version: 66.03
glider: 141
mission: 7
dive: 25
start: 4 9 108 8 27 54
data:
$ID,141
$MISSION,7
$DIVE,25
$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,270
$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,-6632.231
$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,23
$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
$GPS1,081809,5904.086,-1851.097,34,1.7,34,-13.4
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,2
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-50.5
$GPS2,082737,5904.045,-1850.999,11,1.7,27,-13.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5904.045,-1856.550
$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,283.4,20000,-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,-194.7,0.0,0.0,0,129,0.00,0.00,-101.97,0.000,2,0.000,0.000,565,2028,3844
$GC,131,-1.34,-194.7,3.6,-7.9,14,149,11.02,2.65,-0.17,0.000,4,0.194,0.061,2480,3445,3855
$GC,218,-1.29,-194.7,23.3,-18.0,29,225,0.00,2.55,0.00,0.000,6,0.000,0.043,2479,2023,3856
$GC,351,-1.29,-194.7,42.3,-12.6,54,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2021,3856
$GC,484,-1.29,-194.7,58.1,-10.7,79,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2018,3856
$GC,617,-1.29,-194.7,73.7,-11.9,104,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2018,3856
$GC,750,-1.29,-194.7,88.7,-11.1,129,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2017,3856
$GC,883,-1.29,-194.7,103.6,-11.1,154,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2017,3856
$GC,1016,-1.29,-194.7,118.3,-10.8,179,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2017,3856
$GC,1149,-1.29,-194.7,132.5,-11.3,204,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2017,3856
$GC,1282,-1.29,-194.7,147.6,-12.4,229,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2017,3856
$GC,1417,-1.29,-194.7,163.8,-11.3,254,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2017,3856
$GC,1749,-1.29,-194.7,201.4,-10.6,315,1755,0.00,2.60,0.00,0.000,4,0.000,0.051,2480,3437,3856
$GC,1778,-1.24,-194.7,204.6,-11.6,320,1785,0.10,2.47,0.00,0.000,6,0.107,0.038,2503,2058,3856
$GC,2111,-1.24,-194.7,235.4,-9.2,381,2117,0.00,2.60,0.00,0.000,4,0.000,0.053,2504,629,3856
$GC,2156,-1.24,-194.7,239.7,-9.4,389,2162,0.00,2.55,0.00,0.000,6,0.000,0.037,2504,2067,3856
$GC,2484,-1.24,-194.7,271.9,-10.8,450,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2069,3856
$GC,2816,-1.24,-194.7,306.2,-10.1,511,2822,0.00,2.65,0.00,0.000,4,0.000,0.051,2503,624,3856
$GC,2854,-1.24,-194.7,310.4,-10.6,518,2862,0.00,2.58,0.00,0.000,6,0.000,0.038,2503,2050,3856
$GC,3188,-1.24,-194.7,342.7,-9.6,579,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2053,3856
$GC,3524,-1.24,-194.7,376.6,-10.3,640,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2053,3856
$GC,3869,-1.24,-194.7,409.6,-9.5,701,3875,0.00,2.62,0.00,0.000,4,0.000,0.052,2503,627,3856
$GC,3915,-1.24,-194.7,414.4,-10.6,709,3921,0.00,2.55,0.00,0.000,6,0.000,0.040,2503,2047,3856
$GC,4253,-1.24,-194.7,449.3,-10.6,770,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2049,3856
$GC,4593,-1.24,-194.7,484.2,-9.6,831,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2050,3856
$GC,4933,-1.24,-194.7,517.3,-9.8,892,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2050,3856
$GC,5278,-1.24,-194.7,550.1,-9.3,953,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2050,3856
$GC,5619,-1.24,-194.7,583.1,-9.6,1014,5625,0.00,2.67,0.00,0.000,4,0.000,0.067,2503,633,3856
$GC,5674,-1.24,-194.7,588.5,-9.5,1024,5682,0.00,2.58,0.00,0.000,6,0.000,0.051,2503,2034,3856
$GC,6012,-1.24,-194.7,620.6,-9.4,1066,6017,0.00,2.65,0.00,0.000,4,0.000,0.074,2503,3444,3856
