version: 66.03
glider: 141
mission: 7
dive: 59
start: 4 17 108 5 44 4
data:
$ID,141
$MISSION,7
$DIVE,59
$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,-7369.3184
$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,30
$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
$GPS1,052953,5932.002,-2225.460,37,99.0,56,-15.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-45.1
$GPS2,054347,5932.104,-2225.748,10,99.0,29,-15.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5932.104,-2231.223
$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,285.5,20000,-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,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,-129.90,0.000,2,0.000,0.000,570,2040,3816
$GC,159,-1.34,-194.7,3.5,-7.3,18,177,11.07,2.70,-0.80,0.000,4,0.196,0.069,2479,628,3857
$GC,411,-1.34,-194.7,44.4,-11.3,65,419,0.00,2.55,0.00,0.000,6,0.000,0.041,2479,2024,3858
$GC,547,-1.30,-194.7,56.2,-8.2,90,554,0.00,2.60,0.00,0.000,4,0.000,0.059,2479,626,3859
$GC,608,-1.30,-194.7,64.1,-14.2,101,615,0.00,2.55,0.00,0.000,6,0.000,0.046,2479,2039,3859
$GC,741,-1.30,-194.7,82.4,-13.9,126,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2041,3858
$GC,874,-1.30,-194.7,97.4,-12.4,151,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2041,3858
$GC,1009,-1.26,-194.7,110.8,-12.1,176,1017,0.12,0.00,0.00,0.000,6,0.120,0.000,2502,2043,3858
$GC,1143,-1.26,-194.7,128.6,-13.4,201,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2043,3858
$GC,1277,-1.26,-194.7,143.4,-9.9,226,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2043,3858
$GC,1413,-1.26,-194.7,157.9,-10.0,251,1419,0.00,2.60,0.00,0.000,4,0.000,0.058,2502,626,3858
$GC,1462,-1.26,-194.7,163.0,-10.3,260,1470,0.00,2.47,0.00,0.000,6,0.000,0.045,2503,1994,3859
$GC,1796,-1.26,-194.7,195.1,-8.9,321,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1997,3858
$GC,2124,-1.26,-194.7,226.0,-9.8,382,2132,0.00,2.67,0.00,0.000,4,0.000,0.062,2503,3432,3858
$GC,2178,-1.26,-194.7,231.3,-10.3,391,2184,0.00,2.55,0.00,0.000,6,0.000,0.038,2503,1992,3858
$GC,2506,-1.26,-194.7,264.6,-10.5,452,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1986,3858
$GC,2838,-1.26,-194.7,299.1,-9.4,513,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1986,3858
$GC,3167,-1.26,-194.7,331.7,-10.0,574,3175,0.00,2.70,0.00,0.000,4,0.000,0.058,2503,3428,3858
$GC,3223,-1.26,-194.7,337.6,-10.6,584,3231,0.00,2.55,0.00,0.000,6,0.000,0.040,2502,2011,3858
$GC,3563,-1.26,-194.7,373.1,-10.5,645,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2006,3858
$GC,3902,-1.26,-194.7,408.9,-10.1,706,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2005,3858
$GC,4240,-1.26,-194.7,444.2,-10.1,767,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2005,3858
$GC,4580,-1.26,-194.7,480.1,-10.1,828,4588,0.00,2.70,0.00,0.000,4,0.000,0.069,2503,3432,3858
$GC,4643,-1.26,-194.7,486.9,-11.3,839,4649,0.00,2.55,0.00,0.000,6,0.000,0.041,2502,2008,3858
$GC,4982,-1.26,-194.7,523.3,-11.0,900,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2006,3858
$GC,5326,-1.26,-194.7,559.9,-10.4,961,5332,0.00,2.70,0.00,0.000,4,0.000,0.067,2503,3431,3858
$GC,5381,-1.26,-194.7,566.1,-11.0,971,5387,0.00,2.55,0.00,0.000,6,0.000,0.045,2502,2017,3858
$GC,5727,-1.26,-194.7,601.1,-9.7,1032,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2016,3858
$GC,6048,-1.26,-194.7,631.9,-9.7,1062,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2016,3857
