version: 66.03
glider: 141
mission: 7
dive: 77
start: 4 21 108 9 57 28
data:
$ID,141
$MISSION,7
$DIVE,77
$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,-7685.7822
$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,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
$GPS1,094908,6025.075,-2210.619,30,1.4,30,-15.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-51.3
$GPS2,095709,6025.131,-2210.672,13,1.8,13,-15.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6025.131,-2205.341
$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,105.8,20000,-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,-194.7,0.0,0.0,0,121,0.00,0.00,-94.03,0.000,2,0.000,0.000,566,2024,3791
$GC,123,-1.34,-194.7,3.3,-5.8,13,148,11.18,2.67,-1.50,0.000,4,0.201,0.067,2481,3439,3858
$GC,217,-1.30,-194.7,21.1,-13.0,29,225,0.00,2.58,0.00,0.000,6,0.000,0.043,2481,2025,3859
$GC,351,-1.30,-194.7,36.1,-11.3,54,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2021,3859
$GC,484,-1.30,-194.7,50.6,-11.2,79,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2019,3859
$GC,617,-1.30,-194.7,65.4,-10.9,104,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2019,3859
$GC,751,-1.30,-194.7,80.3,-11.3,129,759,0.00,2.65,0.00,0.000,4,0.000,0.060,2482,3434,3859
$GC,787,-1.26,-194.7,84.5,-11.7,135,796,0.08,2.55,0.00,0.000,6,0.110,0.044,2501,2031,3859
$GC,922,-1.26,-194.7,98.5,-10.4,160,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2027,3859
$GC,1056,-1.26,-194.7,112.2,-10.7,185,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2026,3859
$GC,1190,-1.26,-194.7,126.1,-9.9,210,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2025,3859
$GC,1324,-1.26,-194.7,139.8,-9.9,235,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2025,3859
$GC,1456,-1.26,-194.7,153.4,-10.3,260,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2025,3859
$GC,1789,-1.26,-194.7,186.5,-10.3,321,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2025,3859
$GC,2118,-1.26,-194.7,220.0,-10.1,382,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2025,3859
$GC,2451,-1.26,-194.7,253.0,-9.9,443,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2025,3859
$GC,2780,-1.26,-194.7,285.7,-10.4,504,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2025,3858
$GC,3112,-1.26,-194.7,318.4,-9.5,565,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2025,3859
$GC,3441,-1.26,-194.7,349.6,-9.4,626,3449,0.00,2.65,0.00,0.000,4,0.000,0.061,2501,3437,3859
$GC,3493,-1.26,-194.7,354.8,-10.0,635,3499,0.00,2.53,0.00,0.000,6,0.000,0.042,2501,2022,3858
$GC,3834,-1.26,-194.7,387.1,-9.2,696,3843,0.00,2.65,0.00,0.000,4,0.000,0.063,2501,3430,3859
$GC,3867,-1.26,-194.7,390.2,-10.4,701,3873,0.00,2.50,0.00,0.000,6,0.000,0.043,2501,2031,3859
$GC,4207,-1.26,-194.7,422.8,-9.4,762,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2028,3859
$GC,4547,-1.26,-194.7,453.2,-8.8,823,4553,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2027,3859
$GC,4889,-1.26,-194.7,483.2,-9.0,884,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2027,3859
$GC,5234,-1.26,-194.7,515.4,-9.7,945,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2026,3859
$GC,5574,-1.26,-194.7,549.7,-10.2,1006,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2025,3859
$GC,5914,-1.26,-194.7,584.5,-10.0,1067,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2026,3858
$GC,6252,-1.26,-194.7,618.2,-9.6,1112,6256,0.00,2.70,0.00,0.000,4,0.000,0.079,2500,3434,3858
$GC,6290,-1.26,-194.7,622.2,-10.2,1115,6295,0.00,2.55,0.00,0.000,6,0.000,0.052,2501,2036,3859
