version: 66.03
glider: 143
mission: 4
dive: 36
start: 4 11 108 1 53 22
data:
$ID,143
$MISSION,4
$DIVE,36
$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,-4697.7417
$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,20
$R_STBD_OVSHOOT,25
$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
$GPS1,014207,5844.714,-2030.596,27,1.1,27,-14.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-52.2
$GPS2,015303,5844.724,-2030.928,12,1.1,12,-14.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5842.849,-2036.451
$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,274.1,20000,-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,-194.7,0.0,0.0,0,129,0.00,0.00,-101.45,0.000,2,0.000,0.000,1466,2283,3508
$GC,131,-0.82,-194.7,3.1,-6.1,14,156,9.90,2.83,-7.97,0.000,4,0.254,0.068,2612,3672,3866
$GC,344,-0.73,-194.7,43.9,-17.0,53,352,0.12,2.78,0.00,0.000,6,0.137,0.041,2634,2261,3867
$GC,480,-0.65,-194.7,63.4,-14.1,78,488,0.15,0.00,0.00,0.000,6,0.146,0.000,2658,2259,3867
$GC,619,-0.65,-194.7,83.4,-13.1,103,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2258,3867
$GC,753,-0.65,-194.7,100.1,-10.9,128,761,0.00,2.80,0.00,0.000,4,0.000,0.054,2658,849,3867
$GC,784,-0.65,-194.7,103.4,-11.1,133,791,0.00,2.75,0.00,0.000,6,0.000,0.044,2658,2265,3867
$GC,919,-0.65,-194.7,120.0,-12.4,158,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2265,3867
$GC,1057,-0.65,-194.7,136.5,-12.7,183,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2265,3867
$GC,1192,-0.65,-194.7,153.7,-12.1,208,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2265,3867
$GC,1523,-0.65,-194.7,195.3,-12.5,269,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2265,3867
$GC,1852,-0.65,-194.7,236.6,-11.7,330,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2265,3867
$GC,2184,-0.65,-194.7,277.2,-11.8,391,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2265,3867
$GC,2512,-0.65,-194.7,316.9,-12.2,452,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2265,3867
$GC,2843,-0.65,-194.7,358.1,-12.5,513,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2265,3867
$GC,3184,-0.65,-194.7,398.7,-12.0,574,3190,0.00,2.75,0.00,0.000,4,0.000,0.054,2657,3676,3867
$GC,3212,-0.65,-194.7,402.1,-12.7,579,3219,0.00,2.75,0.00,0.000,6,0.000,0.041,2658,2229,3867
$GC,3554,-0.65,-194.7,441.7,-11.8,640,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2226,3867
$GC,3896,-0.65,-194.7,478.9,-10.4,701,3902,0.00,2.83,0.00,0.000,4,0.000,0.053,2658,3675,3867
$GC,3935,-0.65,-194.7,483.2,-10.1,708,3943,0.00,2.72,0.00,0.000,6,0.000,0.041,2658,2264,3867
$GC,4279,-0.65,-194.7,518.6,-10.7,769,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2261,3867
$GC,4618,-0.65,-194.7,555.1,-11.0,830,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2261,3867
$GC,4958,-0.65,-194.7,593.9,-11.9,891,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2260,3867
$GC,5291,-0.65,-194.7,633.6,-12.2,927,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2260,3867
$GC,5609,-0.65,-194.7,672.0,-11.9,957,5614,0.00,2.80,0.00,0.000,4,0.000,0.061,2658,3668,3866
$GC,5647,-0.65,-194.7,676.6,-11.9,960,5652,0.00,2.70,0.00,0.000,6,0.000,0.050,2657,2281,3866
$GC,5972,-0.65,-194.7,713.7,-11.0,990,5977,0.00,2.85,0.00,0.000,4,0.000,0.072,2658,853,3866
