version: 66.03
glider: 143
mission: 4
dive: 203
start: 5 15 108 5 9 40
data:
$ID,143
$MISSION,4
$DIVE,203
$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,-9122.7822
$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,17
$R_STBD_OVSHOOT,22
$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
$GPS1,050238,6112.296,-2622.563,35,1.1,35,-18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-54.3
$GPS2,050921,6112.362,-2622.567,13,1.6,13,-18.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6122.510,-2624.336
$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,-194.7,0.0,0.0,0,116,0.00,0.00,-87.82,0.000,2,0.000,0.000,1468,2300,3287
$GC,119,-0.82,-194.7,3.0,-6.8,16,150,9.85,2.92,-14.98,0.000,4,0.247,0.072,2613,3701,3867
$GC,247,-0.73,-194.7,25.7,-17.4,38,255,0.15,2.72,0.00,0.000,6,0.142,0.040,2634,2285,3868
$GC,392,-0.68,-194.7,47.4,-14.2,63,398,0.00,2.72,0.00,0.000,4,0.000,0.054,2635,889,3868
$GC,462,-0.68,-194.7,57.2,-13.5,75,468,0.00,2.72,0.00,0.000,6,0.000,0.048,2634,2276,3868
$GC,806,-0.63,-194.7,106.1,-14.2,136,813,0.15,2.85,0.00,0.000,4,0.146,0.058,2659,3708,3868
$GC,853,-0.67,-194.7,112.1,-11.8,144,859,0.00,2.75,0.00,0.000,6,0.000,0.041,2659,2275,3868
$GC,1196,-0.67,-194.7,151.9,-11.2,205,1202,0.00,2.72,0.00,0.000,4,0.000,0.055,2659,881,3868
$GC,1254,-0.73,-194.7,158.2,-10.6,215,1260,0.00,2.70,0.00,0.000,6,0.000,0.045,2659,2273,3868
$GC,1597,-0.73,-194.7,197.2,-11.0,276,1603,0.00,2.85,0.00,0.000,4,0.000,0.057,2659,3711,3868
$GC,1632,-0.73,-194.7,201.3,-12.1,282,1638,0.00,2.80,0.00,0.000,6,0.000,0.041,2659,2260,3869
$GC,1975,-0.73,-194.7,240.7,-11.6,343,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2257,3868
$GC,2318,-0.73,-194.7,280.0,-11.8,404,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2257,3868
$GC,2662,-0.73,-194.7,321.4,-12.2,465,2668,0.00,2.90,0.00,0.000,4,0.000,0.056,2659,3717,3868
$GC,2696,-0.78,-194.7,325.7,-12.3,471,2703,0.15,2.78,0.00,0.000,6,0.064,0.041,2628,2278,3868
$GC,3036,-0.72,-194.7,375.9,-14.5,517,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2274,3868
$GC,3356,-0.67,-194.7,421.1,-13.8,547,3357,0.15,0.00,0.00,0.000,6,0.140,0.000,2650,2274,3868
$GC,3674,-0.67,-194.7,458.3,-11.5,577,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2274,3868
$GC,3991,-0.67,-194.7,495.4,-11.6,607,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2274,3868
$GC,4310,-0.67,-194.7,533.4,-11.9,637,4315,0.00,2.75,0.00,0.000,4,0.000,0.058,2650,879,3868
$GC,4349,-0.72,-194.7,538.1,-11.6,640,4354,0.00,2.72,0.00,0.000,6,0.000,0.044,2650,2291,3868
$GC,4674,-0.72,-194.7,578.2,-12.2,670,4679,0.00,2.83,0.00,0.000,4,0.000,0.058,2650,3710,3868
$GC,4714,-0.72,-194.7,583.3,-12.5,673,4719,0.00,2.78,0.00,0.000,6,0.000,0.044,2650,2282,3867
$GC,5043,-0.72,-194.7,622.4,-11.7,695,5048,0.00,2.78,0.00,0.000,4,0.000,0.061,2650,884,3867
$GC,5099,-0.76,-194.7,628.9,-11.1,697,5105,0.00,2.70,0.00,0.000,6,0.000,0.045,2650,2278,3867
$GC,5414,-0.76,-194.7,664.1,-11.1,713,5418,0.00,2.88,0.00,0.000,4,0.000,0.062,2650,3705,3867
$GC,5475,-0.76,-194.7,671.1,-11.2,716,5480,0.00,2.80,0.00,0.000,6,0.000,0.049,2650,2288,3867
$GC,5801,-0.76,-194.7,708.0,-11.5,732,5805,0.00,2.85,0.00,0.000,4,0.000,0.069,2650,874,3867
