version: 66.03
glider: 143
mission: 4
dive: 50
start: 4 13 108 23 13 52
data:
$ID,143
$MISSION,4
$DIVE,50
$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,-4931.4868
$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,28
$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
$GPS1,230558,5921.872,-2122.625,29,99.0,48,-14.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-55.7
$GPS2,231333,5921.877,-2122.638,11,1.2,11,-14.9
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5929.513,-2118.761
$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,59.9,20000,-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,-194.7,0.0,0.0,0,115,0.00,0.00,-87.55,0.000,2,0.000,0.000,1465,2281,3572
$GC,117,-0.82,-194.7,3.4,-7.0,12,141,9.90,2.88,-6.68,0.000,4,0.253,0.065,2612,845,3866
$GC,330,-0.76,-194.7,42.9,-17.9,51,339,0.10,2.80,0.00,0.000,6,0.141,0.048,2629,2250,3866
$GC,468,-0.69,-194.7,66.0,-16.2,76,476,0.12,2.90,0.00,0.000,4,0.146,0.058,2646,3681,3867
$GC,505,-0.69,-194.7,71.5,-14.8,82,512,0.00,2.78,0.00,0.000,6,0.000,0.040,2646,2265,3867
$GC,708,-0.69,-194.7,99.3,-14.3,119,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2263,3867
$GC,906,-0.69,-194.7,127.0,-13.9,156,914,0.00,2.80,0.00,0.000,4,0.000,0.055,2646,853,3867
$GC,938,-0.69,-194.7,131.2,-14.1,161,944,0.00,2.78,0.00,0.000,6,0.000,0.044,2646,2283,3867
$GC,1138,-0.69,-194.7,158.7,-13.4,198,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2284,3867
$GC,1472,-0.69,-194.7,201.9,-13.0,259,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2284,3867
$GC,1799,-0.69,-194.7,245.7,-13.4,320,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2284,3867
$GC,2132,-0.69,-194.7,291.8,-13.9,381,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2284,3866
$GC,2460,-0.69,-194.7,338.0,-14.1,442,2468,0.00,2.83,0.00,0.000,4,0.000,0.055,2646,858,3867
$GC,2492,-0.69,-194.7,342.1,-14.2,447,2498,0.00,2.72,0.00,0.000,6,0.000,0.044,2646,2281,3867
$GC,2832,-0.69,-194.7,387.7,-13.4,508,2838,0.00,2.72,0.00,0.000,4,0.000,0.053,2646,3677,3867
$GC,2854,-0.69,-194.7,390.8,-13.7,512,2860,0.00,2.70,0.00,0.000,6,0.000,0.041,2646,2262,3867
$GC,3194,-0.69,-194.7,435.9,-13.2,573,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2258,3866
$GC,3537,-0.69,-194.7,480.9,-13.2,634,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2258,3867
$GC,3877,-0.69,-194.7,525.0,-12.8,695,3883,0.00,2.78,0.00,0.000,4,0.000,0.054,2646,3679,3866
$GC,3906,-0.69,-194.7,528.5,-13.2,700,3913,0.00,2.70,0.00,0.000,6,0.000,0.041,2646,2262,3867
$GC,4247,-0.69,-194.7,570.0,-11.7,761,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2261,3867
$GC,4583,-0.69,-194.7,610.9,-12.1,814,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2261,3867
$GC,4903,-0.69,-194.7,648.6,-11.8,844,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2261,3867
$GC,5220,-0.69,-194.7,686.2,-12.1,874,5224,0.00,2.83,0.00,0.000,4,0.000,0.063,2646,3672,3867
$GC,5247,-0.69,-194.7,689.6,-12.9,876,5251,0.00,2.72,0.00,0.000,6,0.000,0.051,2646,2280,3867
