version: 66.03
glider: 141
mission: 7
dive: 38
start: 4 12 108 8 20 28
data:
$ID,141
$MISSION,7
$DIVE,38
$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,-6965.2896
$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,17
$R_STBD_OVSHOOT,19
$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
$GPS1,081207,5853.370,-2057.552,36,1.9,48,-14.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-48.0
$GPS2,082009,5853.375,-2057.652,12,1.3,12,-14.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5901.012,-2101.583
$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,329.4,20000,-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,-194.7,0.0,0.0,0,128,0.00,0.00,-101.53,0.000,2,0.000,0.000,565,2030,3835
$GC,130,-1.34,-194.7,3.6,-7.3,14,147,10.90,2.62,-0.43,0.000,4,0.189,0.059,2480,3443,3857
$GC,299,-1.29,-194.7,30.5,-12.3,45,308,0.00,2.55,0.00,0.000,6,0.000,0.040,2479,2019,3858
$GC,434,-1.25,-194.7,45.5,-12.7,70,442,0.12,2.55,0.00,0.000,4,0.114,0.051,2504,630,3858
$GC,480,-1.25,-194.7,50.9,-10.2,78,488,0.00,2.50,0.00,0.000,6,0.000,0.043,2504,2020,3859
$GC,614,-1.25,-194.7,63.0,-8.8,103,622,0.00,2.58,0.00,0.000,4,0.000,0.058,2504,3432,3858
$GC,696,-1.25,-194.7,71.4,-11.5,118,704,0.00,2.55,0.00,0.000,6,0.000,0.038,2504,2015,3859
$GC,830,-1.25,-194.7,84.9,-9.3,143,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2011,3859
$GC,963,-1.25,-194.7,97.6,-10.2,168,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2010,3858
$GC,1096,-1.25,-194.7,110.4,-10.3,193,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2008,3858
$GC,1230,-1.25,-194.7,123.7,-10.1,218,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2008,3859
$GC,1363,-1.25,-194.7,137.2,-10.5,243,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2008,3858
$GC,1496,-1.25,-194.7,150.5,-9.6,268,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2008,3859
$GC,1829,-1.25,-194.7,182.7,-9.6,329,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2008,3859
$GC,2157,-1.25,-194.7,216.4,-11.2,390,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2008,3858
$GC,2491,-1.25,-194.7,252.9,-10.9,451,2497,0.00,2.62,0.00,0.000,4,0.000,0.051,2504,3442,3859
$GC,2531,-1.25,-194.7,257.7,-11.3,458,2539,0.00,2.53,0.00,0.000,6,0.000,0.042,2504,2031,3858
$GC,2868,-1.25,-194.7,293.5,-9.9,519,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2026,3859
$GC,3198,-1.25,-194.7,327.5,-10.2,580,3205,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2026,3858
$GC,3534,-1.25,-194.7,361.2,-10.4,641,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2026,3858
$GC,3874,-1.25,-194.7,396.1,-10.1,702,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2026,3858
$GC,4214,-1.25,-194.7,430.3,-10.0,763,4220,0.00,2.62,0.00,0.000,4,0.000,0.057,2504,3440,3858
$GC,4263,-1.25,-194.7,435.5,-10.5,772,4271,0.00,2.53,0.00,0.000,6,0.000,0.044,2504,2041,3858
$GC,4609,-1.25,-194.7,468.6,-10.1,833,4615,0.00,2.60,0.00,0.000,4,0.000,0.057,2504,618,3858
$GC,4658,-1.25,-194.7,474.1,-10.8,842,4664,0.00,2.53,0.00,0.000,6,0.000,0.040,2503,2035,3858
$GC,4999,-1.25,-194.7,506.7,-8.8,903,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2037,3858
$GC,5339,-1.25,-194.7,539.2,-9.7,964,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2039,3858
$GC,5685,-1.25,-194.7,572.0,-9.1,1025,5691,0.00,2.62,0.00,0.000,4,0.000,0.068,2503,3435,3858
$GC,5719,-1.25,-194.7,575.4,-9.8,1031,5725,0.00,2.53,0.00,0.000,6,0.000,0.041,2504,2031,3858
$GC,6059,-1.25,-194.7,604.8,-8.3,1087,6063,0.00,2.65,0.00,0.000,4,0.000,0.073,2503,624,3858
$GC,6120,-1.25,-194.7,610.1,-8.5,1092,6124,0.00,2.53,0.00,0.000,6,0.000,0.045,2503,2024,3858
