version: 66.03
glider: 141
mission: 7
dive: 55
start: 4 16 108 7 36 16
data:
$ID,141
$MISSION,7
$DIVE,55
$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,235
$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,-7283.8857
$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,1985
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,26
$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
$GPS1,072732,5937.833,-2156.273,60,1.4,60,-15.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-42.2
$GPS2,073559,5937.928,-2156.419,9,99.0,28,-15.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5931.734,-2200.905
$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,250.3,20000,-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,-194.7,0.0,0.0,0,151,0.00,0.00,-123.20,0.000,2,0.000,0.000,569,2041,3828
$GC,153,-1.34,-194.7,4.0,-9.1,17,170,11.05,2.70,-0.57,0.000,4,0.198,0.068,2483,624,3857
$GC,193,-1.15,-194.7,17.3,-27.6,23,202,0.17,2.55,0.00,0.000,6,0.097,0.048,2523,2033,3859
$GC,329,-1.15,-194.7,33.0,-9.4,48,337,0.00,2.60,0.00,0.000,4,0.000,0.055,2523,626,3859
$GC,371,-1.20,-194.7,36.9,-10.0,55,378,0.00,2.42,0.00,0.000,6,0.000,0.047,2523,1977,3859
$GC,504,-1.20,-194.7,49.2,-8.2,80,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1978,3859
$GC,638,-1.20,-194.7,61.3,-7.8,105,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1979,3859
$GC,771,-1.20,-194.7,74.1,-9.3,130,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1979,3859
$GC,905,-1.20,-194.7,86.9,-9.4,155,913,0.00,2.67,0.00,0.000,4,0.000,0.059,2524,3428,3859
$GC,936,-1.20,-194.7,90.1,-10.4,160,944,0.00,2.58,0.00,0.000,6,0.000,0.042,2524,1988,3859
$GC,1071,-1.20,-194.7,103.5,-10.6,185,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1985,3859
$GC,1204,-1.20,-194.7,116.6,-9.7,210,1212,0.00,2.70,0.00,0.000,4,0.000,0.063,2523,3437,3859
$GC,1240,-1.20,-194.7,120.2,-10.3,216,1248,0.00,2.58,0.00,0.000,6,0.000,0.037,2523,1997,3858
$GC,1375,-1.20,-194.7,133.0,-9.1,241,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1993,3859
$GC,1508,-1.20,-194.7,145.6,-9.5,266,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1990,3858
$GC,1647,-1.20,-194.7,158.0,-9.4,291,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1991,3859
$GC,1975,-1.20,-194.7,189.0,-9.5,352,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1991,3859
$GC,2308,-1.20,-194.7,220.4,-9.2,413,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1991,3859
$GC,2637,-1.20,-194.7,251.5,-9.6,474,2645,0.00,2.70,0.00,0.000,4,0.000,0.059,2524,3437,3859
$GC,2668,-1.20,-194.7,254.6,-10.5,479,2674,0.00,2.53,0.00,0.000,6,0.000,0.037,2523,2010,3858
$GC,2997,-1.20,-194.7,287.2,-9.7,540,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2003,3858
$GC,3332,-1.20,-194.7,319.4,-9.9,601,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2003,3858
$GC,3661,-1.20,-194.7,350.7,-9.6,662,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2002,3859
$GC,4000,-1.20,-194.7,382.5,-8.9,723,4006,0.00,2.65,0.00,0.000,4,0.000,0.059,2523,3433,3858
$GC,4023,-1.20,-194.7,384.7,-10.0,727,4029,0.00,2.55,0.00,0.000,6,0.000,0.038,2523,2002,3858
$GC,4363,-1.20,-194.7,416.1,-9.5,788,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2000,3858
$GC,4708,-1.20,-194.7,446.1,-8.2,849,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1999,3858
$GC,5049,-1.20,-194.7,474.7,-8.4,910,5055,0.00,2.67,0.00,0.000,4,0.000,0.062,2523,3432,3858
$GC,5090,-1.20,-194.7,478.2,-8.8,917,5096,0.00,2.55,0.00,0.000,6,0.000,0.041,2523,2005,3858
$GC,5430,-1.20,-194.7,507.0,-8.5,978,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2004,3858