$GC,5571,-0.69,-194.7,728.5,-11.9,906,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2280,3867
$GC,5889,-0.69,-194.7,767.0,-12.4,936,5894,0.00,2.80,0.00,0.000,4,0.000,0.064,2646,3672,3867
$GC,5917,-0.69,-194.7,770.5,-13.3,938,5921,0.00,2.75,0.00,0.000,6,0.000,0.054,2646,2277,3867
$GC,6241,-0.69,-194.7,810.9,-12.6,968,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2277,3866
$GC,6559,-0.69,-194.7,852.7,-13.2,998,6564,0.00,2.80,0.00,0.000,4,0.000,0.064,2646,3670,3866
$GC,6590,-0.69,-194.7,857.1,-13.7,1000,6597,0.00,2.75,0.00,0.000,6,0.000,0.051,2646,2286,3866
$GC,6916,-0.69,-194.7,896.1,-11.4,1031,6921,0.00,2.88,0.00,0.000,4,0.000,0.069,2646,848,3866
$GC,6938,-0.69,-194.7,898.6,-11.1,1032,6944,0.00,2.80,0.00,0.000,6,0.000,0.049,2646,2294,3866
$GC,7264,-0.69,-194.7,934.1,-11.0,1063,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2294,3865
$GC,7580,-0.69,-194.7,969.5,-11.2,1093,7584,0.00,2.75,0.00,0.000,4,0.000,0.065,2646,3670,3865
$GC,7607,-0.69,-194.7,972.6,-12.4,1095,7611,0.00,2.72,0.00,0.000,6,0.000,0.051,2646,2279,3865
$STATE,7759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7759,begin apogee
$GC,7763,-0.19,0.0,990.0,11.1,1109,7963,0.62,0.00,194.95,1.452,6,0.118,0.000,2754,2041,3071
$STATE,7963,end apogee,CONTROL_FINISHED_OK
$STATE,7964,begin climb
$GC,7965,0.82,194.7,998.6,0.0,1129,8174,1.23,3.15,199.07,1.378,4,0.086,0.057,2970,3459,2278
$GC,8277,0.67,194.7,972.0,12.8,1158,8283,0.15,2.97,0.00,0.000,6,0.146,0.052,2951,2060,2275
$GC,8603,0.55,194.7,934.4,11.8,1188,8608,0.17,3.00,0.00,0.000,4,0.133,0.071,2922,632,2272
$GC,8735,0.51,194.7,921.3,10.3,1199,8739,0.00,2.85,0.00,0.000,6,0.000,0.044,2922,2068,2272
$GC,9061,0.47,199.2,890.2,9.8,1229,9073,0.00,2.83,5.38,1.035,4,0.000,0.058,2922,3464,2257
$GC,9145,0.43,199.2,880.9,10.8,1236,9152,0.17,2.78,0.00,0.000,6,0.129,0.050,2896,2082,2257
$GC,9470,0.55,298.1,857.0,6.6,1267,9575,0.12,2.95,98.88,1.353,4,0.071,0.057,2959,3461,1855
$GC,9609,0.55,301.8,844.7,9.9,1280,9621,0.00,2.85,4.85,0.937,6,0.000,0.050,2920,2090,1840
$GC,9938,0.57,316.1,814.7,9.5,1311,9960,0.00,2.85,15.52,1.368,4,0.000,0.057,2945,3465,1781
$GC,9982,0.58,325.7,810.3,9.7,1315,10003,0.00,2.78,11.32,1.131,6,0.000,0.050,2920,2106,1743
$GC,10320,0.60,339.6,777.4,9.5,1347,10342,0.00,2.80,16.08,1.347,4,0.000,0.056,2985,3461,1686
$GC,10354,0.19,356.9,774.2,9.4,1350,10379,0.45,2.72,17.98,1.180,6,0.100,0.050,2844,2125,1617
$GC,10704,0.53,356.9,737.8,11.4,1383,10706,0.38,0.00,0.00,0.000,6,0.067,0.000,2915,2124,1613
$GC,11023,0.94,400.0,709.0,8.5,1413,11076,0.45,3.15,45.08,1.278,4,0.091,0.069,2999,638,1439
$GC,11133,0.85,400.0,694.9,16.1,1423,11138,0.00,3.00,0.00,0.000,6,0.000,0.044,2999,2137,1436
$GC,11458,0.67,400.0,626.2,21.8,1453,11463,0.30,2.65,0.00,0.000,4,0.143,0.052,2952,3461,1434
$GC,11490,0.60,400.0,619.7,18.3,1455,11497,0.00,2.65,0.00,0.000,6,0.000,0.046,2951,2128,1433
$GC,11824,0.60,400.0,572.3,12.7,1503,11831,0.00,3.03,0.00,0.000,4,0.000,0.065,2952,632,1432
$GC,11849,0.60,400.0,568.9,13.3,1507,11855,0.00,2.92,0.00,0.000,6,0.000,0.040,2951,2147,1431
