version: 66.03
glider: 143
mission: 4
dive: 28
start: 4 9 108 10 13 34
data:
$ID,143
$MISSION,4
$DIVE,28
$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,270
$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,-4535.9253
$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,18
$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
$GPS1,100438,5857.969,-1912.067,36,1.6,36,-13.6
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-38.8
$GPS2,101317,5857.891,-1912.131,10,99.0,29,-13.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5857.891,-1917.699
$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,283.6,20000,-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,-194.7,0.0,0.0,0,144,0.00,0.00,-115.45,0.000,2,0.000,0.000,1471,2274,3574
$GC,146,-0.82,-194.7,3.4,-7.6,16,170,9.90,2.88,-6.32,0.000,4,0.255,0.072,2612,3673,3866
$GC,281,-0.73,-194.7,34.6,-17.1,40,289,0.12,2.80,0.00,0.000,6,0.132,0.041,2634,2256,3867
$GC,419,-0.66,-194.7,53.7,-14.4,65,424,0.12,0.00,0.00,0.000,6,0.151,0.000,2650,2254,3867
$GC,553,-0.66,-194.7,70.8,-11.5,90,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2253,3867
$GC,691,-0.66,-194.7,86.6,-12.1,115,697,0.00,2.85,0.00,0.000,4,0.000,0.057,2651,3678,3867
$GC,726,-0.66,-194.7,91.3,-14.2,121,732,0.00,2.72,0.00,0.000,6,0.000,0.039,2650,2262,3867
$GC,861,-0.66,-194.7,109.3,-12.8,146,869,0.00,2.80,0.00,0.000,4,0.000,0.054,2651,853,3867
$GC,892,-0.66,-194.7,112.8,-11.8,151,899,0.00,2.75,0.00,0.000,6,0.000,0.044,2650,2264,3867
$GC,1028,-0.66,-194.7,127.4,-11.8,176,1036,0.00,2.85,0.00,0.000,4,0.000,0.058,2650,3678,3867
$GC,1059,-0.66,-194.7,131.0,-12.3,181,1066,0.00,2.78,0.00,0.000,6,0.000,0.041,2651,2247,3867
$GC,1194,-0.66,-194.7,149.1,-14.2,206,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2246,3867
$GC,1333,-0.66,-194.7,168.7,-14.6,231,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2243,3867
$GC,1661,-0.66,-194.7,212.8,-14.2,292,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2243,3867
$GC,1994,-0.66,-194.7,257.8,-13.2,353,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2243,3867
$GC,2322,-0.66,-194.7,300.5,-12.8,414,2330,0.00,2.85,0.00,0.000,4,0.000,0.054,2650,3675,3867
$GC,2365,-0.66,-194.7,305.7,-13.3,421,2371,0.00,2.72,0.00,0.000,6,0.000,0.041,2650,2255,3867
$GC,2696,-0.66,-194.7,347.2,-11.9,482,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2251,3867
$GC,3037,-0.66,-194.7,389.0,-12.7,543,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2251,3867
$GC,3379,-0.66,-194.7,429.5,-11.6,604,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2251,3867
$GC,3717,-0.66,-194.7,469.9,-12.0,665,3724,0.00,2.78,0.00,0.000,4,0.000,0.054,2650,3673,3867
$GC,3757,-0.66,-194.7,474.8,-12.2,672,3765,0.00,2.72,0.00,0.000,6,0.000,0.041,2650,2259,3867
$GC,4102,-0.66,-194.7,516.3,-12.0,733,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2255,3867
$GC,4441,-0.66,-194.7,557.3,-12.8,794,4446,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2256,3866
$GC,4784,-0.66,-194.7,601.6,-13.3,855,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2255,3866
$GC,5103,-0.66,-194.7,644.0,-13.1,885,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2255,3866
$GC,5421,-0.66,-194.7,685.0,-12.8,915,5426,0.00,2.83,0.00,0.000,4,0.000,0.063,2650,3672,3866
