version: 66.03
glider: 143
mission: 4
dive: 80
start: 4 20 108 3 57 16
data:
$ID,143
$MISSION,4
$DIVE,80
$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,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,20
$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,-5589.6704
$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,2295
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,22
$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
$GPS1,034602,6000.470,-2234.322,39,1.5,39,-15.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-50.5
$GPS2,035657,6000.701,-2234.469,13,1.5,13,-15.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6010.849,-2232.633
$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,35.8,20000,-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,25,-0.82,-194.7,0.0,0.0,0,136,0.00,0.00,-108.55,0.000,2,0.000,0.000,1468,2313,3609
$GC,138,-0.82,-194.7,3.2,-4.7,15,162,10.15,2.83,-5.90,0.000,4,0.259,0.068,2607,3701,3866
$GC,350,-0.69,-194.7,46.7,-20.4,54,359,0.20,2.78,0.00,0.000,6,0.138,0.041,2640,2293,3868
$GC,490,-0.63,-194.7,68.7,-15.3,79,496,0.12,0.00,0.00,0.000,6,0.154,0.000,2657,2291,3867
$GC,689,-0.63,-194.7,96.0,-12.5,116,698,0.00,2.80,0.00,0.000,4,0.000,0.054,2657,885,3867
$GC,723,-0.63,-194.7,100.1,-13.3,121,729,0.00,2.72,0.00,0.000,6,0.000,0.044,2657,2285,3867
$GC,922,-0.63,-194.7,126.1,-12.9,158,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2285,3867
$GC,1126,-0.63,-194.7,151.5,-12.8,195,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2285,3867
$GC,1455,-0.63,-194.7,191.0,-11.9,256,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2285,3867
$GC,1788,-0.63,-194.7,230.8,-12.0,317,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2285,3867
$GC,2116,-0.63,-194.7,272.4,-12.9,378,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2285,3867
$GC,2449,-0.63,-194.7,314.4,-12.2,439,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2285,3868
$GC,2779,-0.63,-194.7,356.6,-12.4,500,2786,0.00,2.75,0.00,0.000,4,0.000,0.055,2657,887,3867
$GC,2841,-0.63,-194.7,364.0,-11.7,511,2847,0.00,2.70,0.00,0.000,6,0.000,0.042,2657,2294,3867
$GC,3181,-0.63,-194.7,405.1,-12.5,572,3187,0.00,2.78,0.00,0.000,4,0.000,0.054,2657,3709,3867
$GC,3231,-0.63,-194.7,411.1,-11.4,581,3237,0.00,2.75,0.00,0.000,6,0.000,0.041,2657,2281,3867
$GC,3571,-0.63,-194.7,452.5,-11.5,642,3578,0.00,2.70,0.00,0.000,4,0.000,0.055,2657,885,3868
$GC,3614,-0.67,-194.7,457.2,-11.3,649,3620,0.00,2.70,0.00,0.000,6,0.000,0.042,2657,2295,3867
$GC,3954,-0.67,-194.7,497.6,-11.6,710,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2295,3867
$GC,4295,-0.67,-194.7,537.4,-11.7,771,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2295,3867
$GC,4635,-0.67,-194.7,578.3,-12.0,832,4641,0.00,2.80,0.00,0.000,4,0.000,0.058,2658,881,3867
$GC,4681,-0.71,-194.7,583.7,-11.3,840,4689,0.00,2.72,0.00,0.000,6,0.000,0.043,2657,2288,3867
$GC,5014,-0.71,-194.7,622.6,-11.5,883,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2288,3867
$GC,5332,-0.71,-194.7,658.3,-11.1,913,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2289,3866
$GC,5651,-0.71,-194.7,693.9,-10.8,943,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2291,3867
