version: 66.03
glider: 143
mission: 4
dive: 31
start: 4 10 108 0 59 19
data:
$ID,143
$MISSION,4
$DIVE,31
$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,105
$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,-4620.793
$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,16
$R_STBD_OVSHOOT,32
$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
$GPS1,004907,5851.734,-1935.945,37,1.4,42,-13.7
$_CALLS,1
$_XMS_NAKs,30
$_XMS_TOUTs,1
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-43.9
$GPS2,005902,5851.614,-1936.042,14,1.5,31,-13.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5848.819,-1930.640
$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,118.7,20000,-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,-194.7,0.0,0.0,0,158,0.00,0.00,-129.98,0.000,2,0.000,0.000,1470,2280,3640
$GC,160,-0.82,-194.7,3.5,-6.6,18,183,10.18,2.90,-4.75,0.000,4,0.264,0.067,2611,846,3866
$GC,341,-0.74,-194.7,41.0,-13.6,51,349,0.12,2.80,0.00,0.000,6,0.153,0.051,2631,2237,3867
$GC,477,-0.67,-194.7,61.8,-17.9,76,485,0.12,0.00,0.00,0.000,6,0.153,0.000,2648,2237,3867
$GC,617,-0.67,-194.7,81.4,-13.6,101,623,0.00,2.90,0.00,0.000,4,0.000,0.059,2648,3681,3868
$GC,631,-0.67,-194.7,83.3,-12.3,103,637,0.00,2.78,0.00,0.000,6,0.000,0.039,2648,2247,3867
$GC,766,-0.67,-194.7,101.6,-14.8,128,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2245,3867
$GC,904,-0.67,-194.7,122.4,-15.1,153,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2245,3867
$GC,1039,-0.67,-194.7,142.1,-14.5,178,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2245,3867
$GC,1177,-0.67,-194.7,160.8,-13.7,203,1183,0.00,2.85,0.00,0.000,4,0.000,0.058,2648,3681,3867
$GC,1202,-0.67,-194.7,164.4,-15.1,207,1208,0.00,2.72,0.00,0.000,6,0.000,0.039,2648,2261,3867
$GC,1532,-0.67,-194.7,211.2,-13.8,268,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2260,3867
$GC,1865,-0.67,-194.7,256.4,-12.7,329,1871,0.00,2.83,0.00,0.000,4,0.000,0.057,2648,3682,3867
$GC,1878,-0.67,-194.7,258.2,-13.1,331,1884,0.00,2.72,0.00,0.000,6,0.000,0.040,2648,2261,3867
$GC,2209,-0.67,-194.7,304.1,-14.9,392,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2258,3867
$GC,2542,-0.67,-194.7,349.7,-13.6,453,2549,0.00,2.80,0.00,0.000,4,0.000,0.056,2648,3685,3867
$GC,2568,-0.67,-194.7,353.2,-13.5,457,2574,0.00,2.72,0.00,0.000,6,0.000,0.040,2648,2260,3867
$GC,2908,-0.67,-194.7,398.0,-13.0,518,2914,0.00,2.80,0.00,0.000,4,0.000,0.054,2648,3682,3867
$GC,2920,-0.67,-194.7,399.5,-12.8,520,2927,0.00,2.70,0.00,0.000,6,0.000,0.040,2648,2264,3867
$GC,3263,-0.67,-194.7,444.1,-12.7,581,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2260,3867
$GC,3602,-0.67,-194.7,487.7,-13.3,642,3608,0.00,2.78,0.00,0.000,4,0.000,0.054,2648,3686,3867
$GC,3619,-0.67,-194.7,490.0,-12.7,645,3626,0.00,2.72,0.00,0.000,6,0.000,0.041,2648,2248,3867
$GC,3961,-0.67,-194.7,534.3,-13.2,706,3967,0.00,2.83,0.00,0.000,4,0.000,0.055,2648,3682,3867
$GC,3980,-0.67,-194.7,536.7,-13.0,709,3986,0.00,2.70,0.00,0.000,6,0.000,0.041,2648,2270,3867
$GC,4320,-0.67,-194.7,581.4,-13.3,770,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2266,3867
$GC,4651,-0.67,-194.7,622.4,-12.3,814,4655,0.00,2.80,0.00,0.000,4,0.000,0.058,2648,3685,3867
$GC,4678,-0.67,-194.7,625.7,-12.6,816,4682,0.00,2.70,0.00,0.000,6,0.000,0.044,2648,2283,3867
