version: 66.03
glider: 143
mission: 4
dive: 70
start: 4 18 108 3 12 6
data:
$ID,143
$MISSION,4
$DIVE,70
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,90
$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,-5379.5605
$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,14
$R_STBD_OVSHOOT,17
$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
$GPS1,030408,5936.978,-2240.012,36,1.2,36,-15.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-38.1
$GPS2,031145,5937.052,-2240.067,12,1.9,12,-15.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5937.052,-2234.605
$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,123.5,20000,-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,-194.7,0.0,0.0,0,156,0.00,0.00,-129.00,0.000,2,0.000,0.000,1464,2312,3790
$GC,159,-0.82,-194.7,3.7,-6.1,14,178,10.05,2.78,-1.60,0.000,4,0.255,0.057,2612,3717,3866
$GC,232,-0.69,-194.7,25.8,-22.5,25,242,0.15,2.83,0.00,0.000,6,0.133,0.041,2638,2288,3867
$GC,381,-0.62,-194.7,50.0,-14.7,50,390,0.15,0.00,0.00,0.000,6,0.137,0.000,2660,2285,3867
$GC,595,-0.62,-194.7,72.8,-9.8,87,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2284,3867
$GC,805,-0.62,-194.7,96.7,-14.1,124,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2284,3866
$GC,1022,-0.62,-194.7,128.4,-15.8,161,1029,0.00,2.75,0.00,0.000,4,0.000,0.052,2660,878,3867
$GC,1048,-0.62,-194.7,133.2,-16.9,165,1056,0.00,2.72,0.00,0.000,6,0.000,0.043,2660,2291,3866
$GC,1261,-0.62,-194.7,165.9,-14.9,202,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2291,3867
$GC,1610,-0.62,-194.7,211.3,-11.9,263,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2291,3867
$GC,1953,-0.62,-194.7,253.1,-12.6,324,1962,0.00,2.78,0.00,0.000,4,0.000,0.053,2660,890,3866
$GC,1976,-0.62,-194.7,255.5,-12.4,327,1983,0.00,2.65,0.00,0.000,6,0.000,0.043,2660,2275,3866
$GC,2322,-0.62,-194.7,295.2,-10.9,388,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2276,3867
$GC,2671,-0.62,-194.7,337.8,-12.5,449,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2276,3866
$GC,3011,-0.62,-194.7,379.2,-12.3,510,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2276,3867
$GC,3352,-0.62,-194.7,420.5,-11.7,571,3359,0.00,2.72,0.00,0.000,4,0.000,0.054,2660,881,3867
$GC,3375,-0.62,-194.7,423.5,-12.4,575,3383,0.00,2.65,0.00,0.000,6,0.000,0.042,2660,2275,3867
$GC,3717,-0.62,-194.7,463.7,-11.8,636,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2275,3867
$GC,4060,-0.62,-194.7,504.0,-11.3,697,4067,0.00,2.72,0.00,0.000,4,0.000,0.054,2660,878,3866
$GC,4080,-0.62,-194.7,506.3,-11.3,700,4087,0.00,2.65,0.00,0.000,6,0.000,0.041,2660,2273,3867
$GC,4423,-0.62,-194.7,543.1,-10.4,761,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2273,3866
$GC,4762,-0.62,-194.7,579.3,-10.5,822,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2273,3866
$GC,5100,-0.62,-194.7,617.1,-11.6,870,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2274,3866
$GC,5421,-0.62,-194.7,652.2,-10.5,900,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2273,3866
$GC,5738,-0.62,-194.7,685.8,-11.0,930,5739,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2273,3866
