version: 66.03
glider: 141
mission: 7
dive: 15
start: 4 7 108 0 54 51
data:
$ID,141
$MISSION,7
$DIVE,15
$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,30
$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,-6419.9546
$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,19
$R_STBD_OVSHOOT,30
$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
$GPS1,004631,5936.699,-1948.007,37,1.2,43,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-52.3
$GPS2,005433,5936.646,-1947.880,15,1.7,15,-14.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5945.999,-1945.161
$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,44.1,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.34,-194.7,0.0,0.0,0,136,0.00,0.00,-108.68,0.000,6,0.000,0.000,572,2048,3856
$GC,138,-1.34,-194.7,3.6,-6.6,15,154,11.00,2.58,0.00,0.000,4,0.195,0.049,2484,3430,3859
$GC,239,-1.29,-194.7,23.9,-13.9,33,247,0.00,2.53,0.00,0.000,6,0.000,0.042,2484,2027,3860
$GC,373,-1.29,-194.7,40.2,-10.9,58,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2021,3860
$GC,506,-1.29,-194.7,54.9,-11.9,83,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2021,3860
$GC,639,-1.29,-194.7,69.9,-11.6,108,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2021,3859
$GC,772,-1.29,-194.7,84.8,-11.7,133,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2021,3859
$GC,905,-1.29,-194.7,99.9,-11.8,158,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2021,3860
$GC,1039,-1.29,-194.7,115.2,-11.4,183,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2021,3859
$GC,1172,-1.29,-194.7,130.3,-11.7,208,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2021,3860
$GC,1305,-1.29,-194.7,145.0,-11.1,233,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2021,3860
$GC,1439,-1.29,-194.7,160.2,-10.9,258,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2021,3859
$GC,1772,-1.29,-194.7,197.8,-11.1,319,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2021,3860
$GC,2099,-1.29,-194.7,233.9,-11.2,380,2106,0.00,2.60,0.00,0.000,4,0.000,0.054,2484,3422,3859
$GC,2140,-1.24,-194.7,238.4,-11.6,387,2147,0.12,2.47,0.00,0.000,6,0.121,0.037,2507,2027,3860
$GC,2469,-1.24,-194.7,271.6,-10.3,448,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2022,3859
$GC,2801,-1.24,-194.7,304.6,-10.5,509,2807,0.00,2.55,0.00,0.000,4,0.000,0.055,2507,623,3859
$GC,2857,-1.24,-194.7,310.5,-10.2,519,2863,0.00,2.50,0.00,0.000,6,0.000,0.039,2507,2030,3859
$GC,3186,-1.24,-194.7,343.8,-9.7,580,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2032,3859
$GC,3526,-1.24,-194.7,377.9,-10.0,641,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2032,3859
$GC,3864,-1.24,-194.7,411.8,-9.5,702,3870,0.00,2.60,0.00,0.000,4,0.000,0.062,2507,3441,3859
$GC,3905,-1.24,-194.7,415.8,-10.5,709,3911,0.00,2.50,0.00,0.000,6,0.000,0.041,2507,2033,3859
$GC,4243,-1.24,-194.7,448.0,-9.3,770,4249,0.00,2.60,0.00,0.000,4,0.000,0.059,2507,620,3859
$GC,4293,-1.24,-194.7,452.7,-9.4,779,4299,0.00,2.53,0.00,0.000,6,0.000,0.047,2507,2035,3859
$GC,4631,-1.24,-194.7,481.9,-8.5,840,4638,0.00,2.62,0.00,0.000,4,0.000,0.073,2507,3431,3859
$GC,4677,-1.24,-194.7,486.1,-9.2,848,4685,0.00,2.53,0.00,0.000,6,0.000,0.048,2507,2031,3859
$GC,5020,-1.24,-194.7,518.7,-10.4,909,5026,0.00,2.60,0.00,0.000,4,0.000,0.062,2507,613,3859
$GC,5059,-1.24,-194.7,523.1,-10.5,916,5067,0.00,2.55,0.00,0.000,6,0.000,0.044,2506,2023,3859
$GC,5397,-1.24,-194.7,556.7,-9.7,971,5402,0.00,2.65,0.00,0.000,4,0.000,0.072,2507,3441,3859
$GC,5440,-1.24,-194.7,561.2,-10.3,974,5447,0.00,2.55,0.00,0.000,6,0.000,0.044,2507,2034,3859
$GC,5765,-1.24,-194.7,591.6,-8.9,1005,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2033,3859
