version: 66.03
glider: 141
mission: 7
dive: 64
start: 4 18 108 9 14 51
data:
$ID,141
$MISSION,7
$DIVE,64
$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,359
$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,-7459.6147
$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,21
$R_STBD_OVSHOOT,32
$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
$GPS1,090238,5938.204,-2247.981,25,1.5,25,-15.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-53.8
$GPS2,091433,5938.284,-2247.969,15,1.6,15,-15.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5949.081,-2248.064
$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,14.7,20000,-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,-194.7,0.0,0.0,0,122,0.00,0.00,-94.68,0.000,2,0.000,0.000,567,2052,3665
$GC,124,-1.34,-194.7,3.1,-5.8,13,148,10.98,2.58,-4.68,0.000,4,0.192,0.064,2486,3426,3856
$GC,321,-1.34,-194.7,32.7,-12.3,49,328,0.00,2.53,0.00,0.000,6,0.000,0.043,2486,2031,3857
$GC,454,-1.34,-194.7,48.1,-10.9,74,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2025,3857
$GC,588,-1.34,-194.7,62.6,-11.1,99,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2025,3857
$GC,721,-1.34,-194.7,77.3,-11.1,124,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2025,3857
$GC,854,-1.34,-194.7,92.2,-11.8,149,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2025,3857
$GC,987,-1.34,-194.7,108.1,-12.6,174,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2025,3857
$GC,1121,-1.34,-194.7,123.7,-12.0,199,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2025,3857
$GC,1255,-1.34,-194.7,139.1,-11.5,224,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2025,3857
$GC,1389,-1.34,-194.7,154.2,-11.2,249,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2024,3857
$GC,1717,-1.34,-194.7,190.1,-10.8,310,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2024,3857
$GC,2051,-1.34,-194.7,226.2,-10.8,371,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2024,3857
$GC,2377,-1.34,-194.7,262.6,-10.6,432,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2024,3857
$GC,2710,-1.34,-194.7,298.8,-10.5,493,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2024,3857
$GC,3037,-1.34,-194.7,332.9,-10.0,554,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2024,3857
$GC,3373,-1.34,-194.7,369.6,-11.1,615,3379,0.00,2.60,0.00,0.000,4,0.000,0.057,2486,3429,3857
$GC,3430,-1.34,-194.7,376.1,-11.8,625,3436,0.00,2.50,0.00,0.000,6,0.000,0.040,2486,2032,3857
$GC,3768,-1.34,-194.7,415.2,-10.8,686,3774,0.00,2.60,0.00,0.000,4,0.000,0.057,2486,620,3857
$GC,3823,-1.34,-194.7,421.3,-11.0,696,3831,0.00,2.55,0.00,0.000,6,0.000,0.049,2486,2032,3858
$GC,4168,-1.34,-194.7,459.4,-11.2,757,4174,0.00,2.60,0.00,0.000,4,0.000,0.067,2486,3436,3857
$GC,4214,-1.34,-194.7,465.0,-12.2,765,4221,0.00,2.50,0.00,0.000,6,0.000,0.042,2486,2036,3857
$GC,4553,-1.34,-194.7,504.4,-11.7,826,4559,0.00,2.60,0.00,0.000,4,0.000,0.062,2486,621,3857
$GC,4616,-1.34,-194.7,511.5,-12.1,837,4622,0.00,2.55,0.00,0.000,6,0.000,0.046,2487,2045,3857
$GC,4955,-1.34,-194.7,550.6,-11.7,898,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2046,3857
$GC,5296,-1.34,-194.7,587.7,-10.5,959,5302,0.00,2.65,0.00,0.000,4,0.000,0.078,2486,3445,3857
$GC,5367,-1.34,-194.7,595.8,-11.4,972,5375,0.00,2.55,0.00,0.000,6,0.000,0.053,2486,2052,3857
$GC,5694,-1.34,-194.7,631.2,-10.6,1006,5699,0.00,2.75,0.00,0.000,4,0.000,0.087,2486,623,3857
