version: 66.03
glider: 141
mission: 7
dive: 37
start: 4 12 108 2 52 58
data:
$ID,141
$MISSION,7
$DIVE,37
$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,315
$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,-6951.0239
$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
$GPS1,024407,5849.411,-2051.093,28,1.4,28,-14.3
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-46.6
$GPS2,025240,5849.426,-2051.164,13,1.4,14,-14.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5857.062,-2055.103
$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,329.3,20000,-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,24,-1.34,-194.7,0.0,0.0,0,164,0.00,0.00,-136.82,0.000,2,0.000,0.000,566,2014,3775
$GC,166,-1.34,-194.7,3.3,-6.4,19,190,10.80,2.65,-1.88,0.000,4,0.186,0.061,2478,3436,3858
$GC,425,-1.29,-194.7,39.0,-10.3,67,433,0.00,2.53,0.00,0.000,6,0.000,0.042,2478,2028,3858
$GC,559,-1.29,-194.7,54.1,-12.7,92,568,0.10,2.58,0.00,0.000,4,0.126,0.057,2496,629,3859
$GC,611,-1.29,-194.7,60.4,-11.8,101,619,0.00,2.53,0.00,0.000,6,0.000,0.042,2496,2024,3858
$GC,744,-1.29,-194.7,76.4,-10.8,126,752,0.00,2.58,0.00,0.000,4,0.000,0.059,2496,3430,3858
$GC,801,-1.29,-194.7,82.8,-11.0,136,809,0.00,2.50,0.00,0.000,6,0.000,0.035,2496,2028,3858
$GC,935,-1.29,-194.7,97.0,-11.0,161,943,0.00,2.55,0.00,0.000,4,0.000,0.051,2496,631,3859
$GC,991,-1.29,-194.7,103.1,-10.2,171,1000,0.00,2.50,0.00,0.000,6,0.000,0.038,2496,2026,3858
$GC,1126,-1.29,-194.7,116.4,-9.9,196,1134,0.00,2.58,0.00,0.000,4,0.000,0.054,2496,3432,3858
$GC,1167,-1.29,-194.7,120.6,-9.6,203,1176,0.00,2.53,0.00,0.000,6,0.000,0.042,2496,2015,3859
$GC,1302,-1.29,-194.7,133.7,-9.6,228,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2010,3859
$GC,1436,-1.29,-194.7,146.9,-9.6,253,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2008,3858
$GC,1571,-1.29,-194.7,160.5,-10.0,278,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2008,3859
$GC,1904,-1.29,-194.7,193.4,-9.6,339,1910,0.00,2.60,0.00,0.000,4,0.000,0.051,2496,3438,3858
$GC,1938,-1.29,-194.7,197.1,-10.5,345,1944,0.00,2.50,0.00,0.000,6,0.000,0.034,2496,2017,3858
$GC,2269,-1.29,-194.7,230.7,-10.2,406,2276,0.00,2.53,0.00,0.000,4,0.000,0.051,2496,634,3859
$GC,2310,-1.29,-194.7,235.0,-10.4,413,2316,0.00,2.47,0.00,0.000,6,0.000,0.037,2496,2032,3858
$GC,2639,-1.29,-194.7,269.3,-10.2,474,2647,0.00,2.55,0.00,0.000,4,0.000,0.059,2496,3430,3859
$GC,2692,-1.29,-194.7,274.8,-11.2,483,2698,0.00,2.47,0.00,0.000,6,0.000,0.035,2496,2022,3858
$GC,3021,-1.29,-194.7,308.6,-10.7,544,3029,0.00,2.58,0.00,0.000,4,0.000,0.055,2496,630,3858
$GC,3064,-1.29,-194.7,312.9,-10.9,551,3070,0.00,2.50,0.00,0.000,6,0.000,0.038,2496,2035,3858
$GC,3392,-1.29,-194.7,348.3,-11.4,612,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2038,3859
$GC,3734,-1.29,-194.7,385.0,-10.5,673,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2038,3858
$GC,4073,-1.29,-194.7,420.0,-9.9,734,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2038,3858
$GC,4412,-1.29,-194.7,454.4,-10.0,795,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2038,3858
$GC,4751,-1.29,-194.7,487.3,-9.6,856,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2038,3858
$GC,5095,-1.29,-194.7,520.6,-9.2,917,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2038,3858
$GC,5435,-1.29,-194.7,553.9,-9.1,978,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2038,3858
$GC,5775,-1.29,-194.7,585.3,-9.0,1039,5780,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2038,3858
$GC,6107,-1.29,-194.7,614.8,-9.5,1085,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2038,3858
