version: 66.03
glider: 141
mission: 7
dive: 27
start: 4 9 108 19 50 16
data:
$ID,141
$MISSION,7
$DIVE,27
$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,225
$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,-6680.0073
$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,25
$R_STBD_OVSHOOT,31
$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
$GPS1,193327,5901.103,-1908.096,29,99.0,48,-13.5
$_CALLS,2
$_XMS_NAKs,53
$_XMS_TOUTs,1
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-45.2
$GPS2,194959,5900.842,-1908.221,10,99.0,29,-13.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5853.206,-1912.167
$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,238.5,20000,-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,25,-1.34,-194.7,0.0,0.0,0,135,0.00,0.00,-107.90,0.000,6,0.000,0.000,571,2048,3856
$GC,137,-1.34,-194.7,3.1,-5.4,15,154,11.18,2.58,0.00,0.000,4,0.202,0.048,2481,3435,3858
$GC,337,-1.29,-194.7,32.9,-12.4,52,345,0.00,2.53,0.00,0.000,6,0.000,0.040,2481,2028,3859
$GC,470,-1.29,-194.7,49.4,-14.0,77,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2026,3859
$GC,604,-1.29,-194.7,64.8,-10.9,102,611,0.00,2.60,0.00,0.000,4,0.000,0.054,2481,3427,3859
$GC,623,-1.25,-194.7,67.1,-12.1,105,632,0.08,2.50,0.00,0.000,6,0.107,0.037,2500,2035,3859
$GC,758,-1.25,-194.7,80.9,-10.4,130,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2031,3859
$GC,891,-1.25,-194.7,94.1,-9.5,155,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2030,3859
$GC,1025,-1.25,-194.7,107.4,-9.6,180,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2030,3859
$GC,1159,-1.25,-194.7,120.8,-9.7,205,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2030,3859
$GC,1292,-1.25,-194.7,133.9,-10.2,230,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2029,3859
$GC,1425,-1.25,-194.7,147.2,-10.2,255,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2029,3859
$GC,1560,-1.25,-194.7,161.0,-9.8,280,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2029,3859
$GC,1892,-1.25,-194.7,193.3,-9.5,341,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2029,3859
$GC,2221,-1.25,-194.7,226.1,-9.6,402,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2029,3859
$GC,2555,-1.25,-194.7,258.9,-9.6,463,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2029,3859
$GC,2882,-1.25,-194.7,291.8,-10.3,524,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2029,3859
$GC,3214,-1.25,-194.7,326.4,-10.3,585,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2029,3859
$GC,3545,-1.25,-194.7,361.4,-10.6,646,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2029,3859
$GC,3883,-1.25,-194.7,396.8,-10.5,707,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2029,3859
$GC,4222,-1.25,-194.7,431.8,-10.1,768,4230,0.00,2.60,0.00,0.000,4,0.000,0.062,2500,3420,3859
$GC,4254,-1.25,-194.7,435.1,-11.3,773,4260,0.00,2.45,0.00,0.000,6,0.000,0.038,2500,2048,3859
$GC,4592,-1.25,-194.7,470.4,-10.4,834,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2046,3859
$GC,4930,-1.25,-194.7,506.4,-11.0,895,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2045,3859
$GC,5270,-1.25,-194.7,542.0,-10.1,956,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2045,3859
$GC,5615,-1.25,-194.7,577.0,-9.7,1017,5620,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2044,3859
$GC,5954,-1.25,-194.7,610.9,-10.1,1069,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2044,3859
$GC,6272,-1.25,-194.7,642.5,-10.1,1099,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2044,3859
$GC,6592,-1.25,-194.7,674.8,-10.0,1129,6596,0.00,2.80,0.00,0.000,4,0.000,0.094,2500,622,3859