$GC,6444,-1.25,-194.7,638.3,-9.4,1122,6448,0.00,2.67,0.00,0.000,4,0.000,0.077,2504,3442,3858
$GC,6516,-1.25,-194.7,645.5,-9.9,1128,6520,0.00,2.55,0.00,0.000,6,0.000,0.047,2504,2031,3858
$GC,6840,-1.25,-194.7,675.5,-9.5,1158,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2031,3858
$GC,7159,-1.25,-194.7,706.6,-9.9,1188,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2031,3858
$GC,7477,-1.25,-194.7,737.8,-9.5,1218,7482,0.00,2.67,0.00,0.000,4,0.000,0.073,2504,3440,3858
$GC,7521,-1.25,-194.7,742.4,-10.0,1221,7528,0.00,2.58,0.00,0.000,6,0.000,0.050,2504,2033,3858
$GC,7846,-1.25,-194.7,772.2,-8.9,1252,7851,0.00,2.75,0.00,0.000,4,0.000,0.090,2504,614,3858
$GC,7908,-1.25,-194.7,778.0,-9.3,1257,7912,0.00,2.58,0.00,0.000,6,0.000,0.051,2504,2025,3858
$GC,8232,-1.25,-194.7,807.5,-9.5,1287,8237,0.00,2.70,0.00,0.000,4,0.000,0.081,2504,3446,3858
$GC,8282,-1.25,-194.7,812.6,-9.7,1291,8287,0.00,2.58,0.00,0.000,6,0.000,0.048,2503,2021,3858
$GC,8607,-1.25,-194.7,843.0,-9.0,1321,8611,0.00,2.67,0.00,0.000,4,0.000,0.083,2504,620,3858
$GC,8657,-1.25,-194.7,847.7,-9.4,1325,8661,0.00,2.55,0.00,0.000,6,0.000,0.051,2504,2022,3857
$GC,8981,-1.25,-194.7,877.6,-9.7,1355,8986,0.00,2.70,0.00,0.000,4,0.000,0.081,2503,3448,3857
$GC,9048,-1.25,-194.7,884.7,-11.1,1360,9054,0.00,2.58,0.00,0.000,6,0.000,0.048,2504,2020,3857
$GC,9373,-1.25,-194.7,917.0,-10.0,1391,9377,0.00,2.67,0.00,0.000,4,0.000,0.082,2503,618,3857
$GC,9416,-1.25,-194.7,921.5,-10.0,1394,9422,0.00,2.60,0.00,0.000,6,0.000,0.051,2503,2048,3857
$GC,9740,-1.25,-194.7,954.2,-10.3,1425,9745,0.00,2.65,0.00,0.000,4,0.000,0.081,2503,3442,3857
$GC,9795,-1.25,-194.7,960.3,-11.1,1429,9802,0.00,2.58,0.00,0.000,6,0.000,0.048,2504,2035,3857
$STATE,10108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10108,begin apogee
$GC,10111,-0.37,0.0,990.6,9.2,1459,10284,0.90,0.00,168.73,1.277,6,0.094,0.000,2697,2035,3062
$STATE,10285,end apogee,CONTROL_FINISHED_OK
$STATE,10285,begin climb
$GC,10287,1.34,194.7,994.6,0.0,1476,10466,1.67,2.72,167.85,1.244,4,0.073,0.065,3073,3436,2266
$GC,10488,1.28,194.7,977.6,11.6,1496,10493,0.00,2.60,0.00,0.000,6,0.000,0.044,3073,2019,2264
$GC,10812,1.22,194.7,940.9,11.1,1526,10814,0.12,0.00,0.00,0.000,6,0.106,0.000,3048,2018,2262
$GC,11131,1.22,194.7,909.0,10.2,1556,11135,0.00,2.67,0.00,0.000,4,0.000,0.063,3048,3443,2260
$GC,11140,1.22,194.7,907.9,10.5,1556,11147,0.00,2.60,0.00,0.000,6,0.000,0.043,3048,2020,2260
$GC,11464,1.22,194.7,874.5,10.2,1587,11465,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2019,2260
$GC,11784,1.25,218.8,843.6,9.2,1617,11807,0.00,0.00,21.50,1.139,6,0.000,0.000,3048,2020,2169
$GC,12122,1.25,218.8,809.5,10.1,1649,12126,0.00,2.67,0.00,0.000,4,0.000,0.061,3048,3439,2166
$GC,12138,1.25,219.2,807.9,10.0,1650,12142,0.00,2.58,0.00,0.000,6,0.000,0.044,3048,2022,2166
$GC,12461,1.27,232.5,776.2,9.5,1680,12476,0.00,0.00,13.20,1.066,6,0.000,0.000,3049,2021,2114
$GC,12790,1.29,250.1,745.3,9.4,1711,12811,0.00,0.00,17.23,1.070,6,0.000,0.000,3048,2021,2042
$GC,13128,1.30,258.7,712.2,9.7,1743,13139,0.00,0.00,8.90,0.963,6,0.000,0.000,3048,2020,2007
$GC,13457,1.30,258.7,678.6,10.3,1774,13462,0.00,2.65,0.00,0.000,4,0.000,0.061,3048,3438,2005
$GC,13467,1.30,258.7,677.4,10.7,1774,13474,0.00,2.58,0.00,0.000,6,0.000,0.041,3048,2031,2005
$GC,13793,1.30,263.6,645.0,9.8,1805,13804,0.00,2.67,5.80,0.832,4,0.000,0.065,3048,612,1986
$GC,13815,1.30,263.6,642.5,10.2,1807,13820,0.00,2.58,0.00,0.000,6,0.000,0.043,3048,2032,1986
$GC,14139,1.30,263.6,610.0,10.5,1837,14140,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2034,1986
