version: 66.03
glider: 143
mission: 4
dive: 177
start: 5 9 108 21 23 34
data:
$ID,143
$MISSION,4
$DIVE,177
$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,-8563.4199
$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,24
$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
$GPS1,211332,6108.985,-2627.776,42,1.2,42,-18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-55.7
$GPS2,212314,6109.035,-2627.715,11,1.1,16,-18.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6119.183,-2629.487
$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,358.5,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,115,0.00,0.00,-86.85,0.000,2,0.000,0.000,1467,2315,3573
$GC,118,-0.82,-194.7,3.5,-6.4,12,140,10.00,2.88,-6.25,0.000,4,0.251,0.065,2611,884,3864
$GC,263,-0.74,-194.7,34.4,-17.7,38,271,0.12,2.80,0.00,0.000,6,0.141,0.049,2632,2284,3865
$GC,400,-0.68,-194.7,56.0,-16.1,63,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2283,3865
$GC,732,-0.62,-194.7,107.3,-15.4,124,740,0.15,2.80,0.00,0.000,4,0.140,0.054,2657,886,3865
$GC,775,-0.66,-194.7,113.2,-12.2,131,781,0.00,2.72,0.00,0.000,6,0.000,0.043,2657,2292,3865
$GC,1105,-0.66,-194.7,153.4,-11.9,192,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2292,3865
$GC,1448,-0.66,-194.7,194.0,-11.8,253,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2292,3865
$GC,1787,-0.66,-194.7,233.7,-11.3,314,1793,0.00,2.78,0.00,0.000,4,0.000,0.054,2657,883,3865
$GC,1843,-0.71,-194.7,239.9,-10.5,324,1850,0.00,2.72,0.00,0.000,6,0.000,0.044,2657,2279,3865
$GC,2186,-0.71,-194.7,278.8,-11.7,385,2192,0.00,2.83,0.00,0.000,4,0.000,0.054,2656,3708,3865
$GC,2232,-0.71,-194.7,284.2,-11.8,393,2239,0.00,2.75,0.00,0.000,6,0.000,0.041,2656,2274,3865
$GC,2573,-0.71,-194.7,322.5,-11.3,454,2579,0.00,2.70,0.00,0.000,4,0.000,0.054,2656,887,3865
$GC,2624,-0.77,-194.7,328.1,-10.8,463,2630,0.12,2.70,0.00,0.000,6,0.061,0.044,2629,2288,3865
$GC,2962,-0.71,-194.7,374.1,-13.8,509,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2288,3865
$GC,3280,-0.65,-194.7,416.0,-12.9,539,3282,0.15,0.00,0.00,0.000,6,0.134,0.000,2651,2288,3865
$GC,3602,-0.65,-194.7,451.9,-11.6,569,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2288,3865
$GC,3916,-0.65,-194.7,490.3,-12.2,599,3921,0.00,2.78,0.00,0.000,4,0.000,0.057,2651,886,3865
$GC,3966,-0.70,-194.7,496.1,-11.6,603,3970,0.00,2.67,0.00,0.000,6,0.000,0.042,2651,2279,3865
$GC,4293,-0.70,-194.7,534.7,-11.8,633,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2279,3865
$GC,4610,-0.70,-194.7,571.5,-11.5,663,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2279,3865
$GC,4924,-0.70,-194.7,608.4,-11.8,690,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2279,3865
$GC,5234,-0.70,-194.7,643.4,-11.0,705,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2279,3865
$GC,5543,-0.70,-194.7,678.1,-11.3,720,5547,0.00,2.85,0.00,0.000,4,0.000,0.067,2651,881,3865
$GC,5592,-0.75,-194.7,683.6,-11.3,722,5596,0.00,2.72,0.00,0.000,6,0.000,0.048,2651,2276,3865
$GC,5907,-0.75,-194.7,719.3,-11.5,737,5912,0.00,2.90,0.00,0.000,4,0.000,0.067,2651,3704,3865