$GC,6612,-1.25,-194.7,677.1,-10.4,1130,6619,0.00,2.60,0.00,0.000,6,0.000,0.054,2500,2030,3859
$GC,6937,-1.25,-194.7,709.7,-10.2,1161,6938,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2030,3859
$GC,7255,-1.25,-194.7,741.7,-10.0,1191,7260,0.00,2.70,0.00,0.000,4,0.000,0.084,2500,3446,3858
$GC,7271,-1.25,-194.7,743.3,-10.3,1192,7276,0.00,2.53,0.00,0.000,6,0.000,0.049,2500,2046,3858
$GC,7596,-1.25,-194.7,775.3,-9.5,1222,7601,0.00,2.72,0.00,0.000,4,0.000,0.083,2500,619,3858
$GC,7617,-1.25,-194.7,777.5,-10.2,1223,7624,0.00,2.62,0.00,0.000,6,0.000,0.050,2500,2052,3858
$GC,7943,-1.25,-194.7,808.1,-9.2,1254,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2052,3858
$GC,8261,-1.25,-194.7,837.2,-9.1,1284,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2052,3858
$GC,8580,-1.25,-194.7,866.3,-9.1,1314,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2052,3858
$GC,8898,-1.25,-194.7,896.1,-9.2,1344,8903,0.00,2.62,0.00,0.000,4,0.000,0.079,2500,3442,3857
$GC,8919,-1.25,-194.7,898.2,-9.6,1345,8926,0.00,2.55,0.00,0.000,6,0.000,0.047,2500,2041,3857
$GC,9245,-1.25,-194.7,928.5,-9.4,1376,9246,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2041,3857
$GC,9563,-1.25,-194.7,958.0,-9.0,1406,9568,0.00,2.65,0.00,0.000,4,0.000,0.069,2500,3448,3856
$GC,9590,-1.25,-194.7,960.8,-10.1,1408,9594,0.00,2.55,0.00,0.000,6,0.000,0.048,2500,2045,3857
$STATE,9903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9903,begin apogee
$GC,9906,-0.37,0.0,990.1,9.3,1437,10079,0.93,0.00,169.20,1.276,6,0.100,0.000,2696,2044,3062
$STATE,10080,end apogee,CONTROL_FINISHED_OK
$STATE,10080,begin climb
$GC,10081,1.34,194.7,995.2,0.0,1454,10259,1.70,2.70,168.00,1.248,4,0.076,0.064,3068,3438,2267
$GC,10291,1.28,194.7,979.6,10.4,1474,10298,0.00,2.65,0.00,0.000,6,0.000,0.045,3068,2022,2264
$GC,10617,1.22,194.7,946.8,10.0,1505,10622,0.10,2.70,0.00,0.000,4,0.111,0.075,3048,612,2261
$GC,10649,1.18,194.7,943.3,10.2,1507,10655,0.00,2.62,0.00,0.000,6,0.000,0.044,3048,2054,2261
$GC,10975,1.24,239.8,914.2,8.4,1538,11021,0.00,2.67,40.22,1.192,4,0.000,0.071,3048,3443,2084
$GC,11048,1.25,247.3,907.2,9.7,1544,11065,0.00,2.60,8.62,1.012,6,0.000,0.043,3048,2032,2052
$GC,11383,1.25,254.1,874.2,9.8,1576,11395,0.00,2.75,6.85,0.962,4,0.000,0.069,3048,620,2026
$GC,11432,1.25,254.1,868.9,10.2,1580,11440,0.00,2.60,0.00,0.000,6,0.000,0.044,3048,2036,2026
$GC,11758,1.27,265.2,837.1,9.6,1611,11779,0.00,2.72,11.55,1.067,4,0.000,0.071,3048,3432,1979
$GC,11812,1.27,265.2,831.5,10.2,1616,11816,0.00,2.53,0.00,0.000,6,0.000,0.043,3048,2034,1978
$GC,12136,1.30,290.2,801.2,9.1,1646,12168,0.00,2.72,24.33,1.123,4,0.000,0.068,3048,617,1878
$GC,12206,1.31,297.8,794.5,9.7,1652,12223,0.00,2.58,8.62,0.982,6,0.000,0.044,3048,2017,1847
$GC,12541,1.31,300.3,761.1,9.9,1684,12545,0.00,2.65,0.00,0.000,4,0.000,0.070,3048,3432,1843
$GC,12560,1.31,300.3,758.7,10.9,1685,12568,0.00,2.58,0.00,0.000,6,0.000,0.043,3048,2016,1843
$GC,12886,1.31,300.3,723.2,11.3,1716,12890,0.00,2.62,0.00,0.000,4,0.000,0.067,3048,612,1843
$GC,12924,1.31,300.3,718.7,12.0,1719,12928,0.00,2.53,0.00,0.000,6,0.000,0.044,3048,2012,1842
$GC,13248,1.31,300.3,682.4,11.0,1749,13249,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2013,1842
$GC,13568,1.31,300.3,648.7,10.4,1779,13569,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2014,1842
$GC,13885,1.31,300.3,615.5,10.4,1809,13889,0.00,2.58,0.00,0.000,4,0.000,0.059,3048,618,1842
$GC,13912,1.31,300.3,612.5,10.9,1811,13916,0.00,2.50,0.00,0.000,6,0.000,0.043,3048,2009,1842
$GC,14246,1.31,300.3,578.3,10.3,1860,14254,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2011,1842
