version: 66.03
glider: 141
mission: 7
dive: 40
start: 4 12 108 19 27 22
data:
$ID,141
$MISSION,7
$DIVE,40
$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,-6996.7969
$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,24
$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
$GPS1,191854,5903.622,-2113.420,34,1.9,51,-14.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-50.0
$GPS2,192703,5903.651,-2113.479,12,1.5,12,-14.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5911.287,-2109.568
$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,59.6,20000,-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,-101.53,0.000,2,0.000,0.000,567,2010,3810
$GC,130,-1.34,-194.7,3.5,-6.1,14,146,10.93,0.00,-0.98,0.000,6,0.189,0.000,2479,2013,3857
$GC,272,-1.34,-194.7,25.9,-12.6,40,280,0.00,2.65,0.00,0.000,4,0.000,0.055,2479,3436,3858
$GC,318,-1.30,-194.7,31.5,-11.9,48,326,0.00,2.53,0.00,0.000,6,0.000,0.035,2479,2028,3859
$GC,452,-1.30,-194.7,47.3,-12.3,73,459,0.00,2.55,0.00,0.000,4,0.000,0.054,2479,632,3859
$GC,492,-1.30,-194.7,52.2,-12.6,80,499,0.00,2.50,0.00,0.000,6,0.000,0.042,2479,2026,3859
$GC,625,-1.30,-194.7,67.2,-11.4,105,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2028,3859
$GC,758,-1.30,-194.7,81.5,-10.9,130,766,0.00,2.58,0.00,0.000,4,0.000,0.051,2479,3436,3859
$GC,800,-1.25,-194.7,86.4,-12.0,137,808,0.10,2.53,0.00,0.000,6,0.105,0.038,2503,2019,3859
$GC,934,-1.25,-194.7,99.2,-8.8,162,942,0.00,2.53,0.00,0.000,4,0.000,0.054,2503,633,3858
$GC,976,-1.25,-194.7,102.7,-8.3,169,984,0.00,2.47,0.00,0.000,6,0.000,0.044,2503,2014,3859
$GC,1110,-1.25,-194.7,114.4,-8.3,194,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2015,3859
$GC,1243,-1.25,-194.7,126.9,-9.1,219,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2015,3859
$GC,1377,-1.25,-194.7,137.6,-7.2,244,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2015,3859
$GC,1511,-1.25,-194.7,148.5,-8.5,269,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2015,3859
$GC,1646,-1.25,-194.7,161.0,-9.0,294,1654,0.00,2.58,0.00,0.000,4,0.000,0.055,2503,628,3859
$GC,1688,-1.25,-194.7,164.7,-9.1,301,1694,0.00,2.50,0.00,0.000,6,0.000,0.036,2503,2031,3858
$GC,2017,-1.25,-194.7,197.2,-10.8,362,2025,0.00,2.58,0.00,0.000,4,0.000,0.051,2502,631,3858
$GC,2051,-1.25,-194.7,200.9,-11.0,368,2059,0.00,2.47,0.00,0.000,6,0.000,0.041,2503,2013,3859
$GC,2385,-1.25,-194.7,235.8,-10.1,429,2391,0.00,2.58,0.00,0.000,4,0.000,0.052,2503,3435,3859
$GC,2419,-1.25,-194.7,239.6,-10.9,435,2425,0.00,2.50,0.00,0.000,6,0.000,0.034,2503,2014,3859
$GC,2748,-1.25,-194.7,273.6,-10.1,496,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2007,3858
$GC,3081,-1.25,-194.7,307.6,-10.4,557,3087,0.00,2.60,0.00,0.000,4,0.000,0.051,2503,3433,3859
$GC,3116,-1.25,-194.7,311.4,-10.9,563,3122,0.00,2.50,0.00,0.000,6,0.000,0.035,2503,2016,3859
$GC,3446,-1.25,-194.7,345.2,-9.7,624,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2010,3859
$GC,3788,-1.25,-194.7,379.5,-9.8,685,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2010,3859
$GC,4127,-1.25,-194.7,413.1,-10.4,746,4133,0.00,2.65,0.00,0.000,4,0.000,0.056,2503,3441,3859
$GC,4176,-1.25,-194.7,418.3,-10.5,755,4182,0.00,2.53,0.00,0.000,6,0.000,0.036,2503,2021,3859
$GC,4514,-1.25,-194.7,451.8,-10.2,816,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2018,3858
$GC,4858,-1.25,-194.7,487.9,-10.7,877,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2017,3858
$GC,5196,-1.25,-194.7,522.5,-10.0,938,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2017,3859
$GC,5535,-1.25,-194.7,556.9,-10.0,999,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2016,3858
