version: 66.03
glider: 141
mission: 7
dive: 67
start: 4 19 108 2 9 46
data:
$ID,141
$MISSION,7
$DIVE,67
$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,359
$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,-7521.4995
$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,24
$R_STBD_OVSHOOT,23
$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
$GPS1,015037,5952.171,-2242.646,39,1.1,44,-15.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-53.5
$GPS2,020929,5952.309,-2242.705,8,2.3,27,-15.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6003.106,-2242.799
$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,14.8,20000,-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,-194.7,0.0,0.0,0,128,0.00,0.00,-101.28,0.000,2,0.000,0.000,572,2001,3785
$GC,131,-1.34,-194.7,3.6,-6.2,14,155,11.10,2.70,-1.55,0.000,4,0.198,0.066,2476,3435,3859
$GC,380,-1.30,-194.7,41.0,-11.5,60,388,0.05,2.53,0.00,0.000,6,0.118,0.041,2489,2034,3860
$GC,514,-1.30,-194.7,55.3,-10.9,85,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2031,3860
$GC,648,-1.30,-194.7,69.3,-10.1,110,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2029,3860
$GC,781,-1.30,-194.7,83.7,-10.9,135,789,0.00,2.62,0.00,0.000,4,0.000,0.054,2489,622,3860
$GC,838,-1.30,-194.7,90.0,-10.9,145,846,0.00,2.55,0.00,0.000,6,0.000,0.041,2489,2038,3860
$GC,972,-1.30,-194.7,104.4,-10.4,170,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2039,3860
$GC,1106,-1.30,-194.7,118.5,-10.3,195,1114,0.00,2.58,0.00,0.000,4,0.000,0.063,2490,3430,3860
$GC,1183,-1.30,-194.7,126.9,-11.3,209,1191,0.00,2.50,0.00,0.000,6,0.000,0.039,2489,2045,3860
$GC,1317,-1.30,-194.7,140.5,-10.1,234,1325,0.00,2.60,0.00,0.000,4,0.000,0.054,2489,633,3860
$GC,1378,-1.30,-194.7,146.8,-10.0,245,1386,0.00,2.55,0.00,0.000,6,0.000,0.041,2489,2049,3860
$GC,1515,-1.30,-194.7,160.5,-9.9,270,1523,0.00,2.58,0.00,0.000,4,0.000,0.064,2489,3433,3860
$GC,1568,-1.30,-194.7,165.8,-11.0,279,1574,0.00,2.45,0.00,0.000,6,0.000,0.038,2489,2049,3860
$GC,1897,-1.30,-194.7,199.5,-10.1,340,1906,0.00,2.62,0.00,0.000,4,0.000,0.054,2489,628,3860
$GC,1973,-1.30,-194.7,207.6,-11.4,353,1979,0.00,2.53,0.00,0.000,6,0.000,0.041,2489,2047,3860
$GC,2303,-1.30,-194.7,241.9,-10.0,414,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2050,3860
$GC,2636,-1.30,-194.7,276.1,-10.3,475,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2049,3860
$GC,2964,-1.30,-194.7,310.4,-10.5,536,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2050,3860
$GC,3295,-1.30,-194.7,346.1,-10.8,597,3301,0.00,2.62,0.00,0.000,4,0.000,0.054,2489,624,3860
$GC,3365,-1.30,-194.7,354.3,-11.1,610,3372,0.00,2.53,0.00,0.000,6,0.000,0.041,2489,2037,3860
$GC,3706,-1.30,-194.7,390.7,-10.5,671,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2040,3860
$GC,4046,-1.30,-194.7,426.9,-10.8,732,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2040,3860
$GC,4391,-1.30,-194.7,462.0,-9.9,793,4397,0.00,2.60,0.00,0.000,4,0.000,0.057,2489,630,3860
$GC,4452,-1.30,-194.7,468.6,-10.3,804,4460,0.00,2.53,0.00,0.000,6,0.000,0.045,2489,2020,3860
$GC,4796,-1.30,-194.7,503.0,-10.1,865,4802,0.00,2.67,0.00,0.000,4,0.000,0.072,2489,3442,3860
$GC,4843,-1.30,-194.7,507.9,-10.5,873,4849,0.00,2.53,0.00,0.000,6,0.000,0.044,2489,2031,3860
$GC,5182,-1.30,-194.7,542.2,-10.0,934,5188,0.00,2.60,0.00,0.000,4,0.000,0.066,2489,621,3859
$GC,5232,-1.30,-194.7,547.3,-10.1,943,5238,0.00,2.55,0.00,0.000,6,0.000,0.049,2489,2037,3859
$GC,5571,-1.30,-194.7,581.4,-10.2,1004,5581,0.00,2.70,0.00,0.000,4,0.000,0.079,2489,3441,3859
