version: 66.03
glider: 143
mission: 4
dive: 79
start: 4 19 108 22 58 10
data:
$ID,143
$MISSION,4
$DIVE,79
$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,-5573.8071
$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,18
$R_STBD_OVSHOOT,20
$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
$GPS1,225038,5954.910,-2235.352,35,1.0,35,-15.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-51.5
$GPS2,225751,5955.074,-2235.392,11,1.1,11,-15.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6005.709,-2234.457
$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,-194.7,0.0,0.0,0,129,0.00,0.00,-101.32,0.000,2,0.000,0.000,1466,2296,3590
$GC,131,-0.82,-194.7,3.0,-4.6,14,154,10.23,2.85,-6.55,0.000,4,0.262,0.067,2611,3708,3866
$GC,369,-0.71,-194.7,48.5,-16.9,58,378,0.15,2.78,0.00,0.000,6,0.131,0.040,2637,2294,3867
$GC,509,-0.64,-194.7,70.4,-15.6,83,515,0.12,0.00,0.00,0.000,6,0.156,0.000,2654,2291,3867
$GC,709,-0.64,-194.7,99.0,-13.6,120,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2291,3867
$GC,912,-0.64,-194.7,126.1,-13.4,157,918,0.00,2.78,0.00,0.000,4,0.000,0.054,2653,883,3867
$GC,949,-0.64,-194.7,131.3,-12.6,164,958,0.00,2.78,0.00,0.000,6,0.000,0.044,2654,2297,3867
$GC,1154,-0.64,-194.7,157.0,-12.4,201,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2297,3867
$GC,1483,-0.64,-194.7,197.6,-12.0,262,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2297,3867
$GC,1816,-0.64,-194.7,237.1,-11.6,323,1822,0.00,2.78,0.00,0.000,4,0.000,0.053,2654,884,3867
$GC,1884,-0.64,-194.7,244.8,-10.8,335,1890,0.00,2.72,0.00,0.000,6,0.000,0.044,2655,2295,3867
$GC,2213,-0.64,-194.7,284.0,-12.0,396,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2295,3867
$GC,2546,-0.64,-194.7,323.9,-11.9,457,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2295,3867
$GC,2878,-0.64,-194.7,365.9,-12.0,518,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2295,3867
$GC,3217,-0.64,-194.7,408.2,-12.4,579,3224,0.00,2.80,0.00,0.000,4,0.000,0.054,2653,884,3867
$GC,3263,-0.64,-194.7,413.8,-11.7,587,3269,0.00,2.70,0.00,0.000,6,0.000,0.042,2655,2294,3867
$GC,3603,-0.64,-194.7,458.1,-12.0,648,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2294,3867
$GC,3946,-0.64,-194.7,501.0,-12.2,709,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2294,3867
$GC,4284,-0.64,-194.7,542.0,-12.5,770,4291,0.00,2.78,0.00,0.000,4,0.000,0.057,2654,881,3867
$GC,4331,-0.64,-194.7,547.5,-11.2,778,4337,0.00,2.70,0.00,0.000,6,0.000,0.042,2654,2294,3867
$GC,4671,-0.64,-194.7,588.8,-12.0,839,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2294,3867
$GC,4999,-0.64,-194.7,628.4,-12.4,878,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2294,3867
$GC,5316,-0.64,-194.7,668.9,-12.9,908,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2294,3867
$GC,5635,-0.64,-194.7,707.9,-11.6,938,5640,0.00,2.88,0.00,0.000,4,0.000,0.071,2654,884,3867
$GC,5685,-0.68,-194.7,713.4,-10.9,942,5689,0.00,2.70,0.00,0.000,6,0.000,0.049,2655,2272,3867
$GC,6009,-0.68,-194.7,749.8,-11.6,972,6013,0.00,2.90,0.00,0.000,4,0.000,0.067,2653,3706,3866
