version: 66.03
glider: 141
mission: 7
dive: 54
start: 4 16 108 1 59 22
data:
$ID,141
$MISSION,7
$DIVE,54
$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,-7251.6201
$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,20
$R_STBD_OVSHOOT,34
$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
$GPS1,014707,5936.494,-2148.323,36,1.7,41,-15.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-39.0
$GPS2,015905,5936.590,-2148.572,10,2.1,29,-15.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5936.590,-2154.035
$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,285.2,20000,-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,-194.7,0.0,0.0,0,199,0.00,0.00,-169.02,0.000,6,0.000,0.000,568,2051,3855
$GC,201,-1.34,-194.7,3.0,-5.6,24,218,10.77,2.53,0.00,0.000,4,0.185,0.050,2478,3427,3857
$GC,272,-1.30,-194.7,14.4,-15.6,36,280,0.00,2.55,0.00,0.000,6,0.000,0.044,2477,2017,3858
$GC,406,-1.30,-194.7,25.6,-7.2,61,414,0.00,2.58,0.00,0.000,4,0.000,0.058,2477,626,3858
$GC,648,-1.30,-194.7,50.8,-10.9,107,656,0.00,2.53,0.00,0.000,6,0.000,0.045,2477,2024,3858
$GC,783,-1.26,-194.7,68.3,-15.0,132,791,0.12,2.58,0.00,0.000,4,0.118,0.051,2501,629,3858
$GC,824,-1.26,-194.7,74.8,-16.3,139,832,0.00,2.55,0.00,0.000,6,0.000,0.043,2501,2049,3858
$GC,957,-1.26,-194.7,88.9,-10.0,164,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2051,3857
$GC,1091,-1.26,-194.7,104.3,-11.7,189,1099,0.00,2.62,0.00,0.000,4,0.000,0.053,2501,622,3858
$GC,1132,-1.26,-194.7,109.0,-11.1,196,1140,0.00,2.55,0.00,0.000,6,0.000,0.046,2501,2045,3858
$GC,1267,-1.26,-194.7,123.1,-10.1,221,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2047,3858
$GC,1400,-1.26,-194.7,136.2,-10.1,246,1408,0.00,2.55,0.00,0.000,4,0.000,0.057,2501,3433,3857
$GC,1446,-1.26,-194.7,141.0,-10.8,254,1454,0.00,2.47,0.00,0.000,6,0.000,0.043,2501,2043,3857
$GC,1583,-1.26,-194.7,155.4,-10.7,279,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2039,3857
$GC,1911,-1.26,-194.7,191.5,-10.7,340,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2039,3857
$GC,2243,-1.26,-194.7,226.5,-10.3,401,2249,0.00,2.58,0.00,0.000,4,0.000,0.055,2501,3440,3857
$GC,2281,-1.26,-194.7,230.8,-11.3,408,2289,0.00,2.50,0.00,0.000,6,0.000,0.038,2500,2045,3857
$GC,2617,-1.26,-194.7,265.7,-10.8,469,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2038,3857
$GC,2946,-1.26,-194.7,300.2,-10.3,530,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2039,3857
$GC,3279,-1.26,-194.7,333.8,-9.7,591,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2038,3857
$GC,3613,-1.26,-194.7,366.8,-9.1,652,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2038,3857
$GC,3958,-1.26,-194.7,399.1,-9.2,713,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2037,3857
$GC,4298,-1.26,-194.7,431.3,-9.1,774,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2037,3856
$GC,4639,-1.26,-194.7,462.6,-9.1,835,4645,0.00,2.62,0.00,0.000,4,0.000,0.064,2501,3438,3856
$GC,4678,-1.26,-194.7,466.3,-9.8,842,4684,0.00,2.47,0.00,0.000,6,0.000,0.041,2501,2055,3856
$GC,5018,-1.26,-194.7,498.2,-9.7,903,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2053,3856
$GC,5360,-1.26,-194.7,531.0,-9.4,964,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2052,3856
$GC,5707,-1.26,-194.7,564.8,-9.9,1025,5713,0.00,2.67,0.00,0.000,4,0.000,0.066,2501,623,3856
$GC,5745,-1.26,-194.7,569.1,-10.7,1032,5754,0.00,2.58,0.00,0.000,6,0.000,0.046,2501,2038,3856
