version: 66.03
glider: 143
mission: 4
dive: 166
start: 5 7 108 13 54 57
data:
$ID,143
$MISSION,4
$DIVE,166
$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,140
$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,-8343.9209
$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,27
$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
$GPS1,133937,6108.289,-2625.769,33,1.0,33,-18.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-44.9
$GPS2,135439,6108.293,-2625.710,11,1.4,11,-18.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6100.021,-2622.345
$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,158.5,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,152,0.00,0.00,-123.15,0.000,2,0.000,0.000,1465,2315,3566
$GC,154,-0.82,-194.7,3.7,-7.1,17,178,10.07,0.00,-6.55,0.000,6,0.254,0.000,2611,2315,3866
$GC,306,-0.69,-194.7,34.3,-16.6,44,314,0.17,2.88,0.00,0.000,4,0.148,0.054,2639,888,3867
$GC,322,-0.57,-194.7,37.4,-17.1,46,330,0.17,2.75,0.00,0.000,6,0.148,0.047,2669,2278,3867
$GC,457,-0.57,-194.7,53.4,-11.4,71,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2279,3867
$GC,784,-0.57,-194.7,90.3,-11.0,132,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2279,3867
$GC,1115,-0.57,-194.7,125.0,-10.2,193,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2279,3867
$GC,1446,-0.57,-194.7,162.6,-11.4,254,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2279,3867
$GC,1785,-0.57,-194.7,201.1,-12.1,315,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2279,3867
$GC,2125,-0.57,-194.7,242.5,-11.4,376,2133,0.00,2.78,0.00,0.000,4,0.000,0.055,2668,886,3867
$GC,2151,-0.62,-194.7,245.3,-11.2,380,2159,0.00,2.78,0.00,0.000,6,0.000,0.044,2669,2308,3867
$GC,2495,-0.62,-194.7,282.8,-10.8,441,2502,0.00,2.80,0.00,0.000,4,0.000,0.054,2668,884,3867
$GC,2521,-0.67,-194.7,285.5,-10.8,445,2527,0.00,2.72,0.00,0.000,6,0.000,0.044,2669,2300,3867
$GC,2860,-0.67,-194.7,321.7,-11.5,506,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2300,3867
$GC,3204,-0.67,-194.7,358.6,-11.0,561,3208,0.00,2.80,0.00,0.000,4,0.000,0.054,2668,876,3867
$GC,3236,-0.74,-194.7,362.6,-11.1,563,3243,0.15,2.72,0.00,0.000,6,0.058,0.042,2636,2295,3867
$GC,3561,-0.69,-194.7,409.4,-14.9,594,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2295,3867
$GC,3881,-0.64,-194.7,454.4,-13.9,624,3886,0.15,2.80,0.00,0.000,4,0.131,0.054,2661,876,3867
$GC,3901,-0.64,-194.7,457.5,-13.5,625,3909,0.00,2.75,0.00,0.000,6,0.000,0.043,2661,2291,3867
$GC,4228,-0.64,-194.7,494.6,-11.3,656,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2291,3867
$GC,4545,-0.64,-194.7,530.8,-11.4,686,4549,0.00,2.78,0.00,0.000,4,0.000,0.055,2661,884,3866
$GC,4565,-0.64,-194.7,533.3,-11.3,687,4572,0.00,2.67,0.00,0.000,6,0.000,0.042,2661,2280,3867
$GC,4893,-0.64,-194.7,569.7,-11.3,718,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2279,3866
$GC,5207,-0.64,-194.7,605.6,-11.1,746,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2279,3866
$GC,5517,-0.64,-194.7,639.9,-11.4,761,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2279,3866
$GC,5826,-0.64,-194.7,675.1,-11.3,776,5830,0.00,2.83,0.00,0.000,4,0.000,0.066,2661,885,3866
$GC,5852,-0.69,-194.7,678.2,-11.7,777,5857,0.00,2.70,0.00,0.000,6,0.000,0.047,2661,2270,3866
