version: 66.03
glider: 143
mission: 4
dive: 239
start: 5 22 108 16 6 15
data:
$ID,143
$MISSION,4
$DIVE,239
$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,-9804.4736
$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,15
$R_STBD_OVSHOOT,29
$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
$GPS1,154737,6134.798,-2614.057,35,1.1,35,-18.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-49.8
$GPS2,160556,6134.894,-2614.681,9,1.1,14,-18.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6126.047,-2611.719
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,117,0.00,0.00,-87.90,0.000,2,0.000,0.000,1465,2316,3351
$GC,120,-0.82,-194.7,3.1,-5.4,16,150,9.70,2.90,-12.65,0.000,4,0.242,0.066,2614,874,3868
$GC,157,-0.40,-194.7,11.4,-21.3,22,164,0.62,2.80,0.00,0.000,6,0.146,0.053,2710,2287,3868
$GC,303,-0.54,-194.7,26.3,-10.1,47,309,0.15,0.00,0.00,0.000,6,0.055,0.000,2671,2288,3868
$GC,446,-0.58,-194.7,40.3,-9.5,72,452,0.00,2.80,0.00,0.000,4,0.000,0.054,2671,871,3868
$GC,459,-0.63,-194.7,41.5,-9.1,74,466,0.00,2.75,0.00,0.000,6,0.000,0.043,2671,2295,3868
$GC,603,-0.67,-194.7,55.4,-9.6,99,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2296,3868
$GC,948,-0.72,-194.7,88.2,-9.0,160,955,0.15,2.80,0.00,0.000,4,0.060,0.053,2634,874,3869
$GC,986,-0.72,-194.7,92.2,-10.9,166,992,0.00,2.75,0.00,0.000,6,0.000,0.049,2634,2281,3869
$GC,1332,-0.67,-194.7,134.3,-12.0,227,1338,0.00,2.78,0.00,0.000,4,0.000,0.054,2634,876,3869
$GC,1361,-0.67,-194.7,138.2,-12.2,232,1367,0.00,2.72,0.00,0.000,6,0.000,0.049,2634,2270,3869
$GC,1705,-0.62,-194.7,183.6,-13.4,293,1711,0.15,0.00,0.00,0.000,6,0.141,0.000,2658,2270,3869
$GC,2048,-0.62,-194.7,220.6,-10.6,354,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2270,3869
$GC,2394,-0.62,-194.7,259.1,-11.4,415,2400,0.00,2.75,0.00,0.000,4,0.000,0.055,2659,879,3869
$GC,2423,-0.66,-194.7,262.8,-11.6,420,2430,0.00,2.67,0.00,0.000,6,0.000,0.045,2658,2266,3869
$GC,2767,-0.66,-194.7,301.8,-11.8,481,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2266,3869
$GC,3110,-0.66,-194.7,339.8,-10.6,542,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2266,3868
$GC,3444,-0.66,-194.7,375.8,-10.8,582,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2266,3869
$GC,3764,-0.66,-194.7,410.7,-10.7,612,3768,0.00,2.75,0.00,0.000,4,0.000,0.056,2659,878,3869
$GC,3784,-0.66,-194.7,413.1,-10.6,613,3791,0.00,2.67,0.00,0.000,6,0.000,0.043,2658,2267,3869
$GC,4111,-0.66,-194.7,445.7,-9.7,644,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2267,3868
$GC,4428,-0.66,-194.7,477.6,-10.2,674,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2268,3868
$GC,4746,-0.66,-194.7,510.8,-10.5,704,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2268,3868
$GC,5065,-0.66,-194.7,544.9,-10.0,734,5069,0.00,2.78,0.00,0.000,4,0.000,0.058,2659,873,3868
$GC,5097,-0.72,-194.7,548.3,-10.3,736,5104,0.00,2.67,0.00,0.000,6,0.000,0.044,2658,2257,3868
$GC,5424,-0.72,-194.7,579.8,-9.7,767,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2257,3868
$GC,5737,-0.72,-194.7,610.9,-9.4,792,5738,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2258,3867
$GC,6046,-0.72,-194.7,637.4,-8.1,807,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2258,3867
$GC,6356,-0.72,-194.7,663.2,-8.3,822,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2259,3867
$GC,6665,-0.72,-194.7,689.9,-8.7,837,6666,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2259,3867
