version: 66.03
glider: 141
mission: 7
dive: 44
start: 4 13 108 18 21 57
data:
$ID,141
$MISSION,7
$DIVE,44
$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,135
$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,-7053.6182
$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,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$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
$GPS1,180937,5919.959,-2107.892,39,1.0,39,-14.7
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-54.1
$GPS2,182139,5920.093,-2107.764,11,1.1,11,-14.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5912.457,-2103.854
$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,149.7,20000,-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,-194.7,0.0,0.0,0,135,0.00,0.00,-107.78,0.000,2,0.000,0.000,563,2048,3745
$GC,137,-1.34,-194.7,3.2,-5.6,15,161,11.15,2.58,-2.70,0.000,4,0.199,0.061,2482,3423,3859
$GC,345,-1.30,-194.7,32.5,-11.8,53,353,0.00,2.50,0.00,0.000,6,0.000,0.037,2482,2025,3860
$GC,478,-1.30,-194.7,47.8,-10.9,78,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2023,3860
$GC,612,-1.30,-194.7,62.7,-11.4,103,620,0.00,2.60,0.00,0.000,4,0.000,0.056,2482,3426,3860
$GC,629,-1.30,-194.7,64.5,-11.2,105,637,0.00,2.50,0.00,0.000,6,0.000,0.037,2482,2028,3860
$GC,763,-1.30,-194.7,79.7,-11.6,130,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2025,3860
$GC,897,-1.30,-194.7,94.3,-10.7,155,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2023,3859
$GC,1030,-1.30,-194.7,108.4,-11.0,180,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2023,3860
$GC,1164,-1.30,-194.7,122.6,-10.4,205,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2022,3860
$GC,1297,-1.30,-194.7,137.1,-11.3,230,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2022,3860
$GC,1431,-1.30,-194.7,151.3,-10.6,255,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2022,3860
$GC,1760,-1.30,-194.7,187.1,-11.1,316,1767,0.00,2.60,0.00,0.000,4,0.000,0.053,2482,3423,3860
$GC,1772,-1.30,-194.7,188.6,-10.7,318,1780,0.00,2.50,0.00,0.000,6,0.000,0.041,2483,2029,3860
$GC,2105,-1.30,-194.7,225.1,-11.0,379,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2025,3860
$GC,2433,-1.30,-194.7,260.3,-11.2,440,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2025,3860
$GC,2765,-1.30,-194.7,297.1,-11.5,501,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2025,3860
$GC,3093,-1.30,-194.7,333.3,-10.7,562,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2025,3859
$GC,3428,-1.30,-194.7,370.9,-11.4,623,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2025,3860
$GC,3768,-1.30,-194.7,407.8,-10.8,684,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2025,3860
$GC,4112,-1.30,-194.7,444.1,-10.8,745,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2025,3860
$GC,4451,-1.30,-194.7,480.7,-10.8,806,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2024,3860
$GC,4790,-1.30,-194.7,517.2,-11.2,867,4796,0.00,2.62,0.00,0.000,4,0.000,0.061,2483,3431,3859
$GC,4818,-1.30,-194.7,520.3,-12.1,872,4826,0.00,2.50,0.00,0.000,6,0.000,0.041,2483,2052,3859
$GC,5164,-1.30,-194.7,556.2,-10.2,933,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2051,3859
$GC,5503,-1.30,-194.7,591.6,-10.6,994,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2050,3859
$GC,5830,-1.30,-194.7,625.5,-10.5,1032,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2049,3859
$GC,6148,-1.30,-194.7,661.2,-11.5,1062,6153,0.00,2.65,0.00,0.000,4,0.000,0.077,2482,3431,3859
