version: 66.03
glider: 141
mission: 7
dive: 29
start: 4 10 108 6 53 14
data:
$ID,141
$MISSION,7
$DIVE,29
$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,-6725.9951
$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,23
$R_STBD_OVSHOOT,35
$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
$GPS1,064407,5851.439,-1931.710,26,1.4,26,-13.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-42.8
$GPS2,065257,5851.301,-1932.077,11,1.9,29,-13.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5843.665,-1936.041
$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,238.7,20000,-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,-194.7,0.0,0.0,0,150,0.00,0.00,-122.72,0.000,6,0.000,0.000,572,2046,3856
$GC,152,-1.34,-194.7,3.6,-7.7,17,169,11.05,2.58,0.00,0.000,4,0.196,0.047,2482,3435,3859
$GC,382,-1.30,-194.7,40.8,-11.3,60,391,0.00,2.55,0.00,0.000,6,0.000,0.038,2483,2024,3860
$GC,516,-1.30,-194.7,55.5,-10.5,85,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2020,3860
$GC,650,-1.30,-194.7,69.2,-8.8,110,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2018,3860
$GC,784,-1.30,-194.7,83.3,-8.6,135,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2018,3860
$GC,917,-1.30,-194.7,94.9,-7.5,160,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2017,3860
$GC,1050,-1.30,-194.7,107.3,-10.9,185,1058,0.00,2.58,0.00,0.000,4,0.000,0.052,2482,627,3860
$GC,1070,-1.30,-194.7,109.5,-10.4,188,1079,0.00,2.53,0.00,0.000,6,0.000,0.043,2482,2028,3859
$GC,1205,-1.30,-194.7,123.9,-11.4,213,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2030,3860
$GC,1338,-1.30,-194.7,141.4,-12.8,238,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2031,3859
$GC,1475,-1.30,-194.7,160.9,-15.2,263,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2031,3859
$GC,1803,-1.30,-194.7,206.8,-13.3,324,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2031,3860
$GC,2137,-1.30,-194.7,240.7,-9.7,385,2143,0.00,2.58,0.00,0.000,4,0.000,0.051,2483,624,3859
$GC,2177,-1.30,-194.7,244.9,-10.0,392,2184,0.00,2.55,0.00,0.000,6,0.000,0.041,2482,2042,3859
$GC,2510,-1.30,-194.7,280.7,-11.2,453,2516,0.00,2.58,0.00,0.000,4,0.000,0.050,2482,624,3859
$GC,2534,-1.30,-194.7,283.4,-11.3,457,2540,0.00,2.50,0.00,0.000,6,0.000,0.037,2482,2035,3859
$GC,2864,-1.30,-194.7,319.6,-10.4,518,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2039,3859
$GC,3195,-1.30,-194.7,354.6,-10.3,579,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2039,3859
$GC,3536,-1.30,-194.7,391.2,-10.5,640,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2039,3859
$GC,3881,-1.30,-194.7,429.4,-11.0,701,3887,0.00,2.58,0.00,0.000,4,0.000,0.052,2482,631,3859
$GC,3898,-1.30,-194.7,431.5,-10.7,704,3907,0.00,2.53,0.00,0.000,6,0.000,0.045,2482,2028,3859
$GC,4244,-1.30,-194.7,468.8,-10.4,765,4250,0.00,2.60,0.00,0.000,4,0.000,0.065,2482,3435,3859
$GC,4260,-1.30,-194.7,471.0,-11.1,768,4269,0.00,2.50,0.00,0.000,6,0.000,0.044,2482,2045,3859
$GC,4606,-1.30,-194.7,508.1,-10.4,829,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2043,3859
$GC,4947,-1.30,-194.7,544.1,-10.5,890,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2043,3859
$GC,5286,-1.30,-194.7,580.2,-10.6,951,5292,0.00,2.65,0.00,0.000,4,0.000,0.073,2482,626,3859
$GC,5314,-1.30,-194.7,583.1,-11.5,956,5322,0.00,2.55,0.00,0.000,6,0.000,0.045,2482,2025,3858
$GC,5647,-1.30,-194.7,618.4,-10.8,1001,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2027,3859
$GC,5968,-1.30,-194.7,652.4,-10.7,1031,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2027,3859