$GC,6093,-1.26,-194.7,603.2,-10.0,1091,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2041,3856
$GC,6412,-1.26,-194.7,634.4,-9.7,1121,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2041,3856
$GC,6733,-1.26,-194.7,664.8,-9.5,1151,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2041,3856
$GC,7049,-1.26,-194.7,694.9,-9.2,1181,7053,0.00,2.70,0.00,0.000,4,0.000,0.088,2501,3435,3855
$GC,7091,-1.26,-194.7,699.2,-10.3,1184,7099,0.00,2.60,0.00,0.000,6,0.000,0.060,2501,2050,3855
$GC,7417,-1.26,-194.7,729.6,-9.6,1215,7418,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2047,3856
$GC,7736,-1.26,-194.7,760.9,-9.8,1245,7740,0.00,2.78,0.00,0.000,4,0.000,0.093,2501,619,3855
$GC,7779,-1.26,-194.7,765.4,-10.3,1248,7785,0.00,2.58,0.00,0.000,6,0.000,0.054,2501,2033,3855
$GC,8106,-1.26,-194.7,797.3,-9.8,1279,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2035,3855
$GC,8423,-1.26,-194.7,826.6,-8.9,1309,8427,0.00,2.70,0.00,0.000,4,0.000,0.086,2501,3444,3855
$GC,8454,-1.26,-194.7,829.8,-9.6,1311,8461,0.00,2.60,0.00,0.000,6,0.000,0.050,2501,2002,3855
$GC,8780,-1.26,-194.7,858.0,-8.7,1342,8784,0.00,2.65,0.00,0.000,4,0.000,0.084,2501,617,3855
$GC,8812,-1.26,-194.7,861.0,-9.2,1344,8818,0.00,2.55,0.00,0.000,6,0.000,0.052,2501,2021,3855
$GC,9137,-1.26,-194.7,889.3,-9.0,1375,9142,0.00,2.72,0.00,0.000,4,0.000,0.085,2501,3446,3855
$GC,9209,-1.26,-194.7,896.2,-9.5,1381,9214,0.00,2.58,0.00,0.000,6,0.000,0.048,2501,2019,3854
$GC,9534,-1.26,-194.7,925.3,-9.1,1411,9535,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2018,3854
$GC,9853,-1.26,-194.7,955.5,-9.5,1441,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2017,3853
$GC,10171,-1.26,-194.7,986.1,-9.4,1471,10172,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2017,3852
$STATE,10211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10211,begin apogee
$GC,10215,-0.37,0.0,990.2,9.5,1475,10387,0.90,0.00,167.80,1.281,6,0.095,0.000,2694,1979,3062
$STATE,10388,end apogee,CONTROL_FINISHED_OK
$STATE,10388,begin climb
$GC,10389,1.34,194.7,995.3,0.0,1492,10564,1.70,0.00,167.62,1.248,6,0.073,0.000,3069,1978,2268
$GC,10880,1.29,194.7,948.1,11.5,1539,10884,0.00,2.70,0.00,0.000,4,0.000,0.065,3069,3395,2262
$GC,10912,1.23,194.7,944.1,12.2,1541,10918,0.00,2.60,0.00,0.000,6,0.000,0.052,3069,1975,2261
$GC,11238,1.18,194.7,907.5,11.2,1572,11240,0.15,0.00,0.00,0.000,6,0.100,0.000,3039,1975,2260
$GC,11555,1.20,213.5,876.8,9.3,1602,11577,0.00,2.80,16.80,1.129,4,0.000,0.064,3039,3403,2191
$GC,11599,1.23,233.6,872.4,9.3,1606,11624,0.00,2.60,19.50,1.128,6,0.000,0.046,3039,1981,2109
$GC,11943,1.24,242.4,839.0,9.7,1638,11954,0.00,0.00,8.98,1.019,6,0.000,0.000,3039,1979,2073
$GC,12272,1.26,257.8,806.7,9.5,1669,12292,0.00,0.00,15.50,1.092,6,0.000,0.000,3039,1979,2009
$GC,12611,1.26,257.8,772.1,10.7,1701,12615,0.00,2.67,0.00,0.000,4,0.000,0.064,3039,3401,2007
$GC,12653,1.26,257.8,767.1,11.3,1704,12660,0.00,2.58,0.00,0.000,6,0.000,0.045,3040,1992,2006
$GC,12979,1.26,257.8,733.8,10.2,1735,12983,0.00,2.67,0.00,0.000,4,0.000,0.072,3039,572,2006
$GC,12999,1.27,266.0,731.5,9.7,1736,13016,0.00,2.60,8.05,0.960,6,0.000,0.046,3039,1995,1977
$GC,13334,1.28,275.4,699.1,9.7,1768,13346,0.00,0.00,10.12,0.985,6,0.000,0.000,3039,1995,1939
$GC,13662,1.30,292.9,668.5,9.4,1799,13693,0.10,0.00,19.48,0.947,6,0.068,0.000,3071,1995,1867
$GC,14010,1.30,292.9,630.9,11.1,1832,14012,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1997,1865
