version: 66.03
glider: 141
mission: 7
dive: 22
start: 4 8 108 15 52 9
data:
$ID,141
$MISSION,7
$DIVE,22
$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,90
$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,-6557.2554
$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,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$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
$GPS1,153437,5906.846,-1905.050,28,1.2,28,-13.6
$_CALLS,3
$_XMS_NAKs,21
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-54.8
$GPS2,155151,5906.522,-1905.228,12,1.4,12,-13.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5906.522,-1859.683
$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,103.6,20000,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.34,-194.7,0.0,0.0,0,135,0.00,0.00,-106.80,0.000,6,0.000,0.000,572,2004,3857
$GC,137,-1.34,-194.7,3.6,-6.8,15,154,11.12,2.60,0.00,0.000,4,0.199,0.051,2483,621,3859
$GC,377,-1.34,-194.7,36.1,-10.8,60,385,0.00,2.55,0.00,0.000,6,0.000,0.044,2483,2031,3860
$GC,511,-1.34,-194.7,50.8,-11.5,85,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3860
$GC,644,-1.34,-194.7,65.9,-11.7,110,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2033,3860
$GC,777,-1.34,-194.7,80.8,-11.1,135,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3859
$GC,910,-1.34,-194.7,95.8,-11.2,160,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2032,3859
$GC,1043,-1.34,-194.7,110.6,-10.7,185,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3859
$GC,1176,-1.34,-194.7,125.5,-11.6,210,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2033,3859
$GC,1309,-1.34,-194.7,140.0,-10.9,235,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3860
$GC,1442,-1.34,-194.7,155.0,-11.3,260,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3860
$GC,1775,-1.34,-194.7,194.6,-12.0,321,1781,0.00,2.60,0.00,0.000,4,0.000,0.051,2483,621,3859
$GC,1799,-1.34,-194.7,197.4,-11.5,325,1805,0.00,2.53,0.00,0.000,6,0.000,0.038,2483,2034,3859
$GC,2129,-1.34,-194.7,233.4,-10.8,386,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2036,3860
$GC,2462,-1.34,-194.7,270.2,-10.8,447,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2036,3859
$GC,2789,-1.34,-194.7,308.9,-12.2,508,2797,0.00,2.65,0.00,0.000,4,0.000,0.053,2482,626,3860
$GC,2834,-1.34,-194.7,314.6,-12.6,516,2843,0.00,2.53,0.00,0.000,6,0.000,0.043,2482,2019,3860
$GC,3170,-1.34,-194.7,354.1,-11.3,577,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2021,3859
$GC,3509,-1.34,-194.7,391.8,-10.6,638,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2022,3860
$GC,3847,-1.34,-194.7,428.6,-11.1,699,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2021,3859
$GC,4187,-1.34,-194.7,466.4,-11.1,760,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2021,3859
$GC,4532,-1.34,-194.7,503.2,-10.4,821,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2021,3859
$GC,4872,-1.34,-194.7,538.1,-10.2,882,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2022,3859
$GC,5201,-1.34,-194.7,572.0,-10.2,923,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2021,3859
$GC,5520,-1.34,-194.7,606.0,-10.7,953,5524,0.00,2.65,0.00,0.000,4,0.000,0.073,2482,625,3859
$GC,5542,-1.34,-194.7,608.4,-10.9,955,5546,0.00,2.55,0.00,0.000,6,0.000,0.048,2483,2024,3859
$GC,5866,-1.34,-194.7,642.6,-10.6,985,5870,0.00,2.70,0.00,0.000,4,0.000,0.078,2483,3447,3858
$GC,5892,-1.34,-194.7,645.6,-11.9,987,5897,0.00,2.55,0.00,0.000,6,0.000,0.048,2483,2032,3859
$GC,6217,-1.34,-194.7,679.3,-10.4,1017,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3858
