version: 66.03
glider: 141
mission: 7
dive: 84
start: 4 23 108 1 22 3
data:
$ID,141
$MISSION,7
$DIVE,84
$D_SURF,3
$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,225
$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,52046
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,345
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7812.8799
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,581
$PITCH_MAX,3865
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13.5
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,157
$ROLL_MAX,3732
$ROLL_DEG,40
$C_ROLL_DIVE,2030
$C_ROLL_CLIMB,1985
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3955
$C_VBD,3062
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,86.599998
$AH0_10V,100
$PRESSURE_YINT,-2.8638275
$PRESSURE_SLOPE,9.1207337e-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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,14
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$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,0.0043133562
$SEABIRD_T_H,0.00062858552
$SEABIRD_T_I,2.3249919e-05
$SEABIRD_T_J,2.3890996e-06
$SEABIRD_C_G,-10.024263
$SEABIRD_C_H,1.1472844
$SEABIRD_C_I,-0.00073099177
$SEABIRD_C_J,0.00011512569
$GPS1,010208,6044.000,-2207.170,30,1.3,30,-15.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-45.2
$GPS2,012145,6044.185,-2207.482,12,1.6,12,-15.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6054.616,-2208.841
$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,0.9,20000,-14.9,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,150,0.00,0.00,-121.90,0.000,6,0.000,0.000,571,2050,3857
$GC,153,-1.34,-194.7,4.0,-8.7,17,169,11.12,2.60,0.00,0.000,4,0.199,0.055,2483,3423,3859
$GC,406,-1.29,-194.7,42.6,-11.4,64,413,0.00,2.55,0.00,0.000,6,0.000,0.049,2483,2024,3859
$GC,540,-1.29,-194.7,57.8,-11.1,89,546,0.00,2.60,0.00,0.000,4,0.000,0.061,2483,3424,3859
$GC,605,-1.24,-194.7,65.2,-12.7,100,611,0.12,2.53,0.00,0.000,6,0.118,0.051,2507,2028,3859
$GC,744,-1.24,-194.7,80.8,-12.2,125,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2026,3859
$GC,882,-1.24,-194.7,98.2,-12.0,150,891,0.00,2.62,0.00,0.000,4,0.000,0.066,2507,626,3859
$GC,943,-1.24,-194.7,104.6,-10.9,160,949,0.00,2.53,0.00,0.000,6,0.000,0.049,2507,2035,3859
$GC,1083,-1.24,-194.7,118.5,-10.4,185,1089,0.00,2.58,0.00,0.000,4,0.000,0.058,2507,3435,3859
$GC,1137,-1.24,-194.7,124.3,-10.6,195,1145,0.00,2.53,0.00,0.000,6,0.000,0.044,2507,2037,3859
$GC,1280,-1.24,-194.7,137.8,-9.7,220,1286,0.00,2.58,0.00,0.000,4,0.000,0.064,2507,624,3859
$GC,1336,-1.24,-194.7,143.8,-10.0,230,1342,0.00,2.53,0.00,0.000,6,0.000,0.049,2507,2046,3859
$GC,1476,-1.24,-194.7,157.2,-9.8,255,1483,0.00,2.53,0.00,0.000,4,0.000,0.059,2506,3438,3859
$GC,1527,-1.24,-194.7,162.4,-10.3,264,1534,0.00,2.47,0.00,0.000,6,0.000,0.049,2507,2041,3859
$GC,1872,-1.24,-194.7,194.1,-9.7,325,1878,0.00,2.58,0.00,0.000,4,0.000,0.058,2506,621,3859