$GC,6974,-0.72,-194.7,717.1,-9.1,852,6978,0.00,2.83,0.00,0.000,4,0.000,0.068,2659,877,3867
$GC,6996,-0.77,-194.7,719.2,-9.6,853,7001,0.15,2.72,0.00,0.000,6,0.056,0.050,2626,2262,3867
$GC,7317,-0.72,-194.7,760.8,-13.9,869,7322,0.00,2.85,0.00,0.000,4,0.000,0.070,2626,877,3866
$GC,7357,-0.72,-194.7,766.4,-13.6,871,7362,0.00,2.70,0.00,0.000,6,0.000,0.051,2626,2246,3866
$GC,7684,-0.67,-194.7,808.6,-12.8,887,7689,0.15,3.00,0.00,0.000,4,0.141,0.068,2650,3707,3866
$GC,7724,-0.72,-194.7,813.4,-11.6,889,7729,0.00,2.92,0.00,0.000,6,0.000,0.053,2650,2241,3865
$GC,8051,-0.72,-194.7,848.4,-10.6,905,8056,0.00,3.00,0.00,0.000,4,0.000,0.066,2650,3705,3865
$GC,8071,-0.72,-194.7,850.8,-10.7,906,8076,0.00,2.88,0.00,0.000,6,0.000,0.052,2650,2257,3865
$GC,8393,-0.72,-194.7,884.8,-10.8,922,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2257,3865
$GC,8704,-0.72,-194.7,917.4,-10.4,937,8709,0.00,2.78,0.00,0.000,4,0.000,0.068,2650,884,3865
$GC,8738,-0.77,-194.7,921.0,-10.5,938,8744,0.00,2.70,0.00,0.000,6,0.000,0.050,2650,2259,3864
$GC,9053,-0.77,-194.7,954.4,-10.4,954,9054,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2260,3864
$GC,9363,-0.77,-194.7,985.3,-9.7,969,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2260,3864
$STATE,9422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9422,begin apogee
$GC,9427,-0.19,0.0,991.1,9.4,972,9634,0.62,0.00,203.12,1.422,6,0.121,0.000,2755,2038,3071
$STATE,9635,end apogee,CONTROL_FINISHED_OK
$STATE,9635,begin climb
$GC,9637,0.82,194.7,997.0,0.0,982,9857,1.25,3.15,208.90,1.351,4,0.087,0.069,2971,651,2276
$GC,9947,0.72,194.7,968.6,12.9,996,9952,0.00,2.92,0.00,0.000,6,0.000,0.048,2971,2053,2273
$GC,10274,0.58,194.7,924.7,13.0,1012,10279,0.25,2.90,0.00,0.000,4,0.140,0.063,2931,3464,2270
$GC,10336,0.53,194.7,917.7,10.6,1015,10341,0.00,2.80,0.00,0.000,6,0.000,0.053,2931,2074,2270
$GC,10663,0.48,194.7,885.0,10.1,1031,10668,0.15,2.85,0.00,0.000,4,0.128,0.061,2905,3468,2270
$GC,10696,0.52,230.2,881.8,8.8,1032,10737,0.00,2.78,35.80,1.355,6,0.000,0.052,2906,2076,2132
$GC,11049,0.66,303.8,854.4,7.5,1049,11133,0.20,2.97,75.00,1.329,4,0.063,0.061,2946,3456,1831
$GC,11155,0.66,303.8,842.7,11.5,1054,11160,0.00,2.83,0.00,0.000,6,0.000,0.052,2946,2096,1828
$GC,11476,0.66,303.8,806.3,10.8,1070,11480,0.00,2.80,0.00,0.000,4,0.000,0.061,2946,3465,1825
$GC,11508,0.66,303.8,802.7,10.8,1071,11514,0.00,2.72,0.00,0.000,6,0.000,0.053,2946,2110,1823
$GC,11824,0.66,303.8,769.3,11.1,1087,11825,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2110,1823
$GC,12133,0.67,308.9,737.7,9.8,1102,12140,0.00,0.00,5.07,0.967,6,0.000,0.000,2946,2108,1811
$GC,12443,0.67,308.9,702.2,12.4,1117,12447,0.00,2.75,0.00,0.000,4,0.000,0.060,2946,3473,1810
$GC,12475,0.67,308.9,698.3,11.0,1118,12481,0.00,2.70,0.00,0.000,6,0.000,0.051,2947,2113,1809
$GC,12790,0.67,308.9,660.3,11.8,1134,12795,0.00,3.00,0.00,0.000,4,0.000,0.068,2946,632,1809
$GC,12829,0.67,308.9,655.6,11.9,1136,12834,0.00,2.92,0.00,0.000,6,0.000,0.046,2946,2138,1809
$GC,13155,0.67,308.9,620.7,10.5,1152,13159,0.00,2.65,0.00,0.000,4,0.000,0.058,2947,3474,1809
$GC,13193,0.67,308.9,616.3,11.2,1154,13198,0.00,2.65,0.00,0.000,6,0.000,0.048,2947,2128,1808
$GC,13515,0.67,308.9,582.1,10.9,1177,13520,0.00,3.00,0.00,0.000,4,0.000,0.067,2946,638,1808
$GC,13558,0.67,308.9,577.2,10.2,1180,13565,0.00,2.88,0.00,0.000,6,0.000,0.044,2946,2134,1808
