version: 66.03
glider: 141
mission: 7
dive: 3
start: 4 4 108 14 0 6
data:
$ID,141
$MISSION,7
$DIVE,3
$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,-6215.374
$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,24
$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
$GPS1,135522,5900.666,-2029.781,8,2.3,27,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-56.2
$GPS2,135947,5900.682,-2029.803,14,2.2,33,-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,195.9,1541,-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,-60.40,0.000,6,0.000,0.000,575,2002,3319
$GC,86,-2.04,-131.5,1.9,-2.7,9,117,10.00,2.62,-11.07,0.000,4,0.184,0.067,2343,593,3599
$GC,351,-2.04,-131.5,32.1,-12.9,58,359,0.00,2.53,0.00,0.000,6,0.000,0.046,2343,1999,3600
$GC,423,-2.04,-131.5,41.8,-14.4,71,431,0.00,2.58,0.00,0.000,4,0.000,0.060,2343,601,3600
$GC,588,-2.08,-131.5,65.4,-13.8,102,596,0.00,2.50,0.00,0.000,6,0.000,0.046,2343,1995,3600
$GC,722,-2.08,-131.5,84.2,-14.3,127,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1997,3600
$GC,855,-2.12,-131.5,102.3,-13.1,152,863,0.00,2.58,0.00,0.000,4,0.000,0.061,2343,593,3600
$GC,870,-2.12,-131.5,104.4,-13.2,154,878,0.00,2.50,0.00,0.000,6,0.000,0.040,2343,1997,3600
$GC,1004,-2.12,-131.5,123.0,-14.3,179,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1999,3600
$GC,1138,-2.17,-131.5,141.9,-12.7,204,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1999,3600
$GC,1274,-2.21,-131.5,159.6,-13.8,229,1280,0.12,0.00,0.00,0.000,6,0.071,0.000,2312,1999,3600
$GC,1408,-2.21,-131.5,181.1,-15.3,254,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1998,3600
$GC,1546,-2.21,-131.5,201.7,-15.8,279,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1999,3600
$GC,1680,-2.21,-131.5,222.8,-14.8,304,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1999,3600
$GC,1818,-2.21,-131.5,243.8,-15.6,329,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1999,3600
$GC,1952,-2.21,-131.5,264.7,-15.5,354,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1999,3600
$GC,2090,-2.21,-131.5,285.6,-14.7,379,2096,0.00,2.55,0.00,0.000,4,0.000,0.056,2311,3408,3600
$GC,2103,-2.21,-131.5,287.6,-15.2,381,2110,0.00,2.47,0.00,0.000,6,0.000,0.040,2311,1997,3600
$GC,2238,-2.21,-131.5,308.5,-15.4,406,2245,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1993,3599
$GC,2376,-2.21,-131.5,330.0,-15.2,431,2382,0.00,2.58,0.00,0.000,4,0.000,0.056,2312,3407,3600
$GC,2389,-2.21,-131.5,332.1,-15.5,433,2395,0.00,2.47,0.00,0.000,6,0.000,0.040,2311,2002,3600
$GC,2524,-2.21,-131.5,353.7,-16.4,458,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1999,3600
$GC,2662,-2.21,-131.5,374.8,-14.6,483,2668,0.00,2.58,0.00,0.000,4,0.000,0.058,2311,3406,3600
$GC,2675,-2.21,-131.5,376.5,-14.8,485,2681,0.00,2.50,0.00,0.000,6,0.000,0.041,2311,1994,3600
$GC,2814,-2.21,-131.5,398.5,-15.4,510,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1992,3600
$GC,2951,-2.21,-131.5,419.8,-15.6,535,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,1992,3600
$GC,3090,-2.21,-131.5,441.1,-15.8,560,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1992,3600
$GC,3233,-2.21,-131.5,462.6,-14.9,585,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1992,3600
$GC,3371,-2.21,-131.5,483.6,-14.5,610,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1992,3600
$GC,3509,-2.21,-131.5,504.4,-14.9,635,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1992,3600
$GC,3647,-2.21,-131.5,525.1,-15.0,660,3655,0.00,2.65,0.00,0.000,4,0.000,0.068,2311,3395,3600
$GC,3660,-2.21,-131.5,527.1,-14.5,662,3667,0.00,2.47,0.00,0.000,6,0.000,0.046,2311,2005,3600
