version: 66.03
glider: 143
mission: 4
dive: 51
start: 4 14 108 4 1 4
data:
$ID,143
$MISSION,4
$DIVE,51
$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,-4947.2827
$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,22
$R_STBD_OVSHOOT,34
$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
$GPS1,034928,5925.223,-2120.892,38,3.0,57,-14.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-48.9
$GPS2,040045,5925.229,-2121.002,13,1.7,13,-14.9
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5932.865,-2117.132
$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,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,-115.75,0.000,2,0.000,0.000,1465,2278,3655
$GC,145,-0.82,-194.7,3.8,-7.9,16,168,10.05,2.90,-4.45,0.000,4,0.258,0.067,2613,859,3868
$GC,300,-0.74,-194.7,39.2,-18.1,44,308,0.12,2.75,0.00,0.000,6,0.150,0.048,2633,2238,3869
$GC,437,-0.67,-194.7,59.0,-14.6,69,443,0.12,0.00,0.00,0.000,6,0.145,0.000,2650,2239,3869
$GC,637,-0.67,-194.7,85.7,-12.8,106,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2239,3869
$GC,842,-0.67,-194.7,111.8,-12.9,143,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2239,3869
$GC,1041,-0.67,-194.7,138.7,-13.4,180,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2239,3869
$GC,1246,-0.67,-194.7,166.0,-13.9,217,1252,0.00,2.85,0.00,0.000,4,0.000,0.058,2650,3675,3869
$GC,1270,-0.67,-194.7,169.7,-14.0,221,1276,0.00,2.72,0.00,0.000,6,0.000,0.041,2650,2261,3869
$GC,1599,-0.67,-194.7,213.4,-13.1,282,1607,0.00,2.78,0.00,0.000,4,0.000,0.054,2651,854,3869
$GC,1632,-0.67,-194.7,217.2,-12.9,287,1638,0.00,2.75,0.00,0.000,6,0.000,0.045,2650,2276,3869
$GC,1961,-0.67,-194.7,259.9,-12.7,348,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2276,3869
$GC,2293,-0.67,-194.7,302.0,-12.3,409,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2276,3869
$GC,2621,-0.67,-194.7,344.2,-13.6,470,2629,0.00,2.83,0.00,0.000,4,0.000,0.054,2650,849,3869
$GC,2646,-0.67,-194.7,347.3,-13.1,474,2654,0.00,2.72,0.00,0.000,6,0.000,0.044,2650,2255,3869
$GC,2989,-0.67,-194.7,391.3,-12.6,535,2995,0.00,2.78,0.00,0.000,4,0.000,0.052,2650,3682,3869
$GC,3033,-0.67,-194.7,397.2,-12.6,543,3040,0.00,2.75,0.00,0.000,6,0.000,0.041,2650,2235,3869
$GC,3376,-0.67,-194.7,439.7,-12.2,604,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2232,3869
$GC,3715,-0.67,-194.7,482.2,-12.5,665,3721,0.00,2.83,0.00,0.000,4,0.000,0.053,2651,3679,3869
$GC,3750,-0.67,-194.7,486.6,-13.3,671,3756,0.00,2.70,0.00,0.000,6,0.000,0.041,2650,2268,3869
$GC,4089,-0.67,-194.7,529.1,-12.6,732,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2267,3869
$GC,4433,-0.67,-194.7,571.7,-12.2,793,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2267,3869
$GC,4767,-0.67,-194.7,614.1,-13.0,844,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2266,3869
$GC,5085,-0.67,-194.7,654.2,-12.3,874,5090,0.00,2.80,0.00,0.000,4,0.000,0.060,2650,3672,3869
$GC,5117,-0.67,-194.7,658.3,-13.0,876,5124,0.00,2.75,0.00,0.000,6,0.000,0.048,2650,2277,3869
$GC,5442,-0.67,-194.7,698.8,-12.7,907,5443,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2277,3869
