version: 66.03
glider: 143
mission: 4
dive: 118
start: 4 27 108 23 23 39
data:
$ID,143
$MISSION,4
$DIVE,118
$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,340
$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,-7338.9556
$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,19
$R_STBD_OVSHOOT,29
$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
$GPS1,225707,6123.288,-2402.922,36,1.4,36,-17.3
$_CALLS,5
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-35.5
$GPS2,232320,6123.150,-2403.136,10,2.0,15,-17.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6133.298,-2404.896
$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,357.3,20000,-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,25,-0.82,-194.7,0.0,0.0,0,171,0.00,0.00,-143.80,0.000,2,0.000,0.000,1468,2315,3521
$GC,174,-0.82,-194.7,3.3,-5.8,20,197,10.23,0.00,-7.65,0.000,6,0.258,0.000,2611,2315,3866
$GC,324,-0.70,-194.7,35.0,-17.8,47,332,0.20,0.00,0.00,0.000,6,0.156,0.000,2641,2315,3867
$GC,457,-0.64,-194.7,53.7,-12.4,72,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2315,3867
$GC,790,-0.59,-194.7,100.2,-14.8,133,795,0.15,0.00,0.00,0.000,6,0.152,0.000,2666,2316,3867
$GC,1118,-0.59,-194.7,140.8,-12.4,194,1126,0.00,2.85,0.00,0.000,4,0.000,0.054,2664,887,3867
$GC,1165,-0.66,-194.7,146.3,-11.9,202,1173,0.00,2.72,0.00,0.000,6,0.000,0.044,2666,2279,3867
$GC,1504,-0.66,-194.7,186.4,-11.9,263,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2279,3867
$GC,1841,-0.66,-194.7,225.7,-11.2,324,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2279,3867
$GC,2184,-0.66,-194.7,265.7,-11.5,385,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2279,3867
$GC,2523,-0.66,-194.7,303.4,-11.2,446,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2279,3867
$GC,2863,-0.66,-194.7,341.5,-11.0,507,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2279,3867
$GC,3198,-0.66,-194.7,378.8,-10.9,545,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2279,3867
$GC,3513,-0.66,-194.7,411.9,-10.2,575,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2279,3867
$GC,3832,-0.66,-194.7,443.7,-9.8,605,3836,0.00,2.75,0.00,0.000,4,0.000,0.057,2667,884,3866
$GC,3871,-0.72,-194.7,447.5,-9.8,608,3876,0.00,2.70,0.00,0.000,6,0.000,0.042,2665,2294,3867
$GC,4196,-0.72,-194.7,481.1,-10.4,638,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2294,3866
$GC,4514,-0.72,-194.7,514.8,-10.9,668,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2294,3866
$GC,4832,-0.72,-194.7,550.2,-11.3,698,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2294,3866
$GC,5151,-0.72,-194.7,586.0,-11.0,728,5155,0.00,2.80,0.00,0.000,4,0.000,0.058,2667,877,3866
$GC,5193,-0.79,-194.7,590.8,-11.4,731,5200,0.20,2.72,0.00,0.000,6,0.053,0.044,2621,2296,3866
$GC,5510,-0.71,-194.7,639.4,-15.8,750,5512,0.15,0.00,0.00,0.000,6,0.143,0.000,2642,2296,3866
$GC,5820,-0.71,-194.7,679.6,-12.9,765,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2297,3866
$GC,6129,-0.71,-194.7,718.8,-12.7,780,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2299,3865
$GC,6438,-0.71,-194.7,758.1,-12.6,795,6439,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2299,3865
