version: 66.03
glider: 141
mission: 7
dive: 17
start: 4 7 108 12 3 16
data:
$ID,141
$MISSION,7
$DIVE,17
$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,-6447.3062
$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,33
$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
$GPS1,115501,5933.570,-1932.779,38,1.2,38,-14.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-56.2
$GPS2,120257,5933.476,-1932.600,11,1.2,11,-14.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5924.123,-1929.852
$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,164.0,20000,-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,24,-1.34,-194.7,0.0,0.0,0,127,0.00,0.00,-101.12,0.000,6,0.000,0.000,569,2048,3856
$GC,129,-1.34,-194.7,3.6,-6.9,14,146,11.07,2.62,0.00,0.000,4,0.196,0.052,2476,621,3859
$GC,329,-1.34,-194.7,33.4,-10.2,51,337,0.00,2.53,0.00,0.000,6,0.000,0.038,2476,2018,3859
$GC,462,-1.34,-194.7,47.4,-11.7,76,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2019,3860
$GC,596,-1.34,-194.7,61.8,-10.0,101,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2020,3859
$GC,729,-1.34,-194.7,73.5,-8.2,126,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2019,3860
$GC,863,-1.34,-194.7,86.2,-11.2,151,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2019,3860
$GC,996,-1.34,-194.7,99.3,-9.4,176,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2019,3859
$GC,1130,-1.30,-194.7,111.8,-10.7,201,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2019,3860
$GC,1264,-1.26,-194.7,126.5,-12.1,226,1272,0.12,2.62,0.00,0.000,4,0.125,0.060,2500,3434,3859
$GC,1280,-1.22,-194.7,128.5,-12.4,228,1288,0.00,2.50,0.00,0.000,6,0.000,0.036,2500,2039,3859
$GC,1414,-1.22,-194.7,142.4,-10.2,253,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2034,3859
$GC,1547,-1.22,-194.7,155.8,-10.3,278,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2033,3859
$GC,1879,-1.22,-194.7,187.0,-8.5,339,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2033,3859
$GC,2207,-1.22,-194.7,220.5,-10.5,400,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2033,3859
$GC,2538,-1.22,-194.7,254.6,-10.4,461,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2033,3859
$GC,2866,-1.22,-194.7,288.2,-10.4,522,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2033,3859
$GC,3198,-1.22,-194.7,322.0,-10.0,583,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2033,3859
$GC,3526,-1.22,-194.7,354.9,-9.9,644,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2033,3859
$GC,3869,-1.22,-194.7,390.6,-10.2,705,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2033,3859
$GC,4207,-1.22,-194.7,425.5,-10.5,766,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2033,3859
$GC,4544,-1.22,-194.7,460.5,-10.2,827,4550,0.00,2.60,0.00,0.000,4,0.000,0.063,2500,3431,3859
$GC,4558,-1.22,-194.7,461.6,-9.9,829,4564,0.00,2.45,0.00,0.000,6,0.000,0.040,2500,2058,3859
$GC,4896,-1.22,-194.7,495.6,-10.4,890,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2056,3859
$GC,5235,-1.22,-194.7,529.8,-9.8,951,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2056,3859
$GC,5573,-1.22,-194.7,563.0,-9.9,1001,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2056,3859
$GC,5891,-1.22,-194.7,594.4,-10.0,1031,5895,0.00,2.67,0.00,0.000,4,0.000,0.071,2500,627,3859
$GC,5906,-1.22,-194.7,595.9,-10.0,1032,5911,0.00,2.55,0.00,0.000,6,0.000,0.045,2500,2044,3859
$GC,6231,-1.22,-194.7,629.1,-10.2,1062,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2044,3859
$GC,6549,-1.22,-194.7,661.3,-10.2,1092,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2045,3859
