version: 66.03
glider: 143
mission: 4
dive: 41
start: 4 12 108 2 57 4
data:
$ID,143
$MISSION,4
$DIVE,41
$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,-4775.5254
$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,34
$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
$GPS1,024538,5845.012,-2106.765,35,0.9,35,-14.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-44.5
$GPS2,025645,5845.125,-2106.919,13,1.1,13,-14.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5843.250,-2112.440
$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,22,begin dive
$GC,24,-0.82,-194.7,0.0,0.0,0,128,0.00,0.00,-101.07,0.000,2,0.000,0.000,1471,2293,3520
$GC,130,-0.82,-194.7,3.2,-5.6,14,154,9.85,2.78,-7.50,0.000,4,0.252,0.071,2597,3654,3867
$GC,429,-0.71,-194.7,64.8,-17.3,69,436,0.28,2.70,0.00,0.000,6,0.143,0.041,2638,2259,3868
$GC,630,-0.67,-194.7,94.1,-15.7,106,638,0.00,2.80,0.00,0.000,4,0.000,0.056,2638,856,3867
$GC,661,-0.67,-194.7,98.5,-14.2,111,668,0.00,2.67,0.00,0.000,6,0.000,0.042,2639,2241,3868
$GC,862,-0.67,-194.7,128.3,-15.6,148,870,0.00,2.88,0.00,0.000,4,0.000,0.057,2639,3671,3868
$GC,894,-0.67,-194.7,133.0,-15.9,153,901,0.00,2.78,0.00,0.000,6,0.000,0.041,2639,2238,3868
$GC,1096,-0.63,-194.7,163.6,-14.7,190,1104,0.15,0.00,0.00,0.000,6,0.136,0.000,2664,2238,3868
$GC,1429,-0.63,-194.7,204.7,-12.2,251,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2238,3868
$GC,1757,-0.63,-194.7,241.8,-11.2,312,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2237,3868
$GC,2090,-0.63,-194.7,280.8,-11.8,373,2096,0.00,2.70,0.00,0.000,4,0.000,0.055,2664,852,3868
$GC,2114,-0.63,-194.7,283.6,-11.8,377,2120,0.00,2.70,0.00,0.000,6,0.000,0.041,2667,2259,3868
$GC,2445,-0.63,-194.7,321.2,-11.8,438,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2259,3868
$GC,2780,-0.63,-194.7,361.6,-12.9,499,2786,0.00,2.78,0.00,0.000,4,0.000,0.054,2664,843,3868
$GC,2817,-0.69,-194.7,366.1,-12.2,505,2823,0.00,2.70,0.00,0.000,6,0.000,0.041,2668,2262,3868
$GC,3157,-0.69,-194.7,408.3,-11.8,566,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2262,3868
$GC,3496,-0.69,-194.7,445.1,-10.0,627,3502,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2262,3868
$GC,3836,-0.69,-194.7,479.8,-10.5,688,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2262,3868
$GC,4175,-0.69,-194.7,514.6,-11.0,749,4181,0.00,2.78,0.00,0.000,4,0.000,0.056,2665,845,3868
$GC,4209,-0.75,-194.7,517.9,-10.2,755,4216,0.15,2.67,0.00,0.000,6,0.057,0.041,2633,2258,3868
$GC,4551,-0.70,-194.7,566.0,-14.8,816,4560,0.00,2.78,0.00,0.000,4,0.000,0.054,2631,3666,3868
$GC,4578,-0.65,-194.7,569.7,-14.6,820,4585,0.15,2.72,0.00,0.000,6,0.137,0.043,2652,2242,3868
$GC,4914,-0.65,-194.7,608.2,-10.8,874,4919,0.00,2.72,0.00,0.000,4,0.000,0.059,2652,850,3868
$GC,4945,-0.65,-194.7,611.7,-10.8,876,4952,0.00,2.70,0.00,0.000,6,0.000,0.044,2653,2245,3868
$GC,5271,-0.65,-194.7,651.9,-12.9,907,5276,0.00,2.83,0.00,0.000,4,0.000,0.061,2652,3669,3868
$GC,5303,-0.65,-194.7,656.2,-12.8,909,5309,0.00,2.78,0.00,0.000,6,0.000,0.048,2652,2245,3867
$GC,5630,-0.65,-194.7,691.3,-9.9,940,5634,0.00,2.80,0.00,0.000,4,0.000,0.069,2652,845,3867
$GC,5662,-0.65,-194.7,694.8,-10.0,942,5668,0.00,2.70,0.00,0.000,6,0.000,0.048,2656,2245,3867
$GC,5989,-0.65,-194.7,733.9,-13.2,973,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2247,3867
