version: 66.03
glider: 141
mission: 7
dive: 53
start: 4 15 108 20 30 51
data:
$ID,141
$MISSION,7
$DIVE,53
$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,628.45856
$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,-7218.7554
$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,28
$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
$GPS1,201031,5935.379,-2139.336,35,1.8,40,-15.1
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-45.6
$GPS2,203033,5935.590,-2139.755,10,1.6,10,-15.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5935.590,-2145.220
$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,285.1,20000,-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,-194.7,0.0,0.0,0,136,0.00,0.00,-108.47,0.000,2,0.000,0.000,566,2052,3774
$GC,138,-1.34,-194.7,3.1,-6.6,15,162,11.00,2.67,-1.98,0.000,4,0.193,0.062,2478,624,3858
$GC,396,-1.34,-194.7,34.3,-10.3,63,404,0.00,2.53,0.00,0.000,6,0.000,0.043,2478,2026,3859
$GC,531,-1.34,-194.7,50.7,-12.0,88,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2029,3859
$GC,664,-1.34,-194.7,64.3,-11.6,113,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2029,3859
$GC,797,-1.34,-194.7,79.9,-10.5,138,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2030,3859
$GC,931,-1.34,-194.7,94.5,-10.5,163,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2030,3859
$GC,1064,-1.34,-194.7,109.9,-12.0,188,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2030,3859
$GC,1198,-1.34,-194.7,126.5,-11.9,213,1206,0.00,2.60,0.00,0.000,4,0.000,0.058,2478,622,3859
$GC,1245,-1.34,-194.7,132.1,-12.2,221,1253,0.00,2.60,0.00,0.000,6,0.000,0.040,2479,2067,3859
$GC,1379,-1.34,-194.7,147.6,-11.6,246,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2068,3859
$GC,1517,-1.34,-194.7,164.7,-12.6,271,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2068,3859
$GC,1845,-1.34,-194.7,204.3,-11.7,332,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2068,3859
$GC,2178,-1.34,-194.7,241.6,-10.6,393,2184,0.00,2.62,0.00,0.000,4,0.000,0.051,2478,624,3859
$GC,2245,-1.34,-194.7,248.9,-10.8,405,2251,0.00,2.55,0.00,0.000,6,0.000,0.039,2479,2063,3859
$GC,2574,-1.34,-194.7,283.9,-11.1,466,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2066,3859
$GC,2907,-1.34,-194.7,321.2,-11.6,527,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2066,3859
$GC,3237,-1.34,-194.7,356.6,-10.6,588,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2067,3859
$GC,3581,-1.34,-194.7,392.7,-10.0,649,3587,0.00,2.65,0.00,0.000,4,0.000,0.052,2478,621,3859
$GC,3620,-1.34,-194.7,396.9,-10.5,656,3628,0.00,2.58,0.00,0.000,6,0.000,0.044,2478,2055,3859
$GC,3964,-1.34,-194.7,430.8,-9.7,717,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2057,3859
$GC,4304,-1.34,-194.7,467.6,-11.4,778,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2057,3859
$GC,4644,-1.34,-194.7,503.6,-10.2,839,4650,0.00,2.62,0.00,0.000,4,0.000,0.057,2478,621,3859
$GC,4679,-1.34,-194.7,506.9,-9.9,845,4685,0.00,2.55,0.00,0.000,6,0.000,0.044,2478,2048,3859
$GC,5018,-1.34,-194.7,542.0,-10.3,906,5024,0.00,2.62,0.00,0.000,4,0.000,0.074,2478,3437,3859
$GC,5059,-1.30,-194.7,546.2,-10.9,913,5065,0.00,2.47,0.00,0.000,6,0.000,0.044,2478,2057,3858
$GC,5399,-1.30,-194.7,581.9,-10.8,974,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2056,3859
$GC,5730,-1.30,-194.7,619.7,-11.1,1019,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2056,3859
