version: 66.03
glider: 143
mission: 4
dive: 37
start: 4 11 108 7 0 40
data:
$ID,143
$MISSION,4
$DIVE,37
$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,260
$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,-4711.1602
$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,20
$R_STBD_OVSHOOT,15
$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
$GPS1,064938,5844.047,-2039.901,37,1.1,37,-14.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-46.7
$GPS2,070021,5843.951,-2040.083,11,1.4,11,-14.2
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5842.075,-2045.608
$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,274.2,20000,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.82,-194.7,0.0,0.0,0,149,0.00,0.00,-122.35,0.000,2,0.000,0.000,1463,2256,3765
$GC,152,-0.82,-194.7,4.1,-7.7,17,176,9.85,2.88,-2.03,0.000,4,0.253,0.056,2611,3679,3868
$GC,446,-0.73,-194.7,60.4,-14.7,71,453,0.17,2.78,0.00,0.000,6,0.144,0.041,2637,2252,3868
$GC,582,-0.67,-194.7,81.0,-16.5,96,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2251,3868
$GC,721,-0.61,-194.7,100.2,-13.1,121,727,0.15,0.00,0.00,0.000,6,0.153,0.000,2661,2249,3869
$GC,855,-0.61,-194.7,118.2,-12.8,146,863,0.00,2.85,0.00,0.000,4,0.000,0.054,2661,3673,3868
$GC,898,-0.61,-194.7,122.3,-9.4,153,904,0.00,2.72,0.00,0.000,6,0.000,0.040,2661,2255,3868
$GC,1035,-0.61,-194.7,137.3,-9.6,178,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2255,3868
$GC,1173,-0.61,-194.7,151.7,-11.1,203,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2254,3868
$GC,1502,-0.61,-194.7,191.2,-12.3,264,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2252,3868
$GC,1834,-0.61,-194.7,232.2,-10.9,325,1840,0.00,2.83,0.00,0.000,4,0.000,0.054,2661,3685,3868
$GC,1869,-0.61,-194.7,236.5,-12.5,331,1875,0.00,2.72,0.00,0.000,6,0.000,0.040,2660,2263,3868
$GC,2200,-0.61,-194.7,276.6,-13.1,392,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2259,3868
$GC,2533,-0.61,-194.7,320.9,-13.3,453,2539,0.00,2.72,0.00,0.000,4,0.000,0.053,2661,853,3868
$GC,2572,-0.67,-194.7,325.9,-11.9,460,2579,0.00,2.75,0.00,0.000,6,0.000,0.042,2661,2275,3868
$GC,2907,-0.67,-194.7,369.0,-12.5,521,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2276,3868
$GC,3247,-0.67,-194.7,413.9,-12.6,582,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2276,3868
$GC,3588,-0.67,-194.7,454.6,-11.3,643,3595,0.00,2.78,0.00,0.000,4,0.000,0.054,2660,852,3868
$GC,3617,-0.67,-194.7,457.9,-11.6,648,3624,0.00,2.72,0.00,0.000,6,0.000,0.042,2661,2269,3868
$GC,3962,-0.67,-194.7,494.9,-10.2,709,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2269,3868
$GC,4302,-0.67,-194.7,529.8,-10.0,770,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2269,3868
$GC,4644,-0.67,-194.7,566.2,-11.1,831,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2269,3868
$GC,4982,-0.67,-194.7,602.9,-11.3,890,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2269,3868
$GC,5303,-0.67,-194.7,638.9,-11.6,920,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2269,3868
$GC,5620,-0.67,-194.7,673.5,-10.8,950,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2269,3868
$GC,5938,-0.67,-194.7,708.6,-11.2,980,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2271,3868
$GC,6257,-0.67,-194.7,746.1,-12.1,1010,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2273,3868