$GC,6167,-0.69,-194.7,713.2,-11.1,792,6172,0.00,2.90,0.00,0.000,4,0.000,0.067,2661,3704,3866
$GC,6188,-0.69,-194.7,715.6,-11.5,793,6192,0.00,2.83,0.00,0.000,6,0.000,0.051,2661,2272,3866
$GC,6515,-0.69,-194.7,751.9,-10.9,809,6519,0.00,2.92,0.00,0.000,4,0.000,0.064,2661,3709,3865
$GC,6535,-0.69,-194.7,754.3,-11.6,810,6540,0.00,2.83,0.00,0.000,6,0.000,0.051,2661,2278,3865
$GC,6856,-0.69,-194.7,788.7,-10.5,826,6861,0.00,2.80,0.00,0.000,4,0.000,0.066,2661,883,3865
$GC,6878,-0.73,-194.7,790.9,-10.6,827,6883,0.00,2.72,0.00,0.000,6,0.000,0.048,2661,2285,3865
$GC,7198,-0.73,-194.7,824.3,-10.6,843,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2285,3865
$GC,7507,-0.73,-194.7,858.4,-11.1,858,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2286,3865
$GC,7816,-0.73,-194.7,893.5,-11.2,873,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2288,3864
$GC,8126,-0.73,-194.7,926.3,-10.5,888,8127,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2288,3864
$GC,8436,-0.77,-194.7,956.1,-9.1,903,8438,0.15,0.00,0.00,0.000,6,0.066,0.000,2630,2289,3864
$STATE,8722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8722,begin apogee
$GC,8727,-0.19,0.0,992.2,13.2,917,8929,0.75,0.00,198.55,1.427,6,0.129,0.000,2753,2037,3071
$STATE,8930,end apogee,CONTROL_FINISHED_OK
$STATE,8930,begin climb
$GC,8932,0.82,194.7,1000.4,0.0,927,9150,1.27,3.22,205.50,1.358,4,0.088,0.069,2972,646,2276
$GC,9217,0.70,194.7,976.2,13.3,940,9223,0.00,2.95,0.00,0.000,6,0.000,0.045,2973,2052,2273
$GC,9532,0.57,194.7,936.5,12.3,956,9537,0.28,2.92,0.00,0.000,4,0.133,0.061,2928,3468,2271
$GC,9598,0.53,194.7,929.5,10.3,959,9603,0.00,2.83,0.00,0.000,6,0.000,0.051,2928,2068,2271
$GC,9920,0.53,235.2,901.7,8.6,975,9966,0.00,2.92,40.20,1.367,4,0.000,0.060,2928,3470,2111
$GC,10027,0.54,241.9,891.7,9.8,980,10044,0.00,2.80,8.55,1.207,6,0.000,0.051,2927,2096,2083
$GC,10352,0.55,245.9,860.5,9.9,996,10363,0.00,2.80,5.55,1.051,4,0.000,0.058,2928,3465,2067
$GC,10391,0.55,245.9,856.3,10.9,998,10396,0.00,2.72,0.00,0.000,6,0.000,0.050,2928,2105,2067
$GC,10717,0.55,245.9,823.0,10.6,1014,10718,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2104,2067
$GC,11027,0.59,277.2,794.8,8.9,1029,11069,0.00,2.85,32.12,1.306,4,0.000,0.058,2928,3467,1939
$GC,11113,0.59,277.2,786.4,10.1,1033,11118,0.00,2.70,0.00,0.000,6,0.000,0.049,2937,2128,1937
$GC,11440,0.62,308.5,757.0,8.9,1049,11481,0.00,3.12,32.05,1.276,4,0.000,0.067,2928,644,1813
$GC,11504,0.66,339.0,751.1,8.9,1052,11546,0.00,2.95,33.20,1.225,6,0.000,0.044,2930,2128,1687
$GC,11856,0.71,377.5,720.5,8.7,1069,11901,0.12,2.80,38.58,1.233,4,0.074,0.058,2952,3462,1531
$GC,11922,0.71,377.5,712.9,11.4,1072,11927,0.00,2.75,0.00,0.000,6,0.000,0.048,2954,2113,1530
$GC,12249,0.71,377.5,673.4,12.0,1088,12254,0.00,3.00,0.00,0.000,4,0.000,0.067,2952,641,1526
$GC,12275,0.71,377.5,670.0,13.6,1089,12280,0.00,2.90,0.00,0.000,6,0.000,0.044,2952,2124,1525
$GC,12591,0.71,377.5,631.6,12.3,1104,12595,0.00,2.67,0.00,0.000,4,0.000,0.055,2952,3471,1525
$GC,12617,0.71,377.5,628.0,12.9,1105,12621,0.00,2.70,0.00,0.000,6,0.000,0.046,2953,2114,1524
$GC,12941,0.71,377.5,587.2,12.9,1125,12945,0.00,2.97,0.00,0.000,4,0.000,0.065,2953,633,1524
$GC,12979,0.71,377.5,582.3,11.8,1128,12984,0.00,2.88,0.00,0.000,6,0.000,0.042,2953,2124,1523