$GC,6044,-1.24,-194.7,623.9,-10.1,1068,6051,0.00,2.53,0.00,0.000,6,0.000,0.044,2504,2059,3856
$GC,6372,-1.24,-194.7,654.7,-9.7,1099,6376,0.00,2.80,0.00,0.000,4,0.000,0.088,2503,616,3855
$GC,6403,-1.24,-194.7,658.2,-10.5,1101,6410,0.00,2.60,0.00,0.000,6,0.000,0.051,2503,2043,3856
$GC,6729,-1.24,-194.7,688.6,-9.3,1132,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2043,3856
$GC,7046,-1.24,-194.7,718.6,-10.2,1162,7051,0.00,2.72,0.00,0.000,4,0.000,0.094,2503,3446,3855
$GC,7096,-1.24,-194.7,723.9,-10.4,1166,7101,0.00,2.55,0.00,0.000,6,0.000,0.048,2503,2031,3856
$GC,7420,-1.24,-194.7,756.5,-10.4,1196,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2030,3856
$GC,7740,-1.24,-194.7,787.9,-9.6,1226,7744,0.00,2.65,0.00,0.000,4,0.000,0.069,2503,3444,3856
$GC,7766,-1.24,-194.7,790.6,-10.4,1228,7770,0.00,2.53,0.00,0.000,6,0.000,0.046,2503,2040,3856
$GC,8093,-1.24,-194.7,820.8,-9.3,1258,8097,0.00,2.72,0.00,0.000,4,0.000,0.084,2503,622,3855
$GC,8119,-1.24,-194.7,823.7,-10.1,1260,8124,0.00,2.58,0.00,0.000,6,0.000,0.050,2504,2043,3855
$GC,8450,-1.24,-194.7,854.5,-9.3,1291,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2045,3855
$GC,8768,-1.24,-194.7,883.9,-8.8,1321,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2045,3855
$GC,9087,-1.24,-194.7,912.1,-9.0,1351,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2045,3855
$GC,9405,-1.24,-194.7,941.0,-8.9,1381,9410,0.00,2.65,0.00,0.000,4,0.000,0.081,2503,3439,3855
$GC,9438,-1.24,-194.7,944.3,-9.9,1383,9444,0.00,2.58,0.00,0.000,6,0.000,0.048,2503,2028,3855
$GC,9765,-1.24,-194.7,972.8,-8.6,1414,9769,0.00,2.65,0.00,0.000,4,0.000,0.071,2503,3439,3854
$GC,9798,-1.24,-194.7,976.0,-9.6,1416,9804,0.00,2.53,0.00,0.000,6,0.000,0.048,2504,2040,3854
$STATE,9971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9971,begin apogee
$GC,9975,-0.37,0.0,990.5,8.0,1433,10148,0.90,0.00,168.73,1.282,6,0.100,0.000,2694,2039,3062
$STATE,10148,end apogee,CONTROL_FINISHED_OK
$STATE,10148,begin climb
$GC,10150,1.34,194.7,993.9,0.0,1450,10328,1.70,2.70,168.60,1.250,4,0.078,0.065,3065,3436,2268
$GC,10351,1.29,194.7,977.9,10.9,1469,10355,0.00,2.60,0.00,0.000,6,0.000,0.045,3065,2020,2264
$GC,10675,1.24,194.7,942.6,11.0,1499,10676,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2020,2261
$GC,10994,1.19,194.7,908.3,10.8,1529,10999,0.12,2.70,0.00,0.000,4,0.107,0.062,3041,3445,2261
$GC,11021,1.19,194.7,905.3,10.5,1531,11025,0.00,2.58,0.00,0.000,6,0.000,0.044,3041,2029,2260
$GC,11345,1.19,197.9,874.5,9.9,1561,11346,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2029,2260
$GC,11664,1.21,215.6,843.2,9.4,1591,11694,0.00,0.00,20.62,1.046,6,0.000,0.000,3041,2029,2182
$GC,12012,1.25,244.1,810.0,9.0,1624,12044,0.00,0.00,27.30,1.135,6,0.000,0.000,3041,2029,2066
$GC,12361,1.27,260.0,776.7,9.4,1657,12382,0.00,0.00,15.32,1.073,6,0.000,0.000,3041,2029,2000
$GC,12699,1.27,260.0,743.1,10.1,1689,12703,0.00,2.65,0.00,0.000,4,0.000,0.061,3041,3437,1998
$GC,12727,1.27,260.0,740.2,10.4,1691,12731,0.00,2.55,0.00,0.000,6,0.000,0.043,3041,2031,1997
$GC,13050,1.27,260.0,707.4,10.1,1721,13055,0.00,2.67,0.00,0.000,4,0.000,0.068,3041,613,1997
$GC,13088,1.27,260.0,703.3,11.1,1724,13093,0.00,2.60,0.00,0.000,6,0.000,0.044,3041,2046,1997
$GC,13412,1.27,260.0,670.1,10.3,1754,13416,0.00,2.60,0.00,0.000,4,0.000,0.068,3041,3438,1997
$GC,13434,1.27,260.0,667.7,10.7,1756,13438,0.00,2.55,0.00,0.000,6,0.000,0.042,3041,2023,1996
$GC,13758,1.27,264.9,635.3,9.8,1786,13770,0.00,2.65,5.35,0.806,4,0.000,0.066,3041,614,1981
$GC,13785,1.27,264.9,632.4,10.5,1788,13792,0.00,2.60,0.00,0.000,6,0.000,0.043,3041,2035,1980
$GC,14110,1.27,264.9,599.5,10.6,1819,14115,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2035,1979
