version: 66.03
glider: 141
mission: 7
dive: 45
start: 4 13 108 23 49 57
data:
$ID,141
$MISSION,7
$DIVE,45
$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,-7070.0039
$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,31
$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
$GPS1,234140,5920.006,-2103.492,32,1.2,34,-14.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-54.2
$GPS2,234938,5920.037,-2103.426,9,1.2,14,-14.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5912.400,-2059.517
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.34,-194.7,0.0,0.0,0,143,0.00,0.00,-115.97,0.000,2,0.000,0.000,565,2042,3795
$GC,145,-1.34,-194.7,3.3,-5.9,16,169,11.05,2.65,-1.35,0.000,4,0.196,0.060,2479,620,3858
$GC,403,-1.34,-194.7,39.9,-11.9,64,410,0.00,2.53,0.00,0.000,6,0.000,0.039,2479,2020,3859
$GC,537,-1.34,-194.7,54.9,-11.3,89,544,0.00,2.58,0.00,0.000,4,0.000,0.057,2479,624,3859
$GC,624,-1.34,-194.7,64.8,-11.3,105,631,0.00,2.50,0.00,0.000,6,0.000,0.038,2479,2020,3858
$GC,756,-1.34,-194.7,80.1,-12.1,130,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2021,3858
$GC,890,-1.34,-194.7,96.0,-12.1,155,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2021,3858
$GC,1023,-1.34,-194.7,111.3,-11.1,180,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2021,3858
$GC,1156,-1.34,-194.7,126.7,-11.7,205,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2021,3858
$GC,1289,-1.34,-194.7,142.3,-11.6,230,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2021,3858
$GC,1425,-1.34,-194.7,157.9,-11.1,255,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2020,3858
$GC,1753,-1.34,-194.7,195.3,-11.1,316,1761,0.00,2.60,0.00,0.000,4,0.000,0.059,2479,3432,3858
$GC,1767,-1.34,-194.7,196.8,-11.1,318,1775,0.00,2.53,0.00,0.000,6,0.000,0.037,2479,2014,3858
$GC,2100,-1.34,-194.7,233.3,-10.7,379,2106,0.00,2.60,0.00,0.000,4,0.000,0.051,2479,3431,3858
$GC,2115,-1.34,-194.7,234.8,-11.0,381,2121,0.00,2.47,0.00,0.000,6,0.000,0.035,2479,2026,3858
$GC,2444,-1.34,-194.7,271.7,-10.9,442,2453,0.00,2.60,0.00,0.000,4,0.000,0.053,2479,3433,3858
$GC,2458,-1.34,-194.7,273.3,-11.3,444,2466,0.00,2.50,0.00,0.000,6,0.000,0.038,2479,2030,3858
$GC,2791,-1.34,-194.7,311.5,-10.9,505,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2025,3858
$GC,3120,-1.34,-194.7,348.4,-10.6,566,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2025,3858
$GC,3459,-1.34,-194.7,385.5,-10.7,627,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2025,3858
$GC,3798,-1.34,-194.7,423.3,-10.9,688,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2025,3858
$GC,4141,-1.34,-194.7,461.5,-11.3,749,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2024,3858
$GC,4480,-1.34,-194.7,500.2,-11.0,810,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2024,3858
$GC,4818,-1.34,-194.7,538.7,-11.4,871,4824,0.00,2.65,0.00,0.000,4,0.000,0.065,2479,3432,3858
$GC,4834,-1.34,-194.7,540.5,-11.3,874,4840,0.00,2.50,0.00,0.000,6,0.000,0.040,2479,2040,3858
$GC,5173,-1.34,-194.7,578.8,-11.1,935,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2039,3858
$GC,5505,-1.34,-194.7,617.0,-11.4,982,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2039,3858
$GC,5825,-1.34,-194.7,652.4,-11.0,1012,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2039,3858
$GC,6142,-1.34,-194.7,686.9,-10.6,1042,6144,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2039,3858
$GC,6463,-1.34,-194.7,721.2,-11.0,1072,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2039,3858
