version: 66.03
glider: 143
mission: 4
dive: 238
start: 5 22 108 10 43 4
data:
$ID,143
$MISSION,4
$DIVE,238
$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,145
$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,-9788.1709
$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,18
$R_STBD_OVSHOOT,28
$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
$GPS1,103508,6136.763,-2613.174,37,1.7,37,-18.6
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-49.6
$GPS2,104245,6136.809,-2613.396,10,1.8,10,-18.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6127.963,-2610.437
$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,163.6,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.82,-194.7,0.0,0.0,0,130,0.00,0.00,-99.38,0.000,2,0.000,0.000,1470,2323,3501
$GC,133,-0.82,-194.7,3.4,-5.4,18,156,9.77,0.00,-8.48,0.000,6,0.244,0.000,2614,2323,3867
$GC,295,-0.71,-194.7,34.3,-15.9,46,302,0.15,2.88,0.00,0.000,4,0.146,0.054,2639,876,3867
$GC,320,-0.64,-194.7,38.7,-15.6,50,328,0.12,2.80,0.00,0.000,6,0.149,0.048,2655,2298,3867
$GC,463,-0.64,-194.7,56.9,-11.9,75,470,0.00,2.80,0.00,0.000,4,0.000,0.053,2655,881,3867
$GC,494,-0.64,-194.7,60.5,-12.4,80,500,0.00,2.80,0.00,0.000,6,0.000,0.045,2656,2321,3867
$GC,837,-0.64,-194.7,100.7,-11.6,141,843,0.00,2.85,0.00,0.000,4,0.000,0.053,2656,875,3867
$GC,872,-0.64,-194.7,104.5,-11.0,147,878,0.00,2.80,0.00,0.000,6,0.000,0.045,2656,2314,3867
$GC,1215,-0.64,-194.7,143.9,-12.4,208,1222,0.00,2.83,0.00,0.000,4,0.000,0.054,2656,883,3867
$GC,1264,-0.68,-194.7,149.6,-12.3,216,1270,0.00,2.75,0.00,0.000,6,0.000,0.046,2656,2303,3867
$GC,1609,-0.68,-194.7,187.4,-10.5,277,1615,0.00,2.80,0.00,0.000,4,0.000,0.054,2656,882,3867
$GC,1637,-0.68,-194.7,190.6,-10.9,282,1644,0.00,2.72,0.00,0.000,6,0.000,0.045,2656,2291,3867
$GC,1982,-0.68,-194.7,227.6,-11.0,343,1988,0.00,2.78,0.00,0.000,4,0.000,0.054,2656,884,3867
$GC,2011,-0.68,-194.7,231.1,-12.0,348,2017,0.00,2.67,0.00,0.000,6,0.000,0.044,2657,2275,3867
$GC,2355,-0.68,-194.7,273.4,-12.9,409,2361,0.00,2.75,0.00,0.000,4,0.000,0.054,2656,878,3867
$GC,2384,-0.68,-194.7,277.3,-13.6,414,2390,0.00,2.67,0.00,0.000,6,0.000,0.045,2657,2263,3867
$GC,2728,-0.68,-194.7,319.8,-12.2,475,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2263,3867
$GC,3066,-0.68,-194.7,361.2,-12.4,528,3070,0.00,2.72,0.00,0.000,4,0.000,0.054,2656,876,3867
$GC,3105,-0.73,-194.7,366.1,-12.6,531,3110,0.00,2.65,0.00,0.000,6,0.000,0.044,2656,2252,3867
$GC,3433,-0.73,-194.7,405.2,-11.7,561,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2252,3867
$GC,3758,-0.73,-194.7,444.9,-11.9,592,3762,0.00,2.70,0.00,0.000,4,0.000,0.055,2657,884,3867
$GC,3785,-0.73,-194.7,448.2,-12.2,594,3789,0.00,2.62,0.00,0.000,6,0.000,0.043,2656,2247,3867
$GC,4111,-0.73,-194.7,484.1,-10.4,624,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2247,3867
$GC,4428,-0.73,-194.7,521.2,-11.3,654,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2247,3867
$GC,4747,-0.73,-194.7,557.2,-11.3,684,4751,0.00,2.72,0.00,0.000,4,0.000,0.058,2657,877,3867
$GC,4774,-0.73,-194.7,560.4,-11.7,686,4778,0.00,2.65,0.00,0.000,6,0.000,0.044,2655,2248,3867
$GC,5099,-0.73,-194.7,597.3,-11.1,716,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2249,3867
$GC,5419,-0.73,-194.7,633.1,-11.5,733,5424,0.00,2.75,0.00,0.000,4,0.000,0.062,2656,877,3867
