version: 66.03
glider: 141
mission: 7
dive: 4
start: 4 4 108 16 59 53
data:
$ID,141
$MISSION,7
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$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,250
$T_MISSION,300
$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,150
$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,-1
$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,225
$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,-6233.4023
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,581
$PITCH_MAX,3865
$C_PITCH,2795
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.5
$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,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,3
$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
$GPS1,165051,5900.556,-2030.144,39,99.0,58,-14.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-59.2
$GPS2,165932,5900.620,-2030.210,10,1.1,15,-14.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,VM
$TGT_LATLONG,5859.850,-2029.850
$TGT_RADIUS,400.000
$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,180.7,1467,-27.2,-10.000
$D_GRID,750
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.96,-63.0,0.0,0.0,0,84,0.00,0.00,-59.78,0.000,6,0.000,0.000,573,1993,3318
$GC,86,-2.04,-127.0,2.1,-3.2,9,117,10.23,2.60,-10.12,0.000,4,0.192,0.067,2341,601,3581
$GC,351,-2.04,-127.0,32.3,-13.4,58,359,0.00,2.50,0.00,0.000,6,0.000,0.045,2341,1997,3582
$GC,423,-2.04,-127.0,42.0,-13.0,71,431,0.00,2.58,0.00,0.000,4,0.000,0.061,2341,599,3582
$GC,448,-2.04,-127.0,45.4,-13.8,75,456,0.00,2.50,0.00,0.000,6,0.000,0.044,2341,1999,3582
$GC,520,-2.04,-127.0,55.2,-13.3,88,527,0.00,2.58,0.00,0.000,4,0.000,0.055,2341,599,3582
$GC,534,-2.04,-127.0,57.1,-13.3,90,542,0.00,2.50,0.00,0.000,6,0.000,0.040,2341,2001,3582
$GC,667,-2.04,-127.0,75.7,-13.6,115,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2004,3582
$GC,800,-2.04,-127.0,94.8,-13.9,140,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2003,3582
$GC,933,-2.04,-127.0,112.7,-13.3,165,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2003,3582
$GC,1067,-2.04,-127.0,132.3,-15.4,190,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2004,3582
$GC,1200,-2.04,-127.0,151.4,-14.3,215,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2004,3582
$GC,1334,-2.04,-127.0,170.5,-14.2,240,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2004,3582
$GC,1472,-2.04,-127.0,189.2,-13.9,265,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2004,3582
$GC,1605,-2.04,-127.0,208.1,-13.6,290,1614,0.00,2.58,0.00,0.000,4,0.000,0.055,2340,3405,3582
$GC,1855,-2.04,-127.0,245.2,-15.1,336,1863,0.00,2.50,0.00,0.000,6,0.000,0.044,2341,2000,3582
$GC,1993,-2.04,-127.0,264.8,-14.4,361,1999,0.00,2.55,0.00,0.000,4,0.000,0.055,2341,591,3582
$GC,2210,-2.04,-127.0,297.5,-15.3,401,2216,0.00,2.50,0.00,0.000,6,0.000,0.039,2341,2006,3583
$GC,2345,-2.04,-127.0,317.6,-15.0,426,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2008,3582
$GC,2484,-2.08,-127.0,337.4,-13.7,451,2490,0.00,2.55,0.00,0.000,4,0.000,0.054,2341,597,3582
$GC,2499,-2.08,-127.0,339.3,-13.9,453,2505,0.00,2.47,0.00,0.000,6,0.000,0.041,2341,2001,3582
$GC,2634,-2.08,-127.0,358.8,-14.1,478,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2003,3582
$GC,2772,-2.08,-127.0,377.5,-13.4,503,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2003,3582
$GC,2910,-2.08,-127.0,396.3,-13.7,528,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2003,3582
$GC,3053,-2.08,-127.0,416.3,-14.4,553,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2003,3582
$GC,3190,-2.08,-127.0,436.1,-14.1,578,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2003,3582
