version: 66.03
glider: 143
mission: 4
dive: 77
start: 4 19 108 13 10 52
data:
$ID,143
$MISSION,4
$DIVE,77
$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,10
$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,-5545.0132
$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,19
$R_STBD_OVSHOOT,25
$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
$GPS1,130022,5945.898,-2240.183,33,1.8,47,-15.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-45.6
$GPS2,131033,5946.097,-2240.090,15,1.8,15,-15.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5956.732,-2239.151
$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,25.7,20000,-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,-115.75,0.000,2,0.000,0.000,1471,2304,3757
$GC,146,-0.82,-194.7,3.8,-5.8,16,169,9.98,2.83,-2.33,0.000,4,0.256,0.060,2606,3701,3868
$GC,390,-0.70,-194.7,55.7,-18.0,61,396,0.25,2.75,0.00,0.000,6,0.140,0.040,2644,2284,3868
$GC,590,-0.65,-194.7,86.0,-14.4,98,597,0.00,2.78,0.00,0.000,4,0.000,0.056,2643,893,3868
$GC,642,-0.65,-194.7,92.8,-12.7,107,649,0.00,2.72,0.00,0.000,6,0.000,0.048,2644,2278,3868
$GC,842,-0.61,-194.7,120.9,-13.7,144,850,0.12,0.00,0.00,0.000,6,0.149,0.000,2661,2278,3868
$GC,1046,-0.61,-194.7,145.8,-12.2,181,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2278,3868
$GC,1246,-0.61,-194.7,170.2,-12.1,218,1254,0.00,2.78,0.00,0.000,4,0.000,0.054,2661,886,3868
$GC,1281,-0.61,-194.7,174.7,-12.2,224,1288,0.00,2.70,0.00,0.000,6,0.000,0.043,2661,2272,3868
$GC,1613,-0.61,-194.7,213.9,-11.9,285,1620,0.00,2.83,0.00,0.000,4,0.000,0.054,2661,3707,3868
$GC,1659,-0.61,-194.7,219.4,-11.5,293,1665,0.00,2.78,0.00,0.000,6,0.000,0.041,2661,2269,3868
$GC,1989,-0.61,-194.7,259.0,-13.2,354,1997,0.00,2.72,0.00,0.000,4,0.000,0.054,2661,886,3868
$GC,2043,-0.66,-194.7,265.3,-11.7,363,2050,0.00,2.65,0.00,0.000,6,0.000,0.043,2661,2266,3868
$GC,2372,-0.66,-194.7,307.1,-13.4,424,2380,0.00,2.88,0.00,0.000,4,0.000,0.054,2661,3711,3868
$GC,2426,-0.66,-194.7,313.9,-12.6,433,2432,0.00,2.80,0.00,0.000,6,0.000,0.041,2661,2258,3868
$GC,2755,-0.66,-194.7,356.3,-12.4,494,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2254,3868
$GC,3094,-0.66,-194.7,399.2,-12.4,555,3101,0.00,2.65,0.00,0.000,4,0.000,0.054,2661,888,3868
$GC,3130,-0.70,-194.7,403.7,-13.1,561,3137,0.00,2.62,0.00,0.000,6,0.000,0.041,2661,2271,3868
$GC,3472,-0.70,-194.7,447.7,-13.1,622,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2271,3868
$GC,3811,-0.70,-194.7,491.0,-12.5,683,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2271,3868
$GC,4151,-0.70,-194.7,533.3,-12.0,744,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2270,3868
$GC,4495,-0.70,-194.7,574.6,-11.6,805,4502,0.00,2.72,0.00,0.000,4,0.000,0.058,2661,880,3868
$GC,4531,-0.74,-194.7,578.9,-11.8,811,4538,0.12,2.65,0.00,0.000,6,0.061,0.042,2633,2269,3868
$GC,4868,-0.68,-194.7,628.2,-14.5,855,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2269,3868
$GC,5187,-0.63,-194.7,674.0,-14.3,885,5189,0.17,0.00,0.00,0.000,6,0.137,0.000,2660,2269,3868
$GC,5505,-0.63,-194.7,710.1,-11.4,915,5510,0.00,2.83,0.00,0.000,4,0.000,0.071,2660,883,3868
