version: 66.03
glider: 141
mission: 7
dive: 30
start: 4 10 108 12 8 52
data:
$ID,141
$MISSION,7
$DIVE,30
$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,225
$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,-6758.3398
$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,26
$R_STBD_OVSHOOT,25
$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
$GPS1,115917,5847.244,-1945.387,30,1.2,39,-13.8
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-48.5
$GPS2,120835,5847.098,-1945.653,10,2.3,29,-13.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5839.461,-1949.625
$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,238.8,20000,-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,-194.7,0.0,0.0,0,128,0.00,0.00,-101.12,0.000,2,0.000,0.000,569,2018,3825
$GC,130,-1.34,-194.7,3.0,-5.1,14,148,11.07,2.65,-0.65,0.000,4,0.196,0.058,2480,3435,3858
$GC,367,-1.29,-194.7,43.9,-13.8,58,375,0.00,2.53,0.00,0.000,6,0.000,0.041,2480,2024,3859
$GC,501,-1.29,-194.7,59.9,-9.8,83,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2021,3859
$GC,635,-1.25,-194.7,71.6,-13.1,108,642,0.12,0.00,0.00,0.000,6,0.122,0.000,2503,2017,3859
$GC,768,-1.25,-194.7,90.4,-14.9,133,776,0.00,2.62,0.00,0.000,4,0.000,0.053,2503,3434,3859
$GC,783,-1.25,-194.7,92.3,-12.1,135,791,0.00,2.53,0.00,0.000,6,0.000,0.035,2503,2022,3859
$GC,917,-1.25,-194.7,106.3,-10.0,160,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2018,3859
$GC,1051,-1.25,-194.7,121.0,-12.4,185,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2017,3859
$GC,1185,-1.25,-194.7,135.9,-9.3,210,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2017,3859
$GC,1318,-1.25,-194.7,149.0,-9.0,235,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2017,3859
$GC,1456,-1.25,-194.7,161.5,-9.5,260,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2017,3859
$GC,1788,-1.25,-194.7,190.0,-7.8,321,1794,0.00,2.60,0.00,0.000,4,0.000,0.052,2503,3436,3859
$GC,1805,-1.25,-194.7,191.5,-7.9,324,1813,0.00,2.55,0.00,0.000,6,0.000,0.037,2503,2011,3859
$GC,2138,-1.25,-194.7,227.2,-12.1,385,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2003,3859
$GC,2466,-1.25,-194.7,260.9,-9.0,446,2473,0.00,2.62,0.00,0.000,4,0.000,0.053,2503,3426,3859
$GC,2507,-1.25,-194.7,265.0,-10.5,453,2513,0.00,2.47,0.00,0.000,6,0.000,0.035,2503,2023,3859
$GC,2838,-1.25,-194.7,297.7,-10.6,514,2846,0.00,2.60,0.00,0.000,4,0.000,0.059,2503,3426,3859
$GC,2863,-1.25,-194.7,300.5,-11.5,518,2871,0.00,2.50,0.00,0.000,6,0.000,0.042,2503,2028,3859
$GC,3196,-1.25,-194.7,336.8,-10.9,579,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2023,3859
$GC,3532,-1.25,-194.7,373.0,-10.1,640,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2023,3859
$GC,3877,-1.25,-194.7,408.5,-10.4,701,3883,0.00,2.60,0.00,0.000,4,0.000,0.058,2503,3434,3859
$GC,3901,-1.25,-194.7,411.2,-10.7,705,3907,0.00,2.50,0.00,0.000,6,0.000,0.037,2503,2022,3859
$GC,4241,-1.25,-194.7,447.0,-10.1,766,4247,0.00,2.62,0.00,0.000,4,0.000,0.065,2503,3439,3859
$GC,4260,-1.25,-194.7,448.8,-10.7,769,4266,0.00,2.50,0.00,0.000,6,0.000,0.038,2503,2031,3859
$GC,4601,-1.25,-194.7,484.9,-10.8,830,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2030,3859
$GC,4940,-1.25,-194.7,519.0,-9.5,891,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2029,3859
$GC,5281,-1.25,-194.7,552.7,-9.4,952,5289,0.00,2.65,0.00,0.000,4,0.000,0.067,2503,627,3859
$GC,5300,-1.25,-194.7,554.7,-9.7,955,5306,0.00,2.50,0.00,0.000,6,0.000,0.043,2503,2020,3859
$GC,5640,-1.25,-194.7,588.7,-9.9,1016,5649,0.00,2.70,0.00,0.000,4,0.000,0.080,2503,3441,3859
$GC,5659,-1.25,-194.7,590.7,-10.2,1019,5666,0.00,2.53,0.00,0.000,6,0.000,0.042,2503,2032,3859