$GC,6056,-0.62,-194.7,718.4,-10.1,960,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2276,3866
$GC,6375,-0.62,-194.7,750.8,-9.7,990,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2277,3866
$GC,6693,-0.62,-194.7,782.6,-10.1,1020,6698,0.00,2.80,0.00,0.000,4,0.000,0.071,2661,891,3866
$GC,6726,-0.66,-194.7,786.1,-10.7,1022,6734,0.00,2.67,0.00,0.000,6,0.000,0.048,2660,2268,3866
$GC,7051,-0.66,-194.7,821.5,-11.2,1053,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2269,3866
$GC,7369,-0.66,-194.7,855.5,-10.3,1083,7374,0.00,2.90,0.00,0.000,4,0.000,0.066,2660,3707,3865
$GC,7397,-0.66,-194.7,858.4,-11.4,1085,7401,0.00,2.80,0.00,0.000,6,0.000,0.048,2659,2273,3865
$GC,7721,-0.66,-194.7,892.4,-10.8,1115,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2273,3864
$GC,8039,-0.66,-194.7,926.6,-11.2,1145,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2272,3864
$GC,8359,-0.66,-194.7,958.8,-9.2,1175,8360,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2273,3863
$GC,8677,-0.66,-194.7,988.1,-9.8,1205,8678,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2273,3863
$STATE,8698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8698,begin apogee
$GC,8702,-0.19,0.0,990.1,9.8,1207,8903,0.52,0.00,195.18,1.460,6,0.117,0.000,2753,2036,3071
$STATE,8904,end apogee,CONTROL_FINISHED_OK
$STATE,8904,begin climb
$GC,8905,0.82,194.7,998.4,0.0,1227,9119,1.27,3.15,201.20,1.377,4,0.091,0.071,2973,646,2276
$GC,9202,0.69,194.7,973.4,13.1,1252,9210,0.15,2.95,0.00,0.000,6,0.140,0.045,2953,2059,2273
$GC,9527,0.57,194.7,934.8,12.0,1283,9533,0.15,2.92,0.00,0.000,4,0.140,0.060,2929,3470,2271
$GC,9605,0.52,194.7,926.2,10.4,1289,9612,0.00,2.83,0.00,0.000,6,0.000,0.051,2929,2082,2270
$GC,9931,0.48,208.8,894.0,9.5,1320,9948,0.15,0.00,14.32,1.403,6,0.130,0.000,2904,2082,2219
$GC,10267,0.59,297.4,870.2,6.9,1351,10359,0.12,0.00,89.40,1.352,6,0.074,0.000,2927,2081,1858
$GC,10673,0.59,297.4,831.0,10.0,1389,10678,0.00,2.83,0.00,0.000,4,0.000,0.057,2928,3462,1851
$GC,10782,0.59,297.9,819.9,10.0,1398,10786,0.00,2.78,0.00,0.000,6,0.000,0.051,2928,2090,1849
$GC,11106,0.59,297.9,786.5,10.3,1428,11107,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2089,1849
$GC,11425,0.59,300.2,754.5,9.9,1458,11430,0.00,2.78,0.00,0.000,4,0.000,0.057,2927,3472,1849
$GC,11476,0.60,309.2,749.3,9.7,1462,11492,0.00,2.72,11.32,1.292,6,0.000,0.051,2928,2105,1810
$GC,11812,0.60,309.2,716.5,10.3,1493,11813,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2104,1809
$GC,12131,0.62,324.1,685.4,9.5,1523,12156,0.00,2.78,16.88,1.355,4,0.000,0.056,2928,3469,1748
$GC,12183,0.67,330.0,680.0,9.8,1527,12196,0.00,2.70,7.53,1.004,6,0.000,0.048,2928,2118,1725
$GC,12515,0.67,332.8,646.0,9.9,1558,12527,0.00,3.03,4.30,0.861,4,0.000,0.067,2937,641,1714
$GC,12550,0.73,340.2,642.3,9.7,1561,12567,0.15,2.92,10.12,1.217,6,0.061,0.043,2961,2138,1682
$GC,12888,0.67,340.2,595.7,14.7,1595,12896,0.00,2.65,0.00,0.000,4,0.000,0.054,2959,3474,1680
$GC,12929,0.67,340.2,589.7,14.4,1602,12937,0.25,2.65,0.00,0.000,6,0.126,0.044,2946,2123,1680
$GC,13275,0.76,366.2,556.1,9.1,1663,13310,0.00,3.05,26.33,1.224,4,0.000,0.063,2925,634,1577
