version: 66.03
glider: 141
mission: 7
dive: 12
start: 4 6 108 8 13 27
data:
$ID,141
$MISSION,7
$DIVE,12
$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,135
$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,-6370.0063
$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,2016
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,22
$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
$GPS1,080107,5936.047,-2011.962,25,1.2,25,-14.4
$_CALLS,2
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-56.1
$GPS2,081309,5936.110,-2011.790,12,1.2,12,-14.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5928.474,-2007.911
$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,149.3,20000,-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,25,-1.34,-194.7,0.0,0.0,0,122,0.00,0.00,-94.43,0.000,2,0.000,0.000,572,2007,3830
$GC,124,-1.34,-194.7,3.5,-6.5,13,141,11.12,2.67,-0.60,0.000,4,0.199,0.064,2481,594,3857
$GC,375,-1.34,-194.7,38.7,-12.9,60,383,0.00,2.58,0.00,0.000,6,0.000,0.042,2481,2020,3858
$GC,509,-1.34,-194.7,53.8,-11.9,85,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3858
$GC,642,-1.34,-194.7,69.4,-12.0,110,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3858
$GC,775,-1.34,-194.7,85.4,-12.0,135,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3858
$GC,908,-1.34,-194.7,100.7,-11.2,160,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3858
$GC,1041,-1.34,-194.7,115.6,-11.4,185,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3858
$GC,1175,-1.34,-194.7,130.1,-10.4,210,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2022,3858
$GC,1308,-1.34,-194.7,144.7,-11.3,235,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2023,3858
$GC,1443,-1.34,-194.7,160.0,-11.3,260,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3858
$GC,1776,-1.34,-194.7,196.9,-11.1,321,1782,0.00,2.58,0.00,0.000,4,0.000,0.054,2481,3432,3858
$GC,1790,-1.34,-194.7,198.3,-11.1,323,1796,0.00,2.55,0.00,0.000,6,0.000,0.037,2481,1991,3858
$GC,2119,-1.34,-194.7,235.5,-11.0,384,2128,0.00,2.65,0.00,0.000,4,0.000,0.054,2481,3416,3858
$GC,2152,-1.30,-194.7,239.0,-12.2,389,2158,0.00,2.47,0.00,0.000,6,0.000,0.038,2481,2018,3858
$GC,2481,-1.30,-194.7,275.6,-10.9,450,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2014,3858
$GC,2813,-1.30,-194.7,310.7,-10.3,511,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2013,3858
$GC,3141,-1.30,-194.7,345.6,-10.7,572,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2012,3858
$GC,3483,-1.30,-194.7,381.1,-10.3,633,3489,0.00,2.60,0.00,0.000,4,0.000,0.057,2481,3420,3859
$GC,3495,-1.30,-194.7,382.5,-10.0,635,3501,0.00,2.50,0.00,0.000,6,0.000,0.038,2481,2012,3858
$GC,3833,-1.30,-194.7,417.0,-10.3,696,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2008,3858
$GC,4179,-1.30,-194.7,451.9,-11.0,757,4184,0.00,2.62,0.00,0.000,4,0.000,0.058,2481,3427,3858
$GC,4212,-1.25,-194.7,456.0,-12.1,763,4219,0.12,2.50,0.00,0.000,6,0.121,0.041,2504,2025,3858
$GC,4552,-1.25,-194.7,489.2,-9.5,824,4561,0.00,2.62,0.00,0.000,4,0.000,0.061,2504,3419,3858
$GC,4571,-1.25,-194.7,491.2,-10.1,827,4577,0.00,2.47,0.00,0.000,6,0.000,0.041,2504,2031,3858
$GC,4912,-1.25,-194.7,523.0,-9.4,888,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2030,3859
$GC,5251,-1.25,-194.7,556.7,-9.8,943,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2030,3858
$GC,5570,-1.25,-194.7,588.6,-9.6,973,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2030,3858
$GC,5888,-1.25,-194.7,619.6,-9.8,1003,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2030,3858
$GC,6207,-1.25,-194.7,650.3,-9.5,1033,6212,0.00,2.65,0.00,0.000,4,0.000,0.074,2504,3419,3858
$GC,6217,-1.25,-194.7,651.4,-9.5,1033,6224,0.00,2.55,0.00,0.000,6,0.000,0.050,2504,2035,3858
