version: 66.03
glider: 143
mission: 4
dive: 35
start: 4 10 108 20 45 57
data:
$ID,143
$MISSION,4
$DIVE,35
$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,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,-4682.7388
$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,16
$R_STBD_OVSHOOT,22
$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
$GPS1,203202,5845.238,-2018.204,38,1.8,39,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-29.0
$GPS2,204539,5845.155,-2018.587,11,1.6,11,-14.0
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5843.280,-2024.109
$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,274.0,20000,-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,25,-0.82,-194.7,0.0,0.0,0,171,0.00,0.00,-143.77,0.000,2,0.000,0.000,1465,2276,3613
$GC,174,-0.82,-194.7,3.6,-7.1,20,197,10.02,2.85,-5.22,0.000,4,0.256,0.065,2613,3666,3867
$GC,282,-0.73,-194.7,29.8,-20.0,39,290,0.12,2.80,0.00,0.000,6,0.140,0.041,2634,2252,3868
$GC,416,-0.67,-194.7,51.2,-11.8,64,423,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2250,3868
$GC,556,-0.62,-194.7,71.2,-15.7,89,562,0.15,0.00,0.00,0.000,6,0.145,0.000,2658,2249,3867
$GC,690,-0.62,-194.7,88.6,-11.3,114,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2249,3868
$GC,828,-0.62,-194.7,104.4,-11.9,139,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2249,3868
$GC,962,-0.62,-194.7,121.1,-12.9,164,970,0.00,2.85,0.00,0.000,4,0.000,0.055,2659,3666,3868
$GC,994,-0.62,-194.7,125.2,-13.9,169,1000,0.00,2.72,0.00,0.000,6,0.000,0.040,2658,2245,3868
$GC,1128,-0.62,-194.7,142.7,-12.7,194,1136,0.00,2.75,0.00,0.000,4,0.000,0.055,2658,856,3868
$GC,1159,-0.62,-194.7,146.4,-12.6,199,1166,0.00,2.67,0.00,0.000,6,0.000,0.042,2658,2242,3868
$GC,1295,-0.62,-194.7,163.9,-13.6,224,1303,0.00,2.88,0.00,0.000,4,0.000,0.057,2661,3675,3868
$GC,1326,-0.62,-194.7,167.9,-13.7,229,1332,0.00,2.78,0.00,0.000,6,0.000,0.041,2658,2238,3868
$GC,1655,-0.62,-194.7,209.4,-10.8,290,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2236,3868
$GC,1987,-0.62,-194.7,248.6,-11.4,351,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2237,3867
$GC,2317,-0.62,-194.7,286.2,-11.2,412,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2235,3868
$GC,2650,-0.62,-194.7,327.5,-12.3,473,2656,0.00,2.83,0.00,0.000,4,0.000,0.053,2658,3675,3868
$GC,2685,-0.67,-194.7,331.6,-11.6,479,2691,0.00,2.75,0.00,0.000,6,0.000,0.041,2658,2242,3867
$GC,3020,-0.67,-194.7,372.3,-11.8,540,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2239,3868
$GC,3367,-0.67,-194.7,414.0,-12.8,601,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2239,3868
$GC,3707,-0.67,-194.7,456.7,-11.0,662,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2239,3868
$GC,4045,-0.67,-194.7,493.4,-11.1,723,4052,0.00,2.83,0.00,0.000,4,0.000,0.053,2659,3670,3867
$GC,4080,-0.67,-194.7,497.4,-11.7,729,4086,0.00,2.75,0.00,0.000,6,0.000,0.042,2658,2223,3868
$GC,4422,-0.67,-194.7,538.2,-12.4,790,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2221,3867
$GC,4762,-0.67,-194.7,577.6,-11.0,851,4768,0.00,2.85,0.00,0.000,4,0.000,0.055,2659,3673,3867
$GC,4796,-0.67,-194.7,581.4,-11.7,857,4802,0.00,2.72,0.00,0.000,6,0.000,0.042,2658,2249,3867
$GC,5134,-0.67,-194.7,619.3,-11.0,903,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2250,3867
$GC,5452,-0.67,-194.7,655.4,-11.7,933,5453,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2249,3867
$GC,5771,-0.67,-194.7,691.8,-11.4,963,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2250,3867