$GC,3799,-2.21,-131.5,547.8,-14.2,687,3805,0.00,2.60,0.00,0.000,4,0.000,0.064,2311,3410,3599
$GC,3812,-2.21,-131.5,549.4,-14.4,689,3818,0.00,2.53,0.00,0.000,6,0.000,0.046,2312,1993,3599
$GC,3944,-2.21,-131.5,569.3,-14.5,702,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1990,3600
$GC,4072,-2.21,-131.5,587.8,-14.5,714,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1990,3600
$GC,4199,-2.21,-131.5,606.6,-14.7,726,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1990,3600
$GC,4326,-2.21,-131.5,625.6,-14.8,738,4331,0.00,2.65,0.00,0.000,4,0.000,0.072,2311,3407,3600
$GC,4336,-2.21,-131.5,627.1,-14.3,738,4343,0.00,2.55,0.00,0.000,6,0.000,0.051,2311,2009,3600
$GC,4470,-2.21,-131.5,646.5,-14.4,751,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2009,3599
$GC,4597,-2.21,-131.5,664.7,-14.4,763,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2009,3599
$GC,4724,-2.21,-131.5,683.3,-14.6,775,4729,0.00,2.65,0.00,0.000,4,0.000,0.079,2311,3402,3599
$GC,4734,-2.21,-131.5,684.8,-13.9,775,4741,0.00,2.60,0.00,0.000,6,0.000,0.061,2312,2007,3599
$GC,4868,-2.21,-131.5,703.8,-14.1,788,4872,0.00,2.67,0.00,0.000,4,0.000,0.081,2311,3402,3599
$GC,4876,-2.21,-131.5,705.2,-14.1,788,4884,0.00,2.62,0.00,0.000,6,0.000,0.065,2311,1999,3600
$GC,5010,-2.21,-131.5,724.4,-14.1,801,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,1999,3599
$GC,5138,-2.21,-131.5,742.8,-15.0,813,5142,0.00,2.75,0.00,0.000,4,0.000,0.093,2311,3405,3599
$GC,5180,-2.21,-131.5,749.7,-15.9,816,5187,0.00,2.70,0.00,0.000,6,0.000,0.081,2311,1999,3599
$STATE,5196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5196,begin apogee
$GC,5199,-0.34,0.0,752.1,15.0,818,5319,2.03,0.00,113.47,1.109,6,0.133,0.000,2714,1996,3062
$STATE,5320,end apogee,CONTROL_FINISHED_OK
$STATE,5320,begin climb
$GC,5321,2.04,131.5,755.3,0.0,830,5440,2.38,0.00,113.25,1.082,6,0.074,0.000,3237,1996,2526
$GC,5565,2.04,131.5,723.1,16.8,854,5570,0.00,2.75,0.00,0.000,4,0.000,0.084,3237,3403,2523
$GC,5653,2.04,131.5,707.2,17.8,861,5660,0.00,2.67,0.00,0.000,6,0.000,0.067,3237,1994,2522
$GC,5786,2.04,131.5,685.1,16.6,874,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1994,2522
$GC,5914,2.04,131.5,664.4,16.3,886,5918,0.00,2.67,0.00,0.000,4,0.000,0.068,3237,3403,2521
$GC,5997,2.04,131.5,650.0,17.7,893,6002,0.00,2.58,0.00,0.000,6,0.000,0.051,3237,1997,2521
$GC,6130,2.04,131.5,628.4,16.3,905,6135,0.00,2.62,0.00,0.000,4,0.000,0.064,3237,3403,2521
$GC,6173,2.04,131.5,620.7,18.3,908,6180,0.00,2.58,0.00,0.000,6,0.000,0.047,3237,1998,2521
$GC,6307,2.04,131.5,599.1,16.2,921,6311,0.00,2.60,0.00,0.000,4,0.000,0.062,3237,3405,2520
$GC,6361,2.04,131.5,589.4,17.9,925,6368,0.00,2.55,0.00,0.000,6,0.000,0.046,3237,2001,2520
$GC,6495,2.04,131.5,567.6,16.2,938,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2001,2520
$GC,6623,2.04,131.5,546.6,16.3,951,6629,0.00,2.60,0.00,0.000,4,0.000,0.061,3237,3406,2520
$GC,6706,2.04,131.5,532.2,17.4,966,6713,0.00,2.53,0.00,0.000,6,0.000,0.045,3237,1993,2520
$GC,6844,2.04,131.5,509.7,16.2,991,6850,0.00,2.60,0.00,0.000,4,0.000,0.060,3237,3411,2520
$GC,6893,2.04,131.5,501.2,17.9,1000,6901,0.00,2.55,0.00,0.000,6,0.000,0.044,3237,1997,2520
$GC,7037,2.04,131.5,477.7,16.4,1025,7043,0.00,2.58,0.00,0.000,4,0.000,0.059,3237,3405,2519
$GC,7097,2.04,131.5,466.8,17.5,1036,7106,0.00,2.53,0.00,0.000,6,0.000,0.044,3237,1999,2520
$GC,7242,2.04,131.5,443.8,16.7,1061,7248,0.00,2.58,0.00,0.000,4,0.000,0.059,3237,3406,2520
$GC,7288,2.04,131.5,435.8,17.1,1069,7294,0.00,2.50,0.00,0.000,6,0.000,0.044,3237,2000,2520
