version: 66.03
glider: 143
mission: 4
dive: 95
start: 4 23 108 5 13 40
data:
$ID,143
$MISSION,4
$DIVE,95
$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,335
$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,-5889.9131
$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,16
$R_STBD_OVSHOOT,25
$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
$GPS1,045608,6057.564,-2226.734,29,1.1,29,-16.2
$_CALLS,2
$_XMS_NAKs,20
$_XMS_TOUTs,1
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-27.7
$GPS2,051323,6057.670,-2226.793,10,2.8,29,-16.2
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6107.458,-2228.998
$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,351.2,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.82,-194.7,0.0,0.0,0,172,0.00,0.00,-144.38,0.000,2,0.000,0.000,1468,2313,3523
$GC,174,-0.82,-194.7,3.5,-7.3,20,199,9.82,2.85,-7.68,0.000,4,0.251,0.072,2607,3703,3866
$GC,362,-0.70,-194.7,46.5,-21.5,54,370,0.17,2.78,0.00,0.000,6,0.137,0.040,2637,2290,3868
$GC,502,-0.64,-194.7,68.6,-15.8,79,507,0.12,0.00,0.00,0.000,6,0.142,0.000,2654,2287,3868
$GC,700,-0.64,-194.7,94.4,-12.7,116,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2286,3868
$GC,904,-0.64,-194.7,118.8,-13.4,153,911,0.00,2.75,0.00,0.000,4,0.000,0.054,2654,884,3868
$GC,961,-0.64,-194.7,126.2,-12.7,163,967,0.00,2.78,0.00,0.000,6,0.000,0.044,2654,2307,3868
$GC,1160,-0.64,-194.7,152.9,-13.1,200,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2307,3867
$GC,1503,-0.64,-194.7,197.6,-13.1,261,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2307,3868
$GC,1841,-0.64,-194.7,241.5,-12.9,322,1847,0.00,2.80,0.00,0.000,4,0.000,0.054,2654,886,3868
$GC,1882,-0.64,-194.7,246.5,-12.6,329,1888,0.00,2.75,0.00,0.000,6,0.000,0.044,2654,2309,3868
$GC,2221,-0.64,-194.7,291.2,-13.0,390,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2308,3868
$GC,2560,-0.64,-194.7,335.4,-12.9,451,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2309,3868
$GC,2900,-0.64,-194.7,379.6,-12.9,512,2908,0.00,2.83,0.00,0.000,4,0.000,0.054,2654,886,3868
$GC,2943,-0.64,-194.7,385.0,-12.8,519,2949,0.00,2.72,0.00,0.000,6,0.000,0.044,2654,2304,3867
$GC,3282,-0.64,-194.7,428.3,-12.0,580,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2304,3868
$GC,3624,-0.64,-194.7,468.8,-11.7,641,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2304,3868
$GC,3962,-0.64,-194.7,510.3,-12.2,702,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2304,3867
$GC,4301,-0.64,-194.7,551.5,-12.0,763,4307,0.00,2.80,0.00,0.000,4,0.000,0.055,2654,881,3867
$GC,4352,-0.69,-194.7,557.4,-11.5,772,4358,0.00,2.72,0.00,0.000,6,0.000,0.042,2654,2304,3867
$GC,4694,-0.69,-194.7,598.8,-12.0,833,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2304,3867
$GC,5023,-0.69,-194.7,638.3,-11.3,865,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2304,3867
$GC,5341,-0.69,-194.7,674.2,-11.1,895,5346,0.00,2.88,0.00,0.000,4,0.000,0.066,2655,880,3866
$GC,5380,-0.73,-194.7,678.4,-10.8,898,5385,0.00,2.75,0.00,0.000,6,0.000,0.049,2654,2294,3866
$GC,5705,-0.73,-194.7,714.6,-11.1,928,5709,0.00,2.85,0.00,0.000,4,0.000,0.067,2654,3703,3867
