version: 66.03
glider: 143
mission: 4
dive: 34
start: 4 10 108 15 42 46
data:
$ID,143
$MISSION,4
$DIVE,34
$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,0
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,260
$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,633.11926
$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,-4668.2358
$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,2260
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,27
$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
$GPS1,152108,5846.671,-2004.454,34,1.3,34,-13.9
$_CALLS,5
$_XMS_NAKs,28
$_XMS_TOUTs,3
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-33.5
$GPS2,154227,5846.507,-2005.144,11,1.9,11,-13.9
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5844.631,-2010.662
$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,273.9,20000,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.82,-194.7,0.0,0.0,0,143,0.00,0.00,-115.60,0.000,2,0.000,0.000,1470,2280,3467
$GC,145,-0.82,-194.7,3.1,-8.1,16,176,10.20,2.90,-9.00,0.000,4,0.263,0.074,2612,3663,3868
$GC,267,-0.72,-194.7,28.8,-15.2,37,276,0.15,2.78,0.00,0.000,6,0.133,0.039,2637,2255,3868
$GC,403,-0.66,-194.7,46.1,-12.0,62,411,0.00,2.88,0.00,0.000,4,0.000,0.057,2638,3666,3868
$GC,444,-0.66,-194.7,52.2,-14.6,69,451,0.00,2.70,0.00,0.000,6,0.000,0.039,2637,2271,3869
$GC,580,-0.60,-194.7,72.8,-14.6,94,588,0.15,0.00,0.00,0.000,6,0.149,0.000,2662,2269,3868
$GC,720,-0.60,-194.7,90.5,-12.6,119,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2268,3868
$GC,854,-0.60,-194.7,107.9,-12.3,144,862,0.00,2.80,0.00,0.000,4,0.000,0.054,2662,3660,3868
$GC,889,-0.60,-194.7,112.1,-12.5,150,897,0.00,2.70,0.00,0.000,6,0.000,0.038,2661,2274,3869
$GC,1028,-0.60,-194.7,127.8,-11.7,175,1034,0.00,2.78,0.00,0.000,4,0.000,0.054,2662,856,3869
$GC,1052,-0.60,-194.7,130.4,-10.6,179,1058,0.00,2.75,0.00,0.000,6,0.000,0.043,2662,2279,3869
$GC,1187,-0.60,-194.7,143.2,-9.2,204,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2279,3869
$GC,1326,-0.60,-194.7,157.9,-9.8,229,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2279,3869
$GC,1654,-0.60,-194.7,193.5,-11.4,290,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2279,3868
$GC,1986,-0.60,-194.7,228.9,-10.4,351,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2279,3869
$GC,2316,-0.60,-194.7,263.1,-10.4,412,2324,0.00,2.83,0.00,0.000,4,0.000,0.054,2662,853,3868
$GC,2348,-0.64,-194.7,266.2,-10.2,417,2354,0.00,2.72,0.00,0.000,6,0.000,0.043,2662,2278,3868
$GC,2678,-0.64,-194.7,301.4,-11.4,478,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2278,3869
$GC,3011,-0.64,-194.7,340.9,-11.8,539,3017,0.00,2.78,0.00,0.000,4,0.000,0.053,2661,855,3868
$GC,3047,-0.70,-194.7,345.0,-11.5,545,3053,0.00,2.70,0.00,0.000,6,0.000,0.042,2661,2268,3868
$GC,3386,-0.70,-194.7,384.9,-11.5,606,3393,0.00,2.72,0.00,0.000,4,0.000,0.052,2662,3678,3869
$GC,3417,-0.70,-194.7,388.3,-11.9,611,3423,0.00,2.70,0.00,0.000,6,0.000,0.039,2662,2259,3869
$GC,3756,-0.70,-194.7,426.5,-10.9,672,3764,0.00,2.72,0.00,0.000,4,0.000,0.053,2662,859,3868
$GC,3787,-0.75,-194.7,429.8,-11.2,677,3793,0.12,2.67,0.00,0.000,6,0.060,0.041,2633,2263,3868
$GC,4128,-0.69,-194.7,476.7,-14.5,738,4135,0.00,2.78,0.00,0.000,4,0.000,0.054,2633,3670,3869
$GC,4163,-0.69,-194.7,481.8,-14.6,744,4171,0.00,2.72,0.00,0.000,6,0.000,0.041,2633,2259,3868
$GC,4507,-0.64,-194.7,530.5,-13.4,805,4514,0.15,0.00,0.00,0.000,6,0.134,0.000,2655,2256,3868