$GC,5755,-1.34,-194.7,637.9,-11.4,1011,5760,0.00,2.58,0.00,0.000,6,0.000,0.053,2486,2042,3857
$GC,6080,-1.34,-194.7,670.5,-10.0,1041,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2042,3857
$GC,6399,-1.34,-194.7,701.6,-9.8,1071,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2044,3856
$GC,6716,-1.34,-194.7,734.3,-10.5,1101,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2045,3856
$GC,7035,-1.34,-194.7,767.6,-10.9,1131,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2045,3856
$GC,7353,-1.34,-194.7,800.6,-10.1,1161,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2045,3856
$GC,7673,-1.34,-194.7,831.2,-9.5,1191,7677,0.00,2.70,0.00,0.000,4,0.000,0.075,2486,617,3855
$GC,7738,-1.34,-194.7,837.8,-10.0,1196,7745,0.00,2.62,0.00,0.000,6,0.000,0.054,2486,2054,3855
$GC,8063,-1.34,-194.7,868.0,-9.3,1227,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2053,3855
$GC,8381,-1.34,-194.7,897.7,-9.0,1257,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2054,3854
$GC,8700,-1.34,-194.7,927.0,-9.4,1287,8701,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2055,3854
$GC,9019,-1.34,-194.7,958.1,-9.8,1317,9023,0.00,2.72,0.00,0.000,4,0.000,0.072,2486,615,3853
$GC,9079,-1.34,-194.7,964.1,-9.9,1322,9084,0.00,2.60,0.00,0.000,6,0.000,0.054,2486,2038,3853
$STATE,9369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9371,begin apogee
$GC,9375,-0.37,0.0,990.9,9.4,1349,9547,0.98,0.00,167.88,1.289,6,0.100,0.000,2694,1980,3062
$STATE,9547,end apogee,CONTROL_FINISHED_OK
$STATE,9547,begin climb
$GC,9549,1.34,194.7,995.3,0.0,1366,9726,1.67,0.00,168.65,1.256,6,0.075,0.000,3069,1980,2267
$GC,10044,1.29,194.7,950.5,10.3,1414,10048,0.00,2.72,0.00,0.000,4,0.000,0.077,3069,3397,2261
$GC,10060,1.24,194.7,948.9,10.5,1415,10064,0.00,2.58,0.00,0.000,6,0.000,0.049,3069,1990,2261
$GC,10383,1.18,194.7,914.7,11.1,1445,10389,0.15,2.67,0.00,0.000,4,0.104,0.066,3039,3406,2260
$GC,10411,1.18,194.7,911.7,11.0,1447,10415,0.00,2.58,0.00,0.000,6,0.000,0.048,3039,1992,2260
$GC,10735,1.22,221.1,881.2,9.1,1477,10766,0.00,2.75,23.35,1.164,4,0.000,0.067,3040,3395,2159
$GC,10777,1.25,249.1,877.2,9.0,1481,10809,0.00,2.55,26.88,1.157,6,0.000,0.047,3039,2008,2046
$GC,11126,1.27,267.4,844.5,9.4,1514,11147,0.00,0.00,17.40,1.119,6,0.000,0.000,3039,2008,1971
$GC,11465,1.28,271.9,812.7,9.8,1546,11475,0.00,0.00,4.68,0.811,6,0.000,0.000,3039,2008,1955
$GC,11794,1.28,271.9,780.5,10.5,1577,11798,0.00,2.72,0.00,0.000,4,0.000,0.074,3039,570,1954
$GC,11814,1.28,271.9,778.2,10.9,1578,11821,0.00,2.67,0.00,0.000,6,0.000,0.048,3039,2035,1953
$GC,12141,1.28,272.5,744.5,10.0,1609,12146,0.00,2.75,0.00,0.000,4,0.000,0.067,3039,570,1953
$GC,12150,1.28,272.5,743.2,10.3,1609,12157,0.00,2.65,0.00,0.000,6,0.000,0.048,3039,2012,1953
$GC,12475,1.28,272.5,711.5,10.1,1640,12476,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2012,1952
$GC,12794,1.32,305.2,681.8,8.9,1670,12829,0.12,0.00,32.38,1.081,6,0.063,0.000,3077,2012,1817
$GC,13142,1.32,305.2,642.9,11.6,1703,13147,0.00,2.72,0.00,0.000,4,0.000,0.064,3077,574,1812
$GC,13169,1.32,305.2,639.6,12.0,1705,13173,0.00,2.62,0.00,0.000,6,0.000,0.048,3077,2009,1812
$GC,13493,1.32,305.2,600.3,12.7,1735,13494,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2010,1811
$GC,13825,1.32,305.2,559.1,12.1,1794,13831,0.00,2.72,0.00,0.000,4,0.000,0.070,3077,569,1811
$GC,13843,1.32,305.2,556.9,13.1,1797,13849,0.00,2.60,0.00,0.000,6,0.000,0.046,3077,1999,1811