$GC,6617,-1.26,-194.7,651.0,-8.7,1145,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2036,3858
$GC,6933,-1.26,-194.7,678.3,-9.1,1175,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2036,3858
$GC,7254,-1.26,-194.7,708.0,-9.5,1205,7255,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2036,3858
$GC,7570,-1.26,-194.7,738.2,-9.4,1235,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2032,3858
$GC,7889,-1.26,-194.7,767.9,-9.8,1265,7893,0.00,2.70,0.00,0.000,4,0.000,0.082,2501,3429,3858
$GC,7971,-1.26,-194.7,776.7,-10.8,1272,7976,0.00,2.58,0.00,0.000,6,0.000,0.058,2501,2035,3858
$GC,8297,-1.26,-194.7,807.4,-9.0,1302,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2034,3857
$GC,8615,-1.26,-194.7,836.2,-9.1,1332,8619,0.00,2.67,0.00,0.000,4,0.000,0.079,2500,3430,3857
$GC,8676,-1.26,-194.7,842.2,-9.8,1337,8680,0.00,2.58,0.00,0.000,6,0.000,0.056,2501,2028,3857
$GC,9001,-1.26,-194.7,872.3,-9.2,1367,9002,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2027,3856
$GC,9319,-1.26,-194.7,901.5,-9.6,1397,9324,0.00,2.67,0.00,0.000,4,0.000,0.078,2501,3431,3856
$GC,9369,-1.26,-194.7,906.3,-9.4,1401,9374,0.00,2.55,0.00,0.000,6,0.000,0.056,2501,2028,3856
$GC,9694,-1.26,-194.7,935.1,-8.9,1431,9698,0.00,2.67,0.00,0.000,4,0.000,0.078,2501,3438,3856
$GC,9737,-1.26,-194.7,939.3,-10.0,1434,9744,0.00,2.58,0.00,0.000,6,0.000,0.056,2501,2041,3856
$GC,10063,-1.26,-194.7,966.4,-8.1,1465,10067,0.00,2.62,0.00,0.000,4,0.000,0.077,2501,3431,3855
$GC,10094,-1.26,-194.7,969.3,-9.2,1467,10101,0.00,2.53,0.00,0.000,6,0.000,0.057,2500,2046,3856
$STATE,10353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10354,begin apogee
$GC,10358,-0.37,0.0,990.8,8.3,1492,10531,0.93,0.00,168.65,1.291,6,0.095,0.000,2698,1984,3062
$STATE,10531,end apogee,CONTROL_FINISHED_OK
$STATE,10531,begin climb
$GC,10533,1.34,194.7,994.7,0.0,1509,10710,1.67,0.00,168.68,1.259,6,0.075,0.000,3071,1985,2267
$GC,11028,1.28,194.7,946.7,10.7,1557,11033,0.00,2.67,0.00,0.000,4,0.000,0.069,3070,3389,2261
$GC,11061,1.22,194.7,942.8,11.3,1559,11068,0.12,2.58,0.00,0.000,6,0.109,0.051,3047,1989,2261
$GC,11385,1.25,215.4,912.0,9.3,1590,11406,0.00,0.00,18.60,1.156,6,0.000,0.000,3046,1989,2183
$GC,11725,1.29,250.2,880.8,8.8,1622,11765,0.00,2.75,32.42,1.182,4,0.000,0.069,3047,3384,2041
$GC,11788,1.33,283.8,874.9,8.8,1628,11830,0.10,2.55,31.88,1.167,6,0.072,0.051,3077,2000,1903
$GC,12147,1.29,283.8,835.0,11.0,1662,12148,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2000,1897
$GC,12467,1.29,283.8,796.7,12.5,1692,12468,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1998,1897
$GC,12785,1.25,283.8,757.4,11.8,1722,12787,0.12,0.00,0.00,0.000,6,0.101,0.000,3052,1998,1896
$GC,13104,1.25,283.8,724.9,10.1,1752,13109,0.00,2.72,0.00,0.000,4,0.000,0.079,3052,573,1896
$GC,13136,1.25,283.8,721.2,10.4,1754,13143,0.00,2.58,0.00,0.000,6,0.000,0.050,3052,1990,1895
$GC,13461,1.25,283.8,687.3,10.2,1785,13466,0.00,2.67,0.00,0.000,4,0.000,0.077,3052,3395,1895
$GC,13493,1.25,283.8,683.6,10.6,1787,13500,0.00,2.55,0.00,0.000,6,0.000,0.049,3052,2005,1895
$GC,13819,1.25,283.8,650.0,10.3,1818,13823,0.00,2.70,0.00,0.000,4,0.000,0.074,3052,573,1895
$GC,13861,1.25,283.8,645.0,11.0,1821,13868,0.00,2.60,0.00,0.000,6,0.000,0.049,3052,1988,1895
$GC,14187,1.25,283.8,610.8,10.2,1852,14192,0.00,2.67,0.00,0.000,4,0.000,0.074,3052,3403,1894
$GC,14215,1.25,283.8,607.7,10.7,1854,14219,0.00,2.55,0.00,0.000,6,0.000,0.048,3052,1993,1894
$GC,14550,1.26,288.9,573.6,9.8,1907,14556,0.00,0.00,4.35,0.709,6,0.000,0.000,3052,1992,1884