$GC,5446,-0.73,-194.7,636.4,-11.9,734,5450,0.00,2.65,0.00,0.000,6,0.000,0.047,2655,2240,3867
$GC,5767,-0.73,-194.7,672.7,-11.3,750,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2240,3867
$GC,6077,-0.73,-194.7,707.5,-11.2,765,6082,0.00,2.78,0.00,0.000,4,0.000,0.069,2656,884,3867
$GC,6110,-0.78,-194.7,711.3,-10.9,766,6117,0.15,2.62,0.00,0.000,6,0.061,0.050,2624,2228,3867
$GC,6426,-0.71,-194.7,753.9,-13.7,782,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2230,3866
$GC,6736,-0.66,-194.7,793.8,-12.5,797,6738,0.20,0.00,0.00,0.000,6,0.135,0.000,2654,2231,3866
$GC,7044,-0.66,-194.7,824.0,-9.1,812,7049,0.00,2.75,0.00,0.000,4,0.000,0.068,2654,883,3866
$GC,7072,-0.70,-194.7,826.7,-10.1,813,7076,0.00,2.62,0.00,0.000,6,0.000,0.050,2653,2221,3866
$GC,7388,-0.70,-194.7,855.4,-9.2,828,7392,0.00,3.05,0.00,0.000,4,0.000,0.069,2653,3705,3866
$GC,7404,-0.70,-194.7,857.0,-9.1,829,7409,0.00,2.95,0.00,0.000,6,0.000,0.052,2653,2221,3866
$GC,7730,-0.70,-194.7,888.7,-10.3,845,7732,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2221,3865
$GC,8040,-0.70,-194.7,920.0,-10.0,860,8041,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2221,3865
$GC,8349,-0.70,-194.7,949.9,-9.6,875,8350,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2221,3864
$GC,8658,-0.70,-194.7,979.9,-9.9,890,8659,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2221,3864
$STATE,8759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8760,begin apogee
$GC,8765,-0.19,0.0,990.1,9.9,895,8971,0.60,0.00,202.65,1.424,6,0.122,0.000,2754,2036,3071
$STATE,8972,end apogee,CONTROL_FINISHED_OK
$STATE,8972,begin climb
$GC,8974,0.82,194.7,997.8,0.0,905,9193,1.27,3.15,208.35,1.351,4,0.088,0.069,2973,653,2277
$GC,9294,0.70,194.7,969.0,12.0,919,9299,0.00,2.90,0.00,0.000,6,0.000,0.047,2973,2049,2273
$GC,9610,0.57,194.7,931.4,11.7,934,9615,0.28,2.92,0.00,0.000,4,0.137,0.064,2928,3471,2271
$GC,9695,0.53,194.7,922.4,10.1,938,9700,0.00,2.83,0.00,0.000,6,0.000,0.053,2927,2069,2271
$GC,10021,0.55,213.9,892.7,9.3,954,10046,0.00,2.90,19.45,1.374,4,0.000,0.063,2928,3470,2199
$GC,10099,0.55,213.9,885.0,11.0,957,10103,0.00,2.78,0.00,0.000,6,0.000,0.052,2928,2094,2198
$GC,10414,0.59,247.0,855.7,8.9,972,10455,0.00,2.85,35.47,1.345,4,0.000,0.061,2928,3461,2062
$GC,10479,0.63,274.9,849.9,9.0,975,10513,0.00,2.78,28.92,1.274,6,0.000,0.052,2928,2100,1950
$GC,10831,0.66,306.0,820.1,8.9,992,10873,0.00,2.88,32.67,1.312,4,0.000,0.061,2928,3459,1822
$GC,10896,0.66,306.0,813.5,10.2,995,10901,0.00,2.75,0.00,0.000,6,0.000,0.052,2928,2113,1820
$GC,11223,0.66,306.0,780.3,10.2,1011,11224,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2112,1818
$GC,11531,0.69,326.9,750.4,9.3,1026,11561,0.12,2.85,22.05,1.299,4,0.077,0.061,2952,3471,1737
$GC,11606,0.69,326.9,741.3,12.7,1029,11610,0.00,2.67,0.00,0.000,6,0.000,0.052,2953,2137,1735
$GC,11921,0.69,326.9,705.0,11.2,1044,11925,0.00,3.05,0.00,0.000,4,0.000,0.070,2952,631,1734
$GC,11947,0.69,326.9,702.0,11.3,1045,11951,0.00,2.92,0.00,0.000,6,0.000,0.046,2952,2140,1734
$GC,12269,0.69,326.9,667.3,11.0,1061,12274,0.00,2.65,0.00,0.000,4,0.000,0.058,2952,3469,1734
$GC,12296,0.69,326.9,664.1,11.4,1062,12301,0.00,2.67,0.00,0.000,6,0.000,0.049,2955,2115,1733
$GC,12617,0.69,326.9,626.9,12.6,1078,12618,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2114,1733
$GC,12929,0.69,326.9,591.5,11.0,1096,12933,0.00,2.70,0.00,0.000,4,0.000,0.056,2952,3468,1733
