version: 66.03
glider: 141
mission: 7
dive: 20
start: 4 8 108 4 22 52
data:
$ID,141
$MISSION,7
$DIVE,20
$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,170
$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,-6526.667
$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,22
$R_STBD_OVSHOOT,31
$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
$GPS1,041427,5916.587,-1910.815,33,3.5,52,-13.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-50.3
$GPS2,042235,5916.475,-1910.725,10,3.7,29,-13.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5905.840,-1909.761
$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,183.7,20000,-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,24,-1.34,-194.7,0.0,0.0,0,128,0.00,0.00,-101.12,0.000,2,0.000,0.000,574,2041,3809
$GC,130,-1.34,-194.7,3.1,-5.5,14,148,11.07,2.62,-1.08,0.000,4,0.199,0.062,2480,3438,3857
$GC,382,-1.29,-194.7,38.9,-13.8,61,390,0.00,2.53,0.00,0.000,6,0.000,0.040,2480,2027,3858
$GC,516,-1.29,-194.7,54.5,-12.2,86,523,0.00,2.58,0.00,0.000,4,0.000,0.052,2480,3421,3858
$GC,541,-1.25,-194.7,57.3,-11.5,90,550,0.10,2.50,0.00,0.000,6,0.106,0.042,2503,2018,3858
$GC,675,-1.25,-194.7,70.6,-10.2,115,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2014,3858
$GC,809,-1.25,-194.7,83.5,-10.0,140,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2012,3858
$GC,942,-1.25,-194.7,96.3,-9.4,165,950,0.00,2.62,0.00,0.000,4,0.000,0.057,2503,3433,3858
$GC,957,-1.25,-194.7,97.9,-9.9,167,965,0.00,2.50,0.00,0.000,6,0.000,0.036,2503,2033,3858
$GC,1091,-1.25,-194.7,111.2,-10.3,192,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2029,3858
$GC,1224,-1.25,-194.7,124.5,-9.7,217,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2027,3858
$GC,1358,-1.25,-194.7,138.0,-10.7,242,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2028,3858
$GC,1491,-1.25,-194.7,152.0,-10.7,267,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2028,3858
$GC,1819,-1.25,-194.7,186.4,-10.2,328,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2028,3859
$GC,2152,-1.25,-194.7,220.1,-10.5,389,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2027,3858
$GC,2480,-1.25,-194.7,254.5,-10.8,450,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2028,3858
$GC,2812,-1.25,-194.7,289.8,-10.5,511,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2028,3858
$GC,3140,-1.25,-194.7,322.4,-9.8,572,3148,0.00,2.60,0.00,0.000,4,0.000,0.060,2503,3420,3858
$GC,3153,-1.25,-194.7,323.7,-9.6,574,3160,0.00,2.47,0.00,0.000,6,0.000,0.039,2503,2040,3858
$GC,3484,-1.25,-194.7,357.0,-10.2,635,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2035,3858
$GC,3823,-1.25,-194.7,392.2,-10.8,696,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2034,3858
$GC,4168,-1.25,-194.7,427.4,-9.9,757,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2035,3858
