version: 66.03
glider: 141
mission: 7
dive: 51
start: 4 15 108 9 17 9
data:
$ID,141
$MISSION,7
$DIVE,51
$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,-7193.0723
$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,25
$R_STBD_OVSHOOT,25
$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
$GPS1,090208,5931.586,-2119.084,29,1.4,29,-14.9
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-45.3
$GPS2,091651,5931.754,-2119.362,11,1.9,11,-14.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5931.754,-2124.838
$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,284.9,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,25,-1.34,-194.7,0.0,0.0,0,129,0.00,0.00,-101.35,0.000,2,0.000,0.000,567,2005,3803
$GC,131,-1.34,-194.7,3.2,-5.5,14,149,10.90,2.60,-1.20,0.000,4,0.189,0.063,2479,625,3857
$GC,363,-1.34,-194.7,40.4,-14.8,57,370,0.00,2.50,0.00,0.000,6,0.000,0.038,2479,2027,3859
$GC,496,-1.34,-194.7,54.1,-10.8,82,504,0.00,2.60,0.00,0.000,4,0.000,0.057,2479,3435,3859
$GC,532,-1.29,-194.7,57.9,-10.6,88,540,0.00,2.47,0.00,0.000,6,0.000,0.043,2479,2050,3859
$GC,666,-1.29,-194.7,74.4,-15.5,113,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2044,3860
$GC,800,-1.29,-194.7,92.1,-12.6,138,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2044,3859
$GC,933,-1.29,-194.7,108.0,-10.1,163,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2044,3859
$GC,1068,-1.29,-194.7,122.1,-10.8,188,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2044,3859
$GC,1201,-1.29,-194.7,137.0,-11.5,213,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2044,3859
$GC,1332,-1.29,-194.7,151.8,-11.1,238,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2044,3859
$GC,1665,-1.29,-194.7,188.4,-11.1,299,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2044,3859
$GC,1993,-1.29,-194.7,223.3,-10.5,360,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2044,3859
$GC,2325,-1.29,-194.7,260.9,-11.4,421,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2044,3859
$GC,2653,-1.29,-194.7,298.0,-10.9,482,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2043,3859
$GC,2986,-1.29,-194.7,334.5,-11.1,543,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2043,3859
$GC,3320,-1.29,-194.7,372.9,-11.4,604,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2043,3859
$GC,3664,-1.29,-194.7,410.1,-11.1,665,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2044,3859
$GC,4003,-1.29,-194.7,447.7,-11.3,726,4009,0.00,2.60,0.00,0.000,4,0.000,0.061,2479,3437,3859
$GC,4044,-1.29,-194.7,452.3,-12.2,733,4050,0.00,2.42,0.00,0.000,6,0.000,0.038,2479,2081,3859
$GC,4383,-1.29,-194.7,489.5,-10.8,794,4389,0.00,2.67,0.00,0.000,4,0.000,0.058,2479,627,3859
$GC,4424,-1.29,-194.7,494.0,-11.6,801,4430,0.00,2.58,0.00,0.000,6,0.000,0.042,2479,2071,3859
$GC,4764,-1.29,-194.7,531.1,-10.6,862,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2074,3859
$GC,5104,-1.29,-194.7,567.5,-9.9,923,5110,0.00,2.65,0.00,0.000,4,0.000,0.061,2479,634,3859
$GC,5142,-1.29,-194.7,571.4,-10.6,930,5148,0.00,2.58,0.00,0.000,6,0.000,0.047,2479,2071,3859
$GC,5480,-1.29,-194.7,604.6,-9.9,987,5481,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2074,3858
$GC,5799,-1.29,-194.7,635.6,-9.7,1017,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2074,3858
$GC,6117,-1.29,-194.7,668.2,-10.8,1047,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2074,3859