$GC,13887,0.67,308.9,543.0,10.6,1211,13892,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2134,1809
$GC,14211,0.67,308.9,508.6,10.4,1242,14215,0.00,2.62,0.00,0.000,4,0.000,0.054,2946,3467,1808
$GC,14238,0.67,308.9,505.5,11.0,1244,14243,0.00,2.65,0.00,0.000,6,0.000,0.046,2947,2112,1808
$GC,14563,0.68,320.5,472.1,9.6,1274,14585,0.00,3.00,13.18,1.115,4,0.000,0.064,2946,638,1764
$GC,14612,0.72,349.6,467.3,9.0,1278,14651,0.00,2.90,31.00,1.084,6,0.000,0.042,2946,2141,1645
$GC,14969,0.72,349.6,433.8,10.1,1312,14973,0.00,2.62,0.00,0.000,4,0.000,0.053,2946,3467,1641
$GC,15000,0.72,349.6,430.4,10.8,1314,15007,0.00,2.67,0.00,0.000,6,0.000,0.045,2947,2104,1640
$GC,15328,0.74,369.5,399.1,9.3,1345,15354,0.00,2.97,20.33,1.088,4,0.000,0.064,2946,638,1564
$GC,15377,0.83,393.5,394.2,9.2,1349,15411,0.17,2.92,26.00,0.992,6,0.053,0.041,2989,2141,1466
$GC,15732,0.73,393.5,340.7,15.6,1387,15738,0.15,0.00,0.00,0.000,6,0.139,0.000,2965,2141,1460
$GC,16075,0.73,393.5,296.2,12.1,1448,16081,0.00,3.03,0.00,0.000,4,0.000,0.063,2964,638,1459
$GC,16121,0.78,393.5,290.7,11.0,1456,16128,0.00,2.85,0.00,0.000,6,0.000,0.041,2964,2128,1458
$GC,16465,0.78,393.5,248.3,12.7,1517,16470,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2127,1458
$GC,16807,0.78,393.5,203.5,11.2,1578,16814,0.00,3.00,0.00,0.000,4,0.000,0.064,2965,638,1458
$GC,16842,0.78,393.5,199.2,12.7,1584,16849,0.00,2.83,0.00,0.000,6,0.000,0.041,2964,2109,1458
$GC,17186,0.78,393.5,157.2,12.5,1645,17191,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2109,1458
$GC,17528,0.78,393.5,114.4,12.9,1706,17534,0.00,2.97,0.00,0.000,4,0.000,0.064,2965,631,1458
$GC,17559,0.78,393.5,110.9,13.0,1711,17565,0.00,2.80,0.00,0.000,6,0.000,0.041,2964,2093,1458
$GC,17903,0.78,393.5,69.9,11.4,1772,17909,0.00,2.70,0.00,0.000,4,0.000,0.054,2964,3465,1458
$GC,17932,0.78,393.5,66.2,12.0,1777,17939,0.00,2.72,0.00,0.000,6,0.000,0.045,2965,2070,1458
$GC,18276,0.78,393.5,27.2,11.5,1838,18283,0.00,2.85,0.00,0.000,4,0.000,0.065,2964,640,1458
$GC,18307,0.83,393.5,24.2,10.3,1843,18313,0.00,2.78,0.00,0.000,6,0.000,0.041,2964,2100,1458
$GC,18449,0.83,393.5,9.0,11.5,1868,18456,0.00,2.67,0.00,0.000,4,0.000,0.052,2964,3468,1457
$GC,18485,0.88,393.5,5.0,11.4,1874,18492,0.12,2.70,0.00,0.000,6,0.074,0.046,2990,2081,1457
$STATE,18508,end climb,SURFACE_DEPTH_REACHED
$STATE,18508,begin surface coast
$FINISH,0.3,1.026828
$STATE,18526,end surface coast,CONTROL_FINISHED_OK
$STATE,18526,begin surface
$SM_CCo,18603,0.00,0.000,0,0,1456,396.16
$SM_GC,0.94,7.35,0.00,0.00,0.040,0.000,0.000,1466,2320,1456,-6.09,0.71,396.16
$IRIDIUM_FIX,6108.28,-2615.74,160897,161627
$TT8_MAMPS,0.021476
$HUMID,1726
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,16.50
$XPDR_PINGS,38
$24V_AH,19.1,76.157
$10V_AH,9.9,51.823
$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,21.350,175.425,618.400,0.000,0.000,112.098,213.527,449.824,9.500,0.000,0.000,15.675,3001.995,11356.071,759.886,3432.674,1133.281,0.000,2340.333,0.000,3434.234,0.000,0.466
$DEVICE_MAMPS,241.605,69.797,1422.018,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1429.761,1320.069,702.854,1689.298,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139031,1881
$CAP_FILE_SIZE,185866,0
$CFSIZE,260165632,234037248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220508,211732,6133.242,-2616.918,38,1.4,38,-18.6