$GC,6426,-1.29,-194.7,645.4,-9.9,1115,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2038,3858
$GC,6744,-1.29,-194.7,677.0,-10.2,1145,6749,0.00,2.75,0.00,0.000,4,0.000,0.091,2495,637,3858
$GC,6794,-1.29,-194.7,682.1,-10.1,1149,6799,0.00,2.53,0.00,0.000,6,0.000,0.054,2496,2016,3858
$GC,7120,-1.29,-194.7,714.4,-10.0,1179,7124,0.00,2.78,0.00,0.000,4,0.000,0.093,2496,3445,3858
$GC,7173,-1.29,-194.7,720.3,-11.2,1183,7181,0.00,2.55,0.00,0.000,6,0.000,0.048,2496,2050,3858
$GC,7499,-1.29,-194.7,752.1,-9.6,1214,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2049,3858
$GC,7817,-1.29,-194.7,783.3,-10.4,1244,7821,0.00,2.75,0.00,0.000,4,0.000,0.085,2496,617,3858
$GC,7882,-1.29,-194.7,790.7,-11.2,1249,7889,0.00,2.58,0.00,0.000,6,0.000,0.051,2496,2021,3857
$GC,8208,-1.29,-194.7,824.9,-10.3,1280,8212,0.00,2.70,0.00,0.000,4,0.000,0.081,2496,3445,3857
$GC,8268,-1.29,-194.7,831.6,-11.1,1285,8272,0.00,2.60,0.00,0.000,6,0.000,0.048,2496,2008,3857
$GC,8594,-1.29,-194.7,862.3,-9.2,1315,8598,0.00,2.65,0.00,0.000,4,0.000,0.082,2495,616,3857
$GC,8625,-1.29,-194.7,865.5,-9.9,1317,8632,0.00,2.58,0.00,0.000,6,0.000,0.051,2496,2021,3857
$GC,8952,-1.29,-194.7,891.7,-8.0,1348,8956,0.00,2.67,0.00,0.000,4,0.000,0.079,2496,3441,3857
$GC,9006,-1.29,-194.7,896.4,-8.7,1352,9013,0.00,2.58,0.00,0.000,6,0.000,0.048,2496,2013,3856
$GC,9332,-1.29,-194.7,925.0,-9.6,1383,9336,0.00,2.70,0.00,0.000,4,0.000,0.071,2496,3449,3856
$GC,9375,-1.29,-194.7,929.4,-9.9,1386,9381,0.00,2.58,0.00,0.000,6,0.000,0.048,2496,2026,3855
$GC,9699,-1.29,-194.7,962.7,-10.4,1417,9704,0.00,2.67,0.00,0.000,4,0.000,0.081,2495,621,3855
$GC,9760,-1.29,-194.7,969.2,-10.7,1422,9765,0.00,2.58,0.00,0.000,6,0.000,0.051,2496,2034,3855
$STATE,9987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9987,begin apogee
$GC,9991,-0.37,0.0,990.5,9.0,1443,10163,0.95,0.00,168.18,1.278,6,0.098,0.000,2698,2034,3062
$STATE,10164,end apogee,CONTROL_FINISHED_OK
$STATE,10164,begin climb
$GC,10165,1.34,194.7,994.0,0.0,1460,10342,1.67,2.78,167.45,1.246,4,0.075,0.066,3066,609,2267
$GC,10348,1.27,194.7,979.7,11.3,1478,10352,0.00,2.62,0.00,0.000,6,0.000,0.046,3067,2027,2267
$GC,10671,1.22,194.7,942.7,11.2,1508,10672,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2027,2262
$GC,10991,1.17,194.7,907.6,10.7,1538,10996,0.15,2.67,0.00,0.000,4,0.101,0.074,3036,3433,2261
$GC,11020,1.17,199.2,904.7,9.8,1540,11031,0.00,2.55,4.53,0.807,6,0.000,0.044,3036,2035,2248
$GC,11348,1.20,223.9,874.9,9.1,1571,11380,0.00,2.80,23.33,1.151,4,0.000,0.072,3036,617,2149
$GC,11385,1.24,253.1,871.4,9.0,1574,11422,0.00,2.62,27.73,1.147,6,0.000,0.044,3036,2042,2029
$GC,11739,1.25,261.0,837.1,9.7,1608,11753,0.00,2.78,7.85,0.985,4,0.000,0.063,3036,615,1997
$GC,11760,1.25,261.0,834.9,10.2,1610,11764,0.00,2.60,0.00,0.000,6,0.000,0.044,3036,2025,1997
$GC,12085,1.25,263.0,802.9,9.9,1640,12087,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2028,1995
$GC,12403,1.25,263.0,771.0,10.0,1670,12407,0.00,2.65,0.00,0.000,4,0.000,0.062,3036,618,1995
$GC,12429,1.25,264.7,768.2,9.9,1672,12441,0.00,2.58,4.32,0.761,6,0.000,0.044,3036,2033,1983
$GC,12758,1.25,264.7,734.7,10.0,1703,12759,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2035,1983
$GC,13077,1.28,284.9,703.9,9.3,1733,13103,0.00,2.72,20.30,1.059,4,0.000,0.061,3036,609,1899
$GC,13114,1.32,317.1,700.4,8.9,1736,13150,0.12,2.60,30.02,1.062,6,0.059,0.044,3075,2028,1769
$GC,13468,1.32,317.1,660.2,11.3,1769,13472,0.00,2.65,0.00,0.000,4,0.000,0.063,3075,617,1763
$GC,13488,1.32,317.1,657.8,11.5,1770,13495,0.00,2.58,0.00,0.000,6,0.000,0.044,3075,2018,1763
$GC,13812,1.32,317.1,621.1,11.1,1801,13817,0.00,2.62,0.00,0.000,4,0.000,0.064,3076,612,1762
