version: 66.03
glider: 143
mission: 4
dive: 85
start: 4 21 108 4 6 51
data:
$ID,143
$MISSION,4
$DIVE,85
$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,20
$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,-5664.853
$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,15
$R_STBD_OVSHOOT,10
$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
$GPS1,035908,6022.297,-2213.512,38,1.6,38,-15.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-46.5
$GPS2,040632,6022.345,-2213.580,9,1.6,14,-15.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6032.493,-2211.763
$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,35.8,20000,-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,-194.7,0.0,0.0,0,144,0.00,0.00,-115.90,0.000,2,0.000,0.000,1466,2291,3757
$GC,146,-0.82,-194.7,3.9,-6.0,16,170,10.07,2.88,-2.28,0.000,4,0.259,0.058,2610,3718,3868
$GC,323,-0.71,-194.7,43.7,-16.9,48,332,0.15,2.83,0.00,0.000,6,0.140,0.041,2635,2282,3869
$GC,462,-0.64,-194.7,65.1,-15.6,73,468,0.15,0.00,0.00,0.000,6,0.155,0.000,2659,2279,3868
$GC,662,-0.64,-194.7,90.3,-12.3,110,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2279,3869
$GC,865,-0.64,-194.7,114.8,-11.8,147,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2279,3869
$GC,1067,-0.64,-194.7,139.0,-12.3,184,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2279,3869
$GC,1272,-0.64,-194.7,163.5,-11.7,221,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2279,3869
$GC,1600,-0.64,-194.7,204.9,-12.4,282,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2279,3869
$GC,1933,-0.64,-194.7,245.0,-11.7,343,1939,0.00,2.72,0.00,0.000,4,0.000,0.054,2658,884,3869
$GC,1971,-0.64,-194.7,249.7,-11.8,350,1978,0.00,2.78,0.00,0.000,6,0.000,0.044,2659,2310,3869
$GC,2303,-0.64,-194.7,288.6,-11.5,411,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2310,3869
$GC,2633,-0.64,-194.7,328.1,-12.0,472,2641,0.00,2.83,0.00,0.000,4,0.000,0.054,2659,887,3869
$GC,2667,-0.64,-194.7,332.3,-11.7,478,2675,0.00,2.75,0.00,0.000,6,0.000,0.043,2659,2302,3869
$GC,3005,-0.64,-194.7,372.1,-11.4,539,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2302,3869
$GC,3345,-0.64,-194.7,410.1,-11.1,600,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2302,3869
$GC,3689,-0.64,-194.7,446.1,-10.8,661,3695,0.00,2.78,0.00,0.000,4,0.000,0.054,2659,887,3869
$GC,3735,-0.69,-194.7,451.1,-10.1,669,3742,0.00,2.75,0.00,0.000,6,0.000,0.043,2660,2305,3869
$GC,4077,-0.69,-194.7,488.2,-11.1,730,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2306,3869
$GC,4417,-0.69,-194.7,526.9,-11.1,791,4423,0.00,2.80,0.00,0.000,4,0.000,0.056,2659,882,3869
$GC,4463,-0.74,-194.7,531.7,-10.4,799,4470,0.70,2.70,0.00,0.000,6,0.041,0.042,2635,2292,3869
$GC,4805,-0.42,-194.7,620.1,-26.1,854,4811,0.73,2.80,0.00,0.000,4,0.173,0.058,2615,3702,3868
$GC,4845,-0.33,-194.7,628.2,-17.9,857,4851,0.65,2.75,0.00,0.000,6,0.137,0.047,2721,2291,3869
$GC,5169,-0.51,-194.7,649.6,-5.8,887,5174,0.15,2.80,0.00,0.000,4,0.056,0.063,2682,881,3868
$GC,5202,-0.62,-194.7,652.3,-8.9,889,5208,0.00,2.70,0.00,0.000,6,0.000,0.047,2682,2278,3868
$GC,5529,-0.69,-194.7,680.6,-8.7,920,5534,0.15,2.88,0.00,0.000,4,0.061,0.064,2645,3704,3868