$GC,6051,-0.68,-194.7,754.9,-11.3,975,6058,0.00,2.83,0.00,0.000,6,0.000,0.053,2653,2278,3866
$GC,6377,-0.68,-194.7,791.5,-11.2,1006,6381,0.00,2.80,0.00,0.000,4,0.000,0.069,2653,883,3866
$GC,6408,-0.68,-194.7,795.3,-11.7,1008,6415,0.00,2.72,0.00,0.000,6,0.000,0.048,2653,2273,3866
$GC,6736,-0.68,-194.7,832.4,-11.6,1039,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2274,3866
$GC,7051,-0.68,-194.7,868.8,-11.4,1069,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2275,3866
$GC,7369,-0.68,-194.7,905.1,-11.6,1099,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2276,3865
$GC,7688,-0.68,-194.7,941.1,-11.3,1129,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2277,3865
$GC,8006,-0.68,-194.7,975.3,-10.7,1159,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2277,3865
$STATE,8143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8143,begin apogee
$GC,8147,-0.19,0.0,990.1,10.6,1172,8347,0.60,0.00,196.12,1.480,6,0.119,0.000,2756,2038,3071
$STATE,8348,end apogee,CONTROL_FINISHED_OK
$STATE,8348,begin climb
$GC,8350,0.82,194.7,997.9,0.0,1192,8564,1.25,3.17,201.98,1.381,4,0.090,0.071,2972,653,2276
$GC,8654,0.69,194.7,970.4,14.4,1221,8659,0.15,2.92,0.00,0.000,6,0.136,0.044,2952,2053,2273
$GC,8978,0.58,194.7,929.8,12.2,1251,8983,0.17,2.92,0.00,0.000,4,0.136,0.060,2924,3462,2271
$GC,9028,0.58,194.7,924.2,11.2,1255,9033,0.00,2.85,0.00,0.000,6,0.000,0.051,2924,2069,2271
$GC,9352,0.58,194.7,891.6,10.3,1285,9357,0.00,2.85,0.00,0.000,4,0.000,0.058,2925,3462,2271
$GC,9406,0.58,194.7,885.7,10.7,1289,9413,0.00,2.80,0.00,0.000,6,0.000,0.051,2925,2089,2270
$GC,9732,0.59,203.9,853.7,9.7,1320,9747,0.00,2.83,9.48,1.287,4,0.000,0.059,2925,3464,2239
$GC,9774,0.59,203.9,849.3,10.1,1323,9781,0.00,2.78,0.00,0.000,6,0.000,0.050,2931,2100,2238
$GC,10100,0.60,211.6,817.8,9.7,1354,10114,0.00,2.80,8.95,1.292,4,0.000,0.058,2926,3467,2208
$GC,10166,0.60,211.6,811.0,10.7,1360,10171,0.00,2.70,0.00,0.000,6,0.000,0.051,2925,2123,2207
$GC,10491,0.63,233.1,779.8,9.3,1390,10523,0.00,2.80,23.12,1.397,4,0.000,0.058,2925,3459,2119
$GC,10538,0.66,258.5,775.2,9.1,1394,10570,0.00,2.67,26.33,1.244,6,0.000,0.049,2925,2142,2017
$GC,10889,0.68,279.7,742.4,9.3,1427,10914,0.12,0.00,22.27,1.340,6,0.074,0.000,2949,2142,1930
$GC,11228,0.62,279.7,702.9,11.9,1459,11229,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2140,1927
$GC,11547,0.55,279.7,665.9,11.4,1489,11552,0.15,2.67,0.00,0.000,4,0.125,0.056,2923,3465,1926
$GC,11567,0.55,279.7,663.5,11.0,1490,11574,0.00,2.65,0.00,0.000,6,0.000,0.048,2924,2146,1925
$GC,11895,0.60,322.8,636.1,8.5,1521,11943,0.00,0.00,43.08,1.273,6,0.000,0.000,2924,2145,1754
$GC,12261,0.63,344.0,602.6,9.3,1556,12285,0.00,0.00,22.65,1.251,6,0.000,0.000,2924,2145,1668
$GC,12614,0.74,385.9,570.8,8.6,1617,12666,0.15,3.20,42.35,1.186,4,0.066,0.065,2957,638,1496
$GC,12683,0.74,385.9,562.2,13.7,1629,12690,0.00,3.00,0.00,0.000,6,0.000,0.040,2960,2150,1494
$GC,13026,0.68,385.9,514.3,13.5,1690,13032,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2150,1491
