version: 66.03
glider: 141
mission: 7
dive: 60
start: 4 17 108 11 10 44
data:
$ID,141
$MISSION,7
$DIVE,60
$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,-7380.8433
$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,23
$R_STBD_OVSHOOT,35
$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
$GPS1,110202,5931.249,-2234.577,39,1.5,39,-15.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-52.7
$GPS2,111027,5931.203,-2234.667,9,1.7,9,-15.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5931.203,-2240.145
$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,285.5,20000,-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,-194.7,0.0,0.0,0,129,0.00,0.00,-101.72,0.000,2,0.000,0.000,567,2045,3775
$GC,131,-1.34,-194.7,3.2,-5.8,14,155,11.07,2.67,-1.85,0.000,4,0.196,0.064,2478,623,3858
$GC,390,-1.34,-194.7,37.9,-11.3,62,398,0.00,2.53,0.00,0.000,6,0.000,0.041,2478,2021,3858
$GC,524,-1.34,-194.7,52.9,-10.8,87,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2023,3858
$GC,657,-1.34,-194.7,67.7,-11.1,112,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2024,3859
$GC,790,-1.34,-194.7,82.0,-10.6,137,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2025,3858
$GC,923,-1.34,-194.7,97.7,-11.1,162,931,0.00,2.62,0.00,0.000,4,0.000,0.056,2478,3436,3858
$GC,960,-1.29,-194.7,102.0,-11.9,168,968,0.00,2.53,0.00,0.000,6,0.000,0.045,2478,2031,3859
$GC,1095,-1.29,-194.7,116.8,-10.4,193,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2026,3859
$GC,1228,-1.29,-194.7,132.2,-11.5,218,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2026,3858
$GC,1361,-1.29,-194.7,147.8,-10.8,243,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2026,3859
$GC,1497,-1.29,-194.7,162.9,-10.7,268,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2026,3859
$GC,1830,-1.29,-194.7,200.8,-10.9,329,1836,0.00,2.60,0.00,0.000,4,0.000,0.054,2478,3437,3859
$GC,1887,-1.25,-194.7,207.6,-12.0,339,1893,0.15,2.47,0.00,0.000,6,0.113,0.038,2508,2041,3859
$GC,2218,-1.25,-194.7,241.4,-10.4,400,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2036,3858
$GC,2554,-1.25,-194.7,274.4,-9.9,461,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2035,3859
$GC,2882,-1.25,-194.7,305.9,-8.9,522,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2035,3858
$GC,3215,-1.25,-194.7,336.8,-9.4,583,3221,0.00,2.60,0.00,0.000,4,0.000,0.058,2508,3441,3859
$GC,3261,-1.25,-194.7,341.4,-9.7,591,3267,0.00,2.47,0.00,0.000,6,0.000,0.038,2508,2050,3858
$GC,3596,-1.25,-194.7,373.4,-9.4,652,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2046,3859
$GC,3940,-1.25,-194.7,406.2,-9.8,713,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2045,3859
$GC,4281,-1.25,-194.7,438.3,-9.4,774,4287,0.00,2.62,0.00,0.000,4,0.000,0.056,2508,622,3859
$GC,4314,-1.25,-194.7,441.5,-9.8,780,4322,0.00,2.58,0.00,0.000,6,0.000,0.047,2508,2046,3859
$GC,4659,-1.25,-194.7,473.9,-9.4,841,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2048,3858
$GC,4998,-1.25,-194.7,506.6,-9.2,902,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2050,3859
$GC,5337,-1.25,-194.7,540.2,-10.1,963,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2050,3858
$GC,5677,-1.25,-194.7,573.8,-9.4,1024,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2050,3858
$GC,6016,-1.25,-194.7,605.1,-9.1,1080,6017,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2050,3858
$GC,6335,-1.25,-194.7,634.6,-9.3,1110,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2050,3858
$GC,6654,-1.25,-194.7,665.0,-9.4,1140,6658,0.00,2.70,0.00,0.000,4,0.000,0.087,2508,3440,3858