$GC,6535,-1.34,-194.7,713.5,-11.1,1047,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3858
$GC,6853,-1.34,-194.7,747.7,-10.7,1077,6858,0.00,2.75,0.00,0.000,4,0.000,0.090,2482,620,3858
$GC,6880,-1.34,-194.7,750.6,-11.4,1079,6884,0.00,2.58,0.00,0.000,6,0.000,0.051,2482,2030,3858
$GC,7205,-1.34,-194.7,786.8,-11.3,1109,7209,0.00,2.65,0.00,0.000,4,0.000,0.069,2483,619,3858
$GC,7233,-1.34,-194.7,789.9,-11.9,1111,7237,0.00,2.55,0.00,0.000,6,0.000,0.050,2483,2023,3858
$GC,7557,-1.34,-194.7,825.5,-10.6,1141,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2023,3858
$GC,7875,-1.34,-194.7,858.8,-10.4,1171,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2023,3857
$GC,8194,-1.34,-194.7,890.8,-9.9,1201,8196,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2023,3857
$GC,8515,-1.34,-194.7,921.2,-9.2,1231,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2023,3857
$GC,8832,-1.34,-194.7,950.9,-9.5,1261,8836,0.00,2.70,0.00,0.000,4,0.000,0.083,2482,3438,3857
$GC,8874,-1.34,-194.7,955.3,-9.5,1264,8881,0.00,2.58,0.00,0.000,6,0.000,0.049,2483,2011,3857
$GC,9200,-1.34,-194.7,985.8,-9.6,1295,9201,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2011,3857
$STATE,9250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9251,begin apogee
$GC,9254,-0.37,0.0,990.9,9.7,1300,9427,1.00,0.00,169.25,1.280,6,0.100,0.000,2695,2010,3062
$STATE,9428,end apogee,CONTROL_FINISHED_OK
$STATE,9428,begin climb
$GC,9430,1.34,194.7,995.1,0.0,1317,9608,1.67,2.70,168.52,1.249,4,0.077,0.065,3068,3442,2267
$GC,9620,1.28,196.5,980.5,9.9,1336,9625,0.00,2.62,0.00,0.000,6,0.000,0.044,3068,2014,2265
$GC,9945,1.22,196.5,944.6,11.1,1366,9947,0.12,0.00,0.00,0.000,6,0.107,0.000,3044,2014,2261
$GC,10263,1.22,196.5,913.7,10.1,1396,10264,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2014,2260
$GC,10582,1.24,209.1,882.6,9.6,1426,10603,0.00,2.78,13.05,1.105,4,0.000,0.062,3045,3438,2208
$GC,10625,1.24,213.4,878.1,9.8,1430,10637,0.00,2.58,5.75,0.900,6,0.000,0.043,3044,2025,2191
$GC,10954,1.24,213.4,844.8,10.7,1461,10958,0.00,2.65,0.00,0.000,4,0.000,0.071,3044,616,2189
$GC,10981,1.24,213.4,841.8,10.7,1463,10985,0.00,2.55,0.00,0.000,6,0.000,0.044,3044,2028,2189
$GC,11304,1.24,213.4,807.7,10.1,1493,11309,0.00,2.62,0.00,0.000,4,0.000,0.071,3044,3435,2188
$GC,11332,1.24,213.4,804.8,10.7,1495,11336,0.00,2.55,0.00,0.000,6,0.000,0.043,3044,2018,2188
$GC,11656,1.27,234.0,773.7,9.3,1525,11677,0.00,0.00,19.35,1.100,6,0.000,0.000,3044,2018,2108
$GC,11995,1.29,248.8,742.2,9.5,1557,12025,0.00,2.65,16.38,0.950,4,0.000,0.066,3044,614,2048
$GC,12047,1.33,281.5,737.3,8.9,1562,12084,0.10,2.55,31.10,1.088,6,0.070,0.044,3076,2024,1914
$GC,12401,1.33,281.5,697.8,10.8,1595,12402,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2026,1909
$GC,12720,1.33,281.5,663.3,10.7,1625,12721,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2027,1908
$GC,13039,1.33,281.5,629.3,10.8,1655,13040,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2028,1907
$GC,13357,1.33,281.5,592.8,11.7,1685,13358,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2028,1907
$GC,13676,1.33,281.5,555.6,11.7,1715,13680,0.00,2.62,0.00,0.000,4,0.000,0.058,3076,613,1907
$GC,13703,1.29,281.5,552.4,12.3,1717,13707,0.00,2.55,0.00,0.000,6,0.000,0.042,3076,2024,1907
$GC,14037,1.29,281.5,513.4,11.5,1775,14043,0.00,2.60,0.00,0.000,4,0.000,0.064,3076,3436,1907
$GC,14059,1.29,281.5,510.7,12.5,1779,14065,0.00,2.55,0.00,0.000,6,0.000,0.041,3076,2010,1906
$GC,14397,1.29,281.5,472.2,10.7,1840,14406,0.00,2.60,0.00,0.000,4,0.000,0.061,3076,616,1906