$GC,6542,-1.25,-194.7,681.5,-9.5,1064,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2034,3858
$GC,6861,-1.25,-194.7,711.9,-9.7,1094,6862,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2034,3858
$GC,7179,-1.25,-194.7,741.3,-8.8,1124,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2034,3858
$GC,7498,-1.25,-194.7,769.2,-8.7,1154,7502,0.00,2.62,0.00,0.000,4,0.000,0.071,2504,3420,3858
$GC,7525,-1.25,-194.7,771.8,-9.9,1156,7529,0.00,2.53,0.00,0.000,6,0.000,0.051,2504,2028,3858
$GC,7849,-1.25,-194.7,798.0,-7.0,1186,7853,0.00,2.62,0.00,0.000,4,0.000,0.070,2504,3420,3858
$GC,7865,-1.25,-194.7,799.2,-6.9,1187,7869,0.00,2.53,0.00,0.000,6,0.000,0.051,2504,2028,3858
$GC,8189,-1.25,-194.7,824.3,-8.2,1217,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2028,3858
$GC,8509,-1.25,-194.7,853.0,-9.3,1247,8514,0.00,2.62,0.00,0.000,4,0.000,0.070,2504,3417,3858
$GC,8530,-1.25,-194.7,855.2,-9.9,1248,8536,0.00,2.55,0.00,0.000,6,0.000,0.050,2504,2031,3857
$GC,8855,-1.25,-194.7,883.6,-8.5,1279,8856,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2030,3857
$GC,9174,-1.25,-194.7,909.4,-8.4,1309,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2030,3857
$GC,9492,-1.25,-194.7,938.0,-8.7,1339,9497,0.00,2.62,0.00,0.000,4,0.000,0.070,2504,3419,3856
$GC,9514,-1.25,-194.7,940.0,-8.9,1340,9520,0.00,2.53,0.00,0.000,6,0.000,0.050,2504,2024,3856
$GC,9839,-1.25,-194.7,968.4,-8.4,1371,9840,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2023,3856
$STATE,10102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10102,begin apogee
$GC,10106,-0.37,0.0,990.2,8.0,1396,10279,0.90,0.00,169.23,1.282,6,0.100,0.000,2694,1995,3062
$STATE,10280,end apogee,CONTROL_FINISHED_OK
$STATE,10280,begin climb
$GC,10281,1.34,194.7,993.6,0.0,1413,10458,1.70,0.00,169.45,1.253,6,0.079,0.000,3070,1994,2267
$GC,10776,1.28,194.7,943.4,11.8,1461,10780,0.00,2.65,0.00,0.000,4,0.000,0.063,3070,3403,2262
$GC,10814,1.23,194.7,938.8,12.4,1464,10819,0.12,2.58,0.00,0.000,6,0.113,0.046,3047,1996,2261
$GC,11138,1.23,194.7,905.9,10.1,1494,11139,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1994,2260
$GC,11456,1.23,194.7,873.7,10.2,1524,11461,0.00,2.65,0.00,0.000,4,0.000,0.063,3047,3405,2260
$GC,11506,1.23,194.7,868.2,11.2,1528,11510,0.00,2.53,0.00,0.000,6,0.000,0.045,3047,2012,2259
$GC,11830,1.24,204.5,836.8,9.7,1558,11841,0.00,0.00,8.73,1.029,6,0.000,0.000,3047,2012,2228
$GC,12159,1.26,219.6,806.3,9.5,1589,12179,0.00,0.00,14.98,1.097,6,0.000,0.000,3047,2012,2166
$GC,12497,1.27,230.3,773.2,9.6,1621,12513,0.00,2.65,11.00,1.042,4,0.000,0.062,3047,3404,2122
$GC,12547,1.27,233.6,768.1,9.9,1625,12558,0.00,2.53,4.88,0.811,6,0.000,0.044,3047,2014,2109
$GC,12876,1.29,245.6,736.4,9.6,1656,12890,0.00,0.00,12.48,1.045,6,0.000,0.000,3047,2014,2060
$GC,13204,1.29,245.6,702.9,10.1,1687,13208,0.00,2.60,0.00,0.000,4,0.000,0.061,3047,3404,2057
$GC,13235,1.29,245.6,699.4,10.6,1689,13242,0.00,2.53,0.00,0.000,6,0.000,0.044,3046,2021,2057
$GC,13562,1.30,254.1,667.4,9.7,1720,13576,0.00,2.75,8.68,0.950,4,0.000,0.070,3047,592,2026
$GC,13599,1.31,265.0,663.5,9.6,1723,13617,0.00,2.62,11.65,0.984,6,0.000,0.044,3047,2021,1981
$GC,13934,1.34,289.8,632.6,9.1,1755,13966,0.10,2.67,23.75,1.030,4,0.070,0.067,3078,3405,1879
$GC,14000,1.34,289.8,625.6,11.1,1761,14004,0.00,2.50,0.00,0.000,6,0.000,0.044,3078,2022,1878
$GC,14323,1.34,289.8,591.4,10.2,1791,14327,0.00,2.67,0.00,0.000,4,0.000,0.067,3078,586,1876
$GC,14367,1.35,291.3,586.8,9.9,1794,14373,0.00,2.62,0.00,0.000,6,0.000,0.044,3078,2025,1876
$GC,14692,1.35,297.3,555.0,9.8,1825,14706,0.00,2.62,7.60,0.861,4,0.000,0.065,3077,3408,1850
$GC,14728,1.35,297.3,551.1,10.2,1828,14735,0.00,2.53,0.00,0.000,6,0.000,0.043,3077,2026,1849
