version: 66.03
glider: 141
mission: 7
dive: 85
start: 4 23 108 7 6 4
data:
$ID,141
$MISSION,7
$DIVE,85
$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,-7847.6089
$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,17
$R_STBD_OVSHOOT,23
$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
$GPS1,065723,6048.251,-2210.385,30,1.3,46,-16.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-53.4
$GPS2,070547,6048.329,-2210.426,12,99.0,31,-16.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6058.760,-2211.782
$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,1.0,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.34,-194.7,0.0,0.0,0,122,0.00,0.00,-94.47,0.000,2,0.000,0.000,567,2001,3828
$GC,125,-1.34,-194.7,3.8,-7.4,13,142,11.05,2.70,-0.55,0.000,4,0.196,0.065,2478,3444,3857
$GC,377,-1.30,-194.7,41.8,-11.9,60,385,0.00,2.55,0.00,0.000,6,0.000,0.047,2478,2018,3858
$GC,516,-1.30,-194.7,56.8,-10.7,85,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2015,3858
$GC,654,-1.30,-194.7,72.4,-10.6,110,660,0.00,2.60,0.00,0.000,4,0.000,0.054,2478,3441,3858
$GC,709,-1.25,-194.7,78.7,-11.6,120,718,0.10,2.53,0.00,0.000,6,0.103,0.041,2502,2028,3858
$GC,854,-1.25,-194.7,93.1,-9.7,145,860,0.00,2.53,0.00,0.000,4,0.000,0.061,2502,628,3858
$GC,930,-1.25,-194.7,101.2,-10.0,159,939,0.00,2.50,0.00,0.000,6,0.000,0.045,2502,2026,3858
$GC,1074,-1.25,-194.7,114.6,-9.8,184,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2028,3858
$GC,1212,-1.25,-194.7,129.3,-10.1,209,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2028,3858
$GC,1350,-1.25,-194.7,143.2,-10.4,234,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2028,3858
$GC,1492,-1.25,-194.7,157.8,-10.1,259,1498,0.00,2.55,0.00,0.000,4,0.000,0.055,2502,3435,3858
$GC,1543,-1.25,-194.7,163.5,-11.1,268,1549,0.00,2.50,0.00,0.000,6,0.000,0.039,2503,2012,3858
$GC,1886,-1.25,-194.7,200.2,-10.5,329,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2009,3858
$GC,2228,-1.25,-194.7,236.6,-10.9,390,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2008,3858
$GC,2572,-1.25,-194.7,271.0,-9.8,451,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2006,3858
$GC,2914,-1.25,-194.7,306.1,-10.2,512,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2006,3858
$GC,3256,-1.25,-194.7,340.8,-9.9,573,3263,0.00,2.60,0.00,0.000,4,0.000,0.058,2502,3431,3858
$GC,3313,-1.25,-194.7,346.9,-10.5,583,3319,0.00,2.53,0.00,0.000,6,0.000,0.041,2502,2007,3858
$GC,3657,-1.25,-194.7,380.9,-9.6,644,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2006,3858
$GC,3999,-1.25,-194.7,412.8,-9.2,705,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2005,3858
$GC,4342,-1.25,-194.7,445.6,-9.6,766,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2006,3858
$GC,4684,-1.25,-194.7,478.9,-9.8,827,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2005,3858
$GC,5027,-1.25,-194.7,512.8,-9.5,888,5033,0.00,2.67,0.00,0.000,4,0.000,0.068,2502,3430,3858
$GC,5100,-1.25,-194.7,520.2,-10.2,901,5106,0.00,2.53,0.00,0.000,6,0.000,0.046,2502,2022,3858
$GC,5443,-1.25,-194.7,552.6,-10.2,962,5449,0.00,2.60,0.00,0.000,4,0.000,0.071,2502,616,3858
$GC,5506,-1.25,-194.7,558.8,-10.0,973,5512,0.00,2.50,0.00,0.000,6,0.000,0.048,2502,2016,3858
$GC,5848,-1.25,-194.7,590.8,-9.1,1034,5855,0.00,2.65,0.00,0.000,4,0.000,0.073,2502,3444,3858
$GC,5911,-1.25,-194.7,596.9,-9.8,1045,5917,0.00,2.55,0.00,0.000,6,0.000,0.049,2502,2021,3858
