version: 66.03
glider: 143
mission: 4
dive: 220
start: 5 18 108 16 21 53
data:
$ID,143
$MISSION,4
$DIVE,220
$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,120
$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,-9427.7861
$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,30
$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
$GPS1,161108,6119.645,-2553.887,34,1.3,34,-18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-53.3
$GPS2,162133,6119.570,-2553.830,12,1.2,12,-18.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6114.171,-2549.329
$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,138.3,20000,-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,24,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,116,0.00,0.00,-87.60,0.000,2,0.000,0.000,1467,2322,3442
$GC,119,-0.82,-194.7,3.3,-5.4,16,150,10.32,2.90,-9.77,0.000,4,0.258,0.062,2602,888,3867
$GC,169,-0.64,-194.7,15.0,-20.5,24,176,0.35,2.75,0.00,0.000,6,0.147,0.052,2655,2281,3867
$GC,312,-0.64,-194.7,34.3,-12.5,49,318,0.00,2.85,0.00,0.000,4,0.000,0.058,2655,3711,3868
$GC,332,-0.64,-194.7,36.7,-12.8,52,339,0.00,2.72,0.00,0.000,6,0.000,0.039,2654,2291,3868
$GC,474,-0.64,-194.7,54.5,-13.0,77,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2288,3868
$GC,816,-0.64,-194.7,97.3,-12.9,138,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2288,3868
$GC,1160,-0.64,-194.7,138.3,-12.1,199,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2288,3868
$GC,1503,-0.64,-194.7,178.7,-12.0,260,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2288,3868
$GC,1846,-0.64,-194.7,219.6,-11.9,321,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2288,3868
$GC,2188,-0.64,-194.7,261.7,-12.6,382,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2288,3868
$GC,2532,-0.64,-194.7,302.8,-11.8,443,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2288,3868
$GC,2875,-0.64,-194.7,342.4,-10.9,504,2881,0.00,2.75,0.00,0.000,4,0.000,0.054,2655,880,3868
$GC,2898,-0.64,-194.7,345.1,-11.4,508,2905,0.00,2.72,0.00,0.000,6,0.000,0.044,2655,2299,3869
$GC,3231,-0.64,-194.7,382.5,-11.3,543,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2299,3868
$GC,3550,-0.64,-194.7,418.8,-11.0,573,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2300,3869
$GC,3868,-0.64,-194.7,453.0,-10.5,603,3873,0.00,2.78,0.00,0.000,4,0.000,0.055,2655,884,3868
$GC,3896,-0.64,-194.7,456.0,-10.9,605,3901,0.00,2.70,0.00,0.000,6,0.000,0.043,2655,2292,3868
$GC,4222,-0.64,-194.7,490.7,-10.9,635,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2292,3868
$GC,4540,-0.64,-194.7,525.9,-11.2,665,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2292,3868
$GC,4858,-0.64,-194.7,561.6,-11.4,695,4862,0.00,2.78,0.00,0.000,4,0.000,0.056,2655,890,3868
$GC,4901,-0.70,-194.7,566.6,-11.4,698,4908,0.00,2.70,0.00,0.000,6,0.000,0.044,2655,2288,3868
$GC,5227,-0.70,-194.7,602.7,-11.3,728,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2288,3868
$GC,5535,-0.70,-194.7,637.0,-11.0,743,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2288,3868
$GC,5844,-0.70,-194.7,670.7,-10.9,758,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2289,3868
$GC,6153,-0.70,-194.7,703.0,-10.0,773,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2290,3867
