version: 66.03
glider: 141
mission: 7
dive: 23
start: 4 8 108 21 19 31
data:
$ID,141
$MISSION,7
$DIVE,23
$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,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,90
$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,-6570.4043
$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,23
$R_STBD_OVSHOOT,34
$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
$GPS1,211121,5903.622,-1900.963,36,2.4,55,-13.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-49.3
$GPS2,211909,5903.438,-1901.081,11,1.5,11,-13.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,5903.438,-1855.528
$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,103.5,20000,-17.5,-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,-1.48,-146.0,0.0,0.0,0,141,0.00,0.00,-110.55,0.000,6,0.000,0.000,573,2045,3657
$GC,144,-1.48,-146.0,3.3,-6.3,16,160,11.00,2.67,0.00,0.000,4,0.201,0.051,2457,616,3659
$GC,394,-1.48,-146.0,35.0,-10.7,63,402,0.00,2.53,0.00,0.000,6,0.000,0.044,2457,2019,3659
$GC,528,-1.48,-146.0,50.2,-11.1,88,536,0.00,2.58,0.00,0.000,4,0.000,0.053,2457,623,3659
$GC,574,-1.48,-146.0,55.6,-11.3,96,581,0.00,2.53,0.00,0.000,6,0.000,0.044,2457,2028,3659
$GC,707,-1.48,-146.0,69.9,-10.2,121,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2030,3659
$GC,841,-1.48,-146.0,83.9,-10.0,146,849,0.00,2.60,0.00,0.000,4,0.000,0.057,2457,624,3659
$GC,872,-1.48,-146.0,87.2,-10.6,151,880,0.00,2.53,0.00,0.000,6,0.000,0.041,2457,2019,3659
$GC,1005,-1.48,-146.0,101.3,-10.8,176,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2021,3659
$GC,1139,-1.48,-146.0,115.8,-10.5,201,1146,0.00,2.58,0.00,0.000,4,0.000,0.052,2457,624,3659
$GC,1174,-1.48,-146.0,119.9,-11.1,207,1182,0.00,2.50,0.00,0.000,6,0.000,0.038,2457,2017,3659
$GC,1308,-1.48,-146.0,134.9,-11.1,232,1317,0.00,2.58,0.00,0.000,4,0.000,0.058,2457,622,3659
$GC,1329,-1.48,-146.0,137.2,-11.7,235,1337,0.00,2.47,0.00,0.000,6,0.000,0.040,2457,1994,3659
$GC,1461,-1.48,-146.0,152.3,-11.1,260,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1996,3659
$GC,1793,-1.48,-146.0,189.1,-11.1,321,1799,0.00,2.50,0.00,0.000,4,0.000,0.051,2457,623,3659
$GC,1827,-1.48,-146.0,193.0,-11.7,327,1833,0.00,2.45,0.00,0.000,6,0.000,0.038,2457,2003,3659
$GC,2157,-1.48,-146.0,229.7,-11.4,388,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2006,3659
$GC,2489,-1.48,-146.0,266.3,-10.9,449,2495,0.00,2.60,0.00,0.000,4,0.000,0.054,2456,3441,3659
$GC,2517,-1.48,-146.0,269.6,-11.8,454,2525,0.00,2.58,0.00,0.000,6,0.000,0.043,2457,1997,3659
$GC,2849,-1.48,-146.0,304.9,-10.6,515,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1991,3659
$GC,3177,-1.48,-146.0,339.1,-10.4,576,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1991,3658
$GC,3518,-1.48,-146.0,374.9,-10.5,637,3524,0.00,2.67,0.00,0.000,4,0.000,0.057,2457,3437,3659
$GC,3542,-1.48,-146.0,377.7,-11.3,641,3548,0.00,2.58,0.00,0.000,6,0.000,0.037,2457,1991,3659
$GC,3883,-1.48,-146.0,415.9,-11.1,702,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1988,3659
$GC,4222,-1.48,-146.0,454.7,-11.1,763,4228,0.00,2.67,0.00,0.000,4,0.000,0.059,2457,3431,3659
$GC,4244,-1.48,-146.0,457.4,-12.3,767,4251,0.00,2.55,0.00,0.000,6,0.000,0.039,2456,1997,3659
$GC,4583,-1.48,-146.0,496.1,-11.5,828,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1993,3659
$GC,4927,-1.48,-146.0,533.5,-10.7,889,4932,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1993,3659
$GC,5263,-1.48,-146.0,569.0,-10.3,934,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1993,3659
$GC,5582,-1.48,-146.0,600.5,-9.5,964,5586,0.00,2.70,0.00,0.000,4,0.000,0.066,2456,3429,3658
$GC,5647,-1.48,-146.0,607.4,-10.3,969,5654,0.00,2.58,0.00,0.000,6,0.000,0.044,2457,2017,3658
