version: 66.03
glider: 143
mission: 4
dive: 40
start: 4 11 108 21 56 46
data:
$ID,143
$MISSION,4
$DIVE,40
$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,-4759.4307
$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,24
$R_STBD_OVSHOOT,19
$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
$GPS1,214456,5843.244,-2100.764,39,1.7,39,-14.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-45.3
$GPS2,215627,5843.245,-2100.886,13,1.5,13,-14.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5841.370,-2106.413
$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,274.4,20000,-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,23,begin dive
$GC,25,-0.82,-194.7,0.0,0.0,0,128,0.00,0.00,-100.53,0.000,2,0.000,0.000,1464,2278,3440
$GC,130,-0.82,-194.7,3.0,-5.7,14,162,9.73,2.88,-9.88,0.000,4,0.249,0.071,2613,3669,3868
$GC,379,-0.70,-194.7,53.2,-21.6,60,387,0.15,2.75,0.00,0.000,6,0.247,0.039,2638,2263,3868
$GC,519,-0.66,-194.7,72.1,-12.7,85,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2260,3868
$GC,653,-0.61,-194.7,89.0,-13.3,110,661,0.15,0.00,0.00,0.000,6,0.137,0.000,2663,2259,3868
$GC,792,-0.61,-194.7,105.3,-11.9,135,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2260,3868
$GC,928,-0.61,-194.7,122.6,-13.7,160,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2260,3868
$GC,1066,-0.61,-194.7,141.4,-13.2,185,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2260,3868
$GC,1200,-0.61,-194.7,159.1,-13.0,210,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2260,3868
$GC,1532,-0.61,-194.7,198.1,-10.9,271,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2259,3868
$GC,1861,-0.61,-194.7,235.9,-11.8,332,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2260,3868
$GC,2193,-0.61,-194.7,273.4,-11.2,393,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2260,3868
$GC,2522,-0.61,-194.7,311.6,-11.7,454,2530,0.00,2.80,0.00,0.000,4,0.000,0.054,2663,3672,3868
$GC,2554,-0.61,-194.7,315.1,-11.9,459,2560,0.00,2.70,0.00,0.000,6,0.000,0.040,2663,2257,3868
$GC,2885,-0.61,-194.7,353.2,-10.7,520,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2252,3868
$GC,3227,-0.61,-194.7,389.1,-9.7,581,3233,0.00,2.78,0.00,0.000,4,0.000,0.052,2663,3669,3868
$GC,3286,-0.66,-194.7,395.0,-10.1,591,3292,0.00,2.67,0.00,0.000,6,0.000,0.040,2663,2262,3868
$GC,3629,-0.66,-194.7,430.6,-9.9,652,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2259,3868
$GC,3968,-0.66,-194.7,465.6,-11.2,713,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2259,3868
$GC,4305,-0.66,-194.7,501.6,-10.5,774,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2259,3868
$GC,4648,-0.66,-194.7,536.4,-9.3,835,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2259,3868
$GC,4988,-0.66,-194.7,567.0,-9.2,896,4993,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2259,3868
$GC,5332,-0.66,-194.7,603.0,-11.5,956,5336,0.00,2.78,0.00,0.000,4,0.000,0.058,2663,3668,3868
$GC,5364,-0.71,-194.7,606.6,-11.4,958,5370,0.00,2.67,0.00,0.000,6,0.000,0.043,2663,2274,3868
$GC,5690,-0.71,-194.7,641.9,-11.2,989,5695,0.00,2.83,0.00,0.000,4,0.000,0.064,2663,846,3868
$GC,5729,-0.78,-194.7,646.2,-10.6,992,5734,0.17,2.75,0.00,0.000,6,0.054,0.045,2624,2281,3868
