version: 66.03
glider: 141
mission: 7
dive: 33
start: 4 11 108 5 2 15
data:
$ID,141
$MISSION,7
$DIVE,33
$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,315
$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,-6845.8726
$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,27
$R_STBD_OVSHOOT,25
$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
$GPS1,045237,5837.218,-2018.243,40,1.9,46,-14.0
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-50.7
$GPS2,050157,5837.179,-2018.407,10,1.9,10,-14.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5844.815,-2022.369
$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,329.0,20000,-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,-194.7,0.0,0.0,0,143,0.00,0.00,-115.10,0.000,6,0.000,0.000,572,2038,3856
$GC,145,-1.34,-194.7,3.9,-8.1,16,162,10.88,2.53,0.00,0.000,4,0.192,0.044,2476,3435,3858
$GC,396,-1.29,-194.7,43.9,-13.1,63,404,0.08,2.53,0.00,0.000,6,0.110,0.041,2494,2029,3859
$GC,531,-1.29,-194.7,61.0,-12.5,88,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2026,3859
$GC,664,-1.29,-194.7,79.0,-13.9,113,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2023,3859
$GC,797,-1.29,-194.7,95.1,-11.2,138,805,0.00,2.60,0.00,0.000,4,0.000,0.056,2494,3433,3859
$GC,838,-1.29,-194.7,99.9,-12.3,145,846,0.00,2.55,0.00,0.000,6,0.000,0.041,2494,2010,3859
$GC,971,-1.29,-194.7,115.6,-12.2,170,979,0.00,2.55,0.00,0.000,4,0.000,0.057,2494,624,3859
$GC,1018,-1.29,-194.7,121.3,-12.3,178,1025,0.00,2.50,0.00,0.000,6,0.000,0.043,2494,2013,3859
$GC,1151,-1.29,-194.7,137.0,-11.0,203,1159,0.00,2.60,0.00,0.000,4,0.000,0.052,2494,3434,3859
$GC,1192,-1.29,-194.7,141.9,-11.8,210,1200,0.00,2.53,0.00,0.000,6,0.000,0.040,2494,2013,3859
$GC,1329,-1.29,-194.7,157.4,-11.3,235,1335,0.00,2.50,0.00,0.000,4,0.000,0.050,2494,624,3859
$GC,1366,-1.29,-194.7,161.9,-11.6,242,1375,0.00,2.50,0.00,0.000,6,0.000,0.037,2494,2022,3859
$GC,1701,-1.29,-194.7,197.4,-10.5,303,1707,0.00,2.55,0.00,0.000,4,0.000,0.052,2494,3434,3859
$GC,1746,-1.29,-194.7,202.6,-11.4,311,1752,0.00,2.50,0.00,0.000,6,0.000,0.035,2494,2009,3859
$GC,2077,-1.29,-194.7,236.3,-9.5,372,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2002,3859
$GC,2411,-1.29,-194.7,268.8,-10.0,433,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2002,3859
$GC,2739,-1.29,-194.7,302.7,-10.7,494,2747,0.00,2.65,0.00,0.000,4,0.000,0.056,2494,3433,3859
$GC,2782,-1.29,-194.7,307.2,-11.0,501,2788,0.00,2.50,0.00,0.000,6,0.000,0.035,2494,2018,3859
$GC,3110,-1.29,-194.7,342.8,-11.2,562,3118,0.00,2.55,0.00,0.000,4,0.000,0.052,2494,627,3859
$GC,3163,-1.29,-194.7,348.4,-11.2,571,3169,0.00,2.47,0.00,0.000,6,0.000,0.037,2494,2028,3859
$GC,3503,-1.29,-194.7,384.6,-10.7,632,3511,0.00,2.60,0.00,0.000,4,0.000,0.062,2494,3434,3859
$GC,3544,-1.29,-194.7,389.1,-11.3,639,3550,0.00,2.50,0.00,0.000,6,0.000,0.036,2494,2014,3859
$GC,3883,-1.29,-194.7,424.7,-10.1,700,3891,0.00,2.53,0.00,0.000,4,0.000,0.060,2494,632,3859
$GC,3924,-1.29,-194.7,429.1,-10.4,707,3930,0.00,2.45,0.00,0.000,6,0.000,0.038,2494,2019,3859
$GC,4263,-1.29,-194.7,464.4,-10.4,768,4271,0.00,2.65,0.00,0.000,4,0.000,0.064,2494,3432,3858
$GC,4317,-1.29,-194.7,470.3,-11.6,777,4323,0.00,2.53,0.00,0.000,6,0.000,0.038,2494,2019,3858
$GC,4658,-1.29,-194.7,508.0,-11.0,838,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2018,3859
$GC,4997,-1.29,-194.7,544.7,-10.6,899,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2018,3859
$GC,5337,-1.29,-194.7,580.8,-10.3,960,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2017,3859
$GC,5671,-1.29,-194.7,614.0,-10.0,1008,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2017,3859
