version: 66.03
glider: 143
mission: 4
dive: 44
start: 4 12 108 17 49 27
data:
$ID,143
$MISSION,4
$DIVE,44
$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,-4840.4131
$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,14
$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
$GPS1,174138,5853.907,-2125.267,25,1.2,25,-14.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-43.4
$GPS2,174908,5854.028,-2125.346,11,1.7,11,-14.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5901.664,-2121.416
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.82,-194.7,0.0,0.0,0,143,0.00,0.00,-115.72,0.000,2,0.000,0.000,1464,2265,3511
$GC,146,-0.82,-194.7,3.3,-5.3,16,169,10.12,0.00,-7.95,0.000,6,0.260,0.000,2612,2265,3867
$GC,296,-0.70,-194.7,34.7,-18.2,43,304,0.17,2.88,0.00,0.000,4,0.151,0.054,2639,846,3867
$GC,322,-0.64,-194.7,39.3,-17.1,47,329,0.00,2.80,0.00,0.000,6,0.000,0.044,2640,2257,3867
$GC,456,-0.59,-194.7,60.0,-15.2,72,464,0.17,2.88,0.00,0.000,4,0.144,0.057,2667,3673,3867
$GC,488,-0.59,-194.7,64.2,-13.7,77,494,0.00,2.75,0.00,0.000,6,0.000,0.040,2667,2262,3867
$GC,687,-0.59,-194.7,87.7,-10.9,114,695,0.00,2.83,0.00,0.000,4,0.000,0.056,2667,850,3867
$GC,719,-0.65,-194.7,91.1,-11.0,119,725,0.00,2.78,0.00,0.000,6,0.000,0.044,2667,2275,3867
$GC,919,-0.65,-194.7,113.4,-11.3,156,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2275,3867
$GC,1123,-0.65,-194.7,136.1,-11.4,193,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2275,3867
$GC,1321,-0.65,-194.7,159.9,-12.3,230,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2275,3867
$GC,1654,-0.65,-194.7,198.6,-11.2,291,1661,0.00,2.80,0.00,0.000,4,0.000,0.054,2668,851,3867
$GC,1679,-0.69,-194.7,201.4,-11.8,295,1686,0.45,2.72,0.00,0.000,6,0.041,0.044,2637,2263,3867
$GC,2009,-0.49,-194.7,269.5,-21.1,356,2017,0.43,2.83,0.00,0.000,4,0.140,0.062,2640,3674,3867
$GC,2064,-0.49,-194.7,278.0,-13.6,365,2071,0.30,2.72,0.00,0.000,6,0.134,0.041,2687,2260,3867
$GC,2394,-0.57,-194.7,308.9,-9.2,426,2402,0.00,2.78,0.00,0.000,4,0.000,0.054,2688,852,3867
$GC,2426,-0.69,-194.7,311.6,-9.1,431,2433,0.20,2.72,0.00,0.000,6,0.049,0.041,2642,2275,3867
$GC,2756,-0.69,-194.7,355.5,-13.2,492,2764,0.00,2.75,0.00,0.000,4,0.000,0.054,2642,3666,3867
$GC,2798,-0.69,-194.7,361.0,-14.1,499,2804,0.00,2.70,0.00,0.000,6,0.000,0.041,2642,2263,3867
$GC,3137,-0.69,-194.7,406.2,-13.3,560,3144,0.00,2.72,0.00,0.000,4,0.000,0.055,2642,855,3867
$GC,3162,-0.69,-194.7,409.3,-13.1,564,3169,0.00,2.72,0.00,0.000,6,0.000,0.043,2642,2259,3867
$GC,3505,-0.69,-194.7,452.9,-13.4,625,3512,0.00,2.75,0.00,0.000,4,0.000,0.054,2641,3673,3867
$GC,3530,-0.69,-194.7,456.4,-14.4,629,3536,0.00,2.72,0.00,0.000,6,0.000,0.042,2641,2257,3867
$GC,3870,-0.69,-194.7,503.9,-13.0,690,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2254,3867
$GC,4211,-0.69,-194.7,548.4,-13.2,751,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2254,3867
