version: 66.03
glider: 141
mission: 7
dive: 16
start: 4 7 108 6 28 33
data:
$ID,141
$MISSION,7
$DIVE,16
$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,150
$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,-6433.269
$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,17
$R_STBD_OVSHOOT,26
$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
$GPS1,061637,5938.283,-1940.646,36,1.7,41,-14.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-46.6
$GPS2,062815,5938.191,-1940.446,11,1.1,11,-14.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5928.839,-1937.704
$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,164.1,20000,-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,-194.7,0.0,0.0,0,150,0.00,0.00,-122.93,0.000,2,0.000,0.000,569,2045,3783
$GC,153,-1.34,-194.7,3.2,-5.5,17,177,10.98,2.70,-1.73,0.000,4,0.192,0.065,2477,620,3858
$GC,390,-1.34,-194.7,35.5,-10.2,61,398,0.00,2.55,0.00,0.000,6,0.000,0.042,2477,2025,3859
$GC,524,-1.34,-194.7,48.4,-8.9,86,532,0.00,2.62,0.00,0.000,4,0.000,0.060,2478,616,3859
$GC,766,-1.34,-194.7,76.7,-13.6,132,774,0.00,2.55,0.00,0.000,6,0.000,0.041,2477,2026,3859
$GC,900,-1.34,-194.7,93.3,-10.1,157,908,0.00,2.60,0.00,0.000,4,0.000,0.061,2478,3439,3859
$GC,1076,-1.30,-194.7,114.1,-11.8,190,1084,0.00,2.58,0.00,0.000,6,0.000,0.038,2477,2004,3860
$GC,1209,-1.30,-194.7,128.4,-10.6,215,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1999,3859
$GC,1343,-1.30,-194.7,143.1,-11.0,240,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1997,3859
$GC,1479,-1.30,-194.7,158.3,-11.0,265,1485,0.00,2.60,0.00,0.000,4,0.000,0.054,2477,3431,3859
$GC,1492,-1.30,-194.7,159.8,-11.0,267,1499,0.00,2.50,0.00,0.000,6,0.000,0.037,2477,2014,3859
$GC,1821,-1.30,-194.7,195.1,-11.4,328,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2008,3859
$GC,2153,-1.30,-194.7,231.2,-11.5,389,2159,0.00,2.62,0.00,0.000,4,0.000,0.055,2477,3441,3859
$GC,2177,-1.25,-194.7,234.1,-11.5,393,2184,0.15,2.50,0.00,0.000,6,0.114,0.037,2507,2024,3859
$GC,2507,-1.25,-194.7,266.6,-9.5,454,2515,0.00,2.62,0.00,0.000,4,0.000,0.055,2507,3434,3859
$GC,2520,-1.25,-194.7,267.9,-9.9,456,2528,0.00,2.50,0.00,0.000,6,0.000,0.043,2507,2030,3859
$GC,2853,-1.25,-194.7,300.3,-9.5,517,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2025,3859
$GC,3181,-1.25,-194.7,332.0,-9.8,578,3189,0.00,2.62,0.00,0.000,4,0.000,0.058,2507,3431,3859
$GC,3194,-1.25,-194.7,333.3,-9.4,580,3202,0.00,2.53,0.00,0.000,6,0.000,0.038,2507,2026,3859
$GC,3532,-1.25,-194.7,365.7,-9.7,641,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2022,3859
$GC,3870,-1.25,-194.7,399.1,-10.2,702,3876,0.00,2.62,0.00,0.000,4,0.000,0.058,2506,3437,3859
$GC,3889,-1.25,-194.7,400.9,-10.2,705,3895,0.00,2.50,0.00,0.000,6,0.000,0.039,2507,2031,3859
