version: 66.03
glider: 143
mission: 4
dive: 222
start: 5 19 108 2 16 10
data:
$ID,143
$MISSION,4
$DIVE,222
$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,-9474.166
$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
$GPS1,020828,6112.254,-2541.737,28,2.5,47,-18.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-40.3
$GPS2,021553,6112.151,-2541.747,11,2.8,30,-18.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6106.751,-2537.229
$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,138.1,20000,-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,-194.7,0.0,0.0,0,145,0.00,0.00,-115.30,0.000,2,0.000,0.000,1466,2311,3414
$GC,148,-0.82,-194.7,3.1,-4.6,21,178,9.95,2.90,-10.75,0.000,4,0.251,0.067,2615,889,3867
$GC,240,-0.75,-194.7,22.4,-15.9,37,247,0.00,2.75,0.00,0.000,6,0.000,0.052,2615,2278,3867
$GC,384,-0.63,-194.7,48.3,-18.5,62,390,0.25,0.00,0.00,0.000,6,0.149,0.000,2655,2278,3867
$GC,525,-0.63,-194.7,67.3,-12.0,87,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2278,3867
$GC,867,-0.63,-194.7,108.4,-12.8,148,874,0.00,2.72,0.00,0.000,4,0.000,0.053,2654,883,3868
$GC,892,-0.63,-194.7,111.4,-12.5,152,899,0.00,2.72,0.00,0.000,6,0.000,0.044,2655,2298,3868
$GC,1236,-0.63,-194.7,152.4,-12.4,213,1242,0.00,2.72,0.00,0.000,4,0.000,0.054,2654,885,3868
$GC,1265,-0.63,-194.7,155.9,-12.0,218,1272,0.00,2.70,0.00,0.000,6,0.000,0.045,2655,2286,3868
$GC,1609,-0.63,-194.7,196.2,-11.7,279,1615,0.00,2.78,0.00,0.000,4,0.000,0.054,2654,877,3868
$GC,1626,-0.63,-194.7,198.3,-12.0,282,1633,0.00,2.70,0.00,0.000,6,0.000,0.046,2655,2273,3868
$GC,1970,-0.63,-194.7,239.1,-12.3,343,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2274,3868
$GC,2312,-0.63,-194.7,281.3,-12.5,404,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2273,3868
$GC,2657,-0.63,-194.7,323.9,-12.5,465,2663,0.00,2.75,0.00,0.000,4,0.000,0.055,2654,878,3868
$GC,2681,-0.63,-194.7,327.0,-12.2,469,2687,0.00,2.70,0.00,0.000,6,0.000,0.044,2654,2276,3868
$GC,3022,-0.63,-194.7,368.7,-12.6,517,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2277,3868
$GC,3341,-0.63,-194.7,409.6,-13.0,547,3345,0.00,2.75,0.00,0.000,4,0.000,0.055,2654,882,3868
$GC,3368,-0.63,-194.7,413.2,-13.3,549,3373,0.00,2.65,0.00,0.000,6,0.000,0.043,2654,2261,3868
$GC,3694,-0.63,-194.7,453.3,-12.2,579,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2261,3868
$GC,4012,-0.63,-194.7,492.2,-11.8,609,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2261,3868
$GC,4330,-0.63,-194.7,530.2,-11.9,639,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2261,3868
$GC,4649,-0.63,-194.7,567.8,-11.9,669,4653,0.00,2.72,0.00,0.000,4,0.000,0.058,2654,883,3868
$GC,4677,-0.63,-194.7,571.2,-12.7,671,4681,0.00,2.65,0.00,0.000,6,0.000,0.044,2654,2256,3867
$GC,5010,-0.63,-194.7,610.2,-12.0,698,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2256,3867
$GC,5319,-0.63,-194.7,646.5,-11.3,713,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2256,3867
$GC,5627,-0.63,-194.7,680.3,-10.6,728,5632,0.00,2.95,0.00,0.000,4,0.000,0.066,2653,3707,3867
$GC,5659,-0.63,-194.7,683.8,-11.3,729,5666,0.00,2.88,0.00,0.000,6,0.000,0.050,2653,2249,3866
