version: 66.03
glider: 141
mission: 7
dive: 128
start: 5 2 108 3 3 45
data:
$ID,141
$MISSION,7
$DIVE,128
$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,350
$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,-8711.9629
$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,18
$R_STBD_OVSHOOT,21
$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
$GPS1,025628,6112.757,-2428.617,24,4.4,43,-17.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-50.9
$GPS2,030326,6112.709,-2428.634,10,1.6,15,-17.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6123.344,-2429.532
$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,7.5,20000,-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,26,-1.34,-194.7,0.0,0.0,0,128,0.00,0.00,-99.55,0.000,6,0.000,0.000,569,2015,3856
$GC,131,-1.34,-194.7,4.2,-8.5,14,148,11.10,2.65,0.00,0.000,4,0.198,0.056,2478,3442,3858
$GC,274,-1.30,-194.7,31.4,-11.9,40,281,0.00,2.60,0.00,0.000,6,0.000,0.048,2478,2027,3859
$GC,408,-1.30,-194.7,46.4,-10.4,65,416,0.00,2.62,0.00,0.000,4,0.000,0.062,2478,627,3859
$GC,470,-1.30,-194.7,53.6,-14.2,76,476,0.00,2.55,0.00,0.000,6,0.000,0.050,2479,2045,3859
$GC,808,-1.30,-194.7,93.2,-10.1,137,813,0.00,2.58,0.00,0.000,4,0.000,0.061,2479,3438,3859
$GC,896,-1.25,-194.7,103.0,-11.4,153,904,0.10,2.58,0.00,0.000,6,0.107,0.046,2502,2033,3859
$GC,1238,-1.25,-194.7,138.5,-9.6,214,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2029,3859
$GC,1578,-1.25,-194.7,172.7,-10.1,275,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2029,3859
$GC,1921,-1.25,-194.7,206.3,-9.8,336,1928,0.00,2.65,0.00,0.000,4,0.000,0.061,2502,3442,3859
$GC,1984,-1.25,-194.7,212.9,-10.2,347,1990,0.00,2.55,0.00,0.000,6,0.000,0.047,2503,2034,3859
$GC,2326,-1.25,-194.7,246.6,-9.8,408,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2031,3859
$GC,2670,-1.25,-194.7,280.8,-9.9,469,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2029,3859
$GC,3012,-1.25,-194.7,313.6,-9.1,530,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2030,3859
$GC,3354,-1.25,-194.7,344.7,-9.2,591,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2030,3859
$GC,3683,-1.25,-194.7,374.7,-8.9,627,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2030,3859
$GC,4001,-1.25,-194.7,404.1,-9.4,657,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2030,3859
$GC,4318,-1.25,-194.7,433.3,-9.0,687,4322,0.00,2.67,0.00,0.000,4,0.000,0.067,2503,3441,3859
$GC,4381,-1.25,-194.7,439.3,-9.6,692,4385,0.00,2.55,0.00,0.000,6,0.000,0.051,2502,2046,3859
$GC,4706,-1.25,-194.7,469.1,-9.4,722,4710,0.00,2.67,0.00,0.000,4,0.000,0.069,2502,612,3859
$GC,4760,-1.25,-194.7,474.6,-10.0,726,4767,0.00,2.58,0.00,0.000,6,0.000,0.047,2502,2052,3859
$GC,5087,-1.25,-194.7,505.7,-9.7,757,5091,0.00,2.62,0.00,0.000,4,0.000,0.075,2503,3444,3859
$GC,5130,-1.25,-194.7,510.3,-9.7,760,5137,0.00,2.58,0.00,0.000,6,0.000,0.054,2502,2045,3859
$GC,5456,-1.25,-194.7,540.1,-8.8,791,5460,0.00,2.67,0.00,0.000,4,0.000,0.074,2502,616,3859
$GC,5510,-1.25,-194.7,545.3,-9.5,795,5517,0.00,2.58,0.00,0.000,6,0.000,0.050,2502,2045,3859
$GC,5836,-1.25,-194.7,574.9,-9.4,826,5841,0.00,2.67,0.00,0.000,4,0.000,0.081,2502,3448,3859
$GC,5886,-1.25,-194.7,580.2,-10.3,830,5891,0.00,2.58,0.00,0.000,6,0.000,0.055,2502,2037,3859
$GC,6217,-1.25,-194.7,613.4,-10.2,855,6221,0.00,2.72,0.00,0.000,4,0.000,0.089,2502,616,3858
$GC,6278,-1.25,-194.7,619.7,-10.3,858,6283,0.00,2.60,0.00,0.000,6,0.000,0.054,2502,2049,3858
$GC,6604,-1.25,-194.7,650.2,-8.9,874,6608,0.00,2.70,0.00,0.000,4,0.000,0.094,2502,3439,3858