$GC,6867,-1.22,-194.7,693.7,-10.6,1122,6872,0.00,2.67,0.00,0.000,4,0.000,0.084,2500,3444,3859
$GC,6876,-1.22,-194.7,694.8,-10.6,1122,6884,0.00,2.58,0.00,0.000,6,0.000,0.057,2500,2061,3859
$GC,7202,-1.22,-194.7,727.9,-9.7,1153,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2058,3858
$GC,7521,-1.22,-194.7,758.5,-9.7,1183,7522,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2057,3859
$GC,7839,-1.22,-194.7,789.1,-9.6,1213,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2057,3859
$GC,8158,-1.22,-194.7,821.0,-9.5,1243,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2057,3858
$GC,8478,-1.22,-194.7,848.9,-8.5,1273,8482,0.00,2.60,0.00,0.000,4,0.000,0.070,2500,3439,3858
$GC,8498,-1.22,-194.7,851.1,-9.3,1274,8505,0.00,2.53,0.00,0.000,6,0.000,0.048,2500,2047,3858
$GC,8823,-1.22,-194.7,882.2,-9.5,1305,8825,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2046,3857
$GC,9143,-1.22,-194.7,913.4,-9.4,1335,9147,0.00,2.60,0.00,0.000,4,0.000,0.070,2500,3435,3857
$GC,9162,-1.22,-194.7,915.6,-10.2,1336,9170,0.00,2.50,0.00,0.000,6,0.000,0.048,2500,2069,3857
$GC,9488,-1.22,-194.7,944.2,-8.6,1367,9489,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2069,3857
$GC,9807,-1.22,-194.7,972.8,-9.5,1397,9808,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2069,3857
$STATE,9996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9996,begin apogee
$GC,10000,-0.37,0.0,990.1,9.2,1415,10173,0.93,0.00,169.45,1.285,6,0.100,0.000,2696,2019,3062
$STATE,10174,end apogee,CONTROL_FINISHED_OK
$STATE,10174,begin climb
$GC,10175,1.34,194.7,994.6,0.0,1432,10353,1.70,0.00,169.07,1.253,6,0.078,0.000,3073,2018,2267
$GC,10670,1.28,194.7,944.8,12.2,1480,10675,0.00,2.67,0.00,0.000,4,0.000,0.063,3073,3433,2261
$GC,10736,1.22,194.7,936.2,13.0,1485,10743,0.15,2.58,0.00,0.000,6,0.109,0.044,3043,2021,2260
$GC,11060,1.22,194.7,904.0,10.0,1516,11062,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2021,2260
$GC,11380,1.22,201.2,872.6,9.8,1546,11391,0.00,2.75,5.85,0.925,4,0.000,0.062,3044,3434,2241
$GC,11413,1.22,201.2,869.1,10.6,1549,11418,0.00,2.58,0.00,0.000,6,0.000,0.044,3044,2021,2241
$GC,11737,1.22,201.2,836.3,10.4,1579,11738,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2021,2240
$GC,12056,1.22,201.2,803.6,10.0,1609,12060,0.00,2.65,0.00,0.000,4,0.000,0.061,3043,3434,2240
$GC,12094,1.22,201.2,799.5,11.0,1612,12098,0.00,2.53,0.00,0.000,6,0.000,0.043,3044,2037,2239
$GC,12418,1.24,213.4,767.5,9.6,1642,12432,0.00,0.00,12.25,1.061,6,0.000,0.000,3044,2037,2192
$GC,12746,1.27,237.0,736.8,9.2,1673,12771,0.00,0.00,22.52,1.094,6,0.000,0.000,3044,2037,2095
$GC,13085,1.27,237.0,704.4,10.0,1705,13086,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2037,2092
$GC,13405,1.27,237.0,671.9,10.3,1735,13407,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2037,2091
$GC,13722,1.27,237.0,638.7,10.8,1765,13724,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2037,2091
$GC,14042,1.27,237.0,603.3,11.2,1795,14044,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2037,2091
$GC,14360,1.27,237.0,569.2,10.4,1825,14361,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2037,2090
$GC,14685,1.27,237.0,535.1,10.2,1867,14691,0.00,2.60,0.00,0.000,4,0.000,0.058,3044,3439,2090
$GC,14712,1.27,237.0,532.0,11.8,1872,14721,0.00,2.55,0.00,0.000,6,0.000,0.041,3044,2032,2090
$GC,15058,1.29,251.1,497.5,9.5,1933,15082,0.00,2.70,13.23,0.920,4,0.000,0.061,3044,617,2038
$GC,15107,1.29,257.1,492.7,9.8,1941,15119,0.00,2.58,7.00,0.803,6,0.000,0.039,3043,2047,2014