$GC,14468,1.30,263.6,576.1,10.1,1887,14473,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2034,1986
$GC,14807,1.31,265.8,543.1,9.9,1948,14815,0.00,2.67,0.00,0.000,4,0.000,0.058,3048,615,1986
$GC,14820,1.31,265.8,541.6,10.2,1950,14827,0.00,2.55,0.00,0.000,6,0.000,0.041,3048,2028,1986
$GC,15160,1.32,277.2,507.3,9.6,2011,15178,0.00,0.00,13.93,0.920,6,0.000,0.000,3048,2030,1930
$GC,15512,1.35,298.1,472.6,9.3,2074,15542,0.10,2.70,20.00,0.917,4,0.067,0.057,3082,622,1846
$GC,15547,1.35,298.1,468.9,10.8,2080,15555,0.00,2.58,0.00,0.000,6,0.000,0.048,3082,2023,1845
$GC,15892,1.35,298.1,431.0,10.9,2141,15897,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2024,1843
$GC,16231,1.35,298.1,392.7,11.7,2202,16237,0.00,2.62,0.00,0.000,4,0.000,0.057,3082,609,1843
$GC,16250,1.35,298.1,390.6,11.7,2205,16256,0.00,2.53,0.00,0.000,6,0.000,0.039,3082,2021,1843
$GC,16590,1.35,298.1,350.7,11.7,2266,16595,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2023,1842
$GC,16921,1.35,298.1,311.3,13.2,2327,16926,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2024,1842
$GC,17249,1.35,298.1,269.5,13.8,2388,17257,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2025,1842
$GC,17583,1.35,298.1,228.3,13.4,2449,17588,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2024,1843
$GC,17911,1.35,298.1,186.9,13.6,2510,17919,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2025,1842
$GC,18245,1.35,298.1,147.5,11.4,2571,18253,0.00,2.62,0.00,0.000,4,0.000,0.061,3082,618,1842
$GC,18260,1.35,298.1,145.7,11.9,2573,18268,0.00,2.53,0.00,0.000,6,0.000,0.044,3082,2016,1842
$GC,18394,1.35,298.1,129.1,13.4,2598,18403,0.00,2.60,0.00,0.000,4,0.000,0.056,3082,3431,1842
$GC,18415,1.35,298.1,126.5,13.8,2601,18423,0.00,2.55,0.00,0.000,6,0.000,0.044,3082,2012,1842
$GC,18549,1.35,298.1,110.4,12.7,2626,18557,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2011,1842
$GC,18683,1.35,298.1,94.3,13.7,2651,18690,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2011,1842
$GC,18816,1.35,298.1,78.8,11.2,2676,18824,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2011,1842
$GC,18950,1.35,300.9,63.9,9.9,2701,18957,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2010,1842
$GC,19083,1.35,300.9,48.1,11.6,2726,19090,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2011,1842
$GC,19216,1.38,326.0,32.7,9.1,2751,19246,0.00,0.00,24.30,0.667,6,0.000,0.000,3082,2010,1732
$GC,19372,1.38,326.0,13.3,11.0,2779,19379,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2010,1729
$STATE,19452,end climb,SURFACE_DEPTH_REACHED
$STATE,19452,begin surface coast
$FINISH,0.4,1.027142
$STATE,19485,end surface coast,CONTROL_FINISHED_OK
$STATE,19485,begin surface
$SM_CCo,19562,0.00,0.000,0,0,1725,327.72
$SM_GC,0.90,10.48,0.00,0.00,0.033,0.000,0.000,571,2004,1725,-10.07,-0.74,327.72
$IRIDIUM_FIX,5829.55,-2106.43,070797,020258
$TT8_MAMPS,0.042185
$HUMID,1587
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,13.30
$XPDR_PINGS,779
$24V_AH,23.5,8.864
$10V_AH,10.5,12.353
$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,24.300,135.450,461.425,0.000,0.000,28.798,33.686,293.790,194.750,0.000,0.000,13.637,4285.922,7962.114,655.719,6411.768,698.408,0.000,2802.589,0.000,6482.989,0.000,0.468
$DEVICE_MAMPS,189.449,89.739,1277.055,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1932.301,2046.429,1258.549,1800.868,3523.852,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,208468,2800
$CAP_FILE_SIZE,217349,0
$CFSIZE,260165632,253247488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120408,134747,5858.023,-2105.439,34,1.4,43,-14.5