version: 66.03
glider: 141
mission: 7
dive: 52
start: 4 15 108 14 48 9
data:
$ID,141
$MISSION,7
$DIVE,52
$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,270
$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,-7206.6382
$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,23
$R_STBD_OVSHOOT,37
$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
$GPS1,143532,5933.377,-2129.220,42,1.8,42,-15.0
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-41.9
$GPS2,144750,5933.527,-2129.531,11,1.5,11,-15.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5933.527,-2135.002
$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,285.0,20000,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.34,-194.7,0.0,0.0,0,157,0.00,0.00,-129.95,0.000,2,0.000,0.000,569,2048,3806
$GC,159,-1.34,-194.7,3.7,-7.2,18,177,10.98,2.67,-1.02,0.000,4,0.192,0.061,2479,624,3859
$GC,411,-1.34,-194.7,41.2,-11.7,65,419,0.00,2.50,0.00,0.000,6,0.000,0.046,2479,2017,3859
$GC,545,-1.34,-194.7,56.8,-11.8,90,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2019,3859
$GC,679,-1.30,-194.7,71.6,-10.3,115,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2019,3859
$GC,813,-1.30,-194.7,87.2,-10.2,140,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2019,3859
$GC,946,-1.30,-194.7,103.1,-12.8,165,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2019,3859
$GC,1080,-1.30,-194.7,120.1,-12.3,190,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2019,3859
$GC,1213,-1.30,-194.7,136.2,-11.6,215,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2020,3859
$GC,1344,-1.30,-194.7,151.2,-10.8,240,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2020,3859
$GC,1676,-1.30,-194.7,188.9,-11.3,301,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2019,3859
$GC,2005,-1.30,-194.7,227.9,-11.9,362,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2019,3859
$GC,2337,-1.30,-194.7,266.9,-11.4,423,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2020,3859
$GC,2666,-1.30,-194.7,303.8,-11.6,484,2674,0.00,2.65,0.00,0.000,4,0.000,0.058,2479,3437,3859
$GC,2708,-1.26,-194.7,308.5,-11.9,491,2715,0.12,2.53,0.00,0.000,6,0.114,0.036,2503,2012,3859
$GC,3041,-1.26,-194.7,341.8,-10.0,552,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2006,3859
$GC,3379,-1.26,-194.7,374.1,-9.4,613,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2006,3859
$GC,3719,-1.26,-194.7,407.0,-9.0,674,3725,0.00,2.65,0.00,0.000,4,0.000,0.059,2503,3438,3859
$GC,3763,-1.26,-194.7,411.1,-9.5,682,3769,0.00,2.50,0.00,0.000,6,0.000,0.039,2503,2032,3859
$GC,4103,-1.26,-194.7,442.8,-9.6,743,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2031,3859
$GC,4443,-1.26,-194.7,475.1,-10.3,804,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2031,3859
$GC,4788,-1.26,-194.7,509.3,-10.2,865,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2031,3859
$GC,5128,-1.26,-194.7,544.0,-9.8,926,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2030,3859
$GC,5467,-1.26,-194.7,577.2,-9.6,987,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2029,3858
$GC,5801,-1.26,-194.7,609.6,-9.8,1039,5806,0.00,2.67,0.00,0.000,4,0.000,0.071,2503,3437,3859
$GC,5851,-1.26,-194.7,614.7,-9.9,1043,5856,0.00,2.55,0.00,0.000,6,0.000,0.045,2503,2031,3859
$GC,6176,-1.26,-194.7,647.0,-9.9,1073,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2030,3859