$GC,5459,-0.66,-194.7,689.8,-12.4,918,5464,0.00,2.75,0.00,0.000,6,0.000,0.051,2651,2262,3866
$GC,5784,-0.66,-194.7,728.1,-11.6,948,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2262,3866
$GC,6102,-0.66,-194.7,764.1,-11.0,978,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2262,3866
$GC,6420,-0.66,-194.7,800.8,-11.7,1008,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2262,3866
$GC,6739,-0.66,-194.7,837.8,-11.4,1038,6743,0.00,2.83,0.00,0.000,4,0.000,0.064,2651,3673,3866
$GC,6792,-0.66,-194.7,844.3,-11.9,1042,6800,0.00,2.78,0.00,0.000,6,0.000,0.050,2651,2268,3866
$GC,7118,-0.66,-194.7,881.3,-11.0,1073,7122,0.00,2.85,0.00,0.000,4,0.000,0.071,2650,845,3866
$GC,7149,-0.66,-194.7,884.9,-10.9,1075,7156,0.00,2.75,0.00,0.000,6,0.000,0.048,2650,2270,3865
$GC,7474,-0.66,-194.7,920.3,-11.3,1106,7479,0.00,2.78,0.00,0.000,4,0.000,0.064,2650,3668,3865
$GC,7513,-0.66,-194.7,925.0,-12.4,1109,7517,0.00,2.75,0.00,0.000,6,0.000,0.049,2650,2254,3865
$GC,7837,-0.66,-194.7,965.3,-12.3,1139,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2254,3865
$STATE,8047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8047,begin apogee
$GC,8052,-0.19,0.0,991.0,11.7,1159,8252,0.60,0.00,196.55,1.496,6,0.121,0.000,2754,2041,3071
$STATE,8253,end apogee,CONTROL_FINISHED_OK
$STATE,8253,begin climb
$GC,8255,0.82,194.7,1000.5,0.0,1179,8463,1.25,3.12,198.45,1.378,4,0.086,0.071,2974,650,2276
$GC,8580,0.67,194.7,971.4,13.6,1209,8588,0.17,2.88,0.00,0.000,6,0.138,0.044,2950,2048,2272
$GC,8905,0.55,194.7,932.1,11.6,1240,8910,0.20,2.92,0.00,0.000,4,0.136,0.059,2919,3469,2271
$GC,8982,0.57,213.2,924.4,9.4,1246,9010,0.00,2.83,18.95,1.441,6,0.000,0.051,2919,2083,2201
$GC,9327,0.61,246.9,894.2,8.8,1279,9369,0.00,3.08,35.25,1.383,4,0.000,0.071,2919,643,2063
$GC,9464,0.63,261.0,880.9,9.5,1291,9484,0.00,2.95,15.18,1.304,6,0.000,0.044,2919,2110,2007
$GC,9804,0.66,284.1,849.2,9.2,1323,9836,0.12,3.15,25.05,1.397,4,0.074,0.071,2942,637,1911
$GC,9920,0.61,284.1,836.0,11.4,1333,9926,0.00,2.97,0.00,0.000,6,0.000,0.044,2942,2124,1909
$GC,10245,0.54,284.1,797.5,13.0,1364,10250,0.15,2.70,0.00,0.000,4,0.124,0.058,2920,3464,1907
$GC,10295,0.54,284.1,791.5,11.3,1368,10299,0.00,2.70,0.00,0.000,6,0.000,0.050,2920,2118,1906
$GC,10618,0.54,284.1,757.0,10.3,1398,10623,0.00,3.03,0.00,0.000,4,0.000,0.071,2920,638,1906
$GC,10634,0.54,284.1,755.3,10.8,1399,10639,0.00,2.90,0.00,0.000,6,0.000,0.042,2920,2131,1906
$GC,10960,0.55,286.3,723.8,9.9,1429,10964,0.00,2.65,0.00,0.000,4,0.000,0.057,2920,3464,1906
$GC,10986,0.55,286.3,720.9,10.5,1431,10991,0.00,2.65,0.00,0.000,6,0.000,0.049,2920,2126,1904
$GC,11311,0.55,292.8,688.9,9.8,1461,11325,0.00,3.03,9.00,1.159,4,0.000,0.069,2920,641,1877
$GC,11331,0.55,292.8,686.8,10.0,1463,11336,0.00,2.90,0.00,0.000,6,0.000,0.041,2920,2136,1877
$GC,11655,0.58,317.7,656.0,9.1,1493,11687,0.00,3.17,26.58,1.376,4,0.000,0.067,2920,641,1774
$GC,11692,0.29,337.7,652.5,9.3,1496,11720,0.32,2.95,21.65,1.117,6,0.099,0.041,2865,2139,1694
$GC,12037,0.65,337.7,621.3,10.3,1529,12042,0.35,3.08,0.00,0.000,4,0.070,0.061,2934,635,1689
$GC,12115,0.96,385.8,614.1,8.3,1535,12173,0.38,2.88,48.28,1.210,6,0.062,0.038,3011,2127,1497
$GC,12504,0.71,385.8,524.5,24.3,1598,12509,0.32,0.00,0.00,0.000,6,0.154,0.000,2961,2127,1490
$GC,12844,0.63,385.8,467.8,16.1,1659,12852,0.15,3.03,0.00,0.000,4,0.151,0.061,2936,631,1490