$GC,5987,-1.25,-194.7,623.9,-10.3,1058,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2031,3859
$GC,6307,-1.25,-194.7,655.5,-9.9,1088,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2031,3858
$GC,6625,-1.25,-194.7,685.8,-9.1,1118,6630,0.00,2.70,0.00,0.000,4,0.000,0.080,2503,3438,3859
$GC,6641,-1.25,-194.7,687.3,-9.3,1119,6645,0.00,2.58,0.00,0.000,6,0.000,0.053,2503,2035,3858
$GC,6966,-1.25,-194.7,715.3,-8.5,1149,6970,0.00,2.67,0.00,0.000,4,0.000,0.079,2503,3435,3859
$GC,6986,-1.25,-194.7,717.3,-9.0,1150,6993,0.00,2.55,0.00,0.000,6,0.000,0.049,2503,2041,3858
$GC,7312,-1.25,-194.7,745.3,-8.6,1181,7317,0.00,2.75,0.00,0.000,4,0.000,0.090,2503,620,3859
$GC,7345,-1.25,-194.7,748.7,-9.9,1183,7351,0.00,2.55,0.00,0.000,6,0.000,0.051,2503,2028,3858
$GC,7672,-1.25,-194.7,778.2,-9.1,1214,7673,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2028,3858
$GC,7989,-1.25,-194.7,808.6,-9.6,1244,7993,0.00,2.62,0.00,0.000,4,0.000,0.068,2503,621,3858
$GC,8015,-1.25,-194.7,811.2,-10.5,1246,8019,0.00,2.55,0.00,0.000,6,0.000,0.050,2503,2030,3858
$GC,8340,-1.25,-194.7,841.7,-9.4,1276,8341,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2030,3858
$GC,8658,-1.25,-194.7,871.3,-8.9,1306,8663,0.00,2.67,0.00,0.000,4,0.000,0.083,2503,3438,3857
$GC,8679,-1.25,-194.7,873.3,-9.3,1307,8686,0.00,2.60,0.00,0.000,6,0.000,0.048,2503,2017,3857
$GC,9007,-1.25,-194.7,902.6,-8.8,1338,9011,0.00,2.67,0.00,0.000,4,0.000,0.071,2503,3441,3857
$GC,9027,-1.25,-194.7,904.8,-9.4,1339,9034,0.00,2.60,0.00,0.000,6,0.000,0.048,2503,2017,3858
$GC,9353,-1.25,-194.7,932.7,-8.4,1370,9354,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2016,3858
$GC,9671,-1.25,-194.7,959.2,-8.5,1400,9672,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2016,3857
$GC,9990,-1.25,-194.7,987.1,-8.8,1430,9991,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2016,3857
$STATE,10019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10019,begin apogee
$GC,10022,-0.37,0.0,990.0,8.9,1433,10196,0.90,0.00,169.18,1.279,6,0.097,0.000,2695,2015,3062
$STATE,10197,end apogee,CONTROL_FINISHED_OK
$STATE,10197,begin climb
$GC,10198,1.34,194.7,994.7,0.0,1450,10375,1.67,0.00,169.02,1.247,6,0.077,0.000,3068,2015,2267
$GC,10693,1.28,194.7,949.8,10.1,1498,10697,0.00,2.70,0.00,0.000,4,0.000,0.064,3068,3436,2261
$GC,10724,1.23,194.7,946.2,11.2,1500,10731,0.00,2.60,0.00,0.000,6,0.000,0.044,3068,2016,2261
$GC,11051,1.18,194.7,913.2,10.5,1531,11053,0.15,0.00,0.00,0.000,6,0.102,0.000,3038,2014,2260
$GC,11368,1.19,209.9,883.9,9.5,1561,11388,0.00,0.00,13.62,1.113,6,0.000,0.000,3039,2014,2206
$GC,11706,1.21,224.5,851.8,9.5,1593,11728,0.00,2.75,14.55,1.108,4,0.000,0.063,3039,3440,2145
$GC,11754,1.21,224.5,846.8,10.2,1597,11761,0.00,2.62,0.00,0.000,6,0.000,0.043,3039,2023,2144
$GC,12079,1.21,224.5,814.6,10.4,1628,12084,0.00,2.65,0.00,0.000,4,0.000,0.071,3038,617,2143
$GC,12111,1.22,226.6,811.1,9.9,1630,12118,0.00,2.60,0.00,0.000,6,0.000,0.044,3038,2033,2142
$GC,12438,1.22,226.6,777.7,10.5,1661,12439,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2033,2142
$GC,12755,1.22,226.6,744.5,10.0,1691,12759,0.00,2.67,0.00,0.000,4,0.000,0.062,3039,609,2142
$GC,12786,1.22,227.6,741.2,10.0,1693,12796,0.00,2.62,4.07,0.727,6,0.000,0.044,3038,2038,2132
$GC,13122,1.24,249.7,708.7,9.2,1725,13145,0.00,0.00,21.25,1.069,6,0.000,0.000,3038,2039,2044
$GC,13460,1.29,287.7,677.8,8.7,1757,13502,0.10,0.00,35.45,1.063,6,0.067,0.000,3072,2042,1888
$GC,13819,1.29,287.7,637.5,12.0,1791,13823,0.00,2.70,0.00,0.000,4,0.000,0.061,3072,610,1884
$GC,13857,1.29,287.7,632.8,12.6,1794,13861,0.00,2.58,0.00,0.000,6,0.000,0.044,3071,2034,1884
$GC,14182,1.29,287.7,593.4,12.4,1828,14190,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2036,1883
