version: 66.03
glider: 141
mission: 7
dive: 10
start: 4 5 108 21 1 32
data:
$ID,141
$MISSION,7
$DIVE,10
$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,15
$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,-6321.5542
$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,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,19
$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
$GPS1,205308,5923.883,-2022.491,24,1.7,24,-14.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-57.5
$GPS2,210115,5924.017,-2022.298,9,1.6,9,-14.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5934.448,-2020.883
$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,29.4,20000,-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,-194.7,0.0,0.0,0,127,0.00,0.00,-100.12,0.000,6,0.000,0.000,571,2009,3857
$GC,130,-1.34,-194.7,3.7,-7.0,14,146,11.05,2.62,0.00,0.000,4,0.194,0.055,2478,583,3859
$GC,230,-1.34,-194.7,21.1,-11.7,32,238,0.00,2.58,0.00,0.000,6,0.000,0.046,2478,2003,3860
$GC,364,-1.34,-194.7,36.0,-10.7,57,372,0.00,2.60,0.00,0.000,4,0.000,0.061,2478,3413,3860
$GC,416,-1.30,-194.7,42.1,-12.0,66,424,0.00,2.55,0.00,0.000,6,0.000,0.044,2477,1987,3860
$GC,550,-1.30,-194.7,57.5,-11.7,91,557,0.00,2.55,0.00,0.000,4,0.000,0.056,2477,601,3860
$GC,595,-1.30,-194.7,62.9,-12.3,99,603,0.00,2.53,0.00,0.000,6,0.000,0.047,2478,2007,3860
$GC,728,-1.30,-194.7,78.4,-11.3,124,736,0.00,2.58,0.00,0.000,4,0.000,0.058,2478,3409,3860
$GC,775,-1.25,-194.7,84.0,-12.0,132,783,0.10,2.53,0.00,0.000,6,0.110,0.039,2502,1997,3860
$GC,909,-1.25,-194.7,98.1,-11.0,157,917,0.00,2.58,0.00,0.000,4,0.000,0.061,2502,598,3860
$GC,975,-1.25,-194.7,105.2,-10.3,169,983,0.00,2.53,0.00,0.000,6,0.000,0.042,2502,2000,3860
$GC,1109,-1.25,-194.7,119.1,-10.0,194,1118,0.00,2.58,0.00,0.000,4,0.000,0.058,2502,3405,3860
$GC,1161,-1.25,-194.7,124.7,-11.0,203,1169,0.00,2.53,0.00,0.000,6,0.000,0.040,2502,1991,3860
$GC,1295,-1.25,-194.7,138.5,-10.0,228,1303,0.00,2.55,0.00,0.000,4,0.000,0.060,2501,602,3860
$GC,1341,-1.25,-194.7,143.2,-10.6,236,1349,0.00,2.53,0.00,0.000,6,0.000,0.044,2501,2008,3860
$GC,1477,-1.25,-194.7,156.8,-10.2,261,1483,0.00,2.55,0.00,0.000,4,0.000,0.056,2502,3413,3860
$GC,1525,-1.25,-194.7,162.1,-10.4,270,1534,0.00,2.53,0.00,0.000,6,0.000,0.043,2502,2000,3860
$GC,1859,-1.25,-194.7,195.0,-10.0,331,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1993,3860
$GC,2186,-1.25,-194.7,227.8,-9.8,392,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1993,3860
$GC,2519,-1.25,-194.7,261.4,-10.2,453,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1993,3860
$GC,2847,-1.25,-194.7,295.4,-10.3,514,2855,0.00,2.60,0.00,0.000,4,0.000,0.057,2502,3399,3860
$GC,2889,-1.25,-194.7,299.8,-11.2,521,2895,0.00,2.47,0.00,0.000,6,0.000,0.038,2502,2000,3860
$GC,3217,-1.25,-194.7,335.0,-10.2,582,3225,0.00,2.58,0.00,0.000,4,0.000,0.061,2502,598,3860
$GC,3270,-1.25,-194.7,340.5,-11.2,591,3276,0.00,2.50,0.00,0.000,6,0.000,0.040,2501,2005,3860
$GC,3606,-1.25,-194.7,376.3,-10.6,652,3614,0.00,2.60,0.00,0.000,4,0.000,0.061,2502,3406,3860
$GC,3663,-1.25,-194.7,382.5,-10.6,662,3669,0.00,2.50,0.00,0.000,6,0.000,0.041,2502,1997,3860
$GC,4001,-1.25,-194.7,418.0,-10.7,723,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1993,3860
$GC,4339,-1.25,-194.7,453.4,-10.2,784,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1993,3860
$GC,4683,-1.25,-194.7,487.6,-9.9,845,4689,0.00,2.62,0.00,0.000,4,0.000,0.062,2502,3406,3860
$GC,4730,-1.25,-194.7,492.4,-10.3,853,4736,0.00,2.50,0.00,0.000,6,0.000,0.043,2502,2007,3860
$GC,5068,-1.25,-194.7,526.3,-10.5,914,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2005,3860