$GC,4549,-0.69,-194.7,591.2,-12.1,812,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2254,3867
$GC,4882,-0.69,-194.7,632.6,-12.8,850,4886,0.00,2.83,0.00,0.000,4,0.000,0.061,2641,3673,3867
$GC,4924,-0.69,-194.7,638.2,-12.4,853,4931,0.00,2.75,0.00,0.000,6,0.000,0.049,2641,2279,3867
$GC,5250,-0.69,-194.7,681.1,-13.7,884,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2279,3866
$GC,5568,-0.69,-194.7,721.9,-11.5,914,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2279,3867
$GC,5886,-0.69,-194.7,759.9,-12.8,944,5891,0.00,2.90,0.00,0.000,4,0.000,0.075,2641,849,3866
$GC,5913,-0.69,-194.7,763.3,-13.0,946,5917,0.00,2.78,0.00,0.000,6,0.000,0.051,2641,2275,3866
$GC,6239,-0.69,-194.7,804.0,-12.1,976,6243,0.00,2.80,0.00,0.000,4,0.000,0.066,2641,3671,3866
$GC,6266,-0.69,-194.7,807.7,-12.8,978,6270,0.00,2.75,0.00,0.000,6,0.000,0.053,2641,2269,3866
$GC,6590,-0.69,-194.7,845.9,-11.8,1008,6595,0.00,2.85,0.00,0.000,4,0.000,0.070,2642,848,3865
$GC,6617,-0.69,-194.7,849.3,-12.4,1010,6622,0.00,2.78,0.00,0.000,6,0.000,0.049,2641,2276,3865
$GC,6942,-0.69,-194.7,887.7,-12.0,1040,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2276,3864
$GC,7259,-0.69,-194.7,925.8,-12.0,1070,7261,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2276,3864
$GC,7578,-0.69,-194.7,964.6,-12.0,1100,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2278,3864
$STATE,7789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7789,begin apogee
$GC,7793,-0.19,0.0,990.1,12.0,1120,7993,0.68,0.00,195.57,1.496,6,0.130,0.000,2754,2038,3071
$STATE,7993,end apogee,CONTROL_FINISHED_OK
$STATE,7993,begin climb
$GC,7995,0.82,194.7,998.7,0.0,1140,8209,1.25,3.20,200.77,1.401,4,0.087,0.071,2973,656,2276
$GC,8282,0.66,194.7,975.5,12.9,1167,8289,0.17,2.92,0.00,0.000,6,0.143,0.044,2950,2051,2273
$GC,8606,0.55,194.7,938.3,11.7,1198,8612,0.15,2.95,0.00,0.000,4,0.142,0.060,2925,3468,2271
$GC,8684,0.49,194.7,929.9,10.6,1204,8690,0.00,2.83,0.00,0.000,6,0.000,0.049,2926,2081,2270
$GC,9009,0.48,222.0,899.3,9.1,1235,9044,0.12,2.92,27.38,1.446,4,0.133,0.058,2908,3456,2164
$GC,9088,0.53,266.4,892.4,8.5,1242,9140,0.00,2.80,45.70,1.336,6,0.000,0.049,2912,2090,1984
$GC,9459,0.60,324.5,863.1,8.0,1277,9524,0.00,2.95,59.30,1.368,4,0.000,0.058,2908,3462,1748
$GC,9562,0.69,341.0,854.4,9.4,1286,9590,0.22,2.80,19.05,1.266,6,0.061,0.049,2952,2115,1679
$GC,9907,0.63,341.0,806.7,14.9,1319,9912,0.00,2.78,0.00,0.000,4,0.000,0.058,2952,3462,1673
$GC,9928,0.57,341.0,803.3,14.9,1320,9936,0.17,2.70,0.00,0.000,6,0.123,0.049,2926,2128,1672
$GC,10253,0.57,341.0,768.7,10.2,1351,10254,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2128,1672
$GC,10572,0.59,356.2,736.8,9.5,1381,10594,0.00,2.75,14.52,1.343,4,0.000,0.058,2925,3467,1619
$GC,10605,0.33,372.0,733.5,9.5,1384,10630,0.32,2.67,18.05,1.208,6,0.112,0.048,2877,2136,1553
$GC,10955,0.69,384.3,703.9,9.6,1417,10977,0.38,2.75,13.60,1.335,4,0.081,0.057,2940,3469,1504
