version: 66.03
glider: 141
mission: 7
dive: 41
start: 4 13 108 1 14 9
data:
$ID,141
$MISSION,7
$DIVE,41
$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,45
$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,628.45856
$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,-7010.8901
$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,21
$R_STBD_OVSHOOT,26
$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
$GPS1,005438,5909.582,-2112.932,35,1.1,35,-14.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-53.4
$GPS2,011351,5909.690,-2113.262,12,1.1,12,-14.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5917.327,-2109.363
$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,59.7,20000,-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,-194.7,0.0,0.0,0,143,0.00,0.00,-115.72,0.000,2,0.000,0.000,571,1999,3804
$GC,145,-1.34,-194.7,3.4,-5.8,16,163,11.02,2.60,-1.12,0.000,4,0.195,0.061,2480,617,3858
$GC,170,-0.55,-194.7,11.3,-25.1,19,179,0.80,2.55,0.00,0.000,6,0.100,0.041,2652,2027,3859
$GC,306,-0.74,-194.7,17.8,-3.9,44,314,0.15,0.00,0.00,0.000,6,0.061,0.000,2610,2030,3859
$GC,440,-0.86,-194.7,28.3,-9.6,69,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2030,3859
$GC,573,-1.00,-194.7,39.9,-10.4,94,582,0.17,2.58,0.00,0.000,4,0.062,0.053,2554,3430,3859
$GC,615,-1.06,-194.7,44.2,-10.0,101,622,0.00,2.53,0.00,0.000,6,0.000,0.041,2554,2015,3859
$GC,749,-1.12,-194.7,56.3,-6.5,126,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2012,3859
$GC,884,-1.19,-194.7,66.1,-7.4,151,892,0.15,0.00,0.00,0.000,6,0.053,0.000,2506,2009,3859
$GC,1018,-1.19,-194.7,78.4,-9.5,176,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2009,3859
$GC,1151,-1.19,-194.7,94.5,-14.6,201,1159,0.00,2.62,0.00,0.000,4,0.000,0.051,2506,3429,3859
$GC,1201,-1.19,-194.7,101.1,-12.0,210,1210,0.00,2.50,0.00,0.000,6,0.000,0.038,2506,2028,3859
$GC,1336,-1.19,-194.7,116.3,-10.1,235,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2025,3859
$GC,1469,-1.19,-194.7,130.5,-10.7,260,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2023,3859
$GC,1603,-1.19,-194.7,142.7,-7.8,285,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2023,3859
$GC,1736,-1.19,-194.7,154.1,-8.6,310,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2022,3859
$GC,2069,-1.19,-194.7,183.6,-10.1,371,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2023,3859
$GC,2396,-1.19,-194.7,217.1,-9.6,432,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2023,3859
$GC,2729,-1.19,-194.7,250.6,-9.9,493,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2023,3859
$GC,3056,-1.19,-194.7,283.6,-9.7,554,3064,0.00,2.60,0.00,0.000,4,0.000,0.056,2506,3430,3859
$GC,3090,-1.19,-194.7,287.3,-10.2,560,3098,0.00,2.53,0.00,0.000,6,0.000,0.037,2506,2017,3859
$GC,3424,-1.19,-194.7,320.4,-9.8,621,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2013,3859
$GC,3753,-1.19,-194.7,352.7,-9.6,682,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2012,3859
$GC,4094,-1.19,-194.7,386.8,-9.9,743,4100,0.00,2.62,0.00,0.000,4,0.000,0.054,2506,3437,3859
$GC,4138,-1.19,-194.7,391.4,-10.4,751,4144,0.00,2.50,0.00,0.000,6,0.000,0.035,2506,2023,3859
$GC,4477,-1.19,-194.7,423.8,-9.6,812,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2020,3858
$GC,4821,-1.19,-194.7,456.7,-9.8,873,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2019,3858
$GC,5160,-1.19,-194.7,490.1,-10.0,934,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2018,3858
$GC,5501,-1.19,-194.7,523.2,-9.7,995,5507,0.00,2.62,0.00,0.000,4,0.000,0.061,2506,3431,3858
$GC,5540,-1.19,-194.7,527.0,-9.9,1002,5546,0.00,2.50,0.00,0.000,6,0.000,0.039,2506,2029,3858
$GC,5880,-1.19,-194.7,559.3,-9.7,1063,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2028,3858
