version: 66.03
glider: 141
mission: 7
dive: 31
start: 4 10 108 17 47 21
data:
$ID,141
$MISSION,7
$DIVE,31
$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,-6774.2983
$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,24
$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
$GPS1,173525,5843.362,-1958.642,58,1.2,58,-13.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-41.5
$GPS2,174703,5843.255,-1958.887,13,1.6,13,-13.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5835.619,-2002.866
$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,-194.7,0.0,0.0,0,129,0.00,0.00,-101.78,0.000,2,0.000,0.000,570,2047,3776
$GC,131,-1.34,-194.7,3.6,-7.4,14,155,11.00,2.58,-1.73,0.000,4,0.193,0.058,2478,3440,3859
$GC,214,-1.28,-194.7,20.8,-14.1,28,222,0.08,2.55,0.00,0.000,6,0.103,0.038,2497,2026,3859
$GC,349,-1.28,-194.7,30.1,-6.9,53,356,0.00,2.58,0.00,0.000,4,0.000,0.054,2497,628,3860
$GC,440,-1.28,-194.7,38.7,-11.5,70,448,0.00,2.45,0.00,0.000,6,0.000,0.044,2497,1980,3860
$GC,575,-1.28,-194.7,55.9,-11.6,95,582,0.00,2.50,0.00,0.000,4,0.000,0.056,2497,628,3860
$GC,589,-1.28,-194.7,57.7,-12.1,97,597,0.00,2.42,0.00,0.000,6,0.000,0.038,2496,1975,3860
$GC,723,-1.28,-194.7,74.1,-12.4,122,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1977,3860
$GC,857,-1.28,-194.7,91.1,-12.8,147,865,0.00,2.67,0.00,0.000,4,0.000,0.054,2497,3435,3860
$GC,888,-1.28,-194.7,94.9,-12.7,152,895,0.00,2.62,0.00,0.000,6,0.000,0.041,2497,1971,3860
$GC,1022,-1.28,-194.7,108.5,-8.9,177,1029,0.00,2.70,0.00,0.000,4,0.000,0.058,2496,3428,3860
$GC,1037,-1.28,-194.7,110.0,-8.7,179,1044,0.00,2.60,0.00,0.000,6,0.000,0.035,2497,1976,3860
$GC,1171,-1.28,-194.7,123.0,-8.4,204,1179,0.00,2.70,0.00,0.000,4,0.000,0.054,2497,3428,3860
$GC,1197,-1.28,-194.7,125.3,-9.0,208,1205,0.00,2.55,0.00,0.000,6,0.000,0.035,2496,2002,3860
$GC,1332,-1.28,-194.7,136.5,-8.5,233,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1999,3860
$GC,1465,-1.28,-194.7,143.1,-4.0,258,1473,0.00,2.65,0.00,0.000,4,0.000,0.051,2497,3439,3860
$GC,1507,-1.28,-194.7,144.4,-3.2,265,1515,0.00,2.53,0.00,0.000,6,0.000,0.036,2497,2024,3860
$GC,1640,-1.28,-194.7,151.6,-7.3,290,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2019,3860
$GC,1974,-1.28,-194.7,190.2,-12.0,351,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2017,3860
$GC,2302,-1.28,-194.7,225.7,-11.0,412,2310,0.00,2.62,0.00,0.000,4,0.000,0.056,2497,3434,3860
$GC,2333,-1.28,-194.7,229.0,-11.4,417,2339,0.00,2.47,0.00,0.000,6,0.000,0.035,2497,2032,3860
$GC,2662,-1.28,-194.7,263.2,-10.5,478,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2028,3860
$GC,2994,-1.28,-194.7,296.4,-10.4,539,3000,0.00,2.58,0.00,0.000,4,0.000,0.051,2497,3435,3860
$GC,3009,-1.28,-194.7,297.6,-9.4,541,3015,0.00,2.47,0.00,0.000,6,0.000,0.035,2497,2032,3860
$GC,3338,-1.28,-194.7,329.3,-9.0,602,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2028,3860
$GC,3672,-1.28,-194.7,362.2,-9.7,663,3678,0.00,2.58,0.00,0.000,4,0.000,0.054,2497,3434,3860
$GC,3710,-1.28,-194.7,366.3,-11.0,670,3716,0.00,2.45,0.00,0.000,6,0.000,0.035,2497,2042,3860
$GC,4049,-1.28,-194.7,400.7,-11.0,731,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2040,3860
$GC,4390,-1.28,-194.7,437.2,-10.6,792,4397,0.00,2.60,0.00,0.000,4,0.000,0.061,2497,3427,3860
$GC,4408,-1.28,-194.7,439.2,-10.6,795,4414,0.00,2.45,0.00,0.000,6,0.000,0.037,2497,2044,3860
$GC,4748,-1.28,-194.7,473.7,-10.4,856,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2043,3860
$GC,5093,-1.28,-194.7,509.3,-9.2,917,5099,0.00,2.60,0.00,0.000,4,0.000,0.060,2497,628,3860
$GC,5140,-1.28,-194.7,514.1,-10.3,925,5146,0.00,2.50,0.00,0.000,6,0.000,0.041,2497,2032,3860
