version: 66.03
glider: 143
mission: 4
dive: 90
start: 4 22 108 4 12 5
data:
$ID,143
$MISSION,4
$DIVE,90
$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,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,335
$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,-5741.2056
$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,2295
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,16
$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
$GPS1,040426,6041.794,-2209.136,37,1.5,37,-15.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-37.8
$GPS2,041146,6041.869,-2209.253,11,2.0,12,-15.9
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6051.657,-2211.475
$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,350.9,20000,-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,-194.7,0.0,0.0,0,158,0.00,0.00,-129.82,0.000,2,0.000,0.000,1465,2295,3761
$GC,160,-0.82,-194.7,4.2,-7.6,18,183,10.10,2.88,-2.10,0.000,4,0.258,0.061,2608,3708,3868
$GC,320,-0.71,-194.7,41.7,-17.3,47,329,0.17,2.80,0.00,0.000,6,0.138,0.042,2637,2292,3869
$GC,457,-0.63,-194.7,63.5,-15.7,72,465,0.15,0.00,0.00,0.000,6,0.148,0.000,2659,2291,3869
$GC,661,-0.63,-194.7,90.8,-12.5,109,667,0.00,2.78,0.00,0.000,4,0.000,0.054,2659,882,3869
$GC,706,-0.63,-194.7,96.5,-11.5,117,713,0.00,2.72,0.00,0.000,6,0.000,0.044,2660,2289,3869
$GC,908,-0.63,-194.7,122.1,-12.4,154,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2290,3869
$GC,1112,-0.63,-194.7,147.5,-11.8,191,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2290,3869
$GC,1312,-0.63,-194.7,172.5,-12.5,228,1320,0.00,2.80,0.00,0.000,4,0.000,0.054,2675,886,3868
$GC,1354,-0.63,-194.7,177.4,-11.9,235,1360,0.00,2.70,0.00,0.000,6,0.000,0.043,2669,2282,3869
$GC,1685,-0.63,-194.7,218.7,-12.1,296,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2282,3869
$GC,2017,-0.63,-194.7,259.4,-12.7,357,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2282,3869
$GC,2347,-0.63,-194.7,300.0,-12.4,418,2355,0.00,2.78,0.00,0.000,4,0.000,0.055,2762,886,3869
$GC,2392,-0.67,-194.7,304.9,-11.9,425,2399,0.17,2.67,0.00,0.000,6,0.056,0.042,2651,2278,3869
$GC,2726,-0.58,-194.7,357.7,-16.2,486,2732,0.15,0.00,0.00,0.000,6,0.139,0.000,2672,2278,3869
$GC,3067,-0.58,-194.7,404.4,-14.2,547,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2278,3869
$GC,3406,-0.58,-194.7,451.8,-13.7,608,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2278,3869
$GC,3744,-0.58,-194.7,498.7,-13.1,669,3751,0.00,2.72,0.00,0.000,4,0.000,0.056,2645,885,3869
$GC,3789,-0.58,-194.7,504.6,-12.7,677,3796,0.00,2.65,0.00,0.000,6,0.000,0.042,2659,2274,3869
$GC,4129,-0.58,-194.7,548.9,-13.1,738,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2274,3868
$GC,4470,-0.58,-194.7,593.0,-13.7,799,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2274,3869
$GC,4802,-0.58,-194.7,636.1,-13.0,835,4806,0.00,2.78,0.00,0.000,4,0.000,0.063,2645,887,3869
$GC,4862,-0.58,-194.7,643.8,-12.2,840,4867,0.00,2.65,0.00,0.000,6,0.000,0.046,2661,2260,3869
$GC,5187,-0.58,-194.7,684.8,-12.5,870,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2261,3869
