version: 66.03
glider: 141
mission: 7
dive: 75
start: 4 20 108 23 2 57
data:
$ID,141
$MISSION,7
$DIVE,75
$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,90
$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,-7655.894
$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,20
$R_STBD_OVSHOOT,26
$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
$GPS1,225426,6022.373,-2223.698,39,1.5,39,-15.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-54.2
$GPS2,230238,6022.417,-2223.872,11,1.2,11,-15.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6022.417,-2218.533
$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,105.9,20000,-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,23,begin dive
$GC,24,-1.34,-194.7,0.0,0.0,0,121,0.00,0.00,-94.12,0.000,2,0.000,0.000,570,2040,3759
$GC,124,-1.34,-194.7,3.3,-5.9,13,140,11.12,0.00,-2.28,0.000,6,0.199,0.000,2487,2040,3859
$GC,266,-1.34,-194.7,24.8,-12.2,39,274,0.00,2.62,0.00,0.000,4,0.000,0.058,2487,3434,3860
$GC,317,-1.34,-194.7,30.8,-11.5,48,326,0.00,2.55,0.00,0.000,6,0.000,0.048,2487,2028,3860
$GC,451,-1.34,-194.7,45.6,-11.1,73,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2024,3860
$GC,585,-1.34,-194.7,60.4,-11.2,98,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2023,3860
$GC,718,-1.34,-194.7,74.9,-10.6,123,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2023,3860
$GC,851,-1.34,-194.7,89.3,-11.1,148,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2023,3860
$GC,984,-1.34,-194.7,103.6,-11.0,173,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2023,3860
$GC,1118,-1.34,-194.7,118.0,-10.6,198,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2023,3860
$GC,1251,-1.34,-194.7,132.3,-11.3,223,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2023,3860
$GC,1384,-1.34,-194.7,146.9,-11.5,248,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2023,3860
$GC,1522,-1.34,-194.7,161.8,-10.6,273,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2023,3861
$GC,1850,-1.34,-194.7,197.3,-11.2,334,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2022,3861
$GC,2183,-1.34,-194.7,233.0,-10.3,395,2189,0.00,2.62,0.00,0.000,4,0.000,0.056,2487,3440,3860
$GC,2228,-1.34,-194.7,238.0,-10.7,403,2234,0.00,2.53,0.00,0.000,6,0.000,0.041,2487,2023,3861
$GC,2558,-1.34,-194.7,273.9,-10.7,464,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2018,3861
$GC,2890,-1.34,-194.7,309.1,-10.7,525,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2018,3861
$GC,3219,-1.34,-194.7,343.6,-10.1,586,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2018,3860
$GC,3559,-1.34,-194.7,379.2,-10.6,647,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2018,3860
$GC,3898,-1.34,-194.7,414.8,-10.5,708,3906,0.00,2.67,0.00,0.000,4,0.000,0.064,2487,3428,3861
$GC,3930,-1.34,-194.7,418.0,-11.5,713,3936,0.00,2.53,0.00,0.000,6,0.000,0.044,2487,2026,3860
$GC,4270,-1.34,-194.7,453.3,-10.3,774,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2023,3861
$GC,4610,-1.34,-194.7,488.8,-10.7,835,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2023,3860
$GC,4950,-1.34,-194.7,525.0,-10.3,896,4959,0.00,2.67,0.00,0.000,4,0.000,0.075,2487,3424,3860
$GC,5005,-1.34,-194.7,531.1,-11.4,905,5011,0.00,2.53,0.00,0.000,6,0.000,0.048,2487,2033,3860
$GC,5344,-1.34,-194.7,569.7,-11.1,966,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2031,3860
