version: 66.03
glider: 141
mission: 7
dive: 48
start: 4 14 108 16 54 32
data:
$ID,141
$MISSION,7
$DIVE,48
$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,270
$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,-7149.1152
$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,17
$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
$GPS1,163508,5927.059,-2103.571,39,1.9,46,-14.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-56.1
$GPS2,165415,5927.086,-2103.534,14,1.2,32,-14.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5927.086,-2109.023
$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,284.7,20000,-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,-194.7,0.0,0.0,0,135,0.00,0.00,-107.93,0.000,6,0.000,0.000,570,2039,3857
$GC,137,-1.34,-194.7,3.8,-7.0,15,154,11.02,2.67,0.00,0.000,4,0.196,0.051,2477,619,3859
$GC,388,-1.34,-194.7,39.5,-11.7,62,396,0.00,2.53,0.00,0.000,6,0.000,0.044,2477,2021,3860
$GC,522,-1.34,-194.7,55.7,-12.7,87,531,0.00,2.60,0.00,0.000,4,0.000,0.054,2476,614,3860
$GC,605,-1.34,-194.7,65.9,-12.7,102,613,0.00,2.55,0.00,0.000,6,0.000,0.041,2477,2035,3860
$GC,739,-1.34,-194.7,81.5,-11.3,127,747,0.00,2.58,0.00,0.000,4,0.000,0.055,2476,3439,3859
$GC,770,-1.29,-194.7,85.2,-12.2,132,778,0.05,2.53,0.00,0.000,6,0.114,0.038,2490,2020,3860
$GC,904,-1.29,-194.7,100.0,-10.5,157,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2015,3860
$GC,1038,-1.29,-194.7,114.7,-10.8,182,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2015,3860
$GC,1171,-1.29,-194.7,129.4,-10.8,207,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2015,3860
$GC,1305,-1.29,-194.7,143.8,-10.3,232,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2014,3859
$GC,1441,-1.29,-194.7,158.5,-11.2,257,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2014,3859
$GC,1769,-1.29,-194.7,194.6,-11.0,318,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2014,3860
$GC,2100,-1.29,-194.7,231.5,-11.2,379,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2014,3860
$GC,2429,-1.29,-194.7,268.9,-11.1,440,2437,0.00,2.62,0.00,0.000,4,0.000,0.054,2490,3431,3860
$GC,2463,-1.29,-194.7,272.9,-12.0,446,2472,0.00,2.47,0.00,0.000,6,0.000,0.038,2490,2046,3860
$GC,2798,-1.29,-194.7,311.0,-11.5,507,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2041,3860
$GC,3127,-1.29,-194.7,347.5,-10.6,568,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2041,3859
$GC,3471,-1.29,-194.7,383.1,-10.5,629,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2041,3860
$GC,3810,-1.29,-194.7,419.2,-10.5,690,3816,0.00,2.60,0.00,0.000,4,0.000,0.053,2490,628,3860
$GC,3838,-1.29,-194.7,422.3,-11.6,695,3844,0.00,2.53,0.00,0.000,6,0.000,0.040,2490,2045,3859
$GC,4177,-1.29,-194.7,457.6,-10.4,756,4185,0.00,2.60,0.00,0.000,4,0.000,0.066,2490,3430,3859
$GC,4209,-1.29,-194.7,460.9,-11.7,761,4215,0.00,2.47,0.00,0.000,6,0.000,0.040,2490,2040,3859
$GC,4548,-1.29,-194.7,497.4,-10.5,822,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2039,3859
$GC,4888,-1.29,-194.7,532.4,-10.4,883,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2038,3859
$GC,5229,-1.29,-194.7,566.4,-10.0,944,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2038,3859
$GC,5577,-1.29,-194.7,601.6,-9.9,1005,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2037,3859
$GC,5896,-1.29,-194.7,633.5,-9.9,1035,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2037,3859