$GC,12879,0.63,385.8,462.8,13.1,1665,12886,0.00,2.85,0.00,0.000,6,0.000,0.038,2936,2122,1489
$GC,13220,0.63,385.8,423.7,11.7,1726,13225,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2123,1489
$GC,13559,0.63,385.8,383.9,12.6,1787,13565,0.00,2.97,0.00,0.000,4,0.000,0.061,2936,640,1489
$GC,13575,0.63,385.8,381.9,11.6,1790,13582,0.00,2.78,0.00,0.000,6,0.000,0.038,2936,2105,1489
$GC,13915,0.63,385.8,343.2,10.8,1851,13922,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2106,1489
$GC,14245,0.65,404.8,308.8,9.3,1912,14271,0.00,2.97,18.73,1.083,4,0.000,0.061,2936,635,1419
$GC,14279,0.65,404.8,305.7,10.3,1917,14285,0.00,2.80,0.00,0.000,6,0.000,0.037,2936,2101,1419
$GC,14610,0.65,404.8,273.4,10.0,1978,14617,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2102,1417
$GC,14943,0.65,404.8,239.8,10.6,2039,14949,0.00,2.92,0.00,0.000,4,0.000,0.061,2936,640,1417
$GC,14971,0.72,404.8,236.7,10.4,2044,14979,0.00,2.78,0.00,0.000,6,0.000,0.038,2936,2085,1417
$GC,15305,0.72,404.8,203.3,10.1,2105,15311,0.00,2.70,0.00,0.000,4,0.000,0.051,2936,3473,1417
$GC,15330,0.77,404.8,200.7,10.9,2109,15337,0.15,2.70,0.00,0.000,6,0.064,0.042,2967,2076,1416
$GC,15661,0.67,404.8,149.4,17.6,2170,15669,0.00,2.88,0.00,0.000,4,0.000,0.064,2967,641,1416
$GC,15706,0.67,404.8,141.8,14.4,2178,15714,0.00,2.78,0.00,0.000,6,0.000,0.039,2967,2084,1416
$GC,15847,0.59,404.8,120.2,17.1,2203,15853,0.22,0.00,0.00,0.000,6,0.128,0.000,2930,2084,1416
$GC,15983,0.72,450.7,105.6,8.4,2228,16035,0.15,0.00,45.72,1.019,6,0.059,0.000,2966,2084,1232
$GC,16165,0.65,450.7,78.8,16.0,2260,16173,0.15,2.97,0.00,0.000,4,0.125,0.062,2941,643,1228
$GC,16189,0.65,450.7,75.2,14.3,2264,16197,0.00,2.78,0.00,0.000,6,0.000,0.038,2941,2064,1227
$GC,16330,0.70,450.7,60.5,10.2,2289,16337,0.00,2.72,0.00,0.000,4,0.000,0.050,2941,3455,1227
$GC,16347,0.77,450.7,58.4,10.6,2292,16356,0.10,2.78,0.00,0.000,6,0.054,0.043,2967,2059,1226
$GC,16485,0.69,450.7,37.2,19.0,2317,16494,0.00,2.90,0.00,0.000,4,0.000,0.067,2967,642,1226
$GC,16517,0.69,450.7,31.5,16.5,2322,16525,0.00,2.72,0.00,0.000,6,0.000,0.037,2967,2049,1226
$GC,16652,0.62,450.7,9.4,22.4,2347,16660,0.17,0.00,0.00,0.000,6,0.118,0.000,2937,2049,1225
$STATE,16707,end climb,SURFACE_DEPTH_REACHED
$STATE,16707,begin surface coast
$FINISH,0.1,1.027333
$STATE,16719,end surface coast,CONTROL_FINISHED_OK
$STATE,16720,begin surface
$SM_CCo,16794,0.00,0.000,0,0,1223,453.31
$SM_GC,0.35,7.20,0.00,0.00,0.044,0.000,0.000,1467,2263,1223,-6.09,0.08,453.31
$IRIDIUM_FIX,5837.82,-1917.60,040797,050547
$TT8_MAMPS,0.022243
$HUMID,1643
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,12.90
$XPDR_PINGS,313
$24V_AH,19.9,18.824
$10V_AH,9.8,10.913
$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,22.325,166.150,659.375,0.000,0.000,31.496,33.537,315.355,78.250,0.000,0.000,32.197,3600.569,7042.987,783.448,5203.818,654.180,0.000,2706.885,0.000,5204.930,0.000,0.469
$DEVICE_MAMPS,254.644,72.098,1495.650,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1709.983,1712.914,1052.661,936.216,2450.926,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,176998,2359
$CAP_FILE_SIZE,196319,0
$CFSIZE,260165632,254640128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090408,145438,5856.228,-1921.835,36,1.0,36,-13.6