version: 66.03
glider: 143
mission: 4
dive: 125
start: 4 29 108 9 38 15
data:
$ID,143
$MISSION,4
$DIVE,125
$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,180
$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,-7481.7041
$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,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
$GPS1,092702,6105.439,-2344.109,42,1.3,42,-17.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-42.3
$GPS2,093756,6105.353,-2344.227,10,1.3,10,-17.0
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6054.554,-2344.227
$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,197.0,20000,-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,-194.7,0.0,0.0,0,121,0.00,0.00,-93.40,0.000,2,0.000,0.000,1468,2312,3476
$GC,123,-0.82,-194.7,3.3,-6.0,13,153,10.00,2.90,-9.12,0.000,4,0.254,0.075,2606,3697,3867
$GC,427,-0.72,-194.7,61.0,-18.0,69,434,0.22,2.72,0.00,0.000,6,0.143,0.041,2639,2288,3868
$GC,759,-0.67,-194.7,111.2,-13.8,130,766,0.00,2.80,0.00,0.000,4,0.000,0.057,2640,888,3868
$GC,772,-0.62,-194.7,113.3,-13.9,132,781,0.10,2.75,0.00,0.000,6,0.141,0.047,2657,2283,3868
$GC,1107,-0.62,-194.7,154.8,-11.8,193,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2283,3868
$GC,1446,-0.62,-194.7,195.4,-12.2,254,1452,0.00,2.78,0.00,0.000,4,0.000,0.055,2657,881,3868
$GC,1475,-0.62,-194.7,198.8,-12.3,259,1482,0.00,2.75,0.00,0.000,6,0.000,0.044,2657,2299,3868
$GC,1815,-0.62,-194.7,239.8,-12.5,320,1823,0.00,2.83,0.00,0.000,4,0.000,0.054,2657,881,3868
$GC,1840,-0.62,-194.7,242.8,-12.4,324,1847,0.00,2.72,0.00,0.000,6,0.000,0.044,2657,2279,3868
$GC,2184,-0.62,-194.7,284.1,-11.5,385,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2279,3868
$GC,2523,-0.62,-194.7,323.9,-11.5,446,2529,0.00,2.75,0.00,0.000,4,0.000,0.054,2657,883,3868
$GC,2552,-0.62,-194.7,327.2,-12.3,451,2558,0.00,2.70,0.00,0.000,6,0.000,0.043,2657,2286,3868
$GC,2885,-0.62,-194.7,367.2,-11.9,499,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2286,3869
$GC,3206,-0.62,-194.7,405.6,-12.0,529,3211,0.00,2.78,0.00,0.000,4,0.000,0.056,2657,882,3868
$GC,3238,-0.62,-194.7,409.9,-11.9,531,3245,0.00,2.70,0.00,0.000,6,0.000,0.042,2657,2292,3868
$GC,3564,-0.62,-194.7,447.6,-11.4,562,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2292,3868
$GC,3882,-0.62,-194.7,484.3,-11.9,592,3886,0.00,2.78,0.00,0.000,4,0.000,0.056,2656,882,3868
$GC,3912,-0.62,-194.7,488.0,-12.2,594,3919,0.00,2.67,0.00,0.000,6,0.000,0.041,2657,2265,3868
$GC,4241,-0.62,-194.7,526.6,-11.8,625,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2265,3868
$GC,4556,-0.62,-194.7,563.3,-11.2,655,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2265,3868
$GC,4875,-0.62,-194.7,598.8,-11.0,685,4879,0.00,2.75,0.00,0.000,4,0.000,0.058,2656,882,3868
$GC,4895,-0.62,-194.7,601.2,-11.0,686,4900,0.00,2.67,0.00,0.000,6,0.000,0.044,2657,2260,3868
$GC,5222,-0.62,-194.7,638.5,-11.8,702,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2260,3868
$GC,5531,-0.62,-194.7,674.2,-11.4,717,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2260,3868
$GC,5840,-0.62,-194.7,709.1,-11.2,732,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2262,3868