$GC,5754,-0.73,-194.7,720.3,-11.4,932,5759,0.00,2.78,0.00,0.000,6,0.000,0.052,2654,2294,3867
$GC,6078,-0.73,-194.7,756.7,-11.7,962,6083,0.00,2.83,0.00,0.000,4,0.000,0.068,2654,883,3866
$GC,6133,-0.78,-194.7,763.1,-11.0,966,6140,0.12,2.75,0.00,0.000,6,0.064,0.049,2629,2298,3866
$GC,6458,-0.72,-194.7,807.5,-13.7,997,6463,0.00,2.85,0.00,0.000,4,0.000,0.067,2628,3708,3866
$GC,6497,-0.68,-194.7,812.9,-13.5,1000,6502,0.15,2.80,0.00,0.000,6,0.135,0.051,2649,2288,3865
$GC,6820,-0.68,-194.7,850.5,-11.5,1030,6825,0.00,2.80,0.00,0.000,4,0.000,0.066,2649,885,3865
$GC,6874,-0.68,-194.7,856.7,-10.8,1034,6881,0.00,2.75,0.00,0.000,6,0.000,0.050,2650,2283,3865
$GC,7200,-0.68,-194.7,894.6,-11.8,1065,7204,0.00,2.88,0.00,0.000,4,0.000,0.066,2649,3708,3865
$GC,7249,-0.68,-194.7,900.7,-12.2,1069,7254,0.00,2.83,0.00,0.000,6,0.000,0.051,2649,2278,3865
$GC,7574,-0.68,-194.7,938.6,-11.8,1099,7575,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2278,3864
$GC,7891,-0.68,-194.7,974.8,-11.4,1129,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2278,3864
$STATE,8028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8028,begin apogee
$GC,8033,-0.19,0.0,990.2,11.2,1142,8232,0.65,0.00,195.68,1.466,6,0.132,0.000,2756,2042,3071
$STATE,8233,end apogee,CONTROL_FINISHED_OK
$STATE,8233,begin climb
$GC,8235,0.82,194.7,999.2,0.0,1162,8447,1.25,3.20,202.60,1.366,4,0.088,0.071,2972,647,2276
$GC,8536,0.69,194.7,975.3,12.3,1191,8544,0.15,2.95,0.00,0.000,6,0.137,0.045,2953,2055,2272
$GC,8861,0.58,194.7,938.6,11.2,1222,8866,0.15,2.92,0.00,0.000,4,0.138,0.061,2931,3464,2271
$GC,8923,0.53,194.7,932.2,10.1,1227,8928,0.00,2.85,0.00,0.000,6,0.000,0.050,2932,2064,2270
$GC,9248,0.48,202.9,900.2,9.7,1257,9263,0.15,2.95,8.50,1.249,4,0.131,0.071,2907,643,2243
$GC,9382,0.54,249.2,889.1,8.4,1269,9437,0.00,2.88,47.60,1.374,6,0.000,0.046,2907,2096,2054
$GC,9762,0.62,310.7,859.9,7.9,1305,9834,0.15,3.22,61.65,1.349,4,0.067,0.072,2942,640,1804
$GC,9895,0.62,310.7,844.9,12.0,1317,9902,0.00,2.97,0.00,0.000,6,0.000,0.046,2942,2107,1801
$GC,10222,0.62,310.7,806.7,11.8,1348,10226,0.00,2.75,0.00,0.000,4,0.000,0.060,2938,3459,1798
$GC,10242,0.62,310.7,803.8,12.8,1349,10249,0.00,2.78,0.00,0.000,6,0.000,0.051,2940,2100,1797
$GC,10568,0.62,310.7,766.6,10.7,1380,10569,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2100,1797
$GC,10885,0.62,310.7,730.0,11.5,1410,10890,0.00,2.75,0.00,0.000,4,0.000,0.058,2939,3460,1796
$GC,10917,0.62,310.7,726.0,11.5,1412,10924,0.00,2.72,0.00,0.000,6,0.000,0.051,2940,2105,1795
$GC,11243,0.62,310.7,689.2,11.4,1443,11244,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2104,1794
$GC,11561,0.62,310.7,652.7,11.3,1473,11566,0.00,2.72,0.00,0.000,4,0.000,0.056,2938,3463,1794
$GC,11589,0.62,310.7,649.4,12.6,1475,11594,0.00,2.67,0.00,0.000,6,0.000,0.048,2940,2108,1794
$GC,11914,0.62,310.7,612.9,11.8,1505,11918,0.00,2.70,0.00,0.000,4,0.000,0.054,2939,3463,1794
$GC,11940,0.62,310.7,609.6,12.1,1507,11945,0.00,2.62,0.00,0.000,6,0.000,0.047,2943,2124,1794
$GC,12278,0.62,310.7,572.3,11.1,1559,12284,0.00,2.67,0.00,0.000,4,0.000,0.054,2939,3470,1794
$GC,12295,0.62,310.7,570.2,11.2,1562,12301,0.00,2.58,0.00,0.000,6,0.000,0.044,2940,2145,1793