$GC,5407,-1.25,-194.7,563.6,-11.3,965,5412,0.00,2.62,0.00,0.000,4,0.000,0.069,2501,594,3860
$GC,5463,-1.25,-194.7,570.1,-11.7,970,5468,0.00,2.53,0.00,0.000,6,0.000,0.046,2502,2003,3860
$GC,5789,-1.25,-194.7,605.3,-10.7,1000,5793,0.00,2.62,0.00,0.000,4,0.000,0.074,2502,3406,3860
$GC,5850,-1.25,-194.7,612.2,-11.3,1005,5854,0.00,2.53,0.00,0.000,6,0.000,0.047,2501,2005,3860
$GC,6174,-1.25,-194.7,644.7,-9.9,1035,6178,0.00,2.75,0.00,0.000,4,0.000,0.089,2501,585,3860
$GC,6216,-1.25,-194.7,649.3,-10.2,1038,6223,0.00,2.60,0.00,0.000,6,0.000,0.050,2501,2004,3859
$GC,6542,-1.25,-194.7,683.2,-10.7,1069,6546,0.00,2.70,0.00,0.000,4,0.000,0.088,2502,3407,3859
$GC,6613,-1.25,-194.7,691.3,-11.6,1075,6618,0.00,2.55,0.00,0.000,6,0.000,0.058,2502,2019,3859
$GC,6939,-1.25,-194.7,724.8,-10.2,1105,6944,0.00,2.78,0.00,0.000,4,0.000,0.092,2501,590,3859
$GC,6982,-1.25,-194.7,729.5,-10.5,1108,6989,0.00,2.62,0.00,0.000,6,0.000,0.053,2502,2017,3859
$GC,7309,-1.25,-194.7,759.7,-8.7,1139,7313,0.00,2.65,0.00,0.000,4,0.000,0.084,2501,3412,3859
$GC,7359,-1.25,-194.7,764.5,-9.4,1143,7363,0.00,2.55,0.00,0.000,6,0.000,0.053,2501,2006,3859
$GC,7683,-1.25,-194.7,794.2,-9.7,1173,7687,0.00,2.72,0.00,0.000,4,0.000,0.086,2501,584,3859
$GC,7737,-1.25,-194.7,799.7,-9.9,1177,7744,0.00,2.62,0.00,0.000,6,0.000,0.052,2502,2031,3859
$GC,8062,-1.25,-194.7,831.7,-10.2,1208,8066,0.00,2.65,0.00,0.000,4,0.000,0.084,2501,3418,3859
$GC,8122,-1.25,-194.7,838.3,-11.1,1213,8126,0.00,2.53,0.00,0.000,6,0.000,0.051,2502,2023,3858
$GC,8447,-1.25,-194.7,870.6,-9.8,1243,8451,0.00,2.75,0.00,0.000,4,0.000,0.084,2501,582,3858
$GC,8501,-1.25,-194.7,876.0,-9.5,1247,8508,0.00,2.67,0.00,0.000,6,0.000,0.051,2501,2050,3858
$GC,8826,-1.25,-194.7,905.0,-8.9,1278,8827,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2050,3858
$GC,9144,-1.25,-194.7,934.1,-9.6,1308,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2051,3858
$GC,9463,-1.25,-194.7,964.5,-9.6,1338,9467,0.00,2.60,0.00,0.000,4,0.000,0.084,2502,3411,3857
$GC,9505,-1.25,-194.7,969.0,-10.4,1341,9512,0.00,2.53,0.00,0.000,6,0.000,0.051,2501,2038,3857
$STATE,9722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9722,begin apogee
$GC,9727,-0.37,0.0,990.2,9.8,1362,9901,0.93,0.00,169.95,1.283,6,0.100,0.000,2697,1998,3062
$STATE,9901,end apogee,CONTROL_FINISHED_OK
$STATE,9901,begin climb
$GC,9903,1.34,194.7,996.7,0.0,1379,10081,1.70,2.72,168.90,1.255,4,0.081,0.067,3065,3410,2268
$GC,10108,1.29,194.7,982.1,11.8,1398,10115,0.00,2.62,0.00,0.000,6,0.000,0.054,3065,2002,2266
$GC,10433,1.24,194.7,945.8,10.7,1429,10438,0.00,2.67,0.00,0.000,4,0.000,0.065,3065,3414,2262
$GC,10450,1.19,194.7,943.9,11.1,1430,10455,0.12,2.58,0.00,0.000,6,0.110,0.046,3042,2000,2262
$GC,10773,1.24,231.7,914.4,8.7,1460,10815,0.00,2.75,33.38,1.194,4,0.000,0.064,3042,3406,2116
$GC,10826,1.26,254.2,909.6,9.2,1465,10857,0.00,2.55,21.95,1.154,6,0.000,0.046,3042,2018,2024
$GC,11175,1.29,274.7,876.8,9.3,1498,11196,0.00,0.00,19.05,1.144,6,0.000,0.000,3042,2017,1942
$GC,11514,1.31,287.4,844.2,9.6,1530,11529,0.10,0.00,12.77,1.088,6,0.074,0.000,3071,2018,1890
$GC,11842,1.31,287.4,807.1,11.2,1561,11843,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2018,1887
$GC,12160,1.31,287.4,769.9,12.4,1591,12162,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2017,1886
$GC,12480,1.31,287.4,731.1,11.7,1621,12481,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2017,1885
$GC,12798,1.31,287.4,692.9,11.9,1651,12802,0.00,2.72,0.00,0.000,4,0.000,0.072,3071,585,1885
$GC,12807,1.31,287.4,691.7,12.0,1651,12814,0.00,2.65,0.00,0.000,6,0.000,0.045,3071,2024,1885
$GC,13132,1.31,287.4,653.0,11.9,1682,13133,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2024,1885