$GC,4227,-1.25,-194.7,436.4,-10.3,766,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2029,3859
$GC,4566,-1.25,-194.7,470.5,-9.7,827,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2029,3859
$GC,4905,-1.25,-194.7,503.6,-10.0,888,4913,0.00,2.62,0.00,0.000,4,0.000,0.062,2507,3431,3859
$GC,4918,-1.25,-194.7,505.0,-9.9,890,4924,0.00,2.47,0.00,0.000,6,0.000,0.041,2507,2034,3859
$GC,5257,-1.25,-194.7,538.4,-9.3,951,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2033,3859
$GC,5592,-1.25,-194.7,570.1,-9.9,994,5596,0.00,2.60,0.00,0.000,4,0.000,0.062,2507,3433,3859
$GC,5612,-1.25,-194.7,572.2,-9.9,995,5619,0.00,2.53,0.00,0.000,6,0.000,0.042,2507,2040,3859
$GC,5937,-1.25,-194.7,603.3,-9.6,1026,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2040,3859
$GC,6255,-1.25,-194.7,634.8,-10.4,1056,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2040,3858
$GC,6574,-1.25,-194.7,666.2,-9.7,1086,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2040,3859
$GC,6893,-1.25,-194.7,697.2,-10.0,1116,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2040,3858
$GC,7212,-1.25,-194.7,727.2,-9.1,1146,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2036,3858
$GC,7530,-1.25,-194.7,756.3,-9.0,1176,7534,0.00,2.65,0.00,0.000,4,0.000,0.076,2507,3430,3858
$GC,7539,-1.25,-194.7,757.2,-8.9,1176,7546,0.00,2.55,0.00,0.000,6,0.000,0.051,2506,2048,3858
$GC,7864,-1.25,-194.7,785.8,-8.6,1207,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2046,3858
$GC,8183,-1.25,-194.7,812.7,-8.6,1237,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2046,3858
$GC,8501,-1.25,-194.7,840.7,-8.7,1267,8503,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2045,3857
$GC,8820,-1.25,-194.7,868.2,-8.2,1297,8825,0.00,2.60,0.00,0.000,4,0.000,0.070,2507,3435,3857
$GC,8836,-1.25,-194.7,869.6,-8.3,1298,8841,0.00,2.50,0.00,0.000,6,0.000,0.048,2507,2053,3857
$GC,9161,-1.25,-194.7,897.0,-8.5,1328,9162,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2052,3856
$GC,9479,-1.25,-194.7,923.4,-8.5,1358,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2052,3856
$GC,9798,-1.25,-194.7,949.5,-8.1,1388,9799,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2050,3856
$GC,10116,-1.25,-194.7,977.1,-9.1,1418,10118,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2051,3855
$STATE,10263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10263,begin apogee
$GC,10267,-0.37,0.0,990.5,8.9,1432,10440,0.90,0.00,169.12,1.289,6,0.102,0.000,2696,2023,3062
$STATE,10441,end apogee,CONTROL_FINISHED_OK
$STATE,10441,begin climb
$GC,10442,1.34,194.7,996.2,0.0,1449,10620,1.67,0.00,169.27,1.258,6,0.078,0.000,3068,2023,2267
$GC,10937,1.29,194.7,950.7,10.9,1497,10941,0.00,2.65,0.00,0.000,4,0.000,0.063,3068,3427,2261
$GC,10975,1.23,194.7,946.4,11.2,1500,10980,0.00,2.55,0.00,0.000,6,0.000,0.044,3068,2025,2261