$GC,5975,-0.63,-194.7,716.6,-10.4,745,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2249,3867
$GC,6284,-0.63,-194.7,748.3,-10.8,760,6289,0.00,2.75,0.00,0.000,4,0.000,0.068,2654,886,3867
$GC,6317,-0.68,-194.7,752.0,-11.1,761,6324,0.00,2.67,0.00,0.000,6,0.000,0.050,2654,2255,3866
$GC,6633,-0.68,-194.7,789.7,-12.3,777,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2255,3866
$GC,6942,-0.68,-194.7,825.4,-11.5,792,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2256,3866
$GC,7251,-0.68,-194.7,860.6,-11.1,807,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2257,3866
$GC,7560,-0.68,-194.7,894.7,-10.6,822,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2259,3865
$GC,7870,-0.68,-194.7,928.2,-10.8,837,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2259,3865
$GC,8179,-0.68,-194.7,961.1,-10.9,852,8183,0.00,2.80,0.00,0.000,4,0.000,0.067,2654,880,3865
$GC,8205,-0.73,-194.7,964.1,-11.5,853,8210,0.00,2.70,0.00,0.000,6,0.000,0.051,2653,2253,3865
$STATE,8456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8456,begin apogee
$GC,8462,-0.19,0.0,991.7,10.8,865,8667,0.60,0.00,201.52,1.414,6,0.122,0.000,2754,2041,3071
$STATE,8668,end apogee,CONTROL_FINISHED_OK
$STATE,8668,begin climb
$GC,8670,0.82,194.7,1000.9,0.0,875,8888,1.25,3.17,207.57,1.346,4,0.087,0.069,2970,650,2277
$GC,8985,0.70,194.7,974.9,13.3,890,8989,0.00,2.92,0.00,0.000,6,0.000,0.048,2971,2058,2273
$GC,9311,0.56,194.7,934.9,12.2,906,9316,0.28,2.90,0.00,0.000,4,0.139,0.064,2927,3467,2271
$GC,9373,0.57,204.3,928.7,9.7,909,9389,0.00,2.83,10.43,1.267,6,0.000,0.053,2927,2061,2238
$GC,9698,0.60,228.9,899.5,9.2,924,9730,0.00,2.90,26.12,1.348,4,0.000,0.061,2927,3461,2137
$GC,9768,0.60,228.9,892.5,10.5,927,9773,0.00,2.80,0.00,0.000,6,0.000,0.051,2927,2080,2136
$GC,10085,0.60,228.9,860.8,10.1,942,10090,0.00,2.83,0.00,0.000,4,0.000,0.061,2927,3469,2134
$GC,10117,0.60,228.9,857.2,10.3,943,10124,0.00,2.75,0.00,0.000,6,0.000,0.051,2928,2095,2133
$GC,10434,0.64,257.8,828.3,9.0,959,10470,0.00,2.85,30.23,1.329,4,0.000,0.061,2927,3471,2018
$GC,10515,0.65,267.7,820.5,9.7,962,10536,0.00,2.72,11.07,1.195,6,0.000,0.051,2928,2118,1979
$GC,10845,0.69,301.4,790.4,8.8,978,10887,0.12,2.80,35.33,1.295,4,0.079,0.060,2950,3471,1842
$GC,10898,0.54,301.4,784.6,10.9,980,10903,0.20,2.72,0.00,0.000,6,0.129,0.051,2921,2136,1841
$GC,11214,0.64,348.6,758.2,8.4,995,11269,0.00,2.83,49.08,1.268,4,0.000,0.060,2920,3461,1648
$GC,11355,0.75,374.3,746.1,9.1,1001,11388,0.22,2.65,26.80,1.243,6,0.061,0.049,2966,2136,1545
$GC,11697,0.69,374.3,699.5,13.9,1018,11701,0.00,2.70,0.00,0.000,4,0.000,0.058,2965,3469,1539
$GC,11803,0.69,374.3,685.3,12.5,1023,11808,0.00,2.67,0.00,0.000,6,0.000,0.051,2966,2129,1539
$GC,12130,0.63,374.3,640.9,13.9,1039,12132,0.17,0.00,0.00,0.000,6,0.129,0.000,2939,2128,1538
$GC,12439,0.63,375.8,608.6,9.9,1054,12444,0.00,3.00,0.00,0.000,4,0.000,0.067,2938,637,1538
$GC,12472,0.70,375.8,605.1,10.1,1055,12478,0.00,2.95,0.00,0.000,6,0.000,0.044,2940,2160,1536
$GC,12797,0.71,385.1,573.5,9.7,1083,12815,0.00,2.60,11.40,1.143,4,0.000,0.055,2938,3467,1501