$GC,6220,-1.19,-194.7,590.3,-9.2,1124,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2028,3858
$GC,6552,-1.19,-194.7,620.1,-9.0,1164,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2028,3858
$GC,6873,-1.19,-194.7,649.3,-9.4,1194,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2028,3858
$GC,7188,-1.19,-194.7,677.4,-9.0,1224,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2027,3858
$GC,7509,-1.19,-194.7,706.0,-8.9,1254,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2028,3858
$GC,7825,-1.19,-194.7,735.8,-9.6,1284,7830,0.00,2.70,0.00,0.000,4,0.000,0.077,2506,3433,3858
$GC,7857,-1.19,-194.7,739.1,-10.4,1286,7864,0.00,2.58,0.00,0.000,6,0.000,0.050,2506,2037,3858
$GC,8183,-1.19,-194.7,772.3,-10.7,1317,8187,0.00,2.75,0.00,0.000,4,0.000,0.093,2506,621,3858
$GC,8225,-1.19,-194.7,777.2,-11.1,1320,8232,0.00,2.55,0.00,0.000,6,0.000,0.051,2506,2012,3858
$GC,8551,-1.19,-194.7,810.2,-9.7,1351,8556,0.00,2.70,0.00,0.000,4,0.000,0.081,2506,3442,3857
$GC,8645,-1.19,-194.7,820.0,-10.0,1359,8650,0.00,2.53,0.00,0.000,6,0.000,0.048,2506,2038,3857
$GC,8970,-1.19,-194.7,849.2,-8.5,1389,8971,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2037,3857
$GC,9288,-1.19,-194.7,875.8,-8.4,1419,9293,0.00,2.70,0.00,0.000,4,0.000,0.083,2506,622,3857
$GC,9332,-1.19,-194.7,879.8,-9.2,1422,9339,0.00,2.60,0.00,0.000,6,0.000,0.051,2506,2035,3857
$GC,9658,-1.19,-194.7,907.4,-8.7,1453,9659,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2035,3857
$GC,9975,-1.19,-194.7,936.8,-9.5,1483,9980,0.00,2.67,0.00,0.000,4,0.000,0.081,2506,3446,3856
$GC,10029,-1.19,-194.7,942.4,-10.1,1487,10037,0.00,2.60,0.00,0.000,6,0.000,0.048,2506,2024,3856
$GC,10355,-1.19,-194.7,973.1,-9.2,1518,10356,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2023,3856
$STATE,10544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10544,begin apogee
$GC,10548,-0.37,0.0,990.5,8.9,1536,10720,0.88,0.00,168.55,1.278,6,0.094,0.000,2694,2022,3062
$STATE,10721,end apogee,CONTROL_FINISHED_OK
$STATE,10721,begin climb
$GC,10723,1.34,194.7,995.5,0.0,1553,10899,1.70,2.80,168.23,1.247,4,0.075,0.078,3068,617,2268
$GC,10905,1.29,204.6,982.1,9.7,1570,10922,0.00,2.62,10.20,1.055,6,0.000,0.045,3067,2033,2227
$GC,11239,1.24,204.6,945.3,11.2,1602,11244,0.00,2.67,0.00,0.000,4,0.000,0.071,3068,3435,2222
$GC,11278,1.18,204.6,940.7,12.1,1605,11283,0.15,2.58,0.00,0.000,6,0.106,0.042,3038,2021,2221
$GC,11601,1.18,204.6,907.3,10.1,1635,11602,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2021,2221
$GC,11920,1.18,204.6,874.9,10.4,1665,11921,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2019,2220
$GC,12239,1.19,211.0,843.0,9.8,1695,12251,0.00,2.70,6.25,0.936,4,0.000,0.059,3038,3441,2200
$GC,12262,1.19,211.0,840.7,10.5,1697,12266,0.00,2.58,0.00,0.000,6,0.000,0.042,3039,2028,2200
$GC,12588,1.24,250.2,811.3,8.6,1727,12627,0.00,0.00,36.58,1.147,6,0.000,0.000,3039,2028,2041
$GC,12944,1.24,250.2,777.0,10.1,1761,12945,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2028,2036
$GC,13262,1.24,250.2,743.9,10.7,1791,13264,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2027,2035
$GC,13582,1.26,268.4,712.5,9.4,1821,13602,0.00,0.00,16.73,1.048,6,0.000,0.000,3038,2027,1966
$GC,13920,1.28,279.8,680.2,9.6,1853,13934,0.00,0.00,11.45,0.987,6,0.000,0.000,3038,2027,1921
$GC,14249,1.29,286.2,648.5,9.8,1884,14263,0.00,2.75,7.32,0.888,4,0.000,0.065,3038,617,1895
$GC,14281,1.30,298.0,645.2,9.6,1887,14307,0.10,2.60,14.48,0.859,6,0.064,0.042,3073,2046,1847
$GC,14625,1.30,298.0,605.9,11.5,1919,14626,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2049,1844
$GC,14956,1.30,298.0,568.0,12.1,1974,14962,0.00,2.65,0.00,0.000,4,0.000,0.060,3073,616,1844
