version: 66.03
glider: 141
mission: 7
dive: 26
start: 4 9 108 14 5 32
data:
$ID,141
$MISSION,7
$DIVE,26
$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,-6647.7412
$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,24
$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
$GPS1,135658,5903.458,-1858.319,38,99.0,57,-13.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-51.3
$GPS2,140514,5903.342,-1858.409,8,1.3,12,-13.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5903.342,-1903.962
$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,283.5,20000,-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,-194.7,0.0,0.0,0,157,0.00,0.00,-129.52,0.000,6,0.000,0.000,567,2024,3856
$GC,159,-1.34,-194.7,3.6,-7.0,18,176,10.95,2.60,0.00,0.000,4,0.191,0.049,2480,3445,3859
$GC,313,-1.29,-194.7,29.5,-14.4,46,321,0.00,2.55,0.00,0.000,6,0.000,0.040,2480,2024,3859
$GC,446,-1.29,-194.7,47.1,-12.0,71,454,0.00,2.60,0.00,0.000,4,0.000,0.056,2480,3434,3859
$GC,482,-1.24,-194.7,52.0,-13.9,77,490,0.10,2.53,0.00,0.000,6,0.104,0.041,2504,2023,3860
$GC,617,-1.24,-194.7,64.9,-8.0,102,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2020,3859
$GC,750,-1.24,-194.7,77.4,-10.7,127,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2017,3860
$GC,883,-1.24,-194.7,92.4,-10.0,152,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2017,3859
$GC,1016,-1.24,-194.7,106.0,-10.2,177,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2017,3859
$GC,1149,-1.24,-194.7,120.4,-11.7,202,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2017,3859
$GC,1283,-1.24,-194.7,133.9,-9.7,227,1291,0.00,2.62,0.00,0.000,4,0.000,0.054,2504,3435,3859
$GC,1318,-1.24,-194.7,137.7,-11.0,233,1326,0.00,2.53,0.00,0.000,6,0.000,0.038,2504,2023,3859
$GC,1451,-1.24,-194.7,152.1,-10.5,258,1459,0.00,2.55,0.00,0.000,4,0.000,0.055,2504,633,3859
$GC,1485,-1.24,-194.7,155.6,-9.9,264,1494,0.00,2.47,0.00,0.000,6,0.000,0.042,2504,2016,3859
$GC,1819,-1.24,-194.7,190.3,-11.1,325,1825,0.00,2.55,0.00,0.000,4,0.000,0.052,2504,3435,3859
$GC,1864,-1.24,-194.7,195.3,-10.8,333,1870,0.00,2.47,0.00,0.000,6,0.000,0.035,2504,2025,3859
$GC,2193,-1.24,-194.7,228.9,-9.4,394,2201,0.00,2.55,0.00,0.000,4,0.000,0.059,2503,626,3859
$GC,2227,-1.24,-194.7,232.4,-10.9,400,2236,0.00,2.47,0.00,0.000,6,0.000,0.041,2504,2019,3859
$GC,2562,-1.24,-194.7,261.1,-9.2,461,2568,0.00,2.55,0.00,0.000,4,0.000,0.051,2504,3435,3859
$GC,2607,-1.24,-194.7,265.4,-9.7,469,2613,0.00,2.50,0.00,0.000,6,0.000,0.035,2504,2012,3859
$GC,2935,-1.24,-194.7,300.4,-11.5,530,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2007,3859
$GC,3269,-1.24,-194.7,333.2,-8.9,591,3275,0.00,2.60,0.00,0.000,4,0.000,0.053,2504,3435,3859
$GC,3304,-1.24,-194.7,336.5,-9.8,597,3310,0.00,2.47,0.00,0.000,6,0.000,0.035,2504,2032,3859
$GC,3638,-1.24,-194.7,368.0,-10.2,658,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2029,3859
$GC,3976,-1.24,-194.7,404.5,-9.9,719,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2028,3859
$GC,4316,-1.24,-194.7,439.7,-10.7,780,4324,0.00,2.62,0.00,0.000,4,0.000,0.064,2504,3428,3859
$GC,4357,-1.24,-194.7,444.1,-10.4,787,4363,0.00,2.47,0.00,0.000,6,0.000,0.038,2504,2037,3859
$GC,4696,-1.24,-194.7,478.1,-10.3,848,4705,0.00,2.65,0.00,0.000,4,0.000,0.057,2504,620,3859
$GC,4729,-1.24,-194.7,481.2,-10.9,853,4735,0.00,2.53,0.00,0.000,6,0.000,0.040,2504,2031,3859
$GC,5069,-1.24,-194.7,514.9,-9.6,914,5075,0.00,2.62,0.00,0.000,4,0.000,0.067,2504,3446,3859
$GC,5102,-1.24,-194.7,518.3,-10.3,920,5110,0.00,2.55,0.00,0.000,6,0.000,0.047,2504,2040,3858
$GC,5447,-1.24,-194.7,550.1,-9.2,981,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2037,3858