$GC,6435,-1.29,-194.7,702.0,-10.1,1077,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2074,3858
$GC,6755,-1.29,-194.7,733.2,-9.5,1107,6759,0.00,2.83,0.00,0.000,4,0.000,0.093,2479,632,3858
$GC,6815,-1.29,-194.7,739.3,-10.1,1112,6820,0.00,2.60,0.00,0.000,6,0.000,0.054,2478,2056,3858
$GC,7140,-1.29,-194.7,772.4,-10.6,1142,7144,0.00,2.65,0.00,0.000,4,0.000,0.087,2479,3440,3858
$GC,7182,-1.29,-194.7,777.1,-10.5,1145,7190,0.05,2.50,0.00,0.000,6,0.114,0.048,2493,2072,3858
$GC,7507,-1.29,-194.7,807.4,-9.8,1176,7512,0.00,2.80,0.00,0.000,4,0.000,0.086,2493,617,3858
$GC,7557,-1.29,-194.7,812.4,-10.0,1180,7561,0.00,2.60,0.00,0.000,6,0.000,0.053,2493,2055,3858
$GC,7882,-1.29,-194.7,843.8,-9.7,1210,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2057,3858
$GC,8200,-1.29,-194.7,874.9,-9.6,1240,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2057,3858
$GC,8520,-1.29,-194.7,906.9,-10.0,1270,8524,0.00,2.65,0.00,0.000,4,0.000,0.085,2493,3442,3857
$GC,8557,-1.29,-194.7,911.0,-10.6,1273,8562,0.00,2.53,0.00,0.000,6,0.000,0.049,2493,2042,3857
$GC,8884,-1.29,-194.7,943.2,-9.7,1303,8888,0.00,2.70,0.00,0.000,4,0.000,0.083,2493,621,3857
$GC,8926,-1.29,-194.7,947.8,-10.2,1306,8934,0.00,2.60,0.00,0.000,6,0.000,0.052,2493,2042,3857
$GC,9254,-1.29,-194.7,978.2,-9.4,1337,9259,0.00,2.67,0.00,0.000,4,0.000,0.086,2493,3447,3856
$GC,9308,-1.29,-194.7,984.2,-10.7,1341,9316,0.00,2.53,0.00,0.000,6,0.000,0.048,2493,2057,3856
$STATE,9377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9377,begin apogee
$GC,9381,-0.37,0.0,990.8,9.5,1348,9554,0.95,0.00,168.65,1.276,6,0.094,0.000,2697,1979,3062
$STATE,9555,end apogee,CONTROL_FINISHED_OK
$STATE,9555,begin climb
$GC,9556,1.34,194.7,995.7,0.0,1365,9733,1.67,0.00,168.20,1.246,6,0.073,0.000,3073,1979,2268
$GC,10051,1.28,194.7,947.4,11.6,1413,10056,0.00,2.70,0.00,0.000,4,0.000,0.064,3074,3398,2263
$GC,10105,1.22,194.7,940.9,11.8,1417,10113,0.15,2.58,0.00,0.000,6,0.104,0.044,3044,1986,2262
$GC,10430,1.23,209.2,909.9,9.5,1448,10445,0.00,0.00,13.20,1.105,6,0.000,0.000,3044,1986,2209
$GC,10758,1.26,229.8,879.2,9.3,1479,10779,0.00,0.00,19.77,1.141,6,0.000,0.000,3043,1986,2125
$GC,11098,1.28,247.9,848.2,9.4,1511,11129,0.00,2.72,19.67,1.030,4,0.000,0.064,3044,3398,2050
$GC,11156,1.28,247.9,842.3,10.0,1516,11163,0.00,2.58,0.00,0.000,6,0.000,0.044,3044,2004,2049
$GC,11482,1.30,264.2,811.8,9.4,1547,11504,0.00,2.75,15.57,1.092,4,0.000,0.071,3044,573,1985
$GC,11537,1.30,264.2,806.3,10.5,1552,11541,0.00,2.62,0.00,0.000,6,0.000,0.045,3044,2015,1984
$GC,11861,1.33,290.1,775.7,9.1,1582,11895,0.12,0.00,27.05,1.043,6,0.061,0.000,3082,2016,1879
$GC,12209,1.29,290.1,735.2,11.7,1615,12211,0.10,0.00,0.00,0.000,6,0.107,0.000,3062,2016,1875
$GC,12529,1.29,290.1,701.1,10.5,1645,12531,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2017,1874
$GC,12846,1.29,290.1,667.3,10.7,1675,12850,0.00,2.70,0.00,0.000,4,0.000,0.061,3061,576,1874
$GC,12877,1.29,290.1,663.7,10.7,1677,12884,0.00,2.60,0.00,0.000,6,0.000,0.044,3061,1995,1874
$GC,13204,1.29,290.1,629.0,10.7,1708,13205,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1995,1874
$GC,13522,1.29,290.1,593.0,10.6,1743,13528,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1998,1874
$GC,13861,1.29,290.1,555.8,10.9,1804,13869,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1998,1873
$GC,14205,1.29,290.1,517.7,11.7,1865,14211,0.00,2.62,0.00,0.000,4,0.000,0.067,3061,3401,1873