$GC,5969,-0.71,-194.7,727.6,-10.3,973,5974,0.00,2.85,0.00,0.000,4,0.000,0.070,2658,888,3866
$GC,6008,-0.76,-194.7,731.7,-10.9,976,6014,0.12,2.72,0.00,0.000,6,0.063,0.049,2630,2288,3866
$GC,6332,-0.70,-194.7,774.6,-13.5,1006,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2289,3866
$GC,6652,-0.64,-194.7,818.8,-13.8,1036,6657,0.17,2.85,0.00,0.000,4,0.136,0.065,2658,3710,3866
$GC,6690,-0.64,-194.7,823.7,-11.5,1039,6695,0.00,2.83,0.00,0.000,6,0.000,0.051,2658,2274,3866
$GC,7015,-0.64,-194.7,859.3,-11.5,1069,7020,0.00,2.78,0.00,0.000,4,0.000,0.069,2658,888,3865
$GC,7047,-0.69,-194.7,863.1,-11.3,1071,7053,0.00,2.70,0.00,0.000,6,0.000,0.049,2658,2276,3866
$GC,7372,-0.69,-194.7,899.2,-11.3,1102,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2277,3865
$GC,7690,-0.69,-194.7,934.3,-10.6,1132,7695,0.00,2.88,0.00,0.000,4,0.000,0.066,2658,3705,3864
$GC,7721,-0.69,-194.7,937.9,-11.4,1134,7728,0.00,2.85,0.00,0.000,6,0.000,0.051,2659,2259,3864
$GC,8047,-0.69,-194.7,972.2,-10.5,1165,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2258,3864
$STATE,8214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8215,begin apogee
$GC,8219,-0.19,0.0,990.5,10.9,1181,8419,0.57,0.00,196.10,1.483,6,0.120,0.000,2757,2036,3071
$STATE,8420,end apogee,CONTROL_FINISHED_OK
$STATE,8420,begin climb
$GC,8422,0.82,194.7,999.5,0.0,1201,8634,1.23,3.20,201.75,1.383,4,0.087,0.072,2970,656,2277
$GC,8734,0.70,194.7,973.2,13.5,1231,8741,0.00,2.92,0.00,0.000,6,0.000,0.045,2971,2059,2272
$GC,9060,0.56,194.7,931.5,13.0,1262,9066,0.28,2.92,0.00,0.000,4,0.133,0.061,2926,3465,2271
$GC,9122,0.57,199.1,924.8,9.8,1267,9133,0.00,2.85,4.82,0.983,6,0.000,0.052,2928,2071,2259
$GC,9451,0.55,225.1,895.1,9.1,1298,9485,0.00,2.95,27.52,1.427,4,0.000,0.060,2926,3459,2152
$GC,9519,0.55,225.1,888.4,10.0,1304,9526,0.00,2.85,0.00,0.000,6,0.000,0.051,2927,2070,2151
$GC,9845,0.58,243.7,858.0,9.4,1335,9870,0.00,2.90,19.98,1.411,4,0.000,0.059,2927,3471,2077
$GC,9908,0.58,243.7,851.5,10.2,1340,9915,0.00,2.83,0.00,0.000,6,0.000,0.051,3010,2103,2075
$GC,10234,0.58,243.7,819.6,10.5,1371,10238,0.00,2.78,0.00,0.000,4,0.000,0.058,2936,3464,2074
$GC,10255,0.58,243.7,817.3,11.0,1372,10261,0.00,2.70,0.00,0.000,6,0.000,0.051,2930,2117,2074
$GC,10580,0.59,252.0,784.3,9.7,1403,10595,0.00,2.78,9.52,1.286,4,0.000,0.059,2926,3469,2043
$GC,10621,0.59,252.0,780.0,10.0,1406,10629,0.00,2.70,0.00,0.000,6,0.000,0.050,2940,2141,2042
$GC,10947,0.61,266.4,748.7,9.5,1437,10968,0.00,2.72,15.82,1.380,4,0.000,0.058,2927,3468,1984
$GC,11085,0.61,266.4,734.3,10.8,1449,11092,0.00,2.70,0.00,0.000,6,0.000,0.051,2925,2146,1982
$GC,11411,0.61,269.3,701.7,9.9,1480,11415,0.00,2.67,0.00,0.000,4,0.000,0.058,2926,3465,1981
$GC,11521,0.61,269.3,689.8,10.7,1489,11528,0.00,2.65,0.00,0.000,6,0.000,0.049,2925,2147,1980
$GC,11847,0.61,271.3,657.5,9.9,1520,11859,0.00,3.08,6.18,1.068,4,0.000,0.069,2925,640,1964
$GC,11874,0.61,271.3,654.5,10.1,1522,11881,0.00,2.95,0.00,0.000,6,0.000,0.043,2928,2156,1963
$GC,12202,0.62,280.3,623.1,9.7,1553,12220,0.00,2.65,10.98,1.258,4,0.000,0.055,2926,3462,1928
$GC,12226,0.49,288.7,620.5,9.7,1555,12242,0.00,2.62,10.12,1.047,6,0.000,0.046,2926,2137,1894