$GC,5787,-1.24,-194.7,582.1,-10.1,1042,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2037,3859
$GC,6124,-1.24,-194.7,615.9,-10.1,1089,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2037,3858
$GC,6445,-1.24,-194.7,646.6,-9.5,1119,6450,0.00,2.67,0.00,0.000,4,0.000,0.073,2504,3443,3858
$GC,6477,-1.24,-194.7,650.2,-10.2,1121,6484,0.00,2.58,0.00,0.000,6,0.000,0.048,2504,2043,3858
$GC,6803,-1.24,-194.7,681.2,-9.7,1152,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2043,3859
$GC,7121,-1.24,-194.7,710.7,-9.0,1182,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2043,3858
$GC,7440,-1.24,-194.7,740.4,-9.1,1212,7444,0.00,2.62,0.00,0.000,4,0.000,0.072,2504,3435,3858
$GC,7478,-1.24,-194.7,744.1,-9.9,1215,7482,0.00,2.53,0.00,0.000,6,0.000,0.049,2504,2044,3858
$GC,7802,-1.24,-194.7,773.4,-9.0,1245,7807,0.00,2.75,0.00,0.000,4,0.000,0.090,2504,622,3858
$GC,7841,-1.24,-194.7,777.2,-10.1,1248,7845,0.00,2.60,0.00,0.000,6,0.000,0.051,2504,2057,3857
$GC,8166,-1.24,-194.7,805.4,-8.5,1278,8170,0.00,2.62,0.00,0.000,4,0.000,0.081,2504,3446,3857
$GC,8193,-1.24,-194.7,807.9,-9.4,1280,8197,0.00,2.50,0.00,0.000,6,0.000,0.047,2504,2053,3857
$GC,8519,-1.24,-194.7,835.1,-8.6,1310,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2052,3857
$GC,8836,-1.24,-194.7,863.6,-9.1,1340,8840,0.00,2.72,0.00,0.000,4,0.000,0.081,2503,616,3857
$GC,8874,-1.24,-194.7,867.3,-9.6,1343,8878,0.00,2.60,0.00,0.000,6,0.000,0.050,2504,2057,3857
$GC,9199,-1.24,-194.7,895.7,-8.4,1373,9203,0.00,2.62,0.00,0.000,4,0.000,0.081,2504,3439,3857
$GC,9241,-1.24,-194.7,899.7,-9.4,1376,9248,0.00,2.50,0.00,0.000,6,0.000,0.047,2504,2070,3857
$GC,9567,-1.24,-194.7,928.3,-9.1,1407,9571,0.00,2.75,0.00,0.000,4,0.000,0.081,2504,620,3857
$GC,9616,-1.24,-194.7,933.0,-9.3,1411,9621,0.00,2.62,0.00,0.000,6,0.000,0.050,2504,2070,3857
$GC,9941,-1.24,-194.7,961.9,-8.9,1441,9945,0.00,2.60,0.00,0.000,4,0.000,0.082,2504,3441,3856
$GC,9967,-1.24,-194.7,964.5,-10.2,1443,9972,0.00,2.47,0.00,0.000,6,0.000,0.048,2504,2067,3856
$STATE,10248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10248,begin apogee
$GC,10252,-0.37,0.0,990.3,9.2,1469,10425,0.90,0.00,169.55,1.282,6,0.102,0.000,2694,2016,3062
$STATE,10426,end apogee,CONTROL_FINISHED_OK
$STATE,10426,begin climb
$GC,10427,1.34,194.7,995.1,0.0,1486,10605,1.70,2.75,168.23,1.250,4,0.077,0.065,3066,3434,2267
$GC,10655,1.29,194.7,976.4,11.7,1507,10661,0.00,2.60,0.00,0.000,6,0.000,0.051,3067,2019,2264
$GC,10980,1.23,194.7,942.3,10.5,1538,10984,0.00,2.67,0.00,0.000,4,0.000,0.074,3066,613,2262
$GC,11000,1.17,194.7,939.8,10.9,1539,11008,0.15,2.60,0.00,0.000,6,0.104,0.045,3036,2039,2262
$GC,11325,1.20,219.7,909.7,9.1,1570,11349,0.00,0.00,22.55,1.164,6,0.000,0.000,3036,2040,2166
$GC,11663,1.20,219.7,876.0,10.1,1602,11667,0.00,2.65,0.00,0.000,4,0.000,0.073,3036,3441,2163
$GC,11701,1.20,219.7,871.8,10.8,1605,11705,0.00,2.58,0.00,0.000,6,0.000,0.044,3037,2013,2162
$GC,12024,1.20,219.7,838.8,10.4,1635,12026,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2013,2162
$GC,12343,1.20,219.7,805.6,10.3,1665,12344,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2013,2161
$GC,12664,1.22,237.9,775.9,9.4,1695,12686,0.00,2.78,17.10,1.093,4,0.000,0.062,3036,3436,2092
$GC,12720,1.22,240.3,770.1,9.9,1700,12724,0.00,2.58,0.00,0.000,6,0.000,0.042,3036,2017,2090
$GC,13043,1.22,240.3,738.5,10.2,1730,13047,0.00,2.60,0.00,0.000,4,0.000,0.067,3036,619,2089
$GC,13063,1.23,245.9,736.3,9.8,1731,13081,0.00,2.58,8.85,0.982,6,0.000,0.044,3036,2029,2058
$GC,13398,1.28,283.7,705.4,8.7,1763,13442,0.00,0.00,37.12,1.040,6,0.000,0.000,3036,2029,1905
$GC,13758,1.32,321.5,675.7,8.7,1797,13802,0.12,0.00,36.53,1.013,6,0.063,0.000,3074,2029,1751