$GC,5973,-1.48,-146.0,639.2,-9.8,1000,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2017,3658
$GC,6291,-1.48,-146.0,670.0,-9.6,1030,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2018,3658
$GC,6610,-1.48,-146.0,701.0,-9.8,1060,6614,0.00,2.75,0.00,0.000,4,0.000,0.097,2457,620,3658
$GC,6637,-1.48,-146.0,703.8,-10.8,1062,6641,0.00,2.58,0.00,0.000,6,0.000,0.060,2457,2011,3658
$GC,6961,-1.48,-146.0,734.1,-9.4,1092,6966,0.00,2.72,0.00,0.000,4,0.000,0.080,2457,3449,3658
$GC,6993,-1.44,-146.0,737.5,-10.5,1094,7000,0.00,2.58,0.00,0.000,6,0.000,0.049,2457,2026,3658
$GC,7319,-1.44,-146.0,768.8,-9.9,1125,7320,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2026,3658
$GC,7637,-1.44,-146.0,798.3,-9.1,1155,7638,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2025,3657
$GC,7955,-1.44,-146.0,828.0,-9.5,1185,7959,0.00,2.70,0.00,0.000,4,0.000,0.083,2457,621,3658
$GC,7987,-1.44,-146.0,831.2,-9.9,1187,7993,0.00,2.58,0.00,0.000,6,0.000,0.049,2457,2020,3658
$GC,8312,-1.44,-146.0,860.5,-9.4,1218,8317,0.00,2.67,0.00,0.000,4,0.000,0.078,2457,3438,3657
$GC,8339,-1.44,-146.0,863.2,-10.7,1220,8344,0.00,2.53,0.00,0.000,6,0.000,0.047,2457,2034,3657
$GC,8666,-1.44,-146.0,893.2,-9.3,1250,8671,0.00,2.67,0.00,0.000,4,0.000,0.081,2456,624,3657
$GC,8705,-1.44,-146.0,897.3,-10.3,1253,8709,0.00,2.55,0.00,0.000,6,0.000,0.050,2457,2033,3657
$GC,9029,-1.44,-146.0,929.1,-10.2,1283,9030,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2033,3657
$GC,9348,-1.44,-146.0,960.6,-9.6,1313,9352,0.00,2.67,0.00,0.000,4,0.000,0.080,2456,3438,3656
$GC,9386,-1.44,-146.0,964.7,-10.8,1316,9390,0.00,2.55,0.00,0.000,6,0.000,0.048,2456,2026,3656
$STATE,9644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9644,begin apogee
$GC,9648,-0.37,0.0,990.7,10.2,1340,9780,1.12,0.00,127.60,1.286,6,0.106,0.000,2694,2024,3062
$STATE,9780,end apogee,CONTROL_FINISHED_OK
$STATE,9781,begin climb
$GC,9782,1.48,146.0,994.6,0.0,1353,9920,1.83,2.78,126.75,1.253,4,0.077,0.064,3099,3434,2465
$GC,9947,1.41,146.0,982.6,11.0,1369,9954,0.00,2.62,0.00,0.000,6,0.000,0.044,3099,2023,2463
$GC,10273,1.36,146.0,949.2,10.3,1400,10275,0.12,0.00,0.00,0.000,6,0.114,0.000,3076,2023,2461
$GC,10591,1.37,148.2,918.1,9.9,1430,10592,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2023,2460
$GC,10910,1.37,149.3,886.7,10.0,1460,10914,0.00,2.65,0.00,0.000,4,0.000,0.061,3076,3435,2459
$GC,10959,1.37,149.3,881.2,10.8,1464,10963,0.00,2.55,0.00,0.000,6,0.000,0.044,3076,2022,2459
$GC,11283,1.37,149.3,848.1,10.4,1494,11284,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2021,2459
$GC,11602,1.37,152.9,816.5,9.8,1524,11614,0.00,2.72,6.45,0.944,4,0.000,0.061,3076,3437,2437
$GC,11629,1.37,152.9,813.6,10.2,1526,11636,0.00,2.58,0.00,0.000,6,0.000,0.041,3076,2029,2437
$GC,11957,1.38,161.6,782.3,9.6,1557,11968,0.00,0.00,9.10,1.015,6,0.000,0.000,3076,2029,2403
$GC,12282,1.38,161.6,749.7,10.1,1588,12287,0.00,2.62,0.00,0.000,4,0.000,0.061,3076,3435,2402
$GC,12314,1.38,161.6,746.3,10.4,1590,12321,0.00,2.58,0.00,0.000,6,0.000,0.041,3076,2019,2402
$GC,12641,1.38,161.6,712.5,10.3,1621,12642,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2018,2402
$GC,12957,1.38,161.6,680.3,10.0,1651,12959,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2019,2402
$GC,13277,1.38,161.6,647.4,10.5,1681,13282,0.00,2.65,0.00,0.000,4,0.000,0.061,3076,3439,2402
$GC,13332,1.38,161.6,641.0,11.0,1685,13339,0.00,2.58,0.00,0.000,6,0.000,0.042,3076,2026,2402
$GC,13657,1.38,162.3,607.8,10.0,1716,13658,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2026,2402
$GC,13976,1.39,166.3,576.0,9.8,1746,13988,0.00,2.67,5.82,0.813,4,0.000,0.060,3076,3444,2383
