version: 66.03
glider: 143
mission: 4
dive: 46
start: 4 13 108 3 15 4
data:
$ID,143
$MISSION,4
$DIVE,46
$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,45
$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,-4869.8218
$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
$GPS1,030338,5905.275,-2124.010,34,1.0,34,-14.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-46.5
$GPS2,031445,5905.428,-2124.302,12,1.3,12,-14.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5913.064,-2120.394
$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,59.7,20000,-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,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,-115.50,0.000,2,0.000,0.000,1466,2268,3639
$GC,145,-0.82,-194.7,3.9,-7.4,16,169,9.60,2.92,-4.72,0.000,4,0.246,0.068,2610,845,3868
$GC,181,-0.31,-194.7,16.4,-33.7,21,190,0.70,2.83,0.00,0.000,6,0.140,0.048,2724,2253,3869
$GC,318,-0.48,-194.7,28.0,-7.4,46,326,0.15,0.00,0.00,0.000,6,0.051,0.000,2685,2253,3869
$GC,452,-0.55,-194.7,41.4,-9.0,71,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2253,3869
$GC,586,-0.62,-194.7,60.5,-15.7,96,594,0.00,2.85,0.00,0.000,4,0.000,0.054,2685,3675,3869
$GC,618,-0.73,-194.7,65.1,-15.9,101,625,0.22,2.78,0.00,0.000,6,0.046,0.040,2636,2241,3869
$GC,819,-0.67,-194.7,96.7,-15.6,138,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2240,3869
$GC,1023,-0.62,-194.7,126.5,-14.6,175,1028,0.15,0.00,0.00,0.000,6,0.140,0.000,2660,2240,3869
$GC,1221,-0.62,-194.7,151.2,-10.7,212,1230,0.00,2.90,0.00,0.000,4,0.000,0.057,2658,3678,3870
$GC,1253,-0.62,-194.7,154.6,-11.7,217,1259,0.00,2.72,0.00,0.000,6,0.000,0.040,2658,2261,3869
$GC,1583,-0.62,-194.7,192.8,-13.2,278,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2258,3869
$GC,1916,-0.62,-194.7,233.5,-13.4,339,1923,0.00,2.80,0.00,0.000,4,0.000,0.056,2658,3676,3870
$GC,1944,-0.62,-194.7,237.6,-13.5,344,1952,0.00,2.72,0.00,0.000,6,0.000,0.041,2658,2273,3870
$GC,2278,-0.62,-194.7,281.4,-12.1,405,2284,0.00,2.75,0.00,0.000,4,0.000,0.053,2658,853,3869
$GC,2302,-0.62,-194.7,284.4,-12.0,409,2309,0.00,2.75,0.00,0.000,6,0.000,0.045,2658,2278,3869
$GC,2633,-0.62,-194.7,323.3,-11.3,470,2640,0.00,2.75,0.00,0.000,4,0.000,0.054,2658,3670,3869
$GC,2674,-0.62,-194.7,328.0,-10.8,477,2681,0.00,2.67,0.00,0.000,6,0.000,0.040,2659,2270,3869
$GC,3008,-0.62,-194.7,365.9,-11.4,538,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2266,3869
$GC,3349,-0.62,-194.7,406.9,-12.1,599,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2266,3869
$GC,3688,-0.62,-194.7,445.2,-11.2,660,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2266,3869
$GC,4031,-0.62,-194.7,482.5,-11.5,721,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2266,3869
$GC,4369,-0.62,-194.7,521.8,-12.2,782,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2266,3869
$GC,4708,-0.62,-194.7,561.5,-10.7,843,4715,0.00,2.80,0.00,0.000,4,0.000,0.056,2658,3673,3869
$GC,4743,-0.62,-194.7,565.4,-11.4,849,4750,0.00,2.70,0.00,0.000,6,0.000,0.042,2658,2279,3869
$GC,5082,-0.62,-194.7,602.7,-11.3,908,5087,0.00,2.80,0.00,0.000,4,0.000,0.061,2658,849,3870
$GC,5126,-0.69,-194.7,607.5,-10.8,911,5133,0.00,2.75,0.00,0.000,6,0.000,0.044,2658,2282,3869
$GC,5451,-0.69,-194.7,642.0,-10.2,942,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2282,3869
$GC,5769,-0.69,-194.7,676.0,-11.0,972,5773,0.00,2.78,0.00,0.000,4,0.000,0.064,2658,3676,3869