$GC,14230,1.29,290.1,514.8,11.9,1869,14236,0.00,2.53,0.00,0.000,6,0.000,0.042,3061,1989,1873
$GC,14569,1.29,290.1,475.9,11.5,1930,14574,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1987,1873
$GC,14908,1.29,290.1,438.7,10.1,1991,14913,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1986,1873
$GC,15247,1.29,290.1,403.0,10.4,2052,15255,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1986,1873
$GC,15592,1.29,290.1,366.7,10.0,2113,15597,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1986,1873
$GC,15925,1.29,290.1,331.1,11.1,2174,15934,0.00,2.62,0.00,0.000,4,0.000,0.060,3062,3397,1874
$GC,15947,1.29,290.1,328.8,11.5,2177,15953,0.00,2.50,0.00,0.000,6,0.000,0.038,3061,1993,1874
$GC,16275,1.29,290.1,293.1,11.1,2238,16284,0.00,2.62,0.00,0.000,4,0.000,0.061,3062,585,1874
$GC,16297,1.29,290.1,291.0,11.3,2241,16303,0.00,2.55,0.00,0.000,6,0.000,0.040,3061,2015,1874
$GC,16626,1.29,290.1,255.6,12.1,2302,16634,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2019,1874
$GC,16959,1.29,290.1,219.2,12.1,2363,16964,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2019,1874
$GC,17287,1.29,290.1,183.9,12.2,2424,17295,0.00,2.70,0.00,0.000,4,0.000,0.057,3061,576,1874
$GC,17319,1.29,290.1,180.6,10.4,2429,17325,0.00,2.55,0.00,0.000,6,0.000,0.039,3062,2007,1874
$GC,17649,1.30,295.7,146.2,9.8,2490,17658,0.00,0.00,5.90,0.617,6,0.000,0.000,3061,2009,1856
$GC,17784,1.31,309.5,133.0,9.5,2515,17800,0.00,0.00,13.45,0.701,6,0.000,0.000,3061,2010,1800
$GC,17926,1.31,309.5,117.2,11.9,2541,17934,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2009,1798
$GC,18060,1.32,317.0,102.2,9.7,2566,18075,0.00,2.70,7.50,0.633,4,0.000,0.061,3061,580,1770
$GC,18094,1.32,317.0,98.6,10.9,2571,18102,0.00,2.58,0.00,0.000,6,0.000,0.039,3061,2000,1769
$GC,18227,1.32,317.0,83.3,12.6,2596,18235,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2000,1769
$GC,18361,1.32,317.0,69.1,11.7,2621,18368,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2001,1768
$GC,18494,1.32,317.0,53.3,10.9,2646,18501,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2000,1768
$GC,18627,1.32,317.0,38.2,11.5,2671,18635,0.00,2.65,0.00,0.000,4,0.000,0.061,3062,576,1768
$GC,18663,1.32,317.0,34.0,12.7,2677,18671,0.00,2.55,0.00,0.000,6,0.000,0.046,3062,1992,1768
$GC,18798,1.57,517.5,21.5,3.0,2702,18930,0.22,0.00,129.25,0.653,2,0.048,0.000,3130,1996,1143
$STATE,18931,end climb,SURFACE_DEPTH_REACHED
$STATE,18931,begin surface coast
$FINISH,0.2,1.027123
$STATE,18949,end surface coast,CONTROL_FINISHED_OK
$STATE,18949,begin surface
$SM_CCo,19027,0.00,0.000,0,0,1137,472.20
$SM_GC,0.67,10.75,0.00,0.00,0.032,0.000,0.000,569,2049,1137,-10.07,0.54,472.20
$IRIDIUM_FIX,5907.03,-2124.47,100797,090928
$TT8_MAMPS,0.042185
$HUMID,1571
$INTERNAL_PRESSURE,10.0004
$TCM_TEMP,12.70
$XPDR_PINGS,792
$24V_AH,23.5,11.653
$10V_AH,10.5,16.615
$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,24.925,109.950,588.225,0.000,0.000,77.923,108.009,439.255,198.000,0.000,0.000,12.529,4129.238,7863.177,729.154,6205.404,953.841,0.000,2825.196,0.000,6261.797,0.000,0.467
$DEVICE_MAMPS,188.682,97.409,1276.288,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1877.859,1983.859,1222.817,1750.758,3426.603,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202366,2723
$CAP_FILE_SIZE,211883,0
$CFSIZE,260165632,251662336
$ERRORS,0,6,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150408,143532,5933.377,-2129.220,42,1.8,42,-15.0