$GC,14115,1.32,321.5,633.6,13.0,1831,14116,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2032,1745
$GC,14436,1.32,321.5,596.2,11.0,1864,14444,0.00,2.67,0.00,0.000,4,0.000,0.061,3074,613,1745
$GC,14454,1.32,321.5,593.8,11.9,1867,14461,0.00,2.55,0.00,0.000,6,0.000,0.043,3075,2024,1745
$GC,14793,1.32,321.5,554.0,11.7,1928,14801,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2026,1744
$GC,15135,1.32,321.5,512.9,11.7,1989,15141,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2027,1744
$GC,15474,1.32,321.5,472.6,11.7,2050,15479,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2027,1744
$GC,15813,1.32,321.5,433.4,11.8,2111,15819,0.00,2.58,0.00,0.000,4,0.000,0.057,3075,619,1744
$GC,15840,1.32,321.5,430.1,11.5,2116,15848,0.00,2.53,0.00,0.000,6,0.000,0.040,3075,2018,1744
$GC,16185,1.32,321.5,390.3,11.0,2177,16191,0.00,2.58,0.00,0.000,4,0.000,0.058,3075,3432,1743
$GC,16202,1.32,321.5,388.1,11.5,2180,16210,0.00,2.58,0.00,0.000,6,0.000,0.039,3074,2004,1743
$GC,16545,1.32,321.5,348.9,11.3,2241,16550,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2003,1743
$GC,16872,1.32,321.5,308.5,11.0,2302,16880,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2002,1743
$GC,17206,1.32,321.5,269.1,11.0,2363,17211,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2001,1743
$GC,17533,1.32,321.5,229.6,13.6,2424,17540,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2001,1743
$GC,17866,1.32,321.5,190.4,13.0,2485,17871,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2001,1744
$GC,18193,1.32,321.5,153.8,12.5,2546,18200,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2001,1743
$GC,18513,1.32,321.5,116.0,12.3,2607,18521,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2000,1743
$GC,18647,1.32,321.5,100.4,12.4,2632,18655,0.00,2.60,0.00,0.000,4,0.000,0.063,3075,616,1744
$GC,18667,1.32,321.5,97.9,11.0,2635,18675,0.00,2.50,0.00,0.000,6,0.000,0.041,3074,2002,1744
$GC,18801,1.32,321.5,82.2,11.4,2660,18810,0.00,2.62,0.00,0.000,4,0.000,0.057,3074,3435,1743
$GC,18822,1.32,321.5,79.7,12.4,2663,18829,0.00,2.58,0.00,0.000,6,0.000,0.038,3074,1998,1743
$GC,18955,1.32,321.5,63.4,11.3,2688,18963,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1995,1744
$GC,19088,1.32,321.5,47.7,10.4,2713,19096,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1996,1744
$GC,19221,1.32,321.5,31.8,10.5,2738,19229,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1996,1744
$GC,19355,1.32,321.5,18.0,10.5,2763,19362,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1996,1744
$STATE,19487,end climb,SURFACE_DEPTH_REACHED
$STATE,19487,begin surface coast
$FINISH,0.4,1.027153
$STATE,19515,end surface coast,CONTROL_FINISHED_OK
$STATE,19515,begin surface
$SM_CCo,19593,0.00,0.000,0,0,1742,323.80
$SM_GC,0.52,10.52,0.00,0.00,0.039,0.000,0.000,571,2048,1742,-10.07,0.51,323.80
$IRIDIUM_FIX,5837.82,-1856.50,040797,080853
$TT8_MAMPS,0.042185
$HUMID,1588
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,13.40
$XPDR_PINGS,709
$24V_AH,23.5,6.356
$10V_AH,10.6,8.469
$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,24.450,150.175,459.925,0.000,0.000,29.604,33.255,305.085,177.250,0.000,0.000,14.880,4275.094,8026.843,685.086,6411.616,658.400,0.000,2845.042,0.000,6444.562,0.000,0.465
$DEVICE_MAMPS,190.983,93.574,1282.424,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1928.549,2021.602,1255.098,1795.896,3513.259,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,208242,2793
$CAP_FILE_SIZE,219940,0
$CFSIZE,260165632,254726144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,090408,193327,5901.103,-1908.096,29,99.0,48,-13.5