$GC,6305,-0.65,-194.7,771.7,-10.7,1003,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2249,3867
$GC,6623,-0.65,-194.7,805.3,-10.9,1033,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2249,3866
$GC,6942,-0.65,-194.7,839.0,-10.5,1063,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2249,3866
$GC,7260,-0.65,-194.7,872.5,-10.8,1093,7265,0.00,2.83,0.00,0.000,4,0.000,0.069,2653,847,3865
$GC,7293,-0.70,-194.7,876.1,-10.9,1095,7299,0.00,2.70,0.00,0.000,6,0.000,0.048,2653,2247,3865
$GC,7618,-0.70,-194.7,911.0,-10.5,1126,7622,0.00,2.85,0.00,0.000,4,0.000,0.064,2652,3679,3865
$GC,7661,-0.75,-194.7,915.9,-10.9,1129,7668,0.00,2.83,0.00,0.000,6,0.000,0.051,2652,2238,3865
$GC,7988,-0.75,-194.7,950.2,-11.0,1160,7992,0.00,2.78,0.00,0.000,4,0.000,0.070,2652,849,3865
$GC,8026,-0.82,-194.7,954.6,-11.3,1163,8031,0.15,2.67,0.00,0.000,6,0.059,0.048,2620,2234,3864
$STATE,8285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8285,begin apogee
$GC,8290,-0.19,0.0,990.8,14.5,1187,8490,0.82,0.00,196.07,1.494,6,0.137,0.000,2755,2034,3071
$STATE,8491,end apogee,CONTROL_FINISHED_OK
$STATE,8491,begin climb
$GC,8493,0.82,194.7,1000.7,0.0,1207,8707,1.25,3.12,199.80,1.394,4,0.089,0.071,2973,653,2276
$GC,8790,0.68,194.7,977.2,13.0,1235,8797,0.17,2.92,0.00,0.000,6,0.138,0.044,2950,2058,2272
$GC,9115,0.56,194.7,939.0,11.8,1266,9120,0.17,2.90,0.00,0.000,4,0.137,0.059,2922,3459,2271
$GC,9188,0.51,194.7,931.2,10.4,1272,9192,0.00,2.83,0.00,0.000,6,0.000,0.050,2922,2076,2270
$GC,9513,0.50,223.5,901.6,9.0,1302,9547,0.00,3.05,28.75,1.440,4,0.000,0.071,2922,643,2159
$GC,9637,0.55,256.9,890.4,8.8,1313,9678,0.00,2.92,34.70,1.348,6,0.000,0.045,2924,2104,2023
$GC,10003,0.57,272.9,857.0,9.4,1348,10027,0.00,3.17,16.95,1.403,4,0.000,0.071,2922,642,1958
$GC,10102,0.57,275.2,847.8,9.9,1357,10106,0.00,2.97,0.00,0.000,6,0.000,0.045,2929,2129,1956
$GC,10426,0.59,293.7,817.7,9.4,1387,10458,0.00,2.80,22.75,1.372,4,0.000,0.058,2922,3464,1872
$GC,10507,0.59,293.7,809.5,10.2,1394,10514,0.00,2.72,0.00,0.000,6,0.000,0.049,2922,2126,1869
$GC,10833,0.60,303.8,777.8,9.7,1425,10853,0.00,3.08,11.05,1.313,4,0.000,0.070,2922,640,1832
$GC,10948,0.63,327.7,766.9,9.2,1435,10979,0.00,3.00,25.55,1.266,6,0.000,0.045,2923,2154,1734
$GC,11297,0.63,327.7,732.3,10.4,1468,11302,0.00,3.15,0.00,0.000,4,0.000,0.070,2922,641,1731
$GC,11385,0.68,327.7,723.2,10.0,1475,11393,0.12,3.00,0.00,0.000,6,0.067,0.044,2949,2167,1731
$GC,11710,0.63,327.7,683.3,12.5,1506,11715,0.00,2.60,0.00,0.000,4,0.000,0.058,2948,3466,1729
$GC,11738,0.63,327.7,679.8,13.2,1508,11742,0.00,2.60,0.00,0.000,6,0.000,0.048,2948,2155,1728
$GC,12061,0.63,327.7,638.8,12.6,1538,12063,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2154,1728
$GC,12381,0.63,327.7,597.4,12.6,1569,12389,0.00,2.62,0.00,0.000,4,0.000,0.053,2948,3462,1728
$GC,12399,0.63,327.7,594.9,12.5,1572,12407,0.00,2.55,0.00,0.000,6,0.000,0.044,2949,2169,1727
$GC,12743,0.63,327.7,555.8,11.1,1633,12749,0.00,3.05,0.00,0.000,4,0.000,0.063,2949,636,1727
$GC,12761,0.63,327.7,553.5,12.0,1636,12767,0.00,2.95,0.00,0.000,6,0.000,0.041,2949,2172,1727
$GC,13101,0.63,327.7,513.2,11.0,1697,13107,0.00,2.53,0.00,0.000,4,0.000,0.052,2948,3466,1727
$GC,13131,0.63,327.7,509.8,12.3,1702,13137,0.00,2.53,0.00,0.000,6,0.000,0.043,2948,2162,1727
$GC,13471,0.63,327.7,470.6,11.3,1763,13477,0.00,3.03,0.00,0.000,4,0.000,0.062,2948,634,1727