$GC,12821,0.44,385.1,570.7,10.3,1085,12828,0.25,2.62,0.00,0.000,6,0.114,0.045,2897,2131,1500
$GC,13146,0.76,385.1,540.1,10.7,1116,13151,0.32,2.97,0.00,0.000,4,0.078,0.061,2961,638,1498
$GC,13314,0.98,402.7,523.4,9.4,1130,13343,0.25,2.90,20.05,1.156,6,0.046,0.042,3021,2151,1428
$GC,13660,0.77,402.7,445.3,23.9,1163,13665,0.30,2.62,0.00,0.000,4,0.151,0.054,2971,3472,1425
$GC,13693,0.68,402.7,438.5,17.6,1165,13700,0.12,2.62,0.00,0.000,6,0.134,0.046,2953,2133,1424
$GC,14017,0.68,402.7,402.4,11.3,1196,14022,0.00,2.97,0.00,0.000,4,0.000,0.063,2953,641,1424
$GC,14062,0.74,402.7,397.5,10.3,1199,14068,0.00,2.90,0.00,0.000,6,0.000,0.041,2953,2152,1424
$GC,14390,0.74,402.7,361.7,10.6,1230,14395,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2152,1424
$GC,14726,0.74,402.7,324.4,10.5,1281,14732,0.00,3.05,0.00,0.000,4,0.000,0.063,2953,637,1424
$GC,14767,0.81,402.7,319.9,10.7,1288,14774,0.12,2.85,0.00,0.000,6,0.064,0.041,2980,2134,1424
$GC,15113,0.72,402.7,262.9,16.3,1349,15119,0.15,2.62,0.00,0.000,4,0.138,0.052,2955,3471,1424
$GC,15142,0.72,402.7,258.2,14.7,1354,15148,0.00,2.62,0.00,0.000,6,0.000,0.045,2957,2116,1424
$GC,15486,0.72,402.7,217.3,11.7,1415,15492,0.00,2.95,0.00,0.000,4,0.000,0.064,2956,634,1423
$GC,15526,0.78,402.7,212.4,11.5,1422,15533,0.00,2.85,0.00,0.000,6,0.000,0.041,2956,2134,1424
$GC,15872,0.78,402.7,172.3,11.0,1483,15877,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2134,1423
$GC,16214,0.78,402.7,133.0,11.9,1544,16220,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2134,1424
$GC,16558,0.82,436.9,94.0,8.8,1605,16602,0.12,3.08,34.22,0.872,4,0.075,0.063,2981,645,1288
$GC,16630,0.82,436.9,84.6,12.9,1618,16637,0.00,2.85,0.00,0.000,6,0.000,0.041,2981,2118,1287
$GC,16975,0.77,436.9,30.1,16.8,1679,16982,0.00,2.65,0.00,0.000,4,0.000,0.053,2981,3471,1285
$GC,17005,0.77,436.9,25.4,14.9,1684,17012,0.17,2.67,0.00,0.000,6,0.113,0.044,2971,2093,1284
$GC,17150,0.82,436.9,8.9,10.1,1709,17156,0.00,2.90,0.00,0.000,4,0.000,0.066,2954,642,1284
$GC,17197,0.90,446.7,3.6,9.7,1717,17216,0.20,2.78,10.35,0.799,6,0.047,0.040,3001,2097,1249
$STATE,17220,end climb,SURFACE_DEPTH_REACHED
$STATE,17220,begin surface coast
$FINISH,0.5,1.027243
$STATE,17238,end surface coast,CONTROL_FINISHED_OK
$STATE,17239,begin surface
$SM_CCo,17315,0.00,0.000,0,0,1247,447.18
$SM_GC,0.87,7.60,0.00,0.00,0.050,0.000,0.000,1470,2311,1247,-6.08,0.45,447.18
$IRIDIUM_FIX,6054.92,-2543.79,120897,212120
$TT8_MAMPS,0.021476
$HUMID,1720
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,16.60
$XPDR_PINGS,26
$24V_AH,19.2,71.623
$10V_AH,9.8,49.207
$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,22.675,162.875,674.175,0.000,0.000,27.988,40.643,236.941,6.500,0.000,0.000,32.841,2741.250,10390.715,802.284,3217.189,591.708,0.000,2300.809,0.000,3183.690,0.000,0.467
$DEVICE_MAMPS,250.809,69.030,1414.348,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1306.350,1205.232,626.146,1514.682,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126491,1724
$CAP_FILE_SIZE,165987,0
$CFSIZE,260165632,235659264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190508,070607,6109.419,-2536.844,41,1.6,46,-18.0