$GC,13338,0.89,384.9,550.1,9.4,1673,13368,0.35,2.95,20.20,1.081,6,0.044,0.040,2998,2140,1501
$GC,13703,0.73,384.9,480.7,20.2,1737,13711,0.22,0.00,0.00,0.000,6,0.140,0.000,2962,2140,1497
$GC,14050,0.68,384.9,432.5,13.3,1798,14057,0.00,3.03,0.00,0.000,4,0.000,0.061,2960,641,1497
$GC,14074,0.68,384.9,428.7,14.3,1802,14081,0.00,2.88,0.00,0.000,6,0.000,0.039,2961,2134,1496
$GC,14415,0.68,384.9,382.1,13.7,1863,14423,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2134,1496
$GC,14758,0.68,384.9,334.7,13.9,1924,14766,0.00,3.03,0.00,0.000,4,0.000,0.061,2960,641,1496
$GC,14795,0.68,384.9,329.5,12.7,1930,14804,0.00,2.85,0.00,0.000,6,0.000,0.038,2970,2118,1496
$GC,15144,0.68,384.9,281.7,14.7,1991,15151,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2118,1496
$GC,15486,0.68,384.9,234.6,12.5,2052,15494,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2118,1496
$GC,15834,0.68,384.9,189.7,11.9,2113,15841,0.00,2.95,0.00,0.000,4,0.000,0.060,2968,637,1496
$GC,15872,0.68,384.9,185.0,12.0,2119,15879,0.00,2.83,0.00,0.000,6,0.000,0.038,2960,2124,1496
$GC,16217,0.68,384.9,138.6,12.9,2180,16225,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2124,1496
$GC,16431,0.68,384.9,110.1,13.6,2217,16438,0.00,2.97,0.00,0.000,4,0.000,0.062,2963,632,1496
$GC,16459,0.68,384.9,105.8,14.9,2221,16467,0.00,2.80,0.00,0.000,6,0.000,0.038,2961,2107,1496
$GC,16669,0.68,384.9,82.2,11.2,2258,16679,0.00,2.67,0.00,0.000,4,0.000,0.051,2960,3468,1496
$GC,16696,0.68,384.9,78.8,12.9,2262,16705,0.00,2.70,0.00,0.000,6,0.000,0.043,2960,2085,1496
$GC,16912,0.68,384.9,52.1,13.0,2299,16919,0.00,2.88,0.00,0.000,4,0.000,0.065,2960,641,1496
$GC,16949,0.68,384.9,47.6,12.5,2305,16958,0.00,2.78,0.00,0.000,6,0.000,0.038,2961,2089,1496
$GC,17097,0.71,410.5,30.0,9.1,2330,17132,0.00,2.72,25.50,0.937,4,0.000,0.051,2960,3455,1396
$GC,17158,0.76,410.5,23.7,11.3,2338,17167,0.00,2.75,0.00,0.000,6,0.000,0.046,2968,2075,1394
$GC,17306,0.76,410.5,6.7,10.5,2363,17316,0.00,2.92,0.00,0.000,4,0.000,0.067,2965,644,1393
$GC,17335,0.76,410.5,3.7,10.9,2367,17345,0.00,2.78,0.00,0.000,6,0.000,0.036,2962,2086,1392
$STATE,17351,end climb,SURFACE_DEPTH_REACHED
$STATE,17351,begin surface coast
$FINISH,0.0,1.027336
$STATE,17371,end surface coast,CONTROL_FINISHED_OK
$STATE,17371,begin surface
$SM_CCo,17446,0.00,0.000,0,0,1391,412.10
$SM_GC,0.63,7.28,0.00,0.00,0.039,0.000,0.000,1463,2298,1391,-6.10,0.08,412.10
$IRIDIUM_FIX,5919.67,-1959.35,120797,222209
$TT8_MAMPS,0.021476
$HUMID,1646
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,12.80
$XPDR_PINGS,286
$24V_AH,19.6,31.046
$10V_AH,9.7,21.503
$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,20.975,130.500,622.275,0.000,0.000,23.560,40.819,271.009,71.500,0.000,0.000,14.428,4693.810,6664.128,817.529,5083.428,621.494,0.000,2674.807,0.000,5106.522,0.000,0.467
$DEVICE_MAMPS,255.411,71.331,1459.601,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1733.319,1713.811,948.025,917.779,2368.871,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,177091,2372
$CAP_FILE_SIZE,186897,0
$CFSIZE,260165632,249835520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.070,325.1,1
$GPS,180408,080402,5936.930,-2235.512,36,1.1,36,-15.6