$GC,6053,-0.72,-194.7,694.0,-14.4,1022,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2280,3868
$GC,6372,-0.67,-194.7,740.1,-14.1,1052,6374,0.17,0.00,0.00,0.000,6,0.126,0.000,2651,2284,3867
$GC,6690,-0.67,-194.7,777.8,-12.1,1082,6691,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2285,3867
$GC,7008,-0.67,-194.7,815.9,-11.5,1112,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2284,3867
$GC,7327,-0.67,-194.7,849.6,-11.0,1142,7331,0.00,2.90,0.00,0.000,4,0.000,0.071,2651,846,3867
$GC,7359,-0.71,-194.7,853.3,-11.9,1144,7365,0.00,2.75,0.00,0.000,6,0.000,0.049,2651,2266,3867
$GC,7684,-0.71,-194.7,890.7,-11.2,1175,7685,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2266,3866
$GC,8002,-0.71,-194.7,924.8,-10.0,1205,8003,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2267,3866
$GC,8320,-0.71,-194.7,957.7,-10.2,1235,8325,0.00,2.83,0.00,0.000,4,0.000,0.067,2651,3673,3866
$GC,8351,-0.71,-194.7,961.1,-10.4,1237,8358,0.00,2.78,0.00,0.000,6,0.000,0.049,2651,2268,3865
$STATE,8632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8632,begin apogee
$GC,8637,-0.19,0.0,991.1,11.0,1264,8838,0.60,0.00,197.02,1.508,6,0.123,0.000,2753,2040,3071
$STATE,8839,end apogee,CONTROL_FINISHED_OK
$STATE,8839,begin climb
$GC,8841,0.82,194.7,1000.2,0.0,1284,9055,1.25,3.15,199.70,1.391,4,0.090,0.072,2971,651,2275
$GC,9150,0.69,194.7,974.9,13.1,1313,9157,0.15,2.90,0.00,0.000,6,0.138,0.044,2951,2051,2272
$GC,9475,0.55,194.7,937.6,11.4,1344,9480,0.15,2.92,0.00,0.000,4,0.140,0.058,2927,3465,2271
$GC,9541,0.51,203.6,930.6,9.7,1349,9558,0.00,2.83,9.35,1.258,6,0.000,0.048,2927,2074,2240
$GC,9876,0.48,216.3,898.5,9.6,1381,9898,0.15,2.90,14.05,1.414,4,0.128,0.058,2901,3468,2188
$GC,9936,0.49,228.7,893.0,9.6,1386,9956,0.00,2.80,14.38,1.235,6,0.000,0.048,2901,2087,2138
$GC,10282,0.57,291.2,864.5,7.8,1419,10354,0.12,3.12,63.60,1.361,4,0.076,0.071,2925,644,1883
$GC,10448,0.58,301.2,848.5,9.7,1434,10466,0.00,2.95,10.77,1.254,6,0.000,0.044,2925,2110,1843
$GC,10784,0.61,326.6,818.1,9.1,1466,10818,0.00,3.22,26.92,1.349,4,0.000,0.072,2925,637,1739
$GC,10885,0.63,339.7,808.4,9.5,1475,10905,0.00,3.00,14.98,1.239,6,0.000,0.044,2925,2132,1686
$GC,11231,0.63,342.6,776.2,9.9,1508,11235,0.00,2.72,0.00,0.000,4,0.000,0.059,2925,3472,1682
$GC,11274,0.68,342.6,771.7,10.5,1511,11280,0.00,2.70,0.00,0.000,6,0.000,0.048,2925,2128,1681
$GC,11599,0.73,389.5,742.5,8.4,1542,11660,0.17,3.22,50.78,1.317,4,0.064,0.071,2960,637,1481
$GC,11754,0.73,389.5,723.0,12.8,1556,11762,0.00,3.00,0.00,0.000,6,0.000,0.044,2961,2134,1478
$GC,12081,0.67,389.5,675.9,15.1,1587,12086,0.00,3.10,0.00,0.000,4,0.000,0.069,2960,639,1475
$GC,12164,0.67,389.5,664.0,13.8,1594,12169,0.00,2.97,0.00,0.000,6,0.000,0.044,2960,2152,1475
$GC,12488,0.60,389.5,613.8,14.6,1624,12493,0.17,2.62,0.00,0.000,4,0.125,0.053,2931,3474,1475
$GC,12515,0.60,389.5,610.2,12.2,1626,12520,0.00,2.60,0.00,0.000,6,0.000,0.044,2932,2150,1474
$GC,12850,0.62,401.8,578.3,9.6,1676,12868,0.00,3.08,12.40,1.196,4,0.000,0.064,2931,634,1432
$GC,12897,0.73,428.7,573.8,9.1,1684,12933,0.15,2.95,28.88,1.213,6,0.059,0.041,2965,2151,1323
$GC,13268,0.67,428.7,515.6,15.0,1750,13274,0.00,2.62,0.00,0.000,4,0.000,0.051,2965,3473,1318
$GC,13290,0.67,428.7,511.8,14.6,1754,13296,0.00,2.65,0.00,0.000,6,0.000,0.043,2965,2129,1317