$GC,14525,1.29,287.7,551.6,12.4,1889,14531,0.00,2.67,0.00,0.000,4,0.000,0.061,3072,608,1883
$GC,14550,1.29,287.7,548.5,12.8,1893,14556,0.00,2.58,0.00,0.000,6,0.000,0.049,3072,2029,1883
$GC,14889,1.29,287.7,508.5,12.4,1954,14895,0.00,2.60,0.00,0.000,4,0.000,0.065,3072,3435,1882
$GC,14911,1.29,287.7,505.7,12.5,1958,14917,0.00,2.55,0.00,0.000,6,0.000,0.041,3072,2015,1882
$GC,15250,1.29,287.7,464.6,11.6,2019,15256,0.00,2.58,0.00,0.000,4,0.000,0.061,3072,618,1882
$GC,15285,1.29,287.7,460.4,12.7,2025,15292,0.00,2.50,0.00,0.000,6,0.000,0.041,3072,2022,1882
$GC,15624,1.29,287.7,420.2,10.9,2086,15629,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2024,1882
$GC,15963,1.29,287.7,381.2,10.8,2147,15969,0.00,2.60,0.00,0.000,4,0.000,0.056,3072,617,1883
$GC,16001,1.29,287.7,376.8,11.1,2154,16008,0.00,2.50,0.00,0.000,6,0.000,0.038,3072,2022,1883
$GC,16340,1.29,287.7,341.1,10.2,2215,16345,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2025,1882
$GC,16669,1.30,291.8,304.7,9.9,2276,16677,0.00,0.00,4.25,0.594,6,0.000,0.000,3072,2025,1872
$GC,17003,1.30,298.5,268.8,9.8,2337,17017,0.00,2.62,7.88,0.724,4,0.000,0.054,3072,610,1844
$GC,17035,1.30,298.5,265.1,10.7,2342,17043,0.00,2.55,0.00,0.000,6,0.000,0.041,3072,2019,1844
$GC,17368,1.30,298.5,231.1,10.4,2403,17374,0.00,2.58,0.00,0.000,4,0.000,0.055,3072,3435,1843
$GC,17402,1.30,298.5,227.5,11.3,2409,17408,0.00,2.55,0.00,0.000,6,0.000,0.037,3072,1996,1843
$GC,17733,1.31,303.6,193.4,9.8,2470,17747,0.00,2.58,5.97,0.644,4,0.000,0.055,3072,619,1824
$GC,17767,1.31,303.6,189.2,13.1,2476,17776,0.00,2.53,0.00,0.000,6,0.000,0.040,3072,2014,1824
$GC,18103,1.31,305.3,152.5,9.9,2537,18108,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2016,1823
$GC,18422,1.31,305.3,117.0,10.9,2598,18430,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2016,1823
$GC,18556,1.34,324.4,103.0,9.3,2623,18579,0.00,0.00,19.08,0.705,6,0.000,0.000,3072,2016,1738
$GC,18704,1.34,324.4,86.9,10.5,2650,18712,0.00,2.62,0.00,0.000,4,0.000,0.060,3072,624,1736
$GC,18734,1.34,324.4,83.2,13.2,2655,18742,0.00,2.50,0.00,0.000,6,0.000,0.044,3072,2003,1736
$GC,18868,1.34,324.4,66.6,11.7,2680,18876,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2006,1735
$GC,19002,1.34,324.4,52.3,10.5,2705,19009,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2007,1735
$GC,19135,1.34,324.4,36.5,11.7,2730,19143,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2006,1735
$GC,19269,1.34,324.4,20.6,10.3,2755,19276,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2008,1735
$GC,19402,1.34,324.4,3.3,17.2,2780,19410,0.00,2.58,0.00,0.000,4,0.000,0.054,3072,622,1735
$STATE,19416,end climb,SURFACE_DEPTH_REACHED
$STATE,19416,begin surface coast
$FINISH,1.0,1.027149
$STATE,19422,end surface coast,CONTROL_FINISHED_OK
$STATE,19423,begin surface
$SM_CCo,19502,0.00,0.000,0,0,1733,326.00
$SM_GC,0.63,10.35,0.00,0.00,0.031,0.000,0.000,571,2042,1733,-10.06,0.34,326.00
$IRIDIUM_FIX,5829.55,-1934.47,050797,060657
$TT8_MAMPS,0.042185
$HUMID,1573
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,13.30
$XPDR_PINGS,741
$24V_AH,23.5,7.189
$10V_AH,10.5,9.748
$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,24.375,150.550,464.325,0.000,0.000,30.395,32.512,351.673,185.250,0.000,0.000,31.715,4263.772,8016.712,699.487,6324.250,726.125,0.000,2794.463,0.000,6352.720,0.000,0.465
$DEVICE_MAMPS,196.352,89.739,1279.356,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1920.005,2028.671,1246.040,1778.144,3479.536,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,205649,2783
$CAP_FILE_SIZE,219586,0
$CFSIZE,260165632,254238720
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100408,173525,5843.362,-1958.642,58,1.2,58,-13.8