$GC,6363,-1.26,-194.7,663.8,-10.3,1092,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2016,3858
$GC,6683,-1.26,-194.7,695.7,-9.5,1122,6684,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2016,3857
$GC,7001,-1.26,-194.7,727.0,-9.7,1152,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2013,3857
$GC,7320,-1.26,-194.7,756.8,-9.2,1182,7325,0.00,2.75,0.00,0.000,4,0.000,0.085,2503,3430,3857
$GC,7380,-1.26,-194.7,762.8,-10.1,1187,7385,0.00,2.55,0.00,0.000,6,0.000,0.055,2503,2036,3857
$GC,7705,-1.26,-194.7,793.4,-9.4,1217,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2036,3857
$GC,8023,-1.26,-194.7,822.5,-9.1,1247,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2033,3856
$GC,8343,-1.26,-194.7,851.3,-8.8,1277,8344,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2033,3856
$GC,8661,-1.26,-194.7,879.1,-8.8,1307,8665,0.00,2.67,0.00,0.000,4,0.000,0.077,2503,3437,3855
$GC,8692,-1.26,-194.7,882.1,-9.7,1309,8699,0.00,2.58,0.00,0.000,6,0.000,0.052,2503,2023,3855
$GC,9017,-1.26,-194.7,910.3,-8.3,1340,9019,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2023,3855
$GC,9336,-1.26,-194.7,937.6,-8.8,1370,9341,0.00,2.67,0.00,0.000,4,0.000,0.075,2502,3429,3854
$GC,9390,-1.26,-194.7,942.6,-9.5,1374,9397,0.00,2.55,0.00,0.000,6,0.000,0.051,2503,2040,3854
$GC,9716,-1.26,-194.7,970.5,-8.8,1405,9720,0.00,2.75,0.00,0.000,4,0.000,0.092,2502,616,3854
$GC,9754,-1.26,-194.7,974.0,-9.7,1408,9758,0.00,2.58,0.00,0.000,6,0.000,0.055,2502,2032,3854
$STATE,9938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9938,begin apogee
$GC,9942,-0.37,0.0,990.1,8.4,1425,10115,0.90,0.00,168.60,1.285,6,0.098,0.000,2694,1973,3062
$STATE,10115,end apogee,CONTROL_FINISHED_OK
$STATE,10115,begin climb
$GC,10117,1.34,194.7,993.6,0.0,1442,10291,1.70,0.00,167.60,1.255,6,0.074,0.000,3068,1973,2268
$GC,10607,1.29,194.7,944.2,10.9,1489,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1973,2263
$GC,10926,1.24,194.7,910.2,10.5,1519,10931,0.00,2.72,0.00,0.000,4,0.000,0.074,3068,3405,2261
$GC,10965,1.19,194.7,905.8,11.5,1522,10970,0.15,2.53,0.00,0.000,6,0.104,0.047,3039,1999,2261
$GC,11289,1.22,215.8,875.2,9.3,1552,11310,0.00,0.00,19.02,1.151,6,0.000,0.000,3038,1999,2182
$GC,11628,1.25,243.3,843.2,9.0,1584,11660,0.00,2.70,25.90,1.155,4,0.000,0.066,3038,3403,2069
$GC,11687,1.26,246.5,837.4,9.9,1589,11697,0.00,2.58,4.68,0.806,6,0.000,0.046,3038,2007,2056
$GC,12022,1.28,268.0,806.0,9.3,1621,12047,0.00,2.78,20.42,1.118,4,0.000,0.074,3038,570,1968
$GC,12063,1.31,291.2,801.9,9.2,1624,12101,0.12,2.62,24.45,1.042,6,0.059,0.047,3077,2003,1875
$GC,12418,1.31,291.2,760.4,11.6,1658,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2003,1871
$GC,12737,1.31,291.2,721.2,12.3,1688,12741,0.00,2.65,0.00,0.000,4,0.000,0.075,3077,3401,1870
$GC,12768,1.31,291.2,717.1,13.3,1690,12775,0.00,2.58,0.00,0.000,6,0.000,0.046,3077,1992,1869
$GC,13093,1.31,291.2,678.8,11.3,1721,13098,0.00,2.67,0.00,0.000,4,0.000,0.071,3077,570,1868
$GC,13121,1.31,291.2,675.4,12.0,1723,13125,0.00,2.60,0.00,0.000,6,0.000,0.047,3077,2003,1869
$GC,13444,1.31,291.2,637.2,11.8,1753,13449,0.00,2.62,0.00,0.000,4,0.000,0.071,3077,3394,1868
$GC,13472,1.31,291.2,633.9,12.1,1755,13476,0.00,2.53,0.00,0.000,6,0.000,0.045,3077,1989,1868
$GC,13800,1.31,291.2,595.0,11.7,1789,13806,0.00,2.65,0.00,0.000,4,0.000,0.067,3077,576,1868