$GC,5627,-1.30,-194.7,587.1,-10.6,1013,5633,0.00,2.55,0.00,0.000,6,0.000,0.047,2489,2031,3860
$GC,5963,-1.30,-194.7,620.4,-10.3,1056,5967,0.00,2.67,0.00,0.000,4,0.000,0.081,2489,624,3859
$GC,6028,-1.30,-194.7,627.4,-10.2,1061,6035,0.00,2.58,0.00,0.000,6,0.000,0.052,2489,2028,3859
$GC,6353,-1.30,-194.7,661.2,-10.9,1092,6358,0.00,2.72,0.00,0.000,4,0.000,0.090,2489,3438,3859
$GC,6419,-1.30,-194.7,668.9,-12.0,1097,6426,0.00,2.60,0.00,0.000,6,0.000,0.054,2489,2034,3859
$GC,6744,-1.30,-194.7,703.3,-10.5,1128,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2033,3859
$GC,7062,-1.30,-194.7,737.0,-10.5,1158,7067,0.00,2.72,0.00,0.000,4,0.000,0.077,2489,3445,3859
$GC,7112,-1.30,-194.7,742.4,-10.5,1162,7117,0.00,2.58,0.00,0.000,6,0.000,0.054,2489,2041,3859
$GC,7437,-1.30,-194.7,774.2,-9.8,1192,7441,0.00,2.75,0.00,0.000,4,0.000,0.091,2489,622,3859
$GC,7525,-1.30,-194.7,783.2,-9.8,1199,7531,0.00,2.62,0.00,0.000,6,0.000,0.056,2489,2057,3859
$GC,7850,-1.30,-194.7,813.0,-9.3,1230,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2058,3859
$GC,8168,-1.30,-194.7,843.3,-9.4,1260,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2059,3858
$GC,8486,-1.30,-194.7,873.2,-9.1,1290,8491,0.00,2.72,0.00,0.000,4,0.000,0.074,2489,616,3858
$GC,8536,-1.30,-194.7,878.0,-9.8,1294,8541,0.00,2.60,0.00,0.000,6,0.000,0.055,2489,2041,3857
$GC,8861,-1.30,-194.7,907.8,-9.1,1324,8865,0.00,2.67,0.00,0.000,4,0.000,0.087,2489,3439,3858
$GC,8910,-1.30,-194.7,912.6,-9.8,1328,8914,0.00,2.55,0.00,0.000,6,0.000,0.054,2489,2037,3858
$GC,9235,-1.30,-194.7,942.0,-9.4,1358,9239,0.00,2.70,0.00,0.000,4,0.000,0.086,2489,621,3857
$GC,9284,-1.30,-194.7,946.9,-9.4,1362,9289,0.00,2.60,0.00,0.000,6,0.000,0.055,2489,2049,3857
$GC,9609,-1.30,-194.7,977.9,-9.8,1392,9610,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2050,3856
$STATE,9734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9734,begin apogee
$GC,9738,-0.37,0.0,990.3,9.9,1404,9911,0.98,0.00,169.25,1.292,6,0.100,0.000,2696,1977,3062
$STATE,9912,end apogee,CONTROL_FINISHED_OK
$STATE,9912,begin climb
$GC,9914,1.34,194.7,995.6,0.0,1421,10091,1.70,0.00,168.88,1.257,6,0.075,0.000,3073,1977,2268
$GC,10409,1.28,194.7,948.1,11.5,1469,10413,0.00,2.72,0.00,0.000,4,0.000,0.076,3073,3401,2262
$GC,10440,1.22,194.7,944.2,11.4,1471,10448,0.15,2.58,0.00,0.000,6,0.106,0.048,3044,1986,2261
$GC,10765,1.22,194.7,911.4,10.1,1502,10769,0.00,2.67,0.00,0.000,4,0.000,0.067,3044,3403,2261
$GC,10782,1.22,194.7,909.7,11.0,1503,10787,0.00,2.58,0.00,0.000,6,0.000,0.048,3043,1985,2260
$GC,11107,1.24,213.6,878.3,9.3,1533,11129,0.00,2.80,17.00,1.144,4,0.000,0.067,3044,3402,2191
$GC,11140,1.28,243.0,875.0,9.0,1536,11174,0.00,2.58,28.12,1.165,6,0.000,0.047,3044,2001,2071
$GC,11500,1.28,243.5,839.9,10.0,1570,11501,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2001,2065
$GC,11818,1.28,243.5,807.5,10.7,1600,11823,0.00,2.65,0.00,0.000,4,0.000,0.067,3044,3394,2065
$GC,11834,1.28,243.5,805.6,10.8,1601,11839,0.00,2.53,0.00,0.000,6,0.000,0.046,3044,2012,2064
$GC,12158,1.28,243.5,769.4,11.8,1631,12159,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2012,2064
$GC,12477,1.28,245.7,734.9,9.9,1661,12479,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2012,2064
$GC,12795,1.28,245.7,702.2,10.4,1691,12796,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2010,2064
$GC,13115,1.30,259.1,670.6,9.5,1721,13134,0.00,0.00,14.77,1.032,6,0.000,0.000,3044,2010,2004
$GC,13453,1.33,284.3,639.0,9.1,1753,13484,0.10,0.00,24.05,1.040,6,0.069,0.000,3075,2010,1901