$GC,11281,1.10,429.2,675.1,8.5,1446,11336,0.52,2.62,47.90,1.268,6,0.074,0.046,3041,2144,1320
$GC,11658,0.82,429.2,577.9,28.2,1488,11667,0.38,3.10,0.00,0.000,4,0.160,0.064,2984,642,1313
$GC,11712,0.75,429.2,566.6,16.2,1497,11719,0.00,2.95,0.00,0.000,6,0.000,0.044,2984,2147,1312
$GC,12054,0.61,429.2,504.3,19.8,1558,12060,0.28,0.00,0.00,0.000,6,0.143,0.000,2939,2147,1311
$GC,12394,0.61,429.2,464.4,10.6,1619,12401,0.00,3.08,0.00,0.000,4,0.000,0.064,2939,634,1311
$GC,12417,0.61,429.2,461.8,11.4,1623,12424,0.00,2.90,0.00,0.000,6,0.000,0.040,2956,2148,1310
$GC,12759,0.61,429.2,425.7,10.6,1684,12766,0.12,3.05,0.00,0.000,4,0.119,0.064,2919,643,1310
$GC,12778,0.67,429.2,423.6,11.0,1687,12784,0.00,2.85,0.00,0.000,6,0.000,0.040,2932,2128,1310
$GC,13120,0.85,487.1,395.6,8.0,1748,13182,0.22,0.00,58.47,1.108,6,0.051,0.000,2987,2129,1084
$GC,13517,0.75,487.1,324.1,18.7,1819,13524,0.15,3.05,0.00,0.000,4,0.136,0.063,2955,642,1078
$GC,13553,0.75,487.1,317.7,15.1,1825,13559,0.00,2.88,0.00,0.000,6,0.000,0.040,2983,2126,1076
$GC,13884,0.75,487.1,274.8,13.5,1886,13892,0.15,0.00,0.00,0.000,6,0.118,0.000,2960,2126,1076
$GC,14218,0.97,569.7,248.9,7.1,1947,14308,0.22,3.15,83.10,0.970,4,0.048,0.064,2984,635,746
$GC,14343,0.97,569.7,228.5,17.6,1967,14349,0.00,2.92,0.00,0.000,6,0.000,0.038,2998,2108,744
$GC,14674,0.86,569.7,159.9,22.8,2028,14681,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2108,741
$GC,15006,0.76,569.7,91.3,21.7,2089,15013,0.15,3.00,0.00,0.000,4,0.134,0.064,2959,636,740
$GC,15053,0.81,569.7,83.9,12.9,2097,15060,0.00,2.80,0.00,0.000,6,0.000,0.038,2975,2099,739
$GC,15254,0.85,569.7,59.7,11.6,2134,15262,0.12,0.00,0.00,0.000,6,0.068,0.000,2986,2099,739
$GC,15454,0.75,569.7,18.5,24.1,2171,15462,0.12,2.97,0.00,0.000,4,0.135,0.064,2969,644,738
$GC,15485,0.75,569.7,13.2,17.3,2176,15493,0.00,2.75,0.00,0.000,6,0.000,0.038,2968,2065,738
$STATE,15561,end climb,SURFACE_DEPTH_REACHED
$STATE,15561,begin surface coast
$FINISH,0.2,1.027304
$STATE,15573,end surface coast,CONTROL_FINISHED_OK
$STATE,15573,begin surface
$SM_CCo,15648,0.00,0.000,0,0,737,572.28
$SM_GC,0.85,7.30,0.00,0.00,0.041,0.000,0.000,1467,2269,737,-6.09,0.25,572.28
$IRIDIUM_FIX,5829.55,-2115.68,070797,131322
$TT8_MAMPS,0.021476
$HUMID,1662
$INTERNAL_PRESSURE,8.10578
$TCM_TEMP,12.30
$XPDR_PINGS,238
$24V_AH,19.6,23.603
$10V_AH,9.7,14.933
$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,25.075,154.225,783.425,0.000,0.000,23.795,31.996,276.200,59.500,0.000,0.000,13.003,3319.112,6537.171,836.149,4802.521,578.735,0.000,2660.532,0.000,4810.552,0.000,0.469
$DEVICE_MAMPS,260.013,75.166,1495.650,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1623.095,1566.463,963.957,860.894,2225.697,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,164770,2192
$CAP_FILE_SIZE,181058,0
$CFSIZE,260165632,252813312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120408,221126,5859.359,-2123.324,37,1.5,37,-14.7