version: 66.03
glider: 143
mission: 4
dive: 244
start: 5 23 108 17 26 9
data:
$ID,143
$MISSION,4
$DIVE,244
$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,240
$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,-9879.6006
$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,17
$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
$GPS1,171437,6137.360,-2614.493,40,1.1,52,-18.6
$_CALLS,2
$_XMS_NAKs,19
$_XMS_TOUTs,1
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-52.7
$GPS2,172550,6137.372,-2614.748,13,1.7,13,-18.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6131.972,-2619.206
$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,258.7,20000,-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,25,begin dive
$GC,27,-0.82,-194.7,0.0,0.0,0,128,0.00,0.00,-97.57,0.000,2,0.000,0.000,1466,2304,3427
$GC,131,-0.82,-194.7,3.3,-5.5,18,161,10.25,2.88,-10.35,0.000,4,0.256,0.063,2614,887,3868
$GC,319,-0.76,-194.7,35.7,-15.4,51,326,0.12,2.78,0.00,0.000,6,0.154,0.057,2630,2291,3868
$GC,463,-0.69,-194.7,56.4,-14.1,76,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2291,3868
$GC,808,-0.63,-194.7,106.2,-13.9,137,815,0.15,2.85,0.00,0.000,4,0.146,0.058,2655,3717,3868
$GC,846,-0.63,-194.7,111.1,-12.1,143,852,0.00,2.75,0.00,0.000,6,0.000,0.040,2655,2289,3869
$GC,1189,-0.63,-194.7,151.2,-12.6,204,1195,0.00,2.72,0.00,0.000,4,0.000,0.054,2655,887,3869
$GC,1218,-0.63,-194.7,154.8,-12.7,209,1225,0.00,2.75,0.00,0.000,6,0.000,0.045,2655,2307,3869
$GC,1563,-0.63,-194.7,192.7,-10.8,270,1570,0.00,2.78,0.00,0.000,4,0.000,0.057,2655,3712,3869
$GC,1593,-0.63,-194.7,196.1,-11.9,275,1599,0.00,2.72,0.00,0.000,6,0.000,0.041,2655,2297,3869
$GC,1936,-0.63,-194.7,232.1,-9.6,336,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2294,3869
$GC,2280,-0.63,-194.7,266.2,-10.6,397,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2294,3869
$GC,2624,-0.63,-194.7,300.0,-9.8,458,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2293,3869
$GC,2966,-0.63,-194.7,335.3,-10.1,519,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2294,3869
$GC,3298,-0.63,-194.7,370.5,-10.7,562,3302,0.00,2.75,0.00,0.000,4,0.000,0.055,2655,889,3869
$GC,3330,-0.67,-194.7,374.0,-10.7,564,3337,0.00,2.72,0.00,0.000,6,0.000,0.043,2655,2308,3869
$GC,3657,-0.67,-194.7,410.3,-11.4,595,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2308,3869
$GC,3973,-0.67,-194.7,448.4,-11.8,625,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2308,3868
$GC,4292,-0.67,-194.7,486.3,-11.8,655,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2308,3868
$GC,4610,-0.67,-194.7,522.0,-11.1,685,4615,0.00,2.83,0.00,0.000,4,0.000,0.056,2655,880,3868
$GC,4649,-0.73,-194.7,526.4,-10.9,688,4654,0.00,2.72,0.00,0.000,6,0.000,0.043,2655,2298,3868
$GC,4975,-0.73,-194.7,561.8,-10.7,718,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2298,3868
$GC,5292,-0.73,-194.7,595.7,-10.2,748,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2298,3868
$GC,5603,-0.73,-194.7,627.3,-10.1,765,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2298,3868
$GC,5912,-0.73,-194.7,656.3,-9.5,780,5917,0.00,2.85,0.00,0.000,4,0.000,0.064,2655,887,3868