$GC,5762,-0.67,-194.7,740.4,-13.0,937,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2277,3869
$GC,6078,-0.67,-194.7,779.9,-12.1,967,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2277,3869
$GC,6397,-0.67,-194.7,816.5,-11.8,997,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2277,3868
$GC,6715,-0.67,-194.7,854.1,-11.9,1027,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2277,3868
$GC,7034,-0.67,-194.7,890.7,-11.1,1057,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2277,3868
$GC,7352,-0.67,-194.7,924.2,-10.6,1087,7357,0.00,2.80,0.00,0.000,4,0.000,0.063,2650,3674,3868
$GC,7391,-0.67,-194.7,928.3,-11.2,1090,7395,0.00,2.75,0.00,0.000,6,0.000,0.053,2650,2274,3867
$GC,7715,-0.67,-194.7,962.8,-10.4,1120,7716,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2274,3867
$STATE,7968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7968,begin apogee
$GC,7972,-0.19,0.0,990.0,10.8,1144,8172,0.60,0.00,195.30,1.461,6,0.119,0.000,2753,2039,3071
$STATE,8172,end apogee,CONTROL_FINISHED_OK
$STATE,8172,begin climb
$GC,8174,0.82,194.7,998.1,0.0,1164,8383,1.25,3.17,198.80,1.379,4,0.086,0.058,2973,3458,2276
$GC,8455,0.68,194.7,973.8,13.8,1190,8463,0.17,3.00,0.00,0.000,6,0.137,0.051,2950,2053,2273
$GC,8780,0.56,194.7,934.4,11.8,1221,8785,0.17,2.97,0.00,0.000,4,0.132,0.071,2922,640,2271
$GC,8898,0.57,204.4,922.8,9.7,1231,8913,0.00,2.85,10.15,1.266,6,0.000,0.045,2922,2071,2237
$GC,9232,0.53,204.4,891.4,10.2,1262,9236,0.00,2.83,0.00,0.000,4,0.000,0.059,2922,3465,2235
$GC,9308,0.53,204.4,883.3,10.9,1268,9315,0.00,2.83,0.00,0.000,6,0.000,0.051,2922,2080,2234
$GC,9635,0.54,217.1,852.3,9.6,1299,9657,0.00,2.85,13.80,1.374,4,0.000,0.058,2922,3469,2184
$GC,9701,0.54,217.1,845.4,10.3,1305,9706,0.00,2.78,0.00,0.000,6,0.000,0.051,2922,2098,2184
$GC,10026,0.58,246.8,815.1,9.0,1335,10063,0.00,2.85,30.90,1.363,4,0.000,0.058,2925,3468,2064
$GC,10100,0.58,246.8,807.8,10.4,1341,10107,0.00,2.78,0.00,0.000,6,0.000,0.051,2922,2126,2061
$GC,10427,0.58,248.9,775.2,9.9,1372,10428,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2125,2060
$GC,10745,0.61,270.6,745.6,9.2,1402,10776,0.00,2.75,23.88,1.355,4,0.000,0.057,2923,3461,1966
$GC,10803,0.61,270.6,739.8,10.0,1407,10810,0.00,2.65,0.00,0.000,6,0.000,0.050,2921,2151,1965
$GC,11129,0.61,270.6,707.5,10.2,1438,11133,0.00,3.10,0.00,0.000,4,0.000,0.069,2922,638,1964
$GC,11149,0.61,270.6,705.2,10.9,1439,11156,0.00,2.97,0.00,0.000,6,0.000,0.041,2922,2163,1964
$GC,11475,0.64,299.1,674.8,9.0,1470,11509,0.00,2.67,29.52,1.294,4,0.000,0.055,2922,3471,1850
$GC,11521,0.70,343.5,670.6,8.5,1474,11573,0.15,2.65,45.38,1.180,6,0.068,0.045,2951,2153,1670
$GC,11890,0.64,343.5,624.8,12.2,1509,11895,0.00,3.10,0.00,0.000,4,0.000,0.065,2951,637,1664
$GC,11917,0.60,343.5,621.3,12.4,1511,11922,0.00,3.00,0.00,0.000,6,0.000,0.041,2951,2166,1663
$GC,12250,0.54,343.5,578.9,12.4,1555,12256,0.17,0.00,0.00,0.000,6,0.120,0.000,2922,2166,1662
$GC,12593,0.59,384.7,548.7,8.6,1616,12639,0.00,3.17,40.00,1.197,4,0.000,0.063,2921,636,1502
$GC,12674,0.74,426.3,541.5,8.6,1630,12726,0.20,2.97,42.95,1.096,6,0.052,0.038,2965,2152,1332