$GC,6243,-1.25,-194.7,628.3,-9.7,1079,6244,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2020,3858
$GC,6564,-1.25,-194.7,659.3,-9.6,1109,6569,0.00,2.72,0.00,0.000,4,0.000,0.094,2502,617,3857
$GC,6615,-1.25,-194.7,664.5,-9.8,1113,6619,0.00,2.55,0.00,0.000,6,0.000,0.058,2502,2018,3858
$GC,6939,-1.25,-194.7,695.1,-9.6,1143,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2019,3858
$GC,7258,-1.25,-194.7,724.7,-9.1,1173,7263,0.00,2.80,0.00,0.000,4,0.000,0.102,2502,3445,3857
$GC,7308,-1.25,-194.7,729.6,-9.7,1177,7312,0.00,2.58,0.00,0.000,6,0.000,0.057,2502,2028,3857
$GC,7632,-1.25,-194.7,760.8,-10.1,1207,7637,0.00,2.72,0.00,0.000,4,0.000,0.094,2502,623,3858
$GC,7687,-1.25,-194.7,766.5,-10.1,1211,7694,0.00,2.58,0.00,0.000,6,0.000,0.056,2502,2028,3856
$GC,8013,-1.25,-194.7,798.0,-9.5,1242,8017,0.00,2.70,0.00,0.000,4,0.000,0.088,2502,3445,3857
$GC,8078,-1.25,-194.7,805.0,-10.7,1247,8085,0.00,2.60,0.00,0.000,6,0.000,0.055,2502,2027,3857
$GC,8404,-1.25,-194.7,836.4,-9.5,1278,8405,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2027,3857
$GC,8721,-1.25,-194.7,867.0,-9.9,1308,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2026,3856
$GC,9041,-1.25,-194.7,896.6,-8.8,1338,9042,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2026,3856
$GC,9359,-1.25,-194.7,925.7,-9.4,1368,9360,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2025,3856
$GC,9677,-1.25,-194.7,954.5,-8.6,1398,9679,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2023,3855
$GC,9996,-1.25,-194.7,982.7,-8.9,1428,10000,0.00,2.67,0.00,0.000,4,0.000,0.074,2502,3441,3854
$STATE,10070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10071,begin apogee
$GC,10077,-0.37,0.0,990.0,10.2,1434,10253,0.88,0.00,168.15,1.292,6,0.100,0.000,2691,1984,3062
$STATE,10254,end apogee,CONTROL_FINISHED_OK
$STATE,10254,begin climb
$GC,10256,1.34,194.7,994.8,0.0,1452,10435,1.73,2.78,167.75,1.262,4,0.076,0.071,3067,3394,2266
$GC,10447,1.28,194.7,980.6,10.2,1471,10452,0.00,2.60,0.00,0.000,6,0.000,0.052,3068,1986,2265
$GC,10772,1.23,194.7,946.0,10.6,1501,10776,0.00,2.67,0.00,0.000,4,0.000,0.067,3068,3398,2261
$GC,10804,1.17,194.7,942.3,10.9,1503,10811,0.17,2.58,0.00,0.000,6,0.108,0.050,3034,1990,2261
$GC,11128,1.20,224.9,913.3,9.0,1534,11161,0.00,2.78,26.95,1.190,4,0.000,0.067,3034,3403,2144
$GC,11172,1.25,267.6,909.3,8.5,1538,11217,0.00,2.60,39.70,1.192,6,0.000,0.050,3034,1989,1971
$GC,11536,1.27,278.6,874.2,9.6,1572,11549,0.10,0.00,10.45,1.065,6,0.071,0.000,3063,1988,1926
$GC,11864,1.27,278.6,837.7,11.0,1603,11865,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1988,1923
$GC,12183,1.27,278.6,802.5,11.2,1633,12184,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1988,1923
$GC,12501,1.27,278.6,765.5,11.2,1663,12503,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1987,1922
$GC,12820,1.27,278.6,730.6,10.7,1693,12821,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1987,1922
$GC,13140,1.27,278.6,696.4,10.2,1723,13145,0.00,2.67,0.00,0.000,4,0.000,0.065,3063,3395,1921
$GC,13156,1.27,278.6,694.5,10.4,1724,13161,0.00,2.58,0.00,0.000,6,0.000,0.049,3063,1992,1921
$GC,13481,1.27,278.6,661.5,10.6,1754,13482,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1991,1921
$GC,13799,1.27,278.6,626.6,11.0,1784,13800,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1992,1921
$GC,14122,1.27,278.6,590.3,11.0,1821,14127,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1992,1921