$GC,6780,-1.34,-194.7,754.2,-9.9,1102,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2035,3858
$GC,7100,-1.34,-194.7,786.1,-10.0,1132,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2034,3857
$GC,7416,-1.34,-194.7,818.1,-10.3,1162,7418,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2034,3858
$GC,7735,-1.34,-194.7,850.3,-10.1,1192,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2035,3858
$GC,8053,-1.34,-194.7,881.4,-10.1,1222,8058,0.00,2.65,0.00,0.000,4,0.000,0.076,2479,3426,3857
$GC,8064,-1.34,-194.7,882.4,-9.5,1222,8070,0.00,2.50,0.00,0.000,6,0.000,0.048,2479,2049,3857
$GC,8389,-1.34,-194.7,914.0,-9.4,1253,8390,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2048,3857
$GC,8707,-1.34,-194.7,945.4,-9.9,1283,8712,0.00,2.60,0.00,0.000,4,0.000,0.071,2479,3430,3857
$GC,8730,-1.34,-194.7,947.8,-11.0,1284,8736,0.00,2.50,0.00,0.000,6,0.000,0.050,2479,2033,3857
$GC,9054,-1.34,-194.7,979.9,-9.6,1315,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2032,3856
$STATE,9158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9158,begin apogee
$GC,9161,-0.37,0.0,990.0,9.5,1325,9334,1.02,0.00,168.55,1.272,6,0.099,0.000,2697,2032,3062
$STATE,9335,end apogee,CONTROL_FINISHED_OK
$STATE,9335,begin climb
$GC,9336,1.34,194.7,994.1,0.0,1342,9515,1.67,2.70,167.65,1.241,4,0.073,0.065,3072,3425,2267
$GC,9549,1.28,194.7,977.5,11.3,1363,9553,0.00,2.58,0.00,0.000,6,0.000,0.046,3072,2021,2264
$GC,9873,1.22,194.7,942.5,10.7,1393,9878,0.12,2.70,0.00,0.000,4,0.105,0.080,3048,615,2262
$GC,9901,1.18,194.7,939.5,10.3,1395,9905,0.00,2.55,0.00,0.000,6,0.000,0.045,3048,2024,2262
$GC,10224,1.20,208.9,908.4,9.5,1425,10246,0.00,2.72,13.10,1.099,4,0.000,0.072,3048,3428,2209
$GC,10295,1.20,208.9,901.1,11.1,1431,10302,0.00,2.55,0.00,0.000,6,0.000,0.042,3048,2032,2208
$GC,10620,1.20,208.9,869.2,10.2,1462,10621,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2032,2207
$GC,10938,1.20,208.9,836.9,10.1,1492,10939,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2031,2206
$GC,11257,1.20,208.9,803.6,10.7,1522,11261,0.00,2.62,0.00,0.000,4,0.000,0.062,3048,3435,2207
$GC,11288,1.20,208.9,800.1,11.3,1524,11295,0.00,2.53,0.00,0.000,6,0.000,0.041,3048,2044,2206
$GC,11613,1.20,208.9,765.7,10.5,1555,11618,0.00,2.67,0.00,0.000,4,0.000,0.068,3048,614,2206
$GC,11663,1.20,208.9,760.2,10.4,1559,11667,0.00,2.58,0.00,0.000,6,0.000,0.044,3048,2050,2206
$GC,11987,1.20,208.9,725.4,10.9,1589,11991,0.00,2.60,0.00,0.000,4,0.000,0.071,3048,3431,2206
$GC,12036,1.20,208.9,719.7,11.8,1593,12040,0.00,2.50,0.00,0.000,6,0.000,0.041,3048,2040,2206
$GC,12359,1.20,208.9,684.4,10.5,1623,12364,0.00,2.65,0.00,0.000,4,0.000,0.067,3048,621,2206
$GC,12409,1.20,208.9,679.0,10.8,1627,12413,0.00,2.58,0.00,0.000,6,0.000,0.044,3048,2052,2206
$GC,12733,1.20,212.5,646.5,9.9,1657,12744,0.00,2.60,4.30,0.713,4,0.000,0.067,3048,3431,2194
$GC,12782,1.20,212.5,641.1,10.6,1661,12789,0.00,2.50,0.00,0.000,6,0.000,0.041,3048,2055,2195
$GC,13107,1.20,212.5,608.1,10.6,1692,13112,0.00,2.67,0.00,0.000,4,0.000,0.064,3048,617,2195
$GC,13138,1.20,212.5,604.6,11.3,1694,13145,0.00,2.60,0.00,0.000,6,0.000,0.042,3047,2047,2195
$GC,13477,1.20,212.5,569.4,10.6,1751,13483,0.00,2.58,0.00,0.000,4,0.000,0.066,3048,3435,2194
$GC,13515,1.20,212.5,565.1,11.5,1758,13521,0.00,2.47,0.00,0.000,6,0.000,0.041,3048,2044,2194
$GC,13856,1.22,232.3,530.4,9.3,1819,13881,0.00,2.67,18.92,0.946,4,0.000,0.061,3048,618,2114
$GC,13918,1.23,236.3,524.7,9.9,1829,13929,0.00,2.58,5.05,0.713,6,0.000,0.041,3048,2051,2098
