version: 66.03
glider: 143
mission: 4
dive: 29
start: 4 9 108 15 7 15
data:
$ID,143
$MISSION,4
$DIVE,29
$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,270
$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,-4551.457
$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,19
$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
$GPS1,145438,5856.228,-1921.835,36,1.0,36,-13.6
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-42.5
$GPS2,150656,5856.123,-1922.013,7,1.6,12,-13.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5856.123,-1927.585
$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,283.6,20000,-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,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,-115.65,0.000,2,0.000,0.000,1467,2267,3717
$GC,145,-0.82,-194.7,3.2,-5.0,16,169,9.88,2.88,-3.17,0.000,4,0.254,0.064,2611,3670,3868
$GC,249,-0.71,-194.7,29.8,-20.5,34,257,0.15,2.80,0.00,0.000,6,0.140,0.039,2637,2251,3868
$GC,385,-0.66,-194.7,52.0,-16.4,59,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2248,3868
$GC,519,-0.61,-194.7,71.2,-14.3,84,527,0.15,0.00,0.00,0.000,6,0.143,0.000,2661,2248,3869
$GC,657,-0.61,-194.7,87.6,-11.9,109,664,0.00,2.83,0.00,0.000,4,0.000,0.056,2661,3671,3868
$GC,684,-0.61,-194.7,91.0,-11.7,114,693,0.00,2.75,0.00,0.000,6,0.000,0.039,2661,2263,3868
$GC,824,-0.61,-194.7,106.9,-12.5,139,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2260,3868
$GC,958,-0.61,-194.7,123.1,-12.3,164,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2259,3868
$GC,1096,-0.61,-194.7,138.9,-10.8,189,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2259,3868
$GC,1231,-0.61,-194.7,153.6,-10.5,214,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2259,3868
$GC,1563,-0.61,-194.7,192.8,-11.3,275,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2258,3868
$GC,1891,-0.61,-194.7,232.0,-11.9,336,1899,0.00,2.78,0.00,0.000,4,0.000,0.054,2661,853,3868
$GC,1923,-0.66,-194.7,235.5,-12.4,341,1929,0.00,2.70,0.00,0.000,6,0.000,0.043,2661,2256,3868
$GC,2252,-0.66,-194.7,274.2,-11.5,402,2260,0.00,2.80,0.00,0.000,4,0.000,0.054,2661,3670,3868
$GC,2298,-0.71,-194.7,279.6,-12.1,410,2306,0.00,2.75,0.00,0.000,6,0.000,0.040,2661,2251,3868
$GC,2632,-0.71,-194.7,318.4,-11.4,471,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2248,3868
$GC,2964,-0.71,-194.7,355.9,-11.5,532,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2248,3868
$GC,3304,-0.71,-194.7,397.1,-12.6,593,3310,0.00,2.80,0.00,0.000,4,0.000,0.053,2661,3678,3868
$GC,3343,-0.71,-194.7,402.1,-12.5,600,3352,0.00,2.72,0.00,0.000,6,0.000,0.040,2661,2262,3868
$GC,3688,-0.71,-194.7,443.7,-12.2,661,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2258,3868
$GC,4026,-0.71,-194.7,482.9,-10.7,722,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2258,3868
$GC,4366,-0.71,-194.7,521.5,-12.1,783,4373,0.00,2.80,0.00,0.000,4,0.000,0.054,2661,3673,3868
$GC,4401,-0.71,-194.7,525.8,-12.8,789,4408,0.00,2.70,0.00,0.000,6,0.000,0.041,2662,2250,3868
$GC,4743,-0.71,-194.7,566.8,-11.9,850,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2247,3868
$GC,5080,-0.71,-194.7,606.5,-11.7,906,5085,0.00,2.83,0.00,0.000,4,0.000,0.057,2661,3679,3868
$GC,5119,-0.75,-194.7,611.1,-12.0,909,5125,0.12,2.70,0.00,0.000,6,0.064,0.043,2635,2274,3868
$GC,5443,-0.70,-194.7,658.4,-15.4,939,5448,0.00,2.83,0.00,0.000,4,0.000,0.067,2635,852,3868
$GC,5475,-0.70,-194.7,663.4,-15.3,941,5482,0.00,2.78,0.00,0.000,6,0.000,0.047,2635,2278,3867
