version: 66.03
glider: 141
mission: 7
dive: 5
start: 4 4 108 20 0 12
data:
$ID,141
$MISSION,7
$DIVE,5
$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,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,-6251.0854
$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,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$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
$GPS1,195308,5900.461,-2029.412,27,1.4,27,-14.2
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-57.6
$GPS2,195951,5900.490,-2029.425,9,1.3,15,-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,213.1,1253,-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,-2.10,-63.0,0.0,0.0,0,84,0.00,0.00,-59.58,0.000,6,0.000,0.000,570,1998,3316
$GC,86,-2.17,-125.7,2.2,-3.3,9,116,9.98,2.60,-9.73,0.000,4,0.192,0.067,2298,601,3576
$GC,351,-2.17,-125.7,37.7,-15.6,58,358,0.00,2.53,0.00,0.000,6,0.000,0.047,2298,2003,3578
$GC,422,-2.17,-125.7,48.6,-15.7,71,430,0.00,2.60,0.00,0.000,4,0.000,0.061,2298,595,3578
$GC,504,-2.17,-125.7,61.7,-16.2,86,511,0.00,2.53,0.00,0.000,6,0.000,0.046,2298,2005,3578
$GC,637,-2.17,-125.7,82.4,-16.0,111,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2007,3578
$GC,770,-2.17,-125.7,103.3,-15.1,136,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2008,3578
$GC,903,-2.17,-125.7,124.1,-16.2,161,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2008,3578
$GC,1037,-2.17,-125.7,145.3,-15.7,186,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2008,3578
$GC,1174,-2.17,-125.7,166.8,-15.5,211,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2008,3577
$GC,1307,-2.17,-125.7,188.1,-16.4,236,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2008,3578
$GC,1446,-2.17,-125.7,209.7,-16.1,261,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2008,3578
$GC,1579,-2.17,-125.7,231.2,-15.9,286,1586,0.00,2.55,0.00,0.000,4,0.000,0.062,2298,3402,3577
$GC,1599,-2.17,-125.7,234.1,-16.0,289,1605,0.00,2.45,0.00,0.000,6,0.000,0.039,2298,2010,3577
$GC,1734,-2.17,-125.7,255.1,-15.3,314,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2004,3577
$GC,1872,-2.17,-125.7,275.4,-14.9,339,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2003,3577
$GC,2006,-2.17,-125.7,295.4,-14.7,364,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2003,3577
$GC,2144,-2.17,-125.7,315.8,-14.8,389,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2003,3577
$GC,2278,-2.17,-125.7,336.1,-15.2,414,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2003,3577
$GC,2415,-2.17,-125.7,356.8,-15.4,439,2421,0.00,2.58,0.00,0.000,4,0.000,0.058,2298,3412,3577
$GC,2428,-2.17,-125.7,358.6,-15.7,441,2434,0.00,2.47,0.00,0.000,6,0.000,0.040,2298,2008,3577
$GC,2566,-2.17,-125.7,381.3,-16.1,466,2572,0.00,2.58,0.00,0.000,4,0.000,0.058,2298,3409,3577
$GC,2577,-2.17,-125.7,383.1,-15.6,468,2585,0.00,2.50,0.00,0.000,6,0.000,0.046,2298,2015,3577
$GC,2720,-2.17,-125.7,404.9,-15.4,493,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2012,3577
$GC,2858,-2.17,-125.7,425.9,-14.5,518,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2013,3577
$GC,2996,-2.17,-125.7,446.5,-14.8,543,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2013,3577
$GC,3134,-2.17,-125.7,466.8,-15.0,568,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2012,3577
$GC,3277,-2.17,-125.7,487.6,-14.9,593,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2012,3577
$GC,3415,-2.17,-125.7,508.5,-15.2,618,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2012,3577