$GC,6285,-1.30,-194.7,687.0,-11.2,1061,6289,0.00,2.70,0.00,0.000,4,0.000,0.081,2481,3441,3859
$GC,6356,-1.30,-194.7,695.3,-12.0,1067,6361,0.00,2.55,0.00,0.000,6,0.000,0.055,2482,2054,3858
$GC,6681,-1.30,-194.7,730.1,-10.4,1097,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2050,3858
$GC,6999,-1.30,-194.7,763.2,-10.3,1127,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2049,3858
$GC,7318,-1.30,-194.7,795.5,-10.2,1157,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2049,3857
$GC,7636,-1.30,-194.7,827.8,-10.2,1187,7640,0.00,2.62,0.00,0.000,4,0.000,0.070,2482,3438,3858
$GC,7663,-1.30,-194.7,830.7,-11.1,1189,7667,0.00,2.55,0.00,0.000,6,0.000,0.048,2482,2036,3858
$GC,7987,-1.30,-194.7,862.9,-9.9,1219,7992,0.00,2.75,0.00,0.000,4,0.000,0.089,2482,616,3857
$GC,8004,-1.30,-194.7,864.5,-9.7,1220,8008,0.00,2.58,0.00,0.000,6,0.000,0.051,2482,2032,3857
$GC,8328,-1.30,-194.7,896.8,-10.2,1250,8332,0.00,2.67,0.00,0.000,4,0.000,0.081,2482,3442,3857
$GC,8343,-1.30,-194.7,898.5,-10.3,1251,8348,0.00,2.55,0.00,0.000,6,0.000,0.048,2482,2026,3857
$GC,8668,-1.30,-194.7,931.1,-10.3,1281,8672,0.00,2.67,0.00,0.000,4,0.000,0.071,2482,3439,3857
$GC,8688,-1.30,-194.7,933.4,-10.7,1282,8695,0.00,2.58,0.00,0.000,6,0.000,0.048,2482,2041,3857
$GC,9013,-1.30,-194.7,965.9,-9.9,1313,9015,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2040,3857
$STATE,9266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9266,begin apogee
$GC,9270,-0.37,0.0,990.2,9.2,1337,9443,1.02,0.00,169.50,1.281,6,0.104,0.000,2698,2039,3062
$STATE,9444,end apogee,CONTROL_FINISHED_OK
$STATE,9444,begin climb
$GC,9446,1.34,194.7,994.1,0.0,1354,9623,1.70,2.83,168.05,1.247,4,0.077,0.077,3070,610,2268
$GC,9646,1.27,194.7,977.2,10.9,1373,9650,0.00,2.62,0.00,0.000,6,0.000,0.047,3069,2031,2265
$GC,9972,1.22,194.7,938.7,11.9,1403,9977,0.12,2.67,0.00,0.000,4,0.107,0.071,3046,3437,2262
$GC,10014,1.22,194.7,933.3,11.4,1406,10022,0.00,2.60,0.00,0.000,6,0.000,0.042,3046,2026,2261
$GC,10341,1.22,194.7,898.0,10.6,1437,10346,0.00,2.70,0.00,0.000,4,0.000,0.071,3046,611,2261
$GC,10384,1.22,194.7,892.8,10.9,1440,10391,0.00,2.62,0.00,0.000,6,0.000,0.044,3045,2030,2261
$GC,10709,1.23,208.7,860.6,9.5,1471,10731,0.00,2.72,12.60,1.093,4,0.000,0.072,3045,3429,2210
$GC,10757,1.23,208.7,855.6,10.6,1475,10765,0.00,2.58,0.00,0.000,6,0.000,0.049,3045,2031,2210
$GC,11083,1.28,245.4,826.1,8.7,1506,11125,0.00,2.78,34.25,1.152,4,0.000,0.069,3045,609,2061
$GC,11170,1.29,256.9,818.2,9.6,1514,11191,0.00,2.60,11.68,1.047,6,0.000,0.044,3045,2025,2014
$GC,11508,1.31,267.9,785.8,9.6,1546,11524,0.00,2.70,11.07,1.035,4,0.000,0.071,3045,3433,1968
$GC,11551,1.31,267.9,781.5,10.4,1549,11558,0.00,2.62,0.00,0.000,6,0.000,0.042,3045,2008,1967
$GC,11876,1.31,267.9,749.4,10.1,1580,11877,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2007,1966
$GC,12195,1.33,289.7,718.9,9.2,1610,12218,0.10,0.00,20.70,1.068,6,0.070,0.000,3077,2007,1881
$GC,12533,1.33,289.7,682.3,10.8,1642,12534,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2008,1878
$GC,12852,1.33,289.7,648.1,10.9,1672,12856,0.00,2.70,0.00,0.000,4,0.000,0.061,3077,3439,1878
$GC,12883,1.33,289.7,644.3,12.4,1674,12890,0.00,2.60,0.00,0.000,6,0.000,0.042,3077,2023,1877
$GC,13207,1.33,289.7,606.9,11.8,1705,13212,0.00,2.65,0.00,0.000,4,0.000,0.065,3077,610,1877
$GC,13246,1.33,289.7,602.0,12.3,1708,13251,0.00,2.55,0.00,0.000,6,0.000,0.043,3077,2024,1878
$GC,13584,1.33,289.7,559.8,12.2,1766,13590,0.00,2.62,0.00,0.000,4,0.000,0.066,3077,3434,1877
