version: 66.03
glider: 143
mission: 4
dive: 39
start: 4 11 108 17 2 33
data:
$ID,143
$MISSION,4
$DIVE,39
$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,-4743.4917
$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,21
$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
$GPS1,165138,5842.650,-2054.858,31,1.1,31,-14.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-47.8
$GPS2,170214,5842.610,-2054.978,9,1.5,14,-14.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5840.735,-2100.506
$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,274.3,20000,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.82,-194.7,0.0,0.0,0,136,0.00,0.00,-108.55,0.000,2,0.000,0.000,1467,2266,3617
$GC,138,-0.82,-194.7,3.8,-7.8,15,161,9.93,2.88,-5.10,0.000,4,0.255,0.066,2609,3668,3866
$GC,378,-0.72,-194.7,51.9,-16.9,59,385,0.20,2.75,0.00,0.000,6,0.145,0.041,2638,2253,3868
$GC,514,-0.67,-194.7,73.0,-13.7,84,522,0.00,2.80,0.00,0.000,4,0.000,0.058,2638,856,3868
$GC,539,-0.67,-194.7,76.2,-13.4,88,547,0.00,2.75,0.00,0.000,6,0.000,0.045,2638,2252,3868
$GC,680,-0.62,-194.7,92.8,-10.8,113,686,0.15,2.85,0.00,0.000,4,0.148,0.056,2662,3677,3868
$GC,718,-0.62,-194.7,97.1,-9.5,120,726,0.00,2.78,0.00,0.000,6,0.000,0.043,2662,2272,3868
$GC,857,-0.62,-194.7,111.0,-10.0,145,863,0.00,2.80,0.00,0.000,4,0.000,0.055,2662,852,3868
$GC,885,-0.62,-194.7,113.9,-9.9,150,893,0.00,2.80,0.00,0.000,6,0.000,0.044,2662,2279,3868
$GC,1024,-0.62,-194.7,127.6,-11.4,175,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2279,3868
$GC,1158,-0.62,-194.7,142.9,-11.3,200,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2280,3868
$GC,1296,-0.62,-194.7,159.3,-12.1,225,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2279,3868
$GC,1625,-0.62,-194.7,200.3,-12.5,286,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2279,3868
$GC,1957,-0.62,-194.7,243.6,-12.6,347,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2279,3868
$GC,2286,-0.62,-194.7,287.6,-11.8,408,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2279,3868
$GC,2618,-0.62,-194.7,328.3,-12.7,469,2624,0.00,2.80,0.00,0.000,4,0.000,0.054,2662,850,3868
$GC,2653,-0.68,-194.7,332.6,-12.1,475,2659,0.00,2.75,0.00,0.000,6,0.000,0.042,2662,2286,3868
$GC,2988,-0.68,-194.7,372.3,-11.6,536,2994,0.00,2.70,0.00,0.000,4,0.000,0.051,2662,3675,3868
$GC,3020,-0.68,-194.7,375.6,-12.0,541,3026,0.00,2.67,0.00,0.000,6,0.000,0.039,2662,2272,3868
$GC,3360,-0.68,-194.7,416.8,-12.9,602,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2268,3867
$GC,3698,-0.68,-194.7,457.4,-11.3,663,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2268,3867
$GC,4040,-0.68,-194.7,495.8,-12.0,724,4046,0.00,2.75,0.00,0.000,4,0.000,0.055,2662,854,3867
$GC,4062,-0.68,-194.7,498.6,-12.0,728,4069,0.00,2.72,0.00,0.000,6,0.000,0.041,2662,2296,3868
$GC,4403,-0.68,-194.7,540.0,-11.7,789,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2296,3868
$GC,4744,-0.68,-194.7,578.9,-10.6,850,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2297,3868
$GC,5078,-0.68,-194.7,613.0,-10.1,899,5083,0.00,2.85,0.00,0.000,4,0.000,0.058,2662,848,3868
$GC,5117,-0.74,-194.7,616.7,-9.3,902,5122,0.12,2.72,0.00,0.000,6,0.061,0.043,2633,2277,3868
$GC,5441,-0.69,-194.7,659.3,-14.4,932,5442,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2277,3868