$GC,6576,-0.67,-194.7,782.7,-11.7,1040,6580,0.00,2.80,0.00,0.000,4,0.000,0.065,2664,3669,3868
$GC,6607,-0.67,-194.7,786.6,-12.0,1042,6614,0.00,2.75,0.00,0.000,6,0.000,0.053,2661,2270,3868
$GC,6933,-0.67,-194.7,821.0,-8.8,1073,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2270,3868
$GC,7252,-0.67,-194.7,852.3,-9.2,1103,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2270,3868
$GC,7569,-0.67,-194.7,886.6,-10.8,1133,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2270,3867
$GC,7888,-0.67,-194.7,920.2,-10.6,1163,7892,0.00,2.80,0.00,0.000,4,0.000,0.062,2661,3669,3867
$GC,7937,-0.73,-194.7,925.4,-11.0,1167,7942,0.00,2.75,0.00,0.000,6,0.000,0.051,2661,2263,3867
$GC,8262,-0.73,-194.7,956.5,-10.1,1197,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2263,3867
$GC,8582,-0.73,-194.7,987.8,-9.7,1227,8583,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2262,3867
$STATE,8610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8610,begin apogee
$GC,8614,-0.19,0.0,991.0,10.0,1230,8816,0.55,0.00,197.70,1.511,6,0.116,0.000,2756,2041,3071
$STATE,8816,end apogee,CONTROL_FINISHED_OK
$STATE,8817,begin climb
$GC,8818,0.82,194.7,998.8,0.0,1250,9027,1.23,3.15,198.90,1.380,4,0.084,0.071,2973,647,2277
$GC,9133,0.68,194.7,969.0,14.2,1279,9140,0.15,2.90,0.00,0.000,6,0.136,0.044,2953,2054,2273
$GC,9458,0.56,194.7,929.4,11.2,1310,9463,0.15,2.90,0.00,0.000,4,0.136,0.058,2928,3468,2271
$GC,9524,0.51,194.7,922.8,10.2,1315,9531,0.00,2.85,0.00,0.000,6,0.000,0.050,2928,2067,2271
$GC,9850,0.46,200.1,892.5,9.8,1346,9862,0.15,2.85,5.68,1.055,4,0.126,0.057,2902,3462,2255
$GC,9896,0.52,251.9,888.4,8.2,1350,9958,0.00,2.78,53.17,1.376,6,0.000,0.049,2902,2078,2043
$GC,10276,0.57,289.5,857.8,8.7,1386,10320,0.00,3.10,38.58,1.358,4,0.000,0.071,2902,646,1890
$GC,10399,0.70,336.8,847.3,8.4,1397,10457,0.20,2.95,48.78,1.298,6,0.057,0.044,2950,2117,1698
$GC,10773,0.70,336.8,801.4,12.3,1433,10778,0.00,3.10,0.00,0.000,4,0.000,0.071,2943,636,1693
$GC,10861,0.70,336.8,791.1,11.6,1440,10868,0.00,2.95,0.00,0.000,6,0.000,0.044,2943,2127,1691
$GC,11187,0.70,336.8,752.0,12.5,1471,11191,0.00,2.70,0.00,0.000,4,0.000,0.058,2943,3472,1691
$GC,11218,0.70,336.8,747.8,12.5,1473,11225,0.00,2.72,0.00,0.000,6,0.000,0.050,2943,2124,1689
$GC,11544,0.70,336.8,704.1,13.2,1504,11545,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2123,1689
$GC,11861,0.70,336.8,663.4,12.4,1534,11866,0.00,2.67,0.00,0.000,4,0.000,0.054,2944,3465,1689
$GC,11881,0.70,336.8,660.7,13.4,1535,11888,0.00,2.65,0.00,0.000,6,0.000,0.046,2943,2130,1688
$GC,12207,0.70,336.8,622.8,10.8,1566,12208,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2129,1688
$GC,12529,0.70,336.8,588.5,11.1,1605,12536,0.00,2.62,0.00,0.000,4,0.000,0.051,2943,3468,1688
$GC,12547,0.70,336.8,586.5,11.7,1608,12555,0.00,2.62,0.00,0.000,6,0.000,0.044,2942,2132,1687
$GC,12893,0.70,336.8,545.7,11.8,1669,12899,0.00,2.97,0.00,0.000,4,0.000,0.062,2942,634,1687
$GC,12911,0.70,336.8,543.2,12.9,1672,12917,0.00,2.88,0.00,0.000,6,0.000,0.038,2943,2147,1687
$GC,13252,0.70,336.8,501.8,12.0,1733,13258,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2147,1687
$GC,13591,0.70,336.8,461.2,11.8,1794,13598,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2147,1687
$GC,13934,0.70,336.8,418.6,12.4,1855,13940,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2147,1687