$GC,4507,-1.25,-194.7,463.2,-10.3,818,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2035,3858
$GC,4846,-1.25,-194.7,496.9,-9.1,879,4852,0.00,2.60,0.00,0.000,4,0.000,0.061,2503,3430,3858
$GC,4868,-1.25,-194.7,499.1,-10.2,883,4875,0.00,2.50,0.00,0.000,6,0.000,0.041,2503,2034,3858
$GC,5207,-1.25,-194.7,530.8,-9.3,944,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2034,3858
$GC,5547,-1.25,-194.7,563.4,-9.8,993,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2033,3858
$GC,5865,-1.25,-194.7,594.7,-10.1,1023,5869,0.00,2.60,0.00,0.000,4,0.000,0.064,2503,3423,3858
$GC,5880,-1.25,-194.7,596.4,-10.5,1024,5887,0.00,2.53,0.00,0.000,6,0.000,0.042,2504,2031,3858
$GC,6205,-1.25,-194.7,630.3,-10.6,1055,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2031,3858
$GC,6523,-1.25,-194.7,663.7,-10.7,1085,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2031,3858
$GC,6843,-1.25,-194.7,695.5,-9.4,1115,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2031,3859
$GC,7161,-1.25,-194.7,724.0,-8.7,1145,7166,0.00,2.70,0.00,0.000,4,0.000,0.086,2503,3421,3858
$GC,7177,-1.25,-194.7,725.5,-8.7,1146,7182,0.00,2.53,0.00,0.000,6,0.000,0.051,2503,2036,3858
$GC,7502,-1.25,-194.7,754.4,-9.1,1176,7506,0.00,2.60,0.00,0.000,4,0.000,0.068,2503,3422,3858
$GC,7540,-1.25,-194.7,758.1,-9.8,1179,7544,0.00,2.50,0.00,0.000,6,0.000,0.048,2503,2036,3858
$GC,7864,-1.25,-194.7,788.4,-9.4,1209,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2035,3858
$GC,8183,-1.25,-194.7,817.4,-8.7,1239,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2034,3858
$GC,8501,-1.25,-194.7,844.0,-8.0,1269,8506,0.00,2.62,0.00,0.000,4,0.000,0.068,2503,3423,3858
$GC,8529,-1.25,-194.7,846.4,-9.1,1271,8533,0.00,2.50,0.00,0.000,6,0.000,0.047,2503,2043,3858
$GC,8853,-1.25,-194.7,875.5,-9.6,1301,8858,0.00,2.60,0.00,0.000,4,0.000,0.067,2503,3432,3858
$GC,8876,-1.25,-194.7,877.7,-9.9,1302,8882,0.00,2.47,0.00,0.000,6,0.000,0.046,2503,2055,3858
$GC,9200,-1.25,-194.7,909.0,-9.7,1333,9201,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2055,3857
$GC,9519,-1.25,-194.7,939.2,-9.3,1363,9523,0.00,2.58,0.00,0.000,4,0.000,0.068,2503,3426,3857
$GC,9557,-1.25,-194.7,943.0,-10.2,1366,9561,0.00,2.47,0.00,0.000,6,0.000,0.047,2503,2052,3857
$GC,9883,-1.25,-194.7,971.2,-8.6,1396,9884,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2051,3857
$STATE,10102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10102,begin apogee
$GC,10106,-0.37,0.0,990.1,8.5,1417,10279,0.90,0.00,169.27,1.279,6,0.097,0.000,2695,2022,3062
$STATE,10280,end apogee,CONTROL_FINISHED_OK
$STATE,10280,begin climb
$GC,10282,1.34,194.7,993.9,0.0,1434,10455,1.70,0.00,168.23,1.248,6,0.076,0.000,3068,2022,2268
$GC,10772,1.28,194.7,946.6,10.7,1481,10773,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2021,2262
