version: 66.03
glider: 141
mission: 7
dive: 285
start: 6 5 108 2 2 16
data:
$ID,141
$MISSION,7
$DIVE,285
$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,2
$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,-11462.579
$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,12
$R_STBD_OVSHOOT,11
$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
$GPS1,015216,6145.917,-2607.890,38,2.3,57,-18.7
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,1
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-50.1
$GPS2,020157,6145.898,-2607.963,14,1.4,14,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SE
$TGT_LATLONG,6145.370,-2600.200
$TGT_RADIUS,2000.000
$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,116.9,6874,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.34,-194.7,0.0,0.0,0,146,0.00,0.00,-123.03,0.000,2,0.000,0.000,569,2009,3798
$GC,150,-1.34,-194.7,3.6,-7.0,16,174,11.00,2.80,-1.23,0.000,4,0.196,0.169,2481,612,3858
$GC,193,-1.08,-194.7,15.8,-21.2,22,201,0.30,2.60,0.00,0.000,6,0.100,0.131,2542,2031,3858
$GC,337,-1.08,-194.7,30.8,-9.5,47,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2033,3858
$GC,479,-1.08,-194.7,44.1,-8.2,72,486,0.00,2.62,0.00,0.000,4,0.000,0.138,2542,3451,3858
$GC,538,-1.08,-194.7,49.0,-8.0,82,545,0.00,2.70,0.00,0.000,6,0.000,0.147,2542,2036,3859
$GC,683,-1.08,-194.7,59.0,-7.1,107,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2033,3859
$GC,1027,-1.08,-194.7,85.9,-8.9,168,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2032,3859
$GC,1369,-1.08,-194.7,117.3,-9.7,229,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2033,3859
$GC,1713,-1.08,-194.7,150.0,-9.4,290,1720,0.00,2.62,0.00,0.000,4,0.000,0.139,2542,3446,3859
$GC,1749,-1.08,-194.7,153.5,-10.1,296,1756,0.00,2.67,0.00,0.000,6,0.000,0.157,2542,2045,3859
$GC,2094,-1.08,-194.7,184.9,-8.9,357,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2043,3859
$GC,2439,-1.08,-194.7,215.6,-8.8,418,2447,0.00,2.78,0.00,0.000,4,0.000,0.166,2542,618,3859
$GC,2471,-1.08,-194.7,218.5,-9.5,423,2478,0.00,2.62,0.00,0.000,6,0.000,0.127,2542,2050,3859
$GC,2816,-1.08,-194.7,250.4,-9.2,484,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2051,3859
$GC,3161,-1.08,-194.7,283.9,-9.7,545,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2051,3859
$GC,3506,-1.08,-194.7,317.3,-9.9,606,3513,0.00,2.80,0.00,0.000,4,0.000,0.165,2542,616,3858
$GC,3543,-1.13,-194.7,320.9,-10.0,612,3550,0.00,2.60,0.00,0.000,6,0.000,0.128,2542,2039,3858
$GC,3893,-1.13,-194.7,353.3,-9.2,671,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2041,3858
$GC,4213,-1.13,-194.7,382.1,-8.9,701,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2042,3858
$GC,4530,-1.13,-194.7,410.3,-8.9,731,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2042,3858
$GC,4851,-1.13,-194.7,437.1,-8.2,761,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2042,3858
$GC,5176,-1.13,-194.7,463.2,-7.9,792,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2043,3858
$GC,5496,-1.13,-194.7,489.0,-8.1,822,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2043,3858
$GC,5813,-1.13,-194.7,514.7,-8.2,852,5818,0.00,2.67,0.00,0.000,4,0.000,0.155,2542,3440,3858
$GC,5869,-1.13,-194.7,519.7,-8.8,856,5876,0.00,2.67,0.00,0.000,6,0.000,0.158,2542,2045,3857
$GC,6197,-1.13,-194.7,548.0,-9.1,887,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2044,3858