$GC,14183,1.32,305.2,514.0,12.8,1858,14189,0.00,2.67,0.00,0.000,4,0.000,0.064,3077,576,1810
$GC,14202,1.32,305.2,511.9,12.3,1861,14208,0.00,2.58,0.00,0.000,6,0.000,0.045,3077,2002,1810
$GC,14541,1.32,305.2,470.4,11.6,1922,14547,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2004,1810
$GC,14880,1.32,305.2,431.2,10.7,1983,14885,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2005,1810
$GC,15220,1.32,305.2,391.7,11.8,2044,15228,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2005,1810
$GC,15564,1.32,305.2,350.1,12.2,2105,15570,0.00,2.67,0.00,0.000,4,0.000,0.060,3077,574,1810
$GC,15589,1.32,305.2,347.1,11.8,2109,15595,0.00,2.55,0.00,0.000,6,0.000,0.043,3077,1992,1810
$GC,15917,1.32,305.2,310.4,10.3,2170,15925,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1994,1810
$GC,16249,1.32,305.2,275.4,10.4,2231,16255,0.00,2.65,0.00,0.000,4,0.000,0.059,3077,567,1811
$GC,16263,1.32,305.2,273.9,10.9,2233,16269,0.00,2.55,0.00,0.000,6,0.000,0.041,3077,1995,1811
$GC,16593,1.32,305.2,236.5,11.5,2294,16601,0.00,2.67,0.00,0.000,4,0.000,0.062,3077,574,1811
$GC,16625,1.32,305.2,233.0,11.1,2299,16631,0.00,2.50,0.00,0.000,6,0.000,0.041,3077,1972,1810
$GC,16954,1.32,305.2,195.6,11.5,2360,16961,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1976,1810
$GC,17287,1.32,305.2,156.6,11.9,2421,17292,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1976,1810
$GC,17608,1.32,305.2,118.9,11.7,2482,17616,0.00,2.65,0.00,0.000,4,0.000,0.058,3077,3389,1810
$GC,17625,1.32,305.2,117.0,12.2,2484,17633,0.00,2.58,0.00,0.000,6,0.000,0.040,3077,1967,1810
$GC,17759,1.32,305.2,101.1,12.6,2509,17766,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1966,1811
$GC,17893,1.33,312.6,85.7,9.7,2534,17901,0.00,0.00,6.88,0.621,6,0.000,0.000,3077,1966,1786
$GC,18028,1.34,320.3,71.1,9.7,2559,18043,0.00,0.00,8.07,0.634,6,0.000,0.000,3077,1966,1755
$GC,18170,1.34,320.3,55.6,11.5,2585,18177,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1966,1754
$GC,18303,1.34,320.3,40.4,11.2,2610,18310,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1966,1754
$GC,18436,1.34,320.3,24.4,12.8,2635,18443,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1966,1754
$GC,18570,1.34,320.3,9.5,14.4,2660,18577,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1966,1754
$STATE,18629,end climb,SURFACE_DEPTH_REACHED
$STATE,18629,begin surface coast
$FINISH,0.4,1.027167
$STATE,18651,end surface coast,CONTROL_FINISHED_OK
$STATE,18651,begin surface
$SM_CCo,18729,0.00,0.000,0,0,1751,321.34
$SM_GC,0.82,10.52,0.00,0.00,0.037,0.000,0.000,569,2038,1751,-10.08,0.23,321.34
$IRIDIUM_FIX,5915.45,-2251.26,130797,090930
$TT8_MAMPS,0.042185
$HUMID,1610
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,13.10
$XPDR_PINGS,765
$24V_AH,23.5,14.476
$10V_AH,10.5,20.824
$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,24.425,110.425,456.150,0.000,0.000,58.771,71.544,381.348,191.250,0.000,0.000,16.891,4064.588,7762.656,653.533,6104.303,829.229,0.000,2649.406,0.000,6149.197,0.000,0.466
$DEVICE_MAMPS,191.750,87.438,1288.560,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1854.478,1949.288,1217.356,1741.177,3407.470,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,199257,2675
$CAP_FILE_SIZE,202266,0
$CFSIZE,260165632,250109952
$ERRORS,0,10,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180408,142808,5942.323,-2245.380,34,0.9,34,-15.7