$GC,5002,-0.67,-194.7,664.3,-12.0,846,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2282,3867
$GC,5320,-0.67,-194.7,703.8,-12.6,876,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2282,3867
$GC,5639,-0.67,-194.7,743.4,-12.6,906,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2282,3867
$GC,5957,-0.67,-194.7,784.6,-12.7,936,5962,0.00,2.88,0.00,0.000,4,0.000,0.072,2648,851,3867
$GC,5977,-0.67,-194.7,787.3,-12.9,937,5984,0.00,2.80,0.00,0.000,6,0.000,0.049,2648,2286,3867
$GC,6303,-0.67,-194.7,826.4,-11.8,968,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2288,3867
$GC,6621,-0.67,-194.7,863.8,-11.5,998,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2288,3867
$GC,6939,-0.67,-194.7,899.5,-11.1,1028,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2289,3866
$GC,7258,-0.67,-194.7,936.2,-12.0,1058,7263,0.00,2.90,0.00,0.000,4,0.000,0.069,2648,848,3866
$GC,7286,-0.67,-194.7,939.4,-12.7,1060,7290,0.00,2.78,0.00,0.000,6,0.000,0.050,2648,2279,3866
$GC,7610,-0.67,-194.7,977.8,-12.0,1090,7611,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2280,3866
$STATE,7714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7714,begin apogee
$GC,7719,-0.19,0.0,990.7,11.9,1100,7918,0.62,0.00,195.48,1.473,6,0.123,0.000,2755,2040,3071
$STATE,7919,end apogee,CONTROL_FINISHED_OK
$STATE,7919,begin climb
$GC,7921,0.82,194.7,1000.5,0.0,1120,8129,1.23,3.17,197.70,1.386,4,0.086,0.058,2971,3466,2277
$GC,8212,0.68,194.7,978.1,12.4,1147,8219,0.15,2.97,0.00,0.000,6,0.143,0.049,2952,2058,2274
$GC,8537,0.56,194.7,941.8,10.9,1178,8542,0.15,2.97,0.00,0.000,4,0.136,0.071,2927,638,2273
$GC,8660,0.52,214.3,930.1,9.3,1188,8687,0.00,2.85,20.25,1.466,6,0.000,0.044,2927,2075,2197
$GC,9005,0.49,229.3,899.0,9.5,1221,9027,0.00,2.88,16.67,1.436,4,0.000,0.058,2927,3467,2136
$GC,9095,0.49,229.3,889.8,10.4,1229,9099,0.00,2.83,0.00,0.000,6,0.000,0.051,2927,2082,2134
$GC,9421,0.45,229.3,857.7,10.2,1259,9426,0.17,2.83,0.00,0.000,4,0.121,0.056,2898,3469,2133
$GC,9449,0.50,271.3,855.0,8.6,1261,9501,0.00,2.72,42.30,1.366,6,0.000,0.050,2898,2104,1965
$GC,9819,0.67,356.2,827.9,7.1,1296,9914,0.25,2.92,86.28,1.315,4,0.058,0.055,2949,3458,1617
$GC,9919,-0.10,356.2,815.9,13.3,1306,9930,1.02,2.83,0.00,0.000,6,0.112,0.048,2781,2107,1616
$GC,10247,0.24,356.2,787.4,10.3,1337,10253,0.35,3.05,0.00,0.000,4,0.067,0.068,2849,632,1609
$GC,10556,0.54,356.2,750.6,12.0,1364,10562,0.35,2.53,0.00,0.000,6,0.063,0.041,2918,1936,1609
$GC,10881,0.96,419.8,722.6,7.8,1394,10953,0.43,3.20,64.25,1.298,4,0.067,0.055,3006,3459,1358
$GC,11048,0.90,419.8,698.9,17.6,1409,11055,0.00,3.28,0.00,0.000,6,0.000,0.054,3006,1882,1354
$GC,11374,0.66,419.8,620.1,25.0,1440,11379,0.35,3.17,0.00,0.000,4,0.150,0.051,2951,3461,1350
$GC,11429,0.66,419.8,609.9,13.2,1444,11436,0.00,3.08,0.00,0.000,6,0.000,0.048,2951,1922,1349
$GC,11766,0.66,419.8,566.3,13.6,1497,11773,0.00,3.05,0.00,0.000,4,0.000,0.050,2951,3463,1348
$GC,11824,0.66,419.8,558.8,12.2,1507,11830,0.00,2.97,0.00,0.000,6,0.000,0.047,2951,1959,1348
$GC,12164,0.66,419.8,513.6,13.6,1568,12170,0.00,2.97,0.00,0.000,4,0.000,0.049,2951,3464,1348
$GC,12203,0.66,419.8,508.5,12.4,1575,12210,0.00,2.85,0.00,0.000,6,0.000,0.045,2951,2000,1348
$GC,12544,0.66,419.8,465.9,12.4,1636,12550,0.00,2.90,0.00,0.000,4,0.000,0.049,2950,3472,1348