$GC,11091,1.22,194.7,912.2,10.5,1511,11096,0.10,2.62,0.00,0.000,4,0.115,0.061,3048,3418,2261
$GC,11134,1.22,194.7,907.5,10.7,1514,11140,0.00,2.55,0.00,0.000,6,0.000,0.043,3048,2031,2261
$GC,11459,1.22,194.7,875.5,10.1,1545,11463,0.00,2.72,0.00,0.000,4,0.000,0.077,3048,611,2260
$GC,11490,1.18,194.7,872.0,10.8,1547,11497,0.00,2.58,0.00,0.000,6,0.000,0.044,3048,2029,2260
$GC,11816,1.19,200.4,840.0,9.8,1578,11827,0.00,2.67,5.53,0.894,4,0.000,0.070,3048,3439,2243
$GC,11865,1.19,200.4,834.8,10.1,1582,11872,0.00,2.58,0.00,0.000,6,0.000,0.043,3048,2036,2243
$GC,12191,1.19,207.2,804.4,9.8,1613,12205,0.00,2.75,7.53,0.980,4,0.000,0.068,3048,620,2217
$GC,12234,1.19,207.2,799.8,10.3,1617,12238,0.00,2.62,0.00,0.000,6,0.000,0.044,3048,2057,2217
$GC,12558,1.22,227.5,768.5,9.3,1647,12579,0.00,0.00,19.60,1.097,6,0.000,0.000,3048,2057,2134
$GC,12897,1.24,244.8,737.0,9.4,1679,12918,0.00,0.00,16.80,1.063,6,0.000,0.000,3047,2058,2064
$GC,13236,1.26,257.0,704.5,9.6,1711,13250,0.00,0.00,12.25,1.012,6,0.000,0.000,3048,2058,2014
$GC,13563,1.27,267.5,672.8,9.6,1742,13579,0.00,2.72,10.82,0.975,4,0.000,0.060,3048,618,1970
$GC,13612,1.27,267.5,667.8,10.8,1746,13617,0.00,2.60,0.00,0.000,6,0.000,0.044,3048,2047,1970
$GC,13936,1.27,271.2,636.2,9.9,1776,13947,0.00,0.00,4.55,0.734,6,0.000,0.000,3048,2047,1956
$GC,14265,1.27,271.2,602.8,10.5,1807,14269,0.00,2.67,0.00,0.000,4,0.000,0.060,3048,618,1955
$GC,14303,1.27,271.2,598.7,11.3,1810,14307,0.00,2.55,0.00,0.000,6,0.000,0.043,3048,2032,1955
$GC,14627,1.27,271.2,565.5,10.3,1840,14628,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2032,1955
$GC,14956,1.27,271.5,532.2,10.0,1885,14961,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2033,1955
$GC,15295,1.27,271.5,496.5,10.2,1946,15300,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2035,1955
$GC,15635,1.27,271.5,461.9,10.1,2007,15641,0.00,2.65,0.00,0.000,4,0.000,0.058,3048,608,1955
$GC,15679,1.27,271.5,457.3,10.7,2015,15685,0.00,2.55,0.00,0.000,6,0.000,0.040,3048,2036,1955
$GC,16019,1.27,271.5,422.5,10.0,2076,16027,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2037,1955
$GC,16363,1.27,271.5,388.0,10.4,2137,16369,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2038,1955
$GC,16703,1.27,271.5,353.0,10.6,2198,16709,0.00,2.65,0.00,0.000,4,0.000,0.055,3048,607,1955
$GC,16744,1.27,271.5,348.9,11.4,2205,16750,0.00,2.55,0.00,0.000,6,0.000,0.039,3048,2031,1955
$GC,17073,1.28,275.3,316.0,9.9,2266,17087,0.00,2.60,5.57,0.682,4,0.000,0.058,3048,3424,1939
$GC,17116,1.28,275.3,311.9,10.6,2273,17122,0.00,2.50,0.00,0.000,6,0.000,0.039,3048,2017,1939
$GC,17445,1.31,299.6,279.9,9.2,2334,17478,0.00,2.65,23.15,0.813,4,0.000,0.062,3048,621,1840
$GC,17515,1.31,299.6,272.6,10.4,2346,17524,0.00,2.53,0.00,0.000,6,0.000,0.044,3048,2015,1838