$GC,5875,-1.25,-194.7,592.1,-10.6,1060,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2015,3859
$GC,6211,-1.25,-194.7,626.8,-10.5,1098,6215,0.00,2.70,0.00,0.000,4,0.000,0.069,2503,3436,3858
$GC,6253,-1.25,-194.7,631.6,-11.1,1101,6260,0.00,2.58,0.00,0.000,6,0.000,0.044,2503,2034,3859
$GC,6579,-1.25,-194.7,664.7,-10.2,1132,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2034,3858
$GC,6897,-1.25,-194.7,696.2,-9.7,1162,6902,0.00,2.67,0.00,0.000,4,0.000,0.078,2503,3428,3858
$GC,6940,-1.25,-194.7,700.9,-10.9,1165,6947,0.00,2.60,0.00,0.000,6,0.000,0.053,2503,2031,3858
$GC,7266,-1.25,-194.7,732.3,-9.3,1196,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2028,3858
$GC,7584,-1.25,-194.7,760.9,-8.6,1226,7588,0.00,2.65,0.00,0.000,4,0.000,0.071,2503,3434,3858
$GC,7624,-1.25,-194.7,764.4,-9.5,1229,7629,0.00,2.55,0.00,0.000,6,0.000,0.049,2502,2033,3858
$GC,7948,-1.25,-194.7,793.7,-8.6,1259,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2032,3858
$GC,8267,-1.25,-194.7,821.5,-9.0,1289,8268,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2032,3858
$GC,8585,-1.25,-194.7,851.1,-9.7,1319,8590,0.00,2.65,0.00,0.000,4,0.000,0.070,2503,3428,3857
$GC,8635,-1.25,-194.7,856.2,-10.3,1323,8640,0.00,2.53,0.00,0.000,6,0.000,0.048,2503,2040,3857
$GC,8960,-1.25,-194.7,886.9,-9.2,1353,8961,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2039,3857
$GC,9278,-1.25,-194.7,915.4,-8.8,1383,9282,0.00,2.65,0.00,0.000,4,0.000,0.070,2503,3436,3856
$GC,9320,-1.25,-194.7,919.6,-10.1,1386,9327,0.00,2.55,0.00,0.000,6,0.000,0.048,2502,2050,3857
$GC,9646,-1.25,-194.7,949.3,-9.3,1417,9648,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2049,3856
$GC,9964,-1.25,-194.7,979.5,-9.3,1447,9965,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2048,3856
$STATE,10079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10079,begin apogee
$GC,10083,-0.37,0.0,990.4,9.5,1458,10255,0.90,0.00,168.23,1.282,6,0.099,0.000,2694,2019,3063
$STATE,10256,end apogee,CONTROL_FINISHED_OK
$STATE,10256,begin climb
$GC,10258,1.34,194.7,996.3,0.0,1475,10431,1.70,0.00,168.05,1.249,6,0.075,0.000,3067,2019,2268
$GC,10748,1.29,194.7,951.5,10.9,1522,10753,0.00,2.67,0.00,0.000,4,0.000,0.061,3067,3431,2262
$GC,10770,1.23,194.7,949.0,10.9,1523,10776,0.00,2.58,0.00,0.000,6,0.000,0.044,3067,2019,2262
$GC,11094,1.18,194.7,913.2,11.0,1554,11099,0.15,2.65,0.00,0.000,4,0.104,0.061,3038,3430,2261
$GC,11115,1.18,194.7,910.7,11.4,1555,11122,0.00,2.58,0.00,0.000,6,0.000,0.043,3038,2027,2261
$GC,11441,1.21,221.2,880.5,9.1,1586,11471,0.00,0.00,23.58,1.164,6,0.000,0.000,3038,2027,2160
$GC,11788,1.25,251.1,848.6,9.0,1619,11823,0.00,2.70,28.17,1.157,4,0.000,0.061,3038,3418,2038
$GC,11840,1.28,276.7,843.6,9.1,1624,11872,0.00,2.53,24.25,1.130,6,0.000,0.042,3038,2031,1934
$GC,12189,1.30,293.0,810.6,9.4,1657,12212,0.10,2.75,15.98,1.091,4,0.067,0.073,3068,614,1866
$GC,12222,1.30,293.0,807.0,10.9,1660,12227,0.00,2.60,0.00,0.000,6,0.000,0.044,3069,2032,1865
$GC,12546,1.30,293.0,769.8,11.5,1690,12547,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2035,1863
$GC,12865,1.30,293.0,732.0,11.9,1720,12867,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2035,1862
$GC,13185,1.30,293.0,694.7,11.4,1750,13186,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2036,1862
$GC,13502,1.30,293.0,657.3,11.4,1780,13506,0.00,2.62,0.00,0.000,4,0.000,0.061,3069,619,1861
$GC,13533,1.30,293.0,653.4,11.3,1782,13540,0.00,2.58,0.00,0.000,6,0.000,0.043,3069,2029,1861
$GC,13859,1.30,293.0,617.4,11.3,1813,13860,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2031,1861
$GC,14184,1.30,293.0,580.3,11.4,1858,14190,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2032,1861