$GC,13366,0.63,385.9,466.6,13.5,1751,13373,0.15,3.08,0.00,0.000,4,0.125,0.063,2931,638,1490
$GC,13401,0.68,385.9,462.5,10.0,1757,13407,0.00,2.90,0.00,0.000,6,0.000,0.040,2932,2140,1489
$GC,13741,0.78,415.6,432.2,9.0,1818,13777,0.17,0.00,29.90,1.165,6,0.060,0.000,2971,2140,1376
$GC,14111,0.69,415.6,372.9,16.3,1884,14120,0.12,3.10,0.00,0.000,4,0.134,0.063,2956,637,1371
$GC,14138,0.64,415.6,368.7,16.2,1888,14144,0.00,2.90,0.00,0.000,6,0.000,0.039,2954,2136,1370
$GC,14476,0.64,415.6,325.4,13.7,1949,14481,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2136,1370
$GC,14804,0.64,415.6,280.6,13.1,2010,14812,0.00,3.05,0.00,0.000,4,0.000,0.062,2956,635,1369
$GC,14836,0.64,415.6,276.4,13.6,2015,14842,0.00,2.85,0.00,0.000,6,0.000,0.038,2954,2124,1369
$GC,15166,0.64,415.6,231.9,13.0,2076,15173,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2124,1369
$GC,15499,0.64,415.6,189.2,13.1,2137,15504,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2124,1369
$GC,15827,0.64,415.6,148.9,12.3,2198,15835,0.00,3.00,0.00,0.000,4,0.000,0.062,2957,641,1369
$GC,15858,0.64,415.6,145.4,11.9,2203,15865,0.00,2.80,0.00,0.000,6,0.000,0.039,2954,2111,1368
$GC,16057,0.64,415.6,121.7,12.7,2240,16065,0.00,2.67,0.00,0.000,4,0.000,0.051,2953,3468,1368
$GC,16070,0.64,415.6,120.1,13.2,2242,16078,0.00,2.67,0.00,0.000,6,0.000,0.042,2954,2100,1368
$GC,16276,0.64,415.6,95.8,11.8,2279,16281,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2100,1368
$GC,16475,0.64,415.6,72.1,11.2,2316,16483,0.00,2.92,0.00,0.000,4,0.000,0.064,2953,647,1368
$GC,16500,0.64,415.6,69.1,11.7,2320,16507,0.00,2.80,0.00,0.000,6,0.000,0.038,2955,2107,1368
$GC,16702,0.64,415.6,45.6,12.1,2357,16710,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2107,1368
$GC,16836,0.64,415.6,30.8,12.9,2382,16843,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2107,1368
$GC,16969,0.68,445.7,16.6,9.0,2407,17007,0.00,2.97,29.48,0.973,4,0.000,0.061,2953,639,1253
$GC,17025,0.74,445.7,10.3,12.3,2415,17033,0.00,2.85,0.00,0.000,6,0.000,0.038,2956,2102,1252
$STATE,17106,end climb,SURFACE_DEPTH_REACHED
$STATE,17106,begin surface coast
$FINISH,0.4,1.027314
$STATE,17124,end surface coast,CONTROL_FINISHED_OK
$STATE,17124,begin surface
$SM_CCo,17199,0.00,0.000,0,0,1249,446.94
$SM_GC,0.64,7.22,0.00,0.00,0.036,0.000,0.000,1468,2309,1249,-6.09,0.40,446.94
$IRIDIUM_FIX,5928.14,-2238.18,140797,181848
$TT8_MAMPS,0.021476
$HUMID,1659
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,12.60
$XPDR_PINGS,230
$24V_AH,19.6,33.499
$10V_AH,9.7,23.734
$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,20.775,131.550,655.700,0.000,0.000,30.052,39.713,248.145,57.500,0.000,0.000,12.814,3672.574,7305.484,759.197,5291.903,580.996,0.000,2663.854,0.000,5306.650,0.000,0.467
$DEVICE_MAMPS,261.547,71.331,1479.543,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1798.422,1740.031,1003.471,993.839,2551.673,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,183335,2433
$CAP_FILE_SIZE,185652,0
$CFSIZE,260165632,248836096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200408,034602,6000.470,-2234.322,39,1.5,39,-15.8