$GC,6089,-0.67,-194.7,726.9,-10.6,993,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2249,3867
$GC,6409,-0.67,-194.7,759.6,-10.3,1023,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2249,3866
$GC,6726,-0.67,-194.7,793.8,-10.9,1053,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2250,3867
$GC,7045,-0.67,-194.7,829.2,-11.3,1083,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2250,3867
$GC,7363,-0.67,-194.7,863.4,-10.7,1113,7368,0.00,2.85,0.00,0.000,4,0.000,0.064,2658,3670,3866
$GC,7395,-0.67,-194.7,867.0,-11.2,1115,7402,0.00,2.80,0.00,0.000,6,0.000,0.053,2658,2258,3866
$GC,7720,-0.67,-194.7,903.0,-11.5,1146,7725,0.00,2.83,0.00,0.000,4,0.000,0.071,2658,847,3866
$GC,7748,-0.72,-194.7,906.2,-12.2,1148,7752,0.00,2.72,0.00,0.000,6,0.000,0.048,2658,2259,3865
$GC,8072,-0.72,-194.7,941.7,-10.6,1178,8077,0.00,2.83,0.00,0.000,4,0.000,0.064,2659,3679,3866
$GC,8099,-0.76,-194.7,944.7,-11.5,1180,8104,0.12,2.78,0.00,0.000,6,0.065,0.051,2632,2249,3865
$GC,8423,-0.76,-194.7,986.2,-12.9,1210,8424,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2250,3865
$STATE,8453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8453,begin apogee
$GC,8457,-0.19,0.0,990.2,12.5,1213,8659,0.73,0.00,197.85,1.527,6,0.122,0.000,2756,2039,3071
$STATE,8660,end apogee,CONTROL_FINISHED_OK
$STATE,8660,begin climb
$GC,8662,0.82,194.7,998.6,0.0,1233,8875,1.23,3.12,199.02,1.378,4,0.085,0.071,2972,650,2276
$GC,8954,0.69,194.7,976.7,11.9,1261,8960,0.15,2.90,0.00,0.000,6,0.138,0.044,2952,2052,2273
$GC,9278,0.57,194.7,940.8,11.2,1291,9283,0.17,2.90,0.00,0.000,4,0.137,0.058,2925,3460,2271
$GC,9340,0.54,203.4,934.6,9.7,1296,9354,0.00,2.83,9.10,1.245,6,0.000,0.049,2925,2069,2241
$GC,9674,0.51,220.2,902.9,9.4,1327,9699,0.00,2.92,18.48,1.420,4,0.000,0.058,2925,3459,2172
$GC,9743,0.51,220.2,895.8,10.4,1333,9750,0.00,2.83,0.00,0.000,6,0.000,0.048,2925,2083,2171
$GC,10069,0.52,231.1,865.0,9.6,1364,10091,0.00,2.88,12.73,1.378,4,0.000,0.057,2925,3459,2126
$GC,10128,0.52,231.1,858.8,10.4,1369,10135,0.00,2.75,0.00,0.000,6,0.000,0.048,2925,2111,2125
$GC,10454,0.55,251.6,827.5,9.3,1400,10478,0.00,0.00,21.65,1.373,6,0.000,0.000,2925,2110,2045
$GC,10804,0.59,285.4,795.7,8.8,1433,10846,0.00,2.85,34.80,1.334,4,0.000,0.056,2925,3468,1907
$GC,10907,0.60,289.9,786.0,9.8,1442,10918,0.00,2.75,6.00,1.068,6,0.000,0.048,2925,2121,1889
$GC,11237,0.60,289.9,754.8,10.1,1473,11238,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2120,1887
$GC,11556,0.60,292.5,722.3,9.9,1503,11561,0.00,2.70,0.00,0.000,4,0.000,0.056,2925,3464,1886
$GC,11572,0.60,292.5,720.5,10.5,1504,11577,0.00,2.65,0.00,0.000,6,0.000,0.047,2925,2126,1885
$GC,11896,0.60,292.5,686.9,10.0,1534,11901,0.00,2.67,0.00,0.000,4,0.000,0.054,2932,3464,1885
$GC,11916,0.61,299.0,684.7,9.8,1535,11934,0.00,2.62,9.90,1.176,6,0.000,0.047,2925,2131,1851
$GC,12251,0.61,299.0,648.0,11.1,1567,12256,0.00,3.03,0.00,0.000,4,0.000,0.067,2925,635,1850
$GC,12267,0.61,299.0,646.1,11.2,1568,12272,0.00,2.92,0.00,0.000,6,0.000,0.041,2924,2149,1850
$GC,12591,0.64,325.3,614.4,9.1,1598,12626,0.00,2.67,27.48,1.282,4,0.000,0.052,2927,3459,1743
$GC,12643,0.65,335.7,609.4,9.6,1603,12665,0.00,2.65,11.98,1.068,6,0.000,0.044,2925,2130,1702
$GC,12995,0.65,335.7,575.8,10.1,1657,13001,0.00,3.00,0.00,0.000,4,0.000,0.062,2924,641,1699
$GC,13013,0.65,335.7,573.8,10.6,1660,13019,0.00,2.90,0.00,0.000,6,0.000,0.040,2924,2140,1699
$GC,13354,0.70,377.2,543.6,8.6,1721,13402,0.15,2.75,41.30,1.189,4,0.066,0.050,2960,3471,1532