$GC,13631,0.61,428.7,459.2,16.4,1815,13637,0.17,0.00,0.00,0.000,6,0.127,0.000,2936,2129,1317
$GC,13973,0.66,432.3,422.2,9.9,1876,13984,0.00,3.00,4.18,0.759,4,0.000,0.063,2936,641,1308
$GC,14009,0.76,439.5,418.8,9.8,1882,14028,0.12,2.90,9.18,1.042,6,0.061,0.039,2967,2151,1278
$GC,14367,0.70,439.5,366.6,16.0,1945,14373,0.00,2.58,0.00,0.000,4,0.000,0.049,2965,3469,1277
$GC,14390,0.70,439.5,362.2,17.3,1949,14396,0.00,2.60,0.00,0.000,6,0.000,0.042,2970,2133,1277
$GC,14722,0.66,439.5,311.7,13.6,2010,14731,0.15,3.00,0.00,0.000,4,0.127,0.062,2942,644,1276
$GC,14744,0.66,439.5,308.8,14.3,2013,14750,0.00,2.88,0.00,0.000,6,0.000,0.038,2943,2150,1276
$GC,15075,0.66,439.5,275.1,10.6,2074,15083,0.00,3.05,0.00,0.000,4,0.000,0.062,2942,644,1276
$GC,15101,0.72,439.5,272.5,10.8,2078,15109,0.00,2.88,0.00,0.000,6,0.000,0.038,2942,2135,1276
$GC,15435,0.76,439.5,236.0,11.4,2139,15441,0.12,0.00,0.00,0.000,6,0.067,0.000,2968,2136,1276
$GC,15765,0.70,439.5,184.6,15.3,2200,15772,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2136,1276
$GC,16100,0.65,439.5,134.5,14.8,2261,16107,0.15,3.00,0.00,0.000,4,0.123,0.061,2941,634,1276
$GC,16117,0.65,439.5,131.6,13.6,2264,16125,0.00,2.85,0.00,0.000,6,0.000,0.038,2942,2124,1276
$GC,16258,0.69,439.5,117.3,10.9,2289,16264,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2124,1276
$GC,16395,0.74,439.5,102.3,10.7,2314,16402,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2124,1276
$GC,16534,0.79,439.5,87.3,11.0,2339,16541,0.15,2.97,0.00,0.000,4,0.064,0.061,2978,632,1276
$GC,16562,0.79,439.5,83.1,15.8,2344,16569,0.00,2.83,0.00,0.000,6,0.000,0.039,2978,2107,1276
$GC,16702,0.70,439.5,62.1,17.6,2369,16709,0.15,2.65,0.00,0.000,4,0.133,0.050,2952,3471,1276
$GC,16730,0.70,439.5,57.3,14.9,2374,16738,0.00,2.65,0.00,0.000,6,0.000,0.041,2953,2108,1276
$GC,16867,0.70,439.5,41.1,10.0,2399,16874,0.00,2.92,0.00,0.000,4,0.000,0.063,2953,643,1276
$GC,16898,0.75,439.5,36.7,15.1,2404,16906,0.00,2.83,0.00,0.000,6,0.000,0.038,2953,2121,1276
$GC,17032,0.75,439.5,18.8,15.3,2429,17040,0.00,2.65,0.00,0.000,4,0.000,0.051,2952,3469,1276
$GC,17058,0.75,439.5,15.2,14.1,2433,17066,0.00,2.70,0.00,0.000,6,0.000,0.042,2964,2087,1276
$STATE,17170,end climb,SURFACE_DEPTH_REACHED
$STATE,17170,begin surface coast
$FINISH,0.3,1.027294
$STATE,17188,end surface coast,CONTROL_FINISHED_OK
$STATE,17188,begin surface
$SM_CCo,17263,0.00,0.000,0,0,1273,440.80
$SM_GC,0.53,7.30,0.00,0.00,0.044,0.000,0.000,1471,2290,1273,-6.08,0.85,440.80
$IRIDIUM_FIX,5821.32,-2103.44,060797,212139
$TT8_MAMPS,0.021476
$HUMID,1653
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,13.00
$XPDR_PINGS,332
$24V_AH,19.7,22.410
$10V_AH,9.8,13.953
$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,21.625,154.625,656.175,0.000,0.000,54.390,68.117,381.057,83.000,0.000,0.000,15.309,3751.232,7199.259,786.756,5405.983,785.870,0.000,2759.155,0.000,5416.658,0.000,0.469
$DEVICE_MAMPS,249.275,72.098,1507.922,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1781.245,1786.106,1085.309,990.200,2561.043,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,186522,2457
$CAP_FILE_SIZE,203570,0
$CFSIZE,260165632,253231104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120408,024538,5845.012,-2106.765,35,0.9,35,-14.4