$GC,14334,1.30,292.9,595.2,11.1,1865,14339,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1998,1864
$GC,14673,1.30,292.9,556.5,11.6,1926,14678,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2000,1864
$GC,15013,1.30,292.9,519.0,11.0,1987,15018,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2001,1864
$GC,15351,1.30,292.9,481.2,10.7,2048,15359,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2001,1864
$GC,15696,1.30,292.9,443.4,10.9,2109,15701,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2001,1864
$GC,16036,1.30,292.9,405.4,11.6,2170,16041,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2001,1864
$GC,16376,1.30,292.9,367.3,11.0,2231,16382,0.00,2.65,0.00,0.000,4,0.000,0.056,3071,573,1864
$GC,16398,1.30,292.9,364.8,11.5,2235,16404,0.00,2.55,0.00,0.000,6,0.000,0.040,3071,1999,1864
$GC,16733,1.30,292.9,327.3,11.8,2296,16740,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2001,1864
$GC,17067,1.31,296.2,290.5,9.9,2357,17073,0.00,0.00,4.07,0.566,6,0.000,0.000,3072,2001,1854
$GC,17396,1.31,296.2,254.1,11.6,2418,17403,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2001,1853
$GC,17730,1.31,296.2,216.4,10.9,2479,17735,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2001,1854
$GC,18059,1.31,296.2,176.9,12.7,2540,18066,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2001,1854
$GC,18388,1.31,296.2,133.8,10.7,2601,18396,0.00,2.67,0.00,0.000,4,0.000,0.060,3071,573,1854
$GC,18423,1.31,296.2,129.6,12.6,2607,18431,0.00,2.55,0.00,0.000,6,0.000,0.040,3071,1982,1854
$GC,18558,1.31,296.2,114.8,11.5,2632,18565,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1984,1854
$GC,18692,1.38,360.6,102.9,7.8,2657,18751,0.00,0.00,56.53,0.711,6,0.000,0.000,3071,1985,1590
$GC,18878,1.46,419.9,87.6,7.9,2689,18937,0.10,0.00,50.40,0.688,6,0.064,0.000,3105,1985,1348
$GC,19065,1.42,419.9,63.3,12.7,2721,19072,0.00,2.62,0.00,0.000,4,0.000,0.058,3104,3393,1344
$GC,19090,1.42,419.9,59.0,16.0,2725,19098,0.00,2.60,0.00,0.000,6,0.000,0.041,3104,1953,1342
$GC,19224,1.42,419.9,40.4,14.1,2750,19232,0.00,2.58,0.00,0.000,4,0.000,0.061,3105,578,1341
$GC,19250,1.42,419.9,37.8,10.3,2754,19258,0.00,2.55,0.00,0.000,6,0.000,0.044,3105,1985,1341
$GC,19384,1.42,419.9,18.8,17.3,2779,19391,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1988,1341
$STATE,19485,end climb,SURFACE_DEPTH_REACHED
$STATE,19485,begin surface coast
$FINISH,-0.0,1.002045
$STATE,19518,end surface coast,CONTROL_FINISHED_OK
$STATE,19518,begin surface
$SM_CCo,19596,0.00,0.000,0,0,1337,422.90
$SM_GC,0.68,10.60,0.00,0.00,0.034,0.000,0.000,569,2042,1337,-10.07,0.34,422.90
$IRIDIUM_FIX,5854.46,-2747.68,100797,202053
$TT8_MAMPS,0.042185
$HUMID,1602
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,12.90
$XPDR_PINGS,806
$24V_AH,23.5,12.348
$10V_AH,10.5,17.601
$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,24.450,109.525,544.850,0.000,0.000,28.604,34.855,507.255,201.500,0.000,0.000,32.237,4243.276,7999.938,713.102,6410.757,916.296,0.000,2896.290,0.000,6461.357,0.000,0.465
$DEVICE_MAMPS,184.847,103.545,1280.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1934.641,2041.620,1260.049,1801.215,3524.571,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,209109,2804
$CAP_FILE_SIZE,217396,0
$CFSIZE,260165632,251289600
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160408,072732,5937.833,-2156.273,60,1.4,60,-15.3