$GC,5480,-1.28,-194.7,547.3,-9.9,986,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2035,3859
$GC,5820,-1.28,-194.7,581.5,-10.3,1047,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2035,3860
$GC,6151,-1.28,-194.7,616.5,-10.4,1093,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2035,3860
$GC,6472,-1.28,-194.7,648.6,-9.9,1123,6476,0.00,2.70,0.00,0.000,4,0.000,0.085,2497,633,3860
$GC,6487,-1.28,-194.7,650.4,-10.1,1124,6492,0.00,2.55,0.00,0.000,6,0.000,0.049,2496,2041,3859
$GC,6812,-1.28,-194.7,682.8,-9.9,1154,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2041,3859
$GC,7131,-1.28,-194.7,713.4,-9.9,1184,7135,0.00,2.72,0.00,0.000,4,0.000,0.094,2497,3441,3859
$GC,7157,-1.28,-194.7,716.4,-11.8,1186,7162,0.00,2.58,0.00,0.000,6,0.000,0.059,2496,2053,3859
$GC,7482,-1.28,-194.7,751.1,-10.5,1216,7487,0.00,2.62,0.00,0.000,4,0.000,0.073,2497,3439,3859
$GC,7503,-1.28,-194.7,753.5,-11.0,1217,7510,0.00,2.55,0.00,0.000,6,0.000,0.048,2496,2051,3859
$GC,7829,-1.28,-194.7,785.6,-9.5,1248,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2049,3859
$GC,8147,-1.28,-194.7,814.5,-8.6,1278,8151,0.00,2.75,0.00,0.000,4,0.000,0.082,2496,624,3858
$GC,8185,-1.28,-194.7,818.1,-9.7,1281,8190,0.00,2.62,0.00,0.000,6,0.000,0.051,2496,2065,3858
$GC,8510,-1.28,-194.7,847.2,-9.1,1311,8514,0.00,2.72,0.00,0.000,4,0.000,0.068,2497,620,3858
$GC,8527,-1.28,-194.7,848.8,-9.1,1312,8532,0.00,2.62,0.00,0.000,6,0.000,0.051,2497,2058,3858
$GC,8852,-1.28,-194.7,877.5,-8.7,1342,8853,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2058,3858
$GC,9171,-1.28,-194.7,905.5,-9.0,1372,9175,0.00,2.70,0.00,0.000,4,0.000,0.068,2496,621,3858
$GC,9186,-1.28,-194.7,907.0,-9.0,1373,9191,0.00,2.60,0.00,0.000,6,0.000,0.051,2496,2055,3858
$GC,9510,-1.28,-194.7,937.6,-9.7,1403,9512,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2055,3858
$GC,9830,-1.28,-194.7,967.3,-9.1,1433,9834,0.00,2.70,0.00,0.000,4,0.000,0.068,2497,619,3857
$GC,9858,-1.28,-194.7,970.0,-10.2,1435,9862,0.00,2.60,0.00,0.000,6,0.000,0.050,2496,2044,3857
$STATE,10074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10074,begin apogee
$GC,10077,-0.37,0.0,990.1,9.6,1455,10250,0.93,0.00,169.18,1.281,6,0.097,0.000,2694,2043,3062
$STATE,10251,end apogee,CONTROL_FINISHED_OK
$STATE,10251,begin climb
$GC,10253,1.34,194.7,995.4,0.0,1472,10430,1.70,2.75,168.27,1.251,4,0.074,0.080,3068,3439,2268
$GC,10457,1.28,194.7,980.8,10.6,1491,10464,0.00,2.65,0.00,0.000,6,0.000,0.045,3069,2006,2265
$GC,10783,1.23,194.7,946.0,11.1,1522,10784,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2006,2262
$GC,11101,1.17,194.7,910.6,11.4,1552,11106,0.15,2.70,0.00,0.000,4,0.100,0.063,3035,3439,2261
$GC,11139,1.17,194.7,906.2,11.1,1555,11144,0.00,2.55,0.00,0.000,6,0.000,0.044,3035,2032,2261
$GC,11464,1.18,195.5,874.6,10.0,1585,11465,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2031,2261
$GC,11783,1.21,221.0,843.4,9.1,1615,11813,0.00,0.00,23.48,1.144,6,0.000,0.000,3034,2031,2160
$GC,12130,1.26,262.1,812.0,8.6,1648,12171,0.00,0.00,38.20,1.145,6,0.000,0.000,3035,2031,1993
$GC,12489,1.30,297.6,782.0,8.8,1682,12525,0.12,0.00,33.38,1.118,6,0.063,0.000,3072,2031,1848
$GC,12838,1.30,297.6,744.1,11.7,1715,12839,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2031,1842
$GC,13157,1.30,297.6,705.8,12.2,1745,13158,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2030,1841
$GC,13475,1.30,297.6,666.1,11.9,1775,13476,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2031,1841
$GC,13794,1.30,297.6,628.7,11.4,1805,13795,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2031,1841
$GC,14117,1.30,297.6,591.6,11.0,1841,14122,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2031,1841