$GC,12634,0.62,310.7,534.1,10.6,1623,12639,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2144,1794
$GC,12972,0.62,310.7,497.5,11.1,1684,12978,0.00,3.00,0.00,0.000,4,0.000,0.063,2940,640,1793
$GC,13003,0.62,310.7,494.2,11.3,1689,13009,0.00,2.88,0.00,0.000,6,0.000,0.041,2940,2150,1794
$GC,13344,0.62,310.7,456.8,10.3,1750,13350,0.00,2.58,0.00,0.000,4,0.000,0.052,2938,3471,1794
$GC,13363,0.62,310.7,455.0,10.6,1753,13369,0.00,2.60,0.00,0.000,6,0.000,0.044,2952,2131,1793
$GC,13704,0.63,320.8,420.0,9.6,1814,13715,0.00,0.00,9.50,1.040,6,0.000,0.000,2948,2130,1763
$GC,14049,0.63,320.8,383.7,10.9,1876,14054,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2130,1763
$GC,14389,0.63,320.8,347.0,10.7,1937,14394,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2130,1763
$GC,14728,0.63,320.8,310.8,10.5,1998,14734,0.00,2.62,0.00,0.000,4,0.000,0.051,2939,3467,1763
$GC,14747,0.63,320.8,308.9,11.1,2001,14753,0.00,2.58,0.00,0.000,6,0.000,0.043,2944,2134,1762
$GC,15086,0.63,320.8,272.6,10.6,2062,15091,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2134,1762
$GC,15422,0.64,329.1,237.4,9.7,2123,15436,0.00,0.00,10.12,0.976,6,0.000,0.000,2944,2134,1729
$GC,15771,0.66,341.8,201.7,9.6,2185,15788,0.00,0.00,14.43,1.065,6,0.000,0.000,2944,2134,1677
$GC,16121,0.69,369.8,167.0,9.0,2248,16152,0.00,0.00,27.17,0.953,6,0.000,0.000,2945,2134,1562
$GC,16482,0.71,383.4,130.0,9.5,2313,16501,0.00,0.00,14.38,0.988,6,0.000,0.000,2945,2134,1506
$GC,16695,0.71,383.4,108.3,11.1,2352,16703,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2135,1505
$GC,16900,0.74,414.2,89.2,8.9,2389,16939,0.00,3.08,30.65,0.877,4,0.000,0.063,2939,644,1381
$GC,16953,0.81,414.2,84.0,10.3,2397,16960,0.20,2.92,0.00,0.000,6,0.044,0.038,2987,2148,1380
$GC,17156,0.71,414.2,51.3,15.2,2434,17164,0.17,0.00,0.00,0.000,6,0.136,0.000,2959,2149,1377
$GC,17353,0.71,414.2,26.4,16.2,2471,17361,0.00,3.10,0.00,0.000,4,0.000,0.063,2958,640,1377
$GC,17374,0.71,414.2,23.6,14.3,2474,17381,0.00,2.88,0.00,0.000,6,0.000,0.038,2959,2119,1376
$GC,17508,0.71,414.2,7.1,11.0,2499,17516,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2120,1376
$STATE,17557,end climb,SURFACE_DEPTH_REACHED
$STATE,17557,begin surface coast
$FINISH,0.2,1.027350
$STATE,17575,end surface coast,CONTROL_FINISHED_OK
$STATE,17575,begin surface
$SM_CCo,17650,0.00,0.000,0,0,1374,416.27
$SM_GC,0.53,7.32,0.00,0.00,0.045,0.000,0.000,1470,2293,1374,-6.08,-0.06,416.27
$IRIDIUM_FIX,6032.86,-2224.25,180797,050548
$TT8_MAMPS,0.021476
$HUMID,1653
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,12.60
$XPDR_PINGS,188
$24V_AH,19.6,38.065
$10V_AH,9.8,27.664
$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,20.600,141.450,622.275,0.000,0.000,64.166,72.631,677.072,47.000,0.000,0.000,31.531,3793.408,7877.939,747.252,5136.543,1105.320,0.000,2724.795,0.000,5116.002,0.000,0.467
$DEVICE_MAMPS,250.809,72.098,1465.737,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1839.259,1792.517,878.377,1022.814,1791.097,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,183314,2511
$CAP_FILE_SIZE,203112,0
$CFSIZE,260165632,247013376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230408,100901,6100.365,-2226.896,37,1.5,37,-16.3