$GC,6083,-1.24,-194.7,623.3,-10.7,1035,6088,0.00,2.70,0.00,0.000,4,0.000,0.081,2507,618,3859
$GC,6122,-1.24,-194.7,627.5,-11.0,1038,6126,0.00,2.55,0.00,0.000,6,0.000,0.049,2507,2033,3859
$GC,6448,-1.24,-194.7,660.1,-10.2,1068,6452,0.00,2.67,0.00,0.000,4,0.000,0.084,2506,3436,3859
$GC,6485,-1.24,-194.7,664.3,-11.1,1071,6490,0.00,2.53,0.00,0.000,6,0.000,0.051,2506,2039,3859
$GC,6810,-1.24,-194.7,694.3,-9.5,1101,6814,0.00,2.78,0.00,0.000,4,0.000,0.096,2507,619,3859
$GC,6853,-1.24,-194.7,698.8,-10.1,1104,6860,0.00,2.62,0.00,0.000,6,0.000,0.061,2507,2036,3859
$GC,7178,-1.24,-194.7,730.0,-9.7,1135,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2037,3859
$GC,7496,-1.24,-194.7,761.4,-9.5,1165,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2037,3859
$GC,7814,-1.24,-194.7,790.8,-8.6,1195,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2037,3859
$GC,8133,-1.24,-194.7,820.4,-9.9,1225,8134,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2037,3858
$GC,8452,-1.24,-194.7,851.8,-8.6,1255,8456,0.00,2.67,0.00,0.000,4,0.000,0.071,2507,621,3858
$GC,8506,-1.24,-194.7,856.8,-8.8,1259,8512,0.00,2.60,0.00,0.000,6,0.000,0.052,2506,2048,3858
$GC,8831,-1.24,-194.7,884.0,-7.8,1290,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2048,3858
$GC,9149,-1.24,-194.7,912.7,-9.6,1320,9153,0.00,2.65,0.00,0.000,4,0.000,0.084,2507,3440,3857
$GC,9187,-1.24,-194.7,916.5,-10.6,1323,9191,0.00,2.55,0.00,0.000,6,0.000,0.050,2507,2026,3857
$GC,9511,-1.24,-194.7,946.8,-9.2,1353,9516,0.00,2.67,0.00,0.000,4,0.000,0.084,2507,619,3857
$GC,9554,-1.24,-194.7,950.9,-9.7,1356,9561,0.00,2.55,0.00,0.000,6,0.000,0.052,2507,2027,3857
$GC,9881,-1.24,-194.7,978.0,-9.0,1387,9885,0.00,2.67,0.00,0.000,4,0.000,0.084,2507,3437,3857
$GC,9931,-1.24,-194.7,983.0,-9.7,1391,9935,0.00,2.58,0.00,0.000,6,0.000,0.050,2507,2016,3857
$STATE,10008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10008,begin apogee
$GC,10012,-0.37,0.0,990.1,8.8,1398,10185,0.90,0.00,169.50,1.283,6,0.100,0.000,2697,2016,3062
$STATE,10186,end apogee,CONTROL_FINISHED_OK
$STATE,10186,begin climb
$GC,10188,1.34,194.7,994.3,0.0,1415,10365,1.70,2.78,168.02,1.260,4,0.080,0.068,3067,3441,2268
$GC,10382,1.28,194.7,979.2,10.9,1434,10386,0.00,2.62,0.00,0.000,6,0.000,0.048,3067,2019,2265
$GC,10708,1.23,194.7,944.3,10.4,1464,10712,0.00,2.70,0.00,0.000,4,0.000,0.066,3067,3442,2261
$GC,10723,1.17,194.7,942.3,10.7,1465,10728,0.15,2.58,0.00,0.000,6,0.110,0.044,3038,2027,2261
$GC,11047,1.20,214.2,911.5,9.3,1495,11068,0.00,0.00,17.67,1.170,6,0.000,0.000,3038,2027,2188
$GC,11386,1.20,215.8,877.4,9.9,1527,11390,0.00,2.65,0.00,0.000,4,0.000,0.064,3039,3434,2185
$GC,11394,1.20,215.8,876.3,10.3,1527,11402,0.00,2.58,0.00,0.000,6,0.000,0.044,3039,2034,2185
$GC,11720,1.21,226.8,845.7,9.6,1558,11734,0.00,0.00,12.23,1.101,6,0.000,0.000,3038,2034,2137
$GC,12048,1.23,243.2,814.1,9.4,1589,12068,0.00,0.00,16.15,1.106,6,0.000,0.000,3039,2034,2070
$GC,12387,1.23,243.4,780.6,10.0,1621,12388,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2034,2067
$GC,12707,1.26,267.4,750.3,9.2,1651,12732,0.00,0.00,22.77,1.098,6,0.000,0.000,3038,2034,1972
$GC,13045,1.28,284.0,716.8,9.4,1683,13076,0.00,2.78,18.10,0.960,4,0.000,0.071,3039,614,1904
$GC,13088,1.32,317.5,712.7,8.8,1687,13129,0.12,2.62,31.88,1.076,6,0.061,0.046,3076,2044,1766
$GC,13446,1.32,317.5,668.3,12.9,1721,13450,0.00,2.67,0.00,0.000,4,0.000,0.064,3076,618,1760
$GC,13455,1.32,317.5,666.9,13.2,1721,13463,0.00,2.60,0.00,0.000,6,0.000,0.045,3076,2029,1759
$GC,13781,1.32,317.5,626.3,11.3,1752,13782,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2030,1759
$GC,14100,1.32,317.5,588.7,11.8,1782,14105,0.00,2.65,0.00,0.000,4,0.000,0.061,3076,617,1759
$GC,14116,1.32,317.5,586.6,11.8,1783,14121,0.00,2.58,0.00,0.000,6,0.000,0.045,3076,2031,1759