$GC,14457,1.30,297.6,550.7,11.9,1902,14462,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2031,1840
$GC,14797,1.30,297.6,509.4,11.5,1963,14803,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2031,1840
$GC,15137,1.30,297.6,468.2,12.0,2024,15146,0.00,2.65,0.00,0.000,4,0.000,0.064,3072,617,1841
$GC,15162,1.30,297.6,465.0,12.9,2028,15170,0.00,2.60,0.00,0.000,6,0.000,0.040,3072,2053,1840
$GC,15506,1.30,297.6,425.0,11.7,2089,15512,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2054,1840
$GC,15846,1.30,297.6,385.8,11.3,2150,15853,0.00,2.65,0.00,0.000,4,0.000,0.055,3072,608,1841
$GC,15874,1.30,297.6,382.6,10.8,2155,15880,0.00,2.58,0.00,0.000,6,0.000,0.038,3072,2056,1841
$GC,16212,1.30,297.6,343.6,12.5,2216,16219,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2057,1840
$GC,16545,1.30,297.6,305.4,10.1,2277,16552,0.00,2.65,0.00,0.000,4,0.000,0.054,3072,614,1841
$GC,16569,1.30,297.6,302.9,10.9,2281,16575,0.00,2.55,0.00,0.000,6,0.000,0.038,3072,2043,1841
$GC,16898,1.30,297.6,269.3,10.8,2342,16906,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2046,1841
$GC,17231,1.30,297.6,236.6,10.8,2403,17237,0.00,2.62,0.00,0.000,4,0.000,0.054,3072,614,1841
$GC,17271,1.33,322.0,232.7,9.2,2410,17297,0.00,2.55,20.88,0.783,6,0.000,0.044,3072,2031,1748
$GC,17621,1.33,322.0,194.7,11.9,2474,17629,0.00,2.58,0.00,0.000,4,0.000,0.061,3072,3425,1745
$GC,17647,1.33,322.0,191.6,12.3,2478,17655,0.00,2.53,0.00,0.000,6,0.000,0.037,3072,2021,1745
$GC,17980,1.33,322.0,151.7,11.6,2539,17985,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2018,1745
$GC,18298,1.33,322.0,113.7,11.1,2600,18306,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2018,1745
$GC,18432,1.33,322.0,98.1,12.2,2625,18440,0.00,2.60,0.00,0.000,4,0.000,0.057,3072,620,1745
$GC,18457,1.33,322.0,94.9,12.2,2629,18465,0.00,2.58,0.00,0.000,6,0.000,0.043,3072,2043,1745
$GC,18591,1.33,322.0,78.8,12.8,2654,18599,0.00,2.55,0.00,0.000,4,0.000,0.062,3072,3431,1744
$GC,18611,1.33,322.0,76.2,12.8,2657,18620,0.00,2.50,0.00,0.000,6,0.000,0.043,3072,2038,1745
$GC,18745,1.33,322.0,60.3,11.8,2682,18754,0.00,2.62,0.00,0.000,4,0.000,0.060,3072,617,1745
$GC,18786,1.33,322.0,55.5,10.7,2689,18795,0.00,2.53,0.00,0.000,6,0.000,0.045,3072,2025,1745
$GC,18921,1.33,322.0,41.8,11.3,2714,18929,0.00,2.58,0.00,0.000,4,0.000,0.058,3072,3433,1745
$GC,18952,1.33,322.0,38.1,10.7,2719,18960,0.00,2.50,0.00,0.000,6,0.000,0.037,3072,2031,1744
$GC,19087,1.37,355.7,22.2,8.8,2744,19124,0.00,2.60,30.30,0.665,4,0.000,0.055,3072,625,1611
$GC,19158,1.37,355.7,13.2,12.7,2755,19165,0.00,2.55,0.00,0.000,6,0.000,0.044,3072,2040,1609
$STATE,19248,end climb,SURFACE_DEPTH_REACHED
$STATE,19249,begin surface coast
$FINISH,-0.1,1.022649
$STATE,19277,end surface coast,CONTROL_FINISHED_OK
$STATE,19277,begin surface
$SM_CCo,19354,0.00,0.000,0,0,1604,357.40
$SM_GC,0.69,10.48,0.00,0.00,0.035,0.000,0.000,568,2044,1604,-10.06,0.40,357.40
$IRIDIUM_FIX,5821.32,-2001.82,050797,171707
$TT8_MAMPS,0.041418
$HUMID,1582
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,12.70
$XPDR_PINGS,754
$24V_AH,23.5,7.401
$10V_AH,10.5,10.081
$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,24.450,160.675,483.675,0.000,0.000,55.210,66.770,380.026,188.500,0.000,0.000,15.329,4251.478,7871.720,688.407,6369.917,838.943,0.000,2821.983,0.000,6432.685,0.000,0.466
$DEVICE_MAMPS,193.284,94.341,1280.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1918.501,2025.237,1274.252,1838.511,3595.657,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,205491,2777
$CAP_FILE_SIZE,222066,0
$CFSIZE,260165632,254111744
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100408,231107,5840.177,-2009.785,39,1.7,39,-13.9