$GC,3328,-2.08,-127.0,455.5,-14.0,603,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2003,3582
$GC,3466,-2.08,-127.0,475.2,-14.3,628,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2003,3582
$GC,3609,-2.08,-127.0,495.0,-13.6,653,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2003,3582
$GC,3747,-2.08,-127.0,514.8,-14.2,678,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2003,3582
$GC,3885,-2.12,-127.0,533.8,-13.9,703,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2003,3582
$GC,4028,-2.12,-127.0,553.6,-14.0,727,4032,0.00,2.62,0.00,0.000,4,0.000,0.074,2341,3402,3582
$GC,4037,-2.12,-127.0,555.1,-13.5,727,4045,0.00,2.50,0.00,0.000,6,0.000,0.046,2341,2015,3582
$GC,4171,-2.12,-127.0,573.6,-13.7,740,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2015,3582
$GC,4300,-2.12,-127.0,591.3,-14.2,752,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2015,3582
$GC,4428,-2.16,-127.0,609.1,-14.1,764,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2015,3582
$GC,4553,-2.16,-127.0,626.8,-13.8,776,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2015,3582
$GC,4681,-2.20,-127.0,644.4,-13.5,788,4683,0.12,0.00,0.00,0.000,6,0.071,0.000,2309,2015,3582
$GC,4808,-2.20,-127.0,662.8,-14.3,800,4812,0.00,2.65,0.00,0.000,4,0.000,0.080,2309,3402,3582
$GC,4824,-2.20,-127.0,665.2,-14.6,801,4829,0.00,2.55,0.00,0.000,6,0.000,0.058,2309,2006,3582
$GC,4957,-2.20,-127.0,683.9,-14.0,813,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2006,3582
$GC,5084,-2.20,-127.0,701.9,-14.1,825,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2006,3582
$GC,5213,-2.20,-127.0,720.0,-13.9,837,5218,0.00,2.70,0.00,0.000,4,0.000,0.087,2309,3402,3582
$GC,5222,-2.20,-127.0,721.7,-14.2,837,5230,0.00,2.62,0.00,0.000,6,0.000,0.071,2309,2010,3582
$GC,5356,-2.20,-127.0,740.9,-13.9,850,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2010,3582
$STATE,5429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5429,begin apogee
$GC,5432,-0.34,0.0,751.0,13.4,857,5547,2.05,0.00,109.75,1.111,6,0.133,0.000,2716,2010,3062
$STATE,5548,end apogee,CONTROL_FINISHED_OK
$STATE,5548,begin climb
$GC,5549,2.04,127.0,753.6,0.0,868,5667,2.33,2.83,108.95,1.082,4,0.074,0.092,3236,3402,2544
$GC,5705,2.04,127.0,735.5,17.9,883,5712,0.00,2.72,0.00,0.000,6,0.000,0.076,3236,2005,2542
$GC,5839,2.04,127.0,714.0,16.2,896,5843,0.00,2.72,0.00,0.000,4,0.000,0.084,3236,3399,2540
$GC,5899,2.04,127.0,703.5,18.1,901,5904,0.00,2.62,0.00,0.000,6,0.000,0.065,3236,1998,2541
$GC,6032,2.04,127.0,682.1,16.0,913,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1999,2540
$GC,6159,2.04,127.0,661.7,15.8,925,6164,0.00,2.67,0.00,0.000,4,0.000,0.070,3236,3403,2539
$GC,6232,2.04,127.0,649.4,17.3,931,6236,0.00,2.58,0.00,0.000,6,0.000,0.051,3236,1997,2539
$GC,6364,2.04,127.0,628.0,15.7,943,6369,0.00,2.65,0.00,0.000,4,0.000,0.065,3236,3409,2539
$GC,6430,2.04,127.0,616.8,16.6,948,6437,0.00,2.58,0.00,0.000,6,0.000,0.046,3236,1999,2539
$GC,6563,2.04,127.0,595.6,16.1,961,6568,0.00,2.62,0.00,0.000,4,0.000,0.064,3236,3403,2539
$GC,6613,2.04,127.0,587.2,17.5,965,6618,0.00,2.55,0.00,0.000,6,0.000,0.046,3236,1988,2539
$GC,6746,2.04,127.0,566.0,16.1,977,6750,0.00,2.62,0.00,0.000,4,0.000,0.062,3236,3404,2539
$GC,6789,2.04,127.0,558.5,17.0,980,6796,0.00,2.55,0.00,0.000,6,0.000,0.044,3236,2001,2539
$GC,6925,2.04,127.0,537.2,15.5,1000,6934,0.00,2.62,0.00,0.000,4,0.000,0.061,3236,3402,2539
$GC,6972,2.04,127.0,529.5,16.4,1008,6980,0.00,2.55,0.00,0.000,6,0.000,0.044,3236,1996,2538
$GC,7115,2.04,127.0,506.9,15.9,1033,7122,0.00,2.60,0.00,0.000,4,0.000,0.061,3236,3404,2538
$GC,7184,2.04,127.0,495.4,16.8,1045,7190,0.00,2.53,0.00,0.000,6,0.000,0.044,3236,1991,2538
$GC,7322,2.04,127.0,472.9,16.3,1070,7328,0.00,2.60,0.00,0.000,4,0.000,0.059,3236,3403,2539