$GC,6523,-1.13,-194.7,576.3,-8.3,918,6527,0.00,2.67,0.00,0.000,4,0.000,0.152,2541,3441,3857
$GC,6564,-1.13,-194.7,579.7,-9.2,921,6569,0.00,2.70,0.00,0.000,6,0.000,0.154,2542,2048,3857
$GC,6889,-1.13,-194.7,605.4,-7.5,948,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2048,3857
$GC,7198,-1.13,-194.7,628.0,-7.5,963,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2048,3857
$GC,7506,-1.13,-194.7,652.8,-8.0,978,7511,0.00,2.72,0.00,0.000,4,0.000,0.162,2542,3439,3857
$GC,7539,-1.13,-194.7,655.9,-9.2,979,7547,0.00,2.72,0.00,0.000,6,0.000,0.161,2542,2053,3856
$GC,7857,-1.13,-194.7,680.6,-7.8,995,7861,0.00,2.70,0.00,0.000,4,0.000,0.160,2542,3447,3856
$GC,7923,-1.13,-194.7,686.2,-8.0,998,7928,0.00,2.70,0.00,0.000,6,0.000,0.161,2542,2069,3856
$GC,8247,-1.13,-194.7,710.1,-7.4,1014,8248,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2068,3856
$GC,8556,-1.13,-194.7,733.2,-7.1,1029,8557,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2067,3856
$GC,8865,-1.17,-194.7,755.8,-7.3,1044,8867,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2065,3855
$GC,9174,-1.21,-194.7,779.9,-8.1,1059,9176,0.12,0.00,0.00,0.000,6,0.064,0.000,2506,2065,3855
$GC,9483,-1.21,-194.7,810.2,-9.9,1074,9488,0.00,2.65,0.00,0.000,4,0.000,0.159,2506,3438,3855
$GC,9533,-1.21,-194.7,815.7,-10.7,1076,9537,0.00,2.67,0.00,0.000,6,0.000,0.162,2506,2072,3855
$GC,9850,-1.21,-194.7,847.4,-10.2,1091,9851,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2071,3855
$GC,10158,-1.21,-194.7,880.1,-10.6,1106,10159,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2071,3854
$GC,10468,-1.21,-194.7,911.8,-10.0,1121,10472,0.00,2.65,0.00,0.000,4,0.000,0.158,2506,3441,3854
$GC,10495,-1.21,-194.7,914.8,-10.7,1122,10499,0.00,2.67,0.00,0.000,6,0.000,0.161,2505,2071,3853
$STATE,10808,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10808,begin apogee
$GC,10814,-0.37,0.0,945.1,9.1,1137,10991,0.90,0.00,168.60,1.259,6,0.098,0.000,2696,1979,3061
$STATE,10992,end apogee,CONTROL_FINISHED_OK
$STATE,10992,begin climb
$GC,10994,1.34,194.7,948.8,0.0,1146,11172,1.73,0.00,168.43,1.226,6,0.077,0.000,3071,1979,2266
$GC,11482,1.30,194.7,900.9,11.4,1170,11484,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1979,2262
$GC,11790,1.26,194.7,865.5,11.8,1185,11795,0.00,2.88,0.00,0.000,4,0.000,0.183,3072,572,2260
$GC,11823,1.21,194.7,861.3,12.7,1186,11831,0.15,2.65,0.00,0.000,6,0.103,0.141,3041,1992,2260
$GC,12139,1.21,194.7,827.7,10.5,1202,12140,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1994,2260
$GC,12448,1.21,194.7,795.6,10.5,1217,12453,0.00,2.85,0.00,0.000,4,0.000,0.169,3041,567,2259
$GC,12492,1.21,194.7,790.7,10.7,1219,12497,0.00,2.62,0.00,0.000,6,0.000,0.133,3041,1980,2260
$GC,12814,1.24,224.8,761.1,9.0,1235,12847,0.00,2.85,26.80,1.116,4,0.000,0.163,3041,3404,2144
$GC,12886,1.24,225.6,754.2,10.0,1238,12890,0.00,2.80,0.00,0.000,6,0.000,0.152,3040,1968,2142
$GC,13203,1.29,260.0,726.5,8.8,1253,13240,0.00,2.85,31.85,1.100,4,0.000,0.171,3041,569,2004
$GC,13279,1.31,283.4,719.4,9.2,1255,13310,0.10,2.62,22.92,1.063,6,0.071,0.132,3072,1974,1905
$GC,13617,1.31,283.4,683.8,11.0,1272,13621,0.00,2.78,0.00,0.000,4,0.000,0.160,3072,3403,1901
$GC,13656,1.31,283.4,679.1,12.2,1274,13661,0.00,2.80,0.00,0.000,6,0.000,0.154,3072,1971,1900
$GC,13983,1.31,283.4,642.0,11.0,1290,13984,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1967,1899
$GC,14294,1.31,283.4,608.6,10.9,1305,14295,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1967,1899