$GC,5505,-0.58,-194.7,725.0,-12.9,900,5509,0.00,2.92,0.00,0.000,4,0.000,0.067,2645,3708,3868
$GC,5536,-0.58,-194.7,729.2,-13.1,902,5544,0.17,2.88,0.00,0.000,6,0.139,0.050,2671,2248,3868
$GC,5861,-0.62,-194.7,762.4,-10.1,933,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2248,3868
$GC,6180,-0.67,-194.7,795.4,-10.1,963,6185,0.00,2.75,0.00,0.000,4,0.000,0.069,2671,876,3868
$GC,6212,-0.75,-194.7,798.7,-10.3,965,6220,0.20,2.70,0.00,0.000,6,0.053,0.049,2629,2263,3868
$GC,6537,-0.70,-194.7,843.4,-14.6,996,6542,0.00,2.90,0.00,0.000,4,0.000,0.065,2627,3704,3868
$GC,6575,-0.70,-194.7,849.0,-14.7,999,6580,0.00,2.85,0.00,0.000,6,0.000,0.052,2628,2258,3868
$GC,6900,-0.64,-194.7,894.5,-14.0,1029,6902,0.17,0.00,0.00,0.000,6,0.139,0.000,2653,2258,3867
$GC,7218,-0.64,-194.7,931.4,-11.5,1059,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2258,3867
$GC,7536,-0.64,-194.7,966.2,-11.0,1089,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2257,3866
$STATE,7757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7757,begin apogee
$GC,7762,-0.19,0.0,990.2,10.9,1110,7962,0.62,0.00,196.25,1.471,6,0.134,0.000,2755,2036,3071
$STATE,7963,end apogee,CONTROL_FINISHED_OK
$STATE,7963,begin climb
$GC,7964,0.82,194.7,998.1,0.0,1130,8177,1.25,3.20,201.48,1.372,4,0.088,0.071,2973,654,2276
$GC,8254,0.68,194.7,972.2,13.7,1158,8262,0.15,2.95,0.00,0.000,6,0.140,0.045,2953,2058,2273
$GC,8579,0.57,194.7,933.8,11.3,1189,8584,0.17,2.92,0.00,0.000,4,0.137,0.062,2925,3462,2271
$GC,8629,0.57,194.7,928.7,10.1,1193,8634,0.00,2.85,0.00,0.000,6,0.000,0.051,2925,2066,2271
$GC,8954,0.56,228.8,899.5,8.8,1223,8996,0.00,2.95,33.88,1.414,4,0.000,0.059,2925,3468,2137
$GC,9046,0.57,230.7,890.7,9.9,1231,9053,0.00,2.83,0.00,0.000,6,0.000,0.049,2931,2087,2135
$GC,9371,0.60,261.8,861.1,8.9,1262,9411,0.00,0.00,34.10,1.382,6,0.000,0.000,2931,2086,2002
$GC,9729,0.63,285.3,827.6,9.2,1296,9761,0.00,2.90,24.50,1.370,4,0.000,0.058,2925,3470,1907
$GC,9799,0.63,285.3,820.8,10.1,1302,9806,0.00,2.83,0.00,0.000,6,0.000,0.050,2929,2102,1905
$GC,10125,0.64,291.1,788.9,9.8,1333,10138,0.00,2.83,7.28,1.178,4,0.000,0.058,2925,3460,1884
$GC,10145,0.35,291.1,786.8,10.2,1335,10150,0.30,2.72,0.00,0.000,6,0.120,0.048,2880,2105,1882
$GC,10469,0.71,308.0,762.0,9.4,1365,10490,0.40,0.00,18.35,1.362,6,0.070,0.000,2955,2104,1815
$GC,10807,0.87,345.1,731.5,8.7,1397,10853,0.15,3.12,38.83,1.295,4,0.055,0.070,2993,634,1663
$GC,10914,0.78,345.1,717.9,15.8,1406,10921,0.15,3.15,0.00,0.000,6,0.142,0.046,2972,2202,1661
$GC,11240,0.67,345.1,666.4,16.3,1437,11242,0.15,0.00,0.00,0.000,6,0.137,0.000,2950,2202,1659
$GC,11557,0.67,345.1,623.8,13.0,1467,11562,0.00,3.22,0.00,0.000,4,0.000,0.068,2950,632,1658
$GC,11589,0.67,345.1,619.4,12.8,1469,11596,0.00,3.05,0.00,0.000,6,0.000,0.044,2950,2194,1658
$GC,11924,0.67,345.1,576.7,12.4,1516,11930,0.00,3.17,0.00,0.000,4,0.000,0.066,2950,635,1658
$GC,11954,0.67,345.1,572.9,12.9,1521,11961,0.00,2.97,0.00,0.000,6,0.000,0.044,2950,2175,1657
$GC,12296,0.67,345.1,531.1,12.7,1582,12301,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2175,1657
$GC,12635,0.67,345.1,489.4,11.8,1643,12641,0.00,3.10,0.00,0.000,4,0.000,0.063,2950,633,1657