$GC,6462,-0.70,-194.7,734.2,-10.2,788,6467,0.00,2.85,0.00,0.000,4,0.000,0.068,2655,892,3867
$GC,6507,-0.77,-194.7,738.8,-10.4,790,6511,0.00,2.72,0.00,0.000,6,0.000,0.050,2655,2284,3867
$GC,6827,-0.77,-194.7,773.2,-11.1,806,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2285,3867
$GC,7137,-0.77,-194.7,805.5,-9.7,821,7138,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2286,3867
$GC,7446,-0.77,-194.7,836.8,-10.3,836,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2287,3866
$GC,7755,-0.77,-194.7,868.4,-9.8,851,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2288,3866
$GC,8064,-0.77,-194.7,899.0,-10.0,866,8068,0.00,2.85,0.00,0.000,4,0.000,0.068,2657,893,3866
$GC,8096,-0.83,-194.7,902.3,-10.7,867,8103,0.20,2.72,0.00,0.000,6,0.054,0.050,2613,2282,3865
$GC,8411,-0.76,-194.7,947.1,-14.5,883,8413,0.12,0.00,0.00,0.000,6,0.143,0.000,2630,2283,3865
$GC,8720,-0.76,-194.7,985.7,-12.5,898,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2284,3865
$STATE,8759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8759,begin apogee
$GC,8765,-0.19,0.0,990.8,12.3,900,8971,0.75,0.00,201.98,1.414,6,0.127,0.000,2754,2048,3071
$STATE,8971,end apogee,CONTROL_FINISHED_OK
$STATE,8971,begin climb
$GC,8973,0.82,194.7,999.9,0.0,910,9192,1.27,3.20,207.62,1.348,4,0.088,0.071,2974,649,2277
$GC,9304,0.70,194.7,973.5,12.5,925,9310,0.00,2.90,0.00,0.000,6,0.000,0.048,2973,2052,2273
$GC,9619,0.57,194.7,936.1,12.2,941,9624,0.28,2.90,0.00,0.000,4,0.134,0.063,2929,3465,2272
$GC,9686,0.59,211.9,929.2,9.4,944,9711,0.00,2.80,18.35,1.358,6,0.000,0.052,2929,2071,2206
$GC,10033,0.62,237.7,897.2,9.1,961,10067,0.00,2.92,27.42,1.344,4,0.000,0.061,2928,3456,2100
$GC,10091,0.66,272.5,891.9,8.8,963,10132,0.00,2.80,36.00,1.289,6,0.000,0.051,2929,2080,1960
$GC,10443,0.66,272.5,859.3,10.2,980,10444,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2079,1955
$GC,10752,0.67,273.8,828.4,10.0,995,10756,0.00,2.80,0.00,0.000,4,0.000,0.060,2928,3464,1954
$GC,10791,0.67,273.8,824.1,11.5,997,10795,0.00,2.75,0.00,0.000,6,0.000,0.052,2929,2086,1952
$GC,11117,0.67,273.8,789.9,11.0,1013,11118,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2085,1952
$GC,11426,0.67,276.4,758.2,9.9,1028,11427,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2084,1952
$GC,11736,0.69,293.4,727.7,9.4,1043,11765,0.00,2.88,22.00,1.305,4,0.000,0.059,2928,3466,1873
$GC,11794,0.78,326.3,722.2,8.9,1045,11834,0.20,2.75,34.42,1.213,6,0.069,0.050,2968,2093,1739
$GC,12154,0.69,326.3,670.5,14.6,1063,12158,0.00,2.95,0.00,0.000,4,0.000,0.068,2967,641,1735
$GC,12188,0.63,326.3,665.0,14.3,1064,12195,0.17,2.85,0.00,0.000,6,0.125,0.045,2941,2102,1734
$GC,12503,0.63,326.3,629.6,10.9,1080,12507,0.00,2.72,0.00,0.000,4,0.000,0.057,2941,3474,1734
$GC,12535,0.63,326.3,625.8,11.0,1081,12541,0.00,2.72,0.00,0.000,6,0.000,0.048,2941,2092,1733
$GC,12852,0.63,326.3,591.6,10.5,1100,12857,0.00,2.92,0.00,0.000,4,0.000,0.067,2941,635,1733
$GC,12879,0.63,326.3,588.6,11.0,1102,12884,0.00,2.85,0.00,0.000,6,0.000,0.043,2941,2115,1733
$GC,13203,0.63,326.3,554.3,10.7,1132,13207,0.00,2.65,0.00,0.000,4,0.000,0.054,2941,3465,1733
$GC,13235,0.63,326.3,550.7,11.1,1134,13242,0.00,2.70,0.00,0.000,6,0.000,0.046,2941,2102,1732
$GC,13562,0.63,326.3,515.9,10.6,1165,13567,0.00,2.92,0.00,0.000,4,0.000,0.064,2941,638,1732