$GC,6696,-1.25,-194.7,669.4,-10.5,1143,6703,0.00,2.60,0.00,0.000,6,0.000,0.056,2508,2044,3858
$GC,7022,-1.25,-194.7,698.7,-9.0,1174,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2044,3858
$GC,7340,-1.25,-194.7,726.5,-8.7,1204,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2041,3858
$GC,7659,-1.25,-194.7,754.4,-9.4,1234,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2039,3857
$GC,7978,-1.25,-194.7,783.7,-9.2,1264,7982,0.00,2.67,0.00,0.000,4,0.000,0.078,2508,3433,3857
$GC,8016,-1.25,-194.7,787.5,-9.6,1267,8020,0.00,2.55,0.00,0.000,6,0.000,0.054,2508,2043,3856
$GC,8341,-1.25,-194.7,817.1,-9.2,1297,8345,0.00,2.78,0.00,0.000,4,0.000,0.097,2507,624,3856
$GC,8383,-1.25,-194.7,821.5,-9.8,1300,8390,0.00,2.58,0.00,0.000,6,0.000,0.055,2508,2037,3856
$GC,8709,-1.25,-194.7,850.2,-8.9,1331,8713,0.00,2.70,0.00,0.000,4,0.000,0.090,2508,3445,3856
$GC,8747,-1.25,-194.7,853.8,-9.6,1334,8751,0.00,2.53,0.00,0.000,6,0.000,0.052,2508,2050,3855
$GC,9072,-1.25,-194.7,881.1,-8.6,1364,9073,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2049,3855
$GC,9390,-1.25,-194.7,909.5,-9.0,1394,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2048,3854
$GC,9709,-1.25,-194.7,937.5,-8.9,1424,9710,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2048,3854
$GC,10027,-1.25,-194.7,966.1,-8.8,1454,10031,0.00,2.65,0.00,0.000,4,0.000,0.076,2508,3441,3854
$GC,10111,-1.25,-194.7,974.0,-9.7,1461,10115,0.00,2.53,0.00,0.000,6,0.000,0.051,2507,2047,3853
$STATE,10305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10305,begin apogee
$GC,10309,-0.37,0.0,990.6,8.3,1479,10482,0.88,0.00,168.48,1.289,6,0.098,0.000,2694,1985,3062
$STATE,10482,end apogee,CONTROL_FINISHED_OK
$STATE,10483,begin climb
$GC,10484,1.34,194.7,994.2,0.0,1496,10661,1.67,0.00,168.70,1.256,6,0.075,0.000,3069,1985,2267
$GC,10979,1.28,194.7,944.4,10.4,1544,10983,0.00,2.67,0.00,0.000,4,0.000,0.067,3069,3396,2261
$GC,11029,1.23,194.7,938.9,11.0,1548,11033,0.00,2.55,0.00,0.000,6,0.000,0.048,3069,1994,2261
$GC,11353,1.18,195.8,906.8,10.0,1578,11358,0.15,2.65,0.00,0.000,4,0.103,0.066,3035,3400,2260
$GC,11391,1.18,195.8,902.9,10.0,1581,11396,0.00,2.53,0.00,0.000,6,0.000,0.048,3035,2005,2260
$GC,11715,1.18,202.2,872.4,9.8,1611,11727,0.00,2.83,7.00,0.988,4,0.000,0.076,3035,571,2237
$GC,11743,1.19,209.4,869.5,9.7,1613,11760,0.00,2.65,8.12,1.015,6,0.000,0.047,3035,2014,2207
$GC,12078,1.22,229.8,838.7,9.3,1645,12099,0.00,0.00,19.45,1.137,6,0.000,0.000,3035,2014,2125
$GC,12417,1.23,238.4,805.8,9.7,1677,12428,0.00,0.00,9.12,1.024,6,0.000,0.000,3035,2014,2090
$GC,12745,1.24,243.8,773.9,9.8,1708,12757,0.00,2.80,6.43,0.925,4,0.000,0.065,3035,576,2067
$GC,12773,1.24,244.5,771.1,10.0,1710,12779,0.00,2.62,0.00,0.000,6,0.000,0.048,3035,2005,2067
$GC,13100,1.25,254.9,739.5,9.6,1741,13117,0.00,0.00,11.82,1.039,6,0.000,0.000,3035,2005,2021
$GC,13436,1.28,277.2,708.2,9.2,1773,13468,0.10,2.80,21.40,1.075,4,0.070,0.074,3067,3399,1930
$GC,13483,1.28,277.2,703.0,10.8,1777,13490,0.00,2.58,0.00,0.000,6,0.000,0.045,3066,2011,1929
$GC,13810,1.28,277.2,668.9,10.7,1808,13815,0.00,2.72,0.00,0.000,4,0.000,0.071,3066,569,1927
$GC,13843,1.28,277.2,665.0,11.2,1810,13849,0.00,2.62,0.00,0.000,6,0.000,0.047,3066,2015,1927
$GC,14167,1.28,277.2,629.2,10.9,1841,14172,0.00,2.60,0.00,0.000,4,0.000,0.071,3066,3394,1926
$GC,14194,1.28,277.2,626.0,11.1,1843,14199,0.00,2.50,0.00,0.000,6,0.000,0.044,3066,2009,1926
$GC,14525,1.28,277.2,589.4,10.7,1881,14531,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2007,1926