$GC,6747,-0.71,-194.7,796.2,-12.1,810,6752,0.00,2.85,0.00,0.000,4,0.000,0.067,2644,889,3865
$GC,6796,-0.71,-194.7,802.1,-11.7,812,6800,0.00,2.72,0.00,0.000,6,0.000,0.048,2643,2289,3865
$GC,7117,-0.71,-194.7,839.4,-11.3,828,7121,0.00,2.88,0.00,0.000,4,0.000,0.067,2641,3708,3865
$GC,7171,-0.71,-194.7,846.3,-12.3,830,7178,0.00,2.83,0.00,0.000,6,0.000,0.050,2642,2269,3865
$GC,7486,-0.71,-194.7,887.1,-12.9,846,7491,0.00,2.78,0.00,0.000,4,0.000,0.066,2642,882,3865
$GC,7535,-0.71,-194.7,893.1,-12.3,848,7539,0.00,2.72,0.00,0.000,6,0.000,0.049,2643,2279,3864
$GC,7856,-0.71,-194.7,930.2,-11.8,864,7861,0.00,2.90,0.00,0.000,4,0.000,0.068,2641,3705,3865
$GC,7899,-0.71,-194.7,935.5,-12.1,866,7903,0.00,2.83,0.00,0.000,6,0.000,0.051,2642,2272,3864
$GC,8226,-0.71,-194.7,974.6,-12.4,882,8230,0.00,2.78,0.00,0.000,4,0.000,0.067,2642,890,3864
$GC,8264,-0.71,-194.7,979.3,-12.7,884,8268,0.00,2.72,0.00,0.000,6,0.000,0.050,2657,2279,3864
$STATE,8360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8361,begin apogee
$GC,8365,-0.19,0.0,991.6,12.6,889,8566,0.62,0.00,196.70,1.434,6,0.129,0.000,2756,2044,3071
$STATE,8566,end apogee,CONTROL_FINISHED_OK
$STATE,8566,begin climb
$GC,8568,0.82,194.7,1001.7,0.0,899,8786,1.30,3.17,203.82,1.360,4,0.092,0.069,2964,650,2275
$GC,8831,0.71,194.7,983.3,12.4,912,8837,0.25,2.97,0.00,0.000,6,0.125,0.044,2960,2058,2273
$GC,9158,0.70,219.8,953.5,9.1,928,9189,0.00,2.97,25.65,1.358,4,0.000,0.062,2928,3465,2174
$GC,9246,0.70,219.8,944.9,10.0,932,9250,0.00,2.88,0.00,0.000,6,0.000,0.052,2936,2074,2172
$GC,9565,0.73,248.5,914.6,9.0,948,9600,0.12,0.00,29.65,1.354,6,0.080,0.000,2957,2073,2058
$GC,9916,0.65,248.5,873.5,11.9,965,9921,0.00,2.85,0.00,0.000,4,0.000,0.058,2951,3469,2055
$GC,10010,0.60,248.5,861.8,12.4,969,10015,0.12,2.83,0.00,0.000,6,0.137,0.051,2934,2068,2053
$GC,10326,0.60,248.5,829.8,10.2,984,10330,0.00,2.83,0.00,0.000,4,0.000,0.058,2934,3467,2053
$GC,10351,0.60,248.5,826.9,10.8,985,10356,0.00,2.78,0.00,0.000,6,0.000,0.051,2949,2077,2052
$GC,10673,0.60,248.5,792.8,10.3,1001,10677,0.00,2.80,0.00,0.000,4,0.000,0.058,2934,3465,2052
$GC,10704,0.60,248.5,789.3,10.5,1002,10711,0.00,2.75,0.00,0.000,6,0.000,0.050,2937,2084,2052
$GC,11020,0.60,248.5,757.7,10.2,1018,11021,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2082,2052
$GC,11329,0.60,248.5,725.2,10.8,1033,11333,0.00,2.78,0.00,0.000,4,0.000,0.056,2934,3467,2052
$GC,11377,0.60,248.5,719.6,11.0,1035,11382,0.00,2.70,0.00,0.000,6,0.000,0.048,2945,2097,2051
$GC,11698,0.60,248.5,685.9,10.5,1051,11703,0.00,2.75,0.00,0.000,4,0.000,0.056,2934,3474,2051
$GC,11719,0.60,253.5,683.6,9.8,1052,11729,0.00,2.70,5.47,0.989,6,0.000,0.048,2936,2102,2037
$GC,12040,0.60,253.5,651.1,10.3,1067,12044,0.00,2.72,0.00,0.000,4,0.000,0.055,2934,3469,2036
$GC,12065,0.60,253.5,648.2,10.3,1068,12070,0.00,2.67,0.00,0.000,6,0.000,0.046,2934,2123,2036
$GC,12387,0.61,261.2,616.0,9.7,1084,12398,0.00,0.00,9.40,1.147,6,0.000,0.000,2934,2122,2006
$GC,12701,0.61,261.2,584.2,10.4,1106,12705,0.00,2.67,0.00,0.000,4,0.000,0.053,2933,3470,2005
$GC,12728,0.61,261.2,581.2,10.3,1108,12732,0.00,2.62,0.00,0.000,6,0.000,0.044,2944,2126,2004
$GC,13053,0.61,261.2,547.1,10.4,1138,13054,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2126,2004