$GC,3552,-2.17,-125.7,529.4,-15.1,643,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2012,3577
$GC,3690,-2.17,-125.7,550.1,-15.0,668,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2012,3577
$GC,3818,-2.17,-125.7,569.4,-15.3,680,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2012,3577
$GC,3945,-2.17,-125.7,588.6,-14.8,692,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2012,3577
$GC,4074,-2.17,-125.7,607.3,-14.9,704,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2013,3578
$GC,4200,-2.17,-125.7,626.5,-15.5,716,4204,0.00,2.65,0.00,0.000,4,0.000,0.078,2298,3404,3577
$GC,4209,-2.17,-125.7,628.1,-15.6,716,4216,0.00,2.50,0.00,0.000,6,0.000,0.051,2298,2038,3577
$GC,4342,-2.17,-125.7,648.8,-15.2,729,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2038,3577
$GC,4470,-2.17,-125.7,668.0,-15.1,741,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2038,3577
$GC,4597,-2.17,-125.7,686.9,-14.3,753,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2039,3577
$GC,4725,-2.17,-125.7,705.7,-14.5,765,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2038,3577
$GC,4854,-2.17,-125.7,724.6,-15.1,777,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2038,3577
$GC,4979,-2.17,-125.7,743.7,-15.4,789,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2038,3577
$STATE,5031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5031,begin apogee
$GC,5035,-0.37,0.0,751.5,14.7,794,5149,2.00,0.00,109.05,1.110,6,0.136,0.000,2694,2006,3062
$STATE,5150,end apogee,CONTROL_FINISHED_OK
$STATE,5150,begin climb
$GC,5151,2.17,125.7,755.4,0.0,805,5268,2.53,0.00,108.45,1.085,6,0.076,0.000,3253,2006,2548
$GC,5394,2.17,125.7,723.3,16.7,829,5398,0.00,2.78,0.00,0.000,4,0.000,0.089,3252,3400,2545
$GC,5488,2.13,125.7,706.2,18.0,837,5493,0.00,2.65,0.00,0.000,6,0.000,0.067,3252,1997,2545
$GC,5621,2.13,125.7,683.5,16.8,849,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1997,2544
$GC,5748,2.13,125.7,662.6,15.9,861,5753,0.00,2.67,0.00,0.000,4,0.000,0.068,3252,3405,2544
$GC,5832,2.08,125.7,648.0,17.7,868,5837,0.00,2.53,0.00,0.000,6,0.000,0.051,3252,2015,2544
$GC,5964,2.08,125.7,626.1,16.2,880,5969,0.00,2.60,0.00,0.000,4,0.000,0.064,3252,3409,2544
$GC,6003,2.03,125.7,619.5,18.1,883,6008,0.15,2.45,0.00,0.000,6,0.125,0.045,3224,2046,2544
$GC,6135,2.03,125.7,598.7,15.5,895,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2046,2544
$GC,6263,2.03,125.7,578.9,15.5,907,6267,0.00,2.53,0.00,0.000,4,0.000,0.061,3224,3403,2543
$GC,6328,2.03,125.7,568.0,16.6,912,6335,0.00,2.42,0.00,0.000,6,0.000,0.044,3224,2067,2544
$GC,6464,2.03,125.7,547.9,15.0,926,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2067,2543
$GC,6602,2.03,125.7,527.1,14.9,951,6608,0.00,2.50,0.00,0.000,4,0.000,0.061,3225,3406,2543
$GC,6681,2.03,125.7,514.6,16.4,965,6687,0.00,2.40,0.00,0.000,6,0.000,0.044,3224,2070,2543
$GC,6820,2.03,125.7,493.0,15.1,990,6826,0.00,2.47,0.00,0.000,4,0.000,0.059,3224,3410,2543
$GC,6861,2.03,125.7,486.6,16.8,997,6867,0.00,2.35,0.00,0.000,6,0.000,0.042,3224,2094,2543
$GC,7000,2.03,125.7,464.5,15.8,1022,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2094,2543
$GC,7138,2.03,125.7,443.2,15.1,1047,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2093,2543
$GC,7277,2.03,125.7,421.7,15.3,1072,7286,0.00,2.45,0.00,0.000,4,0.000,0.059,3224,3406,2543
$GC,7346,2.03,125.7,410.4,17.2,1084,7354,0.00,2.33,0.00,0.000,6,0.000,0.042,3224,2113,2543