$GC,14984,1.30,298.0,564.8,11.0,1979,14991,0.00,2.55,0.00,0.000,6,0.000,0.042,3072,2035,1844
$GC,15323,1.30,298.0,527.2,11.5,2040,15331,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2038,1844
$GC,15667,1.30,298.0,488.8,11.3,2101,15673,0.00,2.62,0.00,0.000,4,0.000,0.058,3073,618,1844
$GC,15692,1.30,298.0,485.9,11.6,2105,15698,0.00,2.55,0.00,0.000,6,0.000,0.041,3073,2039,1844
$GC,16031,1.30,298.0,447.3,10.7,2166,16036,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2042,1844
$GC,16370,1.30,298.0,409.1,11.4,2227,16376,0.00,2.62,0.00,0.000,4,0.000,0.056,3073,618,1844
$GC,16397,1.30,298.0,405.8,11.4,2232,16405,0.00,2.55,0.00,0.000,6,0.000,0.040,3073,2029,1844
$GC,16741,1.30,298.0,366.9,12.9,2293,16746,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2032,1844
$GC,17074,1.30,298.0,329.2,12.4,2354,17082,0.00,2.65,0.00,0.000,4,0.000,0.063,3073,616,1844
$GC,17095,1.30,298.0,327.1,11.0,2357,17101,0.00,2.50,0.00,0.000,6,0.000,0.038,3073,2027,1844
$GC,17426,1.30,298.0,289.6,11.7,2418,17433,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2029,1844
$GC,17758,1.30,298.0,251.7,11.1,2479,17764,0.00,2.60,0.00,0.000,4,0.000,0.054,3073,617,1844
$GC,17773,1.30,298.0,250.1,11.7,2481,17779,0.00,2.50,0.00,0.000,6,0.000,0.038,3073,2020,1844
$GC,18102,1.30,298.0,212.9,12.8,2542,18110,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2022,1844
$GC,18436,1.30,298.0,174.6,10.9,2603,18442,0.00,2.60,0.00,0.000,4,0.000,0.054,3073,608,1844
$GC,18449,1.30,298.0,173.0,11.8,2605,18455,0.00,2.53,0.00,0.000,6,0.000,0.037,3073,2024,1844
$GC,18777,1.30,298.0,136.7,14.3,2666,18784,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2026,1844
$GC,18911,1.30,298.0,119.7,12.1,2691,18918,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2026,1844
$GC,19044,1.30,298.0,105.3,10.4,2716,19052,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2027,1844
$GC,19177,1.30,298.0,90.0,12.0,2741,19185,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2027,1844
$GC,19311,1.30,298.0,75.2,11.7,2766,19318,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2026,1844
$GC,19444,1.30,298.0,58.3,13.8,2791,19451,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2027,1844
$GC,19577,1.30,298.0,44.2,10.0,2816,19584,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2027,1844
$GC,19710,1.30,298.0,29.1,12.0,2841,19717,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2027,1844
$GC,19843,1.30,298.0,14.5,11.3,2866,19851,0.00,2.65,0.00,0.000,4,0.000,0.058,3073,610,1844
$GC,19858,1.30,298.0,12.5,12.5,2868,19866,0.00,2.55,0.00,0.000,6,0.000,0.037,3073,2025,1844
$STATE,19939,end climb,SURFACE_DEPTH_REACHED
$STATE,19939,begin surface coast
$FINISH,0.4,1.027145
$STATE,19967,end surface coast,CONTROL_FINISHED_OK
$STATE,19968,begin surface
$SM_CCo,19984,269.67,0.635,0,0,500,628.46
$SM_GC,0.74,0.00,0.00,269.67,0.000,0.000,0.635,569,2028,500,-10.17,-0.06,628.46
$IRIDIUM_FIX,5846.12,-2114.60,080797,010143
$TT8_MAMPS,0.042952
$HUMID,1549
$INTERNAL_PRESSURE,9.94179
$TCM_TEMP,12.90
$XPDR_PINGS,831
$24V_AH,23.5,9.536
$10V_AH,10.6,13.358
$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,25.525,114.550,439.775,269.675,0.000,139.063,353.482,282.117,207.750,0.000,0.000,13.466,4400.530,8286.912,949.792,6625.448,1115.249,0.000,3113.919,0.000,6688.218,0.000,0.466
$DEVICE_MAMPS,194.818,92.807,1277.822,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1993.335,2102.825,1322.859,1909.753,3736.252,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,211894,2888
$CAP_FILE_SIZE,221082,0
$CFSIZE,260165632,252846080
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130408,065316,5914.993,-2112.464,38,2.6,57,-14.7