$GC,6494,-1.26,-194.7,678.4,-9.9,1103,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2030,3859
$GC,6813,-1.26,-194.7,710.4,-9.8,1133,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2030,3858
$GC,7131,-1.26,-194.7,742.7,-10.0,1163,7135,0.00,2.67,0.00,0.000,4,0.000,0.080,2503,3428,3859
$GC,7173,-1.26,-194.7,747.3,-11.0,1166,7180,0.00,2.58,0.00,0.000,6,0.000,0.053,2503,2039,3858
$GC,7498,-1.26,-194.7,780.2,-10.0,1197,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2039,3858
$GC,7817,-1.26,-194.7,812.9,-10.0,1227,7822,0.00,2.75,0.00,0.000,4,0.000,0.091,2504,622,3857
$GC,7855,-1.26,-194.7,816.8,-10.0,1230,7860,0.00,2.55,0.00,0.000,6,0.000,0.053,2503,2027,3858
$GC,8180,-1.26,-194.7,848.2,-9.4,1260,8184,0.00,2.70,0.00,0.000,4,0.000,0.084,2503,3449,3858
$GC,8211,-1.26,-194.7,851.5,-10.0,1262,8218,0.00,2.60,0.00,0.000,6,0.000,0.048,2503,2022,3857
$GC,8537,-1.26,-194.7,880.7,-9.0,1293,8538,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2019,3857
$GC,8856,-1.26,-194.7,908.9,-8.8,1323,8860,0.00,2.67,0.00,0.000,4,0.000,0.072,2503,3446,3857
$GC,8905,-1.26,-194.7,913.6,-9.6,1327,8909,0.00,2.55,0.00,0.000,6,0.000,0.049,2503,2034,3857
$GC,9229,-1.26,-194.7,942.3,-8.9,1357,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2032,3856
$GC,9548,-1.26,-194.7,970.4,-8.8,1387,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2032,3856
$STATE,9779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9779,begin apogee
$GC,9783,-0.37,0.0,990.6,8.6,1409,9956,0.90,0.00,168.57,1.276,6,0.097,0.000,2695,1983,3062
$STATE,9957,end apogee,CONTROL_FINISHED_OK
$STATE,9957,begin climb
$GC,9958,1.34,194.7,994.3,0.0,1426,10137,1.67,2.83,167.35,1.246,4,0.073,0.083,3071,572,2267
$GC,10153,1.27,194.7,979.4,10.4,1445,10160,0.00,2.62,0.00,0.000,6,0.000,0.048,3071,1991,2265
$GC,10478,1.21,194.7,943.9,10.9,1476,10484,0.15,2.70,0.00,0.000,4,0.100,0.074,3037,3396,2262
$GC,10521,1.21,194.7,939.2,10.1,1479,10528,0.00,2.60,0.00,0.000,6,0.000,0.044,3037,1985,2262
$GC,10847,1.25,226.7,909.4,8.9,1510,10878,0.00,0.00,28.75,1.171,6,0.000,0.000,3037,1985,2137
$GC,11195,1.28,252.8,877.7,9.1,1543,11225,0.00,0.00,24.58,1.151,6,0.000,0.000,3037,1985,2031
$GC,11543,1.28,256.0,843.7,9.9,1576,11554,0.10,0.00,3.85,0.711,6,0.067,0.000,3068,1985,2018
$GC,11871,1.28,256.0,805.8,11.7,1607,11875,0.00,2.67,0.00,0.000,4,0.000,0.064,3068,3398,2017
$GC,11898,1.28,256.0,802.5,12.1,1609,11902,0.00,2.55,0.00,0.000,6,0.000,0.044,3068,1993,2017
$GC,12221,1.28,256.0,766.0,11.7,1639,12223,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1993,2016
$GC,12540,1.28,256.0,727.7,11.7,1669,12544,0.00,2.67,0.00,0.000,4,0.000,0.069,3067,570,2016
$GC,12562,1.28,256.0,725.2,11.4,1670,12568,0.00,2.60,0.00,0.000,6,0.000,0.045,3068,2009,2016
$GC,12887,1.28,256.0,688.4,11.0,1701,12888,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2009,2016
$GC,13204,1.28,256.0,653.7,10.6,1731,13205,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2009,2016
$GC,13522,1.28,256.0,619.4,11.0,1761,13523,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2010,2016
$GC,13847,1.28,256.0,584.6,10.2,1804,13856,0.00,2.70,0.00,0.000,4,0.000,0.060,3068,572,2016
$GC,13872,1.28,256.0,581.9,10.8,1808,13880,0.00,2.60,0.00,0.000,6,0.000,0.045,3068,1995,2016
$GC,14217,1.28,256.0,544.5,10.5,1869,14223,0.00,2.62,0.00,0.000,4,0.000,0.067,3068,3402,2015