$GC,14448,1.27,264.9,563.7,10.9,1880,14456,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2037,1980
$GC,14792,1.35,330.5,531.1,7.7,1941,14861,0.15,0.00,59.50,0.986,6,0.058,0.000,3090,2038,1713
$GC,15197,1.35,330.5,482.5,11.9,2013,15204,0.00,2.60,0.00,0.000,4,0.000,0.058,3091,624,1707
$GC,15223,1.31,330.5,479.3,13.0,2017,15230,0.12,2.58,0.00,0.000,6,0.102,0.041,3065,2054,1707
$GC,15563,1.31,330.5,442.5,11.0,2078,15568,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2056,1706
$GC,15903,1.31,330.5,404.8,11.2,2139,15909,0.00,2.65,0.00,0.000,4,0.000,0.056,3065,617,1706
$GC,15941,1.31,330.5,400.3,11.6,2146,15948,0.00,2.53,0.00,0.000,6,0.000,0.040,3065,2037,1706
$GC,16280,1.31,330.5,363.2,10.1,2207,16286,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2039,1705
$GC,16612,1.31,331.0,327.4,10.0,2268,16620,0.00,2.67,0.00,0.000,4,0.000,0.057,3065,613,1705
$GC,16644,1.31,331.0,324.2,11.5,2273,16650,0.00,2.55,0.00,0.000,6,0.000,0.038,3065,2034,1705
$GC,16974,1.31,331.0,289.2,10.0,2334,16981,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2037,1705
$GC,17307,1.31,331.0,252.7,10.8,2395,17313,0.00,2.62,0.00,0.000,4,0.000,0.054,3065,614,1705
$GC,17332,1.31,331.0,249.8,12.7,2399,17338,0.00,2.53,0.00,0.000,6,0.000,0.038,3065,2029,1705
$GC,17661,1.31,331.0,212.9,12.4,2460,17668,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2032,1705
$GC,17994,1.31,331.0,177.7,11.8,2521,18000,0.00,2.58,0.00,0.000,4,0.000,0.054,3065,617,1705
$GC,18018,1.31,331.0,175.2,10.2,2525,18024,0.00,2.50,0.00,0.000,6,0.000,0.037,3065,2022,1705
$GC,18348,1.31,331.0,141.9,10.7,2586,18356,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2025,1705
$GC,18481,1.31,331.0,127.5,10.6,2611,18489,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2025,1705
$GC,18615,1.31,331.0,112.7,10.9,2636,18623,0.00,2.62,0.00,0.000,4,0.000,0.056,3065,617,1705
$GC,18635,1.31,331.0,110.2,11.1,2639,18643,0.00,2.50,0.00,0.000,6,0.000,0.040,3065,2006,1706
$GC,18769,1.31,331.0,93.8,12.3,2664,18777,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2008,1705
$GC,18903,1.32,334.7,78.9,9.9,2689,18910,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2008,1705
$GC,19036,1.32,334.7,64.2,12.0,2714,19044,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2008,1705
$GC,19169,1.32,334.7,48.2,11.4,2739,19177,0.00,2.60,0.00,0.000,4,0.000,0.058,3065,3431,1705
$GC,19195,1.32,334.7,45.3,10.9,2743,19204,0.00,2.55,3.55,0.448,6,0.000,0.042,3065,2006,1697
$GC,19331,1.42,421.7,30.6,7.0,2768,19413,0.10,2.65,75.57,0.669,4,0.067,0.057,3096,618,1343
$GC,19435,1.42,421.7,19.3,12.1,2783,19443,0.00,2.55,0.00,0.000,6,0.000,0.043,3096,2018,1340
$STATE,19552,end climb,SURFACE_DEPTH_REACHED
$STATE,19552,begin surface coast
$FINISH,0.0,1.027179
$STATE,19576,end surface coast,CONTROL_FINISHED_OK
$STATE,19576,begin surface
$SM_CCo,19653,0.00,0.000,0,0,1335,423.63
$SM_GC,0.52,10.57,0.00,0.00,0.034,0.000,0.000,567,2023,1335,-10.06,-0.20,423.63
$IRIDIUM_FIX,5841.97,-1952.19,040797,030304
$TT8_MAMPS,0.042185
$HUMID,1591
$INTERNAL_PRESSURE,10.0004
$TCM_TEMP,12.70
$XPDR_PINGS,709
$24V_AH,23.5,6.156
$10V_AH,10.5,8.141
$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,24.800,140.525,544.550,0.000,0.000,30.435,30.743,368.524,177.250,0.000,0.000,28.695,4275.653,8056.255,707.568,6411.506,740.703,0.000,2889.231,0.000,6444.282,0.000,0.465
$DEVICE_MAMPS,194.051,93.574,1282.424,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1941.455,2039.524,1246.591,1783.729,3489.565,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,208674,2809
$CAP_FILE_SIZE,220319,0
$CFSIZE,260165632,254849024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,090408,135658,5903.458,-1858.319,38,99.0,57,-13.5