version: 66.03
glider: 143
mission: 4
dive: 138
start: 5 2 108 2 2 10
data:
$ID,143
$MISSION,4
$DIVE,138
$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,350
$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,-7749.1797
$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,15
$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
$GPS1,014556,6121.321,-2448.139,39,1.1,39,-17.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-48.0
$GPS2,020153,6121.093,-2448.197,8,2.2,27,-17.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6131.729,-2449.091
$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,7.7,20000,-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,-194.7,0.0,0.0,0,129,0.00,0.00,-101.15,0.000,2,0.000,0.000,1465,2299,3522
$GC,131,-0.82,-194.7,3.4,-6.8,14,156,10.20,2.83,-7.72,0.000,4,0.258,0.062,2608,3711,3866
$GC,174,-0.47,-194.7,14.9,-27.4,20,183,0.50,2.80,0.00,0.000,6,0.140,0.038,2689,2286,3867
$GC,309,-0.56,-194.7,33.8,-10.9,45,317,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2284,3867
$GC,444,-0.63,-194.7,45.8,-9.0,70,451,0.15,0.00,0.00,0.000,6,0.060,0.000,2655,2284,3867
$GC,582,-0.63,-194.7,60.7,-11.6,95,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2283,3867
$GC,909,-0.63,-194.7,102.6,-13.0,156,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2284,3867
$GC,1242,-0.63,-194.7,145.6,-12.8,217,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2284,3867
$GC,1579,-0.63,-194.7,187.5,-12.1,278,1585,0.00,2.72,0.00,0.000,4,0.000,0.054,2655,892,3867
$GC,1620,-0.67,-194.7,192.2,-11.6,285,1627,0.00,2.72,0.00,0.000,6,0.000,0.045,2655,2302,3867
$GC,1961,-0.67,-194.7,233.6,-12.2,346,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2302,3867
$GC,2299,-0.67,-194.7,274.7,-12.0,407,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2302,3867
$GC,2636,-0.67,-194.7,315.6,-11.7,468,2644,0.00,2.80,0.00,0.000,4,0.000,0.054,2655,893,3867
$GC,2678,-0.72,-194.7,320.5,-11.5,475,2684,0.00,2.70,0.00,0.000,6,0.000,0.044,2655,2291,3867
$GC,3013,-0.72,-194.7,359.9,-11.7,528,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2291,3867
$GC,3332,-0.72,-194.7,397.6,-11.6,558,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2291,3867
$GC,3650,-0.72,-194.7,435.0,-11.7,588,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2291,3867
$GC,3969,-0.72,-194.7,471.9,-11.5,618,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2291,3867
$GC,4287,-0.72,-194.7,509.1,-12.2,648,4292,0.00,2.78,0.00,0.000,4,0.000,0.056,2655,884,3867
$GC,4326,-0.77,-194.7,513.6,-11.9,651,4331,0.00,2.70,0.00,0.000,6,0.000,0.042,2656,2292,3867
$GC,4653,-0.77,-194.7,551.9,-11.9,681,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2292,3867
$GC,4968,-0.77,-194.7,590.2,-12.1,711,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2292,3867
$GC,5280,-0.77,-194.7,627.5,-11.7,730,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2292,3867
$GC,5589,-0.77,-194.7,663.5,-11.5,745,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2292,3867
$GC,5898,-0.77,-194.7,698.2,-11.4,760,5903,0.00,2.85,0.00,0.000,4,0.000,0.067,2655,892,3866
$GC,5937,-0.82,-194.7,702.4,-10.6,762,5942,0.20,2.70,0.00,0.000,6,0.054,0.048,2615,2275,3866