$GC,12567,0.52,313.6,589.4,9.1,1597,12595,0.00,0.00,25.65,1.241,6,0.000,0.000,2926,2137,1792
$GC,12929,0.53,326.4,556.2,9.6,1662,12947,0.00,0.00,14.18,1.247,6,0.000,0.000,2926,2136,1740
$GC,13280,0.56,350.8,523.0,9.2,1725,13310,0.00,0.00,25.62,1.174,6,0.000,0.000,2926,2136,1639
$GC,13645,0.66,387.9,489.5,8.7,1790,13685,0.00,0.00,37.45,1.132,6,0.000,0.000,2926,2136,1488
$GC,14019,0.80,442.2,456.6,8.1,1857,14083,0.20,3.15,54.65,1.091,4,0.056,0.064,2972,641,1267
$GC,14113,0.80,442.2,443.5,16.2,1873,14119,0.00,3.00,0.00,0.000,6,0.000,0.041,2973,2144,1264
$GC,14454,0.71,442.2,385.6,17.8,1934,14459,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2144,1261
$GC,14791,0.62,442.2,327.2,16.8,1995,14799,0.20,3.05,0.00,0.000,4,0.125,0.063,2940,641,1259
$GC,14831,0.70,442.2,321.5,11.0,2002,14839,0.00,2.90,0.00,0.000,6,0.000,0.039,2940,2131,1258
$GC,15165,0.82,485.3,291.1,8.5,2063,15217,0.17,3.10,43.40,1.032,4,0.058,0.063,2987,632,1091
$GC,15231,0.75,485.3,281.9,16.3,2073,15237,0.00,2.92,0.00,0.000,6,0.000,0.039,2981,2117,1089
$GC,15562,0.65,485.3,219.6,19.7,2134,15570,0.22,3.05,0.00,0.000,4,0.129,0.062,2955,638,1086
$GC,15584,0.58,485.3,216.1,17.5,2137,15590,0.00,2.85,0.00,0.000,6,0.000,0.038,2945,2113,1085
$GC,15915,0.71,511.6,183.5,9.1,2198,15948,0.00,0.00,27.25,0.989,6,0.000,0.000,2945,2112,984
$GC,16274,0.83,521.3,150.1,9.7,2263,16294,0.15,3.05,10.85,0.959,4,0.058,0.062,2999,641,944
$GC,16323,0.83,521.3,143.7,13.9,2271,16329,0.00,2.83,0.00,0.000,6,0.000,0.038,2983,2098,943
$GC,16523,0.72,521.3,105.6,19.7,2308,16531,0.15,0.00,0.00,0.000,6,0.130,0.000,2958,2098,943
$GC,16729,0.78,521.3,78.9,11.1,2345,16735,0.00,2.95,0.00,0.000,4,0.000,0.062,2973,641,942
$GC,16754,0.86,521.3,75.8,11.7,2349,16761,0.15,2.75,0.00,0.000,6,0.054,0.038,2994,2081,941
$GC,16956,0.73,521.3,35.6,19.6,2386,16964,0.17,0.00,0.00,0.000,6,0.134,0.000,2965,2081,941
$GC,17090,0.73,521.3,16.4,12.0,2411,17099,0.00,2.95,0.00,0.000,4,0.000,0.063,2975,635,941
$GC,17111,0.73,521.3,13.5,12.7,2414,17119,0.00,2.75,0.00,0.000,6,0.000,0.038,2965,2061,941
$STATE,17213,end climb,SURFACE_DEPTH_REACHED
$STATE,17213,begin surface coast
$FINISH,0.3,1.027313
$STATE,17230,end surface coast,CONTROL_FINISHED_OK
$STATE,17231,begin surface
$SM_CCo,17306,0.00,0.000,0,0,940,522.73
$SM_GC,0.57,7.22,0.00,0.00,0.038,0.000,0.000,1469,2299,940,-6.08,0.11,522.73
$IRIDIUM_FIX,5936.65,-2231.23,150797,030346
$TT8_MAMPS,0.021476
$HUMID,1670
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,12.70
$XPDR_PINGS,230
$24V_AH,19.6,33.804
$10V_AH,9.8,23.984
$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,21.500,154.100,741.850,0.000,0.000,55.022,69.806,339.454,57.500,0.000,0.000,15.236,3672.726,7428.661,811.453,5274.419,750.873,0.000,2774.904,0.000,5289.870,0.000,0.467
$DEVICE_MAMPS,259.246,72.098,1482.611,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1786.875,1761.676,957.989,949.851,2457.510,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,183363,2436
$CAP_FILE_SIZE,196978,0
$CFSIZE,260165632,248709120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200408,084655,6005.596,-2233.491,39,1.5,39,-15.8