$GC,14442,1.32,317.5,548.1,11.9,1814,14448,0.00,2.65,0.00,0.000,4,0.000,0.063,3076,613,1758
$GC,14461,1.32,317.5,545.9,11.5,1817,14468,0.00,2.55,0.00,0.000,6,0.000,0.044,3076,2028,1758
$GC,14798,1.32,317.5,505.9,12.3,1878,14804,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2028,1758
$GC,15138,1.32,317.5,466.7,11.7,1939,15144,0.00,2.65,0.00,0.000,4,0.000,0.061,3076,614,1758
$GC,15159,1.32,317.5,464.0,11.7,1943,15166,0.00,2.53,0.00,0.000,6,0.000,0.042,3076,2018,1758
$GC,15498,1.32,317.5,423.5,11.8,2004,15505,0.00,2.62,0.00,0.000,4,0.000,0.061,3076,620,1758
$GC,15516,1.32,317.5,421.3,12.6,2007,15522,0.00,2.50,0.00,0.000,6,0.000,0.043,3076,2016,1758
$GC,15855,1.32,317.5,380.9,11.9,2068,15863,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2017,1758
$GC,16199,1.32,317.5,342.9,11.2,2129,16205,0.00,2.60,0.00,0.000,4,0.000,0.059,3076,617,1758
$GC,16223,1.32,317.5,339.9,11.4,2133,16229,0.00,2.50,0.00,0.000,6,0.000,0.041,3076,2014,1758
$GC,16553,1.32,317.5,300.6,11.2,2194,16561,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2017,1758
$GC,16886,1.32,317.5,263.5,10.4,2255,16892,0.00,2.60,0.00,0.000,4,0.000,0.058,3076,610,1758
$GC,16900,1.32,317.5,261.9,10.6,2257,16906,0.00,2.50,0.00,0.000,6,0.000,0.041,3076,2006,1758
$GC,17229,1.32,317.5,224.6,11.5,2318,17237,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2007,1758
$GC,17562,1.32,317.5,185.1,11.0,2379,17568,0.00,2.58,0.00,0.000,4,0.000,0.057,3076,614,1758
$GC,17575,1.32,317.5,183.6,10.3,2381,17582,0.00,2.50,0.00,0.000,6,0.000,0.040,3076,2009,1758
$GC,17906,1.32,317.5,145.5,11.4,2442,17914,0.00,2.62,0.00,0.000,4,0.000,0.064,3076,613,1758
$GC,17921,1.32,317.5,143.5,12.1,2444,17929,0.00,2.50,0.00,0.000,6,0.000,0.040,3076,1992,1758
$GC,18055,1.32,317.5,127.7,11.4,2469,18063,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1994,1758
$GC,18188,1.32,317.5,112.8,10.7,2494,18196,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1994,1758
$GC,18321,1.32,317.5,97.7,11.0,2519,18329,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1994,1758
$GC,18455,1.32,317.5,81.8,11.7,2544,18462,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1994,1758
$GC,18588,1.36,347.0,64.9,9.0,2569,18618,0.00,0.00,25.50,0.694,6,0.000,0.000,3076,1994,1647
$GC,18744,1.45,417.5,49.7,7.6,2597,18810,0.00,0.00,60.78,0.680,6,0.000,0.000,3076,1994,1359
$GC,18936,1.45,417.5,25.8,12.1,2630,18943,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1993,1354
$GC,19069,1.48,442.9,11.0,9.1,2655,19100,0.10,2.65,21.75,0.642,4,0.067,0.058,3110,611,1256
$GC,19113,1.44,442.9,5.4,14.3,2661,19121,0.00,2.53,0.00,0.000,6,0.000,0.043,3110,1987,1255
$STATE,19132,end climb,SURFACE_DEPTH_REACHED
$STATE,19132,begin surface coast
$FINISH,0.4,1.027239
$STATE,19154,end surface coast,CONTROL_FINISHED_OK
$STATE,19155,begin surface
$SM_CCo,19232,0.00,0.000,0,0,1252,443.99
$SM_GC,1.02,10.68,0.00,0.00,0.036,0.000,0.000,569,2044,1252,-10.06,0.42,443.99
$IRIDIUM_FIX,5911.23,-1956.08,010797,191955
$TT8_MAMPS,0.042185
$HUMID,1580
$INTERNAL_PRESSURE,10.0004
$TCM_TEMP,13.30
$XPDR_PINGS,630
$24V_AH,23.4,4.153
$10V_AH,10.5,4.967
$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,24.775,150.700,564.350,0.000,0.000,31.478,52.271,275.682,157.500,0.000,0.000,16.652,4071.533,8176.894,724.447,6072.675,642.105,0.000,2835.677,0.000,6109.237,0.000,0.466
$DEVICE_MAMPS,194.818,95.875,1283.191,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1840.342,1942.670,1206.093,1683.834,3293.716,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,196473,2668
$CAP_FILE_SIZE,212009,0
$CFSIZE,260165632,256061440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070408,061637,5938.283,-1940.646,36,1.7,41,-14.1