$GC,17849,1.31,299.6,240.1,10.6,2407,17855,0.00,2.60,0.00,0.000,4,0.000,0.057,3048,3431,1837
$GC,17876,1.31,299.6,237.1,10.2,2412,17884,0.00,2.55,0.00,0.000,6,0.000,0.038,3048,2018,1836
$GC,18210,1.35,335.6,204.3,8.8,2473,18249,0.10,2.62,31.73,0.772,4,0.068,0.057,3081,621,1692
$GC,18294,1.35,335.6,194.7,11.3,2487,18300,0.00,2.53,0.00,0.000,6,0.000,0.038,3081,2029,1690
$GC,18624,1.35,335.6,152.6,11.8,2548,18632,0.00,2.60,0.00,0.000,4,0.000,0.057,3081,3433,1687
$GC,18656,1.35,335.6,148.7,13.0,2553,18664,0.00,2.55,0.00,0.000,6,0.000,0.038,3081,2015,1687
$GC,18790,1.35,335.6,132.1,12.1,2578,18798,0.00,2.58,0.00,0.000,4,0.000,0.061,3081,622,1687
$GC,18837,1.35,335.6,125.9,13.1,2586,18845,0.00,2.50,0.00,0.000,6,0.000,0.044,3081,2003,1686
$GC,18971,1.39,367.6,110.5,8.9,2611,19008,0.00,2.67,28.27,0.716,4,0.000,0.054,3081,3425,1562
$GC,19031,1.39,367.6,104.7,10.5,2620,19039,0.00,2.60,0.00,0.000,6,0.000,0.038,3081,1994,1560
$GC,19165,1.39,367.6,89.5,10.4,2645,19173,0.00,2.55,0.00,0.000,4,0.000,0.061,3081,624,1559
$GC,19206,1.39,367.6,84.1,13.0,2652,19214,0.00,2.45,0.00,0.000,6,0.000,0.045,3081,1983,1558
$GC,19340,1.39,367.6,65.5,14.4,2677,19349,0.00,2.65,0.00,0.000,4,0.000,0.056,3081,3428,1557
$GC,19381,1.39,367.6,60.2,14.1,2684,19390,0.00,2.60,0.00,0.000,6,0.000,0.044,3081,1983,1557
$GC,19515,1.39,367.6,44.7,10.4,2709,19523,0.00,2.53,0.00,0.000,4,0.000,0.064,3081,617,1557
$GC,19562,1.39,367.6,39.7,10.5,2717,19570,0.00,2.47,0.00,0.000,6,0.000,0.038,3081,1999,1557
$GC,19696,1.39,367.6,26.0,13.1,2742,19704,0.00,2.62,0.00,0.000,4,0.000,0.057,3081,3432,1556
$GC,19742,1.39,367.6,20.1,12.9,2750,19750,0.00,2.62,0.00,0.000,6,0.000,0.044,3081,1971,1556
$GC,19876,1.39,367.6,4.3,14.3,2775,19885,0.00,2.47,0.00,0.000,4,0.000,0.063,3081,627,1556
$STATE,19892,end climb,SURFACE_DEPTH_REACHED
$STATE,19892,begin surface coast
$FINISH,1.5,1.027148
$STATE,19899,end surface coast,CONTROL_FINISHED_OK
$STATE,19899,begin surface
$SM_CCo,19979,0.00,0.000,0,0,1553,369.91
$SM_GC,0.79,10.55,0.00,0.00,0.038,0.000,0.000,571,2044,1553,-10.08,0.40,369.91
$IRIDIUM_FIX,5858.64,-1859.47,020797,232342
$TT8_MAMPS,0.041418
$HUMID,1588
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,13.30
$XPDR_PINGS,699
$24V_AH,23.5,5.148
$10V_AH,10.5,6.534
$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,24.525,159.925,503.300,0.000,0.000,29.353,33.324,286.089,174.750,0.000,0.000,31.753,4252.315,8530.325,690.259,6322.793,642.389,0.000,2843.771,0.000,6345.668,0.000,0.465
$DEVICE_MAMPS,198.653,121.186,1279.356,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1916.416,2013.982,1254.060,1753.738,3432.102,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,205466,2778
$CAP_FILE_SIZE,220681,0
$CFSIZE,260165632,255451136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080408,095701,5910.024,-1909.980,37,1.6,37,-13.6