$GC,5545,-0.67,-194.7,714.4,-11.2,918,5549,0.00,2.67,0.00,0.000,6,0.000,0.048,2659,2262,3867
$GC,5869,-0.67,-194.7,750.0,-11.0,948,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2263,3868
$GC,6187,-0.67,-194.7,785.5,-11.4,978,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2265,3868
$GC,6505,-0.67,-194.7,822.4,-11.9,1008,6510,0.00,2.80,0.00,0.000,4,0.000,0.071,2660,889,3868
$GC,6537,-0.72,-194.7,826.3,-12.3,1010,6544,0.00,2.65,0.00,0.000,6,0.000,0.048,2659,2255,3867
$GC,6862,-0.72,-194.7,862.8,-10.6,1041,6867,0.00,2.92,0.00,0.000,4,0.000,0.065,2658,3708,3867
$GC,6901,-0.76,-194.7,867.0,-10.9,1044,6907,0.15,2.88,0.00,0.000,6,0.065,0.052,2628,2250,3867
$GC,7225,-0.71,-194.7,910.6,-13.6,1074,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2249,3866
$GC,7544,-0.67,-194.7,953.3,-13.5,1104,7546,0.15,0.00,0.00,0.000,6,0.137,0.000,2649,2250,3866
$STATE,7850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7851,begin apogee
$GC,7855,-0.19,0.0,990.5,12.1,1133,8056,0.62,0.00,196.52,1.475,6,0.126,0.000,2754,2041,3071
$STATE,8056,end apogee,CONTROL_FINISHED_OK
$STATE,8057,begin climb
$GC,8058,0.82,194.7,1001.5,0.0,1153,8273,1.25,3.20,201.98,1.378,4,0.087,0.072,2972,644,2276
$GC,8351,0.70,194.7,980.5,12.6,1181,8356,0.00,2.95,0.00,0.000,6,0.000,0.045,2971,2052,2273
$GC,8676,0.56,194.7,940.8,12.6,1211,8682,0.28,2.92,0.00,0.000,4,0.135,0.060,2927,3462,2271
$GC,8738,0.56,194.7,934.2,10.3,1216,8742,0.00,2.85,0.00,0.000,6,0.000,0.052,2927,2074,2271
$GC,9063,0.54,221.2,904.6,9.1,1246,9095,0.00,2.97,26.55,1.448,4,0.000,0.059,2927,3468,2169
$GC,9129,0.56,238.6,898.2,9.4,1252,9153,0.00,2.83,18.95,1.266,6,0.000,0.051,2927,2092,2098
$GC,9478,0.58,250.9,865.3,9.6,1285,9494,0.00,0.00,13.75,1.403,6,0.000,0.000,2927,2091,2048
$GC,9812,0.58,250.9,833.7,10.1,1316,9816,0.00,2.78,0.00,0.000,4,0.000,0.058,2927,3464,2046
$GC,9873,0.58,250.9,827.3,10.4,1321,9877,0.00,2.75,0.00,0.000,6,0.000,0.051,2927,2098,2044
$GC,10197,0.58,250.9,794.1,10.4,1351,10202,0.00,2.78,0.00,0.000,4,0.000,0.058,2969,3471,2045
$GC,10225,0.58,251.7,791.2,10.0,1353,10229,0.00,2.70,0.00,0.000,6,0.000,0.051,2927,2120,2043
$GC,10549,0.59,262.3,759.5,9.6,1383,10570,0.00,2.78,12.38,1.325,4,0.000,0.058,2927,3461,2000
$GC,10698,0.59,262.3,743.5,10.8,1396,10705,0.00,2.67,0.00,0.000,6,0.000,0.051,2927,2124,1999
$GC,11023,0.60,268.2,711.1,9.8,1427,11035,0.00,2.78,7.20,1.160,4,0.000,0.057,2928,3465,1977
$GC,11159,0.60,268.2,697.2,10.5,1439,11163,0.00,2.65,0.00,0.000,6,0.000,0.051,2927,2138,1976
$GC,11483,0.60,268.7,665.5,10.0,1469,11484,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2137,1975
$GC,11802,0.62,284.3,634.9,9.5,1499,11822,0.00,0.00,17.98,1.347,6,0.000,0.000,2927,2136,1912
$GC,12140,0.64,303.1,602.8,9.4,1531,12162,0.00,0.00,20.02,1.252,6,0.000,0.000,2927,2136,1835
$GC,12493,0.65,311.8,568.7,9.7,1592,12506,0.00,0.00,9.88,1.174,6,0.000,0.000,2927,2135,1800
$GC,12842,0.70,349.2,536.0,8.7,1654,12884,0.12,0.00,38.30,1.144,6,0.074,0.000,2951,2135,1647
$GC,13221,0.66,349.2,487.9,13.0,1721,13227,0.00,3.05,0.00,0.000,4,0.000,0.063,2951,631,1642