$GC,13371,0.62,267.0,514.3,9.8,1168,13385,0.00,2.67,7.43,1.032,4,0.000,0.052,2934,3474,1981
$GC,13401,0.62,267.1,511.0,10.0,1170,13408,0.00,2.65,0.00,0.000,6,0.000,0.043,2935,2127,1980
$GC,13729,0.63,274.3,478.9,9.8,1201,13740,0.00,0.00,9.07,1.085,6,0.000,0.000,2935,2127,1952
$GC,14053,0.65,289.7,447.4,9.5,1232,14074,0.00,0.00,17.10,1.108,6,0.000,0.000,2935,2127,1888
$GC,14393,0.67,308.2,415.7,9.4,1264,14418,0.00,2.70,18.85,1.081,4,0.000,0.051,2934,3475,1813
$GC,14434,0.69,328.6,411.7,9.3,1267,14461,0.00,2.65,21.08,0.989,6,0.000,0.041,2936,2131,1730
$GC,14780,0.74,366.6,380.8,8.7,1300,14826,0.12,3.12,37.28,1.021,4,0.071,0.061,2958,641,1575
$GC,14842,0.74,366.6,373.6,11.8,1306,14847,0.00,2.95,0.00,0.000,6,0.000,0.040,2958,2145,1573
$GC,15172,0.70,366.6,332.8,12.9,1348,15180,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2145,1570
$GC,15515,0.65,366.6,289.4,11.8,1409,15521,0.00,3.05,0.00,0.000,4,0.000,0.061,2959,638,1569
$GC,15555,0.65,366.6,284.2,11.8,1416,15563,0.00,2.90,0.00,0.000,6,0.000,0.040,2959,2132,1569
$GC,15899,0.61,366.6,240.2,12.6,1477,15905,0.15,0.00,0.00,0.000,6,0.125,0.000,2933,2133,1569
$GC,16239,0.71,407.4,208.6,8.6,1538,16287,0.12,3.08,39.17,0.953,4,0.069,0.061,2959,637,1409
$GC,16315,0.71,407.4,199.9,11.9,1551,16321,0.00,2.90,0.00,0.000,6,0.000,0.040,2958,2127,1407
$GC,16656,0.71,407.4,155.9,14.5,1612,16664,0.00,3.05,0.00,0.000,4,0.000,0.062,2958,640,1405
$GC,16676,0.71,407.4,153.1,13.1,1615,16682,0.00,2.83,0.00,0.000,6,0.000,0.038,2958,2107,1405
$GC,17006,0.71,407.4,110.6,11.2,1676,17015,0.00,3.00,0.00,0.000,4,0.000,0.062,2958,637,1404
$GC,17028,0.71,407.4,108.2,11.3,1679,17034,0.00,2.80,0.00,0.000,6,0.000,0.039,2958,2095,1403
$GC,17357,0.71,407.4,67.0,13.3,1740,17365,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2095,1404
$GC,17684,0.71,407.4,24.8,11.6,1801,17691,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2095,1403
$GC,17818,0.71,407.4,7.1,16.3,1826,17826,0.00,2.97,0.00,0.000,4,0.000,0.063,2958,636,1403
$GC,17849,0.71,407.4,3.0,12.4,1831,17856,0.00,2.80,0.00,0.000,6,0.000,0.040,2958,2084,1402
$STATE,17862,end climb,SURFACE_DEPTH_REACHED
$STATE,17862,begin surface coast
$FINISH,0.2,1.027379
$STATE,17880,end surface coast,CONTROL_FINISHED_OK
$STATE,17880,begin surface
$SM_CCo,17955,0.00,0.000,0,0,1401,409.65
$SM_GC,0.64,7.28,0.00,0.00,0.044,0.000,0.000,1468,2291,1401,-6.08,-0.08,409.65
$IRIDIUM_FIX,6059.36,-2407.32,220797,232301
$TT8_MAMPS,0.021476
$HUMID,1690
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,12.20
$XPDR_PINGS,164
$24V_AH,19.5,44.252
$10V_AH,9.8,32.065
$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,21.025,142.025,620.675,0.000,0.000,136.477,159.893,899.359,41.000,0.000,0.000,16.565,2886.583,10311.224,746.591,4101.847,1468.710,0.000,2331.096,0.000,4102.757,0.000,0.467
$DEVICE_MAMPS,258.479,69.030,1434.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1363.458,1286.724,658.277,904.130,1650.089,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135925,1836
$CAP_FILE_SIZE,181571,0
$CFSIZE,260165632,244928512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,280408,042428,6125.282,-2403.822,40,99.0,59,-17.4