$GC,6214,-1.29,-194.7,664.7,-9.8,1065,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2037,3859
$GC,6533,-1.29,-194.7,695.6,-9.6,1095,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2037,3859
$GC,6851,-1.29,-194.7,725.7,-9.7,1125,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2037,3859
$GC,7169,-1.29,-194.7,757.9,-10.3,1155,7173,0.00,2.75,0.00,0.000,4,0.000,0.091,2490,631,3859
$GC,7207,-1.29,-194.7,762.0,-10.7,1158,7212,0.00,2.58,0.00,0.000,6,0.000,0.054,2490,2038,3858
$GC,7533,-1.29,-194.7,795.6,-10.4,1188,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2038,3858
$GC,7850,-1.29,-194.7,827.2,-9.5,1218,7855,0.00,2.70,0.00,0.000,4,0.000,0.086,2490,3451,3858
$GC,7904,-1.29,-194.7,832.9,-10.6,1222,7911,0.00,2.55,0.00,0.000,6,0.000,0.050,2490,2065,3857
$GC,8230,-1.29,-194.7,864.6,-9.9,1253,8234,0.00,2.78,0.00,0.000,4,0.000,0.086,2490,616,3858
$GC,8273,-1.29,-194.7,869.1,-10.4,1256,8280,0.00,2.60,0.00,0.000,6,0.000,0.052,2490,2051,3858
$GC,8598,-1.29,-194.7,899.8,-9.2,1287,8602,0.00,2.65,0.00,0.000,4,0.000,0.085,2490,3438,3858
$GC,8641,-1.29,-194.7,904.2,-10.3,1290,8648,0.00,2.53,0.00,0.000,6,0.000,0.048,2490,2039,3858
$GC,8966,-1.29,-194.7,933.5,-9.0,1321,8971,0.00,2.70,0.00,0.000,4,0.000,0.084,2490,615,3857
$GC,9016,-1.29,-194.7,938.2,-9.3,1325,9021,0.00,2.60,0.00,0.000,6,0.000,0.053,2490,2048,3857
$GC,9343,-1.29,-194.7,967.5,-9.2,1355,9347,0.00,2.67,0.00,0.000,4,0.000,0.086,2490,3448,3857
$GC,9363,-1.29,-194.7,969.8,-9.9,1356,9370,0.00,2.58,0.00,0.000,6,0.000,0.048,2490,2038,3857
$STATE,9580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9580,begin apogee
$GC,9584,-0.37,0.0,990.5,9.7,1377,9756,0.95,0.00,168.60,1.275,6,0.095,0.000,2694,2037,3062
$STATE,9757,end apogee,CONTROL_FINISHED_OK
$STATE,9757,begin climb
$GC,9759,1.34,194.7,995.4,0.0,1394,9935,1.67,0.00,167.85,1.245,6,0.069,0.000,3074,2037,2267
$GC,10253,1.28,194.7,946.0,11.9,1442,10257,0.00,2.67,0.00,0.000,4,0.000,0.064,3074,3439,2262
$GC,10284,1.22,194.7,942.0,12.1,1444,10292,0.15,2.58,0.00,0.000,6,0.103,0.043,3044,2032,2262
$GC,10609,1.22,195.1,909.4,10.0,1475,10614,0.00,2.70,0.00,0.000,4,0.000,0.072,3044,612,2262
$GC,10648,1.22,195.1,905.4,10.2,1478,10652,0.00,2.60,0.00,0.000,6,0.000,0.046,3044,2043,2261
$GC,10972,1.25,221.3,875.0,9.1,1508,11003,0.00,2.72,23.75,1.150,4,0.000,0.076,3044,3438,2158
$GC,11019,1.29,250.7,870.5,9.0,1512,11056,0.00,2.58,27.95,1.143,6,0.000,0.043,3044,2037,2038
$GC,11373,1.32,273.3,837.6,9.2,1546,11400,0.10,2.72,20.98,1.115,4,0.067,0.069,3076,615,1946
$GC,11423,1.27,273.3,832.2,10.6,1550,11427,0.00,2.60,0.00,0.000,6,0.000,0.046,3076,2038,1945
$GC,11746,1.27,273.3,794.2,12.1,1580,11751,0.00,2.67,0.00,0.000,4,0.000,0.074,3076,3442,1942
$GC,11762,1.27,273.3,792.2,12.2,1581,11767,0.00,2.58,0.00,0.000,6,0.000,0.043,3077,2018,1942
$GC,12086,1.27,273.3,752.8,12.1,1611,12087,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2018,1942
$GC,12405,1.27,273.3,714.4,12.2,1641,12406,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2017,1941
$GC,12723,1.27,273.3,675.7,12.2,1671,12724,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2017,1941
$GC,13042,1.27,273.3,637.1,12.2,1701,13043,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2017,1941
$GC,13360,1.27,273.3,599.2,11.6,1731,13365,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2017,1941