$GC,13450,1.31,287.4,616.4,11.7,1712,13451,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2025,1885
$GC,13768,1.31,287.4,578.9,11.7,1742,13770,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2025,1885
$GC,14091,1.31,287.4,540.4,11.5,1779,14096,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2027,1885
$GC,14428,1.31,287.4,500.9,11.7,1840,14436,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2028,1885
$GC,14771,1.31,287.4,461.4,11.9,1901,14776,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2029,1885
$GC,15110,1.31,287.4,421.7,11.3,1962,15116,0.00,2.65,0.00,0.000,4,0.000,0.058,3071,589,1886
$GC,15129,1.31,287.4,419.7,12.4,1965,15135,0.00,2.60,0.00,0.000,6,0.000,0.041,3071,2038,1885
$GC,15467,1.31,287.4,379.6,12.1,2026,15473,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2040,1885
$GC,15805,1.31,287.4,340.8,11.6,2087,15811,0.00,2.67,0.00,0.000,4,0.000,0.058,3071,589,1885
$GC,15818,1.31,287.4,339.2,11.6,2089,15824,0.00,2.58,0.00,0.000,6,0.000,0.040,3071,2030,1886
$GC,16147,1.31,287.4,300.4,11.9,2150,16155,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2032,1885
$GC,16479,1.31,287.4,261.8,12.4,2211,16484,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2032,1886
$GC,16806,1.31,287.4,223.6,12.0,2272,16814,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2032,1886
$GC,17138,1.31,287.4,186.5,11.2,2333,17143,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2032,1886
$GC,17465,1.31,287.4,149.8,10.8,2394,17473,0.00,2.67,0.00,0.000,4,0.000,0.058,3071,595,1886
$GC,17481,1.31,287.4,148.3,11.3,2396,17489,0.00,2.58,0.00,0.000,6,0.000,0.046,3071,2027,1886
$GC,17614,1.31,287.4,133.9,11.7,2421,17622,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2028,1886
$GC,17747,1.31,287.4,119.2,11.9,2446,17755,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2028,1886
$GC,17880,1.31,287.4,104.3,11.2,2471,17888,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2028,1886
$GC,18014,1.31,287.4,89.9,10.6,2496,18021,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2028,1886
$GC,18147,1.32,295.6,75.6,9.7,2521,18162,0.00,0.00,8.75,0.650,6,0.000,0.000,3072,2028,1855
$GC,18288,1.32,295.6,60.1,10.2,2547,18295,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2028,1854
$GC,18421,1.32,295.6,45.5,11.7,2572,18428,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2028,1854
$GC,18555,1.32,295.6,31.0,10.2,2597,18563,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2028,1854
$GC,18688,1.32,295.6,15.1,12.1,2622,18696,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2028,1854
$STATE,18794,end climb,SURFACE_DEPTH_REACHED
$STATE,18794,begin surface coast
$FINISH,0.5,1.027321
$STATE,18822,end surface coast,CONTROL_FINISHED_OK
$STATE,18822,begin surface
$SM_CCo,18899,0.00,0.000,0,0,1852,296.57
$SM_GC,1.10,10.52,0.00,0.00,0.039,0.000,0.000,569,1978,1852,-10.08,-0.62,296.57
$IRIDIUM_FIX,5854.46,-2024.50,300697,151551
$TT8_MAMPS,0.041418
$HUMID,1583
$INTERNAL_PRESSURE,10.059
$TCM_TEMP,12.90
$XPDR_PINGS,626
$24V_AH,23.4,3.104
$10V_AH,10.5,3.398
$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,24.525,151.000,434.750,0.000,0.000,28.443,28.676,306.174,156.500,0.000,0.000,11.739,4054.001,7906.895,639.667,6125.653,625.308,0.000,2700.264,0.000,6156.990,0.000,0.465
$DEVICE_MAMPS,194.051,102.778,1283.191,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1828.226,1922.460,1221.254,1729.303,3383.538,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,196029,2647
$CAP_FILE_SIZE,207757,0
$CFSIZE,260165632,256667648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060408,021737,5930.056,-2016.781,29,1.3,29,-14.3