$GC,14250,1.28,256.0,540.5,11.1,1875,14256,0.00,2.53,0.00,0.000,6,0.000,0.044,3068,1989,2015
$GC,14589,1.28,256.0,503.7,10.9,1936,14596,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1987,2016
$GC,14933,1.28,256.0,465.0,11.3,1997,14938,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1986,2016
$GC,15273,1.29,262.3,428.5,9.8,2058,15284,0.00,0.00,7.03,0.779,6,0.000,0.000,3068,1987,1992
$GC,15617,1.29,262.3,393.3,10.1,2120,15625,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1986,1991
$GC,15963,1.29,262.3,356.3,10.3,2181,15969,0.00,2.62,0.00,0.000,4,0.000,0.056,3068,3405,1991
$GC,15990,1.29,262.3,352.9,11.1,2186,15997,0.00,2.53,0.00,0.000,6,0.000,0.040,3068,1993,1991
$GC,16324,1.29,262.3,316.1,11.0,2247,16329,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1992,1991
$GC,16652,1.30,265.7,280.5,9.9,2308,16660,0.00,0.00,4.57,0.607,6,0.000,0.000,3068,1991,1978
$GC,16986,1.30,265.7,243.3,12.6,2369,16991,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1991,1978
$GC,17314,1.30,265.7,206.8,11.4,2430,17322,0.00,2.62,0.00,0.000,4,0.000,0.057,3068,3396,1978
$GC,17346,1.30,265.7,203.8,10.4,2435,17352,0.00,2.47,0.00,0.000,6,0.000,0.038,3068,2006,1977
$GC,17676,1.30,265.7,168.5,12.0,2496,17684,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2003,1977
$GC,18003,1.30,265.7,133.3,11.5,2557,18011,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2003,1977
$GC,18137,1.30,265.7,119.1,11.4,2582,18145,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2004,1977
$GC,18271,1.30,265.7,103.8,13.1,2607,18278,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2003,1978
$GC,18404,1.30,265.7,88.1,12.1,2632,18412,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2003,1977
$GC,18537,1.30,265.7,72.7,11.9,2657,18545,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2003,1978
$GC,18671,1.30,265.7,57.9,10.7,2682,18679,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2003,1978
$GC,18805,1.39,340.9,44.7,7.4,2707,18872,0.00,0.00,64.70,0.678,6,0.000,0.000,3068,2003,1672
$GC,18999,1.40,347.2,24.0,9.8,2740,19007,0.00,0.00,6.32,0.550,6,0.000,0.000,3068,2003,1646
$GC,19134,1.40,347.2,6.9,10.4,2765,19141,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2003,1644
$STATE,19167,end climb,SURFACE_DEPTH_REACHED
$STATE,19168,begin surface coast
$FINISH,0.7,1.027187
$STATE,19190,end surface coast,CONTROL_FINISHED_OK
$STATE,19190,begin surface
$SM_CCo,19268,0.00,0.000,0,0,1639,348.82
$SM_GC,0.75,10.48,0.00,0.00,0.035,0.000,0.000,567,2053,1639,-10.08,0.65,348.82
$IRIDIUM_FIX,5911.23,-2126.02,100797,141420
$TT8_MAMPS,0.042185
$HUMID,1593
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,12.50
$XPDR_PINGS,794
$24V_AH,23.5,11.860
$10V_AH,10.5,16.941
$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,24.400,83.925,475.725,0.000,0.000,61.238,67.601,414.596,198.500,0.000,0.000,12.937,4207.370,7943.228,632.920,6320.394,872.658,0.000,2736.992,0.000,6382.260,0.000,0.466
$DEVICE_MAMPS,191.750,90.506,1276.288,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1917.058,2020.294,1239.960,1783.507,3492.459,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,205269,2775
$CAP_FILE_SIZE,208869,0
$CFSIZE,260165632,251547648
$ERRORS,0,5,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150408,201031,5935.379,-2139.336,35,1.8,40,-15.1