version: 66.03
glider: 141
mission: 7
dive: 13
start: 4 6 108 14 4 45
data:
$ID,141
$MISSION,7
$DIVE,13
$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,-6386.3506
$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,26
$R_STBD_OVSHOOT,23
$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
$GPS1,134407,5935.312,-2004.484,36,1.2,41,-14.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-52.6
$GPS2,140427,5935.302,-2004.197,13,1.2,13,-14.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5927.666,-2000.317
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-1.34,-194.7,0.0,0.0,0,128,0.00,0.00,-101.20,0.000,2,0.000,0.000,569,2034,3799
$GC,130,-1.34,-194.7,3.3,-5.6,14,154,11.02,2.67,-1.30,0.000,4,0.192,0.064,2480,609,3859
$GC,342,-1.34,-194.7,31.6,-11.7,53,350,0.00,2.55,0.00,0.000,6,0.000,0.045,2480,2021,3859
$GC,476,-1.34,-194.7,46.4,-11.2,78,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2023,3859
$GC,609,-1.34,-194.7,61.4,-12.1,103,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2023,3859
$GC,742,-1.34,-194.7,76.6,-11.8,128,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2023,3859
$GC,875,-1.34,-194.7,92.6,-11.9,153,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2023,3859
$GC,1008,-1.34,-194.7,108.1,-10.5,178,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2023,3859
$GC,1142,-1.34,-194.7,123.1,-11.4,203,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2023,3859
$GC,1275,-1.34,-194.7,138.2,-11.3,228,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2022,3859
$GC,1409,-1.34,-194.7,153.6,-12.0,253,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2023,3858
$GC,1737,-1.34,-194.7,190.5,-11.3,314,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2023,3859
$GC,2069,-1.34,-194.7,227.8,-11.3,375,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2023,3859
$GC,2396,-1.34,-194.7,265.0,-10.9,436,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2023,3859
$GC,2728,-1.34,-194.7,300.9,-11.4,497,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2023,3859
$GC,3056,-1.34,-194.7,337.2,-11.0,558,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2022,3859
$GC,3391,-1.34,-194.7,374.1,-11.3,619,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3859
$GC,3730,-1.34,-194.7,412.8,-11.7,680,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2023,3859
$GC,4073,-1.34,-194.7,452.9,-12.1,741,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2023,3859
$GC,4410,-1.34,-194.7,493.2,-12.0,802,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2023,3859
$GC,4748,-1.34,-194.7,533.8,-12.1,863,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2023,3859
$GC,5079,-1.34,-194.7,573.0,-12.2,906,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2023,3859
$GC,5397,-1.34,-194.7,610.1,-11.4,936,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2023,3859
$GC,5716,-1.34,-194.7,646.3,-11.3,966,5720,0.00,2.65,0.00,0.000,4,0.000,0.076,2480,3416,3859
$GC,5737,-1.34,-194.7,648.8,-11.2,967,5743,0.00,2.50,0.00,0.000,6,0.000,0.049,2480,2039,3859
$GC,6061,-1.34,-194.7,684.1,-10.9,998,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2038,3859
$GC,6380,-1.34,-194.7,715.8,-9.1,1028,6385,0.00,2.88,0.00,0.000,4,0.000,0.107,2480,605,3859
$GC,6401,-1.34,-194.7,717.9,-9.8,1029,6408,0.00,2.60,0.00,0.000,6,0.000,0.054,2480,2010,3859
$GC,6728,-1.34,-194.7,746.3,-9.0,1060,6732,0.00,2.70,0.00,0.000,4,0.000,0.084,2480,3426,3859
$GC,6737,-1.34,-194.7,747.5,-8.8,1060,6744,0.00,2.55,0.00,0.000,6,0.000,0.051,2480,2018,3858
$GC,7062,-1.34,-194.7,778.8,-10.2,1091,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2017,3859