$GC,13426,0.70,377.2,535.4,12.3,1733,13432,0.00,2.70,0.00,0.000,6,0.000,0.043,2960,2128,1530
$GC,13767,0.65,377.2,489.7,13.0,1794,13774,0.00,3.00,0.00,0.000,4,0.000,0.061,2959,634,1527
$GC,13785,0.59,377.2,487.1,14.3,1797,13792,0.20,2.92,0.00,0.000,6,0.115,0.038,2928,2152,1526
$GC,14130,0.69,426.1,456.5,8.3,1858,14187,0.12,3.17,49.00,1.119,4,0.070,0.061,2953,638,1333
$GC,14199,0.69,426.1,448.5,12.4,1870,14206,0.00,2.95,0.00,0.000,6,0.000,0.038,2953,2134,1331
$GC,14542,0.69,426.1,404.9,13.0,1931,14547,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2134,1326
$GC,14881,0.69,426.1,358.1,14.7,1992,14888,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2134,1325
$GC,15216,0.69,426.1,310.9,14.8,2053,15222,0.00,3.03,0.00,0.000,4,0.000,0.061,2953,632,1325
$GC,15245,0.69,426.1,306.5,15.4,2058,15253,0.00,2.88,0.00,0.000,6,0.000,0.038,2953,2123,1324
$GC,15578,0.69,426.1,260.3,13.1,2119,15584,0.00,2.62,0.00,0.000,4,0.000,0.048,2954,3469,1324
$GC,15602,0.69,426.1,257.2,12.6,2123,15609,0.00,2.62,0.00,0.000,6,0.000,0.042,2953,2115,1323
$GC,15933,0.69,426.1,214.3,12.5,2184,15940,0.00,2.95,0.00,0.000,4,0.000,0.062,2953,644,1323
$GC,15964,0.69,426.1,210.5,12.7,2189,15970,0.00,2.83,0.00,0.000,6,0.000,0.038,2953,2128,1323
$GC,16294,0.69,426.1,168.8,12.4,2250,16302,0.00,2.62,0.00,0.000,4,0.000,0.050,2958,3463,1323
$GC,16314,0.69,426.1,166.3,13.6,2253,16321,0.00,2.62,0.00,0.000,6,0.000,0.043,2954,2106,1323
$GC,16646,0.69,426.1,125.2,13.6,2314,16654,0.00,2.95,0.00,0.000,4,0.000,0.063,2953,635,1322
$GC,16677,0.69,426.1,121.2,12.7,2319,16684,0.00,2.83,0.00,0.000,6,0.000,0.039,2953,2122,1323
$GC,16815,0.69,426.1,104.9,13.1,2344,16822,0.00,2.65,0.00,0.000,4,0.000,0.051,2956,3469,1323
$GC,16835,0.69,426.1,102.2,12.7,2347,16842,0.00,2.65,0.00,0.000,6,0.000,0.042,2953,2097,1322
$GC,16970,0.69,426.1,85.3,11.9,2372,16978,0.00,2.92,0.00,0.000,4,0.000,0.064,2953,641,1322
$GC,16994,0.69,426.1,82.2,12.0,2376,17002,0.00,2.83,0.00,0.000,6,0.000,0.038,2953,2117,1322
$GC,17133,0.69,426.1,65.9,14.1,2401,17138,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2118,1322
$GC,17269,0.69,426.1,46.8,12.6,2426,17277,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2118,1322
$GC,17403,0.69,426.1,29.1,12.9,2451,17410,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2118,1322
$GC,17536,0.69,426.1,11.8,11.0,2476,17544,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2118,1322
$STATE,17616,end climb,SURFACE_DEPTH_REACHED
$STATE,17616,begin surface coast
$FINISH,-0.0,1.027339
$STATE,17634,end surface coast,CONTROL_FINISHED_OK
$STATE,17634,begin surface
$SM_CCo,17709,0.00,0.000,0,0,1320,429.52
$SM_GC,0.54,7.25,0.00,0.00,0.047,0.000,0.000,1466,2279,1320,-6.10,0.54,429.52
$IRIDIUM_FIX,5825.43,-2001.82,050797,202044
$TT8_MAMPS,0.021476
$HUMID,1646
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,12.80
$XPDR_PINGS,361
$24V_AH,19.8,20.982
$10V_AH,9.8,12.672
$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,20.425,169.575,639.275,0.000,0.000,55.014,73.988,505.881,90.250,0.000,0.000,13.875,3785.734,7605.958,795.672,5394.786,917.247,0.000,2802.683,0.000,5415.243,0.000,0.468
$DEVICE_MAMPS,256.178,70.564,1527.097,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1807.357,1813.120,1098.773,994.876,2555.307,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,186538,2494
$CAP_FILE_SIZE,207357,0
$CFSIZE,260165632,253820928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110408,014207,5844.714,-2030.596,27,1.1,27,-14.1