version: 66.03
glider: 141
mission: 7
dive: 24
start: 4 9 108 3 4 4
data:
$ID,141
$MISSION,7
$DIVE,24
$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,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,-6602.9067
$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,33
$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
$GPS1,024601,5901.764,-1855.725,40,1.4,40,-13.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-55.2
$GPS2,030347,5901.735,-1855.435,10,99.0,29,-13.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5909.371,-1851.520
$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,58.4,20000,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.34,-194.7,0.0,0.0,0,114,0.00,0.00,-87.90,0.000,2,0.000,0.000,571,2015,3818
$GC,116,-1.34,-194.7,3.5,-6.9,12,134,11.12,2.60,-0.85,0.000,4,0.199,0.061,2485,631,3857
$GC,312,-1.34,-194.7,31.6,-11.3,48,320,0.00,2.53,0.00,0.000,6,0.000,0.038,2485,2034,3859
$GC,445,-1.34,-194.7,46.5,-10.1,73,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2036,3859
$GC,579,-1.34,-194.7,61.1,-10.6,98,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2036,3859
$GC,711,-1.34,-194.7,76.6,-11.3,123,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2036,3859
$GC,844,-1.34,-194.7,91.8,-11.8,148,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2036,3859
$GC,977,-1.34,-194.7,107.4,-12.2,173,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2036,3859
$GC,1111,-1.34,-194.7,123.2,-11.4,198,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2036,3859
$GC,1244,-1.34,-194.7,138.6,-11.3,223,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2036,3858
$GC,1375,-1.34,-194.7,153.9,-11.3,248,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2036,3859
$GC,1708,-1.34,-194.7,190.9,-11.6,309,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2036,3859
$GC,2035,-1.34,-194.7,228.1,-10.6,370,2044,0.00,2.60,0.00,0.000,4,0.000,0.054,2485,634,3859
$GC,2078,-1.34,-194.7,232.8,-11.4,377,2084,0.00,2.45,0.00,0.000,6,0.000,0.036,2484,2020,3859
$GC,2408,-1.34,-194.7,267.8,-10.2,438,2416,0.00,2.60,0.00,0.000,4,0.000,0.058,2485,3433,3859
$GC,2450,-1.34,-194.7,272.3,-11.5,445,2456,0.00,2.50,0.00,0.000,6,0.000,0.035,2485,2012,3858
$GC,2778,-1.34,-194.7,308.7,-10.9,506,2786,0.00,2.55,0.00,0.000,4,0.000,0.053,2485,627,3858
$GC,2813,-1.34,-194.7,312.7,-12.0,512,2821,0.00,2.50,0.00,0.000,6,0.000,0.041,2485,2019,3858
$GC,3146,-1.34,-194.7,348.6,-10.4,573,3152,0.00,2.58,0.00,0.000,4,0.000,0.057,2484,3441,3859
$GC,3185,-1.34,-194.7,353.2,-11.3,580,3193,0.00,2.55,0.00,0.000,6,0.000,0.038,2484,2013,3859
$GC,3530,-1.34,-194.7,388.6,-10.5,641,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2010,3859
$GC,3868,-1.34,-194.7,425.3,-11.5,702,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2008,3859
$GC,4207,-1.34,-194.7,462.0,-10.3,763,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2008,3859
$GC,4546,-1.34,-194.7,496.7,-10.3,824,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2008,3858
$GC,4889,-1.34,-194.7,531.0,-10.2,885,4895,0.00,2.67,0.00,0.000,4,0.000,0.065,2484,3438,3858
$GC,4935,-1.34,-194.7,535.9,-10.8,893,4941,0.00,2.55,0.00,0.000,6,0.000,0.042,2484,2017,3858
$GC,5273,-1.34,-194.7,570.1,-10.3,954,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2014,3858
$GC,5614,-1.34,-194.7,606.1,-10.9,1011,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2014,3858
$GC,5933,-1.34,-194.7,641.1,-11.4,1041,5938,0.00,2.70,0.00,0.000,4,0.000,0.075,2485,3430,3859