$GC,14890,1.26,288.9,538.4,10.1,1968,14898,0.00,2.67,0.00,0.000,4,0.000,0.074,3051,578,1884
$GC,14923,1.26,288.9,535.1,10.7,1973,14929,0.00,2.58,0.00,0.000,6,0.000,0.049,3052,2001,1884
$GC,15263,1.26,288.9,498.8,10.0,2034,15268,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2004,1884
$GC,15602,1.26,288.9,461.7,10.3,2095,15607,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2004,1883
$GC,15942,1.26,288.9,425.6,10.3,2156,15950,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2004,1883
$GC,16288,1.27,296.5,390.5,9.7,2217,16299,0.00,0.00,8.88,0.813,6,0.000,0.000,3052,2004,1853
$GC,16634,1.27,296.5,356.0,10.7,2279,16639,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2004,1852
$GC,16965,1.28,305.0,323.8,9.7,2340,16979,0.00,2.75,9.18,0.783,4,0.000,0.062,3052,574,1818
$GC,17019,1.28,305.0,318.4,10.9,2349,17025,0.00,2.55,0.00,0.000,6,0.000,0.044,3052,1991,1817
$GC,17349,1.28,308.3,285.5,9.9,2410,17357,0.00,0.00,4.22,0.592,6,0.000,0.000,3052,1993,1804
$GC,17685,1.31,331.8,252.1,9.2,2471,17711,0.00,0.00,21.98,0.804,6,0.000,0.000,3051,1994,1708
$GC,18038,1.34,353.0,215.1,9.3,2535,18064,0.00,2.70,20.30,0.772,4,0.000,0.061,3052,573,1621
$GC,18091,1.34,353.0,209.1,11.6,2544,18099,0.00,2.58,0.00,0.000,6,0.000,0.046,3052,1979,1620
$GC,18425,1.34,353.0,174.2,11.5,2605,18430,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1981,1618
$GC,18752,1.34,356.6,139.2,9.9,2666,18760,0.00,0.00,3.83,0.507,6,0.000,0.000,3051,1981,1608
$GC,18886,1.34,356.6,125.0,10.3,2691,18893,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1981,1607
$GC,19020,1.34,356.6,111.0,10.0,2716,19027,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1982,1607
$GC,19154,1.34,357.5,97.0,10.0,2741,19161,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1982,1607
$GC,19288,1.37,380.7,82.8,9.2,2766,19319,0.12,2.70,22.23,0.701,4,0.061,0.061,3091,577,1509
$GC,19342,1.37,380.7,75.9,14.0,2774,19350,0.00,2.55,0.00,0.000,6,0.000,0.050,3091,1969,1508
$GC,19476,1.37,380.7,57.1,15.5,2799,19484,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1972,1507
$GC,19610,1.37,380.7,37.6,16.4,2824,19617,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1972,1506
$GC,19744,1.37,380.7,18.8,14.0,2849,19751,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1972,1506
$GC,19877,1.37,380.7,3.5,11.0,2874,19885,0.00,2.65,0.00,0.000,4,0.000,0.063,3091,3392,1505
$STATE,19891,end climb,SURFACE_DEPTH_REACHED
$STATE,19891,begin surface coast
$FINISH,0.1,1.014298
$STATE,19913,end surface coast,CONTROL_FINISHED_OK
$STATE,19913,begin surface
$SM_CCo,19994,0.00,0.000,0,0,1502,382.67
$SM_GC,0.75,10.57,0.00,0.00,0.035,0.000,0.000,569,2013,1502,-10.06,-0.48,382.67
$IRIDIUM_FIX,5958.08,-2205.05,160797,040414
$TT8_MAMPS,0.042185
$HUMID,1590
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,12.70
$XPDR_PINGS,842
$24V_AH,23.5,17.202
$10V_AH,10.5,25.125
$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,24.900,110.150,515.175,0.000,0.000,25.848,30.643,289.465,210.500,0.000,0.000,14.747,4387.496,8076.542,686.889,6568.802,726.588,0.000,2864.660,0.000,6642.834,0.000,0.468
$DEVICE_MAMPS,200.954,97.409,1290.861,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,2010.945,2088.321,1288.536,1852.427,3627.232,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,211726,2880
$CAP_FILE_SIZE,217632,0
$CFSIZE,260165632,248512512
$ERRORS,0,25,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210408,153155,6026.169,-2200.262,39,0.8,39,-15.7