$GC,5681,-1.34,-194.7,605.8,-10.0,1022,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2031,3860
$GC,6000,-1.34,-194.7,638.1,-10.2,1052,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2031,3860
$GC,6319,-1.34,-194.7,670.4,-10.0,1082,6323,0.00,2.75,0.00,0.000,4,0.000,0.089,2487,3432,3860
$GC,6350,-1.34,-194.7,674.0,-10.9,1084,6357,0.00,2.60,0.00,0.000,6,0.000,0.061,2487,2048,3860
$GC,6675,-1.34,-194.7,707.1,-10.6,1115,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2048,3860
$GC,6994,-1.34,-194.7,740.4,-10.3,1145,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2043,3860
$GC,7312,-1.34,-194.7,773.4,-10.2,1175,7313,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2042,3859
$GC,7632,-1.34,-194.7,805.6,-9.8,1205,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2043,3859
$GC,7949,-1.34,-194.7,836.1,-9.8,1235,7950,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2043,3858
$GC,8268,-1.34,-194.7,867.7,-10.1,1265,8269,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2043,3858
$GC,8587,-1.34,-194.7,899.7,-9.8,1295,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2043,3858
$GC,8905,-1.34,-194.7,930.7,-9.7,1325,8906,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2043,3857
$GC,9225,-1.34,-194.7,961.3,-9.3,1355,9226,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2042,3857
$STATE,9540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9540,begin apogee
$GC,9546,-0.37,0.0,990.8,9.3,1385,9723,0.98,0.00,169.05,1.296,6,0.102,0.000,2696,1974,3061
$STATE,9723,end apogee,CONTROL_FINISHED_OK
$STATE,9724,begin climb
$GC,9725,1.34,194.7,995.0,0.0,1403,9898,1.70,0.00,168.18,1.263,6,0.076,0.000,3067,1974,2268
$GC,10215,1.29,194.7,947.6,10.9,1450,10219,0.00,2.70,0.00,0.000,4,0.000,0.071,3067,3383,2261
$GC,10265,1.23,194.7,941.8,12.1,1454,10269,0.00,2.58,0.00,0.000,6,0.000,0.051,3067,1985,2260
$GC,10589,1.18,194.7,905.8,11.0,1484,10591,0.15,0.00,0.00,0.000,6,0.107,0.000,3038,1985,2261
$GC,10908,1.20,207.7,875.0,9.5,1514,10928,0.00,2.75,11.70,1.101,4,0.000,0.069,3037,3383,2214
$GC,10951,1.21,220.7,870.6,9.5,1518,10972,0.00,2.58,13.02,1.103,6,0.000,0.051,3038,1989,2162
$GC,11289,1.23,231.6,837.4,9.6,1550,11302,0.00,0.00,11.23,1.079,6,0.000,0.000,3037,1988,2117
$GC,11619,1.24,244.2,806.2,9.6,1581,11644,0.00,2.70,14.75,0.966,4,0.000,0.068,3037,3384,2066
$GC,11671,1.25,252.0,800.9,9.7,1585,11688,0.00,2.55,9.07,1.016,6,0.000,0.049,3037,1999,2033
$GC,12006,1.26,255.5,767.7,9.9,1617,12016,0.00,0.00,4.15,0.752,6,0.000,0.000,3038,1999,2020
$GC,12335,1.27,267.4,735.8,9.6,1648,12349,0.00,0.00,12.43,1.049,6,0.000,0.000,3037,1998,1971
$GC,12664,1.27,269.3,703.7,9.9,1679,12668,0.00,2.65,0.00,0.000,4,0.000,0.067,3037,3390,1968
$GC,12701,1.27,269.3,699.7,10.3,1682,12706,0.00,2.53,0.00,0.000,6,0.000,0.049,3037,2009,1968
$GC,13027,1.31,300.7,670.1,8.9,1712,13077,0.12,0.00,35.60,0.986,6,0.062,0.000,3075,2010,1836
$GC,13394,1.31,300.7,628.2,10.9,1747,13398,0.00,2.62,0.00,0.000,4,0.000,0.067,3075,3384,1831
$GC,13432,1.31,300.7,623.7,12.0,1750,13436,0.00,2.53,0.00,0.000,6,0.000,0.049,3075,2010,1830
$GC,13760,1.31,300.7,585.3,12.1,1791,13766,0.00,2.72,0.00,0.000,4,0.000,0.074,3075,572,1830
$GC,13788,1.31,300.7,581.9,11.9,1796,13795,0.00,2.62,0.00,0.000,6,0.000,0.048,3075,1996,1830
$GC,14131,1.31,300.7,541.5,11.3,1857,14137,0.00,2.62,0.00,0.000,4,0.000,0.070,3075,3398,1829