$GC,5760,-0.64,-194.7,706.8,-14.5,962,5766,0.15,2.88,0.00,0.000,4,0.137,0.071,2658,855,3868
$GC,5792,-0.64,-194.7,711.1,-11.5,964,5799,0.00,2.78,0.00,0.000,6,0.000,0.050,2658,2268,3867
$GC,6118,-0.64,-194.7,745.3,-10.6,995,6122,0.00,2.83,0.00,0.000,4,0.000,0.067,2658,3675,3868
$GC,6145,-0.64,-194.7,748.4,-11.9,997,6149,0.00,2.75,0.00,0.000,6,0.000,0.054,2658,2279,3867
$GC,6469,-0.64,-194.7,784.0,-11.5,1027,6474,0.00,2.88,0.00,0.000,4,0.000,0.071,2658,842,3868
$GC,6530,-0.71,-194.7,791.4,-12.0,1032,6535,0.00,2.78,0.00,0.000,6,0.000,0.049,2658,2272,3867
$GC,6854,-0.71,-194.7,826.2,-10.1,1062,6859,0.00,2.80,0.00,0.000,4,0.000,0.064,2658,3672,3867
$GC,6881,-0.71,-194.7,829.0,-10.9,1064,6886,0.00,2.78,0.00,0.000,6,0.000,0.052,2658,2260,3867
$GC,7206,-0.71,-194.7,862.4,-10.5,1094,7210,0.00,2.83,0.00,0.000,4,0.000,0.069,2658,843,3866
$GC,7238,-0.77,-194.7,865.9,-10.7,1096,7245,0.15,2.78,0.00,0.000,6,0.058,0.048,2625,2275,3866
$GC,7562,-0.72,-194.7,911.1,-14.7,1127,7567,0.00,2.80,0.00,0.000,4,0.000,0.065,2625,3677,3866
$GC,7600,-0.72,-194.7,916.9,-14.9,1130,7605,0.00,2.78,0.00,0.000,6,0.000,0.051,2625,2256,3866
$GC,7925,-0.68,-194.7,963.6,-14.2,1160,7930,0.17,2.80,0.00,0.000,4,0.136,0.067,2652,852,3865
$GC,7957,-0.72,-194.7,967.8,-11.7,1162,7964,0.00,2.75,0.00,0.000,6,0.000,0.048,2653,2270,3865
$STATE,8164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8164,begin apogee
$GC,8168,-0.19,0.0,990.3,11.1,1182,8370,0.60,0.00,197.52,1.515,6,0.125,0.000,2754,2033,3071
$STATE,8370,end apogee,CONTROL_FINISHED_OK
$STATE,8371,begin climb
$GC,8372,0.82,194.7,999.2,0.0,1202,8586,1.25,3.12,199.57,1.384,4,0.088,0.071,2973,650,2275
$GC,8698,0.68,194.7,968.9,14.7,1233,8704,0.17,2.90,0.00,0.000,6,0.139,0.045,2950,2051,2272
$GC,9022,0.56,194.7,928.0,12.6,1263,9028,0.15,2.92,0.00,0.000,4,0.139,0.059,2926,3468,2270
$GC,9100,0.51,194.7,919.4,10.4,1269,9107,0.00,2.83,0.00,0.000,6,0.000,0.048,2925,2074,2270
$GC,9426,0.46,196.7,889.3,9.9,1300,9431,0.15,2.83,0.00,0.000,4,0.129,0.057,2903,3461,2269
$GC,9469,0.52,242.1,885.2,8.4,1303,9526,0.00,2.75,46.97,1.411,6,0.000,0.048,2903,2085,2084
$GC,9844,0.59,296.6,855.4,8.1,1339,9906,0.12,3.12,55.50,1.354,4,0.072,0.071,2927,635,1862
$GC,9974,0.59,296.6,841.8,10.8,1351,9979,0.00,3.03,0.00,0.000,6,0.000,0.044,2927,2133,1858
$GC,10299,0.59,296.6,805.8,11.1,1381,10304,0.00,3.12,0.00,0.000,4,0.000,0.071,2927,638,1856
$GC,10387,0.59,296.6,795.6,11.1,1388,10394,0.00,2.97,0.00,0.000,6,0.000,0.044,2927,2147,1855
$GC,10713,0.59,301.5,762.1,9.8,1419,10725,0.00,2.65,5.47,1.019,4,0.000,0.058,2938,3462,1840
$GC,10740,0.60,311.1,759.0,9.7,1421,10758,0.00,2.65,11.20,1.306,6,0.000,0.048,2928,2130,1802
$GC,11075,0.60,311.4,726.5,10.0,1453,11076,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2129,1800
$GC,11395,0.65,344.8,696.9,8.8,1483,11436,0.00,0.00,35.30,1.295,6,0.000,0.000,2927,2128,1664
$GC,11754,0.66,355.0,662.6,9.6,1517,11775,0.00,3.08,11.27,1.244,4,0.000,0.068,2927,641,1622
$GC,11859,0.72,362.5,651.7,9.7,1526,11876,0.15,2.97,8.62,1.083,6,0.062,0.043,2959,2149,1593
$GC,12193,0.64,362.5,607.7,13.2,1558,12198,0.00,3.10,0.00,0.000,4,0.000,0.065,2959,636,1591
$GC,12288,0.64,362.5,595.9,11.5,1569,12295,0.00,2.92,0.00,0.000,6,0.000,0.043,2959,2144,1591
$GC,12630,0.55,362.5,549.1,15.2,1630,12637,0.20,2.62,0.00,0.000,4,0.128,0.051,2934,3474,1590
