version: 66.03
glider: 141
mission: 7
dive: 61
start: 4 17 108 16 59 27
data:
$ID,141
$MISSION,7
$DIVE,61
$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,-7393.792
$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,23
$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
$GPS1,164432,5930.815,-2243.119,37,1.9,37,-15.6
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-48.6
$GPS2,165909,5930.881,-2243.352,10,1.6,10,-15.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5930.881,-2248.831
$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,285.6,20000,-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,24,begin dive
$GC,25,-1.34,-194.7,0.0,0.0,0,122,0.00,0.00,-94.07,0.000,2,0.000,0.000,568,2005,3753
$GC,124,-1.34,-194.7,3.3,-6.8,13,148,10.95,2.67,-2.28,0.000,4,0.192,0.064,2477,3430,3858
$GC,382,-1.34,-194.7,37.7,-12.4,61,391,0.00,2.55,0.00,0.000,6,0.000,0.046,2477,2024,3859
$GC,516,-1.34,-194.7,51.4,-10.6,86,524,0.00,2.62,0.00,0.000,4,0.000,0.056,2478,3432,3859
$GC,644,-1.30,-194.7,67.0,-12.4,110,653,0.00,2.55,0.00,0.000,6,0.000,0.038,2477,2022,3859
$GC,779,-1.30,-194.7,82.5,-11.0,135,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2019,3859
$GC,912,-1.30,-194.7,97.6,-11.2,160,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2017,3859
$GC,1046,-1.30,-194.7,112.5,-11.6,185,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2016,3859
$GC,1180,-1.30,-194.7,127.6,-11.9,210,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2016,3859
$GC,1314,-1.30,-194.7,142.8,-10.9,235,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2016,3859
$GC,1447,-1.30,-194.7,157.7,-10.3,260,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2016,3859
$GC,1780,-1.30,-194.7,192.6,-10.4,321,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2016,3859
$GC,2110,-1.30,-194.7,229.0,-11.0,382,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2016,3859
$GC,2442,-1.30,-194.7,266.3,-11.6,443,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2016,3859
$GC,2770,-1.30,-194.7,303.3,-11.0,504,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2016,3859
$GC,3103,-1.30,-194.7,341.1,-11.2,565,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2016,3859
$GC,3438,-1.30,-194.7,378.7,-11.2,626,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2016,3859
$GC,3778,-1.30,-194.7,413.9,-10.8,687,3784,0.00,2.65,0.00,0.000,4,0.000,0.059,2477,3434,3859
$GC,3814,-1.26,-194.7,417.7,-11.5,693,3820,0.12,2.53,0.00,0.000,6,0.113,0.041,2501,2025,3859
$GC,4154,-1.26,-194.7,451.9,-10.1,754,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2023,3859
$GC,4492,-1.26,-194.7,488.7,-10.7,815,4498,0.00,2.65,0.00,0.000,4,0.000,0.064,2501,3434,3859
$GC,4530,-1.26,-194.7,493.0,-11.3,822,4537,0.00,2.50,0.00,0.000,6,0.000,0.042,2501,2038,3859
$GC,4870,-1.26,-194.7,528.4,-10.2,883,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2037,3859
$GC,5210,-1.26,-194.7,561.2,-9.1,944,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2037,3859
$GC,5555,-1.26,-194.7,592.1,-9.4,1005,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2038,3859
$GC,5882,-1.26,-194.7,625.1,-10.4,1043,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2037,3859
$GC,6202,-1.26,-194.7,656.3,-9.0,1073,6206,0.00,2.70,0.00,0.000,4,0.000,0.080,2501,3433,3859
$GC,6240,-1.26,-194.7,660.0,-9.7,1076,6245,0.00,2.55,0.00,0.000,6,0.000,0.054,2501,2046,3859
$GC,6564,-1.26,-194.7,691.3,-9.9,1106,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2046,3858