$GC,5771,-1.20,-194.7,536.0,-8.5,1039,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2003,3858
$GC,6110,-1.20,-194.7,565.4,-8.5,1100,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2002,3858
$GC,6456,-1.20,-194.7,595.4,-9.1,1161,6463,0.00,2.72,0.00,0.000,4,0.000,0.071,2523,3432,3858
$GC,6481,-1.20,-194.7,597.8,-9.5,1165,6487,0.00,2.55,0.00,0.000,6,0.000,0.045,2523,2019,3858
$GC,6812,-1.20,-194.7,627.2,-8.8,1198,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2018,3858
$GC,7131,-1.20,-194.7,655.8,-9.0,1228,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2018,3858
$GC,7452,-1.20,-194.7,683.9,-8.8,1258,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2018,3858
$GC,7768,-1.20,-194.7,711.8,-8.9,1288,7772,0.00,2.78,0.00,0.000,4,0.000,0.092,2523,3431,3858
$GC,7795,-1.20,-194.7,714.4,-9.9,1290,7800,0.00,2.62,0.00,0.000,6,0.000,0.064,2523,2021,3858
$GC,8119,-1.20,-194.7,741.3,-8.0,1320,8121,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2017,3857
$GC,8438,-1.20,-194.7,767.7,-8.4,1350,8439,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2015,3857
$GC,8756,-1.20,-194.7,794.7,-8.1,1380,8761,0.00,2.70,0.00,0.000,4,0.000,0.077,2523,3430,3857
$GC,8799,-1.20,-194.7,798.7,-8.7,1383,8806,0.00,2.58,0.00,0.000,6,0.000,0.052,2523,2017,3857
$GC,9125,-1.20,-194.7,825.4,-8.3,1414,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2016,3857
$GC,9444,-1.20,-194.7,851.0,-8.1,1444,9448,0.00,2.67,0.00,0.000,4,0.000,0.074,2523,3433,3856
$GC,9470,-1.20,-194.7,853.4,-9.0,1446,9475,0.00,2.53,0.00,0.000,6,0.000,0.051,2523,2039,3856
$GC,9795,-1.20,-194.7,880.3,-8.3,1476,9796,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2038,3856
$GC,10114,-1.24,-194.7,905.7,-8.0,1506,10115,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2037,3856
$GC,10432,-1.24,-194.7,930.9,-8.1,1536,10433,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2036,3855
$GC,10751,-1.28,-194.7,955.8,-8.0,1566,10752,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2035,3855
$STATE,10812,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10812,begin apogee
$GC,10816,-0.37,0.0,960.9,8.1,1572,10988,0.80,0.00,168.02,1.260,6,0.091,0.000,2696,1975,3062
$STATE,10989,end apogee,CONTROL_FINISHED_OK
$STATE,10989,begin climb
$GC,10991,1.34,194.7,965.4,0.0,1589,11168,1.67,0.00,167.98,1.229,6,0.074,0.000,3071,1975,2267
$GC,11485,1.28,194.7,918.2,10.8,1637,11490,0.00,2.67,0.00,0.000,4,0.000,0.065,3072,3385,2262
$GC,11529,1.23,194.7,913.0,11.8,1640,11536,0.12,2.58,0.00,0.000,6,0.109,0.045,3048,1975,2261
$GC,11853,1.23,194.7,880.0,10.3,1671,11854,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1975,2260
$GC,12172,1.23,194.7,847.5,10.2,1701,12176,0.00,2.67,0.00,0.000,4,0.000,0.064,3048,3388,2260
$GC,12221,1.23,194.7,842.3,10.6,1705,12225,0.00,2.55,0.00,0.000,6,0.000,0.045,3048,1986,2259
$GC,12545,1.24,203.9,811.1,9.7,1735,12556,0.00,0.00,8.38,1.004,6,0.000,0.000,3048,1985,2230
$GC,12874,1.24,203.9,778.5,10.0,1766,12878,0.00,2.65,0.00,0.000,4,0.000,0.064,3048,3387,2229
$GC,12923,1.24,203.9,773.2,10.7,1770,12927,0.00,2.53,0.00,0.000,6,0.000,0.045,3048,1994,2228
$GC,13247,1.24,206.2,740.0,9.9,1800,13252,0.00,2.67,0.00,0.000,4,0.000,0.072,3048,575,2228
$GC,13275,1.24,206.2,737.2,10.2,1802,13279,0.00,2.58,0.00,0.000,6,0.000,0.047,3048,1995,2228
$GC,13598,1.26,221.5,705.7,9.5,1832,13621,0.00,2.75,16.62,1.050,4,0.000,0.071,3048,3394,2158
$GC,13670,1.26,221.5,698.4,10.4,1838,13677,0.00,2.55,0.00,0.000,6,0.000,0.044,3048,1999,2157
$GC,13995,1.29,249.8,668.0,9.0,1869,14027,0.00,2.72,26.42,1.051,4,0.000,0.067,3048,570,2043
$GC,14050,1.33,278.3,662.8,9.0,1874,14082,0.00,2.62,26.85,1.033,6,0.000,0.046,3048,2012,1927