$GC,6263,-0.73,-194.7,751.0,-15.0,778,6268,0.15,2.92,0.00,0.000,4,0.137,0.067,2634,3709,3866
$GC,6302,-0.73,-194.7,756.5,-13.6,780,6307,0.00,2.83,0.00,0.000,6,0.000,0.051,2634,2284,3866
$GC,6627,-0.73,-194.7,799.3,-13.5,796,6632,0.00,2.83,0.00,0.000,4,0.000,0.067,2634,880,3866
$GC,6681,-0.73,-194.7,806.5,-12.7,798,6688,0.00,2.72,0.00,0.000,6,0.000,0.049,2651,2263,3866
$GC,6997,-0.73,-194.7,848.3,-13.3,814,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2265,3866
$GC,7307,-0.73,-194.7,887.7,-12.7,829,7311,0.00,2.95,0.00,0.000,4,0.000,0.067,2634,3712,3866
$GC,7349,-0.73,-194.7,893.3,-12.5,831,7354,0.00,2.85,0.00,0.000,6,0.000,0.051,2634,2269,3865
$GC,7676,-0.73,-194.7,931.6,-11.5,847,7681,0.00,2.80,0.00,0.000,4,0.000,0.067,2634,878,3865
$GC,7719,-0.73,-194.7,936.6,-10.7,849,7723,0.00,2.72,0.00,0.000,6,0.000,0.049,2634,2273,3865
$GC,8046,-0.73,-194.7,975.4,-12.4,865,8050,0.00,2.92,0.00,0.000,4,0.000,0.067,2634,3708,3865
$GC,8084,-0.73,-194.7,980.6,-14.1,867,8089,0.00,2.85,0.00,0.000,6,0.000,0.052,2634,2269,3864
$STATE,8160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8160,begin apogee
$GC,8165,-0.19,0.0,990.9,13.3,871,8367,0.75,0.00,197.93,1.432,6,0.136,0.000,2755,2045,3071
$STATE,8367,end apogee,CONTROL_FINISHED_OK
$STATE,8367,begin climb
$GC,8369,0.82,194.7,1000.8,0.0,881,8587,1.30,3.22,203.95,1.363,4,0.088,0.070,2975,650,2276
$GC,8665,0.69,194.7,977.7,12.1,895,8670,0.17,2.95,0.00,0.000,6,0.136,0.044,2953,2059,2273
$GC,8980,0.58,194.7,942.2,11.7,910,8986,0.15,2.92,0.00,0.000,4,0.137,0.062,2927,3468,2271
$GC,9058,0.58,194.7,933.8,10.1,913,9064,0.00,2.85,0.00,0.000,6,0.000,0.054,2926,2078,2271
$GC,9374,0.54,199.0,903.0,9.8,929,9384,0.00,2.85,4.72,0.970,4,0.000,0.060,2927,3467,2259
$GC,9412,0.55,205.9,899.0,9.8,931,9426,0.00,2.80,8.77,1.243,6,0.000,0.053,2927,2079,2231
$GC,9742,0.56,217.9,867.1,9.6,947,9763,0.00,2.85,13.55,1.370,4,0.000,0.059,2928,3465,2182
$GC,9790,0.56,217.9,862.0,10.4,949,9794,0.00,2.78,0.00,0.000,6,0.000,0.051,2928,2096,2181
$GC,10117,0.58,230.2,830.2,9.6,965,10139,0.00,2.83,13.95,1.342,4,0.000,0.059,2927,3467,2132
$GC,10171,0.58,233.3,824.7,9.9,967,10184,0.00,2.75,4.88,0.911,6,0.000,0.052,2932,2107,2119
$GC,10492,0.58,233.3,793.3,10.1,983,10493,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2107,2117
$GC,10802,0.59,236.6,762.9,9.9,998,10812,0.00,2.75,4.80,0.963,4,0.000,0.058,2927,3462,2105
$GC,10833,0.59,239.1,759.6,9.9,999,10843,0.00,2.67,4.53,0.931,6,0.000,0.051,2933,2126,2096
$GC,11170,0.59,239.1,726.1,10.0,1016,11175,0.00,2.70,0.00,0.000,4,0.000,0.057,2927,3466,2095
$GC,11186,0.59,239.1,724.5,10.1,1017,11190,0.00,2.67,0.00,0.000,6,0.000,0.051,2933,2120,2095
$GC,11511,0.60,248.1,692.5,9.7,1033,11524,0.00,0.00,10.77,1.225,6,0.000,0.000,2931,2118,2059
$GC,11821,0.61,252.2,662.5,9.9,1048,11832,0.00,2.72,5.93,1.042,4,0.000,0.057,2927,3469,2041
$GC,11860,0.61,252.2,658.4,10.2,1050,11864,0.00,2.65,0.00,0.000,6,0.000,0.048,2938,2130,2041
$GC,12185,0.63,272.0,627.8,9.3,1066,12207,0.00,0.00,20.40,1.206,6,0.000,0.000,2932,2130,1962
$GC,12515,0.66,295.8,597.3,9.2,1083,12546,0.00,0.00,25.27,1.192,6,0.000,0.000,2931,2130,1864
