version: 66.03
glider: 141
mission: 7
dive: 86
start: 4 23 108 12 57 4
data:
$ID,141
$MISSION,7
$DIVE,86
$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,628.45856
$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,-7862.4531
$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,22
$R_STBD_OVSHOOT,32
$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
$GPS1,123801,6051.829,-2212.896,39,1.2,39,-16.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-55.6
$GPS2,125645,6051.942,-2212.906,12,1.3,12,-16.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6102.373,-2214.259
$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,1.1,20000,-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,-194.7,0.0,0.0,0,129,0.00,0.00,-101.88,0.000,2,0.000,0.000,571,2052,3798
$GC,131,-1.34,-194.7,3.4,-6.5,14,149,11.10,2.60,-1.25,0.000,4,0.198,0.064,2478,3428,3857
$GC,385,-1.29,-194.7,40.5,-11.9,61,393,0.00,2.53,0.00,0.000,6,0.000,0.046,2478,2028,3858
$GC,519,-1.29,-194.7,56.6,-12.0,86,525,0.00,2.58,0.00,0.000,4,0.000,0.056,2478,3427,3858
$GC,607,-1.24,-194.7,67.6,-12.3,102,616,0.10,2.53,0.00,0.000,6,0.107,0.048,2502,2023,3858
$GC,751,-1.24,-194.7,83.3,-10.9,127,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2020,3858
$GC,890,-1.24,-194.7,98.1,-10.4,152,896,0.00,2.55,0.00,0.000,4,0.000,0.055,2502,620,3858
$GC,955,-1.24,-194.7,105.2,-11.1,164,961,0.00,2.47,0.00,0.000,6,0.000,0.041,2502,2013,3858
$GC,1091,-1.24,-194.7,120.3,-11.0,189,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2015,3858
$GC,1233,-1.24,-194.7,135.0,-10.6,214,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2015,3858
$GC,1370,-1.24,-194.7,149.5,-10.0,239,1376,0.00,2.60,0.00,0.000,4,0.000,0.056,2502,3435,3858
$GC,1426,-1.24,-194.7,155.3,-10.8,249,1433,0.00,2.55,0.00,0.000,6,0.000,0.041,2502,2004,3858
$GC,1770,-1.24,-194.7,190.5,-10.3,310,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2000,3858
$GC,2112,-1.24,-194.7,226.1,-10.2,371,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1999,3858
$GC,2453,-1.24,-194.7,260.5,-10.2,432,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1998,3858
$GC,2797,-1.24,-194.7,293.8,-9.7,493,2803,0.00,2.65,0.00,0.000,4,0.000,0.056,2502,3436,3858
$GC,2865,-1.24,-194.7,301.1,-10.7,505,2871,0.00,2.53,0.00,0.000,6,0.000,0.041,2502,2015,3858
$GC,3208,-1.24,-194.7,336.7,-10.1,566,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2012,3858
$GC,3551,-1.24,-194.7,371.3,-9.9,627,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2012,3858
$GC,3893,-1.24,-194.7,403.7,-9.1,688,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2011,3858
$GC,4237,-1.24,-194.7,436.6,-9.8,749,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2011,3858
$GC,4579,-1.24,-194.7,470.6,-9.5,810,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2010,3858
$GC,4922,-1.24,-194.7,503.6,-9.3,871,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2010,3858
$GC,5265,-1.24,-194.7,534.9,-9.4,932,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2010,3858
$GC,5607,-1.24,-194.7,567.4,-9.3,993,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2009,3858
$GC,5949,-1.24,-194.7,598.1,-8.9,1054,5955,0.00,2.72,0.00,0.000,4,0.000,0.076,2502,3438,3858
$GC,6006,-1.24,-194.7,603.4,-9.5,1061,6011,0.00,2.58,0.00,0.000,6,0.000,0.051,2502,2022,3858
$GC,6331,-1.24,-194.7,633.4,-9.2,1091,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2022,3857
$GC,6649,-1.24,-194.7,661.0,-8.7,1121,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2022,3857