$GC,13833,1.32,317.1,618.6,10.9,1802,13840,0.00,2.55,0.00,0.000,6,0.000,0.044,3075,2004,1762
$GC,14165,1.32,317.1,581.6,11.0,1847,14170,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2004,1761
$GC,14506,1.32,317.1,543.7,11.4,1908,14514,0.00,2.62,0.00,0.000,4,0.000,0.061,3075,618,1761
$GC,14530,1.32,317.1,540.7,11.3,1912,14539,0.00,2.55,0.00,0.000,6,0.000,0.043,3075,2010,1762
$GC,14875,1.32,317.1,500.2,12.8,1973,14880,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2011,1761
$GC,15214,1.32,317.1,458.1,12.7,2034,15219,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2012,1761
$GC,15553,1.32,317.1,415.5,12.4,2095,15559,0.00,2.60,0.00,0.000,4,0.000,0.057,3075,613,1761
$GC,15567,1.32,317.1,414.0,13.2,2097,15573,0.00,2.53,0.00,0.000,6,0.000,0.040,3075,2018,1761
$GC,15906,1.32,317.1,370.7,13.0,2158,15911,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2021,1761
$GC,16243,1.32,317.1,326.7,13.0,2219,16249,0.00,2.62,0.00,0.000,4,0.000,0.056,3075,607,1761
$GC,16257,1.32,317.1,324.8,13.2,2221,16263,0.00,2.50,0.00,0.000,6,0.000,0.038,3075,2004,1761
$GC,16586,1.32,317.1,282.4,12.1,2282,16594,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2006,1761
$GC,16922,1.32,317.1,242.1,12.7,2343,16927,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2007,1761
$GC,17250,1.32,317.1,202.5,12.9,2404,17258,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2007,1761
$GC,17584,1.32,317.1,163.9,11.3,2465,17590,0.00,2.60,0.00,0.000,4,0.000,0.055,3075,608,1761
$GC,17597,1.32,317.1,162.3,12.4,2467,17603,0.00,2.50,0.00,0.000,6,0.000,0.038,3075,2006,1762
$GC,17920,1.32,317.1,124.4,10.3,2528,17927,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2009,1761
$GC,18053,1.32,317.1,110.8,10.2,2553,18061,0.00,2.62,0.00,0.000,4,0.000,0.061,3075,617,1762
$GC,18068,1.32,317.1,109.1,10.4,2555,18077,0.00,2.50,0.00,0.000,6,0.000,0.037,3075,1998,1762
$GC,18203,1.32,317.1,93.8,11.9,2580,18211,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1998,1762
$GC,18336,1.32,317.1,76.5,14.0,2605,18344,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1998,1762
$GC,18469,1.32,317.1,59.5,13.5,2630,18477,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1998,1761
$GC,18602,1.32,317.1,42.1,11.6,2655,18610,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1998,1762
$GC,18736,1.32,317.1,25.9,11.8,2680,18743,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1998,1762
$GC,18869,1.32,317.1,11.3,11.2,2705,18877,0.00,2.60,0.00,0.000,4,0.000,0.058,3075,615,1762
$STATE,18950,end climb,SURFACE_DEPTH_REACHED
$STATE,18950,begin surface coast
$FINISH,0.1,1.025855
$STATE,18988,end surface coast,CONTROL_FINISHED_OK
$STATE,18988,begin surface
$SM_CCo,19068,0.00,0.000,0,0,1759,319.63
$SM_GC,0.81,10.48,0.00,0.00,0.036,0.000,0.000,565,2031,1759,-10.08,0.00,319.63
$IRIDIUM_FIX,5821.32,-2046.47,060797,212141
$TT8_MAMPS,0.042185
$HUMID,1586
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,12.90
$XPDR_PINGS,752
$24V_AH,23.5,8.668
$10V_AH,10.6,12.025
$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,24.275,161.150,453.700,0.000,0.000,25.826,41.541,316.416,188.000,0.000,0.000,16.352,4174.784,7674.539,681.381,6309.974,709.578,0.000,2817.029,0.000,6368.997,0.000,0.466
$DEVICE_MAMPS,186.381,92.807,1277.822,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1882.042,1986.255,1239.625,1778.815,3480.285,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202462,2727
$CAP_FILE_SIZE,216746,0
$CFSIZE,260165632,253374464
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120408,081207,5853.370,-2057.552,36,1.9,48,-14.4