$GC,5960,-1.34,-194.7,644.4,-12.9,1043,5965,0.00,2.55,0.00,0.000,6,0.000,0.049,2485,2028,3858
$GC,6285,-1.34,-194.7,679.9,-10.7,1073,6289,0.00,2.75,0.00,0.000,4,0.000,0.095,2484,620,3858
$GC,6328,-1.34,-194.7,684.6,-10.8,1076,6335,0.00,2.58,0.00,0.000,6,0.000,0.056,2485,2021,3858
$GC,6654,-1.34,-194.7,717.4,-10.4,1107,6659,0.00,2.75,0.00,0.000,4,0.000,0.093,2485,3439,3858
$GC,6708,-1.34,-194.7,723.8,-11.5,1111,6715,0.00,2.58,0.00,0.000,6,0.000,0.049,2485,2028,3858
$GC,7034,-1.34,-194.7,757.7,-10.3,1142,7038,0.00,2.72,0.00,0.000,4,0.000,0.087,2485,616,3858
$GC,7072,-1.34,-194.7,761.9,-10.8,1145,7076,0.00,2.58,0.00,0.000,6,0.000,0.051,2484,2034,3858
$GC,7397,-1.34,-194.7,794.8,-10.0,1175,7401,0.00,2.67,0.00,0.000,4,0.000,0.080,2484,3448,3858
$GC,7439,-1.34,-194.7,799.4,-10.7,1178,7446,0.00,2.58,0.00,0.000,6,0.000,0.047,2484,2035,3858
$GC,7766,-1.34,-194.7,832.1,-10.3,1209,7770,0.00,2.70,0.00,0.000,4,0.000,0.081,2485,621,3858
$GC,7799,-1.34,-194.7,835.7,-10.8,1211,7805,0.00,2.58,0.00,0.000,6,0.000,0.051,2484,2042,3858
$GC,8123,-1.34,-194.7,868.7,-9.9,1242,8127,0.00,2.67,0.00,0.000,4,0.000,0.068,2484,619,3857
$GC,8161,-1.34,-194.7,872.7,-10.0,1245,8166,0.00,2.55,0.00,0.000,6,0.000,0.050,2484,2029,3857
$GC,8486,-1.34,-194.7,904.3,-9.7,1275,8490,0.00,2.67,0.00,0.000,4,0.000,0.082,2484,3441,3857
$GC,8529,-1.34,-194.7,908.9,-10.0,1278,8535,0.00,2.58,0.00,0.000,6,0.000,0.048,2484,2012,3857
$GC,8854,-1.34,-194.7,938.0,-8.9,1309,8855,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2012,3856
$GC,9173,-1.34,-194.7,966.7,-9.3,1339,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2011,3856
$STATE,9425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9425,begin apogee
$GC,9429,-0.37,0.0,990.4,9.1,1363,9602,1.00,0.00,169.32,1.282,6,0.101,0.000,2696,2010,3062
$STATE,9603,end apogee,CONTROL_FINISHED_OK
$STATE,9603,begin climb
$GC,9604,1.34,194.7,994.6,0.0,1380,9783,1.67,2.75,169.15,1.252,4,0.077,0.078,3069,614,2267
$GC,9788,1.27,194.7,981.2,10.3,1398,9795,0.00,2.62,0.00,0.000,6,0.000,0.046,3069,2028,2266
$GC,10113,1.21,194.7,945.3,11.3,1429,10118,0.12,2.67,0.00,0.000,4,0.107,0.073,3045,3439,2261
$GC,10140,1.21,194.7,942.1,11.2,1431,10145,0.00,2.58,0.00,0.000,6,0.000,0.044,3045,2024,2261
$GC,10464,1.22,201.3,910.1,9.8,1461,10475,0.00,0.00,6.12,0.940,6,0.000,0.000,3045,2024,2240
$GC,10793,1.22,202.3,877.4,10.0,1492,10795,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2023,2239
$GC,11112,1.24,216.8,846.8,9.5,1522,11136,0.00,0.00,17.27,1.014,6,0.000,0.000,3045,2023,2178
$GC,11451,1.25,225.1,813.8,9.7,1554,11462,0.00,0.00,9.02,1.023,6,0.000,0.000,3045,2023,2144
$GC,11780,1.25,225.1,781.6,10.3,1585,11781,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2023,2142
$GC,12098,1.25,225.1,747.7,10.4,1615,12102,0.00,2.65,0.00,0.000,4,0.000,0.062,3045,3440,2142
$GC,12113,1.25,225.1,746.0,10.6,1616,12118,0.00,2.53,0.00,0.000,6,0.000,0.044,3045,2039,2141
$GC,12438,1.26,231.7,713.1,9.8,1646,12448,0.00,0.00,7.22,0.932,6,0.000,0.000,3045,2039,2117
$GC,12767,1.26,231.7,680.1,10.0,1677,12771,0.00,2.67,0.00,0.000,4,0.000,0.067,3045,614,2116
$GC,12787,1.26,231.7,677.9,10.1,1678,12794,0.00,2.62,0.00,0.000,6,0.000,0.044,3045,2047,2116
$GC,13112,1.26,237.7,646.0,9.8,1709,13123,0.00,0.00,7.20,0.901,6,0.000,0.000,3045,2047,2092
$GC,13441,1.28,254.5,613.5,9.4,1740,13463,0.00,2.80,16.50,1.000,4,0.000,0.061,3045,609,2024
$GC,13474,1.31,279.8,610.3,9.1,1743,13506,0.00,2.62,24.12,1.005,6,0.000,0.044,3045,2043,1921
$GC,13835,1.31,279.8,575.8,10.0,1798,13841,0.00,2.65,0.00,0.000,4,0.000,0.061,3045,617,1916