$GC,12670,0.61,362.5,543.8,11.8,1637,12676,0.00,2.60,0.00,0.000,6,0.000,0.044,2933,2145,1589
$GC,13012,0.69,393.4,511.0,8.9,1698,13055,0.00,3.12,32.08,1.207,4,0.000,0.063,2924,640,1466
$GC,13073,0.80,423.3,505.5,9.0,1708,13112,0.25,2.95,31.40,1.080,6,0.047,0.039,2982,2151,1345
$GC,13446,0.67,423.3,434.6,19.1,1775,13453,0.20,2.62,0.00,0.000,4,0.133,0.050,2950,3471,1338
$GC,13470,0.59,423.3,430.3,18.1,1779,13477,0.00,2.62,0.00,0.000,6,0.000,0.042,2950,2134,1337
$GC,13812,0.59,423.3,384.1,13.5,1840,13819,0.00,3.00,0.00,0.000,4,0.000,0.063,2949,641,1336
$GC,13836,0.59,423.3,380.8,13.5,1844,13842,0.00,2.90,0.00,0.000,6,0.000,0.038,2950,2149,1336
$GC,14176,0.59,423.3,338.8,11.6,1905,14182,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2149,1335
$GC,14505,0.59,423.3,294.3,14.1,1966,14513,0.00,3.08,0.00,0.000,4,0.000,0.062,2949,635,1335
$GC,14526,0.59,423.3,291.6,13.3,1969,14532,0.12,2.88,0.00,0.000,6,0.111,0.038,2931,2144,1335
$GC,14857,0.70,449.0,260.0,9.1,2030,14890,0.12,0.00,25.15,1.083,6,0.065,0.000,2957,2145,1239
$GC,15216,0.70,449.0,208.7,14.2,2095,15222,0.00,3.05,0.00,0.000,4,0.000,0.062,2956,636,1237
$GC,15243,0.70,449.0,204.3,15.3,2100,15251,0.00,2.88,0.00,0.000,6,0.000,0.038,2956,2127,1236
$GC,15576,0.70,449.0,156.1,15.4,2161,15582,0.00,2.97,0.00,0.000,4,0.000,0.059,2956,641,1236
$GC,15593,0.70,449.0,153.2,15.3,2164,15601,0.00,2.85,0.00,0.000,6,0.000,0.038,2957,2116,1236
$GC,15925,0.70,449.0,105.5,12.9,2225,15931,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2117,1235
$GC,16059,0.70,449.0,87.7,14.0,2250,16067,0.00,2.97,0.00,0.000,4,0.000,0.061,2956,641,1236
$GC,16080,0.70,449.0,85.0,13.8,2253,16086,0.00,2.80,0.00,0.000,6,0.000,0.038,2958,2115,1235
$GC,16217,0.70,449.0,67.2,13.8,2278,16224,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2116,1235
$GC,16355,0.70,449.0,48.9,14.4,2303,16362,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2116,1235
$GC,16489,0.66,449.0,33.0,14.1,2328,16498,0.00,2.97,0.00,0.000,4,0.000,0.061,2956,642,1235
$GC,16510,0.66,449.0,30.3,12.5,2331,16518,0.00,2.78,0.00,0.000,6,0.000,0.038,2957,2089,1235
$GC,16645,0.66,449.0,16.0,11.7,2356,16653,0.00,2.70,0.00,0.000,4,0.000,0.049,2956,3463,1235
$GC,16665,0.66,449.0,13.4,12.8,2359,16674,0.00,2.67,0.00,0.000,6,0.000,0.038,2956,2083,1235
$STATE,16772,end climb,SURFACE_DEPTH_REACHED
$STATE,16773,begin surface coast
$FINISH,-0.1,1.026494
$STATE,16796,end surface coast,CONTROL_FINISHED_OK
$STATE,16796,begin surface
$SM_CCo,16870,0.00,0.000,0,0,1233,450.86
$SM_GC,0.40,7.15,0.00,0.00,0.038,0.000,0.000,1465,2272,1233,-6.09,0.34,450.86
$IRIDIUM_FIX,5821.32,-2058.09,060797,171714
$TT8_MAMPS,0.021476
$HUMID,1630
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,13.10
$XPDR_PINGS,324
$24V_AH,19.8,22.116
$10V_AH,9.8,13.696
$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,21.525,188.450,660.075,0.000,0.000,50.590,74.843,322.648,81.000,0.000,0.000,16.559,3643.625,7037.353,800.605,5279.145,719.643,0.000,2754.124,0.000,5281.586,0.000,0.469
$DEVICE_MAMPS,255.411,71.331,1514.825,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1731.574,1724.917,1069.267,976.527,2509.168,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,180426,2383
$CAP_FILE_SIZE,202285,0
$CFSIZE,260165632,253353984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110408,214456,5843.244,-2100.764,39,1.7,39,-14.4