,13.5,2304,16842,0.00,2.88,0.00,0.000,4,0.000,0.064,2954,645,932
$GC,16860,0.83,523.4,31.9,13.0,2308,16868,0.10,2.72,0.00,0.000,6,0.044,0.037,2986,2038,931
$GC,16996,0.70,523.4,6.3,21.1,2333,17004,0.17,2.85,0.00,0.000,4,0.146,0.051,2958,3458,931
$STATE,17015,end climb,SURFACE_DEPTH_REACHED
$STATE,17015,begin surface coast
$FINISH,0.3,1.027336
$STATE,17022,end surface coast,CONTROL_FINISHED_OK
$STATE,17022,begin surface
$SM_CCo,17099,0.00,0.000,0,0,930,525.19
$SM_GC,0.35,7.32,0.00,0.00,0.041,0.000,0.000,1467,2253,930,-6.09,-0.20,525.19
$IRIDIUM_FIX,5858.64,-1902.09,020797,222235
$TT8_MAMPS,0.021476
$HUMID,1620
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,12.40
$XPDR_PINGS,425
$24V_AH,19.9,16.965
$10V_AH,9.7,8.977
$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,23.050,180.200,736.450,0.000,0.000,58.703,69.854,438.743,106.250,0.000,0.000,31.609,3569.724,7172.299,834.192,5417.220,852.007,0.000,2801.003,0.000,5420.406,0.000,0.468
$DEVICE_MAMPS,256.178,72.098,1534.000,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1694.078,1674.881,1048.862,1450.685,2836.872,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,174197,2337
$CAP_FILE_SIZE,202888,0
$CFSIZE,260165632,255426560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080408,034527,5913.482,-1918.511,31,2.0,50,-13.7