$GC,6883,-1.26,-194.7,721.8,-9.1,1136,6888,0.00,2.80,0.00,0.000,4,0.000,0.100,2501,619,3858
$GC,6944,-1.26,-194.7,727.5,-9.6,1141,6949,0.00,2.58,0.00,0.000,6,0.000,0.057,2501,2028,3858
$GC,7269,-1.26,-194.7,757.6,-9.3,1171,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2028,3858
$GC,7587,-1.26,-194.7,784.8,-8.0,1201,7592,0.00,2.70,0.00,0.000,4,0.000,0.087,2501,3441,3858
$GC,7653,-1.26,-194.7,790.7,-8.9,1206,7660,0.00,2.58,0.00,0.000,6,0.000,0.053,2501,2025,3857
$GC,7978,-1.26,-194.7,817.8,-8.6,1237,7983,0.00,2.70,0.00,0.000,4,0.000,0.089,2501,620,3857
$GC,8021,-1.26,-194.7,821.9,-9.1,1240,8028,0.00,2.58,0.00,0.000,6,0.000,0.054,2501,2034,3857
$GC,8347,-1.26,-194.7,850.6,-8.9,1271,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2035,3857
$GC,8665,-1.26,-194.7,879.6,-9.0,1301,8670,0.00,2.70,0.00,0.000,4,0.000,0.087,2501,3446,3856
$GC,8716,-1.26,-194.7,884.4,-9.7,1305,8720,0.00,2.60,0.00,0.000,6,0.000,0.051,2501,2015,3856
$GC,9040,-1.26,-194.7,914.1,-9.2,1335,9041,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2014,3855
$GC,9359,-1.26,-194.7,943.6,-9.3,1365,9360,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2012,3855
$GC,9677,-1.26,-194.7,973.0,-9.1,1395,9682,0.00,2.70,0.00,0.000,4,0.000,0.074,2501,3440,3854
$GC,9727,-1.26,-194.7,977.8,-9.8,1399,9731,0.00,2.58,0.00,0.000,6,0.000,0.051,2501,2022,3854
$STATE,9868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9868,begin apogee
$GC,9872,-0.37,0.0,990.6,9.0,1412,10045,0.93,0.00,168.55,1.291,6,0.098,0.000,2698,1983,3062
$STATE,10046,end apogee,CONTROL_FINISHED_OK
$STATE,10046,begin climb
$GC,10047,1.34,194.7,995.2,0.0,1429,10224,1.67,0.00,168.55,1.259,6,0.076,0.000,3072,1982,2267
$GC,10542,1.29,194.7,948.7,11.0,1477,10547,0.00,2.70,0.00,0.000,4,0.000,0.066,3072,3406,2262
$GC,10597,1.23,194.7,942.3,11.6,1481,10604,0.12,2.60,0.00,0.000,6,0.107,0.047,3048,1986,2261
$GC,10921,1.23,194.7,910.1,10.3,1512,10923,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1986,2260
$GC,11240,1.23,194.7,876.7,10.4,1542,11241,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1986,2260
$GC,11559,1.23,194.7,843.9,10.4,1572,11563,0.00,2.70,0.00,0.000,4,0.000,0.065,3048,3400,2259
$GC,11624,1.23,194.7,836.4,11.6,1577,11631,0.00,2.58,0.00,0.000,6,0.000,0.046,3047,2001,2258
$GC,11949,1.23,194.7,802.5,10.0,1608,11954,0.00,2.65,0.00,0.000,4,0.000,0.065,3048,3395,2258
$GC,11978,1.23,194.7,799.5,11.1,1610,11983,0.00,2.53,0.00,0.000,6,0.000,0.046,3048,2005,2258
$GC,12302,1.26,224.7,769.2,9.0,1640,12333,0.00,0.00,26.23,1.130,6,0.000,0.000,3048,2005,2146
$GC,12650,1.31,265.2,737.5,8.6,1673,12695,0.00,2.75,37.28,1.117,4,0.000,0.064,3048,3397,1979
$GC,12717,1.35,296.8,731.5,8.9,1679,12755,0.08,2.53,30.00,1.090,6,0.052,0.045,3077,2036,1851
$GC,13072,1.35,296.8,691.6,11.9,1713,13076,0.00,2.78,0.00,0.000,4,0.000,0.072,3077,570,1845
$GC,13110,1.35,296.8,686.8,12.7,1716,13114,0.00,2.67,0.00,0.000,6,0.000,0.047,3077,2036,1845
$GC,13433,1.35,296.8,648.7,11.1,1746,13435,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2036,1844
$GC,13753,1.35,296.8,611.6,12.1,1776,13757,0.00,2.75,0.00,0.000,4,0.000,0.064,3077,574,1843
$GC,13780,1.35,296.8,608.1,12.8,1778,13784,0.00,2.60,0.00,0.000,6,0.000,0.047,3077,2013,1843
$GC,14116,1.35,296.8,569.4,11.2,1832,14124,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2015,1843
$GC,14460,1.35,296.8,531.3,11.5,1893,14465,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2016,1843