$GC,5850,-0.82,-194.7,713.6,-11.2,734,5855,0.15,2.75,0.00,0.000,6,0.058,0.049,2617,2280,3867
$GC,6166,-0.75,-194.7,757.6,-14.0,749,6171,0.00,2.90,0.00,0.000,4,0.000,0.065,2617,3709,3867
$GC,6211,-0.71,-194.7,764.1,-14.1,751,6217,0.17,2.85,0.00,0.000,6,0.140,0.051,2642,2270,3866
$GC,6532,-0.71,-194.7,801.5,-11.8,767,6533,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2270,3866
$GC,6841,-0.71,-194.7,837.4,-11.7,782,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2270,3866
$GC,7150,-0.71,-194.7,873.0,-11.5,797,7155,0.00,2.80,0.00,0.000,4,0.000,0.067,2642,883,3866
$GC,7182,-0.71,-194.7,876.7,-11.5,798,7189,0.00,2.75,0.00,0.000,6,0.000,0.048,2642,2283,3866
$GC,7498,-0.71,-194.7,912.5,-11.2,814,7502,0.00,2.90,0.00,0.000,4,0.000,0.067,2642,3705,3865
$GC,7536,-0.71,-194.7,917.0,-11.7,816,7541,0.00,2.83,0.00,0.000,6,0.000,0.051,2642,2280,3865
$GC,7862,-0.71,-194.7,953.4,-11.3,832,7866,0.00,2.83,0.00,0.000,4,0.000,0.067,2642,883,3865
$GC,7917,-0.75,-194.7,959.5,-10.8,834,7923,0.00,2.72,0.00,0.000,6,0.000,0.049,2642,2276,3865
$STATE,8209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8209,begin apogee
$GC,8214,-0.19,0.0,992.2,11.1,849,8419,0.70,0.00,201.60,1.433,6,0.136,0.000,2755,2040,3071
$STATE,8420,end apogee,CONTROL_FINISHED_OK
$STATE,8420,begin climb
$GC,8422,0.82,194.7,1000.3,0.0,859,8641,1.25,3.20,207.88,1.364,4,0.087,0.071,2971,648,2277
$GC,8754,0.69,194.7,971.8,13.3,874,8759,0.00,2.92,0.00,0.000,6,0.000,0.046,2971,2058,2273
$GC,9080,0.56,194.7,931.2,12.1,890,9085,0.28,2.88,0.00,0.000,4,0.134,0.061,2926,3462,2272
$GC,9112,0.56,194.7,927.7,10.4,891,9119,0.00,2.83,0.00,0.000,6,0.000,0.051,2926,2063,2271
$GC,9429,0.63,250.6,901.4,8.1,907,9491,0.00,3.00,56.25,1.371,4,0.000,0.060,2926,3459,2048
$GC,9514,0.44,304.1,894.1,8.2,911,9577,0.17,2.88,55.42,1.318,6,0.130,0.051,2900,2064,1831
$GC,9886,0.66,403.4,870.1,6.6,929,9997,0.17,3.03,103.47,1.327,4,0.064,0.059,2939,3462,1425
$GC,10026,0.71,403.4,855.5,10.3,936,10030,0.00,2.90,0.00,0.000,6,0.000,0.052,2939,2082,1421
$GC,10351,0.71,403.4,821.2,10.4,952,10356,0.00,2.97,0.00,0.000,4,0.000,0.071,2939,643,1415
$GC,10384,0.77,409.3,817.8,9.8,953,10395,0.15,2.85,5.47,1.017,6,0.060,0.045,2973,2091,1402
$GC,10718,0.69,409.3,766.6,16.0,970,10723,0.15,2.75,0.00,0.000,4,0.134,0.057,2948,3461,1400
$GC,10735,0.62,409.3,763.7,15.8,971,10740,0.00,2.75,0.00,0.000,6,0.000,0.051,2948,2082,1399
$GC,11060,0.62,409.3,725.0,12.1,987,11065,0.00,2.92,0.00,0.000,4,0.000,0.071,2948,643,1399
$GC,11082,0.62,409.3,722.3,12.8,988,11086,0.00,2.80,0.00,0.000,6,0.000,0.044,2948,2083,1398
$GC,11402,0.62,409.3,682.9,13.0,1004,11406,0.00,2.75,0.00,0.000,4,0.000,0.058,2948,3464,1398
$GC,11418,0.62,409.3,680.8,13.0,1005,11422,0.00,2.75,0.00,0.000,6,0.000,0.049,2948,2073,1398
$GC,11743,0.62,409.3,640.7,11.8,1021,11748,0.00,2.90,0.00,0.000,4,0.000,0.069,2948,637,1398
$GC,11764,0.62,409.3,638.3,11.4,1022,11768,0.00,2.78,0.00,0.000,6,0.000,0.043,2948,2073,1398
$GC,12091,0.62,409.3,601.2,11.1,1038,12095,0.00,2.75,0.00,0.000,4,0.000,0.055,2948,3466,1398
$GC,12113,0.62,409.3,598.7,11.5,1039,12119,0.00,2.75,0.00,0.000,6,0.000,0.048,2948,2062,1397