$GC,6652,-1.25,-194.7,654.8,-9.4,876,6657,0.00,2.60,0.00,0.000,6,0.000,0.062,2502,2036,3858
$GC,6974,-1.25,-194.7,682.3,-8.5,892,6978,0.00,2.80,0.00,0.000,4,0.000,0.104,2502,618,3858
$GC,7051,-1.25,-194.7,689.3,-8.9,895,7057,0.00,2.65,0.00,0.000,6,0.000,0.066,2503,2038,3858
$GC,7367,-1.25,-194.7,715.0,-8.4,911,7371,0.00,2.80,0.00,0.000,4,0.000,0.101,2503,3450,3858
$GC,7438,-1.25,-194.7,721.8,-9.7,914,7443,0.00,2.70,0.00,0.000,6,0.000,0.076,2502,2022,3858
$GC,7760,-1.25,-194.7,750.2,-9.3,930,7761,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2019,3858
$GC,8069,-1.25,-194.7,781.0,-9.9,945,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2017,3857
$GC,8378,-1.25,-194.7,808.7,-8.9,960,8382,0.00,2.75,0.00,0.000,4,0.000,0.083,2502,3444,3858
$GC,8439,-1.25,-194.7,814.5,-9.3,963,8443,0.00,2.58,0.00,0.000,6,0.000,0.063,2502,2056,3857
$GC,8764,-1.25,-194.7,842.1,-8.0,979,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2055,3857
$GC,9073,-1.25,-194.7,870.2,-9.2,994,9075,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2053,3857
$GC,9383,-1.25,-194.7,899.5,-9.6,1009,9384,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2053,3857
$GC,9692,-1.25,-194.7,926.3,-8.3,1024,9697,0.00,2.70,0.00,0.000,4,0.000,0.080,2502,3446,3856
$GC,9754,-1.25,-194.7,931.8,-8.8,1027,9759,0.00,2.58,0.00,0.000,6,0.000,0.062,2502,2067,3856
$GC,10080,-1.25,-194.7,958.4,-8.1,1043,10084,0.00,2.85,0.00,0.000,4,0.000,0.097,2502,609,3856
$GC,10146,-1.25,-194.7,964.3,-9.6,1046,10151,0.00,2.67,0.00,0.000,6,0.000,0.059,2502,2075,3856
$STATE,10465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10465,begin apogee
$GC,10470,-0.37,0.0,991.3,8.2,1062,10642,0.90,0.00,168.65,1.295,6,0.096,0.000,2694,1976,3062
$STATE,10643,end apogee,CONTROL_FINISHED_OK
$STATE,10643,begin climb
$GC,10645,1.34,194.7,995.4,0.0,1070,10822,1.70,2.78,167.25,1.262,4,0.077,0.080,3067,580,2267
$GC,10861,1.27,194.7,977.3,12.1,1080,10865,0.00,2.62,0.00,0.000,6,0.000,0.054,3067,1988,2264
$GC,11176,1.22,194.7,942.2,11.1,1095,11178,0.10,0.00,0.00,0.000,6,0.112,0.000,3048,1990,2262
$GC,11485,1.23,199.5,910.6,9.8,1110,11495,0.00,2.75,4.60,0.828,4,0.000,0.080,3048,3398,2248
$GC,11506,1.23,199.5,908.4,10.0,1111,11510,0.00,2.60,0.00,0.000,6,0.000,0.054,3048,1996,2248
$GC,11832,1.24,207.2,876.8,9.7,1127,11843,0.00,0.00,8.55,1.042,6,0.000,0.000,3048,1993,2217
$GC,12141,1.24,207.2,844.9,10.6,1142,12146,0.00,2.70,0.00,0.000,4,0.000,0.071,3048,3405,2216
$GC,12158,1.24,207.2,843.1,10.7,1143,12162,0.00,2.62,0.00,0.000,6,0.000,0.055,3048,1989,2215
$GC,12483,1.24,209.9,809.8,9.9,1159,12492,0.00,2.72,3.90,0.733,4,0.000,0.071,3048,3395,2206
$GC,12505,1.24,209.9,807.5,10.6,1160,12509,0.00,2.60,0.00,0.000,6,0.000,0.056,3048,2000,2206
$GC,12830,1.27,238.3,777.3,9.0,1176,12860,0.00,0.00,27.27,1.137,6,0.000,0.000,3048,2000,2090
$GC,13159,1.27,238.3,745.1,10.2,1192,13160,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1997,2086
$GC,13469,1.28,240.4,713.9,9.9,1207,13473,0.00,2.67,0.00,0.000,4,0.000,0.071,3048,3396,2086
$GC,13485,1.28,240.4,712.1,10.2,1208,13489,0.00,2.58,0.00,0.000,6,0.000,0.055,3048,2007,2085
$GC,13810,1.28,240.4,679.0,10.3,1224,13811,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2005,2085
$GC,14119,1.28,240.4,647.0,10.1,1239,14123,0.00,2.67,0.00,0.000,4,0.000,0.070,3048,3402,2085
$GC,14128,1.28,240.4,645.9,10.0,1239,14135,0.00,2.58,0.00,0.000,6,0.000,0.054,3048,2016,2085
$GC,14443,1.28,240.4,613.1,10.6,1255,14445,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2016,2085