$GC,1928,-1.24,-194.7,199.8,-10.2,335,1934,0.00,2.55,0.00,0.000,6,0.000,0.043,2507,2055,3859
$GC,2271,-1.24,-194.7,233.2,-9.8,396,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2056,3859
$GC,2614,-1.24,-194.7,268.1,-10.5,457,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2056,3859
$GC,2956,-1.24,-194.7,302.8,-10.1,518,2962,0.00,2.65,0.00,0.000,4,0.000,0.058,2507,627,3859
$GC,3012,-1.24,-194.7,308.5,-10.1,528,3019,0.00,2.58,0.00,0.000,6,0.000,0.059,2507,2043,3859
$GC,3357,-1.24,-194.7,341.9,-9.3,589,3363,0.00,2.53,0.00,0.000,4,0.000,0.060,2506,3437,3859
$GC,3413,-1.24,-194.7,347.6,-10.2,599,3419,0.00,2.47,0.00,0.000,6,0.000,0.045,2507,2038,3859
$GC,3756,-1.24,-194.7,379.8,-9.5,660,3762,0.00,2.58,0.00,0.000,4,0.000,0.061,2506,614,3859
$GC,3824,-1.24,-194.7,386.4,-9.7,672,3830,0.00,2.53,0.00,0.000,6,0.000,0.044,2507,2041,3859
$GC,4167,-1.24,-194.7,418.7,-9.7,733,4173,0.00,2.55,0.00,0.000,4,0.000,0.066,2507,3436,3859
$GC,4229,-1.24,-194.7,424.8,-10.0,744,4235,0.00,2.50,0.00,0.000,6,0.000,0.045,2507,2025,3859
$GC,4575,-1.24,-194.7,456.7,-9.2,805,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2023,3858
$GC,4918,-1.24,-194.7,487.9,-9.0,866,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2023,3859
$GC,5260,-1.24,-194.7,518.7,-8.9,927,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2023,3858
$GC,5602,-1.24,-194.7,549.4,-9.3,988,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2022,3858
$GC,5945,-1.24,-194.7,580.3,-9.5,1049,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2022,3858
$GC,6285,-1.24,-194.7,611.6,-8.9,1099,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2022,3857
$GC,6604,-1.24,-194.7,640.0,-9.0,1129,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2022,3858
$GC,6922,-1.24,-194.7,667.8,-8.3,1159,6927,0.00,2.72,0.00,0.000,4,0.000,0.087,2506,3435,3857
$GC,6972,-1.24,-194.7,672.2,-9.1,1163,6976,0.00,2.55,0.00,0.000,6,0.000,0.062,2506,2050,3857
$GC,7297,-1.24,-194.7,701.1,-9.0,1193,7302,0.00,2.85,0.00,0.000,4,0.000,0.109,2506,617,3857
$GC,7363,-1.24,-194.7,707.5,-9.4,1198,7369,0.00,2.60,0.00,0.000,6,0.000,0.064,2506,2031,3857
$GC,7689,-1.24,-194.7,737.2,-9.0,1229,7693,0.00,2.72,0.00,0.000,4,0.000,0.093,2507,3448,3856
$GC,7765,-1.24,-194.7,744.6,-9.5,1235,7772,0.00,2.55,0.00,0.000,6,0.000,0.058,2507,2048,3856
$GC,8091,-1.24,-194.7,773.6,-9.2,1266,8096,0.00,2.78,0.00,0.000,4,0.000,0.093,2506,612,3856
$GC,8152,-1.24,-194.7,779.6,-10.1,1271,8156,0.00,2.60,0.00,0.000,6,0.000,0.057,2506,2045,3856
$GC,8477,-1.24,-194.7,809.8,-8.9,1301,8481,0.00,2.67,0.00,0.000,4,0.000,0.090,2507,3440,3856
$GC,8542,-1.24,-194.7,816.2,-9.7,1306,8549,0.00,2.55,0.00,0.000,6,0.000,0.056,2506,2039,3856
$GC,8868,-1.24,-194.7,844.0,-8.4,1337,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2037,3856
$GC,9186,-1.24,-194.7,871.2,-8.6,1367,9187,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2036,3856
$GC,9504,-1.24,-194.7,898.6,-8.5,1397,9505,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2035,3855