$GC,12438,0.62,409.3,562.7,11.6,1070,12443,0.00,2.85,0.00,0.000,4,0.000,0.067,2948,644,1398
$GC,12459,0.62,409.3,560.1,11.2,1071,12465,0.00,2.75,0.00,0.000,6,0.000,0.042,2948,2073,1397
$GC,12785,0.62,409.3,524.8,10.9,1102,12789,0.00,2.72,0.00,0.000,4,0.000,0.054,2948,3458,1397
$GC,12801,0.62,409.3,522.9,11.1,1103,12805,0.00,2.70,0.00,0.000,6,0.000,0.046,2948,2068,1397
$GC,13127,0.62,409.3,489.4,10.1,1133,13131,0.00,2.85,0.00,0.000,4,0.000,0.064,2948,637,1397
$GC,13143,0.62,409.3,487.5,10.2,1134,13147,0.00,2.75,0.00,0.000,6,0.000,0.041,2949,2076,1397
$GC,13467,0.63,415.4,454.7,9.8,1164,13478,0.00,0.00,6.72,0.960,6,0.000,0.000,2948,2076,1378
$GC,13797,0.63,415.4,422.1,10.2,1195,13798,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2076,1379
$GC,14115,0.63,415.4,388.2,10.5,1225,14116,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2076,1378
$GC,14432,0.63,415.4,355.1,10.1,1255,14437,0.00,2.90,0.00,0.000,4,0.000,0.063,2947,637,1378
$GC,14454,0.67,415.4,352.8,10.5,1256,14460,0.00,2.70,0.00,0.000,6,0.000,0.040,2948,2063,1378
$GC,14794,0.67,415.4,316.3,11.0,1314,14800,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2063,1378
$GC,15136,0.67,415.4,279.5,10.6,1375,15142,0.00,2.75,0.00,0.000,4,0.000,0.051,2948,3468,1378
$GC,15159,0.73,415.4,276.9,11.1,1379,15166,0.00,2.75,0.00,0.000,6,0.000,0.044,2948,2054,1378
$GC,15503,0.73,416.2,241.2,10.0,1440,15510,0.00,2.80,0.00,0.000,4,0.000,0.063,2948,644,1378
$GC,15521,0.77,416.2,239.3,10.8,1443,15527,0.00,2.72,0.00,0.000,6,0.000,0.040,2949,2073,1378
$GC,15864,0.82,418.3,204.5,9.9,1504,15872,0.15,0.00,5.12,0.754,6,0.064,0.000,2985,2073,1365
$GC,16210,0.72,418.3,146.8,17.6,1565,16216,0.15,0.00,0.00,0.000,6,0.133,0.000,2959,2073,1365
$GC,16553,0.72,418.3,103.4,13.3,1626,16559,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2073,1365
$GC,16896,0.72,418.3,62.0,12.5,1687,16901,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2073,1365
$GC,17239,0.72,418.3,19.1,12.1,1748,17245,0.00,2.88,0.00,0.000,4,0.000,0.064,2958,641,1365
$GC,17269,0.72,418.3,15.5,10.6,1753,17275,0.00,2.70,0.00,0.000,6,0.000,0.040,2960,2065,1365
$STATE,17392,end climb,SURFACE_DEPTH_REACHED
$STATE,17392,begin surface coast
$FINISH,0.2,1.027122
$STATE,17412,end surface coast,CONTROL_FINISHED_OK
$STATE,17412,begin surface
$SM_CCo,17488,0.00,0.000,0,0,1364,418.73
$SM_GC,0.85,7.20,0.00,0.00,0.040,0.000,0.000,1466,2299,1364,-6.09,0.11,418.73
$IRIDIUM_FIX,6046.07,-2627.93,090897,000002
$TT8_MAMPS,0.021476
$HUMID,1720
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,16.70
$XPDR_PINGS,18
$24V_AH,19.2,66.729
$10V_AH,9.9,46.649
$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,21.150,180.950,641.950,0.000,0.000,22.805,32.064,230.298,4.500,0.000,0.000,14.501,2837.719,10563.432,753.957,3162.748,559.434,0.000,2279.472,0.000,3134.261,0.000,0.466
$DEVICE_MAMPS,246.974,72.098,1432.756,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1333.189,1248.512,643.102,916.316,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126417,1778
$CAP_FILE_SIZE,169622,0
$CFSIZE,260165632,237334528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,150508,100225,6116.163,-2623.129,24,1.1,41,-18.5