$GC,5991,-1.29,-194.7,645.6,-9.5,1038,5995,0.00,2.70,0.00,0.000,4,0.000,0.073,2494,3435,3859
$GC,6029,-1.29,-194.7,649.5,-10.5,1041,6033,0.00,2.55,0.00,0.000,6,0.000,0.048,2494,2033,3859
$GC,6354,-1.29,-194.7,680.4,-9.9,1071,6358,0.00,2.75,0.00,0.000,4,0.000,0.093,2494,623,3858
$GC,6437,-1.29,-194.7,688.8,-10.2,1078,6441,0.00,2.55,0.00,0.000,6,0.000,0.055,2494,2006,3858
$GC,6761,-1.29,-194.7,718.5,-8.8,1108,6766,0.00,2.78,0.00,0.000,4,0.000,0.091,2494,3442,3858
$GC,6815,-1.29,-194.7,723.9,-10.3,1112,6822,0.00,2.60,0.00,0.000,6,0.000,0.048,2494,2021,3858
$GC,7140,-1.29,-194.7,756.9,-11.6,1143,7144,0.00,2.67,0.00,0.000,4,0.000,0.070,2494,3449,3858
$GC,7189,-1.29,-194.7,762.9,-11.9,1147,7193,0.00,2.55,0.00,0.000,6,0.000,0.048,2494,2034,3858
$GC,7514,-1.29,-194.7,797.7,-10.3,1177,7518,0.00,2.70,0.00,0.000,4,0.000,0.086,2494,622,3858
$GC,7567,-1.29,-194.7,803.5,-10.7,1181,7574,0.00,2.58,0.00,0.000,6,0.000,0.051,2494,2032,3858
$GC,7893,-1.29,-194.7,835.9,-10.4,1212,7897,0.00,2.67,0.00,0.000,4,0.000,0.081,2494,3448,3858
$GC,7969,-1.29,-194.7,844.4,-11.3,1218,7976,0.00,2.55,0.00,0.000,6,0.000,0.047,2494,2046,3858
$GC,8294,-1.29,-194.7,877.6,-10.5,1249,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2045,3857
$GC,8612,-1.29,-194.7,910.2,-10.1,1279,8613,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2045,3857
$GC,8931,-1.29,-194.7,943.0,-10.4,1309,8932,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2044,3857
$GC,9250,-1.29,-194.7,975.3,-9.9,1339,9251,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2043,3857
$STATE,9407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9407,begin apogee
$GC,9411,-0.37,0.0,990.3,9.2,1354,9584,0.95,0.00,168.95,1.279,6,0.099,0.000,2696,2043,3062
$STATE,9584,end apogee,CONTROL_FINISHED_OK
$STATE,9585,begin climb
$GC,9586,1.34,194.7,994.2,0.0,1371,9763,1.67,2.85,167.95,1.246,4,0.075,0.077,3065,608,2267
$GC,9768,1.28,194.7,979.9,11.7,1388,9775,0.00,2.65,0.00,0.000,6,0.000,0.046,3066,2034,2266
$GC,10095,1.22,194.7,944.1,10.5,1419,10099,0.00,2.65,0.00,0.000,4,0.000,0.072,3066,3432,2261
$GC,10111,1.17,194.7,942.1,10.5,1420,10116,0.15,2.58,0.00,0.000,6,0.105,0.042,3036,2016,2261
$GC,10434,1.19,210.3,911.9,9.5,1450,10456,0.00,2.72,14.25,1.117,4,0.000,0.064,3036,3433,2203
$GC,10467,1.22,235.1,908.7,9.1,1453,10499,0.00,2.58,23.30,1.152,6,0.000,0.043,3036,2017,2104
$GC,10816,1.22,235.1,874.1,10.2,1486,10817,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2017,2100
$GC,11135,1.22,235.1,842.2,10.0,1516,11139,0.00,2.65,0.00,0.000,4,0.000,0.073,3035,619,2100
$GC,11144,1.22,235.1,841.1,10.6,1516,11151,0.00,2.58,0.00,0.000,6,0.000,0.044,3035,2018,2100
$GC,11469,1.22,235.1,809.4,10.1,1547,11473,0.00,2.67,0.00,0.000,4,0.000,0.072,3036,3436,2099
$GC,11484,1.22,235.1,807.8,10.0,1548,11489,0.00,2.58,0.00,0.000,6,0.000,0.041,3036,2009,2099
$GC,11808,1.24,247.2,776.9,9.6,1578,11833,0.00,2.78,13.70,0.921,4,0.000,0.062,3036,3435,2054
$GC,11844,1.27,274.9,773.4,9.0,1581,11875,0.00,2.62,26.65,1.108,6,0.000,0.041,3036,2014,1941
$GC,12194,1.30,300.8,741.3,9.1,1614,12225,0.12,0.00,24.73,1.083,6,0.064,0.000,3073,2014,1835
$GC,12542,1.30,300.8,701.7,11.5,1647,12543,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2014,1830
$GC,12861,1.30,300.8,662.9,12.4,1677,12865,0.00,2.65,0.00,0.000,4,0.000,0.067,3073,614,1829
$GC,12876,1.30,300.8,660.9,12.6,1678,12880,0.00,2.58,0.00,0.000,6,0.000,0.044,3073,2032,1829
$GC,13200,1.30,300.8,621.6,12.4,1708,13201,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2034,1829
$GC,13525,1.30,300.8,582.7,11.2,1751,13530,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2035,1829
$GC,13862,1.30,300.8,541.8,12.9,1812,13870,0.00,2.65,0.00,0.000,4,0.000,0.058,3073,620,1829