$GC,5939,-0.73,-194.7,659.0,-10.4,781,5943,0.00,2.72,0.00,0.000,6,0.000,0.048,2655,2285,3867
$GC,6261,-0.73,-194.7,691.6,-10.7,797,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2286,3867
$GC,6569,-0.73,-194.7,725.8,-11.5,812,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2288,3867
$GC,6879,-0.73,-194.7,760.5,-11.2,827,6883,0.00,2.88,0.00,0.000,4,0.000,0.070,2655,883,3867
$GC,6919,-0.79,-194.7,764.9,-11.4,829,6924,0.15,2.75,0.00,0.000,6,0.061,0.050,2624,2284,3867
$GC,7246,-0.74,-194.7,810.8,-14.1,845,7247,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2285,3867
$GC,7554,-0.69,-194.7,850.6,-12.0,860,7556,0.15,0.00,0.00,0.000,6,0.136,0.000,2645,2287,3866
$GC,7864,-0.69,-194.7,879.8,-9.0,875,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2288,3866
$GC,8173,-0.69,-194.7,908.0,-9.4,890,8177,0.00,2.85,0.00,0.000,4,0.000,0.068,2645,890,3865
$GC,8206,-0.73,-194.7,911.0,-9.2,891,8212,0.00,2.72,0.00,0.000,6,0.000,0.050,2645,2281,3865
$GC,8521,-0.73,-194.7,940.5,-10.1,907,8522,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2280,3865
$GC,8830,-0.73,-194.7,972.9,-10.4,922,8831,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2282,3864
$STATE,9013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9013,begin apogee
$GC,9019,-0.19,0.0,991.9,9.7,931,9225,0.65,0.00,202.88,1.417,6,0.126,0.000,2753,2047,3071
$STATE,9226,end apogee,CONTROL_FINISHED_OK
$STATE,9226,begin climb
$GC,9229,0.82,194.7,998.9,0.0,941,9448,1.27,3.22,207.90,1.351,4,0.087,0.071,2973,653,2277
$GC,9526,0.70,194.7,974.1,12.6,955,9531,0.00,2.90,0.00,0.000,6,0.000,0.046,2973,2050,2274
$GC,9847,0.57,194.7,933.3,12.8,971,9852,0.28,2.90,0.00,0.000,4,0.134,0.061,2929,3465,2272
$GC,9902,0.57,194.7,927.1,10.2,973,9909,0.00,2.83,0.00,0.000,6,0.000,0.051,2929,2061,2271
$GC,10218,0.62,236.5,899.5,8.6,989,10268,0.00,3.05,42.35,1.358,4,0.000,0.072,2929,641,2106
$GC,10365,0.65,262.1,886.9,9.1,995,10399,0.00,2.85,27.05,1.332,6,0.000,0.047,2929,2079,2002
$GC,10724,0.71,313.4,857.6,8.2,1013,10786,0.15,3.10,52.70,1.324,4,0.074,0.071,2958,644,1792
$GC,10860,0.71,313.4,842.1,11.6,1019,10865,0.00,2.88,0.00,0.000,6,0.000,0.046,2957,2089,1789
$GC,11181,0.65,313.4,803.9,12.3,1035,11186,0.00,2.75,0.00,0.000,4,0.000,0.059,2957,3462,1787
$GC,11207,0.65,313.4,800.2,12.7,1036,11212,0.00,2.75,0.00,0.000,6,0.000,0.052,2958,2086,1785
$GC,11529,0.60,313.4,760.1,12.3,1052,11531,0.17,0.00,0.00,0.000,6,0.127,0.000,2931,2085,1785
$GC,11839,0.62,326.5,730.5,9.5,1067,11861,0.00,2.97,13.85,1.280,4,0.000,0.071,2930,635,1740
$GC,11951,0.67,326.5,718.8,10.4,1072,11956,0.00,2.88,0.00,0.000,6,0.000,0.045,2930,2107,1739
$GC,12278,0.75,353.8,687.8,9.1,1088,12314,0.15,3.08,29.23,1.246,4,0.068,0.070,2966,639,1627
$GC,12404,0.75,353.8,672.5,12.4,1093,12411,0.00,2.90,0.00,0.000,6,0.000,0.045,2966,2117,1625
$GC,12721,0.69,353.8,634.6,11.9,1109,12722,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2117,1624
$GC,13030,0.65,353.8,597.4,11.8,1125,13035,0.15,3.00,0.00,0.000,4,0.126,0.066,2939,641,1623
$GC,13052,0.65,353.8,594.7,11.8,1126,13059,0.00,2.80,0.00,0.000,6,0.000,0.043,2939,2099,1623
$GC,13380,0.67,368.3,564.6,9.5,1157,13403,0.00,2.97,15.57,1.203,4,0.000,0.065,2939,637,1568
$GC,13494,0.73,368.3,552.8,10.5,1167,13499,0.00,2.83,0.00,0.000,6,0.000,0.042,2939,2097,1567