$GC,13801,1.33,284.3,599.8,11.5,1786,13806,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2010,1898
$GC,14139,1.33,284.3,561.4,11.9,1847,14144,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2009,1898
$GC,14477,1.33,284.3,519.9,12.3,1908,14485,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2009,1897
$GC,14822,1.33,284.3,478.4,12.2,1969,14827,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2008,1897
$GC,15161,1.33,284.3,439.0,11.6,2030,15166,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2009,1897
$GC,15500,1.33,284.3,401.4,10.9,2091,15505,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2009,1897
$GC,15838,1.33,284.3,363.3,11.6,2152,15846,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2008,1897
$GC,16174,1.33,284.3,325.6,11.6,2213,16180,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2008,1898
$GC,16503,1.33,284.3,287.8,12.3,2274,16511,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2008,1897
$GC,16835,1.33,284.3,250.1,10.4,2335,16841,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2008,1897
$GC,17163,1.33,284.3,213.4,10.7,2396,17170,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2008,1898
$GC,17495,1.33,284.3,176.2,11.7,2457,17500,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2008,1898
$GC,17821,1.33,284.3,137.9,12.4,2518,17829,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2007,1898
$GC,17955,1.33,284.3,123.1,10.3,2543,17963,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2007,1898
$GC,18088,1.33,284.3,108.3,11.8,2568,18096,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2007,1898
$GC,18222,1.33,284.3,92.8,12.0,2593,18230,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2007,1898
$GC,18355,1.33,284.3,78.1,11.9,2618,18363,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2007,1898
$GC,18489,1.33,284.3,63.8,11.9,2643,18496,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2007,1897
$GC,18623,1.33,284.3,49.6,11.7,2668,18630,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2007,1898
$GC,18756,1.33,284.3,35.3,10.4,2693,18763,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2007,1898
$GC,18890,1.34,293.8,21.3,9.7,2718,18904,0.00,0.00,9.10,0.628,6,0.000,0.000,3075,2007,1865
$GC,19030,1.34,293.8,5.9,10.8,2744,19038,0.00,2.62,0.00,0.000,4,0.000,0.058,3074,3398,1863
$GC,19050,1.39,331.4,4.1,8.7,2747,19067,0.00,2.53,11.85,0.630,2,0.000,0.044,3075,2014,1814
$STATE,19068,end climb,SURFACE_DEPTH_REACHED
$STATE,19068,begin surface coast
$FINISH,0.1,1.013530
$STATE,19101,end surface coast,CONTROL_FINISHED_OK
$STATE,19101,begin surface
$SM_CCo,19178,0.00,0.000,0,0,1810,307.12
$SM_GC,0.90,10.57,0.00,0.00,0.038,0.000,0.000,569,2008,1810,-10.07,-0.62,307.12
$IRIDIUM_FIX,5923.90,-1849.11,140797,020229
$TT8_MAMPS,0.042185
$HUMID,1589
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,12.10
$XPDR_PINGS,796
$24V_AH,23.5,15.116
$10V_AH,10.4,21.829
$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,24.650,120.175,443.025,0.000,0.000,123.579,192.582,460.720,199.000,0.000,0.000,29.606,4186.935,7950.330,657.079,6345.274,1138.575,0.000,2738.505,0.000,6388.319,0.000,0.465
$DEVICE_MAMPS,197.886,90.506,1291.628,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1930.720,1988.226,1257.263,1809.742,3543.578,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,205644,2755
$CAP_FILE_SIZE,214919,0
$CFSIZE,260165632,249724928
$ERRORS,0,17,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190408,073055,5958.096,-2242.871,40,1.6,57,-15.8