$GC,5568,-0.69,-194.7,685.4,-12.1,923,5572,0.00,2.80,0.00,0.000,6,0.000,0.051,2645,2279,3869
$GC,5892,-0.69,-194.7,726.5,-12.7,953,5896,0.00,2.80,0.00,0.000,4,0.000,0.070,2645,881,3869
$GC,5923,-0.69,-194.7,730.7,-12.2,955,5930,0.00,2.75,0.00,0.000,6,0.000,0.049,2645,2295,3868
$GC,6249,-0.69,-194.7,770.4,-12.5,986,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2297,3868
$GC,6567,-0.69,-194.7,811.2,-12.5,1016,6571,0.00,2.88,0.00,0.000,4,0.000,0.068,2646,881,3868
$GC,6605,-0.69,-194.7,816.0,-12.6,1019,6609,0.00,2.72,0.00,0.000,6,0.000,0.049,2645,2281,3868
$GC,6929,-0.69,-194.7,855.8,-12.1,1049,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2281,3868
$GC,7247,-0.69,-194.7,894.7,-12.3,1079,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2282,3867
$GC,7565,-0.69,-194.7,934.2,-12.3,1109,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2284,3867
$GC,7884,-0.69,-194.7,972.9,-11.8,1139,7889,0.00,2.85,0.00,0.000,4,0.000,0.070,2646,879,3867
$GC,7934,-0.69,-194.7,978.7,-11.0,1143,7939,0.00,2.72,0.00,0.000,6,0.000,0.051,2645,2277,3867
$STATE,8033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8033,begin apogee
$GC,8038,-0.19,0.0,990.3,11.8,1152,8239,0.65,0.00,197.12,1.473,6,0.119,0.000,2755,2042,3071
$STATE,8240,end apogee,CONTROL_FINISHED_OK
$STATE,8240,begin climb
$GC,8242,0.82,194.7,999.0,0.0,1172,8456,1.25,3.22,202.07,1.373,4,0.087,0.073,2973,654,2276
$GC,8551,0.69,194.7,972.5,12.9,1201,8558,0.15,2.92,0.00,0.000,6,0.136,0.045,2954,2052,2272
$GC,8876,0.58,194.7,935.0,11.0,1232,8881,0.15,2.92,0.00,0.000,4,0.137,0.061,2928,3461,2271
$GC,8942,0.58,194.8,928.4,10.0,1237,8949,0.00,2.83,0.00,0.000,6,0.000,0.051,2941,2074,2270
$GC,9270,0.58,230.0,900.6,8.8,1268,9312,0.00,2.92,35.28,1.420,4,0.000,0.060,2928,3464,2132
$GC,9362,0.58,235.6,891.5,9.8,1276,9379,0.20,2.83,6.95,1.115,6,0.129,0.051,2938,2090,2110
$GC,9696,0.78,350.7,869.9,6.0,1308,9820,0.15,3.03,116.70,1.343,4,0.067,0.058,2932,3464,1641
$GC,9854,0.83,352.1,855.1,10.0,1323,9860,0.22,2.85,0.00,0.000,6,0.060,0.052,2978,2109,1637
$GC,10178,0.71,352.1,802.6,17.2,1353,10180,0.15,0.00,0.00,0.000,6,0.143,0.000,2957,2108,1632
$GC,10497,0.65,352.1,757.3,14.2,1383,10502,0.00,2.78,0.00,0.000,4,0.000,0.058,2954,3471,1631
$GC,10530,0.65,352.1,752.5,13.3,1385,10537,0.12,2.72,0.00,0.000,6,0.139,0.052,2946,2118,1629
$GC,10854,0.65,352.1,715.6,11.5,1416,10855,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2117,1629
$GC,11173,0.65,352.1,680.1,11.0,1446,11174,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2115,1629
$GC,11491,0.65,352.1,646.2,10.8,1476,11492,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2114,1629
$GC,11811,0.65,354.8,612.3,9.9,1506,11812,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2114,1628
$GC,12137,0.65,354.8,579.0,10.9,1554,12143,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2114,1628
$GC,12479,0.65,354.8,542.7,10.6,1615,12486,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2113,1628
$GC,12822,0.65,354.8,506.2,10.8,1676,12828,0.00,2.67,0.00,0.000,4,0.000,0.052,2937,3473,1628