$GC,7490,2.03,125.7,388.4,14.8,1109,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2112,2543
$GC,7629,2.03,125.7,367.1,15.5,1134,7635,0.00,2.38,0.00,0.000,4,0.000,0.058,3224,3410,2543
$GC,7669,2.03,125.7,361.0,16.2,1141,7675,0.00,2.30,0.00,0.000,6,0.000,0.041,3224,2108,2542
$GC,7806,2.03,125.7,339.6,15.3,1166,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2108,2543
$GC,7944,2.03,125.7,318.4,15.6,1191,7950,0.00,2.38,0.00,0.000,4,0.000,0.056,3224,3404,2543
$GC,7992,2.03,125.7,311.0,17.0,1199,7998,0.00,2.28,0.00,0.000,6,0.000,0.041,3224,2117,2543
$GC,8127,2.03,125.7,289.7,15.1,1224,8134,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2116,2543
$GC,8265,2.03,125.7,269.2,15.8,1249,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2114,2543
$GC,8399,2.03,125.7,248.8,14.6,1274,8407,0.00,2.38,0.00,0.000,4,0.000,0.057,3224,3401,2543
$GC,8442,2.03,125.7,242.4,15.5,1281,8448,0.00,2.25,0.00,0.000,6,0.000,0.040,3224,2125,2543
$GC,8577,2.03,125.7,222.1,14.9,1306,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2123,2543
$GC,8716,2.03,125.7,202.1,14.9,1331,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2120,2543
$GC,8850,2.03,125.7,182.2,15.1,1356,8857,0.00,2.38,0.00,0.000,4,0.000,0.061,3225,3404,2543
$GC,8916,2.03,125.7,171.8,16.1,1368,8924,0.00,2.25,0.00,0.000,6,0.000,0.041,3224,2149,2543
$GC,9058,2.03,125.7,151.1,15.3,1393,9063,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2145,2543
$GC,9189,2.03,125.7,131.0,15.0,1418,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2144,2543
$GC,9322,2.03,125.7,110.8,14.9,1443,9330,0.00,2.33,0.00,0.000,4,0.000,0.055,3225,3403,2543
$GC,9363,2.03,125.7,104.2,16.1,1450,9370,0.00,2.22,0.00,0.000,6,0.000,0.038,3224,2158,2543
$GC,9496,2.03,125.7,83.8,15.8,1475,9503,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2153,2543
$GC,9629,2.03,125.7,63.5,15.9,1500,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2153,2543
$GC,9762,2.03,125.7,43.2,16.0,1525,9770,0.00,2.30,0.00,0.000,4,0.000,0.055,3225,3402,2543
$GC,9803,2.03,125.7,36.6,16.8,1532,9811,0.00,2.20,0.00,0.000,6,0.000,0.044,3225,2170,2543
$GC,9874,2.03,125.7,25.7,14.3,1545,9882,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2165,2543
$GC,9946,2.03,125.7,15.0,14.8,1558,9953,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2164,2543
$GC,10017,2.03,125.7,4.4,16.7,1571,10024,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2164,2543
$STATE,10030,end climb,SURFACE_DEPTH_REACHED
$STATE,10030,begin surface coast
$FINISH,0.2,1.026806
$STATE,10048,end surface coast,CONTROL_FINISHED_OK
$STATE,10048,begin surface
$SM_CCo,10066,59.10,0.653,0,0,2246,200.16
$SM_GC,1.20,0.00,0.00,59.10,0.000,0.000,0.653,573,1983,2246,-10.15,-0.48,200.16
$IRIDIUM_FIX,5833.68,-2108.55,290697,171720
$TT8_MAMPS,0.042185
$HUMID,1579
$INTERNAL_PRESSURE,10.098
$TCM_TEMP,13.40
$XPDR_PINGS,393
$24V_AH,23.5,2.194
$10V_AH,10.6,1.807
$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,25.925,93.650,217.500,59.100,0.000,24.659,31.609,241.393,98.250,0.000,0.000,17.055,2472.973,3135.083,530.838,3886.570,496.217,0.000,1832.657,0.000,3923.294,0.000,0.465
$DEVICE_MAMPS,191.750,140.361,1109.849,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1085.285,1142.180,814.618,1256.093,2452.888,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,117162,1576
$CAP_FILE_SIZE,142605,0
$CFSIZE,260165632,257417216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,040408,225008,5859.897,-2030.088,36,1.8,36,-14.2