$GC,5801,-0.73,-194.7,679.7,-11.5,974,5807,0.00,2.75,0.00,0.000,6,0.000,0.050,2659,2270,3869
$GC,6126,-0.73,-194.7,714.7,-10.3,1005,6130,0.00,2.85,0.00,0.000,4,0.000,0.071,2660,849,3869
$GC,6158,-0.78,-194.7,718.1,-10.6,1007,6165,0.15,2.75,0.00,0.000,6,0.058,0.049,2625,2271,3868
$GC,6482,-0.73,-194.7,761.7,-14.0,1038,6487,0.00,2.80,0.00,0.000,4,0.000,0.064,2625,3675,3868
$GC,6521,-0.73,-194.7,767.3,-14.7,1041,6525,0.00,2.78,0.00,0.000,6,0.000,0.052,2624,2263,3869
$GC,6846,-0.68,-194.7,813.2,-14.1,1071,6848,0.15,0.00,0.00,0.000,6,0.138,0.000,2646,2263,3868
$GC,7164,-0.68,-194.7,851.8,-11.9,1101,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2262,3868
$GC,7482,-0.68,-194.7,889.9,-11.8,1131,7486,0.00,2.80,0.00,0.000,4,0.000,0.063,2646,3669,3867
$GC,7502,-0.68,-194.7,892.5,-12.3,1132,7509,0.00,2.78,0.00,0.000,6,0.000,0.051,2646,2271,3867
$GC,7827,-0.68,-194.7,929.4,-11.5,1163,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2271,3867
$GC,8145,-0.68,-194.7,964.4,-11.1,1193,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2271,3866
$STATE,8367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8367,begin apogee
$GC,8371,-0.19,0.0,990.8,12.4,1214,8571,0.62,0.00,195.50,1.477,6,0.119,0.000,2754,2035,3071
$STATE,8571,end apogee,CONTROL_FINISHED_OK
$STATE,8571,begin climb
$GC,8573,0.82,194.7,1001.7,0.0,1234,8787,1.25,3.20,200.05,1.393,4,0.086,0.071,2974,648,2275
$GC,8882,0.67,194.7,978.6,12.2,1263,8889,0.17,2.92,0.00,0.000,6,0.138,0.044,2950,2058,2272
$GC,9206,0.55,194.7,940.4,12.0,1294,9212,0.15,2.90,0.00,0.000,4,0.140,0.060,2926,3462,2271
$GC,9284,0.49,196.4,932.3,9.9,1300,9291,0.00,2.83,0.00,0.000,6,0.000,0.049,2926,2075,2270
$GC,9609,0.44,196.4,900.8,10.2,1331,9614,0.15,2.85,0.00,0.000,4,0.129,0.058,2900,3467,2269
$GC,9664,0.49,235.7,895.7,8.6,1335,9712,0.00,2.78,40.80,1.419,6,0.000,0.051,2901,2087,2109
$GC,10029,0.57,306.0,867.7,7.6,1370,10111,0.12,3.12,70.72,1.360,4,0.071,0.071,2923,640,1822
$GC,10178,0.58,313.8,852.9,9.7,1384,10193,0.00,3.00,9.18,1.205,6,0.000,0.044,2923,2121,1790
$GC,10512,0.59,315.7,818.9,9.9,1415,10517,0.00,3.12,0.00,0.000,4,0.000,0.071,2924,634,1787
$GC,10600,0.59,315.8,809.9,10.0,1422,10607,0.00,2.95,0.00,0.000,6,0.000,0.045,2924,2126,1786
$GC,10926,0.60,324.5,778.5,9.7,1453,10947,0.00,2.72,11.60,1.300,4,0.000,0.058,2923,3471,1747
$GC,10969,0.60,324.5,773.8,10.6,1457,10973,0.00,2.72,0.00,0.000,6,0.000,0.050,2927,2118,1746
$GC,11293,0.60,324.5,738.6,11.0,1487,11294,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2118,1746
$GC,11612,0.61,335.1,706.3,9.6,1517,11634,0.00,2.78,12.55,1.295,4,0.000,0.057,2925,3465,1703
$GC,11656,0.63,350.4,701.8,9.5,1521,11678,0.00,2.70,16.50,1.178,6,0.000,0.049,2932,2118,1642
$GC,11995,0.63,350.4,667.3,10.2,1553,12000,0.00,3.03,0.00,0.000,4,0.000,0.068,2924,640,1639
$GC,12010,0.63,350.4,665.6,10.8,1554,12015,0.00,2.92,0.00,0.000,6,0.000,0.041,2923,2139,1639
$GC,12335,0.63,350.4,632.0,10.4,1584,12339,0.00,2.65,0.00,0.000,4,0.000,0.054,2924,3471,1638
$GC,12355,0.67,350.4,629.7,10.7,1585,12363,0.12,2.65,0.00,0.000,6,0.064,0.045,2951,2127,1637
$GC,12685,0.63,350.4,587.7,13.1,1624,12691,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2126,1637
$GC,13025,0.59,350.4,543.2,12.7,1685,13031,0.15,0.00,0.00,0.000,6,0.122,0.000,2928,2126,1637
$GC,13367,0.61,369.7,509.9,9.3,1746,13396,0.00,2.72,19.27,1.203,4,0.000,0.051,2928,3465,1564