$GC,13612,1.33,289.7,556.2,13.2,1771,13618,0.00,2.55,0.00,0.000,6,0.000,0.041,3077,2015,1877
$GC,13951,1.33,289.7,514.4,12.1,1832,13959,0.00,2.65,0.00,0.000,4,0.000,0.062,3077,612,1877
$GC,13983,1.33,289.7,510.7,12.0,1837,13989,0.00,2.55,0.00,0.000,6,0.000,0.041,3077,2028,1877
$GC,14323,1.33,289.7,468.8,12.3,1898,14329,0.00,2.60,0.00,0.000,4,0.000,0.063,3076,3442,1877
$GC,14350,1.33,289.7,465.3,12.6,1903,14357,0.00,2.55,0.00,0.000,6,0.000,0.046,3077,2016,1877
$GC,14689,1.33,289.7,426.2,11.8,1964,14697,0.00,2.60,0.00,0.000,4,0.000,0.065,3077,615,1877
$GC,14721,1.33,289.7,422.6,11.5,1969,14728,0.00,2.53,0.00,0.000,6,0.000,0.040,3077,2036,1877
$GC,15060,1.33,289.7,382.7,11.4,2030,15066,0.00,2.55,0.00,0.000,4,0.000,0.059,3077,3429,1877
$GC,15101,1.33,289.7,377.9,12.5,2037,15107,0.00,2.53,0.00,0.000,6,0.000,0.038,3077,2011,1877
$GC,15438,1.33,289.7,338.9,11.8,2098,15446,0.00,2.58,0.00,0.000,4,0.000,0.058,3077,621,1877
$GC,15469,1.33,289.7,335.3,12.2,2103,15475,0.00,2.50,0.00,0.000,6,0.000,0.038,3077,2030,1877
$GC,15799,1.33,289.7,295.2,12.8,2164,15807,0.00,2.58,0.00,0.000,4,0.000,0.058,3077,3431,1877
$GC,15833,1.33,289.7,290.7,13.1,2170,15842,0.00,2.53,0.00,0.000,6,0.000,0.042,3077,2023,1877
$GC,16167,1.33,289.7,252.4,11.0,2231,16172,0.00,2.53,0.00,0.000,4,0.000,0.057,3077,621,1877
$GC,16201,1.33,289.7,248.3,11.2,2237,16208,0.00,2.47,0.00,0.000,6,0.000,0.038,3077,2024,1878
$GC,16531,1.33,289.7,209.3,11.6,2298,16540,0.00,2.58,0.00,0.000,4,0.000,0.062,3078,3423,1877
$GC,16564,1.33,289.7,205.5,12.3,2303,16570,0.00,2.50,0.00,0.000,6,0.000,0.036,3077,2009,1877
$GC,16893,1.33,289.7,165.3,12.8,2364,16901,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2006,1877
$GC,17219,1.33,289.7,123.0,11.7,2425,17226,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2005,1877
$GC,17352,1.33,289.7,104.5,13.1,2450,17360,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2005,1878
$GC,17486,1.33,289.7,88.4,11.1,2475,17493,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2005,1877
$GC,17619,1.33,289.7,71.2,15.4,2500,17627,0.00,2.65,0.00,0.000,4,0.000,0.055,3078,3428,1877
$GC,17644,1.33,289.7,67.6,14.4,2504,17652,0.00,2.53,0.00,0.000,6,0.000,0.043,3077,2026,1877
$GC,17778,1.33,289.7,49.0,12.7,2529,17786,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2025,1878
$GC,17912,1.33,289.7,33.6,10.1,2554,17919,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2024,1878
$GC,18046,1.35,300.9,19.6,9.6,2579,18061,0.00,0.00,10.90,0.634,6,0.000,0.000,3077,2024,1835
$STATE,18186,end climb,SURFACE_DEPTH_REACHED
$STATE,18186,begin surface coast
$FINISH,0.0,1.027160
$STATE,18214,end surface coast,CONTROL_FINISHED_OK
$STATE,18214,begin surface
$SM_CCo,18291,0.00,0.000,0,0,1832,301.72
$SM_GC,0.70,10.40,0.00,0.00,0.031,0.000,0.000,570,2020,1832,-10.06,-0.28,301.72
$IRIDIUM_FIX,5833.68,-1918.78,050797,010155
$TT8_MAMPS,0.042185
$HUMID,1572
$INTERNAL_PRESSURE,10.059
$TCM_TEMP,13.20
$XPDR_PINGS,681
$24V_AH,23.5,6.989
$10V_AH,10.5,9.423
$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,24.400,155.750,438.750,0.000,0.000,25.360,40.975,316.703,170.250,0.000,0.000,31.590,3993.867,7420.958,654.063,6005.729,714.020,0.000,2690.006,0.000,6062.920,0.000,0.466
$DEVICE_MAMPS,196.352,88.972,1280.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1801.533,1911.738,1185.662,1692.813,3312.900,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,192713,2610
$CAP_FILE_SIZE,206413,0
$CFSIZE,260165632,254382080
$ERRORS,0,7,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100408,115917,5847.244,-1945.387,30,1.2,39,-13.8