$GC,14865,1.28,277.2,550.9,10.6,1942,14871,0.00,2.70,0.00,0.000,4,0.000,0.066,3067,570,1926
$GC,14884,1.28,277.2,549.0,10.8,1945,14890,0.00,2.62,0.00,0.000,6,0.000,0.046,3066,2016,1926
$GC,15224,1.28,277.2,512.4,10.4,2006,15229,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2018,1926
$GC,15564,1.28,277.2,476.1,10.6,2067,15569,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2018,1926
$GC,15904,1.28,277.2,438.1,10.9,2128,15911,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2018,1926
$GC,16249,1.28,277.2,397.4,11.7,2189,16254,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2018,1926
$GC,16589,1.28,277.2,357.6,13.3,2250,16594,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2017,1926
$GC,16923,1.28,277.2,320.6,10.0,2311,16929,0.00,2.67,0.00,0.000,4,0.000,0.056,3066,574,1927
$GC,16958,1.28,277.2,316.4,11.7,2317,16964,0.00,2.58,0.00,0.000,6,0.000,0.041,3066,2014,1926
$GC,17289,1.28,277.2,279.4,11.9,2378,17297,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2016,1926
$GC,17623,1.28,277.2,242.6,11.6,2439,17628,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2017,1927
$GC,17952,1.28,277.2,205.2,10.7,2500,17960,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2017,1926
$GC,18286,1.28,277.2,169.2,10.2,2561,18291,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2017,1927
$GC,18612,1.28,277.2,135.9,10.6,2622,18620,0.00,2.70,0.00,0.000,4,0.000,0.057,3066,577,1927
$GC,18632,1.28,277.2,133.7,10.4,2625,18641,0.00,2.58,0.00,0.000,6,0.000,0.047,3067,1999,1927
$GC,18767,1.28,277.2,118.9,12.0,2650,18774,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2001,1927
$GC,18901,1.29,287.1,104.7,9.7,2675,18916,0.00,0.00,9.77,0.667,6,0.000,0.000,3066,2001,1891
$GC,19043,1.29,287.1,89.5,10.1,2701,19050,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2001,1890
$GC,19176,1.29,287.1,75.6,10.2,2726,19183,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2001,1890
$GC,19309,1.29,287.1,61.0,11.6,2751,19317,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2001,1890
$GC,19443,1.29,287.1,46.5,11.0,2776,19450,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2001,1889
$GC,19576,1.29,287.1,31.8,12.8,2801,19583,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2001,1889
$GC,19709,1.29,287.1,16.5,12.9,2826,19716,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2001,1889
$GC,19843,1.33,317.2,3.5,9.0,2851,19852,0.00,0.00,7.00,0.578,2,0.000,0.000,3066,2001,1863
$STATE,19853,end climb,SURFACE_DEPTH_REACHED
$STATE,19853,begin surface coast
$FINISH,0.3,1.027120
$STATE,19880,end surface coast,CONTROL_FINISHED_OK
$STATE,19880,begin surface
$SM_CCo,19957,0.00,0.000,0,0,1856,295.10
$SM_GC,0.70,10.52,0.00,0.00,0.038,0.000,0.000,568,2005,1856,-10.08,-0.71,295.10
$IRIDIUM_FIX,5911.23,-2225.12,120797,050503
$TT8_MAMPS,0.042952
$HUMID,1592
$INTERNAL_PRESSURE,10.059
$TCM_TEMP,13.40
$XPDR_PINGS,819
$24V_AH,23.5,13.656
$10V_AH,10.5,19.546
$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,24.550,105.075,437.300,0.000,0.000,29.280,31.614,314.956,204.750,0.000,0.000,10.898,4365.068,8173.083,658.235,6519.711,713.961,0.000,2790.566,0.000,6583.893,0.000,0.465
$DEVICE_MAMPS,196.352,97.409,1289.327,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1977.564,2080.080,1288.819,1844.982,3609.482,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,211891,2857
$CAP_FILE_SIZE,215635,0
$CFSIZE,260165632,250564608
$ERRORS,0,11,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170408,164432,5930.815,-2243.119,37,1.9,37,-15.6