$GC,13062,0.66,426.3,479.1,17.3,1699,13068,0.00,3.08,0.00,0.000,4,0.000,0.063,2965,641,1326
$GC,13080,0.59,426.3,475.7,18.2,1702,13087,0.22,2.90,0.00,0.000,6,0.115,0.038,2929,2134,1325
$GC,13422,0.66,427.7,438.4,10.0,1763,13428,0.00,3.03,0.00,0.000,4,0.000,0.061,2929,639,1324
$GC,13439,0.73,427.7,436.5,10.9,1766,13445,0.15,2.85,0.00,0.000,6,0.054,0.037,2964,2124,1324
$GC,13779,0.66,427.7,381.5,17.0,1827,13786,0.00,3.00,0.00,0.000,4,0.000,0.062,2964,631,1323
$GC,13797,0.59,427.7,378.3,16.6,1830,13805,0.20,2.80,0.00,0.000,6,0.116,0.038,2933,2106,1323
$GC,14140,0.66,427.7,341.9,10.3,1891,14145,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2107,1323
$GC,14469,0.73,433.6,308.0,9.8,1952,14484,0.12,2.95,6.68,0.866,4,0.067,0.061,2958,636,1302
$GC,14495,0.73,433.6,304.9,12.2,1956,14503,0.00,2.80,0.00,0.000,6,0.000,0.038,2958,2093,1302
$GC,14829,0.73,433.6,256.0,15.5,2017,14834,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2094,1302
$GC,15158,0.73,433.6,208.4,13.8,2078,15166,0.00,2.95,0.00,0.000,4,0.000,0.063,2958,637,1302
$GC,15183,0.73,433.6,205.1,14.5,2082,15190,0.00,2.78,0.00,0.000,6,0.000,0.038,2958,2085,1301
$GC,15516,0.73,433.6,159.8,13.6,2143,15521,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2086,1301
$GC,15843,0.73,433.6,113.4,14.0,2204,15851,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2086,1301
$GC,16047,0.73,433.6,87.3,12.7,2241,16053,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2086,1301
$GC,16247,0.73,433.6,61.2,15.5,2278,16255,0.00,2.92,0.00,0.000,4,0.000,0.063,2958,640,1301
$GC,16269,0.73,433.6,58.4,13.8,2281,16275,0.00,2.72,0.00,0.000,6,0.000,0.038,2959,2080,1301
$GC,16466,0.73,433.6,34.1,14.2,2318,16474,0.00,2.70,0.00,0.000,4,0.000,0.050,2958,3460,1301
$GC,16487,0.73,433.6,31.2,13.3,2321,16495,0.00,2.72,0.00,0.000,6,0.000,0.042,2963,2061,1301
$GC,16622,0.73,433.6,13.5,10.2,2346,16630,0.00,2.83,0.00,0.000,4,0.000,0.064,2958,647,1301
$GC,16648,0.73,433.6,10.2,11.5,2350,16655,0.00,2.70,0.00,0.000,6,0.000,0.038,2958,2061,1301
$STATE,16723,end climb,SURFACE_DEPTH_REACHED
$STATE,16723,begin surface coast
$FINISH,0.1,1.016209
$STATE,16740,end surface coast,CONTROL_FINISHED_OK
$STATE,16740,begin surface
$SM_CCo,16815,0.00,0.000,0,0,1299,434.67
$SM_GC,0.61,7.12,0.00,0.00,0.036,0.000,0.000,1463,2273,1299,-6.10,0.37,434.67
$IRIDIUM_FIX,5902.83,-2123.78,090797,040403
$TT8_MAMPS,0.021476
$HUMID,1639
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,12.50
$XPDR_PINGS,302
$24V_AH,19.7,25.554
$10V_AH,9.8,16.688
$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,20.850,148.950,637.350,0.000,0.000,53.024,76.185,359.471,75.500,0.000,0.000,15.170,3586.012,7225.262,748.801,5158.087,752.572,0.000,2634.120,0.000,5160.380,0.000,0.469
$DEVICE_MAMPS,257.712,71.331,1461.135,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1717.079,1708.795,1047.091,948.513,2441.647,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,177147,2367
$CAP_FILE_SIZE,188806,0
$CFSIZE,260165632,251990016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140408,084232,5928.497,-2118.878,39,1.4,39,-14.9