$GC,14430,1.24,281.5,468.7,12.0,1845,14437,0.12,2.50,0.00,0.000,6,0.103,0.040,3051,2024,1906
$GC,14771,1.25,287.2,434.6,9.8,1906,14781,0.00,0.00,5.65,0.736,6,0.000,0.000,3051,2026,1890
$GC,15113,1.26,299.0,400.7,9.6,1968,15127,0.00,0.00,12.20,0.848,6,0.000,0.000,3051,2026,1843
$GC,15460,1.26,301.1,366.1,9.9,2030,15466,0.00,2.60,0.00,0.000,4,0.000,0.056,3051,611,1841
$GC,15482,1.26,301.1,363.8,10.1,2034,15488,0.00,2.50,0.00,0.000,6,0.000,0.038,3051,2018,1841
$GC,15817,1.26,301.1,329.6,10.4,2095,15822,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2021,1840
$GC,16146,1.26,301.1,295.9,10.7,2156,16154,0.00,2.60,0.00,0.000,4,0.000,0.057,3051,620,1840
$GC,16171,1.26,301.1,293.3,10.2,2160,16179,0.00,2.50,0.00,0.000,6,0.000,0.039,3051,2009,1840
$GC,16506,1.26,301.1,259.9,11.9,2221,16512,0.00,2.60,0.00,0.000,4,0.000,0.055,3051,3433,1840
$GC,16530,1.26,301.1,257.2,10.9,2225,16536,0.00,2.55,0.00,0.000,6,0.000,0.038,3051,2001,1840
$GC,16858,1.26,301.6,224.5,10.0,2286,16865,0.00,2.55,0.00,0.000,4,0.000,0.064,3051,625,1841
$GC,16900,1.26,301.6,220.3,11.8,2293,16914,0.00,2.45,3.75,0.522,6,0.000,0.038,3051,2009,1832
$GC,17239,1.26,301.6,185.1,10.9,2355,17244,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2009,1831
$GC,17567,1.26,301.6,150.3,10.8,2416,17575,0.00,2.60,0.00,0.000,4,0.000,0.061,3051,622,1831
$GC,17587,1.26,301.6,148.3,10.4,2419,17596,0.00,2.47,0.00,0.000,6,0.000,0.037,3051,1989,1831
$GC,17721,1.26,301.6,134.4,11.9,2444,17729,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1991,1831
$GC,17855,1.26,301.6,120.0,10.2,2469,17863,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1992,1831
$GC,17989,1.28,312.7,105.9,9.6,2494,18004,0.00,0.00,10.95,0.683,6,0.000,0.000,3051,1992,1787
$GC,18130,1.30,327.2,91.3,9.5,2520,18146,0.00,0.00,14.00,0.684,6,0.000,0.000,3051,1992,1728
$GC,18273,1.31,338.4,76.7,9.6,2546,18288,0.00,0.00,11.00,0.659,6,0.000,0.000,3051,1991,1682
$GC,18414,1.33,354.6,62.3,9.4,2572,18437,0.00,2.58,15.82,0.668,4,0.000,0.053,3051,620,1616
$GC,18454,1.33,354.6,58.2,10.1,2578,18462,0.00,2.50,0.00,0.000,6,0.000,0.038,3051,1992,1615
$GC,18589,1.33,354.6,45.1,10.1,2603,18596,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1993,1613
$GC,18722,1.36,378.3,32.8,9.2,2628,18752,0.10,0.00,21.20,0.661,6,0.066,0.000,3084,1993,1519
$GC,18879,1.36,378.3,14.4,12.8,2656,18886,0.00,2.58,0.00,0.000,4,0.000,0.058,3084,622,1516
$GC,18904,1.36,378.3,11.0,11.9,2660,18911,0.00,2.45,0.00,0.000,6,0.000,0.044,3084,1979,1516
$STATE,18963,end climb,SURFACE_DEPTH_REACHED
$STATE,18963,begin surface coast
$FINISH,0.1,1.027147
$STATE,18985,end surface coast,CONTROL_FINISHED_OK
$STATE,18986,begin surface
$SM_CCo,19063,0.00,0.000,0,0,1512,380.21
$SM_GC,0.77,10.57,0.00,0.00,0.037,0.000,0.000,573,2043,1512,-10.07,0.37,380.21
$IRIDIUM_FIX,5846.12,-1904.54,030797,151532
$TT8_MAMPS,0.042185
$HUMID,1577
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,13.20
$XPDR_PINGS,694
$24V_AH,23.5,5.571
$10V_AH,10.5,7.174
$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,24.825,118.975,517.975,0.000,0.000,88.370,100.096,586.379,173.500,0.000,0.000,13.794,4081.922,8120.882,663.761,6133.955,1067.018,0.000,2727.475,0.000,6173.303,0.000,0.466
$DEVICE_MAMPS,198.653,89.739,1280.123,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1848.924,1945.548,1236.232,1749.813,3423.011,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,196024,2675
$CAP_FILE_SIZE,215961,0
$CFSIZE,260165632,255225856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080408,211121,5903.622,-1900.963,36,2.4,55,-13.5