$GC,11299,1.17,194.7,910.9,11.0,1530,11301,0.15,0.00,0.00,0.000,6,0.107,0.000,3038,2024,2260
$GC,11618,1.21,221.9,880.5,9.1,1560,11648,0.00,0.00,24.45,1.171,6,0.000,0.000,3037,2025,2156
$GC,11966,1.23,241.9,847.2,9.3,1593,11991,0.00,2.70,19.15,1.137,4,0.000,0.063,3037,3427,2075
$GC,12013,1.25,256.0,842.4,9.5,1597,12033,0.00,2.58,14.32,1.094,6,0.000,0.044,3037,2034,2017
$GC,12357,1.25,256.0,807.3,10.5,1630,12362,0.00,2.70,0.00,0.000,4,0.000,0.074,3037,610,2013
$GC,12396,1.25,256.0,803.3,11.1,1633,12400,0.00,2.58,0.00,0.000,6,0.000,0.045,3037,2026,2014
$GC,12720,1.26,265.8,770.7,9.7,1663,12734,0.00,2.70,9.45,1.018,4,0.000,0.070,3037,3433,1978
$GC,12756,1.27,273.6,767.0,9.7,1666,12771,0.00,2.58,8.85,0.990,6,0.000,0.043,3037,2018,1946
$GC,13095,1.27,273.6,731.5,10.0,1698,13100,0.00,2.65,0.00,0.000,4,0.000,0.068,3037,614,1943
$GC,13127,1.27,273.6,728.1,10.3,1700,13134,0.00,2.60,0.00,0.000,6,0.000,0.044,3037,2025,1943
$GC,13453,1.27,273.6,694.3,10.6,1731,13457,0.00,2.62,0.00,0.000,4,0.000,0.068,3037,3433,1943
$GC,13484,1.27,273.6,690.7,10.9,1733,13491,0.00,2.58,0.00,0.000,6,0.000,0.043,3037,2017,1943
$GC,13811,1.29,289.6,659.0,9.4,1764,13833,0.10,2.67,15.85,1.029,4,0.068,0.068,3068,617,1880
$GC,13860,1.29,289.6,653.2,11.1,1768,13868,0.00,2.58,0.00,0.000,6,0.000,0.043,3068,2018,1880
$GC,14185,1.29,289.6,613.4,13.2,1799,14190,0.00,2.65,0.00,0.000,4,0.000,0.067,3068,3438,1878
$GC,14228,1.29,289.6,607.3,13.8,1802,14235,0.00,2.58,0.00,0.000,6,0.000,0.043,3068,2030,1878
$GC,14554,1.29,289.6,567.4,12.5,1833,14558,0.00,2.60,0.00,0.000,4,0.000,0.064,3068,618,1878
$GC,14591,1.29,289.6,562.6,12.1,1836,14596,0.00,2.55,0.00,0.000,6,0.000,0.043,3068,2035,1878
$GC,14925,1.29,289.6,522.4,11.7,1886,14930,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2036,1878
$GC,15265,1.29,289.6,481.5,11.8,1947,15270,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2036,1878
$GC,15603,1.29,289.6,442.4,11.2,2008,15612,0.00,2.65,0.00,0.000,4,0.000,0.058,3068,622,1878
$GC,15636,1.29,289.6,438.9,11.2,2013,15642,0.00,2.53,0.00,0.000,6,0.000,0.040,3068,2031,1878
$GC,15976,1.29,289.6,399.0,11.1,2074,15982,0.00,2.58,0.00,0.000,4,0.000,0.061,3068,3437,1878
$GC,16009,1.29,289.6,395.0,12.1,2080,16017,0.00,2.58,0.00,0.000,6,0.000,0.041,3068,2011,1877
$GC,16353,1.29,289.6,355.7,12.2,2141,16359,0.00,2.58,0.00,0.000,4,0.000,0.060,3068,611,1878
$GC,16391,1.29,289.6,350.6,12.3,2148,16400,0.00,2.55,0.00,0.000,6,0.000,0.039,3068,2022,1878
$GC,16727,1.29,289.6,310.6,10.3,2209,16733,0.00,2.58,0.00,0.000,4,0.000,0.058,3068,3432,1878
$GC,16762,1.29,289.6,306.1,12.1,2215,16769,0.00,2.53,0.00,0.000,6,0.000,0.040,3069,2006,1878
$GC,17092,1.29,289.6,267.3,11.8,2276,17100,0.00,2.58,0.00,0.000,4,0.000,0.060,3068,621,1879
$GC,17134,1.29,289.6,262.4,13.7,2283,17140,0.00,2.50,0.00,0.000,6,0.000,0.038,3068,2022,1879