$GC,6004,-0.70,-194.7,717.4,-11.3,992,6011,0.00,2.75,0.00,0.000,6,0.000,0.049,2657,2277,3866
$GC,6329,-0.70,-194.7,753.2,-11.1,1023,6330,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2279,3866
$GC,6647,-0.70,-194.7,786.8,-10.5,1053,6652,0.00,2.88,0.00,0.000,4,0.000,0.069,2657,847,3866
$GC,6674,-0.74,-194.7,789.6,-10.6,1055,6679,0.00,2.75,0.00,0.000,6,0.000,0.049,2657,2270,3866
$GC,6999,-0.74,-194.7,822.4,-10.6,1085,7003,0.00,2.80,0.00,0.000,4,0.000,0.065,2658,3678,3866
$GC,7042,-0.79,-194.7,827.3,-10.9,1088,7049,0.15,2.78,0.00,0.000,6,0.064,0.051,2627,2262,3866
$GC,7366,-0.74,-194.7,873.0,-14.1,1119,7371,0.00,2.80,0.00,0.000,4,0.000,0.067,2626,850,3866
$GC,7394,-0.74,-194.7,876.8,-14.1,1121,7398,0.00,2.75,0.00,0.000,6,0.000,0.050,2627,2270,3865
$GC,7719,-0.69,-194.7,918.8,-12.5,1151,7724,0.12,2.80,0.00,0.000,4,0.130,0.063,2646,3676,3865
$GC,7751,-0.69,-194.7,922.8,-11.1,1153,7758,0.00,2.75,0.00,0.000,6,0.000,0.051,2645,2271,3865
$GC,8076,-0.69,-194.7,954.2,-10.1,1184,8081,0.00,2.83,0.00,0.000,4,0.000,0.067,2644,852,3865
$GC,8115,-0.73,-194.7,958.3,-10.6,1187,8119,0.00,2.75,0.00,0.000,6,0.000,0.049,2645,2273,3865
$STATE,8394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8394,begin apogee
$GC,8399,-0.19,0.0,990.2,12.0,1213,8601,0.65,0.00,197.77,1.515,6,0.117,0.000,2757,2035,3071
$STATE,8602,end apogee,CONTROL_FINISHED_OK
$STATE,8602,begin climb
$GC,8604,0.82,194.7,999.3,0.0,1233,8813,1.23,3.10,198.75,1.379,4,0.084,0.070,2973,653,2276
$GC,8930,0.68,194.7,971.3,12.7,1263,8937,0.17,2.88,0.00,0.000,6,0.138,0.043,2950,2053,2272
$GC,9254,0.57,194.7,932.6,12.0,1294,9260,0.15,2.90,0.00,0.000,4,0.137,0.058,2926,3464,2271
$GC,9332,0.52,194.7,924.4,10.1,1300,9339,0.00,2.83,0.00,0.000,6,0.000,0.050,2926,2070,2271
$GC,9659,0.50,229.2,894.5,8.8,1331,9701,0.00,3.05,34.50,1.420,4,0.000,0.071,2925,638,2136
$GC,9805,0.52,239.9,881.0,9.6,1344,9826,0.00,2.92,12.38,1.306,6,0.000,0.045,2925,2100,2091
$GC,10144,0.54,255.3,849.2,9.5,1376,10166,0.00,3.15,16.62,1.397,4,0.000,0.071,2925,639,2030
$GC,10237,0.54,255.3,839.6,10.1,1384,10244,0.00,2.92,0.00,0.000,6,0.000,0.044,2925,2108,2028
$GC,10563,0.54,255.3,807.2,10.7,1415,10567,0.00,2.72,0.00,0.000,4,0.000,0.058,2930,3461,2027
$GC,10617,0.54,255.3,801.0,11.6,1419,10624,0.00,2.70,0.00,0.000,6,0.000,0.048,2925,2125,2026
$GC,10942,0.54,255.3,767.5,10.1,1450,10943,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2124,2026
$GC,11263,0.55,264.5,736.3,9.7,1480,11275,0.00,0.00,9.98,1.226,6,0.000,0.000,2925,2123,1992
$GC,11592,0.56,276.2,703.6,9.6,1511,11613,0.00,3.10,13.35,1.325,4,0.000,0.069,2925,638,1945
$GC,11703,0.57,282.0,692.4,9.8,1521,11717,0.00,2.95,7.97,1.093,6,0.000,0.044,2927,2143,1920
$GC,12043,0.57,282.0,658.8,10.0,1553,12047,0.00,3.08,0.00,0.000,4,0.000,0.067,2925,642,1919
$GC,12150,0.57,282.0,647.8,10.6,1562,12155,0.00,2.92,0.00,0.000,6,0.000,0.044,2925,2145,1919
$GC,12474,0.58,289.5,615.1,9.7,1592,12488,0.00,2.62,8.98,1.135,4,0.000,0.054,2925,3461,1890
$GC,12510,0.60,304.0,611.4,9.5,1595,12531,0.00,2.60,15.65,1.180,6,0.000,0.044,2926,2139,1831
$GC,12859,0.60,311.5,579.0,9.7,1647,12877,0.00,3.08,8.45,1.118,4,0.000,0.063,2925,643,1801
$GC,12884,0.54,314.4,576.8,9.9,1651,12895,0.00,2.95,4.72,0.807,6,0.000,0.040,2925,2157,1789