$GC,13409,0.63,389.7,506.1,9.3,1753,13437,0.00,2.65,21.67,1.071,6,0.000,0.044,2928,2120,1482
$GC,13773,0.74,434.3,474.6,8.5,1818,13826,0.15,3.08,45.15,1.122,4,0.064,0.064,2963,640,1300
$GC,13853,0.74,434.3,464.4,13.1,1832,13860,0.00,2.97,0.00,0.000,6,0.000,0.039,2964,2144,1298
$GC,14194,0.69,434.3,415.1,14.7,1893,14201,0.00,3.08,0.00,0.000,4,0.000,0.063,2963,634,1294
$GC,14222,0.64,434.3,411.4,15.4,1897,14228,0.15,2.90,0.00,0.000,6,0.114,0.038,2940,2131,1294
$GC,14562,0.64,434.3,371.9,11.4,1958,14568,0.00,3.03,0.00,0.000,4,0.000,0.062,2939,635,1293
$GC,14585,0.68,434.3,369.1,12.4,1962,14592,0.00,2.83,0.00,0.000,6,0.000,0.038,2940,2115,1293
$GC,14923,0.68,434.3,329.5,10.7,2023,14929,0.00,2.97,0.00,0.000,4,0.000,0.061,2940,637,1293
$GC,14936,0.68,434.3,327.9,11.1,2025,14943,0.00,2.78,0.00,0.000,6,0.000,0.037,2939,2096,1292
$GC,15267,0.73,434.3,291.8,12.2,2086,15274,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2096,1292
$GC,15600,0.77,434.3,254.6,10.2,2147,15607,0.15,2.92,0.00,0.000,4,0.063,0.062,2974,640,1292
$GC,15637,0.77,434.3,250.0,13.6,2153,15643,0.00,2.75,0.00,0.000,6,0.000,0.038,2974,2084,1292
$GC,15968,0.68,434.3,193.6,17.6,2214,15976,0.15,2.70,0.00,0.000,4,0.128,0.050,2948,3455,1292
$GC,16003,0.68,434.3,188.2,13.8,2220,16011,0.00,2.70,0.00,0.000,6,0.000,0.043,2949,2077,1291
$GC,16339,0.68,434.3,148.5,12.6,2281,16345,0.00,2.85,0.00,0.000,4,0.000,0.062,2948,643,1290
$GC,16375,0.75,434.3,144.2,11.5,2287,16381,0.00,2.72,0.00,0.000,6,0.000,0.038,2948,2079,1291
$GC,16575,0.75,434.3,120.9,12.0,2324,16582,0.00,2.70,0.00,0.000,4,0.000,0.051,2948,3453,1291
$GC,16607,0.80,434.3,117.3,12.4,2329,16613,0.12,2.67,0.00,0.000,6,0.068,0.044,2978,2075,1291
$GC,16806,0.71,434.3,86.1,15.1,2366,16816,0.12,2.88,0.00,0.000,4,0.134,0.063,2957,641,1291
$GC,16830,0.66,434.3,82.9,14.4,2369,16836,0.00,2.75,0.00,0.000,6,0.000,0.038,2957,2091,1291
$GC,17029,0.66,434.3,56.9,13.3,2406,17037,0.00,2.70,0.00,0.000,4,0.000,0.050,2957,3465,1291
$GC,17042,0.66,434.3,55.0,13.7,2408,17050,0.00,2.70,0.00,0.000,6,0.000,0.042,2957,2079,1291
$GC,17241,0.67,438.4,29.4,9.9,2445,17249,0.00,2.88,0.00,0.000,4,0.000,0.062,2958,639,1291
$GC,17267,0.67,438.4,25.6,13.4,2449,17275,0.00,2.75,0.00,0.000,6,0.000,0.038,2958,2080,1291
$GC,17401,0.67,438.4,8.0,17.2,2474,17409,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2080,1291
$STATE,17445,end climb,SURFACE_DEPTH_REACHED
$STATE,17445,begin surface coast
$FINISH,0.2,1.027293
$STATE,17463,end surface coast,CONTROL_FINISHED_OK
$STATE,17463,begin surface
$SM_CCo,17537,0.00,0.000,0,0,1290,436.88
$SM_GC,0.73,7.15,0.00,0.00,0.038,0.000,0.000,1463,2271,1290,-6.10,0.34,436.88
$IRIDIUM_FIX,5841.97,-2120.88,080797,030321
$TT8_MAMPS,0.021476
$HUMID,1655
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,12.60
$XPDR_PINGS,347
$24V_AH,19.7,24.183
$10V_AH,9.8,15.442
$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,21.875,187.100,643.000,0.000,0.000,58.456,78.157,346.682,86.750,0.000,0.000,13.804,3780.640,7379.973,799.227,5445.918,774.649,0.000,2800.779,0.000,5463.548,0.000,0.468
$DEVICE_MAMPS,246.207,71.331,1477.242,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1808.173,1808.115,1094.626,1020.772,2615.202,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,186720,2485
$CAP_FILE_SIZE,206174,0
$CFSIZE,260165632,252530688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130408,080837,5910.348,-2124.757,37,1.4,42,-14.8