$GC,13601,0.67,326.3,511.3,10.8,1168,13605,0.00,2.83,0.00,0.000,6,0.000,0.042,2941,2111,1732
$GC,13925,0.67,326.3,475.8,10.6,1198,13929,0.00,2.67,0.00,0.000,4,0.000,0.052,2940,3475,1732
$GC,13957,0.67,326.3,472.1,11.1,1200,13964,0.00,2.72,0.00,0.000,6,0.000,0.045,2944,2091,1732
$GC,14284,0.67,326.3,437.1,10.8,1231,14288,0.00,2.90,0.00,0.000,4,0.000,0.062,2940,635,1732
$GC,14312,0.67,326.3,433.9,11.5,1233,14317,0.00,2.80,0.00,0.000,6,0.000,0.041,2941,2102,1732
$GC,14636,0.67,326.3,399.0,10.6,1263,14641,0.00,2.67,0.00,0.000,4,0.000,0.052,2941,3466,1732
$GC,14669,0.67,326.3,395.2,10.6,1265,14675,0.00,2.67,0.00,0.000,6,0.000,0.044,2956,2088,1732
$GC,14995,0.67,326.3,361.2,10.3,1296,15000,0.00,2.88,0.00,0.000,4,0.000,0.062,2941,644,1731
$GC,15022,0.67,326.3,358.1,11.2,1298,15027,0.00,2.80,0.00,0.000,6,0.000,0.041,2941,2109,1732
$GC,15360,0.70,352.1,326.0,9.1,1350,15394,0.00,2.72,25.75,1.039,4,0.000,0.053,2941,3464,1635
$GC,15412,0.79,387.7,321.3,8.8,1359,15457,0.15,2.70,36.40,0.946,6,0.064,0.044,2973,2091,1490
$GC,15794,0.72,387.7,268.5,14.6,1427,15800,0.00,2.90,0.00,0.000,4,0.000,0.062,2973,644,1483
$GC,15829,0.72,387.7,263.7,14.0,1433,15835,0.00,2.80,0.00,0.000,6,0.000,0.041,2973,2097,1483
$GC,16172,0.66,387.7,213.8,14.4,1494,16179,0.15,2.70,0.00,0.000,4,0.132,0.052,2947,3468,1483
$GC,16196,0.66,387.7,210.5,13.3,1498,16203,0.00,2.67,0.00,0.000,6,0.000,0.044,2949,2093,1482
$GC,16540,0.66,387.7,176.1,10.2,1559,16546,0.00,2.90,0.00,0.000,4,0.000,0.063,2947,638,1482
$GC,16576,0.74,402.4,172.5,9.5,1565,16599,0.00,2.78,15.05,0.953,6,0.000,0.041,2947,2090,1430
$GC,16938,0.82,424.9,138.2,9.2,1629,16967,0.15,2.78,23.33,0.868,4,0.067,0.052,2983,3459,1337
$GC,16992,0.82,424.9,131.2,14.9,1638,16998,0.00,2.70,0.00,0.000,6,0.000,0.045,2984,2088,1336
$GC,17337,0.73,424.9,72.3,18.9,1699,17344,0.15,2.90,0.00,0.000,4,0.137,0.064,2958,643,1334
$GC,17378,0.77,424.9,66.0,13.0,1706,17384,0.00,2.78,0.00,0.000,6,0.000,0.041,2958,2095,1333
$GC,17722,0.77,424.9,25.3,11.0,1767,17728,0.00,2.67,0.00,0.000,4,0.000,0.053,2957,3459,1333
$GC,17759,0.84,424.9,21.5,10.5,1773,17766,0.12,2.65,0.00,0.000,6,0.073,0.043,2985,2086,1332
$STATE,17883,end climb,SURFACE_DEPTH_REACHED
$STATE,17883,begin surface coast
$FINISH,0.2,1.017886
$STATE,17897,end surface coast,CONTROL_FINISHED_OK
$STATE,17897,begin surface
$SM_CCo,17974,0.00,0.000,0,0,1331,426.82
$SM_GC,0.96,7.25,0.00,0.00,0.035,0.000,0.000,1466,2315,1331,-6.08,0.57,426.82
$IRIDIUM_FIX,6059.36,-2555.77,120897,161646
$TT8_MAMPS,0.021476
$HUMID,1724
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,16.80
$XPDR_PINGS,23
$24V_AH,19.2,71.072
$10V_AH,9.9,48.914
$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,21.650,157.300,648.325,0.000,0.000,56.945,73.443,308.201,5.750,0.000,0.000,13.482,2841.405,10970.530,747.546,3284.216,742.291,0.000,2263.515,0.000,3267.762,0.000,0.467
$DEVICE_MAMPS,257.712,71.331,1414.348,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1348.139,1262.008,630.032,1586.854,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132818,1797
$CAP_FILE_SIZE,170148,0
$CFSIZE,260165632,235827200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,180508,212238,6116.274,-2547.377,35,1.0,35,-18.2