$GC,5801,-0.66,-194.7,709.7,-14.0,972,5807,0.12,2.78,0.00,0.000,4,0.133,0.064,2653,3668,3868
$GC,5840,-0.66,-194.7,714.8,-12.3,975,5845,0.00,2.72,0.00,0.000,6,0.000,0.050,2653,2274,3868
$GC,6164,-0.66,-194.7,751.1,-11.0,1005,6169,0.00,2.85,0.00,0.000,4,0.000,0.069,2653,845,3868
$GC,6192,-0.66,-194.7,754.2,-11.6,1007,6196,0.00,2.78,0.00,0.000,6,0.000,0.048,2653,2282,3868
$GC,6516,-0.66,-194.7,790.3,-11.3,1037,6520,0.00,2.78,0.00,0.000,4,0.000,0.064,2653,3676,3867
$GC,6547,-0.66,-194.7,794.1,-11.5,1039,6554,0.00,2.75,0.00,0.000,6,0.000,0.049,2653,2263,3867
$GC,6872,-0.66,-194.7,832.0,-12.0,1070,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2264,3868
$GC,7191,-0.66,-194.7,867.0,-10.1,1100,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2263,3867
$GC,7509,-0.66,-194.7,898.9,-10.0,1130,7513,0.00,2.83,0.00,0.000,4,0.000,0.062,2653,3675,3867
$GC,7540,-0.66,-194.7,902.2,-10.5,1132,7547,0.00,2.75,0.00,0.000,6,0.000,0.049,2653,2281,3867
$GC,7866,-0.66,-194.7,936.8,-11.4,1163,7867,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2281,3866
$GC,8184,-0.66,-194.7,974.1,-11.7,1193,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2281,3867
$STATE,8331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8331,begin apogee
$GC,8335,-0.19,0.0,991.2,11.3,1207,8536,0.60,0.00,196.73,1.493,6,0.117,0.000,2756,2043,3071
$STATE,8537,end apogee,CONTROL_FINISHED_OK
$STATE,8537,begin climb
$GC,8539,0.82,194.7,1000.5,0.0,1227,8747,1.23,3.15,197.88,1.382,4,0.086,0.073,2972,647,2276
$GC,8848,0.67,194.7,974.6,13.4,1256,8853,0.17,2.90,0.00,0.000,6,0.139,0.044,2949,2058,2272
$GC,9172,0.55,194.7,938.9,10.7,1286,9177,0.15,2.90,0.00,0.000,4,0.138,0.059,2924,3465,2271
$GC,9238,0.50,194.7,932.0,10.5,1291,9245,0.00,2.83,0.00,0.000,6,0.000,0.051,2924,2079,2271
$GC,9564,0.47,209.6,902.1,9.5,1322,9586,0.12,3.00,14.90,1.381,4,0.130,0.071,2906,635,2217
$GC,9688,0.54,269.5,891.7,7.9,1333,9759,0.00,2.90,60.78,1.338,6,0.000,0.044,2906,2100,1971
$GC,10077,0.67,338.2,862.0,7.6,1370,10159,0.17,3.20,70.47,1.340,4,0.062,0.071,2943,638,1689
$GC,10226,0.67,338.2,844.5,12.5,1384,10230,0.00,2.97,0.00,0.000,6,0.000,0.044,2943,2107,1686
$GC,10550,0.62,338.2,802.3,12.9,1414,10554,0.00,2.75,0.00,0.000,4,0.000,0.058,2943,3462,1684
$GC,10570,0.58,338.2,799.5,13.2,1415,10577,0.00,2.75,0.00,0.000,6,0.000,0.050,2943,2100,1683
$GC,10896,0.53,338.2,757.4,12.9,1446,10898,0.17,0.00,0.00,0.000,6,0.118,0.000,2916,2099,1682
$GC,11216,0.61,366.1,727.6,9.0,1476,11250,0.00,3.10,27.38,1.401,4,0.000,0.071,2916,639,1578
$GC,11337,0.71,374.8,716.5,9.7,1487,11353,0.20,2.90,10.38,1.110,6,0.052,0.041,2959,2110,1542
$GC,11671,0.62,374.8,665.4,16.1,1518,11676,0.15,3.05,0.00,0.000,4,0.132,0.067,2933,632,1539
$GC,11759,0.62,374.8,654.4,10.6,1525,11766,0.00,2.88,0.00,0.000,6,0.000,0.041,2934,2108,1538
$GC,12085,0.62,374.8,618.8,11.1,1556,12089,0.00,2.67,0.00,0.000,4,0.000,0.053,2933,3462,1538
$GC,12106,0.62,374.8,616.3,11.2,1557,12113,0.00,2.67,0.00,0.000,6,0.000,0.045,2933,2099,1537
$GC,12438,0.62,374.8,581.2,10.2,1604,12444,0.00,2.90,0.00,0.000,4,0.000,0.063,2933,643,1537
$GC,12455,0.62,374.8,579.4,10.8,1607,12461,0.00,2.83,0.00,0.000,6,0.000,0.039,2933,2117,1537
$GC,12795,0.62,374.8,545.5,10.1,1668,12803,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2117,1537
$GC,13140,0.63,385.5,511.2,9.6,1729,13157,0.00,0.00,11.75,1.117,6,0.000,0.000,2933,2117,1498