$GC,12668,0.67,345.1,485.2,12.6,1649,12674,0.00,2.92,0.00,0.000,6,0.000,0.041,2950,2157,1657
$GC,13009,0.67,345.1,444.3,12.4,1710,13015,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2158,1657
$GC,13349,0.67,345.1,402.6,11.5,1771,13355,0.00,3.05,0.00,0.000,4,0.000,0.062,2949,637,1657
$GC,13372,0.67,345.1,399.6,13.1,1775,13378,0.00,2.90,0.00,0.000,6,0.000,0.041,2950,2157,1657
$GC,13713,0.67,345.1,358.7,12.1,1836,13720,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2157,1657
$GC,14048,0.67,345.1,318.3,12.8,1897,14054,0.00,3.05,0.00,0.000,4,0.000,0.061,2950,631,1657
$GC,14065,0.67,345.1,316.0,12.2,1900,14073,0.00,2.92,0.00,0.000,6,0.000,0.041,2950,2149,1657
$GC,14398,0.67,345.1,277.6,12.2,1961,14403,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2149,1657
$GC,14727,0.67,345.1,239.3,10.4,2022,14735,0.00,3.05,0.00,0.000,4,0.000,0.061,2950,637,1657
$GC,14748,0.67,345.1,237.1,10.9,2025,14754,0.00,2.88,0.00,0.000,6,0.000,0.040,2950,2153,1657
$GC,15079,0.67,345.1,198.6,11.9,2086,15086,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2153,1657
$GC,15411,0.67,345.1,161.4,12.0,2147,15417,0.00,3.03,0.00,0.000,4,0.000,0.061,2950,632,1657
$GC,15427,0.67,345.1,159.1,12.2,2150,15435,0.00,2.88,0.00,0.000,6,0.000,0.039,2950,2135,1657
$GC,15759,0.67,345.1,121.0,10.7,2211,15766,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2136,1657
$GC,15960,0.67,345.1,97.0,11.8,2248,15967,0.00,3.00,0.00,0.000,4,0.000,0.061,2950,643,1657
$GC,15980,0.67,345.1,94.8,11.1,2251,15986,0.00,2.78,0.00,0.000,6,0.000,0.039,2950,2135,1657
$GC,16180,0.67,345.1,72.1,11.3,2288,16187,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2136,1657
$GC,16383,0.67,345.1,50.9,12.7,2325,16389,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2135,1657
$GC,16578,0.67,345.1,26.0,10.8,2362,16585,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2135,1657
$GC,16711,0.67,345.1,9.9,11.0,2387,16719,0.00,3.00,0.00,0.000,4,0.000,0.061,2950,641,1657
$GC,16732,0.67,345.1,7.0,14.1,2390,16740,0.00,2.80,0.00,0.000,6,0.000,0.038,2950,2113,1657
$STATE,16792,end climb,SURFACE_DEPTH_REACHED
$STATE,16792,begin surface coast
$FINISH,0.1,1.027349
$STATE,16809,end surface coast,CONTROL_FINISHED_OK
$STATE,16810,begin surface
$SM_CCo,16885,0.00,0.000,0,0,1656,347.10
$SM_GC,0.63,7.18,0.00,0.00,0.044,0.000,0.000,1469,2309,1656,-6.08,0.40,347.10
$IRIDIUM_FIX,6015.40,-2205.17,160797,232317
$TT8_MAMPS,0.021476
$HUMID,1657
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,12.10
$XPDR_PINGS,219
$24V_AH,19.6,36.572
$10V_AH,9.8,26.440
$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,21.825,139.750,554.650,0.000,0.000,24.240,31.382,264.533,54.750,0.000,0.000,13.848,3652.996,7076.611,725.476,5250.979,596.355,0.000,2595.507,0.000,5268.414,0.000,0.469
$DEVICE_MAMPS,257.712,71.331,1471.106,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1767.768,1736.290,1010.318,985.357,2550.824,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,180686,2404
$CAP_FILE_SIZE,186023,0
$CFSIZE,260165632,247599104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220408,085442,6045.469,-2213.586,36,1.6,38,-16.0