$GC,6150,-0.62,-194.7,743.3,-11.0,747,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2264,3868
$GC,6459,-0.62,-194.7,777.0,-11.0,762,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2265,3868
$GC,6768,-0.62,-194.7,810.3,-11.2,777,6773,0.00,2.80,0.00,0.000,4,0.000,0.070,2657,891,3868
$GC,6790,-0.62,-194.7,812.7,-11.1,778,6794,0.00,2.65,0.00,0.000,6,0.000,0.048,2657,2255,3868
$GC,7110,-0.62,-194.7,846.7,-10.3,794,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2254,3868
$GC,7419,-0.62,-194.7,880.6,-11.2,809,7423,0.00,2.78,0.00,0.000,4,0.000,0.067,2657,890,3868
$GC,7439,-0.62,-194.7,883.0,-11.4,810,7443,0.00,2.67,0.00,0.000,6,0.000,0.049,2658,2247,3868
$GC,7766,-0.62,-194.7,918.6,-10.5,826,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2248,3867
$GC,8075,-0.62,-194.7,950.7,-10.7,841,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2249,3867
$GC,8384,-0.62,-194.7,983.3,-10.4,856,8385,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2249,3867
$STATE,8465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8465,begin apogee
$GC,8470,-0.19,0.0,991.9,10.4,860,8671,0.57,0.00,198.00,1.436,6,0.120,0.000,2755,2039,3071
$STATE,8672,end apogee,CONTROL_FINISHED_OK
$STATE,8672,begin climb
$GC,8674,0.82,194.7,1000.6,0.0,870,8888,1.25,3.17,204.30,1.361,4,0.087,0.070,2971,650,2276
$GC,8984,0.68,194.7,974.0,13.0,885,8989,0.15,2.92,0.00,0.000,6,0.142,0.046,2952,2048,2272
$GC,9310,0.58,194.7,936.1,11.5,901,9316,0.15,2.95,0.00,0.000,4,0.134,0.062,2926,3472,2271
$GC,9377,0.59,202.3,929.1,9.7,904,9394,0.00,2.88,8.18,1.206,6,0.000,0.051,2926,2060,2245
$GC,9702,0.61,222.6,897.8,9.3,920,9731,0.00,3.03,21.83,1.364,4,0.000,0.071,2928,643,2163
$GC,9821,0.61,222.6,885.6,10.7,925,9826,0.00,2.90,0.00,0.000,6,0.000,0.044,2926,2100,2161
$GC,10137,0.62,233.3,855.6,9.6,940,10158,0.00,3.08,12.00,1.302,4,0.000,0.069,2926,644,2118
$GC,10241,0.62,233.3,844.9,10.4,944,10248,0.00,2.90,0.00,0.000,6,0.000,0.045,2927,2111,2118
$GC,10557,0.64,246.3,814.6,9.6,960,10579,0.00,3.08,14.32,1.331,4,0.000,0.069,2927,642,2067
$GC,10662,0.64,246.3,804.0,10.1,964,10669,0.00,2.92,0.00,0.000,6,0.000,0.044,2927,2123,2066
$GC,10978,0.66,263.2,774.3,9.4,980,11002,0.00,3.12,18.05,1.312,4,0.000,0.069,2927,644,1998
$GC,11092,0.66,263.6,763.0,10.0,985,11097,0.00,2.95,0.00,0.000,6,0.000,0.045,2927,2136,1997
$GC,11413,0.70,293.7,733.1,9.0,1001,11455,0.12,2.80,32.00,1.275,4,0.074,0.059,2950,3468,1872
$GC,11482,0.70,293.7,725.2,11.7,1004,11487,0.00,2.75,0.00,0.000,6,0.000,0.051,2951,2120,1870
$GC,11810,0.64,293.7,686.2,12.2,1020,11811,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2118,1869
$GC,12119,0.60,293.7,648.4,12.3,1035,12123,0.00,2.70,0.00,0.000,4,0.000,0.057,2950,3464,1868
$GC,12157,0.60,293.7,643.6,12.6,1037,12161,0.00,2.62,0.00,0.000,6,0.000,0.048,2950,2134,1867
$GC,12483,0.55,293.7,603.2,12.6,1053,12485,0.17,0.00,0.00,0.000,6,0.120,0.000,2923,2133,1867
$GC,12804,0.55,296.4,572.3,9.9,1081,12808,0.00,2.65,0.00,0.000,4,0.000,0.053,2923,3471,1867
$GC,12831,0.60,296.4,569.0,10.4,1083,12836,0.00,2.60,0.00,0.000,6,0.000,0.044,2923,2141,1866
$GC,13157,0.61,306.8,537.5,9.6,1113,13176,0.00,0.00,13.27,1.169,6,0.000,0.000,2923,2140,1820