$GC,13499,0.63,327.7,467.4,11.9,1768,13506,0.00,2.92,0.00,0.000,6,0.000,0.040,2949,2173,1727
$GC,13840,0.63,327.7,429.6,10.6,1829,13846,0.00,2.53,0.00,0.000,4,0.000,0.051,2949,3474,1727
$GC,13869,0.63,327.7,426.4,11.9,1834,13875,0.00,2.53,0.00,0.000,6,0.000,0.043,2949,2167,1727
$GC,14209,0.63,327.7,386.9,11.6,1895,14215,0.00,3.03,0.00,0.000,4,0.000,0.062,2949,634,1727
$GC,14244,0.63,327.7,382.9,11.0,1901,14250,0.00,2.95,0.00,0.000,6,0.000,0.039,2949,2185,1727
$GC,14583,0.63,327.7,344.4,10.4,1962,14591,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2184,1727
$GC,14917,0.63,327.7,307.2,12.2,2023,14922,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2185,1727
$GC,15245,0.63,327.7,270.1,10.7,2084,15253,0.00,3.10,0.00,0.000,4,0.000,0.061,2948,637,1727
$GC,15270,0.63,327.7,267.3,11.3,2088,15278,0.00,2.92,0.00,0.000,6,0.000,0.039,2949,2167,1727
$GC,15603,0.63,327.7,229.0,11.3,2149,15609,0.00,2.50,0.00,0.000,4,0.000,0.050,2948,3465,1727
$GC,15628,0.63,327.7,226.1,11.8,2153,15634,0.00,2.50,0.00,0.000,6,0.000,0.041,2949,2160,1727
$GC,15957,0.63,327.7,187.2,11.3,2214,15965,0.00,3.03,0.00,0.000,4,0.000,0.061,2948,637,1728
$GC,15983,0.63,327.7,184.2,12.7,2218,15991,0.00,2.92,0.00,0.000,6,0.000,0.039,2949,2169,1728
$GC,16317,0.63,327.7,146.5,11.6,2279,16323,0.00,2.50,0.00,0.000,4,0.000,0.050,2949,3465,1728
$GC,16341,0.63,327.7,143.7,11.6,2283,16348,0.00,2.50,0.00,0.000,6,0.000,0.041,2949,2152,1728
$GC,16543,0.67,361.0,122.8,8.9,2320,16582,0.00,3.05,31.55,0.976,4,0.000,0.064,2948,640,1598
$GC,16593,0.69,371.7,117.9,9.6,2328,16614,0.00,2.97,11.50,0.761,6,0.000,0.038,2949,2169,1555
$GC,16809,0.69,371.7,95.1,12.5,2367,16815,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2169,1552
$GC,17010,0.69,371.7,68.1,12.7,2404,17018,0.00,3.12,0.00,0.000,4,0.000,0.061,2949,635,1551
$GC,17031,0.69,371.7,65.6,12.7,2407,17037,0.00,2.92,0.00,0.000,6,0.000,0.038,2948,2159,1551
$GC,17231,0.69,371.7,39.0,14.2,2444,17238,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2159,1550
$GC,17364,0.69,371.7,22.6,13.8,2469,17372,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2160,1550
$GC,17498,0.69,371.7,7.6,10.0,2494,17505,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2160,1549
$STATE,17547,end climb,SURFACE_DEPTH_REACHED
$STATE,17547,begin surface coast
$FINISH,0.4,1.027307
$STATE,17564,end surface coast,CONTROL_FINISHED_OK
$STATE,17565,begin surface
$SM_CCo,17639,0.00,0.000,0,0,1548,373.59
$SM_GC,0.69,7.25,0.00,0.00,0.046,0.000,0.000,1470,2274,1548,-6.08,0.40,373.59
$IRIDIUM_FIX,5821.32,-2116.53,070797,020221
$TT8_MAMPS,0.021476
$HUMID,1634
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,12.90
$XPDR_PINGS,321
$24V_AH,19.7,22.672
$10V_AH,9.8,14.214
$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,20.525,186.300,578.675,0.000,0.000,55.108,82.814,340.851,80.250,0.000,0.000,15.466,3834.152,7428.445,737.664,5505.289,775.136,0.000,2733.358,0.000,5522.354,0.000,0.469
$DEVICE_MAMPS,251.576,71.331,1494.116,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1827.914,1817.948,1103.515,1012.348,2612.415,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,189941,2506
$CAP_FILE_SIZE,204746,0
$CFSIZE,260165632,253108224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120408,075228,5847.733,-2113.067,31,2.5,50,-14.5