$GC,14274,0.70,336.8,377.6,11.7,1916,14279,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2147,1687
$GC,14612,0.70,336.8,338.8,10.9,1977,14619,0.00,3.00,0.00,0.000,4,0.000,0.061,2943,636,1687
$GC,14629,0.70,336.8,336.6,11.7,1980,14636,0.00,2.85,0.00,0.000,6,0.000,0.038,2943,2136,1687
$GC,14963,0.70,336.8,298.2,11.6,2041,14969,0.00,2.58,0.00,0.000,4,0.000,0.050,2943,3468,1687
$GC,14987,0.70,336.8,295.5,11.1,2045,14993,0.00,2.58,0.00,0.000,6,0.000,0.042,2943,2125,1687
$GC,15318,0.70,336.8,257.7,10.9,2106,15325,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2124,1687
$GC,15651,0.70,336.8,221.5,11.0,2167,15656,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2125,1687
$GC,15979,0.70,336.8,185.9,11.5,2228,15986,0.00,2.62,0.00,0.000,4,0.000,0.049,2943,3464,1687
$GC,16000,0.70,336.8,183.9,10.7,2231,16006,0.00,2.55,0.00,0.000,6,0.000,0.042,2943,2132,1687
$GC,16329,0.70,336.8,147.5,11.6,2292,16337,0.00,2.97,0.00,0.000,4,0.000,0.063,2942,641,1687
$GC,16361,0.70,336.8,144.1,12.1,2297,16367,0.00,2.85,0.00,0.000,6,0.000,0.039,2945,2150,1687
$GC,16496,0.70,336.8,129.0,10.9,2322,16503,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2151,1687
$GC,16634,0.70,336.8,113.9,12.3,2347,16640,0.00,3.00,0.00,0.000,4,0.000,0.061,2943,642,1687
$GC,16651,0.70,336.8,111.9,11.6,2350,16659,0.00,2.85,0.00,0.000,6,0.000,0.038,2944,2137,1687
$GC,16790,0.70,339.3,97.6,9.9,2375,16796,0.00,2.58,0.00,0.000,4,0.000,0.050,2943,3474,1688
$GC,16807,0.71,348.7,95.6,9.7,2378,16828,0.00,2.60,10.88,0.843,6,0.000,0.042,2943,2130,1648
$GC,16961,0.71,348.7,79.9,11.0,2405,16967,0.00,2.95,0.00,0.000,4,0.000,0.063,2943,641,1648
$GC,16986,0.71,348.7,77.1,11.2,2409,16993,0.08,2.83,0.00,0.000,6,0.128,0.038,2946,2137,1648
$GC,17123,0.75,381.0,64.1,8.9,2434,17162,0.00,2.62,31.48,0.973,4,0.000,0.050,2933,3468,1517
$GC,17181,0.83,385.8,58.6,9.8,2443,17196,0.25,2.62,5.88,0.642,6,0.051,0.041,2984,2128,1498
$GC,17326,0.71,385.8,35.9,16.1,2469,17335,0.15,3.03,0.00,0.000,4,0.136,0.061,2959,641,1496
$GC,17358,0.71,385.8,30.9,14.8,2474,17366,0.00,2.90,0.00,0.000,6,0.000,0.038,2975,2131,1496
$GC,17492,0.71,385.8,13.4,14.8,2499,17500,0.00,2.65,0.00,0.000,4,0.000,0.051,3005,3462,1495
$GC,17512,0.71,385.8,10.8,12.0,2502,17521,0.00,2.62,0.00,0.000,6,0.000,0.042,2959,2133,1495
$STATE,17583,end climb,SURFACE_DEPTH_REACHED
$STATE,17583,begin surface coast
$FINISH,-0.1,1.027303
$STATE,17600,end surface coast,CONTROL_FINISHED_OK
$STATE,17600,begin surface
$SM_CCo,17675,0.00,0.000,0,0,1493,386.84
$SM_GC,0.58,7.30,0.00,0.00,0.043,0.000,0.000,1467,2275,1493,-6.09,0.42,386.84
$IRIDIUM_FIX,5821.32,-2045.00,060797,070716
$TT8_MAMPS,0.021476
$HUMID,1650
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,12.70
$XPDR_PINGS,325
$24V_AH,19.8,21.543
$10V_AH,9.8,13.192
$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,20.375,146.175,591.025,0.000,0.000,58.609,64.506,333.474,81.250,0.000,0.000,12.789,3825.024,7504.576,736.174,5475.455,750.459,0.000,2722.661,0.000,5501.428,0.000,0.468
$DEVICE_MAMPS,253.110,71.331,1510.990,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1829.819,1822.750,1124.510,1005.736,2624.185,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,189927,2518
$CAP_FILE_SIZE,200191,0
$CFSIZE,260165632,253587456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110408,115631,5843.115,-2048.235,37,1.3,42,-14.3