$GC,15068,1.38,317.7,518.2,9.3,1888,15092,0.00,0.00,19.52,0.950,6,0.000,0.000,3078,2025,1766
$GC,15425,1.38,317.7,481.7,11.1,1952,15432,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2025,1762
$GC,15768,1.38,317.7,443.2,11.0,2013,15774,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2026,1761
$GC,16109,1.38,317.7,407.7,10.9,2074,16114,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2026,1761
$GC,16448,1.38,317.7,370.6,10.6,2135,16453,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2026,1761
$GC,16781,1.38,317.7,332.8,10.6,2196,16789,0.00,2.67,0.00,0.000,4,0.000,0.059,3078,592,1761
$GC,16816,1.38,317.7,328.8,11.4,2202,16824,0.00,2.60,0.00,0.000,6,0.000,0.040,3078,2026,1760
$GC,17150,1.38,317.7,293.3,10.4,2263,17156,0.00,2.53,0.00,0.000,4,0.000,0.059,3078,3406,1760
$GC,17185,1.38,320.5,289.6,9.9,2269,17192,0.00,2.47,0.00,0.000,6,0.000,0.041,3078,2018,1760
$GC,17516,1.38,320.5,255.1,10.8,2330,17523,0.00,2.65,0.00,0.000,4,0.000,0.064,3078,596,1761
$GC,17557,1.38,320.5,250.5,10.9,2337,17563,0.00,2.55,0.00,0.000,6,0.000,0.039,3078,2026,1761
$GC,17887,1.38,320.5,213.7,10.6,2398,17895,0.00,2.58,0.00,0.000,4,0.000,0.059,3077,3410,1760
$GC,17918,1.38,320.5,210.3,12.2,2403,17924,0.00,2.47,0.00,0.000,6,0.000,0.040,3078,2022,1760
$GC,18248,1.38,320.5,172.6,12.5,2464,18256,0.00,2.65,0.00,0.000,4,0.000,0.060,3078,594,1761
$GC,18290,1.38,320.5,167.8,10.9,2471,18296,0.00,2.55,0.00,0.000,6,0.000,0.038,3078,2027,1761
$GC,18615,1.38,320.5,129.9,11.7,2532,18623,0.00,2.55,0.00,0.000,4,0.000,0.059,3078,3403,1760
$GC,18656,1.38,320.5,124.7,13.6,2539,18665,0.00,2.50,0.00,0.000,6,0.000,0.045,3078,2015,1760
$GC,18791,1.38,320.5,107.9,13.6,2564,18799,0.00,2.62,0.00,0.000,4,0.000,0.062,3077,596,1761
$GC,18827,1.38,320.5,103.3,13.8,2570,18834,0.00,2.55,0.00,0.000,6,0.000,0.039,3078,2017,1761
$GC,18961,1.38,320.5,86.7,12.0,2595,18969,0.00,2.55,0.00,0.000,4,0.000,0.058,3078,3401,1761
$GC,18996,1.38,320.5,81.9,11.5,2601,19003,0.00,2.47,0.00,0.000,6,0.000,0.039,3078,2021,1761
$GC,19129,1.38,320.5,66.2,12.9,2626,19137,0.00,2.62,0.00,0.000,4,0.000,0.061,3078,600,1760
$GC,19165,1.38,320.5,61.7,10.9,2632,19173,0.00,2.55,0.00,0.000,6,0.000,0.042,3078,2021,1761
$GC,19299,1.38,320.5,45.3,14.4,2657,19307,0.00,2.53,0.00,0.000,4,0.000,0.058,3078,3398,1761
$GC,19335,1.38,320.5,40.5,12.4,2663,19343,0.00,2.45,0.00,0.000,6,0.000,0.044,3078,2029,1761
$GC,19469,1.38,320.5,24.5,11.5,2688,19477,0.00,2.65,0.00,0.000,4,0.000,0.065,3078,593,1761
$GC,19510,1.38,320.5,19.5,12.5,2695,19518,0.00,2.58,0.00,0.000,6,0.000,0.044,3078,2029,1761
$GC,19645,1.41,345.8,4.8,9.1,2720,19661,0.00,0.00,14.45,0.646,2,0.000,0.000,3078,2031,1701
$STATE,19662,end climb,SURFACE_DEPTH_REACHED
$STATE,19662,begin surface coast
$FINISH,0.3,1.027223
$STATE,19689,end surface coast,CONTROL_FINISHED_OK
$STATE,19689,begin surface
$SM_CCo,19766,0.00,0.000,0,0,1696,334.83
$SM_GC,1.05,10.65,0.00,0.00,0.041,0.000,0.000,570,2036,1696,-10.08,0.57,334.83
$IRIDIUM_FIX,5915.45,-2010.97,010797,080850
$TT8_MAMPS,0.042185
$HUMID,1596
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,13.30
$XPDR_PINGS,617
$24V_AH,23.5,3.511
$10V_AH,10.5,4.040
$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,24.725,154.750,476.375,0.000,0.000,56.267,67.580,408.154,154.250,0.000,0.000,14.108,4190.150,8621.219,688.419,6121.126,836.406,0.000,2767.993,0.000,6173.517,0.000,0.465
$DEVICE_MAMPS,198.653,125.788,1282.424,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1882.554,1992.225,1217.905,1683.995,3294.566,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202202,2727
$CAP_FILE_SIZE,220362,0
$CFSIZE,260165632,256401408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060408,134407,5935.312,-2004.484,36,1.2,41,-14.3