$GC,4848,-0.64,-194.7,569.1,-10.4,866,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2256,3868
$GC,5184,-0.64,-194.7,606.0,-10.3,922,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2256,3868
$GC,5503,-0.64,-194.7,642.5,-12.1,952,5508,0.00,2.83,0.00,0.000,4,0.000,0.061,2655,3678,3868
$GC,5535,-0.64,-194.7,646.3,-11.0,954,5542,0.00,2.75,0.00,0.000,6,0.000,0.046,2654,2271,3868
$GC,5861,-0.64,-194.7,682.7,-11.5,985,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2271,3868
$GC,6179,-0.64,-194.7,719.2,-11.9,1015,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2271,3867
$GC,6497,-0.64,-194.7,757.2,-11.9,1045,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2271,3868
$GC,6816,-0.64,-194.7,795.2,-11.9,1075,6817,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2271,3867
$GC,7134,-0.64,-194.7,831.2,-11.0,1105,7139,0.00,2.80,0.00,0.000,4,0.000,0.064,2655,3669,3867
$GC,7178,-0.68,-194.7,836.1,-11.0,1108,7184,0.00,2.72,0.00,0.000,6,0.000,0.051,2654,2274,3867
$GC,7503,-0.68,-194.7,870.8,-10.8,1139,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2274,3867
$GC,7820,-0.68,-194.7,905.5,-10.7,1169,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2273,3866
$GC,8139,-0.68,-194.7,939.4,-10.5,1199,8140,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2273,3866
$GC,8458,-0.68,-194.7,974.3,-11.0,1229,8462,0.00,2.80,0.00,0.000,4,0.000,0.062,2655,3673,3866
$GC,8484,-0.68,-194.7,977.5,-12.0,1231,8489,0.00,2.72,0.00,0.000,6,0.000,0.050,2655,2275,3866
$STATE,8605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8605,begin apogee
$GC,8609,-0.19,0.0,991.1,11.2,1242,8810,0.60,0.00,196.30,1.493,6,0.130,0.000,2755,2036,3071
$STATE,8810,end apogee,CONTROL_FINISHED_OK
$STATE,8811,begin climb
$GC,8812,0.82,194.7,1000.3,0.0,1262,9020,1.23,3.12,198.00,1.387,4,0.088,0.071,2971,647,2277
$GC,9099,0.69,194.7,977.2,13.7,1289,9104,0.00,2.90,0.00,0.000,6,0.000,0.043,2970,2054,2274
$GC,9424,0.55,194.7,934.4,12.9,1319,9429,0.30,2.90,0.00,0.000,4,0.131,0.058,2923,3464,2272
$GC,9502,0.52,204.7,926.1,9.7,1325,9519,0.00,2.80,10.80,1.308,6,0.000,0.048,2923,2080,2236
$GC,9836,0.52,204.7,892.9,10.3,1357,9841,0.00,2.83,0.00,0.000,4,0.000,0.057,2923,3465,2234
$GC,9891,0.52,204.7,886.7,11.1,1361,9898,0.00,2.78,0.00,0.000,6,0.000,0.048,2923,2093,2233
$GC,10216,0.52,204.7,853.1,10.1,1392,10221,0.00,2.78,0.00,0.000,4,0.000,0.057,2923,3467,2234
$GC,10243,0.52,204.7,850.3,11.0,1394,10248,0.00,2.72,0.00,0.000,6,0.000,0.048,2923,2093,2233
$GC,10567,0.53,211.1,818.4,9.8,1424,10579,0.00,0.00,7.50,1.171,6,0.000,0.000,2923,2093,2210
$GC,10897,0.53,211.4,786.1,10.0,1455,10901,0.00,2.75,0.00,0.000,4,0.000,0.057,2923,3461,2209
$GC,11002,0.53,211.4,774.8,10.4,1464,11007,0.00,2.62,0.00,0.000,6,0.000,0.048,2923,2130,2207
$GC,11326,0.54,221.3,742.5,9.7,1494,11340,0.00,0.00,11.50,1.289,6,0.000,0.000,2923,2129,2169
$GC,11655,0.56,237.3,711.5,9.4,1525,11679,0.00,3.10,17.52,1.374,4,0.000,0.069,2923,645,2103
$GC,11776,0.58,258.5,700.1,9.3,1536,11807,0.00,2.95,21.90,1.192,6,0.000,0.043,2922,2149,2017
$GC,12125,0.61,278.5,667.2,9.3,1569,12156,0.00,3.15,21.05,1.294,4,0.000,0.066,2923,644,1934
$GC,12257,0.61,278.5,653.9,10.0,1581,12261,0.00,2.95,0.00,0.000,6,0.000,0.042,2923,2144,1933
$GC,12581,0.64,306.4,624.0,9.0,1611,12615,0.00,2.72,28.40,1.246,4,0.000,0.054,2923,3462,1820
$GC,12645,0.70,320.5,618.0,9.5,1617,12666,0.00,2.65,15.18,1.081,6,0.000,0.044,2947,2140,1764