$GC,15453,1.32,280.8,459.8,9.2,2003,15482,0.10,2.62,22.10,0.921,4,0.070,0.061,3075,3437,1916
$GC,15504,1.32,280.8,454.1,11.5,2012,15512,0.00,2.55,0.00,0.000,6,0.000,0.046,3075,2037,1915
$GC,15849,1.32,280.8,415.2,11.6,2073,15855,0.00,2.62,0.00,0.000,4,0.000,0.060,3075,612,1914
$GC,15896,1.32,280.8,409.6,12.0,2081,15902,0.00,2.55,0.00,0.000,6,0.000,0.038,3075,2042,1914
$GC,16236,1.32,280.8,370.3,11.8,2142,16242,0.00,2.55,0.00,0.000,4,0.000,0.059,3075,3441,1913
$GC,16270,1.32,280.8,366.2,12.0,2148,16278,0.00,2.53,0.00,0.000,6,0.000,0.040,3075,2037,1912
$GC,16607,1.32,280.8,328.3,11.7,2209,16613,0.00,2.60,0.00,0.000,4,0.000,0.058,3075,611,1913
$GC,16653,1.32,280.8,322.8,12.2,2217,16659,0.00,2.53,0.00,0.000,6,0.000,0.038,3075,2037,1913
$GC,16982,1.32,280.8,284.0,12.1,2278,16989,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2039,1912
$GC,17315,1.32,280.8,245.7,10.6,2339,17321,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2039,1912
$GC,17644,1.34,291.6,208.2,9.6,2400,17657,0.00,0.00,10.62,0.736,6,0.000,0.000,3075,2039,1873
$GC,17981,1.35,307.4,169.4,9.5,2462,18002,0.00,2.65,15.12,0.738,4,0.000,0.053,3075,611,1808
$GC,18037,1.35,307.4,163.2,12.1,2471,18043,0.00,2.55,0.00,0.000,6,0.000,0.037,3075,2039,1807
$GC,18360,1.35,307.4,126.0,10.2,2532,18368,0.00,2.55,0.00,0.000,4,0.000,0.059,3075,3423,1805
$GC,18385,1.35,307.4,123.0,11.4,2536,18393,0.00,2.53,0.00,0.000,6,0.000,0.044,3075,2020,1805
$GC,18520,1.36,309.6,108.1,9.9,2561,18528,0.00,2.58,0.00,0.000,4,0.000,0.058,3075,624,1805
$GC,18561,1.36,309.6,103.6,11.4,2568,18569,0.00,2.50,0.00,0.000,6,0.000,0.041,3075,2020,1805
$GC,18695,1.36,309.6,88.7,10.9,2593,18703,0.00,2.58,0.00,0.000,4,0.000,0.057,3075,3424,1805
$GC,18731,1.36,309.6,84.4,13.2,2599,18739,0.00,2.53,0.00,0.000,6,0.000,0.044,3075,2016,1805
$GC,18864,1.36,312.8,69.1,9.9,2624,18881,0.00,2.58,5.80,0.588,4,0.000,0.055,3075,625,1786
$GC,18919,1.36,312.8,62.6,11.8,2633,18926,0.00,2.47,0.00,0.000,6,0.000,0.044,3075,2007,1785
$GC,19052,1.36,312.8,46.3,11.6,2658,19060,0.00,2.60,0.00,0.000,4,0.000,0.060,3075,3430,1785
$GC,19088,1.36,312.8,42.1,10.8,2664,19096,0.00,2.55,0.00,0.000,6,0.000,0.042,3075,2005,1784
$GC,19222,1.36,312.8,27.1,10.6,2689,19230,0.00,2.53,0.00,0.000,4,0.000,0.060,3075,629,1785
$GC,19262,1.36,312.8,22.5,12.7,2696,19271,0.00,2.45,0.00,0.000,6,0.000,0.040,3075,2003,1785
$GC,19397,1.36,312.8,7.3,10.2,2721,19405,0.00,2.60,0.00,0.000,4,0.000,0.060,3075,3430,1784
$GC,19422,1.36,312.8,3.9,13.4,2725,19430,0.00,2.53,0.00,0.000,6,0.000,0.035,3075,2011,1784
$STATE,19437,end climb,SURFACE_DEPTH_REACHED
$STATE,19438,begin surface coast
$FINISH,0.2,1.018803
$STATE,19460,end surface coast,CONTROL_FINISHED_OK
$STATE,19460,begin surface
$SM_CCo,19537,0.00,0.000,0,0,1782,313.98
$SM_GC,0.97,10.57,0.00,0.00,0.041,0.000,0.000,569,2009,1782,-10.08,-0.57,313.98
$IRIDIUM_FIX,5915.45,-1941.52,020797,060603
$TT8_MAMPS,0.041418
$HUMID,1572
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,13.30
$XPDR_PINGS,678
$24V_AH,23.5,4.548
$10V_AH,10.5,5.604
$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,24.650,123.600,453.025,0.000,0.000,30.507,30.736,290.202,169.500,0.000,0.000,13.408,4169.527,8350.635,642.784,6176.335,644.082,0.000,2700.962,0.000,6229.705,0.000,0.465
$DEVICE_MAMPS,195.585,92.807,1285.492,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1886.644,1995.958,1253.336,1759.569,3441.942,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202404,2731
$CAP_FILE_SIZE,210526,0
$CFSIZE,260165632,255811584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070408,173023,5928.343,-1923.468,41,1.8,57,-13.9