$GC,7381,-1.34,-194.7,810.5,-9.7,1121,7385,0.00,2.65,0.00,0.000,4,0.000,0.071,2480,3431,3858
$GC,7397,-1.34,-194.7,812.1,-9.4,1122,7401,0.00,2.53,0.00,0.000,6,0.000,0.051,2480,2039,3858
$GC,7721,-1.34,-194.7,841.6,-9.0,1152,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2040,3858
$GC,8040,-1.34,-194.7,869.3,-9.0,1182,8041,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2039,3858
$GC,8358,-1.34,-194.7,898.5,-9.2,1212,8360,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2039,3858
$GC,8677,-1.34,-194.7,929.6,-9.9,1242,8678,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2037,3857
$GC,8997,-1.34,-194.7,960.4,-9.8,1272,9002,0.00,2.75,0.00,0.000,4,0.000,0.084,2480,605,3857
$GC,9025,-1.34,-194.7,963.2,-10.1,1274,9030,0.00,2.62,0.00,0.000,6,0.000,0.052,2480,2042,3857
$STATE,9284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9284,begin apogee
$GC,9288,-0.37,0.0,990.1,10.6,1298,9461,1.02,0.00,169.12,1.287,6,0.103,0.000,2696,1995,3062
$STATE,9462,end apogee,CONTROL_FINISHED_OK
$STATE,9462,begin climb
$GC,9463,1.34,194.7,995.5,0.0,1315,9638,1.70,0.00,168.55,1.254,6,0.079,0.000,3064,1994,2268
$GC,9954,1.29,194.7,951.9,10.0,1362,9958,0.00,2.72,0.00,0.000,4,0.000,0.074,3064,3412,2262
$GC,10015,1.23,194.7,945.4,10.3,1367,10019,0.00,2.55,0.00,0.000,6,0.000,0.045,3064,2010,2261
$GC,10339,1.19,199.9,913.9,9.8,1397,10349,0.12,0.00,4.95,0.860,6,0.107,0.000,3040,2010,2247
$GC,10667,1.22,228.6,884.6,9.0,1428,10701,0.00,2.78,27.30,1.176,4,0.000,0.064,3041,3417,2129
$GC,10735,1.22,228.6,878.1,10.3,1434,10742,0.00,2.60,0.00,0.000,6,0.000,0.044,3040,2010,2128
$GC,11060,1.22,228.6,846.4,10.1,1465,11061,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2010,2126
$GC,11378,1.22,228.6,815.3,10.1,1495,11382,0.00,2.65,0.00,0.000,4,0.000,0.064,3040,3421,2125
$GC,11410,1.22,228.6,811.8,11.0,1497,11417,0.00,2.55,0.00,0.000,6,0.000,0.044,3040,2027,2124
$GC,11736,1.23,230.0,778.3,9.9,1528,11737,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2026,2124
$GC,12054,1.26,254.4,748.4,9.2,1558,12085,0.00,2.67,23.73,1.101,4,0.000,0.063,3040,3419,2024
$GC,12112,1.27,262.1,742.9,9.7,1563,12130,0.00,2.55,8.65,0.967,6,0.000,0.044,3040,2017,1993
$GC,12447,1.27,263.4,710.5,10.0,1595,12452,0.00,2.67,0.00,0.000,4,0.000,0.071,3040,592,1990
$GC,12474,1.27,263.4,707.6,10.6,1597,12479,0.00,2.62,0.00,0.000,6,0.000,0.046,3040,2042,1990
$GC,12798,1.29,280.9,676.1,9.4,1627,12823,0.00,2.67,17.92,1.041,4,0.000,0.071,3040,3411,1915
$GC,12845,1.29,280.9,671.4,10.0,1631,12852,0.00,2.55,0.00,0.000,6,0.000,0.043,3040,2025,1914
$GC,13170,1.31,302.4,641.0,9.3,1662,13205,0.10,2.78,22.62,0.960,4,0.070,0.067,3072,595,1829
$GC,13238,1.31,302.4,633.4,11.8,1668,13245,0.00,2.65,0.00,0.000,6,0.000,0.045,3072,2029,1828
$GC,13563,1.31,302.4,597.7,11.0,1699,13567,0.00,2.58,0.00,0.000,4,0.000,0.068,3072,3409,1826
$GC,13594,1.31,302.4,593.9,11.8,1701,13601,0.00,2.53,0.00,0.000,6,0.000,0.044,3072,2022,1825
$GC,13920,1.31,302.4,559.5,10.6,1732,13924,0.00,2.65,0.00,0.000,4,0.000,0.066,3072,595,1825
$GC,13946,1.31,302.4,556.5,10.8,1734,13951,0.00,2.62,0.00,0.000,6,0.000,0.044,3072,2042,1825
$GC,14283,1.31,302.4,520.8,10.9,1788,14291,0.00,2.55,0.00,0.000,4,0.000,0.066,3072,3403,1824
$GC,14315,1.31,302.4,517.3,11.1,1793,14321,0.00,2.47,0.00,0.000,6,0.000,0.043,3073,2026,1824
$GC,14656,1.31,302.4,481.0,10.4,1854,14663,0.00,2.65,0.00,0.000,4,0.000,0.064,3072,591,1825
$GC,14697,1.31,302.4,476.7,10.6,1861,14703,0.00,2.58,0.00,0.000,6,0.000,0.043,3072,2029,1825