$GC,6158,-1.30,-194.7,662.4,-11.8,1062,6165,0.00,2.55,0.00,0.000,6,0.000,0.050,2482,2050,3859
$GC,6483,-1.30,-194.7,698.6,-10.5,1093,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2050,3859
$GC,6802,-1.30,-194.7,730.8,-9.9,1123,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2048,3859
$GC,7120,-1.30,-194.7,763.3,-10.3,1153,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2046,3859
$GC,7438,-1.30,-194.7,796.0,-10.4,1183,7443,0.00,2.60,0.00,0.000,4,0.000,0.071,2483,3420,3858
$GC,7448,-1.30,-194.7,797.1,-9.9,1183,7455,0.00,2.53,0.00,0.000,6,0.000,0.049,2483,2032,3858
$GC,7775,-1.30,-194.7,830.8,-10.1,1214,7779,0.00,2.62,0.00,0.000,4,0.000,0.071,2482,3427,3858
$GC,7795,-1.30,-194.7,833.2,-10.8,1215,7802,0.00,2.55,0.00,0.000,6,0.000,0.049,2482,2038,3858
$GC,8120,-1.30,-194.7,864.4,-9.2,1246,8124,0.00,2.62,0.00,0.000,4,0.000,0.069,2482,3430,3858
$GC,8142,-1.30,-194.7,866.6,-10.1,1247,8148,0.00,2.50,0.00,0.000,6,0.000,0.048,2483,2044,3858
$GC,8466,-1.30,-194.7,896.4,-9.4,1278,8468,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2043,3858
$GC,8783,-1.30,-194.7,928.7,-10.3,1308,8788,0.00,2.60,0.00,0.000,4,0.000,0.071,2483,3423,3857
$GC,8822,-1.30,-194.7,932.8,-10.9,1311,8827,0.00,2.47,0.00,0.000,6,0.000,0.050,2482,2050,3857
$GC,9147,-1.30,-194.7,964.4,-9.8,1341,9151,0.00,2.58,0.00,0.000,4,0.000,0.071,2482,3420,3857
$GC,9179,-1.30,-194.7,967.7,-10.3,1343,9185,0.00,2.47,0.00,0.000,6,0.000,0.049,2482,2052,3857
$STATE,9416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9417,begin apogee
$GC,9421,-0.37,0.0,990.7,9.7,1366,9593,1.00,0.00,168.70,1.274,6,0.099,0.000,2695,2022,3062
$STATE,9594,end apogee,CONTROL_FINISHED_OK
$STATE,9594,begin climb
$GC,9596,1.34,194.7,994.9,0.0,1383,9773,1.70,2.80,167.43,1.245,4,0.073,0.085,3070,619,2266
$GC,9805,1.27,194.7,978.4,11.1,1403,9812,0.00,2.58,0.00,0.000,6,0.000,0.045,3070,2009,2264
$GC,10131,1.21,194.7,942.6,10.9,1434,10136,0.12,2.70,0.00,0.000,4,0.103,0.071,3046,3437,2261
$GC,10185,1.21,194.7,936.7,10.3,1438,10192,0.00,2.58,0.00,0.000,6,0.000,0.042,3046,2031,2261
$GC,10511,1.23,209.9,905.3,9.5,1469,10531,0.00,0.00,13.73,1.108,6,0.000,0.000,3046,2029,2205
$GC,10849,1.23,209.9,872.1,10.1,1501,10850,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2029,2204
$GC,11168,1.23,212.3,840.6,9.9,1531,11169,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2029,2204
$GC,11486,1.25,222.5,809.9,9.6,1561,11507,0.00,2.70,12.60,1.069,4,0.000,0.060,3046,3428,2153
$GC,11552,1.25,222.5,803.1,10.1,1567,11557,0.00,2.53,0.00,0.000,6,0.000,0.042,3046,2035,2152
$GC,11876,1.26,229.9,771.2,9.7,1597,11890,0.00,2.72,7.88,0.966,4,0.000,0.067,3045,624,2124
$GC,11919,1.26,229.9,766.8,10.8,1601,11923,0.00,2.58,0.00,0.000,6,0.000,0.044,3045,2048,2124
$GC,12242,1.28,248.4,736.0,9.4,1631,12263,0.00,0.00,18.15,1.065,6,0.000,0.000,3045,2050,2049
$GC,12582,1.31,276.3,705.0,9.0,1663,12612,0.00,0.00,26.20,1.064,6,0.000,0.000,3045,2050,1934
$GC,12930,1.33,291.3,671.4,9.5,1696,12952,0.10,2.72,14.77,1.001,4,0.067,0.061,3078,620,1874
$GC,12986,1.29,291.3,665.1,12.1,1701,12991,0.00,2.58,0.00,0.000,6,0.000,0.043,3079,2039,1873
$GC,13309,1.29,291.3,627.2,11.6,1731,13314,0.00,2.62,0.00,0.000,4,0.000,0.070,3078,3434,1871
$GC,13342,1.29,291.3,623.1,13.2,1733,13348,0.00,2.53,0.00,0.000,6,0.000,0.041,3078,2043,1870
$GC,13671,1.29,291.3,584.4,11.5,1775,13677,0.00,2.67,0.00,0.000,4,0.000,0.064,3078,614,1870
$GC,13722,1.24,291.3,578.3,12.0,1784,13731,0.10,2.58,0.00,0.000,6,0.086,0.042,3053,2030,1870
$GC,14065,1.26,304.0,543.9,9.6,1845,14081,0.00,0.00,12.43,0.920,6,0.000,0.000,3053,2032,1821