$GC,5956,-0.75,-194.7,725.2,-11.8,739,5960,0.00,2.83,0.00,0.000,6,0.000,0.051,2664,2279,3865
$GC,6277,-0.75,-194.7,761.2,-11.1,755,6281,0.00,2.83,0.00,0.000,4,0.000,0.069,2651,881,3864
$GC,6343,-0.80,-194.7,768.6,-10.4,758,6349,0.15,2.70,0.00,0.000,6,0.061,0.048,2622,2267,3864
$GC,6664,-0.73,-194.7,813.4,-14.2,774,6669,0.00,2.92,0.00,0.000,4,0.000,0.065,2619,3708,3864
$GC,6703,-0.68,-194.7,819.0,-14.6,776,6708,0.20,2.90,0.00,0.000,6,0.138,0.052,2648,2249,3864
$GC,7029,-0.68,-194.7,856.5,-11.4,792,7033,0.00,2.75,0.00,0.000,4,0.000,0.067,2648,884,3864
$GC,7078,-0.73,-194.7,862.1,-11.1,794,7082,0.00,2.70,0.00,0.000,6,0.000,0.048,2649,2263,3864
$GC,7393,-0.73,-194.7,897.1,-11.3,809,7398,0.00,2.95,0.00,0.000,4,0.000,0.067,2648,3711,3864
$GC,7432,-0.73,-194.7,901.7,-11.5,811,7437,0.00,2.90,0.00,0.000,6,0.000,0.051,2648,2251,3863
$GC,7758,-0.73,-194.7,939.3,-11.4,827,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2251,3863
$GC,8067,-0.73,-194.7,974.7,-11.5,842,8068,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2251,3863
$STATE,8209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8209,begin apogee
$GC,8214,-0.19,0.0,991.0,11.3,849,8417,0.65,0.00,199.23,1.430,6,0.127,0.000,2756,2041,3071
$STATE,8418,end apogee,CONTROL_FINISHED_OK
$STATE,8418,begin climb
$GC,8420,0.82,194.7,1000.4,0.0,859,8638,1.25,3.20,206.20,1.360,4,0.084,0.070,2973,655,2277
$GC,8721,0.69,194.7,976.4,13.2,873,8727,0.15,2.92,0.00,0.000,6,0.141,0.045,2956,2054,2273
$GC,9037,0.58,194.7,939.8,11.3,888,9043,0.15,2.90,0.00,0.000,4,0.139,0.062,2929,3461,2271
$GC,9099,0.60,206.8,933.5,9.6,891,9121,0.00,2.83,12.93,1.332,6,0.000,0.052,2929,2068,2227
$GC,9429,0.64,241.8,903.8,8.8,907,9471,0.00,2.97,36.50,1.363,4,0.000,0.061,2929,3461,2084
$GC,9521,0.66,256.0,895.0,9.5,911,9542,0.00,2.83,15.68,1.275,6,0.000,0.051,2930,2074,2027
$GC,9863,0.66,256.0,860.8,10.2,928,9867,0.00,2.85,0.00,0.000,4,0.000,0.060,2929,3471,2024
$GC,9901,0.66,256.0,856.8,11.2,930,9906,0.00,2.75,0.00,0.000,6,0.000,0.051,2929,2098,2022
$GC,10227,0.66,257.1,824.6,10.0,946,10232,0.00,2.78,0.00,0.000,4,0.000,0.060,2929,3469,2022
$GC,10243,0.66,257.1,822.9,10.5,947,10247,0.00,2.70,0.00,0.000,6,0.000,0.048,2929,2108,2021
$GC,10569,0.66,258.7,789.4,9.9,963,10573,0.00,2.72,0.00,0.000,4,0.000,0.058,2929,3462,2022
$GC,10601,0.66,260.4,786.1,9.9,964,10611,0.00,2.65,5.10,0.998,6,0.000,0.049,2930,2125,2009
$GC,10933,0.68,269.7,755.1,9.7,981,10946,0.00,0.00,11.20,1.259,6,0.000,0.000,2930,2124,1971
$GC,11241,0.68,270.6,724.8,10.0,996,11243,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2123,1969
$GC,11550,0.69,281.1,694.8,9.6,1011,11566,0.00,0.00,13.27,1.247,6,0.000,0.000,2930,2121,1925
$GC,11875,0.69,281.1,662.7,10.2,1026,11880,0.00,2.70,0.00,0.000,4,0.000,0.057,2929,3467,1924
$GC,11914,0.69,281.1,658.7,10.4,1028,11918,0.00,2.65,0.00,0.000,6,0.000,0.048,2931,2124,1922
$GC,12239,0.70,292.1,626.7,9.6,1044,12254,0.12,0.00,12.68,1.200,6,0.074,0.000,2954,2124,1880
$GC,12552,0.65,292.1,587.2,13.0,1063,12553,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2123,1878
$GC,12871,0.59,292.1,546.9,12.3,1093,12873,0.15,0.00,0.00,0.000,6,0.126,0.000,2932,2123,1879