$GC,14758,1.28,240.4,581.4,10.1,1278,14759,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2014,2085
$GC,15078,1.29,251.2,550.4,9.6,1308,15096,0.00,0.00,12.43,0.947,6,0.000,0.000,3048,2014,2037
$GC,15415,1.30,258.9,518.3,9.7,1340,15425,0.00,0.00,8.23,0.867,6,0.000,0.000,3048,2014,2006
$GC,15742,1.30,258.9,485.4,10.1,1371,15747,0.00,2.62,0.00,0.000,4,0.000,0.066,3048,3396,2004
$GC,15763,1.30,258.9,483.1,11.5,1372,15769,0.00,2.58,0.00,0.000,6,0.000,0.052,3048,2018,2004
$GC,16089,1.32,273.6,451.1,9.5,1403,16108,0.00,0.00,14.18,0.899,6,0.000,0.000,3048,2017,1947
$GC,16427,1.32,273.6,416.3,10.7,1435,16428,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2016,1945
$GC,16745,1.32,273.6,383.3,10.1,1465,16750,0.00,2.72,0.00,0.000,4,0.000,0.070,3048,574,1945
$GC,16761,1.32,273.6,381.5,10.4,1466,16766,0.00,2.62,0.00,0.000,6,0.000,0.048,3048,2021,1944
$GC,17086,1.32,273.6,347.2,11.3,1498,17092,0.00,2.72,0.00,0.000,4,0.000,0.066,3048,574,1944
$GC,17097,1.32,273.6,345.8,11.9,1500,17103,0.00,2.60,0.00,0.000,6,0.000,0.048,3048,2014,1945
$GC,17441,1.32,273.6,309.6,10.1,1561,17447,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2016,1944
$GC,17783,1.32,273.6,275.0,10.0,1622,17789,0.00,2.75,0.00,0.000,4,0.000,0.065,3048,569,1945
$GC,17801,1.32,273.6,273.2,11.4,1625,17807,0.00,2.60,0.00,0.000,6,0.000,0.046,3048,2002,1944
$GC,18144,1.32,273.6,237.8,10.1,1686,18149,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2004,1944
$GC,18487,1.32,273.6,203.0,10.2,1747,18493,0.00,2.70,0.00,0.000,4,0.000,0.066,3048,573,1945
$GC,18499,1.32,273.6,201.7,10.3,1749,18505,0.00,2.58,0.00,0.000,6,0.000,0.046,3048,1992,1945
$GC,18842,1.34,290.1,168.6,9.4,1810,18864,0.10,0.00,16.23,0.752,6,0.069,0.000,3080,1994,1878
$GC,19200,1.34,290.1,128.1,10.3,1874,19206,0.00,2.67,0.00,0.000,4,0.000,0.070,3080,575,1875
$GC,19214,1.34,290.1,126.6,10.4,1876,19220,0.00,2.55,0.00,0.000,6,0.000,0.050,3080,1985,1876
$GC,19554,1.34,290.1,86.1,12.3,1937,19559,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1988,1875
$GC,19892,1.34,290.1,45.5,11.1,1998,19899,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1987,1875
$GC,20026,1.34,290.1,31.1,11.2,2023,20034,0.00,2.67,0.00,0.000,4,0.000,0.063,3080,3395,1875
$GC,20052,1.34,290.1,27.9,12.8,2027,20060,0.00,2.58,0.00,0.000,6,0.000,0.048,3080,2001,1875
$GC,20187,1.34,290.1,10.4,14.7,2052,20194,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2001,1875
$STATE,20252,end climb,SURFACE_DEPTH_REACHED
$STATE,20252,begin surface coast
$FINISH,0.3,1.027173
$STATE,20280,end surface coast,CONTROL_FINISHED_OK
$STATE,20280,begin surface
$SM_CCo,20358,0.00,0.000,0,0,1873,291.66
$SM_GC,0.75,10.45,0.00,0.00,0.033,0.000,0.000,569,2047,1873,-10.06,0.57,291.66
$IRIDIUM_FIX,6050.49,-2434.03,260797,212143
$TT8_MAMPS,0.042185
$HUMID,1610
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,12.80
$XPDR_PINGS,428
$24V_AH,23.5,26.489
$10V_AH,10.6,34.619
$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,24.450,153.800,431.275,0.000,0.000,27.915,34.972,230.011,107.000,0.000,0.000,16.787,3275.043,12314.810,605.735,3954.089,610.541,0.000,2276.308,0.000,3963.620,0.000,0.465
$DEVICE_MAMPS,197.886,103.545,1294.696,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1439.224,1514.644,734.907,941.285,863.204,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,148604,2069
$CAP_FILE_SIZE,184174,0
$CFSIZE,260165632,243851264
$ERRORS,0,25,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020508,084408,6115.479,-2428.518,30,1.0,30,-17.5