$GC,7366,2.04,127.0,465.5,17.4,1078,7372,0.00,2.50,0.00,0.000,6,0.000,0.044,3236,2000,2538
$GC,7504,2.04,127.0,443.1,16.4,1103,7510,0.00,2.58,0.00,0.000,4,0.000,0.060,3236,3403,2538
$GC,7542,2.04,127.0,436.7,17.2,1110,7549,0.00,2.50,0.00,0.000,6,0.000,0.043,3236,1998,2539
$GC,7681,2.04,127.0,414.3,16.5,1135,7687,0.00,2.58,0.00,0.000,4,0.000,0.059,3236,3404,2539
$GC,7724,2.04,127.0,406.8,17.7,1143,7731,0.00,2.50,0.00,0.000,6,0.000,0.043,3236,1999,2538
$GC,7863,2.04,127.0,384.2,16.6,1168,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1998,2538
$GC,8006,2.04,127.0,361.1,16.7,1193,8012,0.00,2.58,0.00,0.000,4,0.000,0.058,3236,3406,2538
$GC,8099,2.04,127.0,344.7,17.2,1210,8107,0.00,2.53,0.00,0.000,6,0.000,0.042,3236,2001,2539
$GC,8239,2.04,127.0,322.1,16.6,1235,8245,0.00,2.58,0.00,0.000,4,0.000,0.058,3236,3410,2538
$GC,8284,2.04,127.0,314.3,18.0,1243,8290,0.00,2.50,0.00,0.000,6,0.000,0.041,3236,1998,2538
$GC,8420,2.04,127.0,291.9,16.4,1268,8428,0.00,2.60,0.00,0.000,4,0.000,0.057,3236,3403,2538
$GC,8473,2.04,127.0,282.8,18.1,1277,8479,0.00,2.50,0.00,0.000,6,0.000,0.041,3236,1992,2538
$GC,8608,2.04,127.0,260.5,17.3,1302,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1990,2538
$GC,8746,2.04,127.0,238.6,16.4,1327,8752,0.00,2.60,0.00,0.000,4,0.000,0.056,3236,3412,2538
$GC,8824,2.04,127.0,225.0,17.3,1341,8830,0.00,2.50,0.00,0.000,6,0.000,0.041,3236,1998,2538
$GC,8958,2.04,127.0,203.0,15.1,1366,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1996,2538
$GC,9097,2.04,127.0,181.4,15.6,1391,9103,0.00,2.58,0.00,0.000,4,0.000,0.055,3236,3410,2538
$GC,9175,2.04,127.0,168.2,18.1,1405,9181,0.00,2.50,0.00,0.000,6,0.000,0.040,3236,1996,2538
$GC,9311,2.04,127.0,146.8,15.1,1430,9319,0.00,2.58,0.00,0.000,4,0.000,0.055,3236,3396,2538
$GC,9357,2.04,127.0,139.3,17.1,1438,9365,0.00,2.47,0.00,0.000,6,0.000,0.040,3236,2004,2538
$GC,9492,2.04,127.0,118.1,15.2,1463,9499,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2000,2538
$GC,9624,2.04,127.0,97.9,14.6,1488,9632,0.00,2.58,0.00,0.000,4,0.000,0.055,3236,3405,2538
$GC,9717,2.04,127.0,82.8,17.0,1505,9725,0.00,2.50,0.00,0.000,6,0.000,0.040,3236,2002,2538
$GC,9850,2.04,127.0,62.4,15.1,1530,9858,0.00,2.58,0.00,0.000,4,0.000,0.061,3236,3403,2538
$GC,9891,2.04,127.0,55.7,17.1,1537,9899,0.00,2.50,0.00,0.000,6,0.000,0.039,3236,2002,2538
$GC,10025,2.04,127.0,34.5,16.0,1562,10032,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2001,2539
$GC,10096,2.04,127.0,23.2,17.0,1575,10104,0.00,2.58,0.00,0.000,4,0.000,0.061,3236,3397,2538
$GC,10157,2.04,127.0,12.7,17.5,1586,10165,0.00,2.47,0.00,0.000,6,0.000,0.040,3236,2007,2538
$STATE,10218,end climb,SURFACE_DEPTH_REACHED
$STATE,10218,begin surface coast
$FINISH,0.2,1.003415
$STATE,10235,end surface coast,CONTROL_FINISHED_OK
$STATE,10235,begin surface
$SM_CCo,10253,79.20,0.650,0,0,2144,225.19
$SM_GC,1.03,0.00,0.00,79.20,0.000,0.000,0.650,570,2002,2144,-10.24,-0.03,225.19
$IRIDIUM_FIX,5837.82,-2034.34,290697,141408
$TT8_MAMPS,0.042952
$HUMID,1587
$INTERNAL_PRESSURE,10.0883
$TCM_TEMP,12.90
$XPDR_PINGS,403
$24V_AH,23.5,2.086
$10V_AH,10.6,1.594
$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,25.950,149.025,218.700,79.200,0.000,27.735,31.163,347.343,100.750,0.000,0.000,17.398,2525.416,3167.667,565.023,3992.172,596.234,0.000,1912.484,0.000,4012.079,0.000,0.466
$DEVICE_MAMPS,191.750,92.040,1110.616,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1101.213,1154.408,828.869,1281.739,2506.356,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120310,1600
$CAP_FILE_SIZE,153620,0
$CFSIZE,260165632,257482752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,040408,195308,5900.461,-2029.412,27,1.4,27,-14.2