$GC,14463,1.27,278.6,553.2,10.9,1882,14468,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1989,1921
$GC,14807,1.27,278.6,516.8,10.6,1943,14812,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1989,1921
$GC,15148,1.27,278.6,479.5,10.6,2004,15154,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1989,1921
$GC,15491,1.28,290.5,444.1,9.6,2065,15512,0.00,0.00,13.62,0.775,6,0.000,0.000,3063,1989,1877
$GC,15849,1.28,290.5,406.8,10.2,2129,15854,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1989,1876
$GC,16193,1.29,292.7,372.6,9.9,2190,16199,0.00,2.62,0.00,0.000,4,0.000,0.059,3063,3404,1875
$GC,16211,1.29,292.7,370.5,10.3,2193,16218,0.00,2.55,0.00,0.000,6,0.000,0.043,3063,1989,1875
$GC,16555,1.29,292.7,333.9,10.7,2254,16560,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1987,1875
$GC,16897,1.29,292.7,298.3,10.3,2315,16903,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1987,1875
$GC,17240,1.30,302.0,263.4,9.7,2376,17256,0.00,0.00,11.85,0.779,6,0.000,0.000,3063,1987,1829
$GC,17593,1.30,302.0,226.6,10.5,2439,17599,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1987,1827
$GC,17937,1.31,309.1,191.1,9.8,2500,17948,0.00,0.00,7.20,0.680,6,0.000,0.000,3063,1987,1801
$GC,18284,1.31,309.1,155.7,10.1,2562,18291,0.00,2.60,0.00,0.000,4,0.000,0.056,3063,3402,1800
$GC,18296,1.31,309.1,154.5,11.5,2564,18302,0.00,2.50,0.00,0.000,6,0.000,0.042,3063,2001,1800
$GC,18631,1.31,309.1,119.4,11.2,2625,18639,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2000,1800
$GC,18773,1.31,309.1,104.2,10.8,2650,18778,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2000,1800
$GC,18912,1.31,309.1,88.2,11.0,2675,18917,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2000,1800
$GC,19051,1.31,309.1,73.2,10.9,2700,19059,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2000,1800
$GC,19195,1.31,309.1,58.4,10.5,2725,19200,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2000,1800
$GC,19333,1.31,309.1,44.1,10.3,2750,19340,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1999,1800
$GC,19466,1.31,309.1,31.0,10.8,2775,19474,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1999,1800
$GC,19600,1.31,309.1,17.1,11.0,2800,19608,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1999,1800
$STATE,19732,end climb,SURFACE_DEPTH_REACHED
$STATE,19732,begin surface coast
$FINISH,-0.0,1.015096
$STATE,19766,end surface coast,CONTROL_FINISHED_OK
$STATE,19767,begin surface
$SM_CCo,19844,0.00,0.000,0,0,1799,309.81
$SM_GC,0.62,10.40,0.00,0.00,0.035,0.000,0.000,572,2052,1799,-10.06,0.62,309.81
$IRIDIUM_FIX,6024.11,-2207.71,180797,010119
$TT8_MAMPS,0.042185
$HUMID,1608
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,12.80
$XPDR_PINGS,399
$24V_AH,23.5,18.814
$10V_AH,10.6,27.533
$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,24.425,99.300,445.675,0.000,0.000,24.674,32.518,290.534,99.750,0.000,0.000,34.101,4281.208,9743.725,626.197,4993.638,672.315,0.000,2694.579,0.000,4989.983,0.000,0.466
$DEVICE_MAMPS,195.585,102.011,1291.628,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1953.918,2077.317,1009.358,1179.088,938.150,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202074,2831
$CAP_FILE_SIZE,208114,0
$CFSIZE,260165632,247545856
$ERRORS,0,9,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230408,123801,6051.829,-2212.896,39,1.2,39,-16.1