$GC,6967,-1.24,-194.7,690.7,-9.5,1151,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2022,3857
$GC,7286,-1.24,-194.7,719.9,-9.8,1181,7290,0.00,2.80,0.00,0.000,4,0.000,0.096,2502,3433,3857
$GC,7340,-1.24,-194.7,725.8,-10.9,1185,7347,0.00,2.62,0.00,0.000,6,0.000,0.062,2502,2030,3857
$GC,7666,-1.24,-194.7,757.4,-9.6,1216,7670,0.00,2.80,0.00,0.000,4,0.000,0.103,2502,615,3857
$GC,7727,-1.24,-194.7,763.5,-9.8,1221,7731,0.00,2.58,0.00,0.000,6,0.000,0.057,2502,2026,3857
$GC,8052,-1.24,-194.7,792.9,-9.3,1251,8053,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2025,3857
$GC,8371,-1.24,-194.7,823.4,-9.3,1281,8375,0.00,2.72,0.00,0.000,4,0.000,0.086,2502,3441,3856
$GC,8436,-1.24,-194.7,830.0,-9.9,1286,8443,0.00,2.60,0.00,0.000,6,0.000,0.056,2503,2025,3856
$GC,8762,-1.24,-194.7,860.8,-9.6,1317,8766,0.00,2.72,0.00,0.000,4,0.000,0.091,2502,620,3856
$GC,8823,-1.24,-194.7,866.8,-9.8,1322,8827,0.00,2.58,0.00,0.000,6,0.000,0.056,2502,2034,3856
$GC,9148,-1.24,-194.7,896.1,-8.7,1352,9152,0.00,2.70,0.00,0.000,4,0.000,0.088,2502,3439,3855
$GC,9213,-1.24,-194.7,902.4,-9.6,1357,9220,0.00,2.58,0.00,0.000,6,0.000,0.054,2502,2022,3855
$GC,9539,-1.24,-194.7,930.1,-8.4,1388,9543,0.00,2.70,0.00,0.000,4,0.000,0.091,2502,620,3855
$GC,9604,-1.24,-194.7,936.1,-8.9,1393,9611,0.00,2.58,0.00,0.000,6,0.000,0.056,2502,2035,3855
$GC,9932,-1.24,-194.7,963.9,-8.7,1424,9936,0.00,2.70,0.00,0.000,4,0.000,0.088,2502,3446,3854
$GC,9992,-1.24,-194.7,969.9,-9.2,1429,9997,0.00,2.60,0.00,0.000,6,0.000,0.056,2502,2017,3854
$STATE,10219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10219,begin apogee
$GC,10224,-0.37,0.0,990.1,8.7,1450,10396,0.90,0.00,168.15,1.292,6,0.097,0.000,2694,1979,3062
$STATE,10396,end apogee,CONTROL_FINISHED_OK
$STATE,10397,begin climb
$GC,10398,1.34,194.7,994.8,0.0,1467,10577,1.70,2.78,167.75,1.261,4,0.077,0.071,3071,3400,2267
$GC,10583,1.27,194.7,980.7,11.3,1485,10589,0.00,2.62,0.00,0.000,6,0.000,0.053,3071,1985,2265
$GC,10908,1.21,194.7,943.9,11.3,1516,10913,0.12,2.65,0.00,0.000,4,0.111,0.068,3047,3395,2262
$GC,10924,1.16,194.7,941.9,10.9,1517,10928,0.00,2.58,0.00,0.000,6,0.000,0.051,3046,1985,2261
$GC,11248,1.17,203.0,909.7,9.7,1547,11262,0.00,2.72,7.75,1.019,4,0.000,0.067,3046,3394,2233
$GC,11272,1.17,203.0,907.0,10.7,1549,11279,0.00,2.62,0.00,0.000,6,0.000,0.051,3046,1982,2233
$GC,11600,1.18,211.1,875.2,9.7,1580,11614,0.00,2.70,8.90,1.050,4,0.000,0.068,3046,3395,2201
$GC,11643,1.18,211.1,870.3,10.5,1584,11648,0.00,2.55,0.00,0.000,6,0.000,0.051,3047,1997,2200
$GC,11969,1.19,213.2,838.4,9.9,1614,11973,0.00,2.65,0.00,0.000,4,0.000,0.067,3047,3394,2198
$GC,11984,1.19,213.2,836.6,10.2,1615,11988,0.00,2.53,0.00,0.000,6,0.000,0.051,3047,2004,2198
$GC,12315,1.20,226.8,804.6,9.5,1646,12334,0.00,0.00,15.38,1.110,6,0.000,0.000,3046,2004,2136
$GC,12653,1.21,231.4,771.9,9.8,1678,12665,0.00,2.65,5.32,0.867,4,0.000,0.067,3047,3395,2118
$GC,12676,1.21,231.4,769.4,10.3,1680,12680,0.00,2.58,0.00,0.000,6,0.000,0.051,3046,1993,2117
$GC,13001,1.24,260.3,737.7,9.0,1710,13031,0.00,0.00,27.70,1.110,6,0.000,0.000,3046,1993,2000
$GC,13348,1.27,280.9,705.5,9.3,1743,13373,0.00,2.75,19.62,1.066,4,0.000,0.066,3046,3400,1915
$GC,13396,1.28,288.8,700.8,9.7,1747,13410,0.00,2.58,8.85,0.952,6,0.000,0.051,3046,2011,1884
$GC,13735,1.28,288.8,665.5,10.6,1779,13736,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2009,1880
$GC,14054,1.28,288.8,632.1,10.7,1809,14059,0.00,2.72,0.00,0.000,4,0.000,0.076,3046,574,1880
$GC,14070,1.28,288.8,630.4,10.6,1810,14074,0.00,2.62,0.00,0.000,6,0.000,0.048,3046,2014,1880