$GC,14014,1.39,166.3,571.7,10.4,1749,14021,0.00,2.58,0.00,0.000,6,0.000,0.041,3076,2034,2383
$GC,14344,1.40,177.1,538.6,9.5,1790,14362,0.00,0.00,10.98,0.918,6,0.000,0.000,3076,2034,2340
$GC,14698,1.40,177.1,502.5,10.0,1853,14704,0.00,2.62,0.00,0.000,4,0.000,0.059,3076,3445,2338
$GC,14747,1.40,177.1,496.7,11.5,1862,14753,0.00,2.53,0.00,0.000,6,0.000,0.041,3076,2035,2338
$GC,15086,1.40,177.1,460.9,10.7,1923,15091,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2034,2338
$GC,15424,1.40,177.1,423.7,10.7,1984,15432,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2034,2338
$GC,15767,1.40,177.1,387.2,10.3,2045,15773,0.00,2.58,0.00,0.000,4,0.000,0.055,3076,3436,2338
$GC,15806,1.40,177.1,382.6,11.3,2052,15814,0.00,2.50,0.00,0.000,6,0.000,0.039,3076,2046,2339
$GC,16149,1.40,177.1,345.9,11.0,2113,16155,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2046,2339
$GC,16478,1.40,177.1,309.3,10.2,2174,16486,0.00,2.58,0.00,0.000,4,0.000,0.061,3076,3435,2339
$GC,16510,1.40,177.1,306.0,11.1,2179,16516,0.00,2.45,0.00,0.000,6,0.000,0.038,3076,2049,2339
$GC,16840,1.40,177.1,273.3,10.3,2240,16848,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2046,2339
$GC,17174,1.43,202.7,240.8,8.8,2301,17205,0.00,2.62,23.20,0.797,4,0.000,0.055,3076,3442,2234
$GC,17223,1.43,202.7,235.6,11.2,2309,17229,0.00,2.47,0.00,0.000,6,0.000,0.037,3076,2058,2233
$GC,17552,1.43,202.7,201.0,10.4,2370,17560,0.00,2.67,0.00,0.000,4,0.000,0.058,3076,617,2232
$GC,17573,1.43,202.7,199.1,10.2,2373,17579,0.00,2.60,0.00,0.000,6,0.000,0.038,3076,2078,2231
$GC,17903,1.43,203.5,164.2,10.0,2434,17910,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2080,2232
$GC,18228,1.43,203.5,129.8,10.9,2495,18235,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2080,2231
$GC,18361,1.43,203.5,115.7,11.5,2520,18368,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2080,2231
$GC,18494,1.43,203.5,102.2,11.0,2545,18502,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2080,2231
$GC,18627,1.43,203.5,88.3,10.3,2570,18634,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2080,2231
$GC,18760,1.43,203.5,74.5,11.2,2595,18768,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2081,2231
$GC,18893,1.43,203.5,60.2,10.8,2620,18901,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2081,2231
$GC,19027,1.43,203.5,45.7,11.6,2645,19035,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2080,2231
$GC,19160,1.43,203.5,32.1,11.1,2670,19168,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2080,2231
$GC,19294,1.48,244.4,17.8,8.1,2695,19338,0.12,2.80,35.60,0.667,4,0.064,0.054,3113,622,2064
$GC,19351,1.44,244.4,11.8,13.0,2703,19360,0.00,2.65,0.00,0.000,6,0.000,0.039,3113,2066,2063
$STATE,19417,end climb,SURFACE_DEPTH_REACHED
$STATE,19417,begin surface coast
$FINISH,-0.0,1.027218
$STATE,19439,end surface coast,CONTROL_FINISHED_OK
$STATE,19440,begin surface
$SM_CCo,19517,0.00,0.000,0,0,2058,246.04
$SM_GC,0.73,10.68,0.00,0.00,0.036,0.000,0.000,571,2017,2058,-10.07,-0.37,246.04
$IRIDIUM_FIX,5841.97,-1903.17,030797,151521
$TT8_MAMPS,0.042952
$HUMID,1569
$INTERNAL_PRESSURE,10.059
$TCM_TEMP,13.10
$XPDR_PINGS,685
$24V_AH,23.5,5.724
$10V_AH,10.5,7.495
$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,24.875,145.700,345.500,0.000,0.000,23.603,31.078,290.152,171.250,0.000,0.000,12.521,4173.596,8350.248,568.393,6233.417,633.284,0.000,2660.234,0.000,6274.948,0.000,0.465
$DEVICE_MAMPS,200.954,96.642,1286.259,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1880.430,1985.340,1258.160,1766.990,3456.842,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,199394,2719
$CAP_FILE_SIZE,212038,0
$CFSIZE,260165632,255102976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090408,024601,5901.764,-1855.725,40,1.4,40,-13.4