$GC,12573,0.66,419.8,462.4,12.2,1641,12580,0.00,2.83,0.00,0.000,6,0.000,0.045,2951,2019,1348
$GC,12914,0.66,419.8,421.0,12.9,1702,12919,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2019,1348
$GC,13253,0.66,419.8,379.5,12.2,1763,13259,0.00,2.83,0.00,0.000,4,0.000,0.048,2951,3465,1348
$GC,13286,0.66,419.8,375.3,12.7,1769,13293,0.00,2.78,0.00,0.000,6,0.000,0.044,2951,2037,1348
$GC,13623,0.66,419.8,333.5,12.1,1830,13631,0.00,2.83,0.00,0.000,4,0.000,0.048,2951,3466,1348
$GC,13644,0.66,419.8,331.2,12.2,1833,13650,0.00,2.75,0.00,0.000,6,0.000,0.044,2951,2048,1348
$GC,13974,0.66,419.8,289.5,13.2,1894,13982,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2048,1348
$GC,14306,0.66,419.8,249.5,12.4,1955,14312,0.00,2.78,0.00,0.000,4,0.000,0.048,2951,3471,1348
$GC,14343,0.66,419.8,244.7,14.4,1961,14349,0.00,2.72,0.00,0.000,6,0.000,0.044,2951,2064,1348
$GC,14673,0.66,419.8,203.2,13.7,2022,14681,0.00,2.85,0.00,0.000,4,0.000,0.064,2951,640,1347
$GC,14704,0.66,419.8,199.4,12.9,2027,14711,0.00,2.70,0.00,0.000,6,0.000,0.038,2951,2073,1348
$GC,15034,0.70,449.8,157.0,9.0,2088,15069,0.00,2.80,28.70,1.048,4,0.000,0.049,2950,3465,1236
$GC,15092,0.70,449.8,150.0,13.2,2097,15099,0.00,2.78,0.00,0.000,6,0.000,0.044,2951,2051,1235
$GC,15423,0.70,449.8,107.7,13.7,2158,15432,0.00,2.85,0.00,0.000,4,0.000,0.065,2950,644,1234
$GC,15456,0.75,449.8,103.3,13.9,2163,15462,0.00,2.70,0.00,0.000,6,0.000,0.038,2951,2057,1233
$GC,15593,0.75,449.8,84.9,14.7,2188,15601,0.00,2.78,0.00,0.000,4,0.000,0.051,2951,3459,1233
$GC,15624,0.75,449.8,80.4,14.0,2193,15631,0.00,2.75,0.00,0.000,6,0.000,0.044,2950,2053,1232
$GC,15762,0.75,449.8,63.1,12.4,2218,15770,0.00,2.85,0.00,0.000,4,0.000,0.064,2951,642,1232
$GC,15794,0.80,449.8,59.5,11.1,2223,15801,0.12,2.72,0.00,0.000,6,0.059,0.038,2980,2070,1232
$GC,15931,0.65,449.8,39.4,17.5,2248,15940,0.20,2.72,0.00,0.000,4,0.133,0.047,2947,3456,1232
$GC,15958,0.60,449.8,35.2,14.9,2252,15966,0.00,2.72,0.00,0.000,6,0.000,0.043,2946,2071,1232
$GC,16092,0.60,449.8,20.7,10.5,2277,16100,0.00,2.88,0.00,0.000,4,0.000,0.064,2946,647,1232
$GC,16118,0.66,449.8,17.6,11.4,2281,16127,0.00,2.85,0.00,0.000,6,0.000,0.038,2946,2128,1231
$GC,16253,0.66,449.8,3.7,13.0,2306,16261,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2128,1231
$STATE,16271,end climb,SURFACE_DEPTH_REACHED
$STATE,16271,begin surface coast
$FINISH,0.2,1.027351
$STATE,16289,end surface coast,CONTROL_FINISHED_OK
$STATE,16289,begin surface
$SM_CCo,16363,0.00,0.000,0,0,1230,451.60
$SM_GC,0.30,7.22,0.00,0.00,0.046,0.000,0.000,1468,2263,1230,-6.09,0.08,451.60
$IRIDIUM_FIX,5829.55,-1935.87,040797,202017
$TT8_MAMPS,0.021476
$HUMID,1652
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,12.90
$XPDR_PINGS,342
$24V_AH,19.9,19.737
$10V_AH,9.8,11.659
$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,23.050,182.600,651.625,0.000,0.000,23.543,44.307,391.402,85.500,0.000,0.000,32.557,3534.350,6741.564,795.658,5135.238,726.468,0.000,2702.670,0.000,5134.429,0.000,0.468
$DEVICE_MAMPS,263.848,72.098,1472.640,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1679.843,1680.487,1030.011,953.518,2435.047,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,174070,2312
$CAP_FILE_SIZE,194627,0
$CFSIZE,260165632,254308352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100408,053316,5849.193,-1938.951,32,1.6,40,-13.7