$GC,12844,0.65,354.8,503.5,11.0,1680,12852,0.00,2.65,0.00,0.000,6,0.000,0.045,2937,2124,1628
$GC,13192,0.65,354.8,466.7,10.6,1741,13198,0.00,2.95,0.00,0.000,4,0.000,0.064,2936,637,1628
$GC,13214,0.65,354.8,463.7,11.4,1745,13221,0.00,2.83,0.00,0.000,6,0.000,0.040,2936,2123,1627
$GC,13556,0.65,354.8,425.8,11.6,1806,13563,0.00,2.60,0.00,0.000,4,0.000,0.052,2936,3465,1627
$GC,13581,0.65,354.8,423.1,11.6,1810,13587,0.00,2.62,0.00,0.000,6,0.000,0.044,2937,2107,1627
$GC,13923,0.65,354.8,385.4,11.4,1871,13929,0.00,2.92,0.00,0.000,4,0.000,0.063,2936,632,1627
$GC,13945,0.65,354.8,382.7,10.8,1875,13952,0.00,2.83,0.00,0.000,6,0.000,0.039,2937,2128,1627
$GC,14285,0.65,354.8,345.7,10.2,1936,14293,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2128,1627
$GC,14618,0.65,354.8,310.3,10.6,1997,14623,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2128,1627
$GC,14947,0.65,354.8,276.0,10.3,2058,14954,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2129,1627
$GC,15280,0.65,354.8,242.2,11.4,2119,15285,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2128,1627
$GC,15610,0.65,358.2,207.6,9.9,2180,15619,0.00,0.00,6.15,0.822,6,0.000,0.000,2936,2128,1610
$GC,15944,0.67,372.3,173.7,9.5,2241,15971,0.00,3.05,15.43,1.012,4,0.000,0.061,2937,635,1552
$GC,15995,0.74,372.3,168.4,10.2,2249,16001,0.12,2.85,0.00,0.000,6,0.060,0.038,2967,2126,1552
$GC,16324,0.68,372.3,120.6,14.3,2310,16332,0.00,2.65,0.00,0.000,4,0.000,0.051,2965,3464,1550
$GC,16357,0.68,372.3,116.2,14.4,2315,16363,0.00,2.65,0.00,0.000,6,0.000,0.044,2967,2104,1550
$GC,16557,0.62,372.3,87.2,15.5,2352,16565,0.17,2.95,0.00,0.000,4,0.129,0.064,2936,643,1550
$GC,16582,0.62,372.3,83.9,14.3,2356,16590,0.00,2.85,0.00,0.000,6,0.000,0.039,2939,2123,1550
$GC,16790,0.71,394.5,64.7,9.2,2393,16815,0.00,0.00,22.88,0.955,6,0.000,0.000,2938,2123,1462
$GC,17011,0.84,445.7,44.4,8.2,2433,17063,0.17,0.00,49.60,0.831,6,0.061,0.000,2979,2123,1253
$GC,17191,0.78,445.7,16.8,17.0,2464,17199,0.00,3.08,0.00,0.000,4,0.000,0.062,2978,640,1249
$GC,17207,0.72,445.7,14.4,14.8,2466,17214,0.00,2.90,0.00,0.000,6,0.000,0.038,2978,2114,1249
$STATE,17292,end climb,SURFACE_DEPTH_REACHED
$STATE,17293,begin surface coast
$FINISH,-0.1,1.027358
$STATE,17305,end surface coast,CONTROL_FINISHED_OK
$STATE,17305,begin surface
$SM_CCo,17380,0.00,0.000,0,0,1245,447.67
$SM_GC,0.61,7.50,0.00,0.00,0.045,0.000,0.000,1471,2295,1245,-6.08,0.00,447.67
$IRIDIUM_FIX,5953.78,-2215.49,150797,232308
$TT8_MAMPS,0.021476
$HUMID,1655
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,12.40
$XPDR_PINGS,354
$24V_AH,19.6,35.218
$10V_AH,9.7,25.216
$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,23.775,136.175,652.175,0.000,0.000,25.390,34.860,259.125,88.500,0.000,0.000,16.447,3765.497,7243.915,744.714,5421.710,626.031,0.000,2711.238,0.000,5451.967,0.000,0.469
$DEVICE_MAMPS,259.246,72.865,1473.407,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1837.376,1789.595,1028.858,1003.553,2614.007,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,186643,2484
$CAP_FILE_SIZE,191537,0
$CFSIZE,260165632,248147968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,210408,085758,6026.094,-2210.088,33,2.2,52,-15.8