$GC,13821,0.78,368.3,519.5,10.2,1197,13826,0.15,2.95,0.00,0.000,4,0.067,0.063,2970,638,1567
$GC,13917,0.78,368.3,506.4,13.4,1205,13922,0.00,2.83,0.00,0.000,6,0.000,0.043,2970,2102,1566
$GC,14242,0.73,368.3,458.8,14.6,1235,14246,0.00,2.67,0.00,0.000,4,0.000,0.053,2970,3465,1566
$GC,14263,0.73,368.3,455.4,14.7,1236,14270,0.00,2.67,0.00,0.000,6,0.000,0.046,2971,2089,1566
$GC,14590,0.69,368.3,410.3,13.7,1267,14595,0.00,2.88,0.00,0.000,4,0.000,0.064,2970,642,1565
$GC,14618,0.69,368.3,406.1,14.0,1269,14622,0.00,2.78,0.00,0.000,6,0.000,0.041,2971,2092,1565
$GC,14944,0.65,368.3,362.6,13.3,1299,14946,0.17,0.00,0.00,0.000,6,0.127,0.000,2943,2092,1565
$GC,15272,0.70,368.3,328.9,10.2,1347,15277,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2092,1565
$GC,15615,0.75,368.3,293.0,10.1,1408,15621,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2092,1565
$GC,15959,0.82,379.2,258.0,9.6,1469,15975,0.15,0.00,12.07,0.956,6,0.066,0.000,2978,2092,1525
$GC,16313,0.77,379.2,209.1,13.1,1532,16319,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2092,1524
$GC,16656,0.71,379.2,165.9,11.9,1593,16663,0.12,2.92,0.00,0.000,4,0.131,0.062,2960,643,1524
$GC,16686,0.71,379.2,162.6,11.2,1598,16693,0.00,2.78,0.00,0.000,6,0.000,0.040,2960,2099,1524
$GC,17033,0.71,379.2,130.3,10.3,1659,17039,0.00,2.67,0.00,0.000,4,0.000,0.052,2959,3466,1523
$GC,17057,0.71,379.2,127.6,10.4,1663,17063,0.00,2.70,0.00,0.000,6,0.000,0.044,2960,2077,1524
$GC,17400,0.72,380.8,94.8,9.9,1724,17407,0.00,2.85,0.00,0.000,4,0.000,0.064,2960,641,1523
$GC,17436,0.78,396.7,91.3,9.5,1730,17465,0.00,2.72,19.33,0.867,6,0.000,0.040,2960,2077,1452
$GC,17804,0.80,414.3,54.5,9.4,1795,17827,0.00,2.80,18.23,0.828,4,0.000,0.052,2959,3462,1381
$GC,17853,0.89,438.6,49.7,9.2,1803,17888,0.17,2.70,25.23,0.775,6,0.061,0.044,2995,2075,1282
$GC,18024,0.82,438.6,24.8,14.8,1833,18030,0.00,2.90,0.00,0.000,4,0.000,0.066,2995,640,1278
$GC,18054,0.78,438.6,19.9,17.2,1838,18061,0.15,2.78,0.00,0.000,6,0.124,0.039,2973,2086,1277
$GC,18199,0.78,438.6,2.1,10.9,1863,18205,0.00,2.70,0.00,0.000,4,0.000,0.051,2973,3465,1277
$STATE,18209,end climb,SURFACE_DEPTH_REACHED
$STATE,18209,begin surface coast
$FINISH,0.3,1.013162
$STATE,18216,end surface coast,CONTROL_FINISHED_OK
$STATE,18216,begin surface
$SM_CCo,18294,0.00,0.000,0,0,1275,440.56
$SM_GC,0.95,7.47,0.00,0.00,0.050,0.000,0.000,1468,2292,1275,-6.09,-0.08,440.56
$IRIDIUM_FIX,6112.75,-2609.62,170897,171718
$TT8_MAMPS,0.021476
$HUMID,1727
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,16.80
$XPDR_PINGS,157
$24V_AH,19.1,77.491
$10V_AH,9.8,52.601
$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,22.050,152.775,666.375,0.000,0.000,51.543,111.207,323.154,39.250,0.000,0.000,15.126,2958.392,10965.361,771.891,3432.729,820.473,0.000,2352.486,0.000,3424.704,0.000,0.468
$DEVICE_MAMPS,256.178,72.098,1417.416,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1403.993,1323.117,685.380,1632.942,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139014,1866
$CAP_FILE_SIZE,175551,0
$CFSIZE,260165632,233578496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,230508,223227,6136.078,-2624.964,28,2.3,47,-18.7