$GC,13244,0.66,349.2,484.6,12.3,1725,13251,0.15,2.95,0.00,0.000,6,0.114,0.040,2939,2160,1641
$GC,13588,0.75,386.5,454.0,8.7,1786,13634,0.12,3.17,36.85,1.128,4,0.072,0.064,2957,637,1494
$GC,13645,0.75,386.5,447.5,12.3,1796,13651,0.00,2.97,0.00,0.000,6,0.000,0.039,2962,2147,1493
$GC,13984,0.75,386.5,406.0,11.2,1857,13991,0.00,3.08,0.00,0.000,4,0.000,0.062,2957,631,1490
$GC,14011,0.75,386.5,403.1,11.6,1861,14017,0.00,2.90,0.00,0.000,6,0.000,0.039,2956,2128,1489
$GC,14350,0.75,386.5,361.7,12.2,1922,14355,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2129,1489
$GC,14683,0.75,386.5,322.4,12.4,1983,14690,0.00,3.00,0.00,0.000,4,0.000,0.062,2960,640,1489
$GC,14718,0.75,386.5,318.4,10.2,1989,14725,0.00,2.85,0.00,0.000,6,0.000,0.040,2963,2127,1489
$GC,15049,0.75,386.5,280.8,11.3,2050,15056,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2127,1489
$GC,15382,0.75,386.5,242.5,12.2,2111,15388,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2127,1489
$GC,15711,0.75,386.5,202.2,11.3,2172,15719,0.00,3.03,0.00,0.000,4,0.000,0.063,2960,633,1489
$GC,15743,0.75,386.5,198.7,12.2,2177,15749,0.00,2.83,0.00,0.000,6,0.000,0.038,2962,2118,1488
$GC,16072,0.75,386.5,157.4,12.7,2238,16080,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2119,1488
$GC,16405,0.75,386.5,116.1,13.8,2299,16410,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2119,1488
$GC,16605,0.75,386.5,91.2,11.7,2336,16612,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2119,1488
$GC,16808,0.75,386.5,68.2,10.3,2373,16815,0.00,2.97,0.00,0.000,4,0.000,0.063,2957,635,1488
$GC,16822,0.75,386.5,66.6,10.1,2375,16829,0.00,2.78,0.00,0.000,6,0.000,0.038,2955,2109,1488
$GC,17023,0.75,386.5,43.7,11.9,2412,17031,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2110,1488
$GC,17157,0.75,386.5,28.6,11.3,2437,17165,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2109,1488
$GC,17291,0.75,386.5,11.6,11.0,2462,17299,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2110,1488
$STATE,17376,end climb,SURFACE_DEPTH_REACHED
$STATE,17376,begin surface coast
$FINISH,0.3,1.027358
$STATE,17394,end surface coast,CONTROL_FINISHED_OK
$STATE,17394,begin surface
$SM_CCo,17468,0.00,0.000,0,0,1486,388.80
$SM_GC,0.75,7.10,0.00,0.00,0.036,0.000,0.000,1468,2304,1486,-6.08,0.25,388.80
$IRIDIUM_FIX,5923.90,-2240.48,140797,131357
$TT8_MAMPS,0.021476
$HUMID,1657
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,12.40
$XPDR_PINGS,232
$24V_AH,19.6,32.962
$10V_AH,9.8,23.238
$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,20.600,136.550,600.350,0.000,0.000,57.398,117.462,256.305,58.000,0.000,0.000,17.130,3759.249,7457.938,715.790,5405.807,718.453,0.000,2646.271,0.000,5427.502,0.000,0.467
$DEVICE_MAMPS,256.178,72.098,1474.941,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1844.579,1769.209,1017.827,1004.346,2593.657,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,186823,2481
$CAP_FILE_SIZE,190474,0
$CFSIZE,260165632,249053184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,190408,180308,5950.310,-2237.308,34,1.7,34,-15.7