$GC,17465,1.29,289.6,224.1,12.9,2344,17473,0.00,2.62,0.00,0.000,4,0.000,0.063,3068,3433,1878
$GC,17510,1.29,289.6,218.3,12.3,2352,17517,0.00,2.55,0.00,0.000,6,0.000,0.046,3068,2017,1878
$GC,17844,1.29,289.6,177.9,12.8,2413,17850,0.00,2.58,0.00,0.000,4,0.000,0.057,3068,621,1878
$GC,17892,1.29,289.6,172.5,12.7,2421,17898,0.00,2.50,0.00,0.000,6,0.000,0.038,3068,2018,1879
$GC,18219,1.29,294.5,133.8,9.8,2482,18234,0.00,2.62,5.75,0.615,4,0.000,0.056,3068,3431,1860
$GC,18257,1.29,294.5,129.2,12.5,2488,18265,0.00,2.55,0.00,0.000,6,0.000,0.045,3068,2016,1860
$GC,18391,1.29,294.5,114.1,10.0,2513,18400,0.00,2.58,0.00,0.000,4,0.000,0.059,3068,622,1859
$GC,18427,1.29,294.5,110.2,10.2,2519,18435,0.00,2.50,0.00,0.000,6,0.000,0.038,3068,2017,1860
$GC,18562,1.32,318.7,96.8,9.2,2544,18593,0.00,2.62,22.08,0.710,4,0.000,0.062,3068,3419,1760
$GC,18620,1.32,318.7,90.3,11.7,2553,18628,0.00,2.53,0.00,0.000,6,0.000,0.043,3068,2022,1759
$GC,18753,1.32,318.7,74.5,11.5,2578,18761,0.00,2.60,0.00,0.000,4,0.000,0.058,3068,615,1758
$GC,18794,1.32,318.7,70.6,10.3,2585,18802,0.00,2.53,0.00,0.000,6,0.000,0.044,3068,2022,1758
$GC,18928,1.32,318.7,56.4,10.7,2610,18937,0.00,2.60,0.00,0.000,4,0.000,0.058,3068,3432,1758
$GC,18959,1.32,318.7,52.7,12.6,2615,18967,0.00,2.58,0.00,0.000,6,0.000,0.038,3068,2003,1757
$GC,19093,1.32,318.7,37.2,10.8,2640,19101,0.00,2.55,0.00,0.000,4,0.000,0.064,3068,625,1757
$GC,19129,1.32,318.7,34.0,10.2,2646,19137,0.00,2.47,0.00,0.000,6,0.000,0.041,3068,1999,1757
$GC,19263,1.32,318.7,20.2,11.3,2671,19271,0.00,2.62,0.00,0.000,4,0.000,0.054,3068,3435,1757
$GC,19299,1.32,318.7,15.4,15.1,2677,19307,0.00,2.58,0.00,0.000,6,0.000,0.038,3068,1997,1757
$STATE,19411,end climb,SURFACE_DEPTH_REACHED
$STATE,19411,begin surface coast
$FINISH,0.3,1.027158
$STATE,19439,end surface coast,CONTROL_FINISHED_OK
$STATE,19439,begin surface
$SM_CCo,19517,0.00,0.000,0,0,1753,321.10
$SM_GC,1.09,10.55,0.00,0.00,0.040,0.000,0.000,569,2050,1753,-10.09,0.57,321.10
$IRIDIUM_FIX,5915.45,-1945.53,020797,060618
$TT8_MAMPS,0.042185
$HUMID,1586
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,12.80
$XPDR_PINGS,657
$24V_AH,23.5,4.357
$10V_AH,10.5,5.285
$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,24.500,180.775,458.300,0.000,0.000,55.446,63.800,390.984,164.250,0.000,0.000,12.686,4152.629,8403.041,700.234,6126.891,803.801,0.000,2781.733,0.000,6169.181,0.000,0.465
$DEVICE_MAMPS,191.750,115.817,1289.327,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1867.136,1969.570,1233.008,1719.898,3364.519,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,199480,2703
$CAP_FILE_SIZE,222254,0
$CFSIZE,260165632,255926272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070408,115501,5933.570,-1932.779,38,1.2,38,-14.0