$GC,6049,-1.30,-194.7,655.2,-11.1,1049,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2056,3859
$GC,6368,-1.30,-194.7,688.8,-10.6,1079,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2057,3858
$GC,6686,-1.30,-194.7,722.8,-10.5,1109,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2052,3859
$GC,7004,-1.30,-194.7,755.3,-10.6,1139,7009,0.00,2.67,0.00,0.000,4,0.000,0.084,2478,3441,3858
$GC,7054,-1.30,-194.7,760.7,-10.8,1143,7059,0.00,2.55,0.00,0.000,6,0.000,0.054,2478,2048,3858
$GC,7379,-1.30,-194.7,791.7,-9.3,1173,7383,0.00,2.78,0.00,0.000,4,0.000,0.092,2478,614,3858
$GC,7429,-1.30,-194.7,796.4,-9.2,1177,7433,0.00,2.60,0.00,0.000,6,0.000,0.052,2478,2051,3858
$GC,7753,-1.30,-194.7,829.0,-10.4,1207,7754,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2053,3858
$GC,8071,-1.30,-194.7,862.3,-10.1,1237,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2053,3858
$GC,8390,-1.30,-194.7,894.0,-9.8,1267,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2053,3857
$GC,8708,-1.30,-194.7,925.7,-10.4,1297,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2053,3857
$GC,9026,-1.30,-194.7,958.2,-10.4,1327,9031,0.00,2.70,0.00,0.000,4,0.000,0.071,2478,617,3856
$GC,9065,-1.30,-194.7,962.3,-11.0,1330,9069,0.00,2.60,0.00,0.000,6,0.000,0.052,2478,2048,3856
$STATE,9345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9345,begin apogee
$GC,9350,-0.37,0.0,990.9,10.0,1356,9523,1.02,0.00,168.68,1.278,6,0.100,0.000,2695,1975,3062
$STATE,9523,end apogee,CONTROL_FINISHED_OK
$STATE,9523,begin climb
$GC,9525,1.34,194.7,995.4,0.0,1373,9702,1.67,2.70,167.27,1.249,4,0.074,0.068,3065,577,2268
$GC,9723,1.28,194.7,980.7,10.6,1392,9730,0.00,2.60,0.00,0.000,6,0.000,0.048,3065,1991,2265
$GC,10049,1.22,194.7,946.8,10.4,1423,10053,0.00,2.67,0.00,0.000,4,0.000,0.077,3065,3394,2262
$GC,10114,1.17,194.7,939.3,11.7,1428,10121,0.15,2.55,0.00,0.000,6,0.107,0.045,3036,2005,2261
$GC,10439,1.21,224.1,909.3,9.0,1459,10471,0.00,2.83,26.40,1.170,4,0.000,0.075,3035,574,2148
$GC,10486,1.24,250.1,904.7,9.1,1463,10517,0.00,2.65,24.98,1.153,6,0.000,0.046,3036,2006,2042
$GC,10841,1.24,250.1,868.4,10.4,1497,10846,0.00,2.65,0.00,0.000,4,0.000,0.077,3035,3395,2036
$GC,10869,1.24,250.1,865.4,11.0,1499,10873,0.00,2.50,0.00,0.000,6,0.000,0.044,3036,2011,2036
$GC,11193,1.24,250.1,831.5,10.5,1529,11197,0.00,2.70,0.00,0.000,4,0.000,0.071,3035,577,2036
$GC,11224,1.24,250.1,827.9,11.1,1531,11231,0.00,2.60,0.00,0.000,6,0.000,0.046,3035,2009,2036
$GC,11550,1.25,258.3,796.3,9.7,1562,11560,0.00,0.00,7.62,0.973,6,0.000,0.000,3035,2012,2009
$GC,11878,1.28,285.6,765.5,9.1,1593,11909,0.10,0.00,26.40,1.107,6,0.069,0.000,3067,2012,1897
$GC,12226,1.28,285.6,726.8,11.2,1626,12227,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2013,1894
$GC,12545,1.28,285.6,692.1,11.2,1656,12546,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2013,1893
$GC,12863,1.28,285.6,656.5,11.3,1686,12868,0.00,2.65,0.00,0.000,4,0.000,0.072,3067,3397,1892
$GC,12890,1.28,285.6,653.2,11.4,1688,12895,0.00,2.55,0.00,0.000,6,0.000,0.044,3067,1992,1892
$GC,13214,1.28,285.6,616.0,11.4,1718,13219,0.00,2.65,0.00,0.000,4,0.000,0.067,3067,571,1892
$GC,13242,1.28,285.6,612.7,12.2,1720,13246,0.00,2.58,0.00,0.000,6,0.000,0.045,3067,2005,1892
$GC,13577,1.28,285.6,575.7,11.1,1769,13583,0.00,2.60,0.00,0.000,4,0.000,0.069,3067,3397,1891