$GC,13854,1.31,279.8,574.1,10.2,1801,13860,0.00,2.55,0.00,0.000,6,0.000,0.044,3045,2031,1917
$GC,14193,1.34,301.5,542.9,9.2,1862,14217,0.12,0.00,20.60,0.964,6,0.063,0.000,3083,2031,1832
$GC,14550,1.34,301.5,503.1,11.1,1926,14556,0.00,2.62,0.00,0.000,4,0.000,0.060,3083,617,1828
$GC,14561,1.34,301.5,501.8,11.4,1928,14568,0.00,2.55,0.00,0.000,6,0.000,0.041,3083,2021,1827
$GC,14903,1.34,301.5,464.0,11.8,1989,14908,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2024,1827
$GC,15242,1.34,301.5,424.7,10.7,2050,15248,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2024,1827
$GC,15582,1.34,301.5,385.6,11.7,2111,15587,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2024,1827
$GC,15919,1.34,301.5,344.4,11.9,2172,15927,0.00,2.62,0.00,0.000,4,0.000,0.061,3083,614,1827
$GC,15932,1.34,301.5,342.7,12.8,2174,15940,0.00,2.58,0.00,0.000,6,0.000,0.045,3083,2040,1827
$GC,16266,1.34,301.5,302.2,12.4,2235,16271,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2043,1827
$GC,16594,1.34,301.5,260.9,11.9,2296,16603,0.00,2.67,0.00,0.000,4,0.000,0.058,3083,616,1827
$GC,16616,1.34,301.5,258.5,12.6,2299,16622,0.00,2.55,0.00,0.000,6,0.000,0.038,3083,2042,1827
$GC,16945,1.34,301.5,217.6,10.4,2360,16952,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2044,1827
$GC,17277,1.34,301.5,175.9,12.3,2421,17283,0.00,2.65,0.00,0.000,4,0.000,0.055,3083,609,1827
$GC,17301,1.34,301.5,172.7,12.0,2425,17307,0.00,2.55,0.00,0.000,6,0.000,0.039,3083,2033,1827
$GC,17627,1.34,301.5,131.1,14.1,2486,17634,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2035,1827
$GC,17760,1.34,301.5,113.9,13.6,2511,17768,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2035,1827
$GC,17893,1.34,301.5,97.4,11.2,2536,17901,0.00,2.65,0.00,0.000,4,0.000,0.058,3083,608,1827
$GC,17910,1.34,301.5,95.5,12.1,2538,17918,0.00,2.55,0.00,0.000,6,0.000,0.046,3083,2023,1827
$GC,18044,1.34,301.5,78.2,12.7,2563,18051,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2025,1827
$GC,18177,1.34,301.5,62.2,12.7,2588,18185,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2025,1827
$GC,18310,1.34,301.5,46.7,10.4,2613,18318,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2025,1827
$GC,18444,1.34,301.5,29.4,13.8,2638,18452,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2025,1827
$GC,18577,1.34,301.5,15.1,14.2,2663,18585,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2025,1827
$STATE,18678,end climb,SURFACE_DEPTH_REACHED
$STATE,18678,begin surface coast
$FINISH,-0.0,1.006964
$STATE,18701,end surface coast,CONTROL_FINISHED_OK
$STATE,18701,begin surface
$SM_CCo,18778,0.00,0.000,0,0,1825,303.44
$SM_GC,0.71,10.52,0.00,0.00,0.037,0.000,0.000,565,2030,1825,-10.07,0.00,303.44
$IRIDIUM_FIX,5833.68,-1726.72,040797,030355
$TT8_MAMPS,0.040651
$HUMID,1587
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,13.00
$XPDR_PINGS,653
$24V_AH,23.5,5.938
$10V_AH,10.6,7.813
$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,24.575,130.600,446.550,0.000,0.000,83.057,133.897,573.510,163.250,0.000,0.000,31.874,4089.579,7841.211,647.637,6142.737,1092.106,0.000,2687.685,0.000,6168.380,0.000,0.465
$DEVICE_MAMPS,198.653,95.108,1282.424,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1858.650,1949.441,1195.917,1709.732,3345.681,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,199217,2686
$CAP_FILE_SIZE,210613,0
$CFSIZE,260165632,254984192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090408,081809,5904.086,-1851.097,34,1.7,34,-13.4