$GC,12865,0.69,319.1,565.3,9.2,1116,12894,0.00,0.00,23.67,1.147,6,0.000,0.000,2931,2129,1769
$GC,13213,0.71,335.8,532.8,9.4,1149,13234,0.12,0.00,17.98,1.119,6,0.073,0.000,2956,2129,1702
$GC,13552,0.67,335.8,491.0,12.5,1181,13556,0.00,3.03,0.00,0.000,4,0.000,0.064,2955,636,1700
$GC,13567,0.67,335.8,488.8,12.3,1182,13572,0.00,2.92,0.00,0.000,6,0.000,0.041,2955,2150,1699
$GC,13892,0.62,335.8,448.3,13.0,1212,13897,0.00,3.08,0.00,0.000,4,0.000,0.063,2952,634,1699
$GC,13920,0.62,335.8,444.6,12.4,1214,13924,0.00,2.90,0.00,0.000,6,0.000,0.041,2955,2140,1699
$GC,14244,0.62,335.8,403.9,12.4,1244,14246,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2140,1699
$GC,14562,0.62,335.8,365.0,11.7,1274,14567,0.00,3.03,0.00,0.000,4,0.000,0.062,2952,637,1698
$GC,14590,0.62,335.8,361.6,12.1,1276,14595,0.00,2.88,0.00,0.000,6,0.000,0.040,2954,2137,1699
$GC,14925,0.62,335.8,320.6,12.7,1327,14931,0.00,3.03,0.00,0.000,4,0.000,0.061,2952,633,1699
$GC,14949,0.62,335.8,317.6,12.3,1331,14956,0.12,2.85,0.00,0.000,6,0.117,0.040,2938,2125,1698
$GC,15289,0.65,355.3,284.8,9.3,1392,15313,0.00,0.00,19.48,1.029,6,0.000,0.000,2938,2125,1621
$GC,15647,0.71,372.3,251.6,9.4,1456,15666,0.00,0.00,17.50,0.963,6,0.000,0.000,2938,2125,1553
$GC,16001,0.79,389.0,219.2,9.4,1519,16026,0.15,3.03,17.62,0.934,4,0.062,0.062,2969,641,1484
$GC,16054,0.79,389.0,212.3,13.3,1528,16061,0.00,2.90,0.00,0.000,6,0.000,0.041,2972,2112,1483
$GC,16397,0.72,389.0,160.8,15.0,1589,16402,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2112,1482
$GC,16728,0.66,389.0,110.3,15.5,1650,16736,0.15,3.03,0.00,0.000,4,0.127,0.063,2943,635,1481
$GC,16772,0.72,389.0,105.3,10.5,1657,16778,0.00,2.80,0.00,0.000,6,0.000,0.040,2946,2094,1481
$GC,17100,0.75,406.4,71.5,9.4,1718,17127,0.00,2.78,17.70,0.858,4,0.000,0.052,2943,3469,1414
$GC,17138,0.80,406.4,67.4,10.7,1724,17146,0.10,2.75,0.00,0.000,6,0.052,0.044,2972,2083,1413
$GC,17466,0.74,406.4,18.9,16.8,1785,17474,0.00,2.92,0.00,0.000,4,0.000,0.064,2972,645,1411
$GC,17497,0.74,406.4,13.9,17.2,1790,17505,0.00,2.78,0.00,0.000,6,0.000,0.039,2974,2077,1410
$STATE,17583,end climb,SURFACE_DEPTH_REACHED
$STATE,17583,begin surface coast
$FINISH,0.1,1.012473
$STATE,17596,end surface coast,CONTROL_FINISHED_OK
$STATE,17596,begin surface
$SM_CCo,17671,0.00,0.000,0,0,1408,407.69
$SM_GC,0.65,7.32,0.00,0.00,0.040,0.000,0.000,1467,2287,1408,-6.10,-0.25,407.69
$IRIDIUM_FIX,6059.36,-2447.45,270797,020219
$TT8_MAMPS,0.021476
$HUMID,1705
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,11.70
$XPDR_PINGS,129
$24V_AH,19.4,49.537
$10V_AH,9.8,35.734
$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,21.550,148.500,633.400,0.000,0.000,114.443,112.097,405.076,32.250,0.000,0.000,29.906,2862.942,10053.475,737.913,4068.244,889.242,0.000,2277.099,0.000,4049.064,0.000,0.467
$DEVICE_MAMPS,257.712,69.797,1431.989,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1341.625,1265.186,656.388,898.529,1643.873,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132772,1808
$CAP_FILE_SIZE,172439,0
$CFSIZE,260165632,243113984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,020508,065816,6122.163,-2448.663,40,99.0,59,-17.7