$GC,13880,1.30,300.8,539.5,13.3,1815,13887,0.00,2.55,0.00,0.000,6,0.000,0.042,3073,2032,1829
$GC,14220,1.30,300.8,497.8,12.4,1876,14228,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2034,1829
$GC,14563,1.30,300.8,456.6,11.6,1937,14569,0.00,2.60,0.00,0.000,4,0.000,0.057,3073,616,1829
$GC,14588,1.30,300.8,453.6,12.2,1941,14594,0.00,2.53,0.00,0.000,6,0.000,0.040,3073,2025,1829
$GC,14926,1.30,300.8,414.3,11.6,2002,14932,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2027,1829
$GC,15265,1.30,300.8,374.7,11.4,2063,15271,0.00,2.62,0.00,0.000,4,0.000,0.057,3073,612,1829
$GC,15281,1.30,300.8,373.0,10.9,2066,15288,0.00,2.50,0.00,0.000,6,0.000,0.039,3073,2013,1829
$GC,15619,1.30,300.8,334.9,11.9,2127,15624,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2016,1829
$GC,15946,1.30,300.8,297.8,11.4,2188,15954,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2016,1828
$GC,16280,1.30,300.8,261.2,12.4,2249,16285,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2016,1829
$GC,16607,1.30,300.8,222.0,10.8,2310,16615,0.00,2.62,0.00,0.000,4,0.000,0.056,3073,613,1829
$GC,16620,1.30,300.8,220.3,12.0,2312,16629,0.00,2.55,0.00,0.000,6,0.000,0.041,3073,2024,1829
$GC,16954,1.30,300.8,182.0,10.6,2373,16960,0.00,2.60,0.00,0.000,4,0.000,0.054,3073,615,1829
$GC,16968,1.30,300.8,180.4,10.5,2375,16974,0.00,2.50,0.00,0.000,6,0.000,0.038,3073,2019,1829
$GC,17297,1.31,310.1,144.7,9.7,2436,17312,0.00,0.00,8.82,0.681,6,0.000,0.000,3073,2023,1796
$GC,17439,1.31,310.1,130.1,11.0,2462,17446,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2023,1795
$GC,17572,1.31,310.1,116.4,10.9,2487,17579,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2023,1795
$GC,17705,1.31,310.1,103.0,11.3,2512,17713,0.00,2.65,0.00,0.000,4,0.000,0.058,3073,614,1795
$GC,17720,1.31,310.1,101.4,10.1,2514,17728,0.00,2.53,0.00,0.000,6,0.000,0.038,3073,2005,1795
$GC,17855,1.32,314.2,88.5,9.9,2539,17863,0.00,0.00,4.62,0.544,6,0.000,0.000,3073,2007,1781
$GC,17989,1.37,354.4,75.1,8.6,2564,18033,0.00,0.00,36.42,0.696,6,0.000,0.000,3073,2006,1616
$GC,18160,1.37,354.4,56.4,10.4,2594,18167,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2007,1613
$GC,18292,1.37,354.4,41.2,10.7,2619,18300,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2006,1612
$GC,18426,1.37,354.4,25.5,11.1,2644,18434,0.00,2.62,0.00,0.000,4,0.000,0.061,3073,611,1612
$GC,18441,1.37,354.4,23.7,11.9,2646,18449,0.00,2.53,0.00,0.000,6,0.000,0.037,3073,2005,1611
$GC,18575,1.37,354.4,9.0,10.8,2671,18583,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2007,1610
$STATE,18630,end climb,SURFACE_DEPTH_REACHED
$STATE,18630,begin surface coast
$FINISH,0.0,1.013207
$STATE,18663,end surface coast,CONTROL_FINISHED_OK
$STATE,18663,begin surface
$SM_CCo,18740,0.00,0.000,0,0,1608,356.67
$SM_GC,0.71,10.50,0.00,0.00,0.038,0.000,0.000,573,2010,1608,-10.06,-0.57,356.67
$IRIDIUM_FIX,5817.21,-2006.76,050797,232336
$TT8_MAMPS,0.042185
$HUMID,1605
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,12.70
$XPDR_PINGS,736
$24V_AH,23.5,7.829
$10V_AH,10.5,10.731
$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,24.350,160.675,489.400,0.000,0.000,24.150,48.444,360.104,184.000,0.000,0.000,11.810,4103.750,7553.860,689.656,6189.984,729.518,0.000,2792.969,0.000,6236.896,0.000,0.466
$DEVICE_MAMPS,191.750,92.807,1278.589,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1852.788,1955.115,1218.668,1752.583,3429.827,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,199092,2687
$CAP_FILE_SIZE,213786,0
$CFSIZE,260165632,253870080
$ERRORS,0,7,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110408,101558,5839.004,-2024.774,29,2.5,48,-14.0