$GC,13492,0.63,385.5,477.4,10.2,1792,13498,0.00,2.95,0.00,0.000,4,0.000,0.061,2933,642,1497
$GC,13510,0.63,385.5,475.5,10.5,1795,13516,0.00,2.80,0.00,0.000,6,0.000,0.038,2933,2112,1496
$GC,13850,0.63,385.5,440.1,10.6,1856,13856,0.00,2.62,0.00,0.000,4,0.000,0.049,2933,3466,1496
$GC,13873,0.68,385.5,437.5,10.9,1860,13881,0.00,2.67,0.00,0.000,6,0.000,0.043,2933,2102,1496
$GC,14218,0.68,385.5,399.5,10.3,1921,14224,0.00,2.90,0.00,0.000,4,0.000,0.062,2933,636,1496
$GC,14241,0.73,385.5,396.9,10.4,1925,14248,0.12,2.80,0.00,0.000,6,0.061,0.038,2962,2117,1496
$GC,14581,0.64,385.5,344.6,14.8,1986,14589,0.15,0.00,0.00,0.000,6,0.132,0.000,2937,2117,1496
$GC,14914,0.65,390.7,308.6,9.8,2047,14927,0.00,2.92,6.57,0.881,4,0.000,0.060,2937,642,1477
$GC,14940,0.66,399.8,306.0,9.7,2051,14959,0.00,2.80,10.75,0.980,6,0.000,0.038,2937,2118,1440
$GC,15282,0.68,413.9,273.6,9.5,2114,15303,0.00,0.00,15.40,1.059,6,0.000,0.000,2937,2118,1383
$GC,15630,0.68,415.8,240.5,9.9,2177,15636,0.00,2.97,0.00,0.000,4,0.000,0.061,2937,637,1380
$GC,15647,0.73,415.8,238.6,10.1,2180,15654,0.00,2.83,0.00,0.000,6,0.000,0.038,2937,2102,1380
$GC,15980,0.77,415.8,205.6,10.4,2241,15987,0.15,0.00,0.00,0.000,6,0.064,0.000,2972,2102,1380
$GC,16312,0.66,415.8,148.9,18.3,2302,16320,0.15,0.00,0.00,0.000,6,0.129,0.000,2947,2103,1380
$GC,16452,0.66,415.8,130.3,13.4,2327,16457,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2103,1380
$GC,16587,0.66,415.8,114.3,11.4,2352,16595,0.00,2.95,0.00,0.000,4,0.000,0.062,2947,642,1380
$GC,16608,0.66,415.8,112.0,12.0,2355,16614,0.00,2.78,0.00,0.000,6,0.000,0.038,2947,2101,1379
$GC,16745,0.66,415.8,98.7,10.5,2380,16753,0.00,2.67,0.00,0.000,4,0.000,0.050,2947,3465,1380
$GC,16766,0.66,415.8,96.1,12.7,2383,16772,0.00,2.70,0.00,0.000,6,0.000,0.044,2947,2071,1379
$GC,16901,0.73,467.0,79.0,8.2,2408,16961,0.00,3.00,53.40,1.010,4,0.000,0.064,2947,642,1167
$GC,16974,0.73,467.0,69.0,15.2,2419,16980,0.00,2.88,0.00,0.000,6,0.000,0.037,2947,2112,1165
$GC,17110,0.77,467.0,52.4,12.6,2444,17117,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2114,1163
$GC,17245,0.77,467.0,37.7,12.2,2469,17252,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2114,1162
$GC,17379,0.82,467.0,19.0,13.9,2494,17387,0.15,3.03,0.00,0.000,4,0.060,0.061,2983,638,1161
$GC,17394,0.82,467.0,17.5,10.1,2496,17402,0.00,2.85,0.00,0.000,6,0.000,0.038,2983,2100,1160
$STATE,17465,end climb,SURFACE_DEPTH_REACHED
$STATE,17465,begin surface coast
$FINISH,0.5,1.027329
$STATE,17473,end surface coast,CONTROL_FINISHED_OK
$STATE,17473,begin surface
$SM_CCo,17548,0.00,0.000,0,0,1158,469.26
$SM_GC,0.19,7.40,0.00,0.00,0.040,0.000,0.000,1466,2274,1158,-6.09,0.40,469.26
$IRIDIUM_FIX,5833.68,-1920.16,040797,151516
$TT8_MAMPS,0.021476
$HUMID,1650
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,12.30
$XPDR_PINGS,351
$24V_AH,19.9,19.123
$10V_AH,9.8,11.177
$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,21.525,170.900,676.375,0.000,0.000,57.419,68.268,430.804,87.750,0.000,0.000,14.905,3822.347,7269.609,806.497,5520.445,843.632,0.000,2846.913,0.000,5537.935,0.000,0.468
$DEVICE_MAMPS,253.877,72.865,1492.582,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1817.285,1827.701,1114.684,1011.800,2635.751,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,189851,2510
$CAP_FILE_SIZE,209998,0
$CFSIZE,260165632,254500864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090408,200108,5854.263,-1933.617,39,2.0,51,-13.7