$GC,14799,1.35,296.8,490.6,11.7,1954,14805,0.00,2.67,0.00,0.000,4,0.000,0.061,3077,574,1842
$GC,14821,1.35,296.8,487.8,12.1,1958,14827,0.00,2.58,0.00,0.000,6,0.000,0.045,3077,2011,1842
$GC,15161,1.35,296.8,448.5,11.9,2019,15166,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2014,1842
$GC,15500,1.35,296.8,408.2,12.4,2080,15508,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2014,1842
$GC,15844,1.35,296.8,367.2,12.1,2141,15850,0.00,2.67,0.00,0.000,4,0.000,0.058,3078,570,1842
$GC,15872,1.35,296.8,363.5,12.3,2146,15878,0.00,2.55,0.00,0.000,6,0.000,0.042,3077,1995,1843
$GC,16207,1.35,296.8,322.7,11.6,2207,16213,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1998,1843
$GC,16535,1.35,296.8,282.9,12.8,2268,16542,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1998,1843
$GC,16868,1.35,296.8,244.4,12.9,2329,16875,0.00,2.65,0.00,0.000,4,0.000,0.057,3077,570,1843
$GC,16895,1.35,296.8,241.4,11.2,2333,16901,0.00,2.55,0.00,0.000,6,0.000,0.041,3078,1994,1843
$GC,17224,1.35,296.8,204.1,10.5,2394,17232,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1997,1843
$GC,17559,1.35,296.8,168.9,10.9,2455,17564,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1997,1843
$GC,17885,1.35,296.8,133.5,10.7,2516,17892,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1997,1843
$GC,18018,1.35,296.8,118.1,11.7,2541,18026,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1997,1844
$GC,18152,1.35,296.8,102.8,10.4,2566,18160,0.00,2.67,0.00,0.000,4,0.000,0.063,3077,572,1843
$GC,18172,1.35,296.8,100.7,10.0,2569,18181,0.00,2.55,0.00,0.000,6,0.000,0.045,3078,1978,1844
$GC,18306,1.35,296.8,85.6,11.0,2594,18314,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1981,1844
$GC,18440,1.35,296.8,68.6,15.0,2619,18448,0.00,2.62,0.00,0.000,4,0.000,0.061,3077,575,1844
$GC,18460,1.35,296.8,66.2,12.0,2622,18469,0.00,2.53,0.00,0.000,6,0.000,0.042,3078,1971,1844
$GC,18595,1.35,296.8,50.4,12.0,2647,18602,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1973,1844
$GC,18728,1.35,296.8,34.1,12.2,2672,18737,0.00,2.62,0.00,0.000,4,0.000,0.065,3078,576,1844
$GC,18745,1.35,296.8,32.3,11.2,2674,18753,0.00,2.55,0.00,0.000,6,0.000,0.048,3078,1980,1844
$GC,18879,1.35,296.8,14.8,13.6,2699,18886,0.00,2.60,0.00,0.000,4,0.000,0.058,3078,3384,1844
$GC,18915,1.35,296.8,9.6,10.8,2705,18923,0.00,2.53,0.00,0.000,6,0.000,0.041,3077,1986,1844
$STATE,18965,end climb,SURFACE_DEPTH_REACHED
$STATE,18965,begin surface coast
$FINISH,0.5,1.027134
$STATE,18987,end surface coast,CONTROL_FINISHED_OK
$STATE,18987,begin surface
$SM_CCo,19065,0.00,0.000,0,0,1840,299.51
$SM_GC,0.80,10.55,0.00,0.00,0.038,0.000,0.000,569,2052,1840,-10.07,0.62,299.51
$IRIDIUM_FIX,5907.03,-2246.32,120797,161627
$TT8_MAMPS,0.042952
$HUMID,1597
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,13.20
$XPDR_PINGS,771
$24V_AH,23.5,13.863
$10V_AH,10.5,19.867
$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,24.425,120.825,430.600,0.000,0.000,69.962,109.661,430.613,192.750,0.000,0.000,12.321,4158.725,7958.523,641.991,6200.711,949.409,0.000,2692.696,0.000,6254.843,0.000,0.466
$DEVICE_MAMPS,191.750,106.613,1290.861,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1880.955,1984.385,1217.075,1736.118,3396.312,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202283,2718
$CAP_FILE_SIZE,213319,0
$CFSIZE,260165632,250445824
$ERRORS,0,13,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170408,221846,5931.048,-2249.357,40,2.4,59,-15.7