$GC,14395,1.29,299.2,597.1,9.6,1842,14411,0.00,0.00,10.40,0.948,6,0.000,0.000,3046,2014,1842
$GC,14748,1.30,307.2,561.7,9.7,1905,14765,0.00,2.78,8.68,0.898,4,0.000,0.067,3046,580,1808
$GC,14776,1.30,307.2,558.8,10.5,1910,14782,0.00,2.58,0.00,0.000,6,0.000,0.048,3046,1999,1808
$GC,15120,1.30,307.2,522.5,10.6,1971,15125,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2001,1807
$GC,15462,1.31,313.5,486.5,9.8,2032,15473,0.00,0.00,6.80,0.814,6,0.000,0.000,3046,2001,1784
$GC,15810,1.31,313.5,450.8,10.2,2094,15815,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2001,1781
$GC,16152,1.31,318.2,416.3,9.8,2155,16164,0.00,2.70,5.88,0.745,4,0.000,0.063,3046,570,1764
$GC,16175,1.31,318.2,413.8,10.2,2159,16182,0.00,2.58,0.00,0.000,6,0.000,0.044,3046,1996,1763
$GC,16521,1.32,325.4,379.5,9.7,2220,16533,0.10,0.00,7.90,0.788,6,0.068,0.000,3078,1998,1734
$GC,16870,1.32,325.4,339.3,10.9,2282,16876,0.00,2.67,0.00,0.000,4,0.000,0.063,3078,573,1733
$GC,16881,1.32,325.4,338.0,10.6,2284,16887,0.00,2.58,0.00,0.000,6,0.000,0.044,3078,1999,1733
$GC,17224,1.32,325.4,297.3,13.9,2345,17230,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2001,1733
$GC,17568,1.32,325.4,255.9,11.8,2406,17574,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2001,1733
$GC,17911,1.32,325.4,213.7,11.2,2467,17917,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2001,1732
$GC,18253,1.32,325.4,171.3,12.9,2528,18259,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2001,1732
$GC,18591,1.32,325.4,129.6,13.2,2589,18598,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2001,1733
$GC,18733,1.32,325.4,113.0,13.4,2614,18739,0.00,2.65,0.00,0.000,4,0.000,0.061,3078,573,1733
$GC,18752,1.32,325.4,110.4,12.6,2617,18758,0.00,2.55,0.00,0.000,6,0.000,0.042,3078,1995,1733
$GC,18888,1.32,325.4,94.6,13.5,2642,18893,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1997,1733
$GC,19027,1.32,325.4,77.6,13.4,2667,19034,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1997,1733
$GC,19170,1.32,325.4,60.2,12.3,2692,19175,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1997,1733
$GC,19308,1.32,325.4,43.8,11.7,2717,19315,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1997,1733
$GC,19442,1.32,325.4,27.9,11.2,2742,19449,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1997,1733
$GC,19576,1.32,325.4,12.4,13.4,2767,19583,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1997,1733
$STATE,19656,end climb,SURFACE_DEPTH_REACHED
$STATE,19656,begin surface coast
$FINISH,0.1,1.027134
$STATE,19678,end surface coast,CONTROL_FINISHED_OK
$STATE,19678,begin surface
$SM_CCo,19697,248.40,0.646,0,0,500,628.46
$SM_GC,0.40,0.00,0.00,248.40,0.000,0.000,0.646,574,2048,500,-10.15,0.51,628.46
$IRIDIUM_FIX,6028.48,-2211.04,180797,131309
$TT8_MAMPS,0.042952
$HUMID,1560
$INTERNAL_PRESSURE,9.94179
$TCM_TEMP,12.80
$XPDR_PINGS,380
$24V_AH,23.5,19.064
$10V_AH,10.6,27.750
$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,24.500,131.625,469.075,248.400,0.000,147.221,219.387,344.554,95.000,0.000,0.000,14.215,4240.075,9912.288,915.676,4910.699,1065.668,0.000,2994.702,0.000,4910.745,0.000,0.465
$DEVICE_MAMPS,197.886,158.002,1291.628,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1922.295,2049.343,967.029,1123.792,877.767,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,195947,2786
$CAP_FILE_SIZE,221324,0
$CFSIZE,260165632,247369728
$ERRORS,0,14,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230408,183038,6055.108,-2214.994,33,1.2,33,-16.1