$GC,12189,0.60,400.0,519.8,14.0,1568,12194,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2147,1432
$GC,12529,0.60,400.0,471.8,14.2,1629,12536,0.00,3.05,0.00,0.000,4,0.000,0.064,2952,631,1431
$GC,12547,0.60,400.0,469.3,14.0,1632,12556,0.08,2.90,0.00,0.000,6,0.112,0.039,2936,2137,1430
$GC,12891,0.60,400.0,432.8,10.4,1693,12896,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2137,1431
$GC,13231,0.60,400.0,397.1,10.5,1754,13237,0.00,3.00,0.00,0.000,4,0.000,0.062,2936,636,1431
$GC,13243,0.60,400.0,395.8,10.7,1756,13250,0.00,2.85,0.00,0.000,6,0.000,0.038,2936,2141,1431
$GC,13583,0.60,400.0,360.6,10.3,1817,13590,0.00,3.03,0.00,0.000,4,0.000,0.063,2936,631,1431
$GC,13600,0.60,400.0,358.8,10.6,1820,13607,0.00,2.83,0.00,0.000,6,0.000,0.038,2936,2130,1431
$GC,13935,0.60,400.0,323.4,10.4,1881,13941,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2130,1431
$GC,14266,0.60,400.0,288.6,10.0,1942,14274,0.00,3.00,0.00,0.000,4,0.000,0.061,2936,635,1431
$GC,14288,0.65,400.0,286.4,10.6,1945,14294,0.00,2.80,0.00,0.000,6,0.000,0.038,2936,2120,1431
$GC,14619,0.69,400.0,251.8,10.7,2006,14627,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2120,1431
$GC,14952,0.69,400.0,217.3,10.6,2067,14957,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2120,1431
$GC,15282,0.74,400.0,183.5,10.5,2128,15290,0.12,2.97,0.00,0.000,4,0.069,0.061,2962,639,1431
$GC,15308,0.74,400.0,180.4,11.8,2132,15316,0.00,2.80,0.00,0.000,6,0.000,0.038,2962,2107,1431
$GC,15642,0.68,400.0,132.1,15.3,2193,15648,0.00,2.62,0.00,0.000,4,0.000,0.051,2962,3468,1431
$GC,15677,0.68,400.0,126.8,15.3,2199,15684,0.35,2.65,0.00,0.000,6,0.117,0.044,2955,2092,1431
$GC,15879,0.97,486.2,112.1,7.0,2236,15968,0.30,2.85,82.30,0.887,4,0.058,0.048,2967,3473,1088
$GC,15998,1.25,486.2,100.5,10.2,2255,16005,0.52,2.75,0.00,0.000,6,0.060,0.041,3070,2088,1085
$GC,16201,0.89,486.2,35.9,39.5,2292,16209,0.47,2.97,0.00,0.000,4,0.162,0.065,2998,648,1082
$GC,16253,0.78,486.2,20.3,22.7,2301,16262,0.12,2.83,0.00,0.000,6,0.143,0.039,2977,2091,1079
$STATE,16355,end climb,SURFACE_DEPTH_REACHED
$STATE,16355,begin surface coast
$FINISH,0.0,1.014918
$STATE,16369,end surface coast,CONTROL_FINISHED_OK
$STATE,16369,begin surface
$SM_CCo,16444,0.00,0.000,0,0,1078,488.88
$SM_GC,0.66,7.45,0.00,0.00,0.044,0.000,0.000,1465,2277,1078,-6.09,0.48,488.88
$IRIDIUM_FIX,5854.46,-2128.54,080797,181845
$TT8_MAMPS,0.021476
$HUMID,1644
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,12.80
$XPDR_PINGS,288
$24V_AH,19.7,25.277
$10V_AH,9.8,16.441
$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,23.600,159.775,691.400,0.000,0.000,25.413,32.723,273.377,72.000,0.000,0.000,13.420,3538.456,6917.779,769.003,5054.882,593.177,0.000,2636.563,0.000,5064.262,0.000,0.468
$DEVICE_MAMPS,253.110,71.331,1451.931,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1680.813,1685.775,995.360,898.743,2349.372,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,177085,2322
$CAP_FILE_SIZE,186219,0
$CFSIZE,260165632,252100608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140408,034928,5925.223,-2120.892,38,3.0,57,-14.9