$GC,13601,1.28,285.6,573.1,10.7,1773,13607,0.00,2.53,0.00,0.000,6,0.000,0.043,3067,1991,1891
$GC,13941,1.28,285.6,535.9,10.9,1834,13947,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1989,1891
$GC,14281,1.28,285.6,497.9,11.1,1895,14286,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1989,1891
$GC,14620,1.28,285.6,459.4,12.6,1956,14628,0.00,2.65,0.00,0.000,4,0.000,0.060,3067,3388,1891
$GC,14645,1.28,285.6,456.2,12.8,1960,14653,0.00,2.53,0.00,0.000,6,0.000,0.044,3067,2002,1891
$GC,14990,1.28,285.6,416.5,10.7,2021,14995,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2000,1891
$GC,15328,1.28,285.6,377.1,11.7,2082,15333,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2000,1891
$GC,15668,1.28,285.6,339.4,11.4,2143,15674,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2000,1892
$GC,15996,1.28,285.6,301.3,11.3,2204,16004,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2000,1892
$GC,16331,1.28,285.6,264.2,10.8,2265,16336,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1999,1892
$GC,16659,1.28,285.6,226.7,10.8,2326,16667,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1999,1892
$GC,16993,1.28,285.6,188.7,13.5,2387,16999,0.00,2.65,0.00,0.000,4,0.000,0.057,3067,573,1893
$GC,17017,1.28,285.6,185.8,12.7,2391,17023,0.00,2.58,0.00,0.000,6,0.000,0.039,3067,2012,1892
$GC,17348,1.29,292.6,149.8,9.8,2452,17363,0.00,0.00,7.12,0.650,6,0.000,0.000,3067,2015,1869
$GC,17491,1.30,301.9,135.1,9.7,2478,17506,0.00,0.00,9.10,0.670,6,0.000,0.000,3067,2016,1834
$GC,17632,1.30,301.9,119.9,11.4,2504,17640,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2016,1833
$GC,17766,1.30,301.9,104.8,11.2,2529,17773,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2016,1832
$GC,17899,1.30,301.9,90.3,10.3,2554,17906,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2016,1832
$GC,18033,1.32,320.5,75.9,9.4,2579,18055,0.00,0.00,17.73,0.679,6,0.000,0.000,3067,2016,1754
$GC,18181,1.32,320.5,59.4,11.2,2606,18188,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2016,1752
$GC,18314,1.32,320.5,44.5,12.9,2631,18321,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2015,1751
$GC,18448,1.42,397.4,33.3,7.3,2656,18521,0.00,2.72,66.43,0.663,4,0.000,0.056,3067,577,1439
$GC,18544,1.42,397.4,22.4,18.3,2670,18552,0.00,2.58,0.00,0.000,6,0.000,0.044,3067,1987,1437
$STATE,18672,end climb,SURFACE_DEPTH_REACHED
$STATE,18672,begin surface coast
$FINISH,-0.0,1.027117
$STATE,18695,end surface coast,CONTROL_FINISHED_OK
$STATE,18695,begin surface
$SM_CCo,18712,186.45,0.630,0,0,499,628.46
$SM_GC,0.46,0.00,0.00,186.45,0.000,0.000,0.630,568,2050,499,-10.18,0.57,628.46
$IRIDIUM_FIX,5911.23,-2140.99,100797,202026
$TT8_MAMPS,0.042952
$HUMID,1562
$INTERNAL_PRESSURE,9.94179
$TCM_TEMP,13.30
$XPDR_PINGS,773
$24V_AH,23.5,12.120
$10V_AH,10.5,17.269
$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,24.350,104.900,521.725,186.450,0.000,139.856,303.516,363.909,193.250,0.000,0.000,11.488,4093.194,7787.803,837.414,6194.084,1159.886,0.000,2920.099,0.000,6260.335,0.000,0.467
$DEVICE_MAMPS,193.284,92.040,1277.822,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1863.964,1972.642,1225.548,1764.561,3455.705,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202108,2698
$CAP_FILE_SIZE,211163,0
$CFSIZE,260165632,251392000
$ERRORS,0,7,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160408,014707,5936.494,-2148.323,36,1.7,41,-15.2