$GC,9825,-1.24,-194.7,926.7,-8.8,1427,9830,0.00,2.67,0.00,0.000,4,0.000,0.077,2506,3448,3855
$GC,9880,-1.24,-194.7,932.2,-9.2,1431,9887,0.00,2.55,0.00,0.000,6,0.000,0.056,2506,2045,3855
$GC,10206,-1.24,-194.7,960.2,-8.6,1462,10207,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2045,3855
$GC,10524,-1.24,-194.7,988.3,-8.9,1492,10525,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2043,3854
$STATE,10543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10543,begin apogee
$GC,10548,-0.37,0.0,990.3,8.9,1494,10720,0.90,0.00,168.43,1.292,6,0.100,0.000,2697,1982,3062
$STATE,10721,end apogee,CONTROL_FINISHED_OK
$STATE,10721,begin climb
$GC,10723,1.34,194.7,995.7,0.0,1511,10900,1.67,0.00,168.10,1.262,6,0.076,0.000,3070,1982,2267
$GC,11217,1.28,194.7,950.9,10.4,1559,11222,0.00,2.70,0.00,0.000,4,0.000,0.068,3070,3405,2262
$GC,11249,1.22,194.7,947.3,11.1,1561,11257,0.12,2.60,0.00,0.000,6,0.110,0.051,3046,1989,2261
$GC,11575,1.22,196.8,915.5,9.9,1592,11580,0.00,2.65,0.00,0.000,4,0.000,0.067,3046,3398,2261
$GC,11602,1.22,196.8,912.5,11.0,1594,11606,0.00,2.55,0.00,0.000,6,0.000,0.051,3046,1994,2260
$GC,11932,1.23,205.3,879.8,9.7,1625,11943,0.00,0.00,9.45,1.065,6,0.000,0.000,3046,1992,2225
$GC,12261,1.23,205.3,847.5,10.1,1656,12265,0.00,2.65,0.00,0.000,4,0.000,0.067,3046,3400,2224
$GC,12292,1.24,210.3,844.0,9.8,1658,12304,0.00,2.58,6.30,0.948,6,0.000,0.051,3046,1990,2204
$GC,12622,1.24,210.3,809.7,10.6,1689,12626,0.00,2.65,0.00,0.000,4,0.000,0.067,3046,3405,2202
$GC,12637,1.24,210.3,808.0,11.0,1690,12642,0.00,2.53,0.00,0.000,6,0.000,0.050,3046,2002,2202
$GC,12967,1.24,210.3,774.5,10.2,1721,12968,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2000,2202
$GC,13286,1.25,220.0,742.6,9.7,1751,13298,0.00,0.00,9.85,1.022,6,0.000,0.000,3046,2000,2165
$GC,13614,1.28,239.6,711.3,9.3,1782,13636,0.00,0.00,19.08,1.078,6,0.000,0.000,3046,2000,2085
$GC,13954,1.28,245.5,678.2,9.8,1814,13966,0.00,2.70,6.50,0.887,4,0.000,0.065,3046,3398,2060
$GC,13988,1.28,245.5,674.6,10.3,1817,13992,0.00,2.53,0.00,0.000,6,0.000,0.049,3046,2011,2060
$GC,14312,1.31,264.3,643.7,9.3,1847,14333,0.00,0.00,18.38,1.028,6,0.000,0.000,3046,2010,1984
$GC,14651,1.33,282.2,612.5,9.4,1879,14681,0.10,0.00,19.15,0.920,6,0.070,0.000,3077,2010,1911
$GC,15013,1.33,282.2,569.8,12.1,1934,15018,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2009,1909
$GC,15355,1.33,282.2,529.1,11.5,1995,15360,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2009,1908
$GC,15697,1.33,282.2,488.5,11.3,2056,15703,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2009,1908
$GC,16039,1.33,282.2,450.3,10.7,2117,16045,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2009,1908
$GC,16381,1.33,282.2,411.4,10.8,2178,16387,0.00,2.65,0.00,0.000,4,0.000,0.064,3077,574,1908
$GC,16392,1.33,282.2,410.0,11.5,2180,16399,0.00,2.58,0.00,0.000,6,0.000,0.044,3077,2023,1908