$GC,14591,1.31,300.3,542.2,10.4,1921,14596,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2012,1842
$GC,14931,1.31,300.3,505.5,11.1,1982,14937,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2012,1842
$GC,15270,1.31,300.3,469.2,10.8,2043,15276,0.00,2.55,0.00,0.000,4,0.000,0.057,3048,617,1842
$GC,15305,1.31,300.3,465.6,10.4,2049,15312,0.00,2.47,0.00,0.000,6,0.000,0.040,3048,2014,1842
$GC,15645,1.32,308.5,430.9,9.7,2110,15664,0.00,0.00,9.93,0.843,6,0.000,0.000,3048,2016,1804
$GC,16000,1.32,308.5,395.1,10.1,2173,16006,0.00,2.58,0.00,0.000,4,0.000,0.056,3048,610,1803
$GC,16024,1.32,308.5,392.3,11.0,2177,16030,0.00,2.47,0.00,0.000,6,0.000,0.038,3048,2006,1803
$GC,16365,1.33,317.7,357.4,9.7,2238,16376,0.00,0.00,9.40,0.795,6,0.000,0.000,3048,2009,1767
$GC,16702,1.38,355.5,323.9,8.7,2300,16740,0.12,0.00,35.08,0.849,6,0.061,0.000,3088,2009,1612
$GC,17063,1.38,355.5,280.1,11.5,2366,17071,0.00,2.60,0.00,0.000,4,0.000,0.061,3088,613,1607
$GC,17105,1.38,355.5,275.1,12.1,2373,17111,0.00,2.45,0.00,0.000,6,0.000,0.038,3088,1993,1607
$GC,17435,1.38,355.5,232.9,12.8,2434,17443,0.00,2.62,0.00,0.000,4,0.000,0.058,3088,3424,1606
$GC,17467,1.38,355.5,228.7,16.5,2439,17473,0.00,2.55,0.00,0.000,6,0.000,0.038,3088,1985,1606
$GC,17797,1.38,355.5,185.4,10.8,2500,17805,0.00,2.53,0.00,0.000,4,0.000,0.060,3088,618,1606
$GC,17839,1.38,355.5,180.3,13.7,2507,17845,0.00,2.42,0.00,0.000,6,0.000,0.038,3088,1991,1606
$GC,18167,1.38,355.5,140.1,16.2,2568,18176,0.00,2.65,0.00,0.000,4,0.000,0.061,3088,3432,1605
$GC,18198,1.38,355.5,135.5,15.4,2573,18206,0.00,2.60,0.00,0.000,6,0.000,0.044,3088,1986,1605
$GC,18332,1.38,355.5,116.5,14.9,2598,18340,0.00,2.53,0.00,0.000,4,0.000,0.063,3088,624,1605
$GC,18358,1.38,355.5,112.7,14.7,2602,18366,0.00,2.47,0.00,0.000,6,0.000,0.038,3088,2000,1606
$GC,18492,1.38,355.5,95.8,10.0,2627,18499,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2002,1606
$GC,18625,1.39,363.2,81.9,9.7,2652,18641,0.00,2.67,7.10,0.621,4,0.000,0.060,3088,3432,1580
$GC,18659,1.39,365.7,78.4,9.9,2657,18668,0.00,2.58,3.95,0.482,6,0.000,0.041,3088,2006,1571
$GC,18795,1.39,365.7,60.2,16.8,2682,18803,0.00,2.55,0.00,0.000,4,0.000,0.058,3088,625,1570
$GC,18841,1.39,365.7,52.2,19.1,2690,18849,0.00,2.45,0.00,0.000,6,0.000,0.045,3088,1989,1570
$GC,18976,1.39,365.7,30.4,15.1,2715,18983,0.00,2.62,0.00,0.000,4,0.000,0.060,3088,3429,1569
$GC,19006,1.39,365.7,25.6,16.3,2720,19014,0.00,2.60,0.00,0.000,6,0.000,0.042,3088,1978,1569
$GC,19140,1.39,365.7,10.1,10.2,2745,19147,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1977,1569
$STATE,19200,end climb,SURFACE_DEPTH_REACHED
$STATE,19200,begin surface coast
$FINISH,-0.2,1.018670
$STATE,19222,end surface coast,CONTROL_FINISHED_OK
$STATE,19222,begin surface
$SM_CCo,19300,0.00,0.000,0,0,1566,366.72
$SM_GC,0.57,10.52,0.00,0.00,0.037,0.000,0.000,574,2041,1566,-10.06,0.37,366.72
$IRIDIUM_FIX,5837.82,-1909.71,040797,191913
$TT8_MAMPS,0.041418
$HUMID,1587
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,13.30
$XPDR_PINGS,723
$24V_AH,23.5,6.589
$10V_AH,10.5,8.795
$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,24.625,139.975,502.850,0.000,0.000,53.640,79.460,644.410,180.750,0.000,0.000,31.636,4211.481,7961.352,681.345,6318.390,1086.748,0.000,2821.666,0.000,6340.932,0.000,0.465
$DEVICE_MAMPS,202.488,94.341,1275.521,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1905.732,1999.674,1222.601,1747.401,3419.879,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,205539,2760
$CAP_FILE_SIZE,225022,0
$CFSIZE,260165632,254603264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100408,011307,5856.140,-1918.360,38,1.3,38,-13.6