$GC,13190,0.61,305.6,515.5,9.5,1123,13211,0.00,0.00,14.80,1.142,6,0.000,0.000,2931,2122,1825
$GC,13529,0.63,324.4,483.4,9.4,1155,13554,0.00,2.70,20.17,1.134,4,0.000,0.052,2930,3467,1748
$GC,13566,0.66,346.9,480.0,9.2,1158,13600,0.00,2.65,23.95,1.042,6,0.000,0.043,2932,2124,1656
$GC,13917,0.76,394.9,449.8,8.3,1191,13972,0.15,3.08,47.90,1.065,4,0.066,0.061,2965,634,1460
$GC,13995,0.76,394.9,440.1,12.9,1198,14000,0.00,2.97,0.00,0.000,6,0.000,0.040,2966,2143,1458
$GC,14320,0.71,394.9,395.9,13.9,1228,14322,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2143,1454
$GC,14639,0.65,394.9,351.6,14.0,1258,14645,0.15,3.05,0.00,0.000,4,0.129,0.061,2943,634,1453
$GC,14669,0.65,394.9,347.9,11.9,1261,14675,0.00,2.85,0.00,0.000,6,0.000,0.040,2944,2119,1453
$GC,15010,0.65,394.9,315.1,10.0,1322,15015,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2119,1452
$GC,15349,0.66,401.3,281.9,9.8,1383,15362,0.00,0.00,6.47,0.854,6,0.000,0.000,2944,2120,1434
$GC,15697,0.66,401.3,247.0,10.3,1445,15703,0.00,2.97,0.00,0.000,4,0.000,0.061,2943,638,1434
$GC,15725,0.72,401.3,243.6,10.6,1450,15731,0.00,2.83,0.00,0.000,6,0.000,0.039,2943,2119,1433
$GC,16065,0.72,401.3,209.1,10.3,1511,16070,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2119,1433
$GC,16401,0.76,401.3,175.2,10.8,1572,16410,0.12,3.00,0.00,0.000,4,0.071,0.061,2970,638,1433
$GC,16427,0.76,401.3,172.3,12.3,1576,16436,0.00,2.83,0.00,0.000,6,0.000,0.040,2971,2104,1433
$GC,16766,0.71,401.3,124.9,14.2,1637,16771,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2104,1433
$GC,17095,0.65,401.3,78.0,14.9,1698,17103,0.15,0.00,0.00,0.000,6,0.127,0.000,2945,2104,1433
$GC,17429,0.73,414.2,46.0,9.6,1759,17453,0.00,3.00,14.12,0.864,4,0.000,0.064,2943,635,1381
$GC,17466,0.80,414.2,42.8,10.3,1764,17475,0.10,2.83,0.00,0.000,6,0.045,0.039,2976,2097,1380
$GC,17603,0.73,414.2,25.9,12.9,1789,17611,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2097,1380
$GC,17737,0.69,414.2,5.9,14.6,1814,17746,0.15,2.92,0.00,0.000,4,0.130,0.055,2953,638,1379
$STATE,17774,end climb,SURFACE_DEPTH_REACHED
$STATE,17774,begin surface coast
$FINISH,1.3,1.027319
$STATE,17781,end surface coast,CONTROL_FINISHED_OK
$STATE,17781,begin surface
$SM_CCo,17859,0.00,0.000,0,0,1378,415.29
$SM_GC,0.60,7.55,0.00,0.00,0.062,0.000,0.000,1470,2296,1378,-6.08,0.03,415.29
$IRIDIUM_FIX,6041.65,-2627.93,030897,212119
$TT8_MAMPS,0.021476
$HUMID,1685
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,12.30
$XPDR_PINGS,116
$24V_AH,19.3,59.927
$10V_AH,9.7,42.843
$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,21.750,147.825,640.200,0.000,0.000,58.636,76.573,259.579,29.000,0.000,0.000,18.346,2895.437,10058.367,718.924,4075.944,678.572,0.000,2276.940,0.000,4068.856,0.000,0.467
$DEVICE_MAMPS,250.809,69.797,1429.688,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1349.945,1281.685,640.805,888.117,1607.934,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136225,1821
$CAP_FILE_SIZE,169925,0
$CFSIZE,260165632,239636480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100508,022225,6112.969,-2628.910,37,1.4,37,-18.5