$GC,12992,0.74,350.6,587.5,9.0,1661,13031,0.00,3.12,31.05,1.202,4,0.000,0.063,2924,639,1641
$GC,13050,0.80,363.4,582.2,9.6,1671,13074,0.25,2.97,14.10,1.043,6,0.051,0.041,2975,2144,1588
$GC,13411,0.68,363.4,521.0,17.3,1735,13418,0.15,2.62,0.00,0.000,4,0.136,0.050,2951,3465,1584
$GC,13440,0.63,363.4,515.9,15.3,1740,13449,0.00,2.65,0.00,0.000,6,0.000,0.044,2951,2138,1582
$GC,13786,0.63,363.4,470.0,12.8,1801,13792,0.00,3.00,0.00,0.000,4,0.000,0.061,2952,641,1582
$GC,13808,0.63,363.4,466.6,13.8,1805,13815,0.00,2.90,0.00,0.000,6,0.000,0.039,2950,2151,1582
$GC,14150,0.63,363.4,422.4,12.5,1866,14157,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2152,1581
$GC,14492,0.63,363.4,380.1,11.9,1927,14497,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2151,1581
$GC,14828,0.63,363.4,336.9,13.4,1988,14836,0.00,3.05,0.00,0.000,4,0.000,0.061,2951,640,1581
$GC,14849,0.63,363.4,334.2,13.5,1991,14855,0.00,2.85,0.00,0.000,6,0.000,0.038,2951,2137,1581
$GC,15179,0.63,363.4,289.7,12.5,2052,15186,0.00,2.60,0.00,0.000,4,0.000,0.050,2951,3458,1581
$GC,15211,0.63,363.4,285.9,12.9,2057,15217,0.00,2.58,0.00,0.000,6,0.000,0.044,2953,2128,1580
$GC,15541,0.63,363.4,242.1,12.7,2118,15549,0.00,2.97,0.00,0.000,4,0.000,0.062,2952,640,1580
$GC,15572,0.63,363.4,238.2,13.1,2123,15579,0.00,2.85,0.00,0.000,6,0.000,0.039,2950,2143,1580
$GC,15903,0.63,363.4,193.7,13.6,2184,15910,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2143,1580
$GC,16238,0.63,363.4,151.5,13.0,2245,16244,0.00,3.00,0.00,0.000,4,0.000,0.061,2952,634,1580
$GC,16264,0.63,363.4,148.0,12.8,2249,16270,0.00,2.85,0.00,0.000,6,0.000,0.039,2951,2138,1580
$GC,16399,0.63,363.4,129.4,14.1,2274,16407,0.00,2.60,0.00,0.000,4,0.000,0.051,2951,3465,1580
$GC,16423,0.63,363.4,126.0,14.4,2278,16431,0.10,2.62,0.00,0.000,6,0.130,0.043,3001,2119,1580
$GC,16564,0.64,371.6,110.2,9.7,2303,16578,0.40,2.92,7.82,0.818,4,0.101,0.061,2859,636,1555
$GC,16603,1.10,512.4,107.6,5.1,2309,16753,0.93,2.85,140.82,1.045,6,0.067,0.038,3039,2135,982
$GC,16884,0.85,512.4,37.1,31.8,2357,16892,0.32,2.70,0.00,0.000,4,0.150,0.048,2990,3465,976
$GC,16905,0.64,512.4,30.5,30.7,2360,16914,0.30,2.78,0.00,0.000,6,0.150,0.044,2944,2100,976
$GC,17042,0.71,512.4,15.8,11.8,2385,17050,0.00,3.03,0.00,0.000,4,0.000,0.063,2944,635,973
$GC,17079,0.83,512.4,10.5,13.6,2391,17087,0.15,2.85,0.00,0.000,6,0.039,0.038,2986,2089,971
$STATE,17134,end climb,SURFACE_DEPTH_REACHED
$STATE,17134,begin surface coast
$FINISH,-0.3,1.022028
$STATE,17146,end surface coast,CONTROL_FINISHED_OK
$STATE,17146,begin surface
$SM_CCo,17161,114.85,0.790,1,0,489,633.12
$SM_GC,0.11,0.00,0.00,114.85,0.000,0.000,0.790,1465,2276,489,-6.14,0.42,633.12
$IRIDIUM_FIX,5825.43,-2007.14,050797,151524
$TT8_MAMPS,0.022243
$HUMID,1626
$INTERNAL_PRESSURE,8.09601
$TCM_TEMP,12.40
$XPDR_PINGS,341
$24V_AH,19.8,20.688
$10V_AH,9.7,12.412
$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,23.000,175.150,721.950,114.850,0.000,153.651,179.264,554.832,85.250,0.000,0.000,13.297,3649.503,7531.617,941.253,5223.339,1191.179,0.000,2924.609,0.000,5237.990,0.000,0.468
$DEVICE_MAMPS,263.081,73.632,1492.582,790.010,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1751.332,1740.033,1046.206,943.562,2450.992,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,180121,2403
$CAP_FILE_SIZE,208455,0
$CFSIZE,260165632,253919232
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,100408,203202,5845.238,-2018.204,38,1.8,39,-14.0