$GC,14523,1.30,293.0,543.3,10.4,1919,14529,0.00,2.62,0.00,0.000,4,0.000,0.059,3069,618,1861
$GC,14550,1.30,293.0,540.2,10.8,1924,14558,0.00,2.55,0.00,0.000,6,0.000,0.047,3069,2023,1862
$GC,14896,1.30,293.0,503.6,11.2,1985,14901,0.00,2.60,0.00,0.000,4,0.000,0.063,3069,3432,1861
$GC,14906,1.30,293.0,501.9,11.3,1987,14913,0.00,2.53,0.00,0.000,6,0.000,0.038,3069,2016,1861
$GC,15246,1.30,293.0,463.2,11.3,2048,15254,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2014,1861
$GC,15590,1.30,293.0,425.5,11.3,2109,15596,0.00,2.58,0.00,0.000,4,0.000,0.059,3069,617,1861
$GC,15606,1.30,293.0,423.4,11.1,2112,15615,0.00,2.55,0.00,0.000,6,0.000,0.040,3069,2028,1861
$GC,15950,1.30,293.0,386.7,11.1,2173,15955,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2031,1861
$GC,16290,1.30,293.0,348.6,11.3,2234,16298,0.00,2.65,0.00,0.000,4,0.000,0.057,3069,613,1861
$GC,16311,1.30,293.0,346.5,10.7,2237,16317,0.00,2.50,0.00,0.000,6,0.000,0.038,3069,2015,1861
$GC,16639,1.30,293.0,309.9,10.3,2298,16647,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2018,1862
$GC,16973,1.31,302.9,273.5,9.7,2359,16986,0.00,0.00,9.32,0.749,6,0.000,0.000,3069,2018,1827
$GC,17315,1.31,302.9,237.9,10.1,2421,17321,0.00,2.58,0.00,0.000,4,0.000,0.054,3069,616,1826
$GC,17331,1.31,302.9,235.7,10.0,2424,17339,0.00,2.53,0.00,0.000,6,0.000,0.038,3069,2010,1826
$GC,17665,1.31,302.9,202.3,10.9,2485,17670,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2013,1826
$GC,17994,1.31,302.9,167.7,10.8,2546,18002,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2013,1826
$GC,18322,1.31,302.9,131.3,11.5,2607,18329,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2013,1826
$GC,18455,1.31,302.9,116.7,11.3,2632,18463,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2013,1826
$GC,18588,1.31,302.9,102.1,11.5,2657,18595,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2013,1826
$GC,18722,1.42,395.4,89.3,6.8,2682,18809,0.00,0.00,79.75,0.704,6,0.000,0.000,3069,2013,1448
$GC,18935,1.42,395.4,64.6,10.2,2718,18943,0.00,2.65,0.00,0.000,4,0.000,0.054,3069,614,1443
$GC,18951,1.42,395.4,62.8,10.9,2720,18959,0.00,2.53,0.00,0.000,6,0.000,0.038,3068,2002,1443
$GC,19084,1.42,395.4,48.5,10.7,2745,19092,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2004,1442
$GC,19218,1.42,395.4,33.6,12.6,2770,19225,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2004,1441
$GC,19351,1.42,395.4,17.8,14.7,2795,19359,0.00,2.60,0.00,0.000,4,0.000,0.060,3069,621,1440
$GC,19366,1.42,395.4,15.8,12.8,2797,19374,0.00,2.47,0.00,0.000,6,0.000,0.037,3069,1995,1440
$STATE,19468,end climb,SURFACE_DEPTH_REACHED
$STATE,19468,begin surface coast
$FINISH,0.2,1.027144
$STATE,19491,end surface coast,CONTROL_FINISHED_OK
$STATE,19491,begin surface
$SM_CCo,19568,0.00,0.000,0,0,1438,398.37
$SM_GC,0.80,10.48,0.00,0.00,0.037,0.000,0.000,571,2000,1438,-10.06,-0.85,398.37
$IRIDIUM_FIX,5833.68,-2110.93,070797,131335
$TT8_MAMPS,0.042185
$HUMID,1599
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,12.90
$XPDR_PINGS,813
$24V_AH,23.5,9.277
$10V_AH,10.5,13.007
$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,24.350,134.150,517.325,0.000,0.000,31.195,33.262,296.574,203.250,0.000,0.000,14.207,4280.162,7895.556,697.197,6481.380,671.755,0.000,2872.617,0.000,6532.576,0.000,0.465
$DEVICE_MAMPS,189.449,118.885,1281.657,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1945.740,2046.572,1284.835,1858.028,3634.035,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,208721,2820
$CAP_FILE_SIZE,214630,0
$CFSIZE,260165632,253001728
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130408,005438,5909.582,-2112.932,35,1.1,35,-14.7