$GC,16738,1.33,282.2,371.2,11.0,2241,16743,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2025,1908
$GC,17080,1.33,282.2,332.6,12.2,2302,17086,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2026,1908
$GC,17422,1.33,282.2,292.3,12.6,2363,17427,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2026,1908
$GC,17764,1.33,282.2,252.2,12.3,2424,17771,0.00,2.65,0.00,0.000,4,0.000,0.061,3077,574,1909
$GC,17781,1.33,282.2,250.0,12.2,2427,17788,0.00,2.55,0.00,0.000,6,0.000,0.042,3077,2025,1909
$GC,18126,1.33,282.2,208.4,12.7,2488,18131,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2028,1908
$GC,18468,1.33,282.2,168.8,11.7,2549,18474,0.00,2.67,0.00,0.000,4,0.000,0.059,3077,573,1909
$GC,18485,1.33,282.2,166.7,11.7,2552,18491,0.00,2.58,0.00,0.000,6,0.000,0.041,3077,2025,1909
$GC,18823,1.33,282.2,128.1,10.9,2613,18830,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2029,1908
$GC,18966,1.33,282.2,111.7,12.1,2638,18972,0.00,2.67,0.00,0.000,4,0.000,0.059,3077,573,1909
$GC,18977,1.33,282.2,110.0,11.2,2640,18985,0.00,2.60,0.00,0.000,6,0.000,0.047,3077,2018,1908
$GC,19119,1.33,282.2,93.8,10.9,2665,19125,0.00,2.65,0.00,0.000,4,0.000,0.058,3077,574,1909
$GC,19130,1.33,282.2,91.9,11.2,2667,19139,0.00,2.55,0.00,0.000,6,0.000,0.041,3077,1999,1909
$GC,19273,1.33,282.2,76.3,10.9,2692,19278,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2001,1908
$GC,19412,1.33,282.2,60.2,11.3,2717,19417,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2002,1909
$GC,19548,1.33,282.2,44.5,11.5,2742,19556,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2002,1909
$GC,19682,1.33,282.2,29.0,11.2,2767,19690,0.00,2.65,0.00,0.000,4,0.000,0.061,3077,576,1909
$GC,19699,1.33,282.2,27.0,11.9,2769,19707,0.00,2.55,0.00,0.000,6,0.000,0.045,3077,1995,1909
$GC,19834,1.33,282.2,13.3,11.5,2794,19841,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1997,1909
$STATE,19935,end climb,SURFACE_DEPTH_REACHED
$STATE,19935,begin surface coast
$FINISH,-0.0,1.027143
$STATE,19962,end surface coast,CONTROL_FINISHED_OK
$STATE,19962,begin surface
$SM_CCo,20040,0.00,0.000,0,0,1907,283.32
$SM_GC,0.61,10.50,0.00,0.00,0.037,0.000,0.000,568,1998,1907,-10.08,-0.88,283.32
$IRIDIUM_FIX,6019.75,-2208.47,180797,010151
$TT8_MAMPS,0.042185
$HUMID,1605
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,12.80
$XPDR_PINGS,375
$24V_AH,23.5,18.629
$10V_AH,10.6,27.318
$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,24.550,145.550,425.225,0.000,0.000,119.698,134.984,585.179,93.750,0.000,0.000,13.567,4292.676,10107.737,676.741,4930.190,1175.942,0.000,2757.912,0.000,4936.144,0.000,0.466
$DEVICE_MAMPS,199.420,108.914,1291.628,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1945.066,2069.438,982.571,1140.944,899.988,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,199000,2818
$CAP_FILE_SIZE,228108,0
$CFSIZE,260165632,247652352
$ERRORS,0,33,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230408,065723,6048.251,-2210.385,30,1.3,46,-16.0