$GC,13303,0.71,377.5,541.8,12.4,1158,13304,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2124,1524
$GC,13621,0.71,377.5,502.7,12.2,1188,13623,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2124,1523
$GC,13940,0.71,377.5,465.7,11.0,1218,13941,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2124,1523
$GC,14258,0.71,377.5,426.9,12.3,1248,14263,0.00,3.00,0.00,0.000,4,0.000,0.062,2952,632,1523
$GC,14289,0.71,377.5,423.0,12.1,1250,14297,0.00,2.85,0.00,0.000,6,0.000,0.040,2953,2109,1523
$GC,14618,0.71,377.5,380.9,13.8,1281,14622,0.00,2.67,0.00,0.000,4,0.000,0.051,2952,3475,1523
$GC,14645,0.71,377.5,376.6,13.4,1283,14649,0.00,2.70,0.00,0.000,6,0.000,0.045,2972,2087,1523
$GC,14977,0.71,377.5,331.3,14.0,1325,14983,0.00,2.88,0.00,0.000,4,0.000,0.061,2952,640,1523
$GC,15002,0.71,377.5,327.8,13.3,1329,15009,0.00,2.80,0.00,0.000,6,0.000,0.040,2953,2113,1523
$GC,15343,0.71,377.5,282.1,13.4,1390,15348,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2113,1523
$GC,15681,0.71,377.5,241.1,11.4,1451,15686,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2113,1523
$GC,16017,0.71,377.5,201.5,13.0,1512,16024,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2113,1522
$GC,16358,0.71,377.5,158.7,12.9,1573,16365,0.00,2.95,0.00,0.000,4,0.000,0.061,2952,638,1523
$GC,16394,0.71,377.5,154.1,12.4,1579,16400,0.00,2.80,0.00,0.000,6,0.000,0.041,2952,2105,1523
$GC,16724,0.71,377.5,113.4,11.5,1640,16733,0.00,2.70,0.00,0.000,4,0.000,0.053,2952,3464,1523
$GC,16758,0.71,377.5,109.7,12.7,1645,16765,0.00,2.65,0.00,0.000,6,0.000,0.044,2956,2098,1522
$GC,17087,0.71,377.5,70.1,11.7,1706,17095,0.00,2.92,0.00,0.000,4,0.000,0.064,2952,646,1523
$GC,17133,0.76,377.5,64.8,11.4,1714,17141,0.00,2.80,0.00,0.000,6,0.000,0.041,2952,2100,1522
$GC,17460,0.76,377.5,27.1,12.6,1775,17468,0.00,2.70,0.00,0.000,4,0.000,0.053,2952,3459,1522
$GC,17487,0.76,377.5,23.9,12.8,1779,17495,0.45,2.67,0.00,0.000,6,0.104,0.044,2968,2095,1522
$GC,17623,1.10,377.5,12.3,11.1,1804,17632,0.75,2.88,0.00,0.000,4,0.056,0.060,3026,634,1522
$GC,17676,1.00,377.5,5.1,14.3,1813,17684,0.00,2.72,0.00,0.000,6,0.000,0.039,3026,2050,1522
$STATE,17695,end climb,SURFACE_DEPTH_REACHED
$STATE,17695,begin surface coast
$FINISH,0.1,1.027166
$STATE,17708,end surface coast,CONTROL_FINISHED_OK
$STATE,17708,begin surface
$SM_CCo,17784,0.00,0.000,0,0,1522,379.97
$SM_GC,0.82,7.60,0.00,0.00,0.045,0.000,0.000,1464,2310,1522,-6.09,0.42,379.97
$IRIDIUM_FIX,6046.07,-2623.94,010897,131307
$TT8_MAMPS,0.021476
$HUMID,1686
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,11.70
$XPDR_PINGS,156
$24V_AH,19.3,56.809
$10V_AH,9.8,40.758
$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,22.100,158.900,594.300,0.000,0.000,94.960,102.824,441.283,39.000,0.000,0.000,13.525,2889.698,10013.189,722.481,4118.619,924.088,0.000,2295.037,0.000,4105.841,0.000,0.466
$DEVICE_MAMPS,253.877,69.030,1427.387,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1337.681,1280.052,689.246,914.121,1698.646,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136090,1818
$CAP_FILE_SIZE,173234,0
$CFSIZE,260165632,240652288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070508,185237,6105.892,-2621.949,35,1.0,41,-18.4