$GC,14416,1.29,329.8,509.2,9.1,1908,14447,0.00,0.00,23.62,0.943,6,0.000,0.000,3053,2033,1716
$GC,14784,1.29,329.8,471.2,10.4,1973,14790,0.00,2.62,0.00,0.000,4,0.000,0.056,3052,612,1713
$GC,14831,1.29,329.8,466.0,11.1,1981,14837,0.00,2.53,0.00,0.000,6,0.000,0.040,3052,2027,1713
$GC,15172,1.29,329.8,430.0,10.0,2042,15178,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2030,1712
$GC,15513,1.29,329.8,394.3,10.5,2103,15519,0.00,2.60,0.00,0.000,4,0.000,0.055,3052,616,1712
$GC,15548,1.29,329.8,390.6,11.1,2109,15554,0.00,2.50,0.00,0.000,6,0.000,0.039,3052,2031,1712
$GC,15889,1.29,329.8,355.2,10.9,2170,15894,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2033,1712
$GC,16223,1.29,329.8,318.7,11.1,2231,16229,0.00,2.62,0.00,0.000,4,0.000,0.054,3053,612,1712
$GC,16258,1.29,329.8,314.6,10.3,2237,16264,0.00,2.50,0.00,0.000,6,0.000,0.038,3052,2020,1712
$GC,16587,1.29,329.8,278.7,10.7,2298,16594,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2022,1712
$GC,16921,1.32,350.1,243.1,9.3,2359,16947,0.00,2.67,18.27,0.779,4,0.000,0.054,3052,617,1637
$GC,16982,1.32,350.1,236.3,12.3,2369,16988,0.00,2.50,0.00,0.000,6,0.000,0.038,3052,2014,1636
$GC,17312,1.32,350.1,200.5,10.5,2430,17319,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2016,1635
$GC,17645,1.33,363.5,166.3,9.5,2491,17663,0.00,0.00,12.85,0.716,6,0.000,0.000,3053,2016,1583
$GC,17982,1.33,363.5,131.4,10.8,2554,17990,0.00,2.60,0.00,0.000,4,0.000,0.056,3052,621,1580
$GC,18033,1.33,363.5,125.7,10.6,2563,18042,0.00,2.47,0.00,0.000,6,0.000,0.041,3053,1997,1580
$GC,18167,1.33,363.5,112.1,10.8,2588,18175,0.00,2.62,0.00,0.000,4,0.000,0.060,3052,3428,1580
$GC,18193,1.34,366.9,109.4,9.9,2592,18210,0.00,2.60,4.90,0.553,6,0.000,0.039,3052,1977,1566
$GC,18336,1.38,400.5,95.0,8.8,2618,18374,0.12,2.53,30.50,0.700,4,0.058,0.057,3094,623,1428
$GC,18408,1.38,400.5,86.0,14.0,2629,18416,0.00,2.45,0.00,0.000,6,0.000,0.043,3094,1980,1427
$GC,18542,1.38,400.5,68.3,12.6,2654,18550,0.00,2.67,0.00,0.000,4,0.000,0.059,3095,3432,1425
$GC,18572,1.38,400.5,64.1,14.4,2659,18580,0.00,2.60,0.00,0.000,6,0.000,0.038,3093,1985,1424
$GC,18707,1.38,400.5,46.1,11.8,2684,18715,0.00,2.53,0.00,0.000,4,0.000,0.058,3094,622,1424
$GC,18748,1.38,400.5,40.1,14.5,2691,18756,0.00,2.42,0.00,0.000,6,0.000,0.040,3094,1970,1424
$GC,18882,1.38,400.5,21.0,13.8,2716,18889,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1973,1424
$STATE,19014,end climb,SURFACE_DEPTH_REACHED
$STATE,19014,begin surface coast
$FINISH,0.2,1.021398
$STATE,19037,end surface coast,CONTROL_FINISHED_OK
$STATE,19037,begin surface
$SM_CCo,19115,0.00,0.000,0,0,1421,402.54
$SM_GC,0.94,10.48,0.00,0.00,0.031,0.000,0.000,565,2037,1421,-10.08,0.23,402.54
$IRIDIUM_FIX,5854.46,-2152.78,080797,181823
$TT8_MAMPS,0.042185
$HUMID,1576
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,13.30
$XPDR_PINGS,782
$24V_AH,23.5,10.167
$10V_AH,10.5,14.341
$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,24.775,134.225,532.025,0.000,0.000,52.751,143.090,329.851,195.500,0.000,0.000,12.876,4169.179,7806.186,703.250,6256.301,868.472,0.000,2830.027,0.000,6329.408,0.000,0.466
$DEVICE_MAMPS,199.420,128.089,1273.987,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1894.686,2002.501,1232.214,1766.543,3457.515,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202724,2745
$CAP_FILE_SIZE,213001,0
$CFSIZE,260165632,252518400
$ERRORS,0,7,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130408,234140,5920.006,-2103.492,32,1.2,34,-14.7