$GC,13825,1.31,291.2,592.0,12.4,1793,13831,0.00,2.58,0.00,0.000,6,0.000,0.046,3077,1995,1868
$GC,14165,1.31,291.2,552.4,11.2,1854,14172,0.00,2.62,0.00,0.000,4,0.000,0.068,3077,3401,1868
$GC,14184,1.31,291.2,550.5,11.5,1857,14190,0.00,2.53,0.00,0.000,6,0.000,0.044,3077,1997,1867
$GC,14525,1.31,291.2,511.5,11.4,1918,14530,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1996,1867
$GC,14865,1.31,291.2,470.9,11.6,1979,14870,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1996,1867
$GC,15204,1.31,291.2,430.9,11.8,2040,15212,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1996,1867
$GC,15549,1.31,291.2,391.5,10.9,2101,15555,0.00,2.62,0.00,0.000,4,0.000,0.061,3077,576,1868
$GC,15574,1.31,291.2,388.6,11.3,2105,15580,0.00,2.58,0.00,0.000,6,0.000,0.042,3077,2010,1868
$GC,15913,1.31,291.2,349.7,11.9,2166,15921,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2012,1868
$GC,16247,1.31,291.2,311.8,11.5,2227,16252,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2013,1868
$GC,16575,1.31,291.2,274.2,11.5,2288,16583,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2013,1869
$GC,16908,1.31,291.2,236.2,11.4,2349,16913,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2013,1868
$GC,17236,1.31,291.2,195.3,11.8,2410,17244,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2013,1869
$GC,17571,1.32,298.5,155.7,9.7,2471,17584,0.00,0.00,7.35,0.658,6,0.000,0.000,3077,2013,1844
$GC,17899,1.32,298.5,117.5,11.7,2533,17906,0.00,2.58,0.00,0.000,4,0.000,0.061,3077,3385,1843
$GC,17924,1.32,298.5,114.3,13.3,2537,17932,0.00,2.53,0.00,0.000,6,0.000,0.045,3077,1992,1843
$GC,18059,1.32,298.5,98.6,10.9,2562,18066,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1989,1843
$GC,18192,1.35,323.9,84.3,9.1,2587,18222,0.00,0.00,22.73,0.693,6,0.000,0.000,3077,1989,1740
$GC,18348,1.35,323.9,67.1,11.0,2615,18355,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1989,1738
$GC,18481,1.35,323.9,52.0,12.1,2640,18488,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1989,1737
$GC,18615,1.35,323.9,35.7,11.6,2665,18622,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1989,1737
$GC,18748,1.35,323.9,19.4,11.7,2690,18755,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1989,1737
$GC,18881,1.35,323.9,4.3,11.2,2715,18889,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1989,1737
$STATE,18894,end climb,SURFACE_DEPTH_REACHED
$STATE,18895,begin surface coast
$FINISH,0.1,1.015315
$STATE,18927,end surface coast,CONTROL_FINISHED_OK
$STATE,18927,begin surface
$SM_CCo,19005,0.00,0.000,0,0,1734,325.76
$SM_GC,0.75,10.48,0.00,0.00,0.034,0.000,0.000,567,2046,1734,-10.07,0.45,325.76
$IRIDIUM_FIX,5907.03,-2223.50,120797,050544
$TT8_MAMPS,0.042185
$HUMID,1608
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,13.30
$XPDR_PINGS,778
$24V_AH,23.5,13.461
$10V_AH,10.5,19.211
$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,24.550,110.000,460.750,0.000,0.000,54.340,82.782,462.544,194.500,0.000,0.000,31.789,4142.209,7824.511,636.647,6258.006,946.396,0.000,2720.311,0.000,6290.405,0.000,0.466
$DEVICE_MAMPS,196.352,92.040,1285.492,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1882.837,1979.351,1228.770,1762.047,3446.468,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202092,2723
$CAP_FILE_SIZE,211604,0
$CFSIZE,260165632,250699776
$ERRORS,0,10,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170408,110202,5931.249,-2234.577,39,1.5,39,-15.5