$GC,15037,1.31,302.4,439.0,10.7,1922,15043,0.00,2.53,0.00,0.000,4,0.000,0.063,3072,3407,1824
$GC,15064,1.31,302.4,435.7,12.5,1927,15071,0.00,2.47,0.00,0.000,6,0.000,0.042,3072,2018,1824
$GC,15404,1.31,302.4,398.4,11.1,1988,15413,0.00,2.65,0.00,0.000,4,0.000,0.062,3072,593,1825
$GC,15437,1.31,302.4,395.0,11.2,1993,15443,0.00,2.58,0.00,0.000,6,0.000,0.041,3072,2036,1825
$GC,15777,1.31,302.4,356.3,11.6,2054,15782,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2037,1824
$GC,16111,1.31,302.4,316.5,11.6,2115,16116,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2038,1824
$GC,16438,1.31,302.4,275.9,12.7,2176,16446,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2038,1825
$GC,16772,1.31,302.4,236.2,12.3,2237,16778,0.00,2.67,0.00,0.000,4,0.000,0.057,3072,582,1825
$GC,16807,1.31,302.4,231.9,11.7,2243,16813,0.00,2.60,0.00,0.000,6,0.000,0.040,3072,2031,1825
$GC,17137,1.31,302.4,193.0,11.2,2304,17145,0.00,2.55,0.00,0.000,4,0.000,0.061,3072,3410,1825
$GC,17162,1.31,302.4,190.1,12.5,2308,17170,0.00,2.50,0.00,0.000,6,0.000,0.043,3072,2020,1824
$GC,17496,1.31,302.4,152.1,10.8,2369,17502,0.00,2.60,0.00,0.000,4,0.000,0.058,3072,595,1825
$GC,17536,1.31,302.4,147.5,10.6,2376,17544,0.00,2.58,0.00,0.000,6,0.000,0.043,3072,2025,1825
$GC,17670,1.31,302.4,132.5,10.4,2401,17678,0.00,2.53,0.00,0.000,4,0.000,0.064,3072,3400,1825
$GC,17706,1.31,302.4,128.3,13.3,2407,17714,0.00,2.47,0.00,0.000,6,0.000,0.044,3072,2018,1824
$GC,17840,1.31,302.4,113.4,10.4,2432,17848,0.00,2.62,0.00,0.000,4,0.000,0.064,3072,595,1825
$GC,17876,1.31,302.4,109.3,11.5,2438,17884,0.00,2.55,0.00,0.000,6,0.000,0.046,3072,2017,1825
$GC,18010,1.31,302.4,94.3,12.2,2463,18018,0.00,2.55,0.00,0.000,4,0.000,0.061,3072,3407,1825
$GC,18051,1.31,302.4,89.5,13.2,2470,18059,0.00,2.50,0.00,0.000,6,0.000,0.044,3072,2011,1825
$GC,18185,1.31,302.4,76.5,11.4,2495,18193,0.00,2.60,0.00,0.000,4,0.000,0.064,3072,604,1825
$GC,18231,1.31,302.4,71.4,12.7,2503,18239,0.00,2.53,0.00,0.000,6,0.000,0.041,3072,2006,1825
$GC,18365,1.31,302.4,55.3,11.0,2528,18372,0.00,2.58,0.00,0.000,4,0.000,0.060,3072,3406,1825
$GC,18410,1.31,302.4,49.1,14.7,2536,18418,0.00,2.50,0.00,0.000,6,0.000,0.040,3072,2014,1825
$GC,18545,1.35,329.9,33.3,9.0,2561,18575,0.00,2.65,24.00,0.676,4,0.000,0.058,3072,592,1716
$GC,18613,1.35,329.9,25.3,10.8,2572,18621,0.00,2.60,0.00,0.000,6,0.000,0.046,3073,2018,1715
$GC,18748,1.36,340.1,9.7,9.6,2597,18764,0.00,2.55,9.93,0.617,4,0.000,0.055,3072,3411,1675
$GC,18787,1.36,340.1,4.5,12.5,2603,18793,0.00,2.53,0.00,0.000,6,0.000,0.043,3072,2013,1673
$STATE,18805,end climb,SURFACE_DEPTH_REACHED
$STATE,18805,begin surface coast
$FINISH,0.5,1.027157
$STATE,18832,end surface coast,CONTROL_FINISHED_OK
$STATE,18833,begin surface
$SM_CCo,18909,0.00,0.000,0,0,1671,340.97
$SM_GC,0.92,10.60,0.00,0.00,0.041,0.000,0.000,571,2008,1671,-10.07,-0.23,340.97
$IRIDIUM_FIX,5915.45,-2006.98,010797,141417
$TT8_MAMPS,0.041418
$HUMID,1572
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,13.00
$XPDR_PINGS,612
$24V_AH,23.5,3.733
$10V_AH,10.5,4.353
$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,24.575,150.875,476.775,0.000,0.000,112.416,128.633,575.100,153.000,0.000,0.000,15.716,4000.764,8263.813,671.366,5948.283,1214.241,0.000,2712.009,0.000,6000.832,0.000,0.466
$DEVICE_MAMPS,191.750,107.380,1287.026,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1803.191,1910.065,1194.625,1660.422,3247.364,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,193045,2611
$CAP_FILE_SIZE,216990,0
$CFSIZE,260165632,256290816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060408,192107,5934.081,-1955.891,40,1.9,40,-14.2