$GC,13230,0.54,314.4,543.8,10.3,1713,13236,0.00,2.58,0.00,0.000,4,0.000,0.051,2925,3469,1787
$GC,13248,0.54,315.5,541.9,10.0,1716,13256,0.00,2.65,0.00,0.000,6,0.000,0.043,2927,2130,1786
$GC,13595,0.54,315.5,506.4,10.3,1777,13601,0.00,2.97,0.00,0.000,4,0.000,0.061,2925,638,1786
$GC,13614,0.54,315.5,504.2,10.6,1780,13621,0.00,2.90,0.00,0.000,6,0.000,0.039,2926,2154,1786
$GC,13955,0.54,315.5,468.6,10.2,1841,13961,0.00,2.55,0.00,0.000,4,0.000,0.050,2926,3464,1786
$GC,13978,0.54,320.8,466.4,9.8,1845,13992,0.22,2.58,7.70,1.002,6,0.117,0.042,2918,2127,1763
$GC,14327,0.86,458.1,446.5,5.3,1907,14474,0.32,3.17,135.57,1.075,4,0.043,0.063,2965,645,1202
$GC,14493,0.82,458.1,424.1,15.7,1936,14499,0.00,3.03,0.00,0.000,6,0.000,0.038,2966,2154,1198
$GC,14834,0.76,458.1,371.8,15.1,1997,14840,0.00,3.10,0.00,0.000,4,0.000,0.061,2965,640,1194
$GC,14863,0.76,458.1,367.4,16.0,2002,14869,0.00,2.90,0.00,0.000,6,0.000,0.038,2965,2140,1193
$GC,15199,0.69,458.1,318.2,14.2,2063,15205,0.00,3.05,0.00,0.000,4,0.000,0.061,2965,637,1192
$GC,15224,0.64,458.1,314.4,15.4,2067,15231,0.15,2.85,0.00,0.000,6,0.119,0.038,2942,2123,1191
$GC,15556,0.69,464.1,282.4,9.8,2128,15564,0.00,0.00,5.00,0.756,6,0.000,0.000,2942,2124,1179
$GC,15890,0.76,479.2,249.5,9.5,2189,15917,0.12,3.05,17.02,1.048,4,0.067,0.063,2968,642,1117
$GC,15941,0.76,479.2,242.9,14.8,2197,15947,0.00,2.83,0.00,0.000,6,0.000,0.038,2969,2105,1115
$GC,16271,0.69,479.2,190.6,16.8,2258,16279,0.00,2.70,0.00,0.000,4,0.000,0.049,2968,3465,1114
$GC,16292,0.64,479.2,187.3,16.5,2261,16299,0.17,2.70,0.00,0.000,6,0.121,0.043,2943,2084,1114
$GC,16624,0.72,492.1,155.6,9.6,2322,16644,0.00,2.90,13.80,0.978,4,0.000,0.062,2941,636,1065
$GC,16668,0.82,492.1,151.6,10.5,2329,16675,0.17,2.83,0.00,0.000,6,0.048,0.037,2986,2107,1063
$GC,16998,0.70,492.1,88.3,20.8,2390,17007,0.17,0.00,0.00,0.000,6,0.133,0.000,2957,2108,1063
$GC,17139,0.70,492.1,66.6,13.6,2415,17145,0.00,2.65,0.00,0.000,4,0.000,0.051,2956,3466,1063
$GC,17156,0.70,492.1,63.9,14.0,2418,17164,0.43,2.72,0.00,0.000,6,0.097,0.044,2949,2084,1063
$GC,17296,1.08,492.1,47.9,14.2,2443,17305,0.32,2.88,0.00,0.000,4,0.050,0.058,2949,644,1061
$GC,17588,1.45,492.1,9.0,13.0,2498,17596,0.73,2.62,0.00,0.000,6,0.038,0.037,3123,2017,1060
$STATE,17622,end climb,SURFACE_DEPTH_REACHED
$STATE,17622,begin surface coast
$FINISH,-0.1,1.027310
$STATE,17629,end surface coast,CONTROL_FINISHED_OK
$STATE,17629,begin surface
$SM_CCo,17705,0.00,0.000,0,0,1060,493.30
$SM_GC,0.36,8.38,0.00,0.00,0.061,0.000,0.000,1464,2252,1060,-6.09,-0.23,493.30
$IRIDIUM_FIX,5821.32,-2028.03,060797,010143
$TT8_MAMPS,0.021476
$HUMID,1663
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,12.90
$XPDR_PINGS,326
$24V_AH,19.8,21.280
$10V_AH,9.8,12.931
$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,23.850,176.800,708.225,0.000,0.000,52.450,67.464,349.532,81.500,0.000,0.000,14.374,3812.921,7484.980,808.897,5474.510,753.288,0.000,2834.389,0.000,5482.885,0.000,0.469
$DEVICE_MAMPS,253.877,72.098,1514.825,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1819.018,1809.405,1071.087,988.135,2551.722,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,189592,2505
$CAP_FILE_SIZE,207124,0
$CFSIZE,260165632,253698048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110408,064938,5844.047,-2039.901,37,1.1,37,-14.2