$GC,7426,2.04,131.5,412.9,16.2,1094,7433,0.00,2.58,0.00,0.000,4,0.000,0.059,3237,3406,2520
$GC,7476,2.04,131.5,404.6,16.9,1103,7482,0.00,2.50,0.00,0.000,6,0.000,0.042,3237,1996,2520
$GC,7614,2.04,131.5,382.8,15.9,1128,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1996,2520
$GC,7758,2.04,131.5,361.2,15.2,1153,7764,0.00,2.58,0.00,0.000,4,0.000,0.058,3237,3406,2520
$GC,7813,2.04,131.5,352.1,16.5,1163,7819,0.00,2.50,0.00,0.000,6,0.000,0.041,3237,1997,2520
$GC,7948,2.04,131.5,332.1,15.0,1188,7955,0.00,2.60,0.00,0.000,4,0.000,0.057,3237,3403,2520
$GC,7990,2.04,131.5,325.9,15.7,1195,7996,0.00,2.47,0.00,0.000,6,0.000,0.041,3237,1998,2520
$GC,8126,2.04,131.5,305.3,15.5,1220,8134,0.00,2.60,0.00,0.000,4,0.000,0.064,3237,3406,2520
$GC,8180,2.04,131.5,296.7,16.3,1229,8186,0.00,2.47,0.00,0.000,6,0.000,0.041,3237,2001,2520
$GC,8314,2.04,131.5,275.4,15.4,1254,8321,0.00,2.58,0.00,0.000,4,0.000,0.056,3237,3401,2520
$GC,8367,2.04,131.5,267.1,16.8,1263,8373,0.00,2.47,0.00,0.000,6,0.000,0.041,3237,1999,2520
$GC,8502,2.04,131.5,245.6,15.8,1288,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1997,2520
$GC,8640,2.04,131.5,224.5,15.4,1313,8646,0.00,2.55,0.00,0.000,4,0.000,0.056,3237,3407,2520
$GC,8740,2.04,131.5,208.1,17.7,1331,8746,0.00,2.50,0.00,0.000,6,0.000,0.041,3237,1994,2520
$GC,8876,2.04,131.5,186.3,16.2,1356,8884,0.00,2.60,0.00,0.000,4,0.000,0.060,3237,3406,2520
$GC,8918,2.04,131.5,179.4,15.8,1363,8924,0.00,2.47,0.00,0.000,6,0.000,0.041,3237,2000,2520
$GC,9053,2.04,131.5,158.1,15.9,1388,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1999,2520
$GC,9189,2.04,131.5,137.3,14.8,1413,9196,0.00,2.58,0.00,0.000,4,0.000,0.058,3237,3399,2520
$GC,9265,2.04,131.5,125.3,16.0,1427,9273,0.00,2.50,0.00,0.000,6,0.000,0.047,3237,2000,2520
$GC,9399,2.04,131.5,106.1,14.5,1452,9407,0.00,2.58,0.00,0.000,4,0.000,0.058,3237,3401,2520
$GC,9444,2.04,131.5,99.2,15.5,1460,9452,0.00,2.50,0.00,0.000,6,0.000,0.041,3237,2005,2520
$GC,9577,2.04,131.5,78.9,15.5,1485,9585,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2002,2520
$GC,9710,2.04,131.5,57.4,15.6,1510,9718,0.00,2.58,0.00,0.000,4,0.000,0.056,3237,3403,2520
$GC,9797,2.04,131.5,42.6,16.6,1526,9805,0.00,2.50,0.00,0.000,6,0.000,0.041,3237,2002,2520
$GC,9869,2.04,131.5,30.9,16.7,1539,9876,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2001,2520
$GC,9940,2.04,131.5,19.4,16.8,1552,9948,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2001,2520
$GC,10012,2.04,131.5,7.6,16.5,1565,10019,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2000,2520
$STATE,10040,end climb,SURFACE_DEPTH_REACHED
$STATE,10040,begin surface coast
$FINISH,0.3,1.027114
$STATE,10058,end surface coast,CONTROL_FINISHED_OK
$STATE,10058,begin surface
$SM_CCo,10075,74.85,0.650,0,0,2144,225.19
$SM_GC,1.07,0.00,0.00,74.85,0.000,0.000,0.650,573,1994,2144,-10.22,-0.08,225.19
$IRIDIUM_FIX,5837.82,-2027.50,290697,141413
$TT8_MAMPS,0.042952
$HUMID,1585
$INTERNAL_PRESSURE,10.098
$TCM_TEMP,13.30
$XPDR_PINGS,385
$24V_AH,23.5,1.967
$10V_AH,10.7,1.374
$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,25.775,154.075,226.725,74.850,0.000,0.000,0.000,0.000,96.250,0.000,0.000,36.320,2471.759,3070.950,596.813,3931.767,169.516,0.000,1919.899,0.000,3942.257,0.000,0.466
$DEVICE_MAMPS,184.080,92.807,1109.082,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1081.970,1140.192,823.599,1271.464,2484.423,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,117684,1573
$CAP_FILE_SIZE,156338,0
$CFSIZE,260165632,257540096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,040408,165051,5900.556,-2030.144,39,99.0,58,-14.2