$GC,14609,1.31,283.4,574.7,10.6,1331,14610,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1967,1899
$GC,14928,1.31,283.4,540.4,10.9,1361,14929,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1967,1899
$GC,15246,1.31,283.4,507.2,10.1,1391,15248,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1967,1898
$GC,15565,1.31,283.4,475.1,10.2,1421,15566,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1967,1898
$GC,15885,1.35,311.5,444.8,9.0,1451,15924,0.00,2.80,26.88,0.874,4,0.000,0.141,3072,3396,1791
$GC,15968,1.35,311.5,436.3,10.4,1458,15976,0.00,2.75,0.00,0.000,6,0.000,0.150,3072,1976,1789
$GC,16296,1.37,331.4,405.8,9.3,1489,16316,0.00,0.00,18.40,0.882,6,0.000,0.000,3072,1974,1711
$GC,16632,1.37,331.4,372.5,10.2,1521,16637,0.00,2.67,0.00,0.000,4,0.000,0.141,3072,3398,1708
$GC,16665,1.37,331.4,368.9,11.6,1523,16672,0.00,2.75,0.00,0.000,6,0.000,0.153,3072,1981,1707
$GC,16997,1.37,331.4,335.9,10.4,1566,17004,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1978,1707
$GC,17342,1.39,347.0,301.8,9.5,1627,17363,0.00,0.00,15.23,0.813,6,0.000,0.000,3072,1977,1647
$GC,17701,1.39,347.0,265.4,10.4,1690,17709,0.00,2.67,0.00,0.000,4,0.000,0.146,3072,3399,1644
$GC,17732,1.39,347.0,261.9,11.8,1695,17739,0.00,2.72,0.00,0.000,6,0.000,0.151,3072,1989,1644
$GC,18077,1.39,347.0,226.8,10.4,1756,18084,0.00,2.78,0.00,0.000,4,0.000,0.172,3072,569,1644
$GC,18108,1.39,347.0,223.5,11.0,1761,18115,0.00,2.65,0.00,0.000,6,0.000,0.130,3072,1999,1644
$GC,18453,1.39,347.0,188.5,10.5,1822,18460,0.00,2.62,0.00,0.000,4,0.000,0.150,3072,3405,1643
$GC,18489,1.39,347.0,184.7,11.6,1828,18497,0.00,2.70,0.00,0.000,6,0.000,0.153,3072,1994,1643
$GC,18835,1.42,367.6,151.4,9.3,1889,18862,0.00,2.83,19.08,0.742,4,0.000,0.161,3071,572,1563
$GC,18887,1.42,367.6,146.4,11.1,1897,18895,0.00,2.62,0.00,0.000,6,0.000,0.127,3072,1994,1562
$GC,19234,1.46,402.6,113.4,8.8,1958,19269,0.12,0.00,31.80,0.726,6,0.061,0.000,3112,1996,1420
$GC,19607,1.46,402.6,70.2,11.3,2023,19613,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1996,1415
$GC,19952,1.52,452.3,38.0,8.3,2084,20001,0.00,2.90,43.10,0.681,4,0.000,0.158,3112,570,1217
$GC,20065,1.52,452.3,26.9,10.7,2102,20072,0.00,2.60,0.00,0.000,6,0.000,0.123,3112,1988,1214
$GC,20207,1.52,452.3,11.1,11.3,2127,20214,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1990,1212
$STATE,20279,end climb,SURFACE_DEPTH_REACHED
$STATE,20279,begin surface coast
$FINISH,0.5,1.026975
$STATE,20302,end surface coast,CONTROL_FINISHED_OK
$STATE,20303,begin surface
$SM_CCo,20384,0.00,0.000,0,0,1209,454.54
$SM_GC,0.57,10.68,0.00,0.00,0.038,0.000,0.000,568,2041,1209,-10.07,0.34,454.54
$IRIDIUM_FIX,6121.73,-2611.55,290897,202007
$TT8_MAMPS,0.042185
$HUMID,1687
$INTERNAL_PRESSURE,10.0004
$TCM_TEMP,17.00
$XPDR_PINGS,1287
$24V_AH,23.3,57.177
$10V_AH,10.6,59.552
$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,25.100,125.125,573.075,0.000,0.000,23.945,34.678,365.760,321.750,0.000,0.000,16.016,4319.883,11192.304,820.279,3749.230,862.728,0.000,2457.449,0.000,3777.013,0.000,0.465
$DEVICE_MAMPS,195.585,183.313,1258.647,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1495.832,1616.170,820.013,1942.776,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,158114,2144
$CAP_FILE_SIZE,185210,0
$CFSIZE,260165632,229511168
$ERRORS,0,18,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.125,256.1,1
$GPS,050608,074307,6145.081,-2604.531,30,1.1,30,-18.6