$GC,13699,1.27,273.3,558.8,11.6,1792,13707,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2017,1941
$GC,14042,1.27,273.3,518.0,11.4,1853,14048,0.00,2.67,0.00,0.000,4,0.000,0.060,3076,3443,1941
$GC,14067,1.27,273.3,514.9,11.9,1857,14073,0.00,2.58,0.00,0.000,6,0.000,0.041,3076,2013,1940
$GC,14406,1.27,273.3,473.5,12.2,1918,14412,0.00,2.58,0.00,0.000,4,0.000,0.058,3076,617,1941
$GC,14425,1.27,273.3,471.4,12.7,1921,14431,0.00,2.55,0.00,0.000,6,0.000,0.041,3076,2037,1941
$GC,14764,1.27,273.3,429.8,12.6,1982,14769,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2040,1941
$GC,15103,1.27,273.3,389.2,12.0,2043,15108,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2041,1941
$GC,15442,1.27,273.3,348.8,11.7,2104,15450,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2041,1941
$GC,15776,1.27,273.3,308.6,11.6,2165,15782,0.00,2.65,0.00,0.000,4,0.000,0.054,3076,609,1941
$GC,15792,1.27,273.3,306.2,12.5,2168,15800,0.00,2.55,0.00,0.000,6,0.000,0.046,3076,2024,1941
$GC,16127,1.27,273.3,266.5,11.2,2229,16133,0.00,2.58,0.00,0.000,4,0.000,0.058,3076,3431,1941
$GC,16143,1.27,273.3,264.3,11.3,2232,16151,0.00,2.53,0.00,0.000,6,0.000,0.044,3076,2018,1941
$GC,16477,1.27,273.3,226.4,10.8,2293,16482,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2017,1941
$GC,16804,1.27,273.3,190.0,11.1,2354,16811,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2017,1941
$GC,17137,1.30,298.5,153.7,9.1,2415,17163,0.00,0.00,22.40,0.729,6,0.000,0.000,3076,2017,1844
$GC,17475,1.30,298.5,115.6,12.2,2479,17483,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2017,1842
$GC,17609,1.30,298.5,100.4,13.2,2504,17616,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2017,1842
$GC,17742,1.30,298.5,85.3,12.1,2529,17750,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2017,1842
$GC,17876,1.30,298.5,70.8,11.1,2554,17883,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2017,1841
$GC,18009,1.30,298.5,56.4,11.9,2579,18016,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2017,1841
$GC,18143,1.30,298.5,42.3,11.1,2604,18150,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2017,1841
$GC,18276,1.30,298.5,27.8,11.6,2629,18283,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2017,1841
$GC,18409,1.30,298.5,12.2,12.6,2654,18417,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2017,1841
$STATE,18489,end climb,SURFACE_DEPTH_REACHED
$STATE,18490,begin surface coast
$FINISH,0.3,1.027157
$STATE,18512,end surface coast,CONTROL_FINISHED_OK
$STATE,18512,begin surface
$SM_CCo,18589,0.00,0.000,0,0,1837,300.25
$SM_GC,0.99,10.45,0.00,0.00,0.035,0.000,0.000,571,2014,1837,-10.06,-0.45,300.25
$IRIDIUM_FIX,5902.83,-2100.12,090797,161619
$TT8_MAMPS,0.042185
$HUMID,1583
$INTERNAL_PRESSURE,10.059
$TCM_TEMP,12.90
$XPDR_PINGS,771
$24V_AH,23.5,11.017
$10V_AH,10.6,15.658
$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,24.400,109.525,431.525,0.000,0.000,117.552,132.855,546.108,192.750,0.000,0.000,34.267,4068.903,7720.481,635.348,6164.588,1112.081,0.000,2648.019,0.000,6187.559,0.000,0.465
$DEVICE_MAMPS,196.352,91.273,1274.754,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1846.499,1936.605,1216.503,1753.023,3430.499,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,196293,2673
$CAP_FILE_SIZE,210099,0
$CFSIZE,260165632,252026880
$ERRORS,0,6,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140408,220552,5928.108,-2107.193,38,2.8,57,-14.8