$GC,12961,0.69,326.9,587.7,11.1,1098,12968,0.00,2.62,0.00,0.000,6,0.000,0.048,2956,2145,1732
$GC,13287,0.69,326.9,552.2,11.3,1129,13292,0.00,3.03,0.00,0.000,4,0.000,0.065,2952,637,1732
$GC,13315,0.69,326.9,549.0,11.2,1131,13320,0.00,2.92,0.00,0.000,6,0.000,0.044,2952,2154,1732
$GC,13640,0.69,326.9,512.9,11.0,1161,13644,0.00,2.58,0.00,0.000,4,0.000,0.054,2952,3464,1732
$GC,13672,0.69,326.9,509.1,11.0,1163,13678,0.00,2.60,0.00,0.000,6,0.000,0.046,2955,2134,1731
$GC,13998,0.69,326.9,471.6,11.7,1194,14000,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2134,1732
$GC,14316,0.69,326.9,435.5,11.4,1224,14317,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2134,1732
$GC,14634,0.69,326.9,398.9,11.6,1254,14635,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2134,1731
$GC,14952,0.69,326.9,361.4,12.0,1284,14953,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2134,1731
$GC,15284,0.69,326.9,321.4,11.5,1335,15289,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2134,1731
$GC,15625,0.69,326.9,280.4,11.3,1396,15631,0.00,2.62,0.00,0.000,4,0.000,0.051,2952,3469,1731
$GC,15654,0.69,326.9,276.8,12.4,1401,15660,0.00,2.58,0.00,0.000,6,0.000,0.044,2952,2146,1732
$GC,15998,0.69,326.9,238.0,10.6,1462,16005,0.00,3.03,0.00,0.000,4,0.000,0.064,2952,633,1731
$GC,16033,0.69,326.9,234.1,11.4,1468,16040,0.00,2.92,0.00,0.000,6,0.000,0.041,2952,2164,1731
$GC,16376,0.69,326.9,196.2,10.8,1529,16382,0.00,2.55,0.00,0.000,4,0.000,0.053,2952,3465,1732
$GC,16405,0.69,326.9,192.8,12.1,1534,16412,0.00,2.55,0.00,0.000,6,0.000,0.044,2953,2149,1732
$GC,16750,0.69,326.9,154.7,11.0,1595,16756,0.00,3.03,0.00,0.000,4,0.000,0.064,2953,635,1732
$GC,16779,0.69,326.9,151.3,11.6,1600,16786,0.00,2.90,0.00,0.000,6,0.000,0.041,2952,2157,1732
$GC,17124,0.69,326.9,115.2,10.2,1661,17130,0.00,2.58,0.00,0.000,4,0.000,0.053,2953,3469,1732
$GC,17154,0.69,326.9,112.1,11.0,1666,17161,0.00,2.58,0.00,0.000,6,0.000,0.044,2954,2140,1731
$GC,17499,0.72,354.8,78.5,9.0,1727,17533,0.00,3.05,27.95,0.872,4,0.000,0.065,2953,632,1623
$GC,17562,0.82,388.1,72.7,8.9,1738,17602,0.12,2.92,33.22,0.796,6,0.064,0.041,2980,2152,1488
$GC,17942,0.77,388.1,24.9,11.7,1805,17949,0.00,3.08,0.00,0.000,4,0.000,0.064,2980,636,1481
$GC,17973,0.77,388.1,20.7,12.8,1810,17979,0.00,2.90,0.00,0.000,6,0.000,0.040,2980,2147,1481
$STATE,18113,end climb,SURFACE_DEPTH_REACHED
$STATE,18113,begin surface coast
$FINISH,0.4,1.027274
$STATE,18125,end surface coast,CONTROL_FINISHED_OK
$STATE,18125,begin surface
$SM_CCo,18202,0.00,0.000,0,0,1479,390.27
$SM_GC,0.94,7.28,0.00,0.00,0.036,0.000,0.000,1465,2313,1479,-6.09,0.51,390.27
$IRIDIUM_FIX,6108.28,-2609.69,160897,050556
$TT8_MAMPS,0.022243
$HUMID,1738
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,16.50
$XPDR_PINGS,25
$24V_AH,19.1,75.884
$10V_AH,9.8,51.654
$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,20.075,179.075,610.750,0.000,0.000,30.099,38.450,264.153,6.250,0.000,0.000,11.935,2920.749,10982.525,738.998,3341.697,657.598,0.000,2278.699,0.000,3337.350,0.000,0.466
$DEVICE_MAMPS,243.906,69.797,1423.552,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1392.603,1286.564,678.074,1610.433,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136051,1837
$CAP_FILE_SIZE,171741,0
$CFSIZE,260165632,234147840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220508,154737,6134.798,-2614.057,35,1.1,35,-18.6