$GC,13497,0.65,342.8,506.6,8.8,1145,13536,0.00,0.00,36.92,1.120,6,0.000,0.000,2923,2140,1673
$GC,13853,0.77,390.7,476.1,8.3,1179,13904,0.22,0.00,47.62,1.082,6,0.058,0.000,2970,2140,1478
$GC,14221,0.70,390.7,422.9,14.7,1214,14222,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2140,1471
$GC,14541,0.64,390.7,375.5,15.5,1244,14546,0.15,2.65,0.00,0.000,4,0.127,0.051,2944,3468,1470
$GC,14580,0.69,390.7,370.2,12.4,1247,14584,0.00,2.58,0.00,0.000,6,0.000,0.044,2944,2155,1469
$GC,14908,0.69,390.7,333.3,10.8,1290,14915,0.00,3.03,0.00,0.000,4,0.000,0.061,2944,641,1469
$GC,14951,0.77,390.7,328.9,10.9,1297,14957,0.12,2.92,0.00,0.000,6,0.062,0.039,2973,2166,1468
$GC,15293,0.70,390.7,277.2,16.0,1358,15299,0.00,2.55,0.00,0.000,4,0.000,0.051,2973,3466,1469
$GC,15326,0.70,390.7,272.1,15.1,1364,15335,0.12,2.60,0.00,0.000,6,0.129,0.044,2952,2146,1469
$GC,15670,0.70,390.7,230.5,11.9,1425,15676,0.00,3.00,0.00,0.000,4,0.000,0.062,2952,641,1469
$GC,15719,0.76,390.7,224.9,10.8,1433,15725,0.00,2.88,0.00,0.000,6,0.000,0.040,2952,2146,1468
$GC,16058,0.76,390.7,184.6,11.5,1494,16065,0.00,2.60,0.00,0.000,4,0.000,0.051,2951,3474,1467
$GC,16092,0.76,390.7,180.5,12.3,1500,16100,0.00,2.62,0.00,0.000,6,0.000,0.044,2956,2136,1468
$GC,16433,0.76,390.7,139.1,12.5,1561,16439,0.00,3.00,0.00,0.000,4,0.000,0.062,2955,631,1468
$GC,16469,0.80,390.7,134.9,13.1,1567,16475,0.00,2.88,0.00,0.000,6,0.000,0.039,2956,2143,1467
$GC,16798,0.80,390.7,98.0,10.8,1628,16806,0.00,2.60,0.00,0.000,4,0.000,0.051,2952,3458,1468
$GC,16830,0.80,390.7,94.3,12.2,1633,16836,0.00,2.55,0.00,0.000,6,0.000,0.044,2957,2131,1467
$GC,17160,0.80,390.7,53.8,14.9,1694,17168,0.00,3.00,0.00,0.000,4,0.000,0.063,2952,643,1467
$GC,17197,0.86,390.7,49.4,11.4,1700,17205,0.03,2.88,0.00,0.000,6,0.135,0.039,2959,2138,1467
$GC,17333,0.86,390.7,34.9,12.6,1725,17341,0.15,2.62,0.00,0.000,4,0.063,0.052,2982,3461,1467
$GC,17364,0.86,390.7,30.7,14.8,1730,17372,0.00,2.60,0.00,0.000,6,0.000,0.044,2984,2138,1467
$GC,17501,0.76,390.7,9.7,16.8,1755,17508,0.00,3.03,0.00,0.000,4,0.000,0.065,2982,643,1468
$STATE,17540,end climb,SURFACE_DEPTH_REACHED
$STATE,17540,begin surface coast
$FINISH,1.1,1.027343
$STATE,17547,end surface coast,CONTROL_FINISHED_OK
$STATE,17547,begin surface
$SM_CCo,17625,0.00,0.000,0,0,1465,393.71
$SM_GC,0.67,7.45,0.00,0.00,0.041,0.000,0.000,1471,2289,1465,-6.08,-0.17,393.71
$IRIDIUM_FIX,6041.65,-2346.92,240797,090940
$TT8_MAMPS,0.021476
$HUMID,1682
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,12.40
$XPDR_PINGS,121
$24V_AH,19.5,46.073
$10V_AH,9.8,33.330
$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,21.000,163.200,606.500,0.000,0.000,59.782,66.226,356.171,30.250,0.000,0.000,12.001,2811.675,10063.031,731.340,3933.435,725.588,0.000,2242.731,0.000,3934.634,0.000,0.467
$DEVICE_MAMPS,253.877,75.166,1435.824,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1316.229,1234.466,623.889,846.449,1547.175,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,130029,1763
$CAP_FILE_SIZE,169578,0
$CFSIZE,260165632,244322304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290408,143308,6101.923,-2346.637,29,1.8,29,-17.0