$GC,14265,1.24,245.8,491.4,9.7,1891,14284,0.00,2.62,10.15,0.861,4,0.000,0.064,3048,3432,2058
$GC,14305,1.26,259.4,487.8,9.5,1897,14328,0.00,2.47,13.35,0.880,6,0.000,0.041,3048,2051,2003
$GC,14665,1.26,259.4,451.1,11.0,1961,14671,0.00,2.65,0.00,0.000,4,0.000,0.060,3048,611,2001
$GC,14720,1.26,259.4,444.7,11.7,1971,14727,0.00,2.58,0.00,0.000,6,0.000,0.040,3047,2054,2000
$GC,15060,1.26,259.4,408.8,11.0,2032,15068,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2057,2000
$GC,15405,1.26,259.4,372.8,10.5,2093,15411,0.00,2.62,0.00,0.000,4,0.000,0.054,3048,616,2001
$GC,15438,1.26,259.4,369.1,11.1,2099,15445,0.00,2.53,0.00,0.000,6,0.000,0.039,3048,2042,2000
$GC,15774,1.27,271.2,335.9,9.6,2160,15787,0.00,0.00,11.07,0.793,6,0.000,0.000,3048,2044,1956
$GC,16111,1.29,283.1,303.2,9.6,2222,16125,0.00,0.00,12.12,0.782,6,0.000,0.000,3048,2046,1906
$GC,16449,1.30,290.8,270.1,9.7,2284,16463,0.00,2.65,8.32,0.722,4,0.000,0.054,3048,618,1875
$GC,16503,1.30,290.8,264.6,10.1,2293,16509,0.00,2.53,0.00,0.000,6,0.000,0.038,3048,2036,1875
$GC,16834,1.31,302.0,232.3,9.6,2354,16847,0.00,0.00,11.18,0.738,6,0.000,0.000,3048,2039,1830
$GC,17172,1.31,302.0,199.3,10.8,2416,17179,0.00,2.65,0.00,0.000,4,0.000,0.055,3048,614,1828
$GC,17206,1.31,302.0,195.6,10.4,2422,17214,0.00,2.55,0.00,0.000,6,0.000,0.045,3048,2029,1828
$GC,17539,1.32,312.3,163.9,9.6,2483,17553,0.00,0.00,10.02,0.695,6,0.000,0.000,3048,2031,1788
$GC,17872,1.40,374.0,132.6,7.9,2545,17933,0.15,2.70,53.88,0.725,4,0.052,0.054,3099,617,1536
$GC,17971,1.40,374.0,120.0,11.1,2560,17979,0.00,2.55,0.00,0.000,6,0.000,0.038,3099,2027,1534
$GC,18105,1.40,374.0,101.3,13.7,2585,18113,0.00,2.60,0.00,0.000,4,0.000,0.059,3099,3432,1530
$GC,18131,1.40,374.0,98.3,11.5,2589,18139,0.00,2.55,0.00,0.000,6,0.000,0.039,3099,2016,1530
$GC,18264,1.40,374.0,79.8,16.5,2614,18273,0.00,2.60,0.00,0.000,4,0.000,0.065,3100,618,1529
$GC,18290,1.40,374.0,75.9,15.5,2618,18299,0.00,2.53,0.00,0.000,6,0.000,0.039,3099,2022,1529
$GC,18425,1.36,374.0,57.1,16.0,2643,18433,0.12,0.00,0.00,0.000,6,0.100,0.000,3074,2024,1529
$GC,18559,1.36,374.0,41.1,10.7,2668,18567,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2025,1528
$GC,18693,1.36,374.0,26.3,12.4,2693,18700,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2025,1528
$GC,18826,1.39,404.2,12.8,9.0,2718,18856,0.00,0.00,25.55,0.647,6,0.000,0.000,3074,2025,1413
$STATE,18919,end climb,SURFACE_DEPTH_REACHED
$STATE,18919,begin surface coast
$FINISH,0.2,1.027164
$STATE,18946,end surface coast,CONTROL_FINISHED_OK
$STATE,18946,begin surface
$SM_CCo,19023,0.00,0.000,0,0,1409,405.48
$SM_GC,0.94,10.45,0.00,0.00,0.032,0.000,0.000,569,2030,1409,-10.07,0.00,405.48
$IRIDIUM_FIX,5858.64,-2135.56,080797,181841
$TT8_MAMPS,0.042185
$HUMID,1570
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,13.20
$XPDR_PINGS,808
$24V_AH,23.5,10.373
$10V_AH,10.5,14.663
$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,24.600,139.525,533.225,0.000,0.000,30.933,32.636,285.215,202.000,0.000,0.000,15.757,4168.361,7701.884,684.310,6258.581,658.287,0.000,2806.361,0.000,6310.874,0.000,0.465
$DEVICE_MAMPS,195.585,79.768,1272.453,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1889.151,1994.600,1231.429,1774.157,3469.876,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202382,2739
$CAP_FILE_SIZE,211554,0
$CFSIZE,260165632,252395520
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140408,050808,5919.893,-2058.876,35,1.3,35,-14.6