$GC,14399,1.33,282.0,629.3,9.9,1907,14409,0.10,0.00,4.07,0.676,6,0.067,0.000,3080,2013,1912
$GC,14732,1.33,282.0,590.3,11.9,1945,14738,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2013,1911
$GC,15071,1.33,282.0,548.0,12.0,2006,15077,0.00,2.70,0.00,0.000,4,0.000,0.061,3080,567,1910
$GC,15105,1.29,282.0,543.7,13.7,2012,15113,0.00,2.62,0.00,0.000,6,0.000,0.051,3080,1996,1910
$GC,15450,1.29,282.0,501.2,11.4,2073,15456,0.00,2.60,0.00,0.000,4,0.000,0.065,3080,3395,1910
$GC,15496,1.29,282.0,495.3,12.8,2081,15502,0.00,2.53,0.00,0.000,6,0.000,0.042,3080,1985,1909
$GC,15835,1.29,282.0,454.9,11.1,2142,15841,0.00,2.58,0.00,0.000,4,0.000,0.060,3080,577,1909
$GC,15868,1.25,282.0,450.9,12.5,2148,15877,0.10,2.58,0.00,0.000,6,0.086,0.045,3054,2000,1909
$GC,16212,1.25,282.0,414.6,10.4,2209,16218,0.00,2.58,0.00,0.000,4,0.000,0.064,3054,3398,1910
$GC,16245,1.25,282.0,410.6,10.7,2215,16251,0.00,2.50,0.00,0.000,6,0.000,0.041,3055,1992,1909
$GC,16584,1.25,282.0,376.0,11.2,2276,16591,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1990,1909
$GC,16924,1.25,282.0,341.0,10.2,2337,16929,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1990,1909
$GC,17253,1.25,282.0,306.1,10.4,2398,17260,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1990,1909
$GC,17586,1.26,289.6,273.0,9.7,2459,17599,0.00,0.00,8.45,0.731,6,0.000,0.000,3054,1989,1880
$GC,17926,1.28,306.2,237.1,9.4,2521,17944,0.00,0.00,16.02,0.765,6,0.000,0.000,3054,1989,1813
$GC,18270,1.28,306.2,198.2,11.6,2584,18277,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1989,1809
$GC,18604,1.28,306.2,160.8,10.4,2645,18609,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1989,1809
$GC,18927,1.29,317.2,127.3,9.6,2706,18942,0.00,0.00,10.43,0.682,6,0.000,0.000,3054,1989,1767
$GC,19068,1.32,343.4,113.0,9.1,2732,19097,0.00,0.00,23.85,0.708,6,0.000,0.000,3054,1989,1661
$GC,19224,1.32,343.4,98.0,10.6,2760,19232,0.00,2.65,0.00,0.000,4,0.000,0.063,3054,580,1659
$GC,19271,1.32,343.4,93.4,10.5,2768,19279,0.00,2.60,0.00,0.000,6,0.000,0.042,3054,2006,1659
$GC,19405,1.32,343.4,76.4,13.2,2793,19412,0.00,2.58,0.00,0.000,4,0.000,0.056,3054,3389,1657
$GC,19435,1.43,391.8,73.6,8.3,2798,19488,0.12,2.50,42.30,0.686,6,0.041,0.040,3100,2001,1462
$GC,19615,1.43,391.8,56.3,10.4,2829,19623,0.00,2.62,0.00,0.000,4,0.000,0.055,3100,585,1459
$GC,19661,1.43,391.8,50.2,15.1,2837,19668,0.00,2.58,0.00,0.000,6,0.000,0.043,3100,2007,1459
$GC,19794,1.49,440.5,35.6,8.3,2862,19839,0.00,0.00,41.65,0.653,6,0.000,0.000,3100,2009,1266
$GC,19966,1.59,523.0,11.3,7.1,2892,20033,0.10,0.00,64.10,0.632,2,0.064,0.000,3136,2014,955
$STATE,20034,end climb,SURFACE_DEPTH_REACHED
$STATE,20034,begin surface coast
$FINISH,-0.0,1.027155
$STATE,20056,end surface coast,CONTROL_FINISHED_OK
$STATE,20056,begin surface
$SM_CCo,20133,0.00,0.000,0,0,949,518.32
$SM_GC,0.63,10.82,0.00,0.00,0.035,0.000,0.000,567,2012,949,-10.08,-0.48,518.32
$IRIDIUM_FIX,5911.23,-2144.93,110797,010159
$TT8_MAMPS,0.042185
$HUMID,1565
$INTERNAL_PRESSURE,9.98085
$TCM_TEMP,13.20
$XPDR_PINGS,862
$24V_AH,23.5,12.575
$10V_AH,10.5,17.945
$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,25.075,125.475,625.150,0.000,0.000,25.965,34.878,295.239,215.500,0.000,0.000,31.636,4409.287,8084.635,752.906,6656.614,703.401,0.000,3005.863,0.000,6701.330,0.000,0.466
$DEVICE_MAMPS,197.886,92.040,1260.181,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,2004.213,2117.970,1328.724,1901.146,3719.392,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,214783,2905
$CAP_FILE_SIZE,225090,0
$CFSIZE,260165632,251154432
$ERRORS,0,7,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160408,131322,5938.259,-2203.258,39,2.2,58,-15.3