$GC,14178,1.31,300.7,535.7,12.0,1865,14184,0.00,2.50,0.00,0.000,6,0.000,0.048,3075,2013,1829
$GC,14517,1.31,300.7,495.9,11.6,1926,14522,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2011,1829
$GC,14856,1.31,300.7,455.9,12.0,1987,14862,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2012,1829
$GC,15195,1.31,300.7,415.7,11.5,2048,15203,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2012,1829
$GC,15540,1.31,300.7,376.0,11.1,2109,15546,0.00,2.60,0.00,0.000,4,0.000,0.060,3075,3399,1829
$GC,15586,1.31,300.7,370.6,12.0,2117,15592,0.00,2.50,0.00,0.000,6,0.000,0.044,3075,2016,1829
$GC,15920,1.31,300.7,333.2,11.3,2178,15928,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2014,1829
$GC,16254,1.31,300.7,297.1,11.1,2239,16260,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2014,1829
$GC,16583,1.31,300.7,260.1,10.5,2300,16591,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2012,1829
$GC,16917,1.31,300.7,222.6,12.2,2361,16922,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2012,1829
$GC,17245,1.31,300.7,183.7,12.2,2422,17252,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2012,1829
$GC,17577,1.31,300.7,145.6,12.7,2483,17585,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2012,1829
$GC,17712,1.31,300.7,130.5,11.0,2508,17719,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2012,1829
$GC,17845,1.33,317.8,115.4,9.4,2533,17868,0.00,0.00,15.15,0.714,6,0.000,0.000,3075,2012,1765
$GC,17994,1.33,317.8,98.6,11.3,2560,18001,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2012,1763
$GC,18128,1.33,317.8,83.7,11.4,2585,18136,0.00,2.60,0.00,0.000,4,0.000,0.058,3075,3394,1762
$GC,18158,1.33,317.8,80.1,12.4,2590,18166,0.00,2.50,0.00,0.000,6,0.000,0.049,3075,2024,1762
$GC,18292,1.33,317.8,65.0,12.1,2615,18300,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2023,1762
$GC,18426,1.33,317.8,49.8,12.0,2640,18433,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2023,1762
$GC,18559,1.33,317.8,35.0,12.4,2665,18567,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2024,1762
$GC,18693,1.33,317.8,19.4,11.7,2690,18701,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2023,1762
$GC,18827,1.35,328.2,4.4,9.6,2715,18842,0.00,0.00,9.73,0.622,6,0.000,0.000,3075,2022,1722
$STATE,18848,end climb,SURFACE_DEPTH_REACHED
$STATE,18848,begin surface coast
$FINISH,0.1,1.004160
$STATE,18876,end surface coast,CONTROL_FINISHED_OK
$STATE,18876,begin surface
$SM_CCo,18953,0.00,0.000,0,0,1719,329.44
$SM_GC,0.79,10.55,0.00,0.00,0.036,0.000,0.000,571,2017,1719,-10.07,-0.34,329.44
$IRIDIUM_FIX,5958.08,-2236.52,150797,171735
$TT8_MAMPS,0.042185
$HUMID,1580
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,12.60
$XPDR_PINGS,799
$24V_AH,23.5,16.793
$10V_AH,10.4,24.464
$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,24.625,73.075,474.050,0.000,0.000,25.748,38.929,293.527,199.750,0.000,0.000,13.034,4121.767,7735.694,657.479,6205.919,694.016,0.000,2693.230,0.000,6267.793,0.000,0.466
$DEVICE_MAMPS,199.420,88.972,1296.230,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1893.561,1987.379,1241.540,1780.077,3484.138,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202317,2723
$CAP_FILE